+ python -m lidar_slam --no-model /working/58c59a8f-1a99-4ef5-87a3-616022f7fc66 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/58c59a8f-1a99-4ef5-87a3-616022f7fc66 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 0.002557844 Adjusted end_distance from 9.223372036854776e+18 to 513.932557844 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002557844 meters Centerline goodness : 0.238603 Centerline is valid? [0, False] SLAMing on 0.032557844 meters Centerline goodness : 0.238603 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 -7.66494263e-17 2.59674291e-17 -1.60760287e-13] [-1.35024290e-18 1.00000000e+00 -1.37397263e-16 -8.27660423e-14] [ 1.30640741e-16 3.79731311e-16 1.00000000e+00 -1.06584663e-14] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062557844 meters Centerline goodness : 0.300050 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999819e-01 -7.12319377e-06 6.02099432e-04 1.04267781e-03] [ 6.88890942e-06 9.99999924e-01 3.89113574e-04 -2.06326794e-03] [-6.02102158e-04 -3.89109355e-04 9.99999743e-01 4.75034502e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09255784400000001 meters Centerline goodness : 0.141271 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999917e-01 4.48330839e-06 4.08525644e-04 2.37543664e-03] [-4.64878500e-06 9.99999918e-01 4.05058001e-04 -1.96293379e-03] [-4.08523794e-04 -4.05059867e-04 9.99999835e-01 1.17918667e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12255784400000001 meters Centerline goodness : 0.150239 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999977e-01 1.77642884e-05 2.15472325e-04 4.00724010e-03] [-1.78630991e-05 9.99999895e-01 4.58584281e-04 -2.26905336e-03] [-2.15464156e-04 -4.58588119e-04 9.99999872e-01 -7.12021851e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15255784400000003 meters Centerline goodness : 0.134575 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999636e-01 1.95822168e-04 8.30754263e-04 4.35297625e-03] [-1.96786321e-04 9.99999307e-01 1.16065218e-03 -6.14805191e-03] [-8.30526406e-04 -1.16081524e-03 9.99998981e-01 -3.30980799e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18255784400000002 meters Centerline goodness : 0.132612 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99999776e-01 3.78018395e-04 5.53156529e-04 6.11201796e-03] [-3.78934112e-04 9.99998557e-01 1.65627200e-03 -9.53159793e-03] [-5.52529630e-04 -1.65648124e-03 9.99998475e-01 -4.01007184e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21255784400000002 meters Centerline goodness : 0.128503 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99999849e-01 5.11772675e-04 2.00652558e-04 8.43314366e-03] [-5.12193748e-04 9.99997655e-01 2.10411314e-03 -1.27375686e-02] [-1.99575260e-04 -2.10421559e-03 9.99997766e-01 -9.10070165e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24255784400000002 meters Centerline goodness : 0.123676 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99999775e-01 6.26677183e-04 -2.38945617e-04 1.13581585e-02] [-6.26048598e-04 9.99996367e-01 2.62172394e-03 -1.63605042e-02] [ 2.40587724e-04 -2.62157376e-03 9.99996535e-01 -1.90406124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.272557844 meters Centerline goodness : 0.145129 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99999482e-01 7.42774884e-04 -6.95852560e-04 1.43290750e-02] [-7.40583782e-04 9.99994784e-01 3.14378620e-03 -2.01697332e-02] [ 6.98184056e-04 -3.14326924e-03 9.99994816e-01 -2.83375995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.302557844 meters Centerline goodness : 0.081978 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.00 [[ 9.99998961e-01 -1.34853349e-03 5.09800941e-04 1.00452217e-02] [ 1.34725627e-03 9.99995974e-01 2.49741264e-03 -2.24418885e-02] [-5.13166733e-04 -2.49672321e-03 9.99996752e-01 1.16759465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.332557844 meters Centerline goodness : 0.105236 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.00 [[ 9.99999134e-01 -1.30108523e-03 1.98866776e-04 1.20501593e-02] [ 1.30053900e-03 9.99995448e-01 2.72258796e-03 -2.38815147e-02] [-2.02408190e-04 -2.72232697e-03 9.99996274e-01 6.84130212e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.362557844 meters Centerline goodness : 0.091445 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99999178e-01 -1.27954846e-03 -7.86705843e-05 1.39978070e-02] [ 1.27976667e-03 9.99995150e-01 2.83924097e-03 -2.45676690e-02] [ 7.50372564e-05 -2.83933931e-03 9.99995966e-01 -8.06951596e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.392557844 meters Centerline goodness : 0.096514 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.00 [[ 9.99999114e-01 -1.27932260e-03 -3.68869294e-04 1.60958143e-02] [ 1.28039546e-03 9.99994908e-01 2.92308761e-03 -2.51335763e-02] [ 3.65127843e-04 -2.92355731e-03 9.99995660e-01 -8.56811319e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422557844 meters Centerline goodness : 0.095060 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 0.99999416 -0.0030351 -0.00156876 0.02668694] [ 0.00303782 0.99999388 0.00173327 -0.02376316] [ 0.00156349 -0.00173802 0.99999727 -0.00671356] [ 0. 0. 0. 1. ]] SLAMing on 0.452557844 meters Centerline goodness : 0.101123 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.9999939 -0.00292787 -0.0019057 0.0287366 ] [ 0.00293192 0.99999344 0.002126 -0.02673851] [ 0.00189946 -0.00213157 0.99999592 -0.00715582] [ 0. 0. 0. 1. ]] SLAMing on 0.482557844 meters Centerline goodness : 0.084516 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.99999359 -0.00285092 -0.00216574 0.03033162] [ 0.00285612 0.99999304 0.00240169 -0.02861796] [ 0.00215888 -0.00240786 0.99999477 -0.00744574] [ 0. 0. 0. 1. ]] SLAMing on 0.512557844 meters Centerline goodness : 0.089378 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.99999281 -0.00292223 -0.00241646 0.03191072] [ 0.00292799 0.99999287 0.00238496 -0.02852423] [ 0.00240948 -0.00239202 0.99999424 -0.00781594] [ 0. 0. 0. 1. ]] SLAMing on 0.5425578440000001 meters Centerline goodness : 0.121238 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.99999155 -0.00320236 -0.00257867 0.03477117] [ 0.00320765 0.99999276 0.00204906 -0.02589832] [ 0.00257209 -0.00205731 0.99999458 -0.00849021] [ 0. 0. 0. 1. ]] SLAMing on 0.5725578440000001 meters Centerline goodness : 0.094803 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99999041 -0.0033176 -0.00285948 0.03672939] [ 0.00332281 0.99999282 0.00181909 -0.02443704] [ 0.00285342 -0.00182857 0.99999426 -0.00921709] [ 0. 0. 0. 1. ]] SLAMing on 0.6025578440000001 meters Centerline goodness : 0.065586 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99998902 -0.00348204 -0.00313642 0.03856665] [ 0.00348673 0.99999281 0.0014886 -0.022215 ] [ 0.00313121 -0.00149952 0.99999397 -0.00979575] [ 0. 0. 0. 1. ]] SLAMing on 0.632557844 meters Centerline goodness : 0.094776 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 0.9999883 -0.00252383 -0.00412795 0.05163564] [ 0.00252903 0.99999601 0.00125524 -0.01427701] [ 0.00412477 -0.00126567 0.99999069 -0.01794796] [ 0. 0. 0. 1. ]] SLAMing on 0.6625578440000001 meters Centerline goodness : 0.080119 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.02 [[ 0.99998523 -0.00114862 -0.00531143 0.06222401] [ 0.00115809 0.99999775 0.00177898 -0.010623 ] [ 0.00530937 -0.0017851 0.99998431 -0.02394081] [ 0. 0. 0. 1. ]] SLAMing on 0.6925578440000001 meters Centerline goodness : 0.114979 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.02 [[ 9.99982835e-01 -1.36111659e-03 -5.69886127e-03 6.45561094e-02] [ 1.36636563e-03 9.99998646e-01 9.17276970e-04 -4.14014319e-03] [ 5.69760504e-03 -9.25047953e-04 9.99983341e-01 -2.44461026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7225578440000001 meters Centerline goodness : 0.114433 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.02 [[ 9.99980441e-01 -1.58572745e-03 -6.05008718e-03 6.66222022e-02] [ 1.58663624e-03 9.99998731e-01 1.45413875e-04 1.25363727e-03] [ 6.04984891e-03 -1.55010318e-04 9.99981687e-01 -2.49247375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7525578440000001 meters Centerline goodness : 0.118951 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.03 [[ 9.99973566e-01 -4.87058456e-04 -7.25461312e-03 7.88614979e-02] [ 4.86967316e-04 9.99999881e-01 -1.43294580e-05 9.30274726e-03] [ 7.25461924e-03 1.07963197e-05 9.99973685e-01 -3.27216301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7825578440000001 meters Centerline goodness : 0.118951 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.03 [[ 9.99973566e-01 -4.87058456e-04 -7.25461312e-03 7.88614979e-02] [ 4.86967316e-04 9.99999881e-01 -1.43294580e-05 9.30274726e-03] [ 7.25461924e-03 1.07963197e-05 9.99973685e-01 -3.27216301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8125578440000001 meters SLAMing on 0.8425578440000001 meters Centerline goodness : 0.120611 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.04 [[ 9.99963312e-01 3.38490466e-04 -8.55921417e-03 9.14923935e-02] [-3.40013782e-04 9.99999927e-01 -1.76519297e-04 1.76529023e-02] [ 8.55915380e-03 1.79423072e-04 9.99963354e-01 -4.00008577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8725578440000001 meters Centerline goodness : 0.062915 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.04 [[ 9.99959914e-01 -5.35307835e-05 -8.95365555e-03 9.38387796e-02] [ 4.69845430e-05 9.99999731e-01 -7.31333652e-04 2.12716386e-02] [ 8.95369229e-03 7.30883652e-04 9.99959648e-01 -3.99110368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.902557844 meters Centerline goodness : 0.071244 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.04 [[ 9.99957538e-01 -1.43461571e-04 -9.21423407e-03 9.52361720e-02] [ 1.35815126e-04 9.99999646e-01 -8.30471721e-04 2.19376627e-02] [ 9.21434995e-03 8.29185025e-04 9.99957203e-01 -3.99218621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9325578440000001 meters Centerline goodness : 0.050315 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.06 [[ 9.99997879e-01 -9.03775980e-04 -1.85069548e-03 1.04913069e-01] [ 9.01231287e-04 9.99998648e-01 -1.37536542e-03 2.51452060e-02] [ 1.85193600e-03 1.37369460e-03 9.99997342e-01 -6.27427850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9625578440000001 meters Centerline goodness : 0.059630 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.06 [[ 9.99997231e-01 -9.82014136e-04 -2.13841779e-03 1.06352697e-01] [ 9.78920271e-04 9.99998473e-01 -1.44736734e-03 2.56109731e-02] [ 2.13983586e-03 1.44526999e-03 9.99996666e-01 -6.25634085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9925578440000001 meters Centerline goodness : 0.051316 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.06 [[ 9.99996283e-01 -8.73687983e-04 -2.58280787e-03 1.09082491e-01] [ 8.70455159e-04 9.99998837e-01 -1.25252958e-03 2.43579490e-02] [ 2.58389918e-03 1.25027670e-03 9.99995880e-01 -6.29019292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022557844 meters SLAMing on 1.052557844 meters Centerline goodness : 0.097924 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.07 [[ 9.99992536e-01 5.37231194e-04 -3.82626060e-03 1.20754827e-01] [-5.39297725e-04 9.99999709e-01 -5.39080220e-04 2.25546374e-02] [ 3.82596988e-03 5.41139689e-04 9.99992535e-01 -6.91831849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.082557844 meters SLAMing on 1.1125578440000001 meters SLAMing on 1.1425578440000002 meters SLAMing on 1.1725578440000002 meters Centerline goodness : 0.117539 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.07 [[ 0.99984737 0.01624666 -0.00642516 0.15301498] [-0.01620596 0.99984859 0.00633718 0.01836732] [ 0.00652714 -0.00623209 0.99995928 -0.06940588] [ 0. 0. 0. 1. ]] SLAMing on 1.2025578440000002 meters SLAMing on 1.2325578440000002 meters SLAMing on 1.262557844 meters Centerline goodness : 0.076655 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.07 [[ 0.99985139 0.01632003 -0.0055541 0.15501303] [-0.01628316 0.9998455 0.00662154 0.01723035] [ 0.0056613 -0.00653012 0.99996265 -0.06896428] [ 0. 0. 0. 1. ]] SLAMing on 1.292557844 meters Centerline goodness : 0.076075 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.07 [[ 0.99986959 0.01468105 -0.00672802 0.16348544] [-0.01464366 0.99987724 0.00557304 0.01801625] [ 0.00680901 -0.00547379 0.99996184 -0.07272447] [ 0. 0. 0. 1. ]] SLAMing on 1.322557844 meters Centerline goodness : 0.075180 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.07 [[ 9.99923030e-01 1.01978165e-02 -7.06671901e-03 1.65024768e-01] [-1.01932003e-02 9.99947811e-01 6.88937132e-04 2.42929453e-02] [ 7.07337586e-03 -6.16851622e-04 9.99974793e-01 -7.27136818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3525578440000001 meters Centerline goodness : 0.076041 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.07 [[ 0.99992172 0.00990867 -0.00764078 0.16776827] [-0.00989993 0.9999503 0.00118081 0.02013572] [ 0.0076521 -0.00110507 0.99997011 -0.07275477] [ 0. 0. 0. 1. ]] SLAMing on 1.3825578440000001 meters Centerline goodness : 0.075155 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.08 [[ 9.99996289e-01 2.56228855e-03 9.25371106e-04 1.82382524e-01] [-2.56588217e-03 9.99989090e-01 3.90335908e-03 1.61327147e-02] [-9.15359478e-04 -3.90571899e-03 9.99991954e-01 -7.86799994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4125578440000002 meters Centerline goodness : 0.074704 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.08 [[ 9.99996430e-01 2.64102942e-03 4.05209373e-04 1.84700406e-01] [-2.64277071e-03 9.99987009e-01 4.35865434e-03 1.31226482e-02] [-3.93692775e-04 -4.35970965e-03 9.99990419e-01 -7.81182937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4425578440000002 meters Centerline goodness : 0.522186 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 9.99996290e-01 2.72382908e-03 -1.80658724e-05 1.86578083e-01] [-2.72371644e-03 9.99985603e-01 4.62324260e-03 1.14752350e-02] [ 3.06585350e-05 -4.62317624e-03 9.99989313e-01 -7.75130613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4725578440000002 meters Centerline goodness : 0.544160 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 9.99995743e-01 2.90729142e-03 -2.47728569e-04 1.89603308e-01] [-2.90601304e-03 9.99983211e-01 5.01328928e-03 9.24969824e-03] [ 2.62299503e-04 -5.01254803e-03 9.99987403e-01 -7.70168883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5025578440000003 meters Centerline goodness : 0.547783 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 9.99995277e-01 3.01619451e-03 -5.91146929e-04 1.91191588e-01] [-3.01308949e-03 9.99982019e-01 5.18486786e-03 8.18160418e-03] [ 6.06774869e-04 -5.18306219e-03 9.99986384e-01 -7.66824252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.532557844 meters Centerline goodness : 0.559691 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 9.99994870e-01 3.07321758e-03 -9.02725408e-04 1.92580494e-01] [-3.06843496e-03 9.99981498e-01 5.25242325e-03 7.77091176e-03] [ 9.18850545e-04 -5.24962635e-03 9.99985798e-01 -7.63823886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.562557844 meters Centerline goodness : 0.569065 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 0.99999449 0.00309555 -0.00119946 0.19390488] [-0.00308917 0.99998127 0.00528308 0.00759513] [ 0.00121579 -0.00527935 0.99998533 -0.07614675] [ 0. 0. 0. 1. ]] SLAMing on 1.5925578440000001 meters Centerline goodness : 0.072884 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.08 [[ 0.99999406 0.00310935 -0.00148871 0.19658318] [-0.00310125 0.99998054 0.00541267 0.00690157] [ 0.00150552 -0.00540802 0.99998424 -0.07625315] [ 0. 0. 0. 1. ]] SLAMing on 1.6225578440000001 meters Centerline goodness : 0.072802 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.08 [[ 0.99999303 0.00323959 -0.00185679 0.19820577] [-0.00322901 0.9999787 0.00567206 0.00531239] [ 0.00187513 -0.00566603 0.99998219 -0.07588558] [ 0. 0. 0. 1. ]] SLAMing on 1.6525578440000002 meters Centerline goodness : 0.072683 Centerline is valid? [False, False] Translation: X:0.20, Y:0.00, Z:-0.08 [[ 0.99999191 0.00336861 -0.00219912 0.19957379] [-0.00335552 0.99997677 0.00593263 0.00365365] [ 0.00221906 -0.00592521 0.99997998 -0.07535558] [ 0. 0. 0. 1. ]] SLAMing on 1.6825578440000002 meters Centerline goodness : 0.072272 Centerline is valid? [False, False] Translation: X:0.20, Y:0.00, Z:-0.08 [[ 0.99999081 0.00348083 -0.0025043 0.20086388] [-0.00346544 0.99997523 0.00612587 0.00245025] [ 0.00252556 -0.00611713 0.9999781 -0.07507271] [ 0. 0. 0. 1. ]] SLAMing on 1.7125578440000002 meters Centerline goodness : 0.071838 Centerline is valid? [False, False] Translation: X:0.21, Y:0.00, Z:-0.08 [[ 9.99983423e-01 4.64970055e-03 -3.39617915e-03 2.11957728e-01] [-4.62588416e-03 9.99964889e-01 6.98721290e-03 9.10818414e-04] [ 3.42854835e-03 -6.97138674e-03 9.99969822e-01 -8.24073830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7425578440000002 meters Centerline goodness : 0.590630 Centerline is valid? [False, False] Translation: X:0.21, Y:0.00, Z:-0.08 [[ 9.99982057e-01 4.74252674e-03 -3.65968409e-03 2.13054502e-01] [-4.71629515e-03 9.99963364e-01 7.14336685e-03 8.11013392e-05] [ 3.69342762e-03 -7.12597853e-03 9.99967789e-01 -8.21453020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7725578440000003 meters Centerline goodness : 0.280761 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.00, Z:-0.08 [[ 0.9999801 0.00488908 -0.00398719 0.21430394] [-0.00485947 0.99996079 0.00740327 -0.00156734] [ 0.00402323 -0.00738375 0.99996465 -0.08167108] [ 0. 0. 0. 1. ]] SLAMing on 1.802557844 meters Centerline goodness : 0.286074 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.00, Z:-0.08 [[ 0.99997769 0.00508437 -0.00433224 0.2156207 ] [-0.00505047 0.99995683 0.00779884 -0.00397924] [ 0.00437171 -0.00777679 0.9999602 -0.08096449] [ 0. 0. 0. 1. ]] SLAMing on 1.832557844 meters Centerline goodness : 0.282327 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.08 [[ 0.99997503 0.00523415 -0.00474826 0.21729419] [-0.00519532 0.99995326 0.00815414 -0.00605192] [ 0.00479072 -0.00812927 0.99995548 -0.08021404] [ 0. 0. 0. 1. ]] SLAMing on 1.8625578440000001 meters Centerline goodness : 0.072727 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.08 [[ 0.99997395 0.0053826 -0.00480844 0.21919843] [-0.0053418 0.99994995 0.0084598 -0.00806457] [ 0.00485373 -0.00843389 0.99995265 -0.07972277] [ 0. 0. 0. 1. ]] SLAMing on 1.8925578440000002 meters Centerline goodness : 0.072066 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.08 [[ 0.99997217 0.00549836 -0.00504255 0.2200013 ] [-0.00545467 0.99994782 0.00863733 -0.00902559] [ 0.00508978 -0.00860958 0.99994998 -0.07920348] [ 0. 0. 0. 1. ]] SLAMing on 1.9225578440000002 meters Centerline goodness : 0.071727 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.08 [[ 0.99997037 0.00567329 -0.0052038 0.22062078] [-0.00562674 0.99994441 0.00891765 -0.01073108] [ 0.0052541 -0.00888811 0.9999467 -0.07905043] [ 0. 0. 0. 1. ]] SLAMing on 1.9525578440000002 meters Centerline goodness : 0.140347 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.08 [[ 0.99996866 0.00591998 -0.00525676 0.22120425] [-0.00587033 0.99993847 0.00941232 -0.01378345] [ 0.00531216 -0.00938117 0.99994189 -0.0791266 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9825578440000002 meters Centerline goodness : 0.097938 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.08 [[ 0.99996756 0.00596065 -0.0054178 0.22161703] [-0.00590875 0.99993698 0.00954628 -0.01456847] [ 0.00547436 -0.00951396 0.99993976 -0.0786862 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0125578440000003 meters Centerline goodness : 0.136065 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.08 [[ 0.99996563 0.00606797 -0.00564928 0.2221849 ] [-0.00601215 0.99993346 0.00984564 -0.01623433] [ 0.00570865 -0.00981134 0.99993557 -0.07787681] [ 0. 0. 0. 1. ]] SLAMing on 2.042557844 meters Centerline goodness : 0.136258 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.08 [[ 0.9999623 0.00632525 -0.00594847 0.22294758] [-0.00626246 0.99992509 0.01051616 -0.02027989] [ 0.00601455 -0.01047851 0.99992701 -0.07670414] [ 0. 0. 0. 1. ]] SLAMing on 2.0725578440000003 meters Centerline goodness : 0.096227 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.08 [[ 0.99998228 0.00230986 -0.0054876 0.22301348] [-0.00227467 0.99997687 0.00640991 -0.02007341] [ 0.00550228 -0.00639731 0.9999644 -0.0759713 ] [ 0. 0. 0. 1. ]] SLAMing on 2.102557844 meters Centerline goodness : 0.093403 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.08 [[ 0.9999806 0.00252317 -0.00569417 0.22346454] [-0.00248332 0.99997245 0.00699523 -0.0234701 ] [ 0.00571166 -0.00698095 0.99995932 -0.07515071] [ 0. 0. 0. 1. ]] SLAMing on 2.1325578440000004 meters Centerline goodness : 0.092543 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.07 [[ 0.99997916 0.00272532 -0.00585291 0.22382234] [-0.00268137 0.99996825 0.00750362 -0.02628306] [ 0.00587318 -0.00748777 0.99995472 -0.07461104] [ 0. 0. 0. 1. ]] SLAMing on 2.162557844 meters Centerline goodness : 0.626897 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.07 [[ 0.99997789 0.00295027 -0.00595938 0.22397472] [-0.00290243 0.99996363 0.00802016 -0.02917524] [ 0.00598283 -0.00800269 0.99995008 -0.0741032 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1925578440000004 meters Centerline goodness : 0.459820 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.07 [[ 0.99998695 0.00141837 -0.00490774 0.21751636] [-0.00138489 0.99997579 0.00681897 -0.03284011] [ 0.0049173 -0.00681209 0.99996471 -0.06909841] [ 0. 0. 0. 1. ]] SLAMing on 2.2225578440000002 meters Centerline goodness : 0.454350 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.07 [[ 0.99998607 0.0016489 -0.00501433 0.2176431 ] [-0.00161219 0.99997194 0.00731598 -0.03564362] [ 0.00502625 -0.00730779 0.99996067 -0.06825972] [ 0. 0. 0. 1. ]] SLAMing on 2.252557844 meters Centerline goodness : 0.467550 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.07 [[ 0.99998551 0.00182323 -0.00506472 0.21761151] [-0.00178445 0.99996914 0.00765064 -0.03749862] [ 0.00507851 -0.00764149 0.99995791 -0.06755396] [ 0. 0. 0. 1. ]] SLAMing on 2.2825578440000003 meters Centerline goodness : 0.461633 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.07 [[ 0.99998499 0.00199722 -0.00510155 0.21745261] [-0.00195664 0.99996652 0.00794607 -0.03909924] [ 0.00511725 -0.00793597 0.99995542 -0.06688692] [ 0. 0. 0. 1. ]] SLAMing on 2.312557844 meters Centerline goodness : 0.536602 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.07 [[ 0.9999851 0.00241152 -0.00489737 0.21732833] [-0.00236932 0.99996017 0.00860521 -0.04333267] [ 0.00491793 -0.00859348 0.99995098 -0.06623606] [ 0. 0. 0. 1. ]] SLAMing on 2.3425578440000003 meters Centerline goodness : 0.616414 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.06 [[ 0.99996665 0.00694081 -0.00430468 0.18547629] [-0.00691993 0.99996431 0.00484694 -0.04611518] [ 0.00433817 -0.00481699 0.99997899 -0.05883319] [ 0. 0. 0. 1. ]] SLAMing on 2.372557844 meters Centerline goodness : 0.605647 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.06 [[ 0.99996583 0.00705847 -0.00430221 0.18534888] [-0.00703637 0.99996208 0.00513035 -0.0474979 ] [ 0.00433826 -0.0050999 0.99997759 -0.0581509 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4025578440000004 meters Centerline goodness : 0.620302 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.06 [[ 0.99996461 0.00719374 -0.00436242 0.18530542] [-0.00716977 0.99995925 0.00548532 -0.04933973] [ 0.0044017 -0.00545385 0.99997544 -0.0574338 ] [ 0. 0. 0. 1. ]] SLAMing on 2.432557844 meters Centerline goodness : 0.620602 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.06 [[ 0.99996256 0.00739182 -0.00449889 0.18545816] [-0.00736481 0.99995494 0.00599041 -0.05208299] [ 0.00454297 -0.00595706 0.99997194 -0.05648633] [ 0. 0. 0. 1. ]] SLAMing on 2.4625578440000004 meters Centerline goodness : 0.620258 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.06 [[ 0.99996036 0.00759603 -0.00464637 0.18565822] [-0.00756562 0.99995007 0.0065286 -0.05497309] [ 0.00469573 -0.00649319 0.99996789 -0.05554039] [ 0. 0. 0. 1. ]] SLAMing on 2.4925578440000002 meters Centerline goodness : 0.614383 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.05 [[ 0.99997804 0.00563386 -0.00349008 0.17882051] [-0.00561731 0.99997302 0.00473303 -0.05591138] [ 0.00351665 -0.00471332 0.99998271 -0.04952477] [ 0. 0. 0. 1. ]] SLAMing on 2.522557844 meters Centerline goodness : 0.615178 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.05 [[ 0.99997686 0.00576088 -0.00361786 0.17885449] [-0.00574264 0.99997085 0.00503276 -0.05748988] [ 0.00364675 -0.00501187 0.99998079 -0.04870698] [ 0. 0. 0. 1. ]] SLAMing on 2.5525578440000003 meters Centerline goodness : 0.630133 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:-0.04 [[ 0.99998655 0.00476541 -0.00204869 0.1277311 ] [-0.00475584 0.99997786 0.00465421 -0.06003366] [ 0.00207083 -0.00464441 0.99998707 -0.04409377] [ 0. 0. 0. 1. ]] SLAMing on 2.582557844 meters Centerline goodness : 0.631298 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:-0.04 [[ 0.99998718 0.00463793 -0.00202996 0.12744425] [-0.00462932 0.99998034 0.00422912 -0.05750878] [ 0.00204953 -0.00421967 0.999989 -0.0437169 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6125578440000004 meters Centerline goodness : 0.628909 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.04 [[ 0.99998801 0.00445889 -0.00202196 0.12710494] [-0.00445141 0.99998329 0.00368778 -0.05434611] [ 0.00203837 -0.00367874 0.99999116 -0.04314689] [ 0. 0. 0. 1. ]] SLAMing on 2.642557844 meters Centerline goodness : 0.628909 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.04 [[ 0.99998801 0.00445889 -0.00202196 0.12710494] [-0.00445141 0.99998329 0.00368778 -0.05434611] [ 0.00203837 -0.00367874 0.99999116 -0.04314689] [ 0. 0. 0. 1. ]] SLAMing on 2.6725578440000004 meters Centerline goodness : 0.626355 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.04 [[ 0.99998886 0.00426268 -0.00202891 0.12688314] [-0.0042563 0.99998603 0.00313543 -0.05117563] [ 0.00204225 -0.00312676 0.99999303 -0.04263998] [ 0. 0. 0. 1. ]] SLAMing on 2.702557844 meters Centerline goodness : 0.621263 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.04 [[ 0.99998993 0.00401872 -0.00199937 0.12678861] [-0.00401328 0.99998826 0.00271696 -0.04883266] [ 0.00201027 -0.00270891 0.99999431 -0.04165178] [ 0. 0. 0. 1. ]] SLAMing on 2.7325578440000005 meters Centerline goodness : 0.618808 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.04 [[ 0.99998973 0.00396351 -0.0021977 0.12703032] [-0.00395731 0.99998821 0.00281435 -0.04946437] [ 0.00220882 -0.00280563 0.99999362 -0.04086743] [ 0. 0. 0. 1. ]] SLAMing on 2.7625578440000003 meters Centerline goodness : 0.622681 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.04 [[ 9.99998112e-01 1.70835435e-03 -9.26203141e-04 1.19586505e-01] [-1.70768718e-03 9.99998282e-01 7.20639556e-04 -4.64739184e-02] [ 9.27432657e-04 -7.19056530e-04 9.99999311e-01 -3.61578613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.792557844 meters Centerline goodness : 0.618583 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.04 [[ 9.99998017e-01 1.44019216e-03 -1.37526432e-03 1.20553457e-01] [-1.43905430e-03 9.99998622e-01 8.28004031e-04 -4.75841432e-02] [ 1.37645491e-03 -8.26023309e-04 9.99998712e-01 -3.51607743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8225578440000003 meters Centerline goodness : 0.615665 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.03 [[ 9.99997728e-01 1.03408317e-03 -1.86393414e-03 1.21688565e-01] [-1.03234655e-03 9.99999032e-01 9.32416279e-04 -4.88831193e-02] [ 1.86489654e-03 -9.30489935e-04 9.99997828e-01 -3.41134948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.852557844 meters Centerline goodness : 0.598892 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.03 [[ 9.99999467e-01 -9.52735382e-04 -3.99107884e-04 1.15043310e-01] [ 9.52510508e-04 9.99999388e-01 -5.63252987e-04 -4.65664201e-02] [ 3.99644271e-04 5.62872532e-04 9.99999762e-01 -3.05966997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8825578440000004 meters Centerline goodness : 0.592428 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.03 [[ 9.99995679e-01 -2.87841920e-03 -5.97999380e-04 1.15961633e-01] [ 2.87755950e-03 9.99994832e-01 -1.43354468e-03 -4.70950744e-02] [ 6.02122632e-04 1.43181771e-03 9.99998794e-01 -2.91022430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.912557844 meters Centerline goodness : 0.597424 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.02 [[ 9.99988805e-01 1.75619532e-04 -4.72853520e-03 9.02003938e-02] [-2.09974353e-04 9.99973581e-01 -7.26590976e-03 -4.52445221e-02] [ 4.72713424e-03 7.26682129e-03 9.99962423e-01 -2.05693658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9425578440000004 meters Centerline goodness : 0.587789 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:-0.02 [[ 9.99983268e-01 -5.64289863e-04 -5.75727863e-03 4.30181493e-02] [ 5.27645487e-04 9.99979608e-01 -6.36441287e-03 -4.89922474e-02] [ 5.76075260e-03 6.36126857e-03 9.99963173e-01 -1.64057046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9725578440000002 meters Centerline goodness : 0.587416 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:-0.02 [[ 9.99982151e-01 -6.26432373e-04 -5.94177687e-03 4.33052116e-02] [ 5.88478097e-04 9.99979428e-01 -6.38729689e-03 -4.88019160e-02] [ 5.94565585e-03 6.38368628e-03 9.99961948e-01 -1.58293160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0025578440000005 meters Centerline goodness : 0.584942 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.05, Z:-0.01 [[ 9.99963158e-01 -1.76572890e-03 -8.40023972e-03 5.99826380e-05] [ 1.71201539e-03 9.99978072e-01 -6.39718230e-03 -5.04497042e-02] [ 8.41135121e-03 6.38256527e-03 9.99944254e-01 -1.36785696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0325578440000003 meters Centerline goodness : 0.583424 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.05, Z:-0.01 [[ 9.99962319e-01 -1.83444065e-03 -8.48496782e-03 9.18554676e-05] [ 1.77917147e-03 9.99977183e-01 -6.51674416e-03 -4.98818375e-02] [ 8.49672880e-03 6.50140239e-03 9.99942767e-01 -1.33024404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062557844 meters Centerline goodness : 0.580712 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.05, Z:-0.01 [[ 9.99960678e-01 -1.99868033e-03 -8.63986573e-03 2.82600472e-04] [ 1.93938780e-03 9.99974551e-01 -6.86560755e-03 -4.79574126e-02] [ 8.65336800e-03 6.84858153e-03 9.99939106e-01 -1.27566940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0925578440000003 meters Centerline goodness : 0.580003 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.05, Z:-0.01 [[ 0.99995382 -0.00210071 -0.00937801 -0.04780895] [ 0.00204487 0.99998015 -0.00596049 -0.04946019] [ 0.00939035 0.00594103 0.99993826 -0.00857407] [ 0. 0. 0. 1. ]] SLAMing on 3.122557844 meters Centerline goodness : 0.576921 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:-0.00 [[ 0.99994041 -0.00278839 -0.01055461 -0.09562117] [ 0.00272818 0.99997995 -0.00571414 -0.05106495] [ 0.01057033 0.00568501 0.99992797 -0.00401747] [ 0. 0. 0. 1. ]] SLAMing on 3.1525578440000004 meters Centerline goodness : 0.571958 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:-0.00 [[ 9.99942386e-01 -4.62526958e-03 -9.68670477e-03 -1.01034357e-01] [ 4.55291516e-03 9.99961673e-01 -7.47823545e-03 -4.76870109e-02] [ 9.72092236e-03 7.43370185e-03 9.99925119e-01 -8.37066606e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.182557844 meters Centerline goodness : 0.579043 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.05, Z:0.00 [[ 0.9999192 -0.00522069 -0.01159022 -0.14685225] [ 0.00514186 0.99996352 -0.00682113 -0.0503237 ] [ 0.01162541 0.00676099 0.99990957 0.00321501] [ 0. 0. 0. 1. ]] SLAMing on 3.2125578440000004 meters Centerline goodness : 0.578579 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:0.00 [[ 9.99898400e-01 -1.16491206e-02 -8.21510452e-03 -1.25054178e-01] [ 1.16201099e-02 9.99926110e-01 -3.57033153e-03 -4.86355722e-02] [ 8.25608873e-03 3.47450837e-03 9.99959882e-01 1.49164292e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2425578440000002 meters Centerline goodness : 0.568948 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.05, Z:0.00 [[ 0.9998958 -0.01168103 -0.00848159 -0.12463405] [ 0.01165394 0.99992685 -0.00323665 -0.05060729] [ 0.00851877 0.00313747 0.99995879 0.00107393] [ 0. 0. 0. 1. ]] SLAMing on 3.2725578440000005 meters Centerline goodness : 0.577737 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.05, Z:0.00 [[ 0.99983273 -0.0159976 -0.00886546 -0.12442371] [ 0.01593251 0.99984594 -0.00736519 -0.05080075] [ 0.00898192 0.00722271 0.99993358 0.00302568] [ 0. 0. 0. 1. ]] SLAMing on 3.3025578440000003 meters Centerline goodness : 0.562831 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.06, Z:0.00 [[ 0.99983224 -0.01589145 -0.00910814 -0.12411409] [ 0.01583142 0.99985272 -0.00662557 -0.05502633] [ 0.00921209 0.00648026 0.99993657 0.0040279 ] [ 0. 0. 0. 1. ]] SLAMing on 3.332557844 meters Centerline goodness : 0.573652 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.01 [[ 0.99982539 -0.01238209 -0.01399545 -0.15021787] [ 0.01221939 0.99985745 -0.01165149 -0.05522124] [ 0.01413772 0.01147844 0.99983417 0.01333663] [ 0. 0. 0. 1. ]] SLAMing on 3.3625578440000004 meters Centerline goodness : 0.559807 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.01 [[ 0.9998238 -0.01224043 -0.01423161 -0.14973928] [ 0.01208248 0.99986504 -0.01113204 -0.05799256] [ 0.01436595 0.01095813 0.99983676 0.01380269] [ 0. 0. 0. 1. ]] SLAMing on 3.392557844 meters Centerline goodness : 0.569252 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.01 [[ 0.99982298 -0.01209357 -0.01441367 -0.14931008] [ 0.01194031 0.99987176 -0.01067209 -0.06047664] [ 0.01454089 0.0104981 0.99983916 0.01404803] [ 0. 0. 0. 1. ]] SLAMing on 3.4225578440000004 meters Centerline goodness : 0.552982 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.02 [[ 0.99981944 -0.01195007 -0.01477411 -0.14893544] [ 0.01179848 0.99987729 -0.0103056 -0.06236287] [ 0.01489545 0.01012943 0.99983775 0.01541989] [ 0. 0. 0. 1. ]] SLAMing on 3.452557844 meters Centerline goodness : 0.562342 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.02 [[ 0.99981766 -0.01193141 -0.0149092 -0.14913894] [ 0.01177842 0.9998775 -0.01030795 -0.06220374] [ 0.01503036 0.01013046 0.99983572 0.01667159] [ 0. 0. 0. 1. ]] SLAMing on 3.4825578440000005 meters Centerline goodness : 0.549052 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.02 [[ 0.99981597 -0.01186901 -0.01507188 -0.14930543] [ 0.01171625 0.9998795 -0.01018367 -0.06280199] [ 0.01519093 0.01000521 0.99983455 0.01806672] [ 0. 0. 0. 1. ]] SLAMing on 3.5125578440000003 meters Centerline goodness : 0.558634 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.02 [[ 0.99981496 -0.01176665 -0.01521794 -0.14944538] [ 0.01161593 0.99988298 -0.00995482 -0.06405075] [ 0.0153333 0.00977621 0.99983464 0.01929587] [ 0. 0. 0. 1. ]] SLAMing on 3.5425578440000005 meters Centerline goodness : 0.555720 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.02 [[ 0.99981471 -0.0116192 -0.01534724 -0.14963447] [ 0.01147257 0.99988803 -0.00960785 -0.06587186] [ 0.01545716 0.00942999 0.99983606 0.02043361] [ 0. 0. 0. 1. ]] SLAMing on 3.5725578440000003 meters Centerline goodness : 0.553613 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.02 [[ 0.99981277 -0.01152749 -0.01554164 -0.14955244] [ 0.01138266 0.99989127 -0.00937513 -0.06711263] [ 0.01564802 0.00919647 0.99983527 0.02146346] [ 0. 0. 0. 1. ]] SLAMing on 3.602557844 meters Centerline goodness : 0.556099 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.02 [[ 0.99981082 -0.01146205 -0.01571435 -0.14954218] [ 0.01131901 0.99989397 -0.00916144 -0.06822026] [ 0.01581769 0.00898184 0.99983455 0.02247527] [ 0. 0. 0. 1. ]] SLAMing on 3.6325578440000004 meters Centerline goodness : 0.548889 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.02 [[ 0.99980555 -0.01143142 -0.01606827 -0.14956525] [ 0.01129426 0.99989923 -0.00860092 -0.07139996] [ 0.01616497 0.00841777 0.9998339 0.0245023 ] [ 0. 0. 0. 1. ]] SLAMing on 3.662557844 meters Centerline goodness : 0.546900 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.03 [[ 0.99980387 -0.0113584 -0.01622398 -0.14959845] [ 0.01122644 0.99990335 -0.00820149 -0.07360221] [ 0.01631557 0.00801774 0.99983475 0.02555867] [ 0. 0. 0. 1. ]] SLAMing on 3.6925578440000004 meters Centerline goodness : 0.546222 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.08, Z:0.03 [[ 0.99980183 -0.01124294 -0.01642836 -0.14949602] [ 0.01111786 0.99990866 -0.00768495 -0.07640407] [ 0.01651326 0.00750078 0.99983551 0.02658941] [ 0. 0. 0. 1. ]] SLAMing on 3.7225578440000002 meters Centerline goodness : 0.543688 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.08, Z:0.03 [[ 0.99980037 -0.01110966 -0.01660687 -0.14938939] [ 0.01099245 0.99991414 -0.00713263 -0.07939628] [ 0.01668468 0.00694866 0.99983666 0.02741895] [ 0. 0. 0. 1. ]] SLAMing on 3.7525578440000005 meters Centerline goodness : 0.541500 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.08, Z:0.03 [[ 0.99978902 -0.01130646 -0.01714899 -0.14855116] [ 0.01119537 0.99991581 -0.00655988 -0.0834041 ] [ 0.01722172 0.00636651 0.99983143 0.02884614] [ 0. 0. 0. 1. ]] SLAMing on 3.7825578440000003 meters Centerline goodness : 0.540410 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.08, Z:0.03 [[ 0.99978709 -0.01151565 -0.01712183 -0.14934809] [ 0.01139751 0.99991067 -0.00698146 -0.08240154] [ 0.0172007 0.00678483 0.99982904 0.03035555] [ 0. 0. 0. 1. ]] SLAMing on 3.8125578440000005 meters Centerline goodness : 0.539225 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.03 [[ 0.99985648 -0.01125564 -0.01266228 -0.11490337] [ 0.01121258 0.99993113 -0.00346579 -0.08457245] [ 0.01270041 0.00332331 0.99991382 0.02731463] [ 0. 0. 0. 1. ]] SLAMing on 3.8425578440000003 meters Centerline goodness : 0.537022 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.03 [[ 0.99985194 -0.0114245 -0.01286737 -0.11492922] [ 0.0113752 0.9999277 -0.00389767 -0.08217336] [ 0.01291097 0.00375073 0.99990962 0.02865492] [ 0. 0. 0. 1. ]] SLAMing on 3.872557844 meters Centerline goodness : 0.536778 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:0.03 [[ 0.99993161 -0.00187871 -0.01154315 -0.09270916] [ 0.00182919 0.99998909 -0.004299 -0.08700836] [ 0.0115511 0.00427759 0.99992413 0.02771563] [ 0. 0. 0. 1. ]] SLAMing on 3.9025578440000004 meters Centerline goodness : 0.534453 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:0.03 [[ 0.99992383 -0.00184484 -0.01220353 -0.09093962] [ 0.00177742 0.99998311 -0.00553337 -0.0828284 ] [ 0.01221353 0.00551126 0.99991022 0.02990954] [ 0. 0. 0. 1. ]] SLAMing on 3.932557844 meters Centerline goodness : 0.527664 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.08, Z:0.03 [[ 9.99953513e-01 -3.87536576e-04 -9.63436066e-03 -4.99369988e-02] [ 3.29247068e-04 9.99981638e-01 -6.05101889e-03 -7.62741327e-02] [ 9.63652874e-03 6.04756552e-03 9.99935280e-01 3.07607881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9625578440000004 meters Centerline goodness : 0.531860 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:0.03 [[ 9.99952606e-01 -6.67424547e-04 -9.71293940e-03 -5.01342250e-02] [ 6.01691194e-04 9.99976909e-01 -6.76895592e-03 -7.25290231e-02] [ 9.71723289e-03 6.76279092e-03 9.99929918e-01 3.16175340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9925578440000002 meters Centerline goodness : 0.530172 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:0.03 [[ 9.99951492e-01 -9.65369532e-04 -9.80212214e-03 -5.03515076e-02] [ 8.92270706e-04 9.99971783e-01 -7.45908551e-03 -6.89289011e-02] [ 9.80904633e-03 7.44997754e-03 9.99924137e-01 3.25956009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0225578440000005 meters Centerline goodness : 0.528811 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:0.03 [[ 0.99994963 -0.00122299 -0.00996191 -0.05041035] [ 0.001143 0.99996709 -0.00803143 -0.06593673] [ 0.0099714 0.00801963 0.99991812 0.03370215] [ 0. 0. 0. 1. ]] SLAMing on 4.052557844000001 meters Centerline goodness : 0.527975 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.03 [[ 0.9999518 -0.0016907 -0.00967191 -0.05202564] [ 0.00160635 0.99996067 -0.00872239 -0.06339594] [ 0.00968628 0.00870644 0.99991518 0.03492444] [ 0. 0. 0. 1. ]] SLAMing on 4.082557844 meters Centerline goodness : 0.525874 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.03 [[ 0.99996732 -0.00332077 -0.00737101 -0.00942023] [ 0.00324207 0.99993789 -0.0106635 -0.05913893] [ 0.00740596 0.01063925 0.99991598 0.03459704] [ 0. 0. 0. 1. ]] SLAMing on 4.112557844 meters Centerline goodness : 0.525987 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.04 [[ 9.99972020e-01 -5.36471641e-04 -7.46139267e-03 -1.11896644e-02] [ 4.84781836e-04 9.99975886e-01 -6.92771910e-03 -6.03715924e-02] [ 7.46492927e-03 6.92390811e-03 9.99948166e-01 3.62437543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142557844000001 meters Centerline goodness : 0.520240 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.04 [[ 0.99996412 0.00123958 -0.0083802 -0.00938925] [-0.0012778 0.9999888 -0.00455623 -0.05813464] [ 0.00837446 0.00456677 0.99995451 0.0367917 ] [ 0. 0. 0. 1. ]] SLAMing on 4.172557844 meters Centerline goodness : 0.525249 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.04 [[ 0.99996398 0.00100382 -0.00842823 -0.00978056] [-0.00104655 0.99998662 -0.00506634 -0.05597412] [ 0.00842304 0.00507498 0.99995165 0.03790469] [ 0. 0. 0. 1. ]] SLAMing on 4.202557844 meters Centerline goodness : 0.523408 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.04 [[ 9.99962298e-01 8.81508665e-04 -8.63855138e-03 -9.72286741e-03] [-9.27663200e-04 9.99985310e-01 -5.34030627e-03 -5.45624661e-02] [ 8.63371695e-03 5.34811859e-03 9.99948427e-01 3.92041062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2325578440000005 meters Centerline goodness : 0.517075 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.04 [[ 9.99960319e-01 7.20532553e-04 -8.87927947e-03 -9.66521615e-03] [-7.72707630e-04 9.99982449e-01 -5.87401954e-03 -5.25407760e-02] [ 8.87489121e-03 5.88064754e-03 9.99943326e-01 4.08511905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262557844000001 meters Centerline goodness : 0.519658 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:0.04 [[ 0.99997469 0.00105486 -0.00703586 0.03276156] [-0.00109431 0.99998369 -0.00560513 -0.04986888] [ 0.00702984 0.00561268 0.99995954 0.04052486] [ 0. 0. 0. 1. ]] SLAMing on 4.292557844 meters Centerline goodness : 0.518877 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:0.04 [[ 9.99973578e-01 8.88756846e-04 -7.21478398e-03 3.29562030e-02] [-9.32750472e-04 9.99980980e-01 -6.09663222e-03 -4.72135330e-02] [ 7.20922833e-03 6.10320073e-03 9.99955388e-01 4.12390908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322557844 meters Centerline goodness : 0.522611 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.04 [[ 9.99971630e-01 6.66711543e-04 -7.50304315e-03 3.33304496e-02] [-7.17467014e-04 9.99976867e-01 -6.76399413e-03 -4.38135986e-02] [ 7.49835995e-03 6.76918542e-03 9.99948975e-01 4.21566974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.352557844000001 meters Centerline goodness : 0.517440 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.05, Z:0.03 [[ 0.99999619 -0.00220162 -0.00166284 0.05870655] [ 0.00219861 0.99999594 -0.00181172 -0.04595762] [ 0.00166682 0.00180806 0.99999698 0.03397605] [ 0. 0. 0. 1. ]] SLAMing on 4.382557844000001 meters Centerline goodness : 0.516144 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:0.04 [[ 0.99999578 -0.00232699 -0.0017381 0.05797706] [ 0.00232292 0.99999455 -0.00234424 -0.04314035] [ 0.00174355 0.0023402 0.99999574 0.03587453] [ 0. 0. 0. 1. ]] SLAMing on 4.412557844 meters Centerline goodness : 0.516206 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.04 [[ 9.99999210e-01 -3.19590388e-04 -1.21578550e-03 5.07070734e-02] [ 3.18392792e-04 9.99999464e-01 -9.85104949e-04 -3.77639729e-02] [ 1.21609968e-03 9.84717073e-04 9.99998776e-01 4.39585985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442557844 meters Centerline goodness : 0.509950 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:0.04 [[ 9.99998509e-01 8.55575661e-04 1.49977842e-03 9.29412781e-02] [-8.53517045e-04 9.99998694e-01 -1.37271616e-03 -3.20684303e-02] [-1.50095092e-03 1.37143403e-03 9.99997933e-01 4.30476867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.472557844000001 meters Centerline goodness : 0.519762 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:0.04 [[ 9.99998827e-01 5.61854901e-04 1.42485024e-03 9.26605118e-02] [-5.58459250e-04 9.99997006e-01 -2.38244238e-03 -2.67146340e-02] [-1.42618456e-03 2.38164386e-03 9.99996147e-01 4.40927955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502557844 meters Centerline goodness : 0.510576 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:0.04 [[ 9.99999201e-01 3.05197340e-04 1.22691504e-03 9.30103949e-02] [-3.01284258e-04 9.99994872e-01 -3.18828782e-03 -2.26255806e-02] [-1.22788181e-03 3.18791562e-03 9.99994165e-01 4.45247300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532557844 meters Centerline goodness : 0.503200 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.04 [[ 9.99996793e-01 7.06985632e-04 2.43198352e-03 1.40430269e-01] [-6.96961471e-04 9.99991269e-01 -4.12018542e-03 -1.80511859e-02] [-2.43487520e-03 4.11847721e-03 9.99988555e-01 4.02320986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5625578440000005 meters Centerline goodness : 0.514806 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.04 [[ 9.99997554e-01 4.26737629e-04 2.17007712e-03 1.40295614e-01] [-4.14805409e-04 9.99984811e-01 -5.49600407e-03 -1.02045588e-02] [-2.17238951e-03 5.49509047e-03 9.99982542e-01 4.17717488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592557844000001 meters Centerline goodness : 0.514806 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.04 [[ 9.99997554e-01 4.26737629e-04 2.17007712e-03 1.40295614e-01] [-4.14805409e-04 9.99984811e-01 -5.49600407e-03 -1.02045588e-02] [-2.17238951e-03 5.49509047e-03 9.99982542e-01 4.17717488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622557844 meters Centerline goodness : 0.505594 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.05 [[ 0.99999421 0.0016773 0.00296219 0.1344499 ] [-0.00166311 0.99998716 -0.00478585 -0.00810849] [-0.00297018 0.00478089 0.99998416 0.04650449] [ 0. 0. 0. 1. ]] SLAMing on 4.652557844 meters Centerline goodness : 0.504486 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.05 [[ 0.99999461 0.00137545 0.0029815 0.13353659] [-0.00135773 0.99998147 -0.00593507 -0.00187412] [-0.00298961 0.00593099 0.99997794 0.04821099] [ 0. 0. 0. 1. ]] SLAMing on 4.682557844000001 meters Centerline goodness : 0.505255 Centerline is valid? [False, False] Translation: X:0.13, Y:0.00, Z:0.05 [[ 0.99999535 0.00112458 0.00283382 0.13308867] [-0.00110478 0.99997504 -0.00697841 0.00372208] [-0.0028416 0.00697525 0.99997164 0.04989979] [ 0. 0. 0. 1. ]] SLAMing on 4.712557844 meters Centerline goodness : 0.516792 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:0.06 [[ 0.99999782 0.00159493 0.00134712 0.08087259] [-0.00158505 0.99997203 -0.00730935 0.00687149] [-0.00135874 0.0073072 0.99997238 0.0599231 ] [ 0. 0. 0. 1. ]] SLAMing on 4.742557844 meters Centerline goodness : 0.499058 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:0.07 [[ 0.99999087 0.00400034 0.00150151 0.07568545] [-0.00399167 0.9999756 -0.0057332 0.01354292] [-0.00152441 0.00572715 0.99998244 0.06649542] [ 0. 0. 0. 1. ]] SLAMing on 4.7725578440000005 meters Centerline goodness : 0.496980 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:0.08 [[ 9.99983676e-01 1.62113204e-03 -5.47893542e-03 4.45021362e-02] [-1.62589037e-03 9.99998305e-01 -8.64135977e-04 1.13769866e-02] [ 5.47752526e-03 8.73030019e-04 9.99984617e-01 8.24625844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802557844000001 meters Centerline goodness : 0.514658 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.02, Z:0.09 [[ 0.99997122 0.00138468 -0.00745989 -0.0052174 ] [-0.00140138 0.99999652 -0.00223407 0.01512702] [ 0.00745677 0.00224446 0.99996968 0.08989287] [ 0. 0. 0. 1. ]] SLAMing on 4.832557844 meters Centerline goodness : 0.505389 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:0.09 [[ 0.99997018 0.00110977 -0.0076419 -0.0048421 ] [-0.00113356 0.99999452 -0.00310957 0.01951969] [ 0.00763841 0.00311814 0.99996597 0.09001939] [ 0. 0. 0. 1. ]] SLAMing on 4.862557844 meters Centerline goodness : 0.502238 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:0.09 [[ 9.99969837e-01 7.93594119e-04 -7.72632699e-03 -4.97404391e-03] [-8.24635777e-04 9.99991599e-01 -4.01529110e-03 2.41694890e-02] [ 7.72307556e-03 4.02154139e-03 9.99962090e-01 9.06095187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892557844000001 meters Centerline goodness : 0.513380 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.02, Z:0.10 [[ 0.99996041 0.00122428 -0.00881417 -0.05995822] [-0.00125819 0.99999182 -0.0038433 0.02451957] [ 0.00880939 0.00385424 0.99995377 0.10173853] [ 0. 0. 0. 1. ]] SLAMing on 4.922557844000001 meters Centerline goodness : 0.510576 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.03, Z:0.11 [[ 9.99970055e-01 9.46590740e-04 -7.68063794e-03 -7.14154380e-02] [-9.79987040e-04 9.99990078e-01 -4.34551743e-03 2.74822855e-02] [ 7.67644830e-03 4.35291423e-03 9.99961061e-01 1.12885896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.952557844 meters Centerline goodness : 0.509560 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.03, Z:0.11 [[ 9.99969447e-01 8.42026130e-04 -7.77146556e-03 -7.21722740e-02] [-8.77897692e-04 9.99988972e-01 -4.61354741e-03 2.87793142e-02] [ 7.76749513e-03 4.62022900e-03 9.99959159e-01 1.14908342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9825578440000005 meters Centerline goodness : 0.506772 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.03, Z:0.12 [[ 9.99968526e-01 7.29474388e-04 -7.90028162e-03 -7.24031637e-02] [-7.68515425e-04 9.99987504e-01 -4.93981938e-03 3.03426689e-02] [ 7.89657942e-03 4.94573539e-03 9.99956591e-01 1.16100999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012557844000001 meters Centerline goodness : 0.506555 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.03, Z:0.12 [[ 9.99968519e-01 8.06478457e-04 -7.89374281e-03 -7.35895857e-02] [-8.51541067e-04 9.99983353e-01 -5.70695421e-03 3.48857391e-02] [ 7.88900886e-03 5.71349639e-03 9.99952559e-01 1.18033503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042557844 meters Centerline goodness : 0.506755 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.03, Z:0.13 [[ 0.99995779 0.00210516 -0.00894312 -0.12707625] [-0.00215237 0.99998378 -0.00527256 0.03474362] [ 0.00893187 0.00529159 0.99994611 0.12792085] [ 0. 0. 0. 1. ]] SLAMing on 5.072557844 meters Centerline goodness : 0.507918 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.04, Z:0.13 [[ 0.99996003 0.00202996 -0.00870788 -0.12861596] [-0.00208145 0.99998038 -0.00590807 0.03816151] [ 0.00869571 0.00592596 0.99994463 0.12950673] [ 0. 0. 0. 1. ]] SLAMing on 5.102557844000001 meters Centerline goodness : 0.505174 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.04, Z:0.13 [[ 0.99996556 0.00317477 -0.00766768 -0.13415851] [-0.00321383 0.99998189 -0.00508822 0.03788254] [ 0.00765139 0.00511269 0.99995766 0.13317952] [ 0. 0. 0. 1. ]] SLAMing on 5.132557844000001 meters Centerline goodness : 0.501928 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.04, Z:0.13 [[ 0.99996611 0.00302625 -0.00765592 -0.13513322] [-0.00306934 0.99997948 -0.00562292 0.04082817] [ 0.00763874 0.00564623 0.99995488 0.13484481] [ 0. 0. 0. 1. ]] SLAMing on 5.162557844 meters Centerline goodness : 0.501883 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.04, Z:0.15 [[ 0.99996088 0.0038143 -0.00798038 -0.19018395] [-0.00385281 0.99998098 -0.00481632 0.03928906] [ 0.00796186 0.00484687 0.99995656 0.14511543] [ 0. 0. 0. 1. ]] SLAMing on 5.192557844 meters Centerline goodness : 0.502105 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.04, Z:0.15 [[ 0.99995529 0.00473823 -0.00818341 -0.19312134] [-0.00476815 0.999982 -0.00364129 0.0370077 ] [ 0.00816601 0.00368015 0.99995989 0.15034321] [ 0. 0. 0. 1. ]] SLAMing on 5.222557844000001 meters Centerline goodness : 0.494222 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.03, Z:0.14 [[ 9.99995782e-01 3.69663968e-04 -2.88082893e-03 -1.66104525e-01] [-3.68485708e-04 9.99999848e-01 4.09520322e-04 3.22333146e-02] [ 2.88097988e-03 -4.08457050e-04 9.99995767e-01 1.41713808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252557844 meters Centerline goodness : 0.521911 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.03, Z:0.15 [[ 9.99992168e-01 -7.45301277e-04 -3.88687349e-03 -2.19964934e-01] [ 7.43606664e-04 9.99999628e-01 -4.37410434e-04 2.80738742e-02] [ 3.88719805e-03 4.34516703e-04 9.99992350e-01 1.52205565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282557844 meters Centerline goodness : 0.490619 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.03, Z:0.15 [[ 9.99991543e-01 -7.05370619e-04 -4.05159548e-03 -2.20049555e-01] [ 7.03900944e-04 9.99999686e-01 -3.64154348e-04 2.77006050e-02] [ 4.05185107e-03 3.61299346e-04 9.99991726e-01 1.53337222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3125578440000005 meters Centerline goodness : 0.521775 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.03, Z:0.16 [[ 9.99986516e-01 -4.75343865e-04 -5.17118883e-03 -2.72946572e-01] [ 4.73091087e-04 9.99999793e-01 -4.36854685e-04 2.67185777e-02] [ 5.17139541e-03 4.34402351e-04 9.99986534e-01 1.62475441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342557844000001 meters Centerline goodness : 0.486582 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.03, Z:0.16 [[ 9.99985757e-01 -6.47778884e-04 -5.29776217e-03 -2.73090193e-01] [ 6.42191064e-04 9.99999236e-01 -1.05638406e-03 3.00184289e-02] [ 5.29844242e-03 1.05296683e-03 9.99985409e-01 1.63337192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.372557844 meters Centerline goodness : 0.513796 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.03, Z:0.17 [[ 9.99989252e-01 1.08697202e-03 -4.50717434e-03 -2.80005927e-01] [-1.08439824e-03 9.99999248e-01 5.73445133e-04 2.89429674e-02] [ 4.50779426e-03 -5.68551397e-04 9.99989678e-01 1.69608537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402557844 meters Centerline goodness : 0.515072 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.03, Z:0.17 [[ 9.99989166e-01 1.07553923e-03 -4.52889924e-03 -2.80918395e-01] [-1.07308978e-03 9.99999277e-01 5.43244914e-04 2.90454432e-02] [ 4.52948025e-03 -5.38379114e-04 9.99989597e-01 1.71525790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432557844000001 meters Centerline goodness : 0.511784 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.03, Z:0.17 [[ 9.99988869e-01 1.10295207e-03 -4.58754980e-03 -2.81584127e-01] [-1.10011923e-03 9.99999203e-01 6.19983797e-04 2.87262587e-02] [ 4.58822996e-03 -6.14930045e-04 9.99989285e-01 1.73238249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462557844000001 meters Centerline goodness : 0.512490 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.03, Z:0.17 [[ 9.99988191e-01 1.14383333e-03 -4.72329020e-03 -2.81955428e-01] [-1.14005393e-03 9.99999028e-01 8.02777138e-04 2.78831115e-02] [ 4.72420385e-03 -7.97382852e-04 9.99988523e-01 1.74835591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492557844 meters Centerline goodness : 0.511147 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.03, Z:0.17 [[ 0.9999727 -0.0069623 -0.00247474 -0.25644495] [ 0.00696945 0.99997153 0.0028916 0.02603413] [ 0.00245454 -0.00290876 0.99999276 0.17147385] [ 0. 0. 0. 1. ]] SLAMing on 5.5225578440000005 meters Centerline goodness : 0.510280 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.02, Z:0.17 [[ 0.99997327 -0.00685852 -0.00253375 -0.25683386] [ 0.00686822 0.99996905 0.00383763 0.02075582] [ 0.00250735 -0.00385493 0.99998943 0.17279318] [ 0. 0. 0. 1. ]] SLAMing on 5.552557844000001 meters Centerline goodness : 0.509886 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.02, Z:0.18 [[ 0.9999607 -0.0087165 -0.00161803 -0.26361882] [ 0.00872031 0.99995918 0.0023665 0.01875569] [ 0.00159734 -0.00238052 0.99999589 0.17806709] [ 0. 0. 0. 1. ]] SLAMing on 5.582557844 meters Centerline goodness : 0.510332 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.01, Z:0.18 [[ 0.99996283 -0.00845002 -0.0017162 -0.26411484] [ 0.00845552 0.99995907 0.0032203 0.01437591] [ 0.00168892 -0.00323469 0.99999334 0.17986668] [ 0. 0. 0. 1. ]] SLAMing on 5.612557844 meters Centerline goodness : 0.514174 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.01, Z:0.18 [[ 0.99996457 -0.00820666 -0.00187256 -0.26438479] [ 0.00821376 0.999959 0.00381203 0.01153266] [ 0.0018412 -0.00382728 0.99999098 0.18142303] [ 0. 0. 0. 1. ]] SLAMing on 5.642557844000001 meters Centerline goodness : 0.513613 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.01, Z:0.18 [[ 0.99996585 -0.00799852 -0.00208032 -0.26434374] [ 0.00800726 0.999959 0.00422831 0.00948782] [ 0.00204642 -0.00424482 0.9999889 0.18261551] [ 0. 0. 0. 1. ]] SLAMing on 5.672557844000001 meters Centerline goodness : 0.507829 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.00, Z:0.19 [[ 9.99997064e-01 9.91642248e-05 -2.42132649e-03 -2.92453410e-01] [-9.09357639e-05 9.99994222e-01 3.39820135e-03 -1.88629949e-03] [ 2.42164948e-03 -3.39797119e-03 9.99991295e-01 1.89896857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702557844 meters Centerline goodness : 0.509689 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.01, Z:0.20 [[ 9.99993433e-01 1.68120239e-04 -3.62007683e-03 -3.45669420e-01] [-1.56649974e-04 9.99994968e-01 3.16856474e-03 -6.86864656e-03] [ 3.62059131e-03 -3.16797685e-03 9.99988428e-01 2.00973527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7325578440000005 meters Centerline goodness : 0.506088 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.01, Z:0.20 [[ 9.99993065e-01 4.13032318e-04 -3.70135628e-03 -3.46295600e-01] [-3.99624751e-04 9.99993359e-01 3.62234674e-03 -9.17587170e-03] [ 3.70282785e-03 -3.62084247e-03 9.99986589e-01 2.02713544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762557844000001 meters Centerline goodness : 0.075590 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.01, Z:0.20 [[ 9.99992833e-01 6.10809999e-04 -3.73645114e-03 -3.47104685e-01] [-5.95738297e-04 9.99991688e-01 4.03347823e-03 -1.11444831e-02] [ 3.73888377e-03 -4.03122337e-03 9.99984885e-01 2.04553295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792557844 meters Centerline goodness : 0.066577 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.01, Z:0.21 [[ 9.99992505e-01 8.26764395e-04 -3.78232990e-03 -3.47802420e-01] [-8.09671325e-04 9.99989464e-01 4.51849213e-03 -1.35555121e-02] [ 3.78602577e-03 -4.51539582e-03 9.99982638e-01 2.06234681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822557844 meters Centerline goodness : 0.079930 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.02, Z:0.21 [[ 0.99999182 0.00110515 -0.00389053 -0.34836182] [-0.0010848 0.99998574 0.00522813 -0.01717966] [ 0.00389625 -0.00522387 0.99997876 0.20803384] [ 0. 0. 0. 1. ]] SLAMing on 5.852557844000001 meters Centerline goodness : 0.079662 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.02, Z:0.21 [[ 9.99994447e-01 -9.78747129e-04 -3.18549571e-03 -3.54836570e-01] [ 9.90870151e-04 9.99992265e-01 3.80634344e-03 -2.40460812e-02] [ 3.18174562e-03 -3.80947872e-03 9.99987682e-01 2.14056079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882557844000001 meters Centerline goodness : 0.080958 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.03, Z:0.23 [[ 9.99969575e-01 2.95136797e-03 -7.22064088e-03 -3.85430877e-01] [-2.95320671e-03 9.99995610e-01 -2.44000820e-04 -2.78643244e-02] [ 7.21988904e-03 2.65317442e-04 9.99973901e-01 2.25361239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912557844 meters Centerline goodness : 0.079240 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.03, Z:0.23 [[ 9.99966120e-01 3.25807058e-03 -7.55933908e-03 -3.84720923e-01] [-3.25345171e-03 9.99994513e-01 6.23232283e-04 -3.21755583e-02] [ 7.56132814e-03 -5.98617223e-04 9.99971234e-01 2.25941083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942557844 meters Centerline goodness : 0.086286 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.04, Z:0.23 [[ 9.99974116e-01 9.83763187e-04 -7.12737007e-03 -3.90197398e-01] [-9.91022360e-04 9.99998994e-01 -1.01503235e-03 -3.81539450e-02] [ 7.12636435e-03 1.02206946e-03 9.99974085e-01 2.31414990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.972557844000001 meters Centerline goodness : 0.080559 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.04, Z:0.23 [[ 9.99972590e-01 1.27538908e-03 -7.29335875e-03 -3.90552010e-01] [-1.27675517e-03 9.99999168e-01 -1.82653196e-04 -4.25250533e-02] [ 7.29311973e-03 1.91960023e-04 9.99973386e-01 2.33092633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002557844000001 meters Centerline goodness : 0.083595 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.04, Z:0.24 [[ 9.99977945e-01 -1.55267817e-04 -6.63964308e-03 -3.96024896e-01] [ 1.45937311e-04 9.99999001e-01 -1.40573359e-03 -4.24700124e-02] [ 6.63985472e-03 1.40473361e-03 9.99976969e-01 2.37672080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032557844 meters Centerline goodness : 0.083990 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.05, Z:0.24 [[ 9.99977087e-01 6.35502661e-05 -6.76914666e-03 -3.96264971e-01] [-6.92383999e-05 9.99999645e-01 -8.40071897e-04 -4.52626011e-02] [ 6.76909086e-03 8.40521333e-04 9.99976736e-01 2.38902591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0625578440000005 meters Centerline goodness : 0.084682 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.05, Z:0.25 [[ 9.99968730e-01 -7.65706140e-04 -7.87095470e-03 -4.48978768e-01] [ 7.62104662e-04 9.99999604e-01 -4.60554683e-04 -5.03365946e-02] [ 7.87130423e-03 4.54541791e-04 9.99968917e-01 2.48417998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092557844000001 meters Centerline goodness : 0.086037 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.05, Z:0.25 [[ 9.99966825e-01 -5.78667229e-04 -8.12494736e-03 -4.48896125e-01] [ 5.78951475e-04 9.99999832e-01 3.26323935e-05 -5.27597301e-02] [ 8.12492711e-03 -3.73352612e-05 9.99966992e-01 2.49753692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122557844 meters Centerline goodness : 0.089787 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.26 [[ 0.99996916 -0.00245388 -0.00746061 -0.4556374 ] [ 0.002442 0.99999574 -0.00160042 -0.05425789] [ 0.0074645 0.00158215 0.99997089 0.25612388] [ 0. 0. 0. 1. ]] SLAMing on 6.152557844 meters Centerline goodness : 0.085675 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.06, Z:0.26 [[ 0.99996777 -0.00231068 -0.00768921 -0.45555791] [ 0.00230108 0.99999656 -0.00125717 -0.05590847] [ 0.00769209 0.00123944 0.99996965 0.25730094] [ 0. 0. 0. 1. ]] SLAMing on 6.182557844000001 meters Centerline goodness : 0.088137 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.06, Z:0.26 [[ 9.99966695e-01 -2.18560518e-03 -7.86328184e-03 -4.55546659e-01] [ 2.17825355e-03 9.99997183e-01 -9.43374339e-04 -5.74783989e-02] [ 7.86532153e-03 9.26214699e-04 9.99968639e-01 2.58298718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212557844000001 meters Centerline goodness : 0.086436 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.06, Z:0.26 [[ 9.99965216e-01 -2.09862928e-03 -8.07237853e-03 -4.55577357e-01] [ 2.09257818e-03 9.99997523e-01 -7.57978904e-04 -5.83760925e-02] [ 8.07394925e-03 7.41060455e-04 9.99967131e-01 2.59533984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242557844 meters Centerline goodness : 0.086744 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.06, Z:0.26 [[ 9.99963862e-01 -2.04306122e-03 -8.25229590e-03 -4.55750759e-01] [ 2.03781626e-03 9.99997716e-01 -6.43935230e-04 -5.88185796e-02] [ 8.25359265e-03 6.27095297e-04 9.99965742e-01 2.60873483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2725578440000005 meters Centerline goodness : 0.088333 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.06, Z:0.26 [[ 9.99962280e-01 -1.98835148e-03 -8.45488328e-03 -4.56193140e-01] [ 1.98374174e-03 9.99997879e-01 -5.53567735e-04 -5.90419993e-02] [ 8.45596603e-03 5.36774549e-04 9.99964104e-01 2.62882177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302557844000001 meters Centerline goodness : 0.102496 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.06, Z:0.27 [[ 9.99984852e-01 -1.76092462e-03 -5.21484406e-03 -4.19435608e-01] [ 1.75783327e-03 9.99998277e-01 -5.97323040e-04 -5.86952966e-02] [ 5.21588692e-03 5.88147165e-04 9.99986224e-01 2.67465354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332557844 meters Centerline goodness : 0.093044 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.06, Z:0.27 [[ 9.99984324e-01 -1.50957003e-03 -5.39200971e-03 -4.19843448e-01] [ 1.50982443e-03 9.99998859e-01 4.31103112e-05 -6.19467705e-02] [ 5.39193848e-03 -5.12506233e-05 9.99985462e-01 2.69281901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362557844 meters Centerline goodness : 0.111074 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.07, Z:0.27 [[ 9.99983618e-01 -1.21728564e-03 -5.59295781e-03 -4.20154042e-01] [ 1.22191694e-03 9.99998913e-01 8.24717213e-04 -6.59750930e-02] [ 5.59194781e-03 -8.31537832e-04 9.99984019e-01 2.71064965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392557844000001 meters Centerline goodness : 0.111292 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.07, Z:0.27 [[ 9.99982835e-01 -9.42011249e-04 -5.78294425e-03 -4.20350962e-01] [ 9.51158007e-04 9.99998301e-01 1.57913208e-03 -6.98563783e-02] [ 5.78144687e-03 -1.58460546e-03 9.99982032e-01 2.72558666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422557844000001 meters Centerline goodness : 0.108768 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.07, Z:0.27 [[ 9.99981814e-01 -7.29019286e-04 -5.98667585e-03 -4.20538966e-01] [ 7.41744295e-04 9.99997470e-01 2.12360982e-03 -7.25765432e-02] [ 5.98511255e-03 -2.12801179e-03 9.99979825e-01 2.74106606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452557844 meters Centerline goodness : 0.121285 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.07, Z:0.28 [[ 9.99980469e-01 -6.03037053e-04 -6.22079692e-03 -4.20763353e-01] [ 6.18111323e-04 9.99996877e-01 2.42156770e-03 -7.38488564e-02] [ 6.21931719e-03 -2.42536555e-03 9.99977719e-01 2.75908201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4825578440000005 meters Centerline goodness : 0.121285 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.07, Z:0.28 [[ 9.99980469e-01 -6.03037053e-04 -6.22079692e-03 -4.20763353e-01] [ 6.18111323e-04 9.99996877e-01 2.42156770e-03 -7.38488564e-02] [ 6.21931719e-03 -2.42536555e-03 9.99977719e-01 2.75908201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512557844000001 meters Centerline goodness : 0.110562 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.07, Z:0.28 [[ 9.99980297e-01 -2.27320864e-03 -5.85128414e-03 -4.26817364e-01] [ 2.27807901e-03 9.99997064e-01 8.25828716e-04 -7.45868022e-02] [ 5.84938968e-03 -8.39142132e-04 9.99982540e-01 2.82642545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542557844000001 meters Centerline goodness : 0.136453 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.08, Z:0.28 [[ 0.99998637 0.00427186 -0.00300152 -0.40703502] [-0.0042794 0.9999877 -0.00250906 -0.07804244] [ 0.00299076 0.00252187 0.99999235 0.28190875] [ 0. 0. 0. 1. ]] SLAMing on 6.572557844 meters Centerline goodness : 0.134137 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.08, Z:0.28 [[ 0.99998448 0.00456663 -0.00319207 -0.40723144] [-0.00457244 0.9999879 -0.00181512 -0.08164963] [ 0.00318375 0.00182969 0.99999326 0.28333365] [ 0. 0. 0. 1. ]] SLAMing on 6.602557844000001 meters Centerline goodness : 0.133185 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.09, Z:0.29 [[ 9.99980402e-01 5.07676126e-03 -3.66368525e-03 -4.07292424e-01] [-5.07904744e-03 9.99986912e-01 -6.14975823e-04 -8.83837540e-02] [ 3.66051521e-03 6.33571801e-04 9.99993100e-01 2.85667839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632557844000001 meters Centerline goodness : 0.132288 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.09, Z:0.29 [[ 9.99978173e-01 5.33812832e-03 -3.89332436e-03 -4.07154503e-01] [-5.33814514e-03 9.99985752e-01 6.07234643e-06 -9.14629149e-02] [ 3.89330130e-03 1.47109166e-05 9.99992421e-01 2.86683478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662557844 meters Centerline goodness : 0.134881 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.09, Z:0.29 [[ 9.99975901e-01 5.56522344e-03 -4.15030862e-03 -4.07095860e-01] [-5.56313420e-03 9.99984393e-01 5.14768674e-04 -9.39858023e-02] [ 4.15310865e-03 -4.91667545e-04 9.99991255e-01 2.88052939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692557844 meters Centerline goodness : 0.137307 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.10, Z:0.30 [[ 9.99966536e-01 4.78490651e-03 -6.63565752e-03 -4.63425348e-01] [-4.77970336e-03 9.99988257e-01 7.99756904e-04 -9.95545807e-02] [ 6.63940636e-03 -7.68013666e-04 9.99977664e-01 3.01947837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722557844000001 meters Centerline goodness : 0.134339 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.10, Z:0.30 [[ 0.99996444 0.00499064 -0.00679763 -0.46402701] [-0.00498244 0.99998684 0.00122244 -0.10165366] [ 0.00680364 -0.00118853 0.99997615 0.30401205] [ 0. 0. 0. 1. ]] SLAMing on 6.752557844000001 meters Centerline goodness : 0.134434 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.10, Z:0.31 [[ 9.99972260e-01 3.71842806e-03 -6.45380598e-03 -4.70471975e-01] [-3.71967329e-03 9.99993066e-01 -1.80952987e-04 -1.02520225e-01] [ 6.45308837e-03 2.04954017e-04 9.99979158e-01 3.11424082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782557844 meters Centerline goodness : 0.137873 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.10, Z:0.31 [[ 9.99970841e-01 3.84544026e-03 -6.59777356e-03 -4.70727265e-01] [-3.84514380e-03 9.99992606e-01 5.76175303e-05 -1.03731752e-01] [ 6.59794634e-03 -3.22464621e-05 9.99978233e-01 3.12709704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8125578440000005 meters Centerline goodness : 0.141129 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.11, Z:0.31 [[ 9.99969089e-01 3.98671006e-03 -6.77692544e-03 -4.70580384e-01] [-3.98427653e-03 9.99991993e-01 3.72552122e-04 -1.05375605e-01] [ 6.77835643e-03 -3.45539462e-04 9.99976967e-01 3.13355156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842557844000001 meters Centerline goodness : 0.092337 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.11, Z:0.31 [[ 9.99966669e-01 4.19728922e-03 -7.00309104e-03 -4.70253377e-01] [-4.19130008e-03 9.99990838e-01 8.69671700e-04 -1.07935783e-01] [ 7.00667714e-03 -8.40290657e-04 9.99975100e-01 3.13990933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872557844 meters Centerline goodness : 0.139807 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.11, Z:0.31 [[ 0.99996435 0.00440179 -0.00720523 -0.4701862 ] [-0.00439192 0.9999894 0.00138494 -0.11060087] [ 0.00721125 -0.00135325 0.99997308 0.31496561] [ 0. 0. 0. 1. ]] SLAMing on 6.902557844 meters Centerline goodness : 0.137525 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.12, Z:0.33 [[ 0.99995387 0.00298187 -0.00913024 -0.52457731] [-0.00296688 0.99999423 0.00165481 -0.11608083] [ 0.00913512 -0.00162764 0.99995695 0.32652785] [ 0. 0. 0. 1. ]] SLAMing on 6.932557844000001 meters Centerline goodness : 0.145171 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.12, Z:0.33 [[ 0.99994894 0.00340337 -0.00951544 -0.52546768] [-0.00337622 0.99999019 0.00286835 -0.12204695] [ 0.00952511 -0.00283608 0.99995061 0.33016192] [ 0. 0. 0. 1. ]] SLAMing on 6.962557844000001 meters Centerline goodness : 0.144676 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.12, Z:0.33 [[ 0.99996057 0.00158973 -0.00873721 -0.53128094] [-0.00157886 0.99999797 0.0012513 -0.12226643] [ 0.00873918 -0.00123746 0.99996105 0.33451747] [ 0. 0. 0. 1. ]] SLAMing on 6.992557844 meters Centerline goodness : 0.145241 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.13, Z:0.34 [[ 0.99995761 0.00185501 -0.00901916 -0.53111501] [-0.00183718 0.99999634 0.00198576 -0.12605747] [ 0.00902281 -0.00196911 0.99995735 0.33579137] [ 0. 0. 0. 1. ]] SLAMing on 7.0225578440000005 meters Centerline goodness : 0.142653 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.13, Z:0.34 [[ 0.99995453 0.00205046 -0.00931312 -0.53117031] [-0.00202706 0.99999477 0.00252172 -0.12879449] [ 0.00931824 -0.00250273 0.99995345 0.3375751 ] [ 0. 0. 0. 1. ]] SLAMing on 7.052557844000001 meters Centerline goodness : 0.143243 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.13, Z:0.34 [[ 0.99995251 0.0022089 -0.00949158 -0.53179922] [-0.0021815 0.99999343 0.00289575 -0.13054528] [ 0.00949792 -0.00287491 0.99995076 0.33975296] [ 0. 0. 0. 1. ]] SLAMing on 7.082557844000001 meters Centerline goodness : 0.142261 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.13, Z:0.35 [[ 0.99995489 0.00114668 -0.00942895 -0.536771 ] [-0.00112931 0.99999766 0.00184687 -0.12944297] [ 0.00943105 -0.00183614 0.99995384 0.34642739] [ 0. 0. 0. 1. ]] SLAMing on 7.112557844 meters Centerline goodness : 0.143915 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.13, Z:0.35 [[ 0.99995258 0.00123582 -0.00965971 -0.53691311] [-0.0012161 0.99999716 0.00204722 -0.1303626 ] [ 0.00966222 -0.00203538 0.99995125 0.3480301 ] [ 0. 0. 0. 1. ]] SLAMing on 7.142557844000001 meters Centerline goodness : 0.143269 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.13, Z:0.35 [[ 0.99995082 0.00135002 -0.00982546 -0.53711382] [-0.00132717 0.9999964 0.00233097 -0.13177156] [ 0.00982857 -0.00231782 0.99994901 0.34933108] [ 0. 0. 0. 1. ]] SLAMing on 7.172557844000001 meters Centerline goodness : 0.165309 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.13, Z:0.35 [[ 0.99994896 0.00149566 -0.00999174 -0.53749401] [-0.00146907 0.99999536 0.00266828 -0.13340479] [ 0.00999568 -0.00265346 0.99994652 0.35098309] [ 0. 0. 0. 1. ]] SLAMing on 7.202557844 meters Centerline goodness : 0.145536 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.14, Z:0.37 [[ 9.99932387e-01 3.29640124e-04 -1.16237629e-02 -5.95998147e-01] [-2.89425085e-04 9.99993968e-01 3.46123877e-03 -1.40679689e-01] [ 1.16248338e-02 -3.45764054e-03 9.99926451e-01 3.66861260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2325578440000005 meters Centerline goodness : 0.168459 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.14, Z:0.37 [[ 9.99929060e-01 7.36024183e-03 -9.36495687e-03 -5.75216080e-01] [-7.35580013e-03 9.99972816e-01 5.08644929e-04 -1.42998168e-01] [ 9.36844604e-03 -4.39722095e-04 9.99956018e-01 3.65865098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262557844000001 meters Centerline goodness : 0.149452 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.14, Z:0.37 [[ 9.99926115e-01 7.48154113e-03 -9.58080989e-03 -5.75067051e-01] [-7.47418295e-03 9.99971745e-01 8.03587746e-04 -1.44446052e-01] [ 9.58655126e-03 -7.31919647e-04 9.99953780e-01 3.66769878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292557844000001 meters Centerline goodness : 0.146547 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.15, Z:0.37 [[ 0.99992239 0.00760482 -0.00986855 -0.57468302] [-0.00759443 0.99997057 0.00109027 -0.14592104] [ 0.00987655 -0.00101524 0.99995071 0.36758652] [ 0. 0. 0. 1. ]] SLAMing on 7.322557844 meters Centerline goodness : 0.147434 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.15, Z:0.38 [[ 0.99985614 0.00391812 -0.01650272 -0.60630457] [-0.00382889 0.9999779 0.00543559 -0.15401172] [ 0.01652366 -0.00537162 0.99984905 0.38356721] [ 0. 0. 0. 1. ]] SLAMing on 7.352557844000001 meters Centerline goodness : 0.145164 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.15, Z:0.38 [[ 9.99902952e-01 7.89337386e-03 -1.14795681e-02 -5.78967791e-01] [-7.88433716e-03 9.99968572e-01 8.32242860e-04 -1.49002823e-01] [ 1.14857765e-02 -7.41653308e-04 9.99933761e-01 3.76240095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382557844000001 meters Centerline goodness : 0.147576 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.15, Z:0.38 [[ 9.99900373e-01 8.01012015e-03 -1.16224576e-02 -5.79680804e-01] [-7.99825892e-03 9.99967445e-01 1.06666731e-03 -1.49953773e-01] [ 1.16306234e-02 -9.73601621e-04 9.99931888e-01 3.78374362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412557844 meters Centerline goodness : 0.125553 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.15, Z:0.38 [[ 0.99989762 0.00813105 -0.01177477 -0.580289 ] [-0.00811566 0.99996615 0.00135457 -0.15130613] [ 0.01178538 -0.00125887 0.99992976 0.38037763] [ 0. 0. 0. 1. ]] SLAMing on 7.442557844 meters Centerline goodness : 0.147457 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.15, Z:0.38 [[ 0.99989438 0.00826529 -0.01195469 -0.58076806] [-0.00824577 0.99996459 0.00168099 -0.15288272] [ 0.01196816 -0.00158224 0.99992713 0.38226854] [ 0. 0. 0. 1. ]] SLAMing on 7.472557844000001 meters Centerline goodness : 0.134345 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.16, Z:0.38 [[ 0.99989036 0.00845098 -0.01215957 -0.58106407] [-0.00842554 0.99996221 0.00214228 -0.15517517] [ 0.01217722 -0.00203959 0.99992377 0.38396339] [ 0. 0. 0. 1. ]] SLAMing on 7.502557844000001 meters Centerline goodness : 0.149180 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.16, Z:0.39 [[ 9.99913125e-01 6.24191501e-03 -1.16095602e-02 -5.87120046e-01] [-6.24056808e-03 9.99980516e-01 1.52242151e-04 -1.57427260e-01] [ 1.16102843e-02 -7.97786740e-05 9.99932595e-01 3.89659629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532557844 meters Centerline goodness : 0.129133 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.16, Z:0.39 [[ 9.99908544e-01 6.39477263e-03 -1.19168207e-02 -5.86992241e-01] [-6.38847762e-03 9.99979433e-01 5.66237148e-04 -1.59416237e-01] [ 1.19201965e-02 -4.90055020e-04 9.99928832e-01 3.91069456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5625578440000005 meters Centerline goodness : 0.131196 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.16, Z:0.39 [[ 0.99990361 0.0066305 -0.01219847 -0.58697592] [-0.00661689 0.99997744 0.00115599 -0.16230693] [ 0.01220586 -0.00107516 0.99992493 0.39259397] [ 0. 0. 0. 1. ]] SLAMing on 7.592557844000001 meters Centerline goodness : 0.131263 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.16, Z:0.40 [[ 0.99992549 0.00421695 -0.01145575 -0.59280538] [-0.00423125 0.9999903 -0.00122406 -0.16348435] [ 0.01145048 0.00127244 0.99993363 0.39692681] [ 0. 0. 0. 1. ]] SLAMing on 7.622557844000001 meters Centerline goodness : 0.127046 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.17, Z:0.40 [[ 9.99921169e-01 4.46791701e-03 -1.17342811e-02 -5.93066287e-01] [-4.47479354e-03 9.99989831e-01 -5.59830711e-04 -1.66846511e-01] [ 1.17316605e-02 6.12295065e-04 9.99930994e-01 3.98888575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652557844 meters Centerline goodness : 0.129042 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.16, Z:0.40 [[ 0.99992984 -0.0026845 -0.01153687 -0.57388968] [ 0.00269797 0.9999957 0.00115232 -0.16377802] [ 0.01153373 -0.00118336 0.99993278 0.40149211] [ 0. 0. 0. 1. ]] SLAMing on 7.682557844000001 meters Centerline goodness : 0.125645 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.17, Z:0.41 [[ 9.99930116e-01 -4.80557601e-03 -1.08013699e-02 -5.80707338e-01] [ 4.80186885e-03 9.99988403e-01 -3.69120670e-04 -1.68279634e-01] [ 1.08030184e-02 3.17228113e-04 9.99941595e-01 4.07898085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.712557844000001 meters Centerline goodness : 0.127887 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.17, Z:0.41 [[ 0.99992651 -0.00704676 -0.00986479 -0.58724784] [ 0.00702495 0.99997281 -0.00224339 -0.17141505] [ 0.00988033 0.00217393 0.99994883 0.41290568] [ 0. 0. 0. 1. ]] SLAMing on 7.742557844 meters Centerline goodness : 0.131163 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.18, Z:0.42 [[ 0.99992555 -0.00672517 -0.01018176 -0.58772044] [ 0.00671286 0.9999767 -0.00124282 -0.17691174] [ 0.01018988 0.00117437 0.99994739 0.41539614] [ 0. 0. 0. 1. ]] SLAMing on 7.7725578440000005 meters Centerline goodness : 0.159346 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.19, Z:0.42 [[ 9.99981647e-01 5.67449385e-04 -6.03195641e-03 -5.72942143e-01] [-5.87882318e-04 9.99994094e-01 -3.38621391e-03 -1.85120918e-01] [ 6.02999928e-03 3.38969784e-03 9.99976074e-01 4.19125436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802557844000001 meters Centerline goodness : 0.125678 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.19, Z:0.42 [[ 9.99980804e-01 7.31612578e-04 -6.15267707e-03 -5.73582830e-01] [-7.50566523e-04 9.99994979e-01 -3.07885673e-03 -1.86403320e-01] [ 6.15039364e-03 3.08341562e-03 9.99976332e-01 4.21036501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832557844000001 meters Centerline goodness : 0.143731 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.19, Z:0.42 [[ 9.99979386e-01 8.23171742e-04 -6.36783967e-03 -5.73676990e-01] [-8.42351947e-04 9.99995115e-01 -3.00994730e-03 -1.86621731e-01] [ 6.36533087e-03 3.01524921e-03 9.99975195e-01 4.22391377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862557844 meters Centerline goodness : 0.142902 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.19, Z:0.43 [[ 9.99959526e-01 6.30634741e-04 -8.97486604e-03 -6.25463920e-01] [-6.47784644e-04 9.99997970e-01 -1.90810265e-03 -1.90959996e-01] [ 8.97364450e-03 1.91383920e-03 9.99957905e-01 4.33095824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892557844000001 meters Centerline goodness : 0.142876 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.19, Z:0.43 [[ 9.99956712e-01 7.05681202e-04 -9.27767383e-03 -6.25193389e-01] [-7.25688855e-04 9.99997418e-01 -2.15334807e-03 -1.89390748e-01] [ 9.27613030e-03 2.15998756e-03 9.99954643e-01 4.34011618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922557844000001 meters Centerline goodness : 0.139261 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.19, Z:0.44 [[ 9.99956535e-01 8.27909689e-04 -9.28665013e-03 -6.25875931e-01] [-8.50524742e-04 9.99996682e-01 -2.43153691e-03 -1.87270808e-01] [ 9.28460622e-03 2.43932975e-03 9.99953922e-01 4.35105840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.952557844000001 meters Centerline goodness : 0.143599 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.19, Z:0.44 [[ 9.99956577e-01 2.76460904e-03 -8.89945780e-03 -6.32159317e-01] [-2.76879508e-03 9.99996062e-01 -4.58083914e-04 -1.88344323e-01] [ 8.89815633e-03 4.82704798e-04 9.99960294e-01 4.42082853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9825578440000005 meters Centerline goodness : 0.139322 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.19, Z:0.44 [[ 9.99954198e-01 2.86931445e-03 -9.13067296e-03 -6.32752590e-01] [-2.87162932e-03 9.99995848e-01 -2.40425753e-04 -1.89408374e-01] [ 9.12994519e-03 2.66634649e-04 9.99958286e-01 4.44348453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012557844 meters Centerline goodness : 0.147631 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.19, Z:0.45 [[ 0.99996246 0.00125267 -0.00857431 -0.63813408] [-0.00126774 0.99999766 -0.0017529 -0.18913329] [ 0.00857209 0.0017637 0.9999617 0.44920242] [ 0. 0. 0. 1. ]] SLAMing on 8.042557844000001 meters Centerline goodness : 0.159459 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.19, Z:0.45 [[ 0.99995977 0.00145704 -0.0088505 -0.63842534] [-0.00146784 0.99999819 -0.00121393 -0.19172615] [ 0.00884871 0.00122687 0.9999601 0.45120442] [ 0. 0. 0. 1. ]] SLAMing on 8.072557844 meters Centerline goodness : 0.147201 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.19, Z:0.45 [[ 9.99953648e-01 -5.73013000e-03 -7.73740082e-03 -6.19100851e-01] [ 5.73605910e-03 9.99983272e-01 7.44316526e-04 -1.88312777e-01] [ 7.73300636e-03 -7.88664213e-04 9.99969789e-01 4.54293828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102557844000001 meters Centerline goodness : 0.147474 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.19, Z:0.46 [[ 0.9999525 -0.00558249 -0.00799007 -0.61957828] [ 0.00559173 0.99998372 0.00113518 -0.19019278] [ 0.0079836 -0.0011798 0.99996743 0.45651725] [ 0. 0. 0. 1. ]] SLAMing on 8.132557844 meters Centerline goodness : 0.148698 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.19, Z:0.46 [[ 0.99995097 -0.00542021 -0.00828773 -0.62016173] [ 0.00543345 0.999984 0.00157617 -0.19248274] [ 0.00827906 -0.00162112 0.99996441 0.4590931 ] [ 0. 0. 0. 1. ]] SLAMing on 8.162557844 meters Centerline goodness : 0.152480 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.47 [[ 9.99977856e-01 -2.10709600e-04 -6.65160895e-03 -6.48606586e-01] [ 2.09930253e-04 9.99999971e-01 -1.17864657e-04 -1.99531389e-01] [ 6.65163359e-03 1.16465673e-04 9.99977871e-01 4.65124054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.192557844000001 meters Centerline goodness : 0.151932 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.47 [[ 9.99975742e-01 -1.78264200e-04 -6.96297600e-03 -6.48567784e-01] [ 1.78188849e-04 9.99999984e-01 -1.14420681e-05 -1.99916832e-01] [ 6.96297793e-03 1.02010659e-05 9.99975758e-01 4.66620813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222557844 meters Centerline goodness : 0.154172 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.47 [[ 9.99973530e-01 -1.69936820e-04 -7.27390442e-03 -6.48165747e-01] [ 1.70132618e-04 9.99999985e-01 2.62991290e-05 -1.99941472e-01] [ 7.27389984e-03 -2.75359613e-05 9.99973544e-01 4.67428917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252557844 meters Centerline goodness : 0.152569 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.47 [[ 9.99967896e-01 -1.41888089e-04 -8.01163906e-03 -6.47282949e-01] [ 1.43822813e-04 9.99999961e-01 2.40913503e-04 -2.01136585e-01] [ 8.01160457e-03 -2.42058025e-04 9.99967877e-01 4.69377975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282557844000001 meters Centerline goodness : 0.155007 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.47 [[ 9.99966198e-01 -1.28023296e-04 -8.22114035e-03 -6.47774276e-01] [ 1.30555043e-04 9.99999944e-01 3.07419784e-04 -2.01305963e-01] [ 8.22110053e-03 -3.08482704e-04 9.99966159e-01 4.71379123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312557844 meters Centerline goodness : 0.147748 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.47 [[ 9.99964967e-01 -1.08090371e-04 -8.36976654e-03 -6.48668431e-01] [ 1.10757438e-04 9.99999943e-01 3.18191978e-04 -2.00955102e-01] [ 8.36973167e-03 -3.19107844e-04 9.99964922e-01 4.73713275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342557844 meters Centerline goodness : 0.156787 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.48 [[ 9.99963784e-01 -9.14422820e-05 -8.51011751e-03 -6.49622593e-01] [ 9.44384068e-05 9.99999934e-01 3.51665030e-04 -2.00686145e-01] [ 8.51008479e-03 -3.52455976e-04 9.99963726e-01 4.76192738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372557844000001 meters Centerline goodness : 0.155930 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.20, Z:0.48 [[ 0.99996712 -0.00246036 -0.00772687 -0.65684767] [ 0.0024466 0.99999541 -0.00178992 -0.2006042 ] [ 0.00773124 0.00177095 0.99996855 0.48305364] [ 0. 0. 0. 1. ]] SLAMing on 8.402557844 meters Centerline goodness : 0.155930 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.20, Z:0.48 [[ 0.99996712 -0.00246036 -0.00772687 -0.65684767] [ 0.0024466 0.99999541 -0.00178992 -0.2006042 ] [ 0.00773124 0.00177095 0.99996855 0.48305364] [ 0. 0. 0. 1. ]] SLAMing on 8.432557844000002 meters Centerline goodness : 0.148401 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.20, Z:0.48 [[ 0.99996468 -0.00237606 -0.0080616 -0.65691187] [ 0.00236561 0.99999635 -0.00130647 -0.20304295] [ 0.00806468 0.00128736 0.99996665 0.48485747] [ 0. 0. 0. 1. ]] SLAMing on 8.462557844 meters Centerline goodness : 0.152002 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.21, Z:0.49 [[ 9.99961549e-01 -2.27032428e-03 -8.47026310e-03 -6.56660539e-01] [ 2.26358100e-03 9.99997114e-01 -8.05613283e-04 -2.05390793e-01] [ 8.47206765e-03 7.86409180e-04 9.99963802e-01 4.86458090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492557844 meters Centerline goodness : 0.147802 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.21, Z:0.49 [[ 9.99957666e-01 -2.18496742e-03 -8.93821864e-03 -6.56339125e-01] [ 2.18221762e-03 9.99997569e-01 -3.17385510e-04 -2.07656434e-01] [ 8.93889038e-03 2.97866935e-04 9.99960003e-01 4.88209068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522557844000001 meters Centerline goodness : 0.160068 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.21, Z:0.50 [[ 9.99936299e-01 -4.64101182e-03 -1.02888263e-02 -7.11643332e-01] [ 4.64171268e-03 9.99989226e-01 4.42399414e-05 -2.13422413e-01] [ 1.02885101e-02 -9.19948989e-05 9.99947068e-01 5.00536647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552557844 meters Centerline goodness : 0.164729 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.22, Z:0.51 [[ 0.99992076 -0.00723014 -0.01030557 -0.71704428] [ 0.00721387 0.99997268 -0.00161479 -0.21912192] [ 0.01031696 0.00154031 0.99994559 0.50844283] [ 0. 0. 0. 1. ]] SLAMing on 8.582557844 meters Centerline goodness : 0.152479 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.23, Z:0.51 [[ 9.99963901e-01 4.27022182e-04 -8.48616865e-03 -6.99764001e-01] [-4.53238535e-04 9.99995131e-01 -3.08762083e-03 -2.27339090e-01] [ 8.48480884e-03 3.09135563e-03 9.99959225e-01 5.09982872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612557844000001 meters Centerline goodness : 0.148626 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.23, Z:0.51 [[ 9.99961228e-01 7.23675325e-04 -8.77600075e-03 -6.99908493e-01] [-7.43232528e-04 9.99997248e-01 -2.22543037e-03 -2.31283682e-01] [ 8.77436611e-03 2.23186669e-03 9.99959014e-01 5.11718306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642557844 meters Centerline goodness : 0.150887 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.23, Z:0.51 [[ 9.99958869e-01 9.94404799e-04 -9.01506479e-03 -6.99935793e-01] [-1.00777631e-03 9.99998399e-01 -1.47881991e-03 -2.34780846e-01] [ 9.01357981e-03 1.48784426e-03 9.99958270e-01 5.13007972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.672557844 meters Centerline goodness : 0.152258 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.24, Z:0.52 [[ 0.99996136 -0.00151947 -0.00865802 -0.70496509] [ 0.00149089 0.99999342 -0.00330674 -0.24090029] [ 0.00866299 0.0032937 0.99995705 0.5186476 ] [ 0. 0. 0. 1. ]] SLAMing on 8.702557844000001 meters Centerline goodness : 0.151246 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.24, Z:0.52 [[ 0.99995863 -0.00127486 -0.0090061 -0.70508764] [ 0.00125114 0.99999573 -0.00263975 -0.2444373 ] [ 0.00900943 0.00262837 0.99995596 0.52050643] [ 0. 0. 0. 1. ]] SLAMing on 8.732557844 meters Centerline goodness : 0.167128 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.25, Z:0.52 [[ 0.99995629 -0.00103954 -0.00929153 -0.70518128] [ 0.00102015 0.99999729 -0.0020918 -0.2468703 ] [ 0.00929368 0.00208223 0.99995464 0.52208113] [ 0. 0. 0. 1. ]] SLAMing on 8.762557844000002 meters Centerline goodness : 0.099217 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.25, Z:0.53 [[ 9.99952672e-01 -5.86994305e-04 -9.71127880e-03 -7.05817661e-01] [ 5.75807933e-04 9.99999168e-01 -1.15465067e-03 -2.50891873e-01] [ 9.71194849e-03 1.14900419e-03 9.99952178e-01 5.25202836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792557844000001 meters Centerline goodness : 0.118367 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.25, Z:0.53 [[ 9.99950391e-01 -3.94615849e-04 -9.95287560e-03 -7.05970703e-01] [ 3.87917666e-04 9.99999697e-01 -6.74911254e-04 -2.53316120e-01] [ 9.95313891e-03 6.71016877e-04 9.99950241e-01 5.26749177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822557844 meters Centerline goodness : 0.142151 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.26, Z:0.53 [[ 9.99947879e-01 -1.70708460e-04 -1.02083005e-02 -7.06337032e-01] [ 1.69766771e-04 9.99999981e-01 -9.31138477e-05 -2.56399098e-01] [ 1.02083162e-02 9.13759643e-05 9.99947890e-01 5.28592865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852557844000001 meters Centerline goodness : 0.155175 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.26, Z:0.53 [[ 9.99945251e-01 6.00068907e-05 -1.04638434e-02 -7.06879471e-01] [-5.49112191e-05 9.99999880e-01 4.87265585e-04 -2.59246419e-01] [ 1.04638713e-02 -4.86664325e-04 9.99945134e-01 5.30814405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882557844 meters Centerline goodness : 0.151459 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.26, Z:0.53 [[ 9.99943260e-01 2.63881143e-04 -1.06492612e-02 -7.07480134e-01] [-2.53487333e-04 9.99999490e-01 9.77350220e-04 -2.61387300e-01] [ 1.06495137e-02 -9.74595313e-04 9.99942817e-01 5.32835943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912557844 meters Centerline goodness : 0.161497 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.26, Z:0.53 [[ 9.99959636e-01 1.43180209e-03 -8.86999314e-03 -6.62397276e-01] [-1.42746851e-03 9.99998859e-01 4.94877406e-04 -2.61206604e-01] [ 8.87069158e-03 -4.82195795e-04 9.99960538e-01 5.29992161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942557844000001 meters Centerline goodness : 0.081287 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.27, Z:0.54 [[ 0.99994025 -0.00110237 -0.01087539 -0.71880368] [ 0.00111747 0.99999842 0.0013825 -0.26940589] [ 0.01087385 -0.00139457 0.99993991 0.54460644] [ 0. 0. 0. 1. ]] SLAMing on 8.972557844 meters Centerline goodness : 0.186143 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.27, Z:0.54 [[ 9.99956246e-01 -1.36177218e-04 -9.35343707e-03 -6.74487336e-01] [ 1.43850642e-04 9.99999654e-01 8.19717611e-04 -2.69996817e-01] [ 9.35332220e-03 -8.21027244e-04 9.99955920e-01 5.42410446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002557844 meters Centerline goodness : 0.154952 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.27, Z:0.54 [[ 9.99953991e-01 1.18452095e-04 -9.59172366e-03 -6.74997616e-01] [-1.04266046e-04 9.99998900e-01 1.47947505e-03 -2.72928616e-01] [ 9.59188836e-03 -1.47840689e-03 9.99952904e-01 5.44524238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.032557844000001 meters Centerline goodness : 0.148734 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.27, Z:0.55 [[ 9.99961676e-01 -1.70251451e-03 -8.58762001e-03 -6.81155078e-01] [ 1.70127999e-03 9.99998541e-01 -1.51058740e-04 -2.73128562e-01] [ 8.58786466e-03 1.36443005e-04 9.99963114e-01 5.49078038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062557844 meters Centerline goodness : 0.124809 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.28, Z:0.55 [[ 9.99959967e-01 -1.51791355e-03 -8.81817620e-03 -6.81745064e-01] [ 1.52223434e-03 9.99998725e-01 4.83296237e-04 -2.76399194e-01] [ 8.81743135e-03 -4.96700220e-04 9.99961002e-01 5.51252467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092557844 meters Centerline goodness : 0.147451 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.28, Z:0.56 [[ 0.99995587 -0.00405583 -0.00847366 -0.68722419] [ 0.00404321 0.99999069 -0.00150618 -0.28022908] [ 0.00847969 0.00147185 0.99996296 0.55752524] [ 0. 0. 0. 1. ]] SLAMing on 9.122557844000001 meters Centerline goodness : 0.162023 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.28, Z:0.56 [[ 9.99954590e-01 -3.83778712e-03 -8.72288898e-03 -6.87818266e-01] [ 3.82988321e-03 9.99992240e-01 -9.22635485e-04 -2.82751979e-01] [ 8.72636217e-03 8.89185942e-04 9.99961529e-01 5.59735862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152557844 meters Centerline goodness : 0.138782 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.29, Z:0.56 [[ 9.99953692e-01 -3.60178324e-03 -8.92412557e-03 -6.88553461e-01] [ 3.59906585e-03 9.99993472e-01 -3.20540743e-04 -2.85212357e-01] [ 8.92522183e-03 2.88407384e-04 9.99960128e-01 5.61896267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182557844000002 meters Centerline goodness : 0.247730 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.29, Z:0.56 [[ 9.99952101e-01 -3.42089565e-03 -9.17018971e-03 -6.89144055e-01] [ 3.42310980e-03 9.99994116e-01 2.25765677e-04 -2.87626192e-01] [ 9.16936343e-03 -2.57145429e-04 9.99957927e-01 5.64105157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212557844 meters Centerline goodness : 0.081255 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.29, Z:0.57 [[ 0.99994918 -0.00564276 -0.00835429 -0.69582999] [ 0.005629 0.99998276 -0.00166962 -0.28932769] [ 0.00836357 0.00162251 0.99996371 0.57017594] [ 0. 0. 0. 1. ]] SLAMing on 9.242557844 meters Centerline goodness : 0.159400 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.29, Z:0.57 [[ 0.99995041 -0.00592515 -0.00800465 -0.69809395] [ 0.00590998 0.9999807 -0.00191733 -0.28974827] [ 0.00801585 0.00186993 0.99996612 0.57260998] [ 0. 0. 0. 1. ]] SLAMing on 9.272557844000001 meters Centerline goodness : 0.116583 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.29, Z:0.57 [[ 0.9999497 -0.00575162 -0.00821716 -0.6988296 ] [ 0.00573958 0.99998242 -0.00148781 -0.29166981] [ 0.00822557 0.00144057 0.99996513 0.57489645] [ 0. 0. 0. 1. ]] SLAMing on 9.302557844 meters Centerline goodness : 0.151019 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.30, Z:0.58 [[ 0.99997579 0.00238905 -0.00653563 -0.6811867 ] [-0.00240997 0.99999199 -0.00319425 -0.29713607] [ 0.00652794 0.00320992 0.99997354 0.57584335] [ 0. 0. 0. 1. ]] SLAMing on 9.332557844 meters Centerline goodness : 0.229777 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.30, Z:0.58 [[ 0.99997695 0.00223671 -0.00641106 -0.68264013] [-0.00225822 0.99999184 -0.00335053 -0.29728715] [ 0.00640352 0.00336493 0.99997384 0.57777657] [ 0. 0. 0. 1. ]] SLAMing on 9.362557844000001 meters Centerline goodness : 0.247180 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.30, Z:0.58 [[ 0.9999758 0.0023673 -0.00654192 -0.68319861] [-0.00238708 0.9999926 -0.00301665 -0.29851875] [ 0.00653473 0.0030322 0.99997405 0.57932702] [ 0. 0. 0. 1. ]] SLAMing on 9.392557844 meters Centerline goodness : 0.243737 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.30, Z:0.58 [[ 9.99997140e-01 3.03502656e-04 -2.37211113e-03 -6.55227260e-01] [-3.08960803e-04 9.99997305e-01 -2.30093844e-03 -3.01548336e-01] [ 2.37140640e-03 2.30166475e-03 9.99994539e-01 5.81205210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422557844 meters Centerline goodness : 0.106081 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.30, Z:0.58 [[ 9.99998301e-01 -2.81954347e-04 -1.82150382e-03 -6.58530579e-01] [ 2.75997971e-04 9.99994617e-01 -3.26945602e-03 -3.00045788e-01] [ 1.82241585e-03 3.26894774e-03 9.99992996e-01 5.84951721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452557844000001 meters Centerline goodness : 0.231577 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.30, Z:0.59 [[ 9.99998137e-01 -2.28566600e-04 -1.91647718e-03 -6.59489158e-01] [ 2.22479038e-04 9.99994932e-01 -3.17604508e-03 -3.00160569e-01] [ 1.91719341e-03 3.17561279e-03 9.99993120e-01 5.87129839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482557844 meters Centerline goodness : 0.243932 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.29, Z:0.59 [[ 0.99997154 -0.00743115 -0.00130075 -0.64007533] [ 0.00742826 0.99996996 -0.0022123 -0.29444482] [ 0.00131715 0.00220258 0.99999671 0.588697 ] [ 0. 0. 0. 1. ]] SLAMing on 9.512557844000002 meters Centerline goodness : 0.242056 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.29, Z:0.59 [[ 9.99969095e-01 -7.79824798e-03 -9.97745930e-04 -6.43258606e-01] [ 7.79529921e-03 9.99965335e-01 -2.92595957e-03 -2.93497837e-01] [ 1.02052870e-03 2.91809141e-03 9.99995222e-01 5.93142648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542557844000001 meters Centerline goodness : 0.241447 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:0.60 [[ 9.99967012e-01 -8.08680202e-03 -7.60159532e-04 -6.45099424e-01] [ 8.08433167e-03 9.99962206e-01 -3.19853790e-03 -2.93592895e-01] [ 7.85996745e-04 3.19228701e-03 9.99994596e-01 5.95259952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572557844 meters Centerline goodness : 0.169562 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:0.60 [[ 9.99964696e-01 -8.39452851e-03 -3.72161757e-04 -6.47299528e-01] [ 8.39314053e-03 9.99958347e-01 -3.58614493e-03 -2.93163352e-01] [ 4.02250251e-04 3.58289472e-03 9.99993501e-01 5.97452926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602557844000001 meters Centerline goodness : 0.240905 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:0.60 [[ 9.99960756e-01 -8.85359706e-03 -3.17320093e-04 -6.49461489e-01] [ 8.85195608e-03 9.99949081e-01 -4.84543542e-03 -2.90385497e-01] [ 3.60203468e-04 4.84243636e-03 9.99988210e-01 6.01697633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632557844 meters Centerline goodness : 0.078169 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:0.60 [[ 9.99959286e-01 -9.00720861e-03 -5.44122094e-04 -6.49509985e-01] [ 9.00402632e-03 9.99943825e-01 -5.59232500e-03 -2.88374883e-01] [ 5.94462765e-04 5.58719803e-03 9.99984215e-01 6.03366863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662557844 meters Centerline goodness : 0.155482 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:0.60 [[ 9.99957660e-01 -9.17810961e-03 -6.64435596e-04 -6.49878040e-01] [ 9.17376204e-03 9.99938234e-01 -6.27463891e-03 -2.86479586e-01] [ 7.21983880e-04 6.26827787e-03 9.99980094e-01 6.04980123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692557844000001 meters Centerline goodness : 0.112812 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.28, Z:0.61 [[ 9.99955924e-01 -9.35481721e-03 -7.98656173e-04 -6.50311686e-01] [ 9.34897161e-03 9.99931560e-01 -7.03359722e-03 -2.84341362e-01] [ 8.64399530e-04 7.02582059e-03 9.99974945e-01 6.06866870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722557844 meters Centerline goodness : 0.102499 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.28, Z:0.61 [[ 9.99953197e-01 -9.64883709e-03 -7.10092931e-04 -6.51459250e-01] [ 9.64299290e-03 9.99922938e-01 -7.81862682e-03 -2.82318956e-01] [ 7.85478867e-04 7.81141346e-03 9.99969182e-01 6.08896668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752557844 meters Centerline goodness : 0.240925 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.28, Z:0.61 [[ 9.99950096e-01 -9.97552188e-03 -5.42008193e-04 -6.52744378e-01] [ 9.97045812e-03 9.99912826e-01 -8.65618065e-03 -2.80117476e-01] [ 6.28310864e-04 8.65034461e-03 9.99962388e-01 6.10862125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782557844000001 meters Centerline goodness : 0.118153 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.28, Z:0.61 [[ 9.99942477e-01 -1.07251971e-02 1.11657110e-04 -6.56160261e-01] [ 1.07257776e-02 9.99891804e-01 -1.00666560e-02 -2.76087296e-01] [-3.67815961e-06 1.00672745e-02 9.99949324e-01 6.14224114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812557844 meters Centerline goodness : 0.115252 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.27, Z:0.62 [[ 9.99936583e-01 -1.12438782e-02 6.35873077e-04 -6.58581180e-01] [ 1.12502598e-02 9.99874792e-01 -1.11280143e-02 -2.73097526e-01] [-5.10671423e-04 1.11344623e-02 9.99937880e-01 6.16534135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842557844000002 meters Centerline goodness : 0.115849 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.27, Z:0.62 [[ 9.99930116e-01 -1.17712228e-02 1.09589235e-03 -6.60801136e-01] [ 1.17838297e-02 9.99854764e-01 -1.23122844e-02 -2.69731583e-01] [-9.50802543e-04 1.23243378e-02 9.99923600e-01 6.18945522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872557844000001 meters Centerline goodness : 0.103575 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.27, Z:0.62 [[ 0.99992447 -0.01221727 0.00133921 -0.66240031] [ 0.01223446 0.9998315 -0.01368522 -0.2656387 ] [-0.00117179 0.01370057 0.99990546 0.62149985] [ 0. 0. 0. 1. ]] SLAMing on 9.902557844 meters Centerline goodness : 0.118347 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.26, Z:0.63 [[ 0.99994843 -0.00980453 0.00264782 -0.66865169] [ 0.00983695 0.99987318 -0.01252435 -0.25867782] [-0.00252469 0.01254975 0.99991806 0.62672174] [ 0. 0. 0. 1. ]] SLAMing on 9.932557844000002 meters Centerline goodness : 0.099839 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.26, Z:0.63 [[ 0.9999948 -0.00141734 0.00289673 -0.65101395] [ 0.00145385 0.99991902 -0.01264284 -0.26060279] [-0.00287858 0.01264699 0.99991588 0.62639097] [ 0. 0. 0. 1. ]] SLAMing on 9.962557844 meters Centerline goodness : 0.114545 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.26, Z:0.63 [[ 0.9999939 -0.00159508 0.00310844 -0.65230143] [ 0.00163609 0.99991108 -0.013235 -0.25732086] [-0.00308706 0.01324 0.99990758 0.62782658] [ 0. 0. 0. 1. ]] SLAMing on 9.992557844 meters Centerline goodness : 0.096573 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.25, Z:0.63 [[ 9.99992161e-01 -3.17098637e-04 3.94679569e-03 -6.58903828e-01] [ 3.65062563e-04 9.99926024e-01 -1.21578429e-02 -2.54289615e-01] [-3.94264849e-03 1.21591884e-02 9.99918301e-01 6.34017347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022557844000001 meters Centerline goodness : 0.116985 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.25, Z:0.64 [[ 9.99991474e-01 -4.30771653e-04 4.10676573e-03 -6.60094549e-01] [ 4.81903555e-04 9.99922282e-01 -1.24578014e-02 -2.52615240e-01] [-4.10108009e-03 1.24596743e-02 9.99913965e-01 6.35467424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.052557844 meters Centerline goodness : 0.112374 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.25, Z:0.64 [[ 9.99991178e-01 -5.02906450e-04 4.17015831e-03 -6.61117711e-01] [ 5.55865393e-04 9.99919095e-01 -1.27080854e-02 -2.50982253e-01] [-4.16342994e-03 1.27102913e-02 9.99910553e-01 6.36972918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082557844 meters Centerline goodness : 0.110870 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.25, Z:0.64 [[ 9.99990834e-01 -6.45932152e-04 4.23246624e-03 -6.61870189e-01] [ 7.01335290e-04 9.99913924e-01 -1.31016541e-02 -2.48816290e-01] [-4.22363915e-03 1.31045024e-02 9.99905212e-01 6.38016874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.112557844000001 meters Centerline goodness : 0.096927 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.25, Z:0.64 [[ 9.99990292e-01 -8.12918082e-04 4.33067814e-03 -6.62624898e-01] [ 8.71623586e-04 9.99907528e-01 -1.35711344e-02 -2.46381435e-01] [-4.31924545e-03 1.35747773e-02 9.99898530e-01 6.39010608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142557844 meters Centerline goodness : 0.097969 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.24, Z:0.64 [[ 9.99989470e-01 -9.86666175e-04 4.48181162e-03 -6.63538511e-01] [ 1.04985071e-03 9.99899791e-01 -1.41175844e-02 -2.43533588e-01] [-4.46743315e-03 1.41221410e-02 9.99890298e-01 6.40066164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.172557844 meters Centerline goodness : 0.103748 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.24, Z:0.64 [[ 9.99981679e-01 6.64632642e-04 6.01664318e-03 -6.70526577e-01] [-5.85098168e-04 9.99912557e-01 -1.32112000e-02 -2.36355708e-01] [-6.02489766e-03 1.32074376e-02 9.99894627e-01 6.44335587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202557844000001 meters Centerline goodness : 0.095536 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.23, Z:0.64 [[ 0.99996204 -0.00406901 0.00770481 -0.6477968 ] [ 0.00414547 0.99994206 -0.00993448 -0.23140842] [-0.00766394 0.00996604 0.99992097 0.64335796] [ 0. 0. 0. 1. ]] SLAMing on 10.232557844 meters Centerline goodness : 0.108084 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.23, Z:0.64 [[ 0.99995815 -0.00424833 0.00810225 -0.64942434] [ 0.00433448 0.99993394 -0.01064564 -0.22764922] [-0.00805649 0.01068031 0.99991051 0.64461651] [ 0. 0. 0. 1. ]] SLAMing on 10.262557844000002 meters Centerline goodness : 0.083195 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.22, Z:0.65 [[ 0.99994981 -0.00274687 0.00963458 -0.65668363] [ 0.00283962 0.99994964 -0.00962605 -0.2223078 ] [-0.00960766 0.00965293 0.99990725 0.64913125] [ 0. 0. 0. 1. ]] SLAMing on 10.292557844000001 meters Centerline goodness : 0.083195 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.22, Z:0.65 [[ 0.99994981 -0.00274687 0.00963458 -0.65668363] [ 0.00283962 0.99994964 -0.00962605 -0.2223078 ] [-0.00960766 0.00965293 0.99990725 0.64913125] [ 0. 0. 0. 1. ]] SLAMing on 10.322557844 meters Centerline goodness : 0.104528 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.22, Z:0.65 [[ 0.9999472 -0.00293276 0.00984857 -0.65749597] [ 0.00303261 0.999944 -0.01013932 -0.2197113 ] [-0.00981828 0.01016865 0.99990009 0.64961124] [ 0. 0. 0. 1. ]] SLAMing on 10.352557844000001 meters Centerline goodness : 0.092693 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.22, Z:0.65 [[ 0.99994529 -0.00306383 0.0100014 -0.65804055] [ 0.00316867 0.99994002 -0.01048397 -0.21783085] [-0.00996868 0.01051509 0.99989502 0.64983425] [ 0. 0. 0. 1. ]] SLAMing on 10.382557844 meters Centerline goodness : 0.077911 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.21, Z:0.65 [[ 0.99989103 -0.01107678 0.00975839 -0.68245079] [ 0.01116258 0.99989913 -0.00878235 -0.2120616 ] [-0.00966012 0.00889032 0.99991382 0.65264208] [ 0. 0. 0. 1. ]] SLAMing on 10.412557844 meters Centerline goodness : 0.096734 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.22, Z:0.65 [[ 0.99993838 -0.00284255 0.01073104 -0.66336106] [ 0.00294782 0.99994757 -0.009806 -0.21549444] [-0.0107026 0.00983703 0.99989434 0.65272772] [ 0. 0. 0. 1. ]] SLAMing on 10.442557844000001 meters Centerline goodness : 0.094376 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.21, Z:0.65 [[ 0.99993658 -0.00290729 0.01088036 -0.66436046] [ 0.00301554 0.99994599 -0.00994605 -0.21466224] [-0.01085086 0.00997823 0.99989134 0.65385718] [ 0. 0. 0. 1. ]] SLAMing on 10.472557844 meters Centerline goodness : 0.079402 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.21, Z:0.66 [[ 0.99992162 -0.00250123 0.01226758 -0.67074687] [ 0.00261736 0.99995183 -0.00946019 -0.21432451] [-0.01224332 0.00949156 0.99988 0.65838011] [ 0. 0. 0. 1. ]] SLAMing on 10.502557844 meters Centerline goodness : 0.097919 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.21, Z:0.66 [[ 0.9999179 -0.00258059 0.01255135 -0.67188599] [ 0.00270148 0.99995004 -0.0096242 -0.21352088] [-0.01252589 0.00965731 0.99987491 0.65918134] [ 0. 0. 0. 1. ]] SLAMing on 10.532557844000001 meters Centerline goodness : 0.104564 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.21, Z:0.66 [[ 0.99991522 -0.0026391 0.01275081 -0.67246831] [ 0.00276321 0.99994889 -0.00972571 -0.21304954] [-0.01272449 0.00976012 0.99987141 0.65927284] [ 0. 0. 0. 1. ]] SLAMing on 10.562557844 meters Centerline goodness : 0.093375 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.21, Z:0.66 [[ 0.99991413 -0.00269582 0.01282476 -0.67275794] [ 0.00282107 0.99994841 -0.00975763 -0.21300049] [-0.0127978 0.00979297 0.99987015 0.65934679] [ 0. 0. 0. 1. ]] SLAMing on 10.592557844000002 meters Centerline goodness : 0.094178 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.21, Z:0.66 [[ 0.99990777 -0.00279895 0.01328979 -0.67482816] [ 0.00293269 0.99994515 -0.01005471 -0.21144847] [-0.01326092 0.01009276 0.99986113 0.66098542] [ 0. 0. 0. 1. ]] SLAMing on 10.622557844000001 meters Centerline goodness : 0.094514 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.21, Z:0.66 [[ 0.99990272 -0.00283134 0.01365804 -0.67651215] [ 0.00297235 0.99994238 -0.01031477 -0.20988539] [-0.01362805 0.01035437 0.99985352 0.66244055] [ 0. 0. 0. 1. ]] SLAMing on 10.652557844 meters Centerline goodness : 0.107900 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.21, Z:0.66 [[ 0.99989824 -0.00288055 0.01397179 -0.67794148] [ 0.00302915 0.99993896 -0.01062587 -0.20808663] [-0.01394033 0.01066711 0.99984593 0.66373829] [ 0. 0. 0. 1. ]] SLAMing on 10.682557844000002 meters Centerline goodness : 0.133833 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.21, Z:0.66 [[ 0.99989398 -0.00297809 0.0142531 -0.67905402] [ 0.00313516 0.99993447 -0.01101035 -0.20619823] [-0.01421938 0.01105387 0.9998378 0.66459759] [ 0. 0. 0. 1. ]] SLAMing on 10.712557844 meters Centerline goodness : 0.101888 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.20, Z:0.67 [[ 0.99989009 -0.00307805 0.0145029 -0.67995466] [ 0.0032439 0.99992946 -0.01142565 -0.20420573] [-0.01446671 0.01147145 0.99982955 0.66521907] [ 0. 0. 0. 1. ]] SLAMing on 10.742557844 meters Centerline goodness : 0.107294 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.20, Z:0.67 [[ 0.99988616 -0.00315768 0.0147547 -0.68094758] [ 0.00333212 0.99992468 -0.01181275 -0.20221163] [-0.01471629 0.01186057 0.99982136 0.66592816] [ 0. 0. 0. 1. ]] SLAMing on 10.772557844000001 meters Centerline goodness : 0.137410 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.20, Z:0.67 [[ 0.99985999 -0.00116023 0.01669292 -0.68869334] [ 0.00132726 0.99994913 -0.00999849 -0.1993189 ] [-0.01668047 0.01001924 0.99981067 0.66987455] [ 0. 0. 0. 1. ]] SLAMing on 10.802557844 meters Centerline goodness : 0.119396 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.20, Z:0.67 [[ 0.99985355 -0.00119572 0.01707205 -0.69011523] [ 0.00136963 0.99994726 -0.01017877 -0.198293 ] [-0.01705898 0.01020066 0.99980245 0.67078076] [ 0. 0. 0. 1. ]] SLAMing on 10.832557844 meters Centerline goodness : 0.128862 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.20, Z:0.67 [[ 0.99984799 -0.00128414 0.01738793 -0.69138085] [ 0.00146458 0.99994517 -0.01036875 -0.19732395] [-0.01737367 0.01039264 0.99979505 0.67173172] [ 0. 0. 0. 1. ]] SLAMing on 10.862557844000001 meters Centerline goodness : 0.098204 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.20, Z:0.67 [[ 0.99984448 -0.0013954 0.0175801 -0.6922521 ] [ 0.00158312 0.99994183 -0.01066886 -0.19592906] [-0.01756419 0.01069503 0.99978854 0.67250127] [ 0. 0. 0. 1. ]] SLAMing on 10.892557844 meters Centerline goodness : 0.167584 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.19, Z:0.68 [[ 9.99800645e-01 -5.85083040e-04 1.99581607e-02 -7.47516016e-01] [ 7.84624626e-04 9.99949775e-01 -9.99162981e-03 -1.89974707e-01] [-1.99513123e-02 1.00052976e-02 9.99750889e-01 6.78194588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922557844000002 meters Centerline goodness : 0.118452 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.19, Z:0.68 [[ 9.99792831e-01 -6.65102915e-04 2.03433725e-02 -7.48673155e-01] [ 8.78731244e-04 9.99944550e-01 -1.04939907e-02 -1.87163244e-01] [-2.03352649e-02 1.05096930e-02 9.99737977e-01 6.78628318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952557844000001 meters Centerline goodness : 0.192482 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.18, Z:0.68 [[ 0.99966846 -0.00562599 0.02512619 -0.77456696] [ 0.005837 0.99994825 -0.00833254 -0.17769282] [-0.02507801 0.00847644 0.99964956 0.67969716] [ 0. 0. 0. 1. ]] SLAMing on 10.982557844 meters Centerline goodness : 0.103129 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.18, Z:0.68 [[ 0.99966074 -0.00578898 0.02539468 -0.77537536] [ 0.0060148 0.99994297 -0.00882519 -0.17521187] [-0.02534214 0.00897494 0.99963855 0.68006244] [ 0. 0. 0. 1. ]] SLAMing on 11.012557844000002 meters Centerline goodness : 0.111782 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.17, Z:0.68 [[ 0.99965192 -0.00599093 0.02569344 -0.77628485] [ 0.00623545 0.99993593 -0.00944746 -0.17226603] [-0.0256352 0.00960439 0.99962523 0.68044223] [ 0. 0. 0. 1. ]] SLAMing on 11.042557844000001 meters Centerline goodness : 0.187934 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.17, Z:0.68 [[ 0.99963843 -0.00616744 0.02617179 -0.77771971] [ 0.00643587 0.99992743 -0.01018449 -0.16843697] [-0.02610707 0.01034925 0.99960558 0.68096177] [ 0. 0. 0. 1. ]] SLAMing on 11.072557844 meters Centerline goodness : 0.146875 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.16, Z:0.68 [[ 0.99960763 -0.00434601 0.02767135 -0.78354753] [ 0.00458759 0.99995187 -0.00867255 -0.16366892] [-0.02763233 0.00879609 0.99957945 0.68364468] [ 0. 0. 0. 1. ]] SLAMing on 11.102557844000001 meters Centerline goodness : 0.202745 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.16, Z:0.68 [[ 0.99960163 -0.00103768 0.02820483 -0.78515771] [ 0.00120868 0.99998099 -0.00604625 -0.15743971] [-0.02819802 0.00607793 0.99958388 0.68409614] [ 0. 0. 0. 1. ]] SLAMing on 11.132557844 meters Centerline goodness : 0.111299 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.15, Z:0.68 [[ 0.99960085 -0.00136205 0.0282184 -0.78495967] [ 0.0015587 0.99997465 -0.00694809 -0.15323927] [-0.02820822 0.0069893 0.99957763 0.68361761] [ 0. 0. 0. 1. ]] SLAMing on 11.162557844 meters Centerline goodness : 0.183684 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.15, Z:0.68 [[ 0.99960078 -0.00164512 0.02820587 -0.78483297] [ 0.00186305 0.9999686 -0.007702 -0.14975595] [-0.02819231 0.00775147 0.99957246 0.68335875] [ 0. 0. 0. 1. ]] SLAMing on 11.192557844000001 meters Centerline goodness : 0.189863 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.15, Z:0.68 [[ 0.99959648 -0.00185387 0.02834512 -0.7853253 ] [ 0.00208916 0.99996359 -0.00827358 -0.14683527] [-0.02832875 0.00832946 0.99956396 0.6835671 ] [ 0. 0. 0. 1. ]] SLAMing on 11.222557844 meters Centerline goodness : 0.102590 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:0.68 [[ 0.999589 -0.00199733 0.02859785 -0.78627328] [ 0.00224623 0.99995986 -0.0086739 -0.14464263] [-0.02857938 0.00873457 0.99955336 0.68417634] [ 0. 0. 0. 1. ]] SLAMing on 11.252557844 meters Centerline goodness : 0.193767 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:0.68 [[ 0.99957948 -0.00218519 0.0289151 -0.78729516] [ 0.00244793 0.99995601 -0.00905436 -0.14293194] [-0.02889404 0.00912134 0.99954086 0.68465735] [ 0. 0. 0. 1. ]] SLAMing on 11.282557844000001 meters Centerline goodness : 0.190676 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:0.69 [[ 0.99953686 -0.00323255 0.030259 -0.79080959] [ 0.00354574 0.99994064 -0.01030243 -0.13950103] [-0.0302239 0.01040495 0.999489 0.68539274] [ 0. 0. 0. 1. ]] SLAMing on 11.312557844 meters Centerline goodness : 0.150514 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:0.69 [[ 0.99953255 -0.00338148 0.03038484 -0.79128029] [ 0.00370484 0.99993704 -0.01059223 -0.13820337] [-0.03034711 0.01069985 0.99948215 0.68564393] [ 0. 0. 0. 1. ]] SLAMing on 11.342557844000002 meters Centerline goodness : 0.203387 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.13, Z:0.69 [[ 0.99948668 -0.00979259 0.03050383 -0.81430892] [ 0.01002909 0.99992075 -0.00760976 -0.13345089] [-0.03042689 0.00791178 0.99950568 0.68710294] [ 0. 0. 0. 1. ]] SLAMing on 11.372557844000001 meters Centerline goodness : 0.116491 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.13, Z:0.69 [[ 0.99947639 -0.00996593 0.03078358 -0.81519477] [ 0.01021836 0.99991536 -0.00805375 -0.1312654 ] [-0.03070071 0.00836409 0.99949363 0.68751232] [ 0. 0. 0. 1. ]] SLAMing on 11.402557844 meters Centerline goodness : 0.189741 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.13, Z:0.69 [[ 0.99947168 -0.01005257 0.03090805 -0.81558971] [ 0.01031173 0.99991291 -0.00823678 -0.13060102] [-0.03082256 0.00855114 0.99948829 0.68769272] [ 0. 0. 0. 1. ]] SLAMing on 11.432557844000002 meters Centerline goodness : 0.096278 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.13, Z:0.69 [[ 0.9994689 -0.01012845 0.03097314 -0.81581112] [ 0.01039502 0.9999102 -0.00845762 -0.12958751] [-0.03088469 0.00877509 0.99948443 0.68777195] [ 0. 0. 0. 1. ]] SLAMing on 11.462557844 meters Centerline goodness : 0.123344 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.13, Z:0.69 [[ 0.99948987 -0.00627558 0.03131473 -0.8167801 ] [ 0.00641923 0.99996932 -0.00448859 -0.12912372] [-0.0312856 0.00468731 0.99949949 0.68785245] [ 0. 0. 0. 1. ]] SLAMing on 11.492557844 meters Centerline goodness : 0.083159 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.13, Z:0.69 [[ 0.99948293 -0.00633374 0.03152383 -0.81748715] [ 0.00649097 0.99996699 -0.00488773 -0.12708752] [-0.03149183 0.00508982 0.99949105 0.68834991] [ 0. 0. 0. 1. ]] SLAMing on 11.522557844000001 meters Centerline goodness : 0.132187 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.13, Z:0.69 [[ 0.99947776 -0.00638683 0.03167673 -0.81811689] [ 0.00655749 0.99996453 -0.00528642 -0.1250857 ] [-0.03164184 0.00549138 0.99948419 0.68895926] [ 0. 0. 0. 1. ]] SLAMing on 11.552557844 meters Centerline goodness : 0.208416 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.13, Z:0.69 [[ 0.999475 0.00204028 0.03233505 -0.84030536] [-0.00183881 0.99997872 -0.00625924 -0.12631646] [-0.03234713 0.0061965 0.99945749 0.6888207 ] [ 0. 0. 0. 1. ]] SLAMing on 11.582557844 meters Centerline goodness : 0.208008 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.12, Z:0.69 [[ 0.9994722 0.00201563 0.03242308 -0.84052189] [-0.00180269 0.99997663 -0.00659518 -0.12446779] [-0.03243561 0.00653325 0.99945247 0.68887586] [ 0. 0. 0. 1. ]] SLAMing on 11.612557844000001 meters Centerline goodness : 0.210562 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.12, Z:0.69 [[ 0.99946638 0.00193582 0.03260673 -0.84087217] [-0.00171002 0.99997438 -0.00695137 -0.12267188] [-0.03261935 0.00689191 0.99944409 0.68871961] [ 0. 0. 0. 1. ]] SLAMing on 11.642557844 meters Centerline goodness : 0.217578 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.12, Z:0.69 [[ 0.99940861 -0.00638394 0.03378878 -0.86272564] [ 0.00661067 0.99995635 -0.00660273 -0.11613884] [-0.03374515 0.00682219 0.99940719 0.68886243] [ 0. 0. 0. 1. ]] SLAMing on 11.672557844000002 meters Centerline goodness : 0.184156 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.12, Z:0.69 [[ 0.99940116 -0.00640863 0.03400365 -0.86351103] [ 0.0066371 0.99995613 -0.00661027 -0.11614928] [-0.03395979 0.006832 0.99939985 0.68933545] [ 0. 0. 0. 1. ]] SLAMing on 11.702557844000001 meters Centerline goodness : 0.181916 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.12, Z:0.69 [[ 0.99939377 -0.00638049 0.03422541 -0.86422712] [ 0.00660823 0.99995675 -0.00654516 -0.11628298] [-0.03418216 0.00676736 0.99939271 0.68960305] [ 0. 0. 0. 1. ]] SLAMing on 11.732557844 meters Centerline goodness : 0.212946 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.12, Z:0.69 [[ 0.99929098 -0.00631935 0.03711601 -0.90927691] [ 0.00653878 0.99996184 -0.00579353 -0.11585123] [-0.03707798 0.00603211 0.99929417 0.68980894] [ 0. 0. 0. 1. ]] SLAMing on 11.762557844000002 meters Centerline goodness : 0.205467 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.12, Z:0.69 [[ 0.99929511 -0.00640492 0.03699006 -0.90883029] [ 0.00661489 0.99996268 -0.00555666 -0.11757949] [-0.03695309 0.00579742 0.99930018 0.68937586] [ 0. 0. 0. 1. ]] SLAMing on 11.792557844000001 meters Centerline goodness : 0.178965 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.12, Z:0.69 [[ 0.99929361 -0.0063604 0.03703814 -0.90905351] [ 0.00656234 0.99996425 -0.00533314 -0.11879389] [-0.0370029 0.00557243 0.99929962 0.68951933] [ 0. 0. 0. 1. ]] SLAMing on 11.822557844 meters Centerline goodness : 0.206260 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.12, Z:0.69 [[ 0.99930515 0.00183337 0.03722703 -0.93034739] [-0.00160609 0.9999799 -0.00613425 -0.12346198] [-0.03723753 0.0060702 0.99928801 0.68951906] [ 0. 0. 0. 1. ]] SLAMing on 11.852557844000001 meters Centerline goodness : 0.178651 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.12, Z:0.69 [[ 0.9992939 0.00194136 0.03752256 -0.93136821] [-0.00171834 0.99998067 -0.00597487 -0.12394161] [-0.03753343 0.00590618 0.99927792 0.6901765 ] [ 0. 0. 0. 1. ]] SLAMing on 11.882557844 meters Centerline goodness : 0.174825 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.12, Z:0.69 [[ 0.99929064 0.00195958 0.03760817 -0.93165782] [-0.00173293 0.99998015 -0.00605843 -0.12341595] [-0.03761929 0.00598896 0.9992742 0.69033627] [ 0. 0. 0. 1. ]] SLAMing on 11.912557844 meters Centerline goodness : 0.212634 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.12, Z:0.69 [[ 0.99936343 0.00235706 0.03559755 -0.9785136 ] [-0.00214875 0.99998035 -0.00588879 -0.12058545] [-0.03561073 0.00580855 0.99934886 0.69413915] [ 0. 0. 0. 1. ]] SLAMing on 11.942557844000001 meters Centerline goodness : 0.176814 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.12, Z:0.69 [[ 0.99936363 0.00230064 0.03559564 -0.97858046] [-0.00208336 0.99997898 -0.00614016 -0.11943599] [-0.03560902 0.00606209 0.99934741 0.69431056] [ 0. 0. 0. 1. ]] SLAMing on 11.972557844 meters Centerline goodness : 0.308621 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.12, Z:0.69 [[ 0.99936553 0.00222558 0.03554696 -0.97847241] [-0.0019987 0.99997741 -0.00641685 -0.11813263] [-0.03556044 0.00634174 0.99934741 0.69433356] [ 0. 0. 0. 1. ]] SLAMing on 12.002557844000002 meters Centerline goodness : 0.175148 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.12, Z:0.69 [[ 0.99936846 0.00213149 0.03547016 -0.97829859] [-0.00189243 0.99997528 -0.00677194 -0.11644338] [-0.03548372 0.00670054 0.99934779 0.6944045 ] [ 0. 0. 0. 1. ]] SLAMing on 12.032557844000001 meters Centerline goodness : 0.086799 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.70 [[ 0.99935266 -0.00354856 0.03580035 -1.00132706] [ 0.00367931 0.9999868 -0.00358708 -0.11038863] [-0.03578715 0.00371648 0.99935252 0.69549172] [ 0. 0. 0. 1. ]] SLAMing on 12.062557844 meters Centerline goodness : 0.178892 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.70 [[ 0.99934903 -0.00364705 0.03589182 -1.00143412] [ 0.00379296 0.99998482 -0.00399787 -0.10838375] [-0.03587669 0.00413141 0.99934768 0.69525984] [ 0. 0. 0. 1. ]] SLAMing on 12.092557844000002 meters Centerline goodness : 0.181983 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.70 [[ 0.99934694 -0.00375184 0.03593896 -1.00147715] [ 0.00391271 0.99998263 -0.00440699 -0.10636521] [-0.0359218 0.00454473 0.99934427 0.69514109] [ 0. 0. 0. 1. ]] SLAMing on 12.122557844000001 meters Centerline goodness : 0.178830 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.99931927 -0.0020435 0.03683514 -1.00591411] [ 0.00215051 0.99999358 -0.00286562 -0.10265359] [-0.03682905 0.00294288 0.99931725 0.69783452] [ 0. 0. 0. 1. ]] SLAMing on 12.152557844 meters Centerline goodness : 0.180224 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.999319 -0.00217093 0.03683516 -1.00596705] [ 0.00228933 0.99999235 -0.00317245 -0.10130405] [-0.036828 0.00325462 0.99931632 0.6979481 ] [ 0. 0. 0. 1. ]] SLAMing on 12.182557844000002 meters Centerline goodness : 0.150499 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.99931936 -0.00228549 0.03681842 -1.00578811] [ 0.0024122 0.99999132 -0.00339728 -0.10040399] [-0.03681034 0.00348378 0.9993162 0.69761231] [ 0. 0. 0. 1. ]] SLAMing on 12.212557844 meters Centerline goodness : 0.150499 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.99931936 -0.00228549 0.03681842 -1.00578811] [ 0.0024122 0.99999132 -0.00339728 -0.10040399] [-0.03681034 0.00348378 0.9993162 0.69761231] [ 0. 0. 0. 1. ]] SLAMing on 12.242557844 meters Centerline goodness : 0.135581 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.99931948 -0.00237753 0.03680919 -1.00560053] [ 0.00251064 0.99999048 -0.00357023 -0.09970002] [-0.03680035 0.00366022 0.99931593 0.69725023] [ 0. 0. 0. 1. ]] SLAMing on 12.272557844000001 meters Centerline goodness : 0.179268 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.99931731 -0.0024535 0.03686319 -1.0056248 ] [ 0.00259446 0.9999895 -0.00377651 -0.09870736] [-0.03685354 0.00386958 0.99931319 0.69702051] [ 0. 0. 0. 1. ]] SLAMing on 12.302557844 meters Centerline goodness : 0.296717 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.99931329 -0.00263284 0.03695966 -1.00585271] [ 0.00279714 0.99998643 -0.00439459 -0.09560157] [-0.03694759 0.00449495 0.9993071 0.69709244] [ 0. 0. 0. 1. ]] SLAMing on 12.332557844000002 meters Centerline goodness : 0.203367 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.70 [[ 0.99931279 -0.00272647 0.03696629 -1.00602254] [ 0.00290211 0.99998475 -0.00469854 -0.09418612] [-0.03695292 0.00480259 0.99930547 0.69741108] [ 0. 0. 0. 1. ]] SLAMing on 12.362557844000001 meters Centerline goodness : 0.201417 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.70 [[ 0.99931425 -0.00281995 0.03691975 -1.00589376] [ 0.00300617 0.99998303 -0.00498949 -0.09285939] [-0.03690505 0.00509706 0.99930578 0.69739391] [ 0. 0. 0. 1. ]] SLAMing on 12.392557844 meters Centerline goodness : 0.199204 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.09, Z:0.70 [[ 0.99936826 0.00554057 0.03510525 -1.02603879] [-0.00532374 0.99996619 -0.00626693 -0.09482833] [-0.03513878 0.00607608 0.99936397 0.69743752] [ 0. 0. 0. 1. ]] SLAMing on 12.422557844000002 meters Centerline goodness : 0.133616 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.70 [[ 0.99941153 -0.00223374 0.03422866 -1.00600181] [ 0.00241272 0.99998363 -0.00518841 -0.09012786] [-0.03421651 0.00526795 0.99940056 0.6980483 ] [ 0. 0. 0. 1. ]] SLAMing on 12.452557844000001 meters Centerline goodness : 0.202182 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.70 [[ 0.99939178 -0.01054474 0.03323961 -1.0260615 ] [ 0.01068699 0.99993447 -0.00410467 -0.08316299] [-0.03319415 0.0044574 0.99943898 0.69763349] [ 0. 0. 0. 1. ]] SLAMing on 12.482557844 meters Centerline goodness : 0.197082 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.70 [[ 0.9993881 -0.0106169 0.03332719 -1.02628173] [ 0.01076552 0.99993288 -0.00428304 -0.0824121 ] [-0.03327948 0.0046392 0.99943532 0.69764466] [ 0. 0. 0. 1. ]] SLAMing on 12.512557844000002 meters Centerline goodness : 0.282307 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.70 [[ 0.99938576 -0.01070443 0.03336928 -1.02631568] [ 0.01086044 0.99993091 -0.00449752 -0.08145074] [-0.03331883 0.00485716 0.99943297 0.69748876] [ 0. 0. 0. 1. ]] SLAMing on 12.542557844000001 meters Centerline goodness : 0.195131 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.70 [[ 0.99938487 -0.01081325 0.03336108 -1.02621269] [ 0.01097954 0.99992818 -0.0048053 -0.08003101] [-0.03330672 0.00516863 0.99943181 0.69733174] [ 0. 0. 0. 1. ]] SLAMing on 12.572557844 meters Centerline goodness : 0.199319 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.70 [[ 0.99949651 -0.0026161 0.03162099 -1.04631227] [ 0.00281831 0.99997586 -0.00635183 -0.08125276] [-0.03160361 0.00643775 0.99947975 0.69726646] [ 0. 0. 0. 1. ]] SLAMing on 12.602557844000001 meters Centerline goodness : 0.132738 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.70 [[ 0.99949866 -0.00268411 0.03154731 -1.04610035] [ 0.00288673 0.99997549 -0.00637905 -0.0811932 ] [-0.03152942 0.00646692 0.9994819 0.69710331] [ 0. 0. 0. 1. ]] SLAMing on 12.632557844 meters Centerline goodness : 0.196746 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.08, Z:0.70 [[ 0.9994675 -0.01171998 0.03045272 -1.06780313] [ 0.01189547 0.99991363 -0.00558797 -0.07757765] [-0.0303846 0.00594725 0.99952059 0.69756854] [ 0. 0. 0. 1. ]] SLAMing on 12.662557844 meters Centerline goodness : 0.172255 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.08, Z:0.70 [[ 0.99949025 -0.00595616 0.0313649 -1.04478787] [ 0.00623195 0.99994271 -0.00870272 -0.08116808] [-0.03131127 0.00889375 0.99947011 0.69533006] [ 0. 0. 0. 1. ]] SLAMing on 12.692557844000001 meters Centerline goodness : 0.166835 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.69 [[ 0.99954844 0.00184099 0.02999213 -1.06437411] [-0.001526 0.99994348 -0.0105221 -0.08585279] [-0.03000981 0.01047158 0.99949475 0.69467053] [ 0. 0. 0. 1. ]] SLAMing on 12.722557844 meters Centerline goodness : 0.193099 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.69 [[ 0.99955307 0.00182861 0.02983801 -1.06390337] [-0.00151653 0.99994395 -0.01047875 -0.08625417] [-0.0298555 0.01042881 0.99949982 0.69440655] [ 0. 0. 0. 1. ]] SLAMing on 12.752557844000002 meters Centerline goodness : 0.132852 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.69 [[ 0.99955914 0.00179317 0.02963633 -1.06345149] [-0.00147926 0.99994261 -0.01061061 -0.08563761] [-0.02965366 0.01056209 0.99950443 0.69452741] [ 0. 0. 0. 1. ]] SLAMing on 12.782557844000001 meters Centerline goodness : 0.166454 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.69 [[ 0.99956243 0.00175928 0.02952718 -1.06336312] [-0.00144022 0.99994039 -0.01082337 -0.08442189] [-0.02954446 0.0107761 0.99950538 0.69492449] [ 0. 0. 0. 1. ]] SLAMing on 12.812557844 meters Centerline goodness : 0.187108 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.70 [[ 0.99956054 0.00180812 0.02958825 -1.06407903] [-0.00148088 0.99993754 -0.01107785 -0.08253432] [-0.02960643 0.01102917 0.99950078 0.69613019] [ 0. 0. 0. 1. ]] SLAMing on 12.842557844000002 meters Centerline goodness : 0.160314 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.70 [[ 0.99955715 0.00179532 0.0297031 -1.06458058] [-0.00146441 0.99993667 -0.0111589 -0.08214825] [-0.02972126 0.01111046 0.99949648 0.69658015] [ 0. 0. 0. 1. ]] SLAMing on 12.872557844000001 meters Centerline goodness : 0.175124 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.08, Z:0.70 [[ 0.99955213 0.00180108 0.02987145 -1.06521432] [-0.00146855 0.99993676 -0.01115031 -0.08221216] [-0.02988964 0.01110144 0.99949155 0.69700868] [ 0. 0. 0. 1. ]] SLAMing on 12.902557844 meters Centerline goodness : 0.188940 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.08, Z:0.70 [[ 0.99953522 -0.00670722 0.02973829 -1.08567341] [ 0.0070165 0.99992225 -0.01030792 -0.07703001] [-0.02966684 0.01051178 0.99950457 0.69693749] [ 0. 0. 0. 1. ]] SLAMing on 12.932557844000002 meters Centerline goodness : 0.191850 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.08, Z:0.70 [[ 0.99953688 -0.00660951 0.02970436 -1.08552372] [ 0.00690737 0.99992678 -0.00993595 -0.07880977] [-0.02963652 0.01013653 0.99950934 0.69668971] [ 0. 0. 0. 1. ]] SLAMing on 12.962557844 meters Centerline goodness : 0.184515 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.70 [[ 0.99954385 -0.0065295 0.0294867 -1.0848969 ] [ 0.00681597 0.99993045 -0.00962507 -0.08021568] [-0.0294218 0.00982166 0.99951883 0.69638385] [ 0. 0. 0. 1. ]] SLAMing on 12.992557844 meters Centerline goodness : 0.159990 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.70 [[ 0.99955218 -0.0064412 0.02922255 -1.0840961 ] [ 0.00671534 0.99993428 -0.00929236 -0.08175218] [-0.02916078 0.00948444 0.99952974 0.69597217] [ 0. 0. 0. 1. ]] SLAMing on 13.022557844000001 meters Centerline goodness : 0.161680 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.70 [[ 0.99956179 -0.00632557 0.02891724 -1.08326606] [ 0.00658562 0.99993865 -0.00890679 -0.08346148] [-0.02885913 0.00909333 0.99954213 0.69572533] [ 0. 0. 0. 1. ]] SLAMing on 13.052557844 meters Centerline goodness : 0.155216 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.70 [[ 0.99956512 -0.00613394 0.02884344 -1.08316617] [ 0.00637694 0.99994489 -0.00834007 -0.08599855] [-0.02879069 0.00852038 0.99954915 0.69581369] [ 0. 0. 0. 1. ]] SLAMing on 13.082557844000002 meters Centerline goodness : 0.126955 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.70 [[ 0.99956018 -0.00609658 0.02902207 -1.08378046] [ 0.00633716 0.99994626 -0.00820467 -0.08677908] [-0.02897049 0.00838498 0.9995451 0.6961318 ] [ 0. 0. 0. 1. ]] SLAMing on 13.112557844000001 meters Centerline goodness : 0.103825 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.70 [[ 0.99957238 0.00223658 0.02915576 -1.10572351] [-0.00196226 0.99995357 -0.00943404 -0.09054252] [-0.0291755 0.00937279 0.99953036 0.6961979 ] [ 0. 0. 0. 1. ]] SLAMing on 13.142557844 meters Centerline goodness : 0.125856 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.70 [[ 0.99957052 0.00224645 0.02921853 -1.10605669] [-0.00196783 0.99995236 -0.00956083 -0.0899258 ] [-0.02923862 0.00949922 0.99952732 0.69663744] [ 0. 0. 0. 1. ]] SLAMing on 13.172557844000002 meters Centerline goodness : 0.176064 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:0.70 [[ 0.99956445 0.00619521 0.0288535 -1.10491 ] [-0.00603142 0.99996522 -0.00576029 -0.08827732] [-0.02888818 0.00558376 0.99956705 0.69633306] [ 0. 0. 0. 1. ]] SLAMing on 13.202557844000001 meters Centerline goodness : 0.260177 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:0.70 [[ 0.9995832 0.00632813 0.02816697 -1.10300344] [-0.00616002 0.99996272 -0.00605081 -0.08625474] [-0.02820421 0.00587477 0.99958492 0.69604234] [ 0. 0. 0. 1. ]] SLAMing on 13.232557844 meters Centerline goodness : 0.106372 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.08, Z:0.70 [[ 0.99959149 0.00636764 0.02786214 -1.10218179] [-0.00619245 0.99996054 -0.00636947 -0.08453135] [-0.0279016 0.00619434 0.99959148 0.69599869] [ 0. 0. 0. 1. ]] SLAMing on 13.262557844000002 meters Centerline goodness : 0.184757 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.08, Z:0.70 [[ 0.99959426 0.00632546 0.02777226 -1.10216857] [-0.00614193 0.99995877 -0.00668875 -0.08308957] [-0.02781343 0.00651546 0.9995919 0.69647096] [ 0. 0. 0. 1. ]] SLAMing on 13.292557844000001 meters Centerline goodness : 0.102727 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.08, Z:0.70 [[ 0.99955949 0.00672326 0.02890702 -1.10585307] [-0.00652954 0.99995563 -0.00679052 -0.08153116] [-0.02895139 0.00659878 0.99955904 0.69829979] [ 0. 0. 0. 1. ]] SLAMing on 13.322557844 meters Centerline goodness : 0.180509 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.08, Z:0.70 [[ 9.99591920e-01 3.72363571e-04 2.85631643e-02 -1.13015988e+00] [-2.60091381e-04 9.99992227e-01 -3.93427817e-03 -7.83389072e-02] [-2.85644072e-02 3.92524364e-03 9.99584247e-01 7.00686280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352557844000001 meters Centerline goodness : 0.125644 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.08, Z:0.70 [[ 9.99594942e-01 3.60885507e-04 2.84573603e-02 -1.13004171e+00] [-2.46308508e-04 9.99991851e-01 -4.02967200e-03 -7.79490843e-02] [-2.84585826e-02 4.02103046e-03 9.99586885e-01 7.00955825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382557844 meters Centerline goodness : 0.126333 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.08, Z:0.70 [[ 9.99595658e-01 3.49169639e-04 2.84323488e-02 -1.13001708e+00] [-2.33728695e-04 9.99991717e-01 -4.06341944e-03 -7.79164707e-02] [-2.84335321e-02 4.05513097e-03 9.99587460e-01 7.01023648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412557844000002 meters Centerline goodness : 0.292476 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.08, Z:0.70 [[ 9.99594348e-01 3.39179996e-04 2.84785011e-02 -1.13029381e+00] [-2.21354530e-04 9.99991404e-01 -4.14039851e-03 -7.75815229e-02] [-2.84796606e-02 4.13241510e-03 9.99585830e-01 7.01346438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442557844000001 meters Centerline goodness : 0.178993 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.08, Z:0.70 [[ 9.99582419e-01 4.88885140e-04 2.88920000e-02 -1.13189283e+00] [-3.68097810e-04 9.99991172e-01 -4.18582045e-03 -7.68642864e-02] [-2.88937914e-02 4.17343745e-03 9.99573775e-01 7.02496853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472557844 meters Centerline goodness : 0.131168 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.08, Z:0.70 [[ 9.99577095e-01 4.96242249e-04 2.90755037e-02 -1.13282351e+00] [-3.72461461e-04 9.99990846e-01 -4.26248028e-03 -7.64001027e-02] [-2.90773528e-02 4.24984815e-03 9.99568130e-01 7.03461883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502557844000002 meters Centerline goodness : 0.274791 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:0.70 [[ 0.99954036 -0.00789561 0.02927004 -1.15394889] [ 0.00800562 0.99996132 -0.00364333 -0.07061421] [-0.02924015 0.00387598 0.9995649 0.70411893] [ 0. 0. 0. 1. ]] SLAMing on 13.532557844000001 meters Centerline goodness : 0.276435 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:0.70 [[ 0.99954228 -0.00793701 0.02919316 -1.15380932] [ 0.00804841 0.99996076 -0.00370052 -0.07058588] [-0.02916265 0.00393379 0.99956694 0.70421475] [ 0. 0. 0. 1. ]] SLAMing on 13.562557844 meters Centerline goodness : 0.203877 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:0.70 [[ 0.99954594 -0.00792485 0.02907062 -1.1533773 ] [ 0.00803602 0.99996083 -0.00370905 -0.07049365] [-0.02904008 0.00394098 0.99957048 0.70394721] [ 0. 0. 0. 1. ]] SLAMing on 13.592557844000002 meters Centerline goodness : 0.239427 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.07, Z:0.71 [[ 0.99963785 -0.00705549 0.02596882 -1.19913473] [ 0.00713642 0.99996996 -0.00302512 -0.06958902] [-0.02594669 0.00320935 0.99965818 0.70713378] [ 0. 0. 0. 1. ]] SLAMing on 13.622557844000001 meters Centerline goodness : 0.278434 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.07, Z:0.71 [[ 0.99963886 -0.00710842 0.02591549 -1.19897119] [ 0.00719466 0.99996888 -0.00323605 -0.06852783] [-0.02589169 0.00342133 0.9996589 0.70707234] [ 0. 0. 0. 1. ]] SLAMing on 13.652557844 meters Centerline goodness : 0.184249 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.07, Z:0.71 [[ 9.99679427e-01 -4.38108373e-03 2.49369256e-02 -1.19616342e+00] [ 4.39425532e-03 9.99990233e-01 -4.73422339e-04 -6.64927032e-02] [-2.49346079e-02 5.82849790e-04 9.99688914e-01 7.06411302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682557844000002 meters Centerline goodness : 0.185499 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.07, Z:0.71 [[ 9.99682593e-01 -4.41632952e-03 2.48034154e-02 -1.19580704e+00] [ 4.43286003e-03 9.99989988e-01 -6.11516736e-04 -6.58084613e-02] [-2.48004664e-02 7.21272705e-04 9.99692161e-01 7.06357990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712557844 meters Centerline goodness : 0.193755 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.07, Z:0.71 [[ 0.99970444 0.00427441 0.02393231 -1.21694513] [-0.00424022 0.99998992 -0.00147899 -0.0691012 ] [-0.02393839 0.00137708 0.99971249 0.70651911] [ 0. 0. 0. 1. ]] SLAMing on 13.742557844 meters Centerline goodness : 0.121664 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.07, Z:0.71 [[ 0.99970523 0.00425607 0.02390277 -1.2169895 ] [-0.00421898 0.99998982 -0.00160196 -0.06844767] [-0.02390934 0.00150064 0.999713 0.70674694] [ 0. 0. 0. 1. ]] SLAMing on 13.772557844000001 meters Centerline goodness : 0.185323 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.07, Z:0.71 [[ 0.99970121 0.00421166 0.02407789 -1.21760569] [-0.0041708 0.99998978 -0.00174676 -0.06776373] [-0.024085 0.00164581 0.99970856 0.70710177] [ 0. 0. 0. 1. ]] SLAMing on 13.802557844 meters Centerline goodness : 0.209933 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.07, Z:0.71 [[ 0.99969413 0.00409939 0.02438944 -1.21866385] [-0.00404928 0.99998959 -0.0021037 -0.06620901] [-0.02439781 0.0020043 0.99970032 0.70769942] [ 0. 0. 0. 1. ]] SLAMing on 13.832557844000002 meters Centerline goodness : 0.186581 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:0.71 [[ 0.99972037 -0.00438811 0.02323629 -1.23834334] [ 0.00442156 0.99998926 -0.00138868 -0.05983479] [-0.02322995 0.00149103 0.99972904 0.7076047 ] [ 0. 0. 0. 1. ]] SLAMing on 13.862557844000001 meters Centerline goodness : 0.147305 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.06, Z:0.71 [[ 0.99972108 0.00429039 0.02322415 -1.2162454 ] [-0.00424539 0.99998902 -0.00198641 -0.06314223] [-0.02323242 0.00188726 0.99972831 0.70685799] [ 0. 0. 0. 1. ]] SLAMing on 13.892557844 meters SLAMing on 13.922557844000002 meters SLAMing on 13.952557844000001 meters SLAMing on 13.982557844 meters SLAMing on 14.012557844000002 meters SLAMing on 14.042557844000001 meters SLAMing on 14.072557844 meters SLAMing on 14.102557844000001 meters Centerline goodness : 0.198520 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:0.71 [[ 9.99313224e-01 2.50421532e-02 2.73124561e-02 -1.24997836e+00] [-2.50237702e-02 9.99686341e-01 -1.01470307e-03 -4.23427056e-02] [-2.73292996e-02 3.30545570e-04 9.99626430e-01 7.05058929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.132557844 meters SLAMing on 14.162557844000002 meters Centerline goodness : 0.186041 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:0.70 [[ 9.99331737e-01 2.49621181e-02 2.67015385e-02 -1.24847385e+00] [-2.49323866e-02 9.99688094e-01 -1.44587473e-03 -4.04609434e-02] [-2.67293022e-02 7.79175429e-04 9.99642405e-01 7.04876823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192557844000001 meters Centerline goodness : 0.193684 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:0.71 [[ 0.99956361 0.01162448 0.02715638 -1.25214671] [-0.01169332 0.9999288 0.00237746 -0.03658636] [-0.02712681 -0.00269397 0.99962837 0.70624645] [ 0. 0. 0. 1. ]] SLAMing on 14.222557844 meters Centerline goodness : 0.180881 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:0.71 [[ 0.99955754 0.0116562 0.02736535 -1.25290849] [-0.0117294 0.99992804 0.00251573 -0.0372474 ] [-0.02733406 -0.0028356 0.99962233 0.70677343] [ 0. 0. 0. 1. ]] SLAMing on 14.252557844000002 meters Centerline goodness : 0.194629 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:0.71 [[ 0.99955968 0.0116298 0.02729823 -1.25272837] [-0.01170507 0.99992812 0.00259895 -0.03789814] [-0.02726604 -0.00291733 0.99962396 0.70677138] [ 0. 0. 0. 1. ]] SLAMing on 14.282557844000001 meters Centerline goodness : 0.191074 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:0.71 [[ 0.99957318 0.01165165 0.02678972 -1.25100966] [-0.01172753 0.99992765 0.00267702 -0.03826381] [-0.02675659 -0.00299006 0.99963751 0.70587865] [ 0. 0. 0. 1. ]] SLAMing on 14.312557844 meters Centerline goodness : 0.124692 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:0.71 [[ 0.9996874 0.00467214 0.02456167 -1.27230279] [-0.00480214 0.99997476 0.00523667 -0.03598745] [-0.02453658 -0.00535298 0.9996846 0.70723606] [ 0. 0. 0. 1. ]] SLAMing on 14.342557844000002 meters Centerline goodness : 0.147340 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:0.71 [[ 0.99968572 0.00469151 0.02462624 -1.27260396] [-0.00482282 0.99997445 0.00527551 -0.03611013] [-0.02460086 -0.00539262 0.99968281 0.70751699] [ 0. 0. 0. 1. ]] SLAMing on 14.372557844000001 meters SLAMing on 14.402557844 meters Centerline goodness : 0.100077 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:0.71 [[ 0.99966902 0.00472926 0.02528787 -1.27533625] [-0.00486599 0.99997386 0.0053483 -0.03663776] [-0.02526191 -0.00546958 0.9996659 0.70969119] [ 0. 0. 0. 1. ]] SLAMing on 14.432557844000002 meters Centerline goodness : 0.161392 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:0.71 [[ 0.99966764 0.00477581 0.02533369 -1.27553819] [-0.00491611 0.99997291 0.00547879 -0.03727156] [-0.02530684 -0.00560151 0.99966404 0.70985475] [ 0. 0. 0. 1. ]] SLAMing on 14.462557844 meters Centerline goodness : 0.150612 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:0.71 [[ 0.99966731 0.0048375 0.02533524 -1.27556355] [-0.00498319 0.99997139 0.00569083 -0.03826313] [-0.02530699 -0.00581518 0.99966281 0.70988076] [ 0. 0. 0. 1. ]] SLAMing on 14.492557844000002 meters Centerline goodness : 0.097483 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:0.71 [[ 0.99966793 0.00492559 0.02529357 -1.27546154] [-0.00507766 0.9999694 0.00595131 -0.03947067] [-0.02526348 -0.00607777 0.99966235 0.70987293] [ 0. 0. 0. 1. ]] SLAMing on 14.522557844000001 meters SLAMing on 14.552557844 meters Centerline goodness : 0.163234 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.04, Z:0.71 [[ 0.99971888 0.00485651 0.02320713 -1.32251437] [-0.00500847 0.99996637 0.0064942 -0.0449257 ] [-0.02317481 -0.00660861 0.99970959 0.71331503] [ 0. 0. 0. 1. ]] SLAMing on 14.582557844000002 meters Centerline goodness : 0.080028 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.05, Z:0.71 [[ 0.99968601 0.00447097 0.02465543 -1.27725152] [-0.00462185 0.99997092 0.00606563 -0.04501273] [-0.0246276 -0.00617767 0.99967761 0.71120346] [ 0. 0. 0. 1. ]] SLAMing on 14.612557844000001 meters Centerline goodness : 0.111082 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.99976186 0.00413148 0.02142798 -1.32023519] [-0.00425804 0.99997374 0.00586409 -0.04708216] [-0.02140319 -0.00595393 0.9997532 0.7125877 ] [ 0. 0. 0. 1. ]] SLAMing on 14.642557844 meters Centerline goodness : 0.100002 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.99976857 0.00423753 0.02109156 -1.31904561] [-0.00436764 0.9999717 0.00612634 -0.0482975 ] [-0.021065 -0.00621704 0.99975878 0.71184153] [ 0. 0. 0. 1. ]] SLAMing on 14.672557844000002 meters Centerline goodness : 0.099595 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.99977113 0.00447783 0.02091964 -1.3183759 ] [-0.00461933 0.99996674 0.00672093 -0.05098756] [-0.02088885 -0.00681603 0.99975857 0.71138842] [ 0. 0. 0. 1. ]] SLAMing on 14.702557844000001 meters Centerline goodness : 0.199439 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.9997683 0.00457602 0.02103329 -1.3188722 ] [-0.00472383 0.99996446 0.0069831 -0.05222858] [-0.02100058 -0.00708084 0.99975439 0.71183371] [ 0. 0. 0. 1. ]] SLAMing on 14.732557844 meters Centerline goodness : 0.193584 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.99976469 0.00466449 0.02118511 -1.31950569] [-0.00481792 0.99996249 0.0071974 -0.05323799] [-0.02115074 -0.00729778 0.99974966 0.71232945] [ 0. 0. 0. 1. ]] SLAMing on 14.762557844000002 meters Centerline goodness : 0.225778 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.99975943 0.00479869 0.02140237 -1.3204056 ] [-0.0049591 0.99995996 0.00744853 -0.05421683] [-0.02136577 -0.00755287 0.9997432 0.71298202] [ 0. 0. 0. 1. ]] SLAMing on 14.792557844000001 meters Centerline goodness : 0.191809 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.99975911 0.00482985 0.0214101 -1.32042002] [-0.00499168 0.99995933 0.0075115 -0.05453288] [-0.02137295 -0.00761657 0.99974256 0.71297084] [ 0. 0. 0. 1. ]] SLAMing on 14.822557844 meters Centerline goodness : 0.192899 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.71 [[ 0.99982563 0.00415404 0.0182056 -1.36409592] [-0.00427989 0.99996718 0.00687921 -0.055971 ] [-0.01817643 -0.00695593 0.9998106 0.71460698] [ 0. 0. 0. 1. ]] SLAMing on 14.852557844000001 meters Centerline goodness : 0.113399 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.71 [[ 0.99982932 0.00417811 0.01799656 -1.36317692] [-0.0043048 0.99996618 0.00700708 -0.05685217] [-0.01796667 -0.00708336 0.99981349 0.71382714] [ 0. 0. 0. 1. ]] SLAMing on 14.882557844 meters Centerline goodness : 0.076264 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.71 [[ 0.99982945 0.0042872 0.01796365 -1.36303619] [-0.00441757 0.99996415 0.00722377 -0.05780512] [-0.01793204 -0.00730189 0.99981254 0.71364064] [ 0. 0. 0. 1. ]] SLAMing on 14.912557844000002 meters Centerline goodness : 0.190181 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.71 [[ 0.99982756 0.00434989 0.01805351 -1.36347024] [-0.00448255 0.99996321 0.00731404 -0.0579983 ] [-0.01802103 -0.0073937 0.99981027 0.71401058] [ 0. 0. 0. 1. ]] SLAMing on 14.942557844000001 meters Centerline goodness : 0.159068 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.71 [[ 0.99982655 0.00444422 0.01808635 -1.36389429] [-0.00458112 0.99996112 0.00753508 -0.05889802] [-0.01805216 -0.00761663 0.99980803 0.71464152] [ 0. 0. 0. 1. ]] SLAMing on 14.972557844 meters Centerline goodness : 0.080188 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.72 [[ 9.99837477e-01 1.05226218e-03 1.79975787e-02 -1.36419864e+00] [-1.12334711e-03 9.99991607e-01 3.94004072e-03 -5.89655805e-02] [-1.79932817e-02 -3.95961789e-03 9.99830267e-01 7.15288126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002557844000002 meters Centerline goodness : 0.155873 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.72 [[ 9.99837259e-01 9.98181727e-04 1.80127531e-02 -1.36451320e+00] [-1.08193571e-03 9.99988647e-01 4.64055852e-03 -6.33066292e-02] [-1.80079165e-02 -4.65929195e-03 9.99826988e-01 7.15869040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032557844000001 meters Centerline goodness : 0.169490 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.07, Z:0.72 [[ 9.99835712e-01 1.16134832e-03 1.80886548e-02 -1.36478115e+00] [-1.25517597e-03 9.99985814e-01 5.17661038e-03 -6.57657140e-02] [-1.80823863e-02 -5.19846437e-03 9.99822986e-01 7.16083727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062557844 meters Centerline goodness : 0.143798 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.07, Z:0.72 [[ 9.99832567e-01 1.31491798e-03 1.82512769e-02 -1.36538722e+00] [-1.41848452e-03 9.99982961e-01 5.66269658e-03 -6.80180170e-02] [-1.82435199e-02 -5.68763761e-03 9.99817396e-01 7.16500686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092557844000002 meters Centerline goodness : 0.158715 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.07, Z:0.72 [[ 9.99774947e-01 5.21124035e-04 2.12081174e-02 -1.32289265e+00] [-6.21615494e-04 9.99988611e-01 4.73203238e-03 -6.88564300e-02] [-2.12054099e-02 -4.74415072e-03 9.99763884e-01 7.15613684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122557844000001 meters Centerline goodness : 0.131244 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.07, Z:0.72 [[ 9.99773929e-01 5.85123502e-04 2.12543928e-02 -1.32323658e+00] [-6.92069664e-04 9.99987137e-01 5.02471339e-03 -7.05124731e-02] [-2.12511793e-02 -5.03828697e-03 9.99761473e-01 7.16061161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.152557844 meters Centerline goodness : 0.166948 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.07, Z:0.72 [[ 9.99829824e-01 1.50710244e-06 1.84478521e-02 -1.36831500e+00] [-9.26433496e-05 9.99987797e-01 4.93935552e-03 -7.35582494e-02] [-1.84476195e-02 -4.94022403e-03 9.99817623e-01 7.18371874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182557844000002 meters Centerline goodness : 0.173005 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.08, Z:0.72 [[ 9.99833981e-01 3.79479151e-04 1.82172282e-02 -1.36724085e+00] [-4.85973560e-04 9.99982819e-01 5.84173653e-03 -7.71288065e-02] [-1.82146984e-02 -5.84961978e-03 9.99816987e-01 7.17409318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212557844 meters Centerline goodness : 0.149224 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.08, Z:0.72 [[ 9.99834626e-01 6.03701689e-04 1.81757055e-02 -1.36705929e+00] [-7.22421493e-04 9.99978445e-01 6.52592807e-03 -8.03163074e-02] [-1.81713740e-02 -6.53797937e-03 9.99813511e-01 7.17311243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242557844000002 meters Centerline goodness : 0.197444 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.09, Z:0.72 [[ 0.99982604 -0.00305532 0.01840008 -1.36804806] [ 0.00298517 0.99998818 0.0038386 -0.08773993] [-0.01841159 -0.00378301 0.99982334 0.71819351] [ 0. 0. 0. 1. ]] SLAMing on 15.272557844000001 meters Centerline goodness : 0.167658 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.09, Z:0.72 [[ 0.99982312 -0.00306321 0.01855648 -1.36858664] [ 0.00297782 0.99998486 0.00462759 -0.09232973] [-0.01857038 -0.00457152 0.9998171 0.71854369] [ 0. 0. 0. 1. ]] SLAMing on 15.302557844 meters Centerline goodness : 0.206086 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.72 [[ 0.99982415 -0.00289286 0.0185285 -1.36870915] [ 0.00279186 0.99998112 0.00547449 -0.09632259] [-0.01854399 -0.0054218 0.99981334 0.71883141] [ 0. 0. 0. 1. ]] SLAMing on 15.332557844000002 meters Centerline goodness : 0.102249 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.72 [[ 0.99982153 -0.00263577 0.01870702 -1.36925424] [ 0.00251773 0.99997679 0.00633047 -0.10007311] [-0.01872327 -0.00628224 0.99980497 0.71903172] [ 0. 0. 0. 1. ]] SLAMing on 15.362557844000001 meters Centerline goodness : 0.297152 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.72 [[ 0.99981142 -0.00252964 0.01925405 -1.37092534] [ 0.00239369 0.99997207 0.00708089 -0.10402688] [-0.01927143 -0.00703347 0.99978955 0.71978366] [ 0. 0. 0. 1. ]] SLAMing on 15.392557844 meters Centerline goodness : 0.163269 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 0.9997752 -0.0022774 0.02108011 -1.32718532] [ 0.00213618 0.99997515 0.00671895 -0.10449093] [-0.02109488 -0.0066724 0.99975521 0.71876618] [ 0. 0. 0. 1. ]] SLAMing on 15.422557844000002 meters Centerline goodness : 0.132104 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 0.99977994 -0.00216715 0.02086546 -1.32646782] [ 0.00202749 0.99997542 0.00671225 -0.10415175] [-0.0208795 -0.00666847 0.99975976 0.71851297] [ 0. 0. 0. 1. ]] SLAMing on 15.452557844000001 meters Centerline goodness : 0.194273 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:0.72 [[ 0.99977672 0.00684218 0.01999231 -1.34829739] [-0.00696902 0.99995598 0.00628199 -0.10699792] [-0.01994845 -0.00641991 0.9997804 0.71866219] [ 0. 0. 0. 1. ]] SLAMing on 15.482557844 meters Centerline goodness : 0.140547 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99811273e-01 -4.29296932e-05 1.94271868e-02 -1.32888362e+00] [-1.05044278e-04 9.99970994e-01 7.61576561e-03 -1.00603091e-01] [-1.94269502e-02 -7.61636902e-03 9.99782269e-01 7.19677293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512557844000002 meters Centerline goodness : 0.191262 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99816995e-01 -2.29239242e-04 1.91291286e-02 -1.32806901e+00] [ 9.35665328e-05 9.99974840e-01 7.09306041e-03 -9.85610390e-02] [-1.91302733e-02 -7.08997250e-03 9.99791861e-01 7.19544722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542557844000001 meters Centerline goodness : 0.159942 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99820151e-01 -2.88634823e-04 1.89626793e-02 -1.32755338e+00] [ 1.55893568e-04 9.99975479e-01 7.00123715e-03 -9.84031454e-02] [-1.89642351e-02 -6.99702182e-03 9.99795679e-01 7.19316793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572557844000002 meters Centerline goodness : 0.133505 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.10, Z:0.72 [[ 0.99981211 0.00778368 0.01775296 -1.34700155] [-0.00788172 0.99995404 0.00545875 -0.1041675 ] [-0.01770966 -0.00559765 0.9998275 0.71883727] [ 0. 0. 0. 1. ]] SLAMing on 15.602557844000001 meters Centerline goodness : 0.196201 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.10, Z:0.72 [[ 0.99981032 0.00776488 0.01786144 -1.3471669 ] [-0.0078643 0.99995394 0.0055025 -0.10433201] [-0.01781789 -0.00564193 0.99982533 0.71853666] [ 0. 0. 0. 1. ]] SLAMing on 15.632557844 meters Centerline goodness : 0.126288 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99806327e-01 -3.04968399e-04 1.96777685e-02 -1.32787127e+00] [ 1.69689252e-04 9.99976345e-01 6.87602343e-03 -1.00198093e-01] [-1.96794000e-02 -6.87135262e-03 9.99782729e-01 7.19240117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662557844000002 meters Centerline goodness : 0.195881 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99804378e-01 -2.98157557e-04 1.97766771e-02 -1.32826023e+00] [ 1.61367072e-04 9.99976057e-01 6.91799298e-03 -1.00361467e-01] [-1.97782663e-02 -6.91344836e-03 9.99780488e-01 7.19499577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.692557844000001 meters Centerline goodness : 0.102094 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99806640e-01 -3.33694167e-04 1.96614219e-02 -1.32799044e+00] [ 1.98107609e-04 9.99976192e-01 6.89761503e-03 -1.00410115e-01] [-1.96632555e-02 -6.89238623e-03 9.99782902e-01 7.19540999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722557844 meters Centerline goodness : 0.198945 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99812888e-01 -4.89811426e-04 1.93377845e-02 -1.32715671e+00] [ 3.61457380e-04 9.99977887e-01 6.64041159e-03 -9.98499075e-02] [-1.93406095e-02 -6.63217930e-03 9.99790956e-01 7.19395471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752557844000002 meters Centerline goodness : 0.104284 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99814385e-01 -5.45750338e-04 1.92587218e-02 -1.32696420e+00] [ 4.22500747e-04 9.99979410e-01 6.40316520e-03 -9.86660573e-02] [-1.92618198e-02 -6.39383985e-03 9.99794029e-01 7.19355108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782557844000001 meters Centerline goodness : 0.110262 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99811639e-01 -6.32894398e-04 1.93980966e-02 -1.32734180e+00] [ 5.15240459e-04 9.99981447e-01 6.06962887e-03 -9.69031485e-02] [-1.94015782e-02 -6.05849091e-03 9.99793415e-01 7.19365741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.812557844 meters Centerline goodness : 0.130931 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.09, Z:0.72 [[ 9.99811080e-01 -7.03209601e-04 1.94244668e-02 -1.32714213e+00] [ 5.97282458e-04 9.99984924e-01 5.45854778e-03 -9.33588231e-02] [-1.94280124e-02 -5.44591466e-03 9.99796426e-01 7.18818609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842557844000002 meters Centerline goodness : 0.127829 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.09, Z:0.72 [[ 9.99813805e-01 -8.06486452e-04 1.92796295e-02 -1.32662834e+00] [ 7.05996089e-04 9.99986134e-01 5.21849414e-03 -9.23265299e-02] [-1.92835709e-02 -5.20391114e-03 9.99800512e-01 7.18502907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.872557844000001 meters Centerline goodness : 0.191822 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.09, Z:0.72 [[ 9.99816418e-01 -8.64489620e-04 1.91411562e-02 -1.32628005e+00] [ 7.66035165e-04 9.99986444e-01 5.15033500e-03 -9.21303524e-02] [-1.91453491e-02 -5.13472669e-03 9.99803526e-01 7.18446775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902557844000002 meters Centerline goodness : 0.193204 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.09, Z:0.72 [[ 9.99818937e-01 -9.06058756e-04 1.90071706e-02 -1.32611970e+00] [ 8.09130390e-04 9.99986634e-01 5.10663901e-03 -9.19315598e-02] [-1.90115435e-02 -5.09033511e-03 9.99806306e-01 7.18678111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932557844000002 meters Centerline goodness : 0.205347 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.09, Z:0.72 [[ 9.99821159e-01 -9.66327082e-04 1.88869420e-02 -1.32564917e+00] [ 8.72904798e-04 9.99987348e-01 4.95401369e-03 -9.12258060e-02] [-1.88914903e-02 -4.93664120e-03 9.99809352e-01 7.18350092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962557844 meters Centerline goodness : 0.194816 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.09, Z:0.72 [[ 9.99822971e-01 -1.05932370e-03 1.87857564e-02 -1.32509520e+00] [ 9.71135266e-04 9.99988470e-01 4.70293236e-03 -9.01387048e-02] [-1.87905217e-02 -4.68385629e-03 9.99812471e-01 7.17742746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992557844000002 meters Centerline goodness : 0.196352 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.09, Z:0.72 [[ 0.9998046 0.00745364 0.01830878 -1.34518898] [-0.00751848 0.9999657 0.00347498 -0.09315144] [-0.01828225 -0.00361195 0.99982634 0.71668343] [ 0. 0. 0. 1. ]] SLAMing on 16.022557843999998 meters Centerline goodness : 0.196352 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.09, Z:0.72 [[ 0.9998046 0.00745364 0.01830878 -1.34518898] [-0.00751848 0.9999657 0.00347498 -0.09315144] [-0.01828225 -0.00361195 0.99982634 0.71668343] [ 0. 0. 0. 1. ]] SLAMing on 16.052557844 meters Centerline goodness : 0.272907 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.09, Z:0.72 [[ 0.99983085 0.00218953 0.01826151 -1.32467715] [-0.00231166 0.99997509 0.00666903 -0.08593512] [-0.01824645 -0.00671011 0.999811 0.7173681 ] [ 0. 0. 0. 1. ]] SLAMing on 16.082557844 meters Centerline goodness : 0.178062 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.08, Z:0.72 [[ 0.99983272 0.00210363 0.01816881 -1.32474736] [-0.00221865 0.99997762 0.00631245 -0.08413145] [-0.01815513 -0.00635171 0.99981501 0.71788845] [ 0. 0. 0. 1. ]] SLAMing on 16.112557844 meters Centerline goodness : 0.187047 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.08, Z:0.72 [[ 0.99983315 0.00200412 0.0181563 -1.32493066] [-0.00211309 0.99997986 0.00598433 -0.08260978] [-0.01814394 -0.00602169 0.99981725 0.71828177] [ 0. 0. 0. 1. ]] SLAMing on 16.142557844 meters Centerline goodness : 0.110211 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99983035 0.00193278 0.01831772 -1.32538958] [-0.00203689 0.99998187 0.00566617 -0.08104665] [-0.01830644 -0.00570252 0.99981616 0.7183966 ] [ 0. 0. 0. 1. ]] SLAMing on 16.172557844 meters Centerline goodness : 0.172685 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99979829 0.00235591 0.01994582 -1.32979107] [-0.00246954 0.99998085 0.00567395 -0.07967265] [-0.01993207 -0.00572206 0.99978496 0.71915926] [ 0. 0. 0. 1. ]] SLAMing on 16.202557844 meters Centerline goodness : 0.183085 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99979462 0.00233088 0.02013155 -1.3304216 ] [-0.00244237 0.99998181 0.00551549 -0.07882017] [-0.02011833 -0.00556353 0.99978213 0.71943843] [ 0. 0. 0. 1. ]] SLAMing on 16.232557844 meters Centerline goodness : 0.107369 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99979766 0.00228224 0.01998566 -1.33005949] [-0.0023886 0.9999831 0.00529958 -0.07775023] [-0.01997323 -0.00534624 0.99978622 0.71938837] [ 0. 0. 0. 1. ]] SLAMing on 16.262557844 meters Centerline goodness : 0.157803 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99980197 0.00224838 0.01977285 -1.32941591] [-0.00234946 0.99998428 0.00509029 -0.07669284] [-0.0197611 -0.00513574 0.99979154 0.71909963] [ 0. 0. 0. 1. ]] SLAMing on 16.292557844 meters Centerline goodness : 0.183043 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99980439 0.00223208 0.01965182 -1.32912783] [-0.00232901 0.99998523 0.00491115 -0.07574307] [-0.01964057 -0.00495596 0.99979482 0.71904201] [ 0. 0. 0. 1. ]] SLAMing on 16.322557844 meters Centerline goodness : 0.178665 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99979087 0.00249171 0.02029797 -1.33093691] [-0.00259572 0.99998363 0.00509942 -0.07611006] [-0.02028493 -0.00515104 0.99978097 0.71942607] [ 0. 0. 0. 1. ]] SLAMing on 16.352557844 meters Centerline goodness : 0.122287 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99978412 0.00257876 0.0206173 -1.3319634 ] [-0.00268888 0.99998226 0.00531521 -0.07716134] [-0.02060322 -0.0053695 0.99977331 0.71986558] [ 0. 0. 0. 1. ]] SLAMing on 16.382557844 meters Centerline goodness : 0.158936 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99978276 0.00267571 0.02067075 -1.33222355] [-0.00279143 0.99998058 0.00557162 -0.07847114] [-0.02065544 -0.00562811 0.99977081 0.72013413] [ 0. 0. 0. 1. ]] SLAMing on 16.412557844 meters Centerline goodness : 0.109139 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99979234 0.00288642 0.02017309 -1.33061274] [-0.00300893 0.9999772 0.00604502 -0.08076762] [-0.02015519 -0.00610446 0.99977823 0.71943468] [ 0. 0. 0. 1. ]] SLAMing on 16.442557844 meters Centerline goodness : 0.167837 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.08, Z:0.72 [[ 0.99984558 0.00262155 0.01737647 -1.37638408] [-0.00273433 0.99997533 0.00646999 -0.08421267] [-0.01735908 -0.00651651 0.99982808 0.72194133] [ 0. 0. 0. 1. ]] SLAMing on 16.472557844 meters Centerline goodness : 0.166169 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99984015 0.00271378 0.01767245 -1.37736391] [-0.00283195 0.99997378 0.0066649 -0.08508617] [-0.0176539 -0.00671389 0.99982162 0.722427 ] [ 0. 0. 0. 1. ]] SLAMing on 16.502557844 meters Centerline goodness : 0.173228 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99983289 0.00277656 0.01806907 -1.37876156] [-0.00289993 0.99997264 0.00680538 -0.08579713] [-0.01804968 -0.00685664 0.99981358 0.72319936] [ 0. 0. 0. 1. ]] SLAMing on 16.532557844 meters Centerline goodness : 0.109694 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99983222 0.00286204 0.01809255 -1.37850674] [-0.0029883 0.99997134 0.0069556 -0.08659872] [-0.01807212 -0.0070085 0.99981212 0.72257982] [ 0. 0. 0. 1. ]] SLAMing on 16.562557844 meters Centerline goodness : 0.112215 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99984105 0.00293083 0.0175866 -1.37650756] [-0.00305234 0.99997163 0.00688687 -0.08613276] [-0.01756591 -0.00693946 0.99982163 0.7210616 ] [ 0. 0. 0. 1. ]] SLAMing on 16.592557843999998 meters Centerline goodness : 0.148535 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.09, Z:0.72 [[ 0.9998496 0.0029357 0.01709289 -1.37470753] [-0.00305053 0.99997293 0.0066956 -0.08517672] [-0.01707277 -0.00674673 0.99983149 0.71987594] [ 0. 0. 0. 1. ]] SLAMing on 16.622557844 meters Centerline goodness : 0.116398 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.09, Z:0.72 [[ 0.99981938 0.0111342 0.01540229 -1.39460203] [-0.01122144 0.99992142 0.00558896 -0.08990917] [-0.01533885 -0.00576079 0.99986576 0.71926172] [ 0. 0. 0. 1. ]] SLAMing on 16.652557844 meters Centerline goodness : 0.109136 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.09, Z:0.72 [[ 0.99982068 0.0111178 0.01532994 -1.39449598] [-0.01120355 0.99992201 0.00551927 -0.08964278] [-0.01526739 -0.00569003 0.99986726 0.71935108] [ 0. 0. 0. 1. ]] SLAMing on 16.682557843999998 meters Centerline goodness : 0.168317 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99985121 0.00311779 0.0169659 -1.37647032] [-0.00323008 0.99997303 0.00659574 -0.08561074] [-0.01694487 -0.00664956 0.99983431 0.72069986] [ 0. 0. 0. 1. ]] SLAMing on 16.712557844 meters Centerline goodness : 0.172110 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99984895 0.00316423 0.01708976 -1.37692387] [-0.00327921 0.99997215 0.00670436 -0.08602193] [-0.01706807 -0.00675939 0.99983148 0.7209422 ] [ 0. 0. 0. 1. ]] SLAMing on 16.742557844 meters Centerline goodness : 0.164069 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99984796 0.0032108 0.01713929 -1.37705717] [-0.00332827 0.99997114 0.00682992 -0.08654368] [-0.01711686 -0.00688592 0.99982978 0.72094135] [ 0. 0. 0. 1. ]] SLAMing on 16.772557843999998 meters Centerline goodness : 0.133740 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99984922 0.00323463 0.01706082 -1.37663231] [-0.00335414 0.99997001 0.00698098 -0.08735764] [-0.01703772 -0.00703715 0.99983008 0.72050684] [ 0. 0. 0. 1. ]] SLAMing on 16.802557844 meters Centerline goodness : 0.105024 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99985552 0.00323785 0.01668676 -1.37544576] [-0.00335781 0.99996869 0.00716568 -0.0885007 ] [-0.01666303 -0.00722068 0.99983509 0.72002525] [ 0. 0. 0. 1. ]] SLAMing on 16.832557844 meters Centerline goodness : 0.158563 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.09, Z:0.72 [[ 0.99988219 -0.00567163 0.01426303 -1.39493051] [ 0.0055507 0.99994844 0.00850378 -0.08838595] [-0.01431052 -0.0084236 0.99986212 0.719521 ] [ 0. 0. 0. 1. ]] SLAMing on 16.862557844 meters Centerline goodness : 0.167438 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.09, Z:0.72 [[ 0.99988525 -0.00556625 0.01408914 -1.39446927] [ 0.0054426 0.99994647 0.00879965 -0.08970591] [-0.01413736 -0.00872196 0.99986202 0.7195099 ] [ 0. 0. 0. 1. ]] SLAMing on 16.892557844 meters Centerline goodness : 0.163977 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.09, Z:0.72 [[ 0.99988668 -0.0053397 0.01407539 -1.39460205] [ 0.00520456 0.99994018 0.00962026 -0.0936721 ] [-0.01412592 -0.00954591 0.99985466 0.71999468] [ 0. 0. 0. 1. ]] SLAMing on 16.922557844 meters Centerline goodness : 0.141269 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.72 [[ 9.99882967e-01 9.72559603e-04 1.52678134e-02 -1.37238832e+00] [-1.07391274e-03 9.99977434e-01 6.63155855e-03 -9.62889054e-02] [-1.52610193e-02 -6.64717874e-03 9.99861449e-01 7.18741983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952557844 meters Centerline goodness : 0.156997 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.72 [[ 9.99881043e-01 1.16609770e-03 1.53798490e-02 -1.37262861e+00] [-1.27664612e-03 9.99973408e-01 7.18001599e-03 -9.88356325e-02] [-1.53710675e-02 -7.19879650e-03 9.99855943e-01 7.18742544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982557844 meters Centerline goodness : 0.133964 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.72 [[ 9.99879369e-01 1.33846768e-03 1.54743954e-02 -1.37294499e+00] [-1.45740628e-03 9.99969466e-01 7.67743425e-03 -1.01097822e-01] [-1.54636469e-02 -7.69906059e-03 9.99850789e-01 7.18933415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.012557844 meters Centerline goodness : 0.158513 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.11, Z:0.72 [[ 0.99984975 0.00730517 0.0157198 -1.39641181] [-0.00738534 0.99995999 0.00504775 -0.1066329 ] [-0.0156823 -0.00516308 0.99986369 0.7197743 ] [ 0. 0. 0. 1. ]] SLAMing on 17.042557844 meters Centerline goodness : 0.133066 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.11, Z:0.72 [[ 0.99986034 0.0042272 0.01616853 -1.39788107] [-0.00426001 0.99998893 0.00199562 -0.10952339] [-0.01615991 -0.00206422 0.99986729 0.72017905] [ 0. 0. 0. 1. ]] SLAMing on 17.072557844 meters Centerline goodness : 0.160686 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.11, Z:0.72 [[ 0.99987795 -0.00441836 0.01498514 -1.41839054] [ 0.00436904 0.99998494 0.00332182 -0.10720432] [-0.0149996 -0.00325594 0.9998822 0.71986025] [ 0. 0. 0. 1. ]] SLAMing on 17.102557844 meters Centerline goodness : 0.133254 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.11, Z:0.72 [[ 0.99984897 -0.00265519 0.01717532 -1.37501398] [ 0.00258423 0.99998804 0.00415247 -0.10547366] [-0.01718614 -0.00410745 0.99984387 0.71857155] [ 0. 0. 0. 1. ]] SLAMing on 17.132557844 meters Centerline goodness : 0.137368 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.11, Z:0.72 [[ 0.99983959 0.00583947 0.01693184 -1.39654274] [-0.00589767 0.99997686 0.00338994 -0.11145376] [-0.01691165 -0.00348925 0.9998509 0.71773918] [ 0. 0. 0. 1. ]] SLAMing on 17.162557844 meters Centerline goodness : 0.161894 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.11, Z:0.72 [[ 0.99984044 0.00586108 0.01687401 -1.39647409] [-0.00591974 0.9999766 0.00342897 -0.1118249 ] [-0.01685352 -0.00352831 0.99985174 0.71789768] [ 0. 0. 0. 1. ]] SLAMing on 17.192557844 meters Centerline goodness : 0.136893 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:0.72 [[ 0.99981167 0.00689352 0.01814121 -1.35313822] [-0.00695034 0.99997113 0.0030707 -0.10966936] [-0.01811951 -0.00319621 0.99983072 0.71763668] [ 0. 0. 0. 1. ]] SLAMing on 17.222557844 meters Centerline goodness : 0.141219 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:0.72 [[ 0.99981404 0.00729184 0.01785276 -1.35216102] [-0.0073531 0.99996729 0.00336829 -0.1099039 ] [-0.01782762 -0.00349893 0.99983495 0.71694299] [ 0. 0. 0. 1. ]] SLAMing on 17.252557844 meters Centerline goodness : 0.121164 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:0.72 [[ 0.9998174 0.00732718 0.01764857 -1.35114343] [-0.00738862 0.99996686 0.00341847 -0.11015309] [-0.01762293 -0.00354824 0.99983841 0.71594269] [ 0. 0. 0. 1. ]] SLAMing on 17.282557844 meters Centerline goodness : 0.126636 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:0.72 [[ 0.99982191 0.00732473 0.01739262 -1.35000914] [-0.00738745 0.99996643 0.00354464 -0.11108495] [-0.01736608 -0.0036725 0.99984245 0.71505441] [ 0. 0. 0. 1. ]] SLAMing on 17.312557844 meters Centerline goodness : 0.131548 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.11, Z:0.72 [[ 0.99987708 -0.00212382 0.01553451 -1.37126922] [ 0.00206059 0.99998953 0.00408504 -0.11044844] [-0.01554303 -0.00405252 0.99987099 0.71528605] [ 0. 0. 0. 1. ]] SLAMing on 17.342557843999998 meters Centerline goodness : 0.131991 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:0.71 [[ 9.99861518e-01 4.26536044e-03 1.60857587e-02 -1.34764738e+00] [-4.28246107e-03 9.99990301e-01 1.02879495e-03 -1.11819284e-01] [-1.60812145e-02 -1.09753912e-03 9.99870087e-01 7.13655469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.372557844 meters Centerline goodness : 0.129832 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.11, Z:0.71 [[ 0.99987956 -0.00505913 0.01467237 -1.36867772] [ 0.00502287 0.99998424 0.00250698 -0.11358297] [-0.01468482 -0.00243299 0.99988921 0.71394875] [ 0. 0. 0. 1. ]] SLAMing on 17.402557844 meters Centerline goodness : 0.134123 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:0.71 [[ 0.9998836 -0.00497662 0.01442281 -1.3680763 ] [ 0.00493347 0.99998325 0.00302621 -0.11622741] [-0.01443763 -0.0029547 0.99989141 0.71407784] [ 0. 0. 0. 1. ]] SLAMing on 17.432557843999998 meters Centerline goodness : 0.140400 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.12, Z:0.71 [[ 9.99888944e-01 1.52757237e-03 1.48244905e-02 -1.38693103e+00] [-1.54749219e-03 9.99997915e-01 1.33233245e-03 -1.24757243e-01] [-1.48224243e-02 -1.35512527e-03 9.99889224e-01 7.12588778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462557844 meters Centerline goodness : 0.134411 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.12, Z:0.71 [[ 0.9998708 -0.00814138 0.01385991 -1.40947516] [ 0.0081167 0.99996537 0.00183594 -0.12424769] [-0.01387438 -0.0017232 0.99990226 0.7136694 ] [ 0. 0. 0. 1. ]] SLAMing on 17.492557844 meters Centerline goodness : 0.139607 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.13, Z:0.72 [[ 9.99889041e-01 3.28920406e-04 1.48928503e-02 -1.39058218e+00] [-3.37940114e-04 9.99999761e-01 6.03127636e-04 -1.28654457e-01] [-1.48926484e-02 -6.08093605e-04 9.99888913e-01 7.15056879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522557844 meters Centerline goodness : 0.135468 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.13, Z:0.72 [[ 9.99841966e-01 1.92009488e-03 1.76735831e-02 -1.34902372e+00] [-1.93970660e-03 9.99997522e-01 1.09258756e-03 -1.27098029e-01] [-1.76714415e-02 -1.12669646e-03 9.99843213e-01 7.15015464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552557844 meters Centerline goodness : 0.136859 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:0.71 [[ 0.99983829 -0.00699553 0.01656688 -1.36906411] [ 0.00696127 0.99997351 0.00212425 -0.12360551] [-0.01658131 -0.00200858 0.9998605 0.71456 ] [ 0. 0. 0. 1. ]] SLAMing on 17.582557844 meters Centerline goodness : 0.138971 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:0.71 [[ 0.99984073 -0.00701063 0.01641221 -1.36836326] [ 0.00697801 0.99997356 0.00204401 -0.12329246] [-0.01642611 -0.00192916 0.99986322 0.71388738] [ 0. 0. 0. 1. ]] SLAMing on 17.612557844 meters Centerline goodness : 0.135807 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.13, Z:0.71 [[ 0.99988575 0.00154924 0.01503598 -1.38857549] [-0.00157264 0.99999757 0.00154416 -0.12795821] [-0.01503355 -0.00156763 0.99988576 0.71320428] [ 0. 0. 0. 1. ]] SLAMing on 17.642557844 meters Centerline goodness : 0.140785 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.13, Z:0.71 [[ 0.99988654 0.00158728 0.01497991 -1.38841413] [-0.00161141 0.99999742 0.00159933 -0.12809752] [-0.01497733 -0.00162329 0.99988652 0.71312997] [ 0. 0. 0. 1. ]] SLAMing on 17.672557844 meters Centerline goodness : 0.160539 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.13, Z:0.71 [[ 0.99988983 0.0016498 0.01475142 -1.387967 ] [-0.0016763 0.999997 0.00178411 -0.12899327] [-0.01474843 -0.00180864 0.9998896 0.71339922] [ 0. 0. 0. 1. ]] SLAMing on 17.702557844 meters Centerline goodness : 0.122247 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.13, Z:0.71 [[ 0.99989185 0.00174579 0.01460281 -1.38788107] [-0.00177654 0.99999623 0.00209299 -0.13043029] [-0.0145991 -0.00211871 0.99989118 0.71398826] [ 0. 0. 0. 1. ]] SLAMing on 17.732557844 meters Centerline goodness : 0.139600 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.13, Z:0.72 [[ 0.99985546 -0.00591037 0.01594138 -1.36796952] [ 0.00584813 0.9999751 0.00394859 -0.13027323] [-0.01596432 -0.00385479 0.99986513 0.71539802] [ 0. 0. 0. 1. ]] SLAMing on 17.762557844 meters Centerline goodness : 0.135999 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.13, Z:0.72 [[ 0.99985298 -0.00570869 0.01616849 -1.36886227] [ 0.00563616 0.99997387 0.00452771 -0.13285877] [-0.01619392 -0.00443592 0.99985903 0.71608352] [ 0. 0. 0. 1. ]] SLAMing on 17.792557844 meters Centerline goodness : 0.130914 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.14, Z:0.72 [[ 0.99984964 -0.00554608 0.01642976 -1.36993166] [ 0.00546411 0.99997242 0.00502983 -0.13525895] [-0.0164572 -0.0049393 0.99985237 0.71698656] [ 0. 0. 0. 1. ]] SLAMing on 17.822557844 meters Centerline goodness : 0.121441 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.14, Z:0.72 [[ 9.99850249e-01 -6.99295103e-05 1.73053298e-02 -1.39453137e+00] [ 3.37936025e-05 9.99997819e-01 2.08842110e-03 -1.40810916e-01] [-1.73054381e-02 -2.08752355e-03 9.99848070e-01 7.18211760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852557844 meters Centerline goodness : 0.119701 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.14, Z:0.72 [[ 9.99847955e-01 1.72480233e-04 1.74366690e-02 -1.39505848e+00] [-2.18796098e-04 9.99996453e-01 2.65436077e-03 -1.43232386e-01] [-1.74361493e-02 -2.65777226e-03 9.99844446e-01 7.18657189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882557844 meters Centerline goodness : 0.119701 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.14, Z:0.72 [[ 9.99847955e-01 1.72480233e-04 1.74366690e-02 -1.39505848e+00] [-2.18796098e-04 9.99996453e-01 2.65436077e-03 -1.43232386e-01] [-1.74361493e-02 -2.65777226e-03 9.99844446e-01 7.18657189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.912557844 meters Centerline goodness : 0.146931 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.14, Z:0.72 [[ 9.99848024e-01 3.21935279e-04 1.74305837e-02 -1.39488460e+00] [-3.70790125e-04 9.99996012e-01 2.79966405e-03 -1.43519781e-01] [-1.74296129e-02 -2.80570166e-03 9.99844156e-01 7.18309527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942557844 meters Centerline goodness : 0.145301 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.14, Z:0.72 [[ 9.99849706e-01 4.38549148e-04 1.73312582e-02 -1.39449175e+00] [-4.87143233e-04 9.99995962e-01 2.79971835e-03 -1.43247352e-01] [-1.73299604e-02 -2.80774038e-03 9.99845883e-01 7.17968875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972557844 meters Centerline goodness : 0.158104 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.15, Z:0.72 [[ 0.99982656 0.00856963 0.01653517 -1.41529357] [-0.00860154 0.99996128 0.00186007 -0.14883341] [-0.01651859 -0.00200197 0.99986155 0.71761023] [ 0. 0. 0. 1. ]] SLAMing on 18.002557844 meters Centerline goodness : 0.142589 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.15, Z:0.72 [[ 9.99850581e-01 6.09032279e-03 1.61778478e-02 -1.41443735e+00] [-6.07251090e-03 9.99980901e-01 -1.14990041e-03 -1.49476737e-01] [-1.61845421e-02 1.05148844e-03 9.99868469e-01 7.17078223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.032557844 meters Centerline goodness : 0.120828 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.15, Z:0.72 [[ 9.99850649e-01 6.14234069e-03 1.61540139e-02 -1.41443832e+00] [-6.12556123e-03 9.99980647e-01 -1.08799240e-03 -1.49660753e-01] [-1.61603841e-02 9.88877505e-04 9.99868923e-01 7.17141833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062557844 meters Centerline goodness : 0.120005 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.15, Z:0.72 [[ 9.99847259e-01 6.24971774e-03 1.63217379e-02 -1.41507091e+00] [-6.23557236e-03 9.99980138e-01 -9.17406713e-04 -1.50187981e-01] [-1.63271473e-02 8.15491210e-04 9.99866371e-01 7.17497076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.092557843999998 meters Centerline goodness : 0.137016 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.15, Z:0.72 [[ 9.99867093e-01 -2.50231672e-03 1.61100909e-02 -1.43574540e+00] [ 2.49143828e-03 9.99996655e-01 6.95290835e-04 -1.48703255e-01] [-1.61117768e-02 -6.55061129e-04 9.99869982e-01 7.16987329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122557844 meters Centerline goodness : 0.120693 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.15, Z:0.72 [[ 9.99865298e-01 -2.45396437e-03 1.62284687e-02 -1.43611272e+00] [ 2.43118749e-03 9.99996032e-01 1.42309318e-03 -1.53129059e-01] [-1.62318965e-02 -1.38344704e-03 9.99867297e-01 7.17446215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.152557844 meters Centerline goodness : 0.109042 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.15, Z:0.72 [[ 0.9998691 -0.00238798 0.01600224 -1.43528322] [ 0.00236032 0.99999569 0.00174719 -0.15491477] [-0.01600634 -0.00170919 0.99987043 0.7169787 ] [ 0. 0. 0. 1. ]] SLAMing on 18.182557843999998 meters Centerline goodness : 0.129744 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.16, Z:0.72 [[ 0.9998731 -0.00229264 0.01576471 -1.43444561] [ 0.00226093 0.99999538 0.00202935 -0.1562501 ] [-0.01576929 -0.00199345 0.99987367 0.7165141 ] [ 0. 0. 0. 1. ]] SLAMing on 18.212557844 meters Centerline goodness : 0.155575 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.16, Z:0.72 [[ 0.99991711 -0.00253771 0.01262302 -1.47817068] [ 0.00249374 0.99999078 0.00349729 -0.16223664] [-0.01263178 -0.00346552 0.99991421 0.71817776] [ 0. 0. 0. 1. ]] SLAMing on 18.242557844 meters Centerline goodness : 0.157443 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.17, Z:0.72 [[ 0.99992202 -0.00228819 0.01227657 -1.47728932] [ 0.00223711 0.99998879 0.00417354 -0.16528141] [-0.01228598 -0.00414575 0.99991593 0.71823393] [ 0. 0. 0. 1. ]] SLAMing on 18.272557844 meters Centerline goodness : 0.115397 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:0.72 [[ 0.99989387 0.00616072 0.0132018 -1.45752121] [-0.00619663 0.99997721 0.00268098 -0.16951052] [-0.01318498 -0.0027625 0.99990926 0.71928604] [ 0. 0. 0. 1. ]] SLAMing on 18.302557844 meters Centerline goodness : 0.107887 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.17, Z:0.72 [[ 0.99992493 -0.00311666 0.0118502 -1.4780335 ] [ 0.00307423 0.99998881 0.00359697 -0.16798525] [-0.01186128 -0.00356026 0.99992331 0.71950706] [ 0. 0. 0. 1. ]] SLAMing on 18.332557844 meters Centerline goodness : 0.156992 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.17, Z:0.72 [[ 0.99992926 0.00471295 0.01092057 -1.49767338] [-0.0047422 0.99998523 0.00265398 -0.17457067] [-0.0109079 -0.00270558 0.99993685 0.71858016] [ 0. 0. 0. 1. ]] SLAMing on 18.362557844 meters Centerline goodness : 0.159421 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.17, Z:0.72 [[ 0.99993133 0.00493822 0.01062738 -1.49617653] [-0.0049671 0.99998404 0.00269339 -0.17411861] [-0.01061391 -0.00274599 0.9999399 0.71700407] [ 0. 0. 0. 1. ]] SLAMing on 18.392557844 meters Centerline goodness : 0.112602 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.17, Z:0.72 [[ 0.99993262 0.0049056 0.01052049 -1.49548641] [-0.00493253 0.99998462 0.00253511 -0.17338479] [-0.0105079 -0.00258683 0.99994144 0.71612891] [ 0. 0. 0. 1. ]] SLAMing on 18.422557844 meters Centerline goodness : 0.160386 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:0.72 [[ 0.99993383 0.0048691 0.01042233 -1.49494976] [-0.00489452 0.99998511 0.00241471 -0.17285959] [-0.01041042 -0.00246556 0.99994277 0.71551489] [ 0. 0. 0. 1. ]] SLAMing on 18.452557844 meters Centerline goodness : 0.137408 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:0.72 [[ 0.99993559 0.00485653 0.01025829 -1.49444509] [-0.00488124 0.99998524 0.00238488 -0.17279222] [-0.01024656 -0.0024348 0.99994454 0.71533476] [ 0. 0. 0. 1. ]] SLAMing on 18.482557844 meters Centerline goodness : 0.118183 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:0.72 [[ 0.99993769 0.00482039 0.01006858 -1.49422088] [-0.00484568 0.99998516 0.00248839 -0.17364764] [-0.01005644 -0.00253702 0.99994621 0.71584057] [ 0. 0. 0. 1. ]] SLAMing on 18.512557844 meters Centerline goodness : 0.156945 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:0.72 [[ 0.99993858 0.00484099 0.00996953 -1.49418769] [-0.00486756 0.99998466 0.00264189 -0.17449465] [-0.00995659 -0.00269026 0.99994681 0.71625901] [ 0. 0. 0. 1. ]] SLAMing on 18.542557844 meters Centerline goodness : 0.140312 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 0.99993992 0.00488561 0.0098122 -1.49383009] [-0.00491405 0.99998379 0.00287684 -0.17569539] [-0.00979799 -0.00292488 0.99994772 0.71636893] [ 0. 0. 0. 1. ]] SLAMing on 18.572557844 meters Centerline goodness : 0.141727 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 0.99994512 0.00478681 0.00931945 -1.49255436] [-0.00481804 0.99998285 0.00333103 -0.17832229] [-0.00930335 -0.00337575 0.99995102 0.71634714] [ 0. 0. 0. 1. ]] SLAMing on 18.602557844 meters Centerline goodness : 0.155555 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 0.99994483 0.00488739 0.00929829 -1.49270389] [-0.00492218 0.99998096 0.00372299 -0.1800751 ] [-0.00927992 -0.00376856 0.99994984 0.71674555] [ 0. 0. 0. 1. ]] SLAMing on 18.632557844 meters Centerline goodness : 0.159527 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 0.99994366 0.00502 0.00935326 -1.49319795] [-0.00505899 0.99997859 0.00414954 -0.18190286] [-0.00933223 -0.00419663 0.99994765 0.71746065] [ 0. 0. 0. 1. ]] SLAMing on 18.662557844 meters Centerline goodness : 0.108213 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 0.99994371 0.00508507 0.00931284 -1.49344429] [-0.00512711 0.99997675 0.00449594 -0.18363445] [-0.00928976 -0.00454343 0.99994653 0.71818756] [ 0. 0. 0. 1. ]] SLAMing on 18.692557844 meters Centerline goodness : 0.106840 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 9.99953892e-01 1.71192238e-03 9.44901342e-03 -1.49378061e+00] [-1.72175413e-03 9.99997985e-01 1.03246915e-03 -1.84026540e-01] [-9.44722687e-03 -1.04869043e-03 9.99954824e-01 7.17998917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722557844 meters Centerline goodness : 0.157074 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 9.99953733e-01 1.72384723e-03 9.46364681e-03 -1.49378406e+00] [-1.73302310e-03 9.99998036e-01 9.61476298e-04 -1.83518996e-01] [-9.46197079e-03 -9.77832532e-04 9.99954756e-01 7.17897451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.752557844 meters Centerline goodness : 0.153064 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99949419e-01 1.77877550e-03 9.89924082e-03 -1.49511971e+00] [-1.78725102e-03 9.99998044e-01 8.47397650e-04 -1.82609502e-01] [-9.89771413e-03 -8.65047216e-04 9.99950642e-01 7.18358894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782557844 meters Centerline goodness : 0.142625 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99944743e-01 1.81686458e-03 1.03542232e-02 -1.49659563e+00] [-1.82421048e-03 9.99998091e-01 7.00059896e-04 -1.81663432e-01] [-1.03529315e-02 -7.18909495e-04 9.99946149e-01 7.18994924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812557844 meters Centerline goodness : 0.155548 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99934726e-01 1.97246268e-03 1.12540281e-02 -1.49923467e+00] [-1.97906666e-03 9.99997876e-01 5.75704061e-04 -1.80627013e-01] [-1.12528686e-02 -5.97938954e-04 9.99936506e-01 7.19662977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842557843999998 meters Centerline goodness : 0.109253 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99933311e-01 1.94120201e-03 1.13844019e-02 -1.49938374e+00] [-1.94640438e-03 9.99998006e-01 4.45911867e-04 -1.79989953e-01] [-1.13835136e-02 -4.68040779e-04 9.99935096e-01 7.19291435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.872557844 meters Centerline goodness : 0.151218 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99934207e-01 1.93639762e-03 1.13062870e-02 -1.49890787e+00] [-1.94117293e-03 9.99998031e-01 4.11400063e-04 -1.79820475e-01] [-1.13054682e-02 -4.33320454e-04 9.99935997e-01 7.18716749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902557844 meters Centerline goodness : 0.143047 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99939289e-01 1.97516083e-03 1.08404892e-02 -1.49759939e+00] [-1.98279804e-03 9.99997794e-01 6.93805661e-04 -1.81422065e-01] [-1.08390949e-02 -7.15258040e-04 9.99940999e-01 7.18457428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.932557843999998 meters Centerline goodness : 0.139452 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99941239e-01 2.04575602e-03 1.06457794e-02 -1.49730044e+00] [-2.05646224e-03 9.99997391e-01 9.94827632e-04 -1.82922235e-01] [-1.06437165e-02 -1.01666182e-03 9.99942837e-01 7.18842136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962557844 meters Centerline goodness : 0.157384 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99942113e-01 2.14300357e-03 1.05440657e-02 -1.49722079e+00] [-2.15738992e-03 9.99996757e-01 1.35321814e-03 -1.84669406e-01] [-1.05411316e-02 -1.37588747e-03 9.99943494e-01 7.19234478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992557844 meters Centerline goodness : 0.162565 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.72 [[ 0.99992958 -0.00730486 0.00935233 -1.51889583] [ 0.00728315 0.99997071 0.00235325 -0.18397681] [-0.00936925 -0.00228497 0.9999535 0.71958065] [ 0. 0. 0. 1. ]] SLAMing on 19.022557844 meters Centerline goodness : 0.140099 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:0.72 [[ 9.99946611e-01 -3.43699487e-04 1.03274642e-02 -1.49543723e+00] [ 3.46313956e-04 9.99999908e-01 -2.51369621e-04 -1.85171531e-01] [-1.03273769e-02 2.54932746e-04 9.99946639e-01 7.17623666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052557844 meters Centerline goodness : 0.144478 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:0.72 [[ 9.99954526e-01 -4.13845571e-04 9.52754141e-03 -1.49261108e+00] [ 4.13416649e-04 9.99999913e-01 4.69886360e-05 -1.87419274e-01] [-9.52756003e-03 -4.30476550e-05 9.99954611e-01 7.16168720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082557844 meters Centerline goodness : 0.157925 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:0.72 [[ 9.99955316e-01 -3.50825851e-04 9.44680082e-03 -1.49225228e+00] [ 3.48345562e-04 9.99999904e-01 2.64197486e-04 -1.88505305e-01] [-9.44689260e-03 -2.60894930e-04 9.99955343e-01 7.15902477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112557844 meters Centerline goodness : 0.107731 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:0.72 [[ 9.99954069e-01 -2.43975113e-04 9.58121905e-03 -1.49276640e+00] [ 2.39153373e-04 9.99999844e-01 5.04391575e-04 -1.89463341e-01] [-9.58134062e-03 -5.02077027e-04 9.99953972e-01 7.16208121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142557844 meters Centerline goodness : 0.158482 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:0.72 [[ 9.99953431e-01 -1.73156431e-04 9.64911247e-03 -1.49323129e+00] [ 1.66393344e-04 9.99999740e-01 7.01700855e-04 -1.90269485e-01] [-9.64923146e-03 -7.00062630e-04 9.99953200e-01 7.16771629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172557844 meters Centerline goodness : 0.158293 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:0.72 [[ 9.99955625e-01 -1.37475673e-04 9.41957883e-03 -1.49255450e+00] [ 1.28652090e-04 9.99999552e-01 9.37327567e-04 -1.91653259e-01] [-9.41970348e-03 -9.36074124e-04 9.99955195e-01 7.16630787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202557844 meters Centerline goodness : 0.159963 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:0.72 [[ 9.99958569e-01 -1.70637169e-04 9.10113890e-03 -1.49146686e+00] [ 1.61892307e-04 9.99999525e-01 9.61581696e-04 -1.92077891e-01] [-9.10129865e-03 -9.60068453e-04 9.99958121e-01 7.16106892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232557844 meters Centerline goodness : 0.157614 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.20, Z:0.72 [[ 9.99942652e-01 7.57888892e-03 7.56653654e-03 -1.51090023e+00] [-7.57889789e-03 9.99971279e-01 -2.74885922e-05 -1.97884225e-01] [-7.56652755e-03 -2.98589920e-05 9.99971373e-01 7.15221874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262557844 meters Centerline goodness : 0.160876 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.20, Z:0.71 [[ 9.99942366e-01 7.56916057e-03 7.61396340e-03 -1.51082425e+00] [-7.57017220e-03 9.99971340e-01 1.04053582e-04 -1.98096448e-01] [-7.61295759e-03 -1.61686599e-04 9.99971008e-01 7.14659121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292557844 meters Centerline goodness : 0.163916 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.19, Z:0.71 [[ 9.99954940e-01 -4.12693539e-04 9.48403328e-03 -1.53015330e+00] [ 4.04096351e-04 9.99999506e-01 9.08389078e-04 -1.93010526e-01] [-9.48440348e-03 -9.04515683e-04 9.99954613e-01 7.13456203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322557844 meters Centerline goodness : 0.160579 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.19, Z:0.71 [[ 9.99954301e-01 -3.93017161e-04 9.55207265e-03 -1.53048776e+00] [ 3.83707396e-04 9.99999450e-01 9.76446147e-04 -1.93356525e-01] [-9.55245116e-03 -9.72736323e-04 9.99953901e-01 7.13782881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352557844 meters Centerline goodness : 0.160159 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.19, Z:0.71 [[ 0.999919 -0.0079768 0.0099178 -1.51060702] [ 0.00795762 0.99996639 0.00197201 -0.18821097] [-0.00993319 -0.00189293 0.99994887 0.71456379] [ 0. 0. 0. 1. ]] SLAMing on 19.382557844 meters Centerline goodness : 0.112124 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.19, Z:0.71 [[ 0.99992073 -0.00791759 0.00979019 -1.51021054] [ 0.00789712 0.99996655 0.00212763 -0.18882181] [-0.00980671 -0.00205015 0.99994981 0.71439481] [ 0. 0. 0. 1. ]] SLAMing on 19.412557844 meters Centerline goodness : 0.160029 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.19, Z:0.71 [[ 0.99992278 -0.00783087 0.00964893 -1.50986294] [ 0.0078083 0.99996669 0.00237497 -0.18990544] [-0.00966721 -0.00229944 0.99995063 0.71441182] [ 0. 0. 0. 1. ]] SLAMing on 19.442557844 meters Centerline goodness : 0.162610 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.19, Z:0.72 [[ 0.99991768 -0.00774763 0.01022774 -1.51185162] [ 0.00771638 0.99996545 0.00309046 -0.19371833] [-0.01025133 -0.00301129 0.99994292 0.71573256] [ 0. 0. 0. 1. ]] SLAMing on 19.472557844 meters Centerline goodness : 0.159895 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99920393e-01 6.49739667e-04 1.26009748e-02 -1.49395366e+00] [-6.71506509e-04 9.99998290e-01 1.72323950e-03 -1.98857270e-01] [-1.25998336e-02 -1.73156396e-03 9.99919120e-01 7.16940361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502557844 meters Centerline goodness : 0.109847 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99918251e-01 8.03126210e-04 1.27610984e-02 -1.49461611e+00] [-8.30151036e-04 9.99997424e-01 2.11259490e-03 -2.00560714e-01] [-1.27593689e-02 -2.12301584e-03 9.99916342e-01 7.17445604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532557844 meters Centerline goodness : 0.159330 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99918176e-01 9.06513179e-04 1.27600401e-02 -1.49450323e+00] [-9.36896323e-04 9.99996740e-01 2.37534037e-03 -2.01682519e-01] [-1.27578452e-02 -2.38710084e-03 9.99915766e-01 7.17249791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562557844 meters Centerline goodness : 0.134635 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99919712e-01 9.54531421e-04 1.26356072e-02 -1.49383129e+00] [-9.86333896e-04 9.99996361e-01 2.51090089e-03 -2.02408113e-01] [-1.26331645e-02 -2.52316222e-03 9.99917015e-01 7.16577704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.592557843999998 meters Centerline goodness : 0.162679 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99920249e-01 1.04733326e-03 1.25856319e-02 -1.49355642e+00] [-1.08069319e-03 9.99995920e-01 2.64412719e-03 -2.03094764e-01] [-1.25828113e-02 -2.65751752e-03 9.99917302e-01 7.16348709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622557844 meters Centerline goodness : 0.157860 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.20, Z:0.72 [[ 0.99988766 0.00266527 0.01475035 -1.45054299] [-0.00269921 0.99999376 0.00228119 -0.20005286] [-0.01474418 -0.00232074 0.99988861 0.71558447] [ 0. 0. 0. 1. ]] SLAMing on 19.652557844 meters Centerline goodness : 0.167539 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:0.72 [[ 0.99988219 -0.00632018 0.01398779 -1.4709195 ] [ 0.00627174 0.99997419 0.00350403 -0.19724302] [-0.01400957 -0.00341589 0.99989603 0.71528224] [ 0. 0. 0. 1. ]] SLAMing on 19.682557844 meters Centerline goodness : 0.136053 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:0.72 [[ 0.99988264 -0.00630454 0.0139625 -1.47081139] [ 0.00625544 0.99997411 0.00355703 -0.19764462] [-0.01398456 -0.00346928 0.99989619 0.7152375 ] [ 0. 0. 0. 1. ]] SLAMing on 19.712557844 meters Centerline goodness : 0.114025 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:0.71 [[ 0.99988602 -0.00630471 0.01371856 -1.46984227] [ 0.00625586 0.99997395 0.00360081 -0.19814805] [-0.0137409 -0.00351458 0.99989941 0.71456215] [ 0. 0. 0. 1. ]] SLAMing on 19.742557844 meters Centerline goodness : 0.158029 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:0.71 [[ 0.99989995 -0.00628515 0.01267229 -1.46617694] [ 0.00623691 0.99997317 0.00384221 -0.19989754] [-0.01269609 -0.00376279 0.99991232 0.71256038] [ 0. 0. 0. 1. ]] SLAMing on 19.772557844 meters Centerline goodness : 0.114903 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:0.71 [[ 0.99990588 -0.00617347 0.0122525 -1.4648205 ] [ 0.00612207 0.99997232 0.00422878 -0.20181667] [-0.01227827 -0.00415337 0.99991599 0.71197347] [ 0. 0. 0. 1. ]] SLAMing on 19.802557844 meters Centerline goodness : 0.114903 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:0.71 [[ 0.99990588 -0.00617347 0.0122525 -1.4648205 ] [ 0.00612207 0.99997232 0.00422878 -0.20181667] [-0.01227827 -0.00415337 0.99991599 0.71197347] [ 0. 0. 0. 1. ]] SLAMing on 19.832557844 meters Centerline goodness : 0.151835 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:0.71 [[ 0.99990975 -0.00602219 0.0120092 -1.46419704] [ 0.00596563 0.99997097 0.00474046 -0.20428876] [-0.0120374 -0.00466839 0.99991665 0.71198156] [ 0. 0. 0. 1. ]] SLAMing on 19.862557844 meters Centerline goodness : 0.118110 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.21, Z:0.71 [[ 0.9999057 -0.00608264 0.01231216 -1.46545688] [ 0.00601441 0.99996639 0.00557133 -0.20931172] [-0.01234564 -0.00549675 0.99990868 0.71316277] [ 0. 0. 0. 1. ]] SLAMing on 19.892557844 meters Centerline goodness : 0.162537 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.21, Z:0.71 [[ 9.99922817e-01 -1.04474569e-03 1.23801451e-02 -1.48897173e+00] [ 1.01344557e-03 9.99996275e-01 2.53425525e-03 -2.14938521e-01] [-1.23827467e-02 -2.52151304e-03 9.99920152e-01 7.14176727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922557844 meters Centerline goodness : 0.157466 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.22, Z:0.71 [[ 9.99925726e-01 -9.66260310e-04 1.21494049e-02 -1.48846457e+00] [ 9.30988929e-04 9.99995337e-01 2.90845717e-03 -2.16878033e-01] [-1.21521586e-02 -2.89693019e-03 9.99921963e-01 7.14350798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952557844 meters Centerline goodness : 0.153360 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.22, Z:0.71 [[ 9.99928252e-01 -8.62180404e-04 1.19477045e-02 -1.48800801e+00] [ 8.23005046e-04 9.99994271e-01 3.28343135e-03 -2.18747856e-01] [-1.19504670e-02 -3.27336275e-03 9.99923233e-01 7.14477014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982557844 meters Centerline goodness : 0.163613 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.22, Z:0.71 [[ 9.99929103e-01 -7.25932135e-04 1.18853522e-02 -1.48805117e+00] [ 6.83070237e-04 9.99993251e-01 3.60994151e-03 -2.20172181e-01] [-1.18878926e-02 -3.60156705e-03 9.99922850e-01 7.14886506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012557844 meters Centerline goodness : 0.160564 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.22, Z:0.72 [[ 9.99927924e-01 -6.19815695e-04 1.19901135e-02 -1.48862315e+00] [ 5.73899271e-04 9.99992491e-01 3.83258544e-03 -2.21098635e-01] [-1.19923990e-02 -3.82542808e-03 9.99920771e-01 7.15513601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042557844 meters Centerline goodness : 0.128364 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.22, Z:0.72 [[ 9.99924801e-01 -5.43719692e-04 1.22514037e-02 -1.48948209e+00] [ 4.95132758e-04 9.99992003e-01 3.96851014e-03 -2.21629129e-01] [-1.22534634e-02 -3.96214564e-03 9.99917074e-01 7.15883292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072557844 meters Centerline goodness : 0.166313 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.23, Z:0.72 [[ 9.99948086e-01 -1.49851799e-03 1.00786769e-02 -1.53596187e+00] [ 1.44899637e-03 9.99986852e-01 4.91901261e-03 -2.26833107e-01] [-1.00859156e-02 -4.90415327e-03 9.99937110e-01 7.18417001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102557844 meters Centerline goodness : 0.131114 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.23, Z:0.72 [[ 9.99947190e-01 -1.49767505e-03 1.01673060e-02 -1.53624198e+00] [ 1.44746331e-03 9.99986730e-01 4.94411220e-03 -2.27042144e-01] [-1.01745758e-02 -4.92913430e-03 9.99936089e-01 7.18537604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132557844 meters Centerline goodness : 0.167081 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.23, Z:0.72 [[ 9.99946944e-01 -1.50521069e-03 1.01903539e-02 -1.53647256e+00] [ 1.45485468e-03 9.99986704e-01 4.94714799e-03 -2.27076045e-01] [-1.01976649e-02 -4.93206003e-03 9.99935839e-01 7.18858180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162557844 meters Centerline goodness : 0.147429 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.23, Z:0.72 [[ 9.99946622e-01 -1.47631756e-03 1.02261036e-02 -1.53670832e+00] [ 1.42483087e-03 9.99986283e-01 5.04028667e-03 -2.27469000e-01] [-1.02334043e-02 -5.02544717e-03 9.99935009e-01 7.19103742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192557844 meters Centerline goodness : 0.138109 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.23, Z:0.72 [[ 9.99918276e-01 -7.25506079e-05 1.27841786e-02 -1.49339768e+00] [ 8.40789890e-06 9.99987413e-01 5.01733314e-03 -2.25403169e-01] [-1.27843817e-02 -5.01681562e-03 9.99905691e-01 7.17817331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222557844 meters Centerline goodness : 0.165393 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.23, Z:0.72 [[ 0.999932 -0.00344283 0.01114162 -1.54328365] [ 0.00338337 0.99997996 0.00535179 -0.2322932 ] [-0.01115982 -0.00531373 0.99992361 0.71974718] [ 0. 0. 0. 1. ]] SLAMing on 20.252557844 meters Centerline goodness : 0.136735 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.23, Z:0.72 [[ 0.99990911 -0.00319594 0.0130977 -1.4991971 ] [ 0.0031429 0.99998679 0.00406791 -0.2298166 ] [-0.01311052 -0.00402638 0.99990595 0.71830403] [ 0. 0. 0. 1. ]] SLAMing on 20.282557844 meters Centerline goodness : 0.160077 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.23, Z:0.72 [[ 0.99993204 -0.00470798 0.01066569 -1.5444193 ] [ 0.00465902 0.99997852 0.00461089 -0.23406844] [-0.01068717 -0.00456088 0.99993249 0.72009698] [ 0. 0. 0. 1. ]] SLAMing on 20.312557844 meters Centerline goodness : 0.130568 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.24, Z:0.72 [[ 0.99993381 -0.00459702 0.01054708 -1.54393027] [ 0.00454438 0.99997713 0.0050092 -0.23520329] [-0.01056986 -0.00496094 0.99993183 0.71940282] [ 0. 0. 0. 1. ]] SLAMing on 20.342557843999998 meters Centerline goodness : 0.111157 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.24, Z:0.72 [[ 0.99992919 -0.00496845 0.01081376 -1.54479336] [ 0.00491104 0.99997374 0.00532925 -0.23641072] [-0.01083995 -0.00527577 0.99992733 0.71884632] [ 0. 0. 0. 1. ]] SLAMing on 20.372557844 meters Centerline goodness : 0.156266 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.24, Z:0.72 [[ 0.99992026 -0.00536761 0.01143109 -1.54663415] [ 0.00530669 0.99997159 0.00535276 -0.23688654] [-0.01145949 -0.00529167 0.99992034 0.71890271] [ 0. 0. 0. 1. ]] SLAMing on 20.402557844 meters Centerline goodness : 0.118745 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.24, Z:0.72 [[ 0.99991433 -0.00568657 0.01178931 -1.54772365] [ 0.00562444 0.99997016 0.00529661 -0.23688373] [-0.01181908 -0.00522985 0.99991648 0.71882719] [ 0. 0. 0. 1. ]] SLAMing on 20.432557844 meters Centerline goodness : 0.157576 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.24, Z:0.72 [[ 0.9999122 -0.00579527 0.01191675 -1.54795277] [ 0.00572933 0.99996813 0.00556052 -0.23768331] [-0.01194859 -0.00549176 0.99991353 0.7181494 ] [ 0. 0. 0. 1. ]] SLAMing on 20.462557844 meters Centerline goodness : 0.174528 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.24, Z:0.72 [[ 9.99936459e-01 1.04610158e-03 1.12242476e-02 -1.52577105e+00] [-1.07942197e-03 9.99995028e-01 2.96296051e-03 -2.39952955e-01] [-1.12210922e-02 -2.97488794e-03 9.99932616e-01 7.17397552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492557844 meters Centerline goodness : 0.117011 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:0.72 [[ 9.99941981e-01 8.16877765e-04 1.07408863e-02 -1.52431729e+00] [-8.47591398e-04 9.99995565e-01 2.85526534e-03 -2.40062287e-01] [-1.07385063e-02 -2.86420356e-03 9.99938239e-01 7.16869810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522557844 meters Centerline goodness : 0.117206 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.23, Z:0.72 [[ 0.9999205 -0.00769887 0.00998586 -1.50161685] [ 0.00767087 0.99996655 0.00283896 -0.23486997] [-0.01000738 -0.00276213 0.99994611 0.71703471] [ 0. 0. 0. 1. ]] SLAMing on 20.552557844 meters Centerline goodness : 0.072294 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:0.72 [[ 9.99960489e-01 3.50715685e-04 8.88237921e-03 -1.52201204e+00] [-3.71160163e-04 9.99997286e-01 2.30014551e-03 -2.38508869e-01] [-8.88154840e-03 -2.30335141e-03 9.99957905e-01 7.17052821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582557844 meters Centerline goodness : 0.128183 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.23, Z:0.72 [[ 0.99995064 -0.00643316 0.00757235 -1.5032384 ] [ 0.0064075 0.99997367 0.00340712 -0.23311411] [-0.00759407 -0.00335844 0.99996552 0.71902893] [ 0. 0. 0. 1. ]] SLAMing on 20.612557844 meters Centerline goodness : 0.124423 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.23, Z:0.72 [[ 0.99995093 -0.00649652 0.00747848 -1.50302791] [ 0.00647143 0.99997337 0.00337472 -0.23314986] [-0.0075002 -0.00332616 0.99996634 0.71908254] [ 0. 0. 0. 1. ]] SLAMing on 20.642557844 meters Centerline goodness : 0.128728 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.23, Z:0.72 [[ 0.99995021 -0.00658615 0.00749722 -1.50339444] [ 0.0065613 0.99997292 0.0033341 -0.23327853] [-0.00751897 -0.00328474 0.99996634 0.71969073] [ 0. 0. 0. 1. ]] SLAMing on 20.672557844 meters Centerline goodness : 0.127802 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:0.72 [[ 9.99970651e-01 9.51992671e-04 7.60204429e-03 -1.52419187e+00] [-9.69481474e-04 9.99996892e-01 2.29718593e-03 -2.37989607e-01] [-7.59983375e-03 -2.30448855e-03 9.99968465e-01 7.19043946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702557844 meters Centerline goodness : 0.194867 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:0.72 [[ 9.99970171e-01 8.50153100e-04 7.67690144e-03 -1.52429401e+00] [-8.66022695e-04 9.99997495e-01 2.06410000e-03 -2.36737148e-01] [-7.67512740e-03 -2.07068681e-03 9.99968402e-01 7.18838794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732557844 meters Centerline goodness : 0.112436 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:0.72 [[ 9.99971161e-01 7.23024033e-04 7.56002928e-03 -1.52380479e+00] [-7.36227062e-04 9.99998209e-01 1.74378857e-03 -2.35299522e-01] [-7.55875493e-03 -1.74930418e-03 9.99969902e-01 7.18508298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762557844 meters Centerline goodness : 0.100294 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.23, Z:0.72 [[ 9.99972338e-01 5.76938573e-04 7.41553306e-03 -1.52330697e+00] [-5.87143312e-04 9.99998884e-01 1.37402676e-03 -2.33748956e-01] [-7.41473205e-03 -1.37834273e-03 9.99971561e-01 7.18286899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792557844 meters Centerline goodness : 0.161223 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.23, Z:0.72 [[ 9.99973490e-01 3.39223693e-04 7.27356207e-03 -1.52287805e+00] [-3.43829660e-04 9.99999741e-01 6.32006742e-04 -2.30203557e-01] [-7.27334579e-03 -6.34490854e-04 9.99973348e-01 7.18128251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822557844 meters Centerline goodness : 0.125118 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.23, Z:0.72 [[ 9.99973635e-01 2.28367799e-04 7.25787896e-03 -1.52274114e+00] [-2.30229941e-04 9.99999941e-01 2.55733839e-04 -2.28239609e-01] [-7.25782013e-03 -2.57398077e-04 9.99973629e-01 7.17896209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852557844 meters Centerline goodness : 0.159775 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.23, Z:0.72 [[ 9.99957464e-01 1.38795767e-03 9.11828337e-03 -1.47750818e+00] [-1.38612855e-03 9.99999018e-01 -2.06916596e-04 -2.25570251e-01] [-9.11856161e-03 1.94268681e-04 9.99958406e-01 7.16029635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882557844 meters Centerline goodness : 0.109820 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99958095e-01 1.26597730e-03 9.06670632e-03 -1.47744892e+00] [-1.26195963e-03 9.99999103e-01 -4.48830685e-04 -2.24596304e-01] [-9.06726640e-03 4.37370060e-04 9.99958796e-01 7.16151855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912557844 meters Centerline goodness : 0.129120 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99957482e-01 1.14869468e-03 9.14957631e-03 -1.47775665e+00] [-1.14291388e-03 9.99999144e-01 -6.37014759e-04 -2.23880257e-01] [-9.15030021e-03 6.26530497e-04 9.99957939e-01 7.16267356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942557844 meters SLAMing on 20.972557844 meters Centerline goodness : 0.155858 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.22, Z:0.72 [[ 9.99901503e-01 -6.43690933e-03 1.24720235e-02 -1.46184234e+00] [ 6.42510490e-03 9.99978872e-01 9.86310735e-04 -2.17646389e-01] [-1.24781088e-02 -9.06079526e-04 9.99921735e-01 7.18710848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002557844 meters Centerline goodness : 0.127027 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.22, Z:0.72 [[ 9.99900756e-01 -6.48202060e-03 1.25084783e-02 -1.46199595e+00] [ 6.46963530e-03 9.99978541e-01 1.03036340e-03 -2.17975967e-01] [-1.25148888e-02 -9.49335848e-04 9.99921235e-01 7.18782223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032557844 meters Centerline goodness : 0.159118 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99929115e-01 8.79686089e-04 1.18739448e-02 -1.48021806e+00] [-8.76362122e-04 9.99999575e-01 -2.85138105e-04 -2.22626903e-01] [-1.18741906e-02 2.74712018e-04 9.99929462e-01 7.16888514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062557844 meters Centerline goodness : 0.137441 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.22, Z:0.72 [[ 9.99933447e-01 -6.25521211e-03 9.69400341e-03 -1.45962936e+00] [ 6.25377146e-03 9.99980429e-01 1.78917853e-04 -2.19083970e-01] [-9.69493286e-03 -1.18281864e-04 9.99952996e-01 7.17515949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092557844 meters Centerline goodness : 0.127297 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99967223e-01 1.72114473e-03 7.91141884e-03 -1.47906647e+00] [-1.71627881e-03 9.99998334e-01 -6.21799456e-04 -2.23107226e-01] [-7.91247586e-03 6.08200875e-04 9.99968511e-01 7.16431147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122557844 meters Centerline goodness : 0.158362 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99968852e-01 1.69287069e-03 7.70909617e-03 -1.47832848e+00] [-1.68805975e-03 9.99998376e-01 -6.30524964e-04 -2.22981295e-01] [-7.71015105e-03 6.17491910e-04 9.99970086e-01 7.15970892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152557844 meters Centerline goodness : 0.335092 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99969556e-01 1.71127301e-03 7.61302280e-03 -1.47832322e+00] [-1.70534675e-03 9.99998238e-01 -7.84860186e-04 -2.21851658e-01] [-7.61435250e-03 7.71853448e-04 9.99970713e-01 7.16451679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182557844 meters Centerline goodness : 0.164414 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99969514e-01 1.64975549e-03 7.63215439e-03 -1.47849896e+00] [-1.64193836e-03 9.99998121e-01 -1.03038826e-03 -2.20651884e-01] [-7.63383994e-03 1.01782532e-03 9.99970344e-01 7.16750365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212557844 meters Centerline goodness : 0.143841 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.21, Z:0.72 [[ 9.99957599e-01 -5.53462795e-03 7.35988851e-03 -1.45935896e+00] [ 5.53648788e-03 9.99984647e-01 -2.32360948e-04 -2.14787203e-01] [-7.35848948e-03 2.73099029e-04 9.99972889e-01 7.18084890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242557844 meters Centerline goodness : 0.144080 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.21, Z:0.72 [[ 9.99956760e-01 -5.61352580e-03 7.41390244e-03 -1.45938794e+00] [ 5.61768840e-03 9.99984074e-01 -5.40754191e-04 -2.13292755e-01] [-7.41074883e-03 5.82379802e-04 9.99972370e-01 7.17870537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272557844 meters Centerline goodness : 0.157002 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.21, Z:0.72 [[ 9.99954956e-01 -5.72294853e-03 7.57187659e-03 -1.45961475e+00] [ 5.73002104e-03 9.99983167e-01 -9.12686867e-04 -2.11501997e-01] [-7.56652587e-03 9.56032768e-04 9.99970916e-01 7.17560076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302557844 meters Centerline goodness : 0.156267 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.21, Z:0.72 [[ 9.99953038e-01 -5.82363671e-03 7.74639016e-03 -1.46002177e+00] [ 5.83326959e-03 9.99982240e-01 -1.22151870e-03 -2.09998937e-01] [-7.73913891e-03 1.26664811e-03 9.99969250e-01 7.17477569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332557844 meters Centerline goodness : 0.126677 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99957525e-01 1.36661917e-03 9.11489622e-03 -1.43856708e+00] [-1.33153812e-03 9.99991688e-01 -3.85371932e-03 -2.10252278e-01] [-9.12008702e-03 3.84141880e-03 9.99951033e-01 7.16507107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362557844 meters Centerline goodness : 0.128578 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99958909e-01 1.30019362e-03 8.97159605e-03 -1.43836530e+00] [-1.26554028e-03 9.99991722e-01 -3.86715740e-03 -2.10232438e-01] [-8.97654983e-03 3.85564458e-03 9.99952277e-01 7.16705624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392557844 meters Centerline goodness : 0.140327 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99960195e-01 1.18154593e-03 8.84382368e-03 -1.43809911e+00] [-1.14742830e-03 9.99991885e-01 -3.86187200e-03 -2.10513691e-01] [-8.84831489e-03 3.85157063e-03 9.99953435e-01 7.16738828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422557844 meters Centerline goodness : 0.114598 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99964775e-01 5.52314982e-04 8.37514023e-03 -1.43675533e+00] [-5.17391036e-04 9.99991165e-01 -4.17154701e-03 -2.10483026e-01] [-8.37737025e-03 4.16706685e-03 9.99956227e-01 7.16343727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452557844 meters Centerline goodness : 0.110969 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99965036e-01 4.67248957e-04 8.34918222e-03 -1.43662342e+00] [-4.32235716e-04 9.99991108e-01 -4.19492571e-03 -2.10366361e-01] [-8.35106805e-03 4.19117022e-03 9.99956346e-01 7.16142215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482557844 meters Centerline goodness : 0.126492 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99964741e-01 3.94275932e-04 8.38818002e-03 -1.43667894e+00] [-3.58000988e-04 9.99990580e-01 -4.32559298e-03 -2.09780140e-01] [-8.38980648e-03 4.32243749e-03 9.99955463e-01 7.16045866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512557844 meters Centerline goodness : 0.134678 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99964916e-01 3.14544340e-04 8.37071135e-03 -1.43665311e+00] [-2.76456913e-04 9.99989607e-01 -4.55085064e-03 -2.08663109e-01] [-8.37205580e-03 4.54837684e-03 9.99954609e-01 7.16080817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542557844 meters Centerline goodness : 0.118471 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99965899e-01 1.94476227e-04 8.25613231e-03 -1.43628436e+00] [-1.54216046e-04 9.99988097e-01 -4.87675381e-03 -2.07148980e-01] [-8.25698245e-03 4.87531428e-03 9.99954026e-01 7.15978064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572557844 meters Centerline goodness : 0.151913 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.20, Z:0.72 [[ 9.99984437e-01 7.13109535e-05 5.57862982e-03 -1.48229716e+00] [-4.67973591e-05 9.99990344e-01 -4.39420341e-03 -2.02719402e-01] [-5.57888931e-03 4.39387396e-03 9.99974785e-01 7.18173179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602557844 meters Centerline goodness : 0.123342 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:0.72 [[ 0.999949 -0.00734537 0.00693087 -1.46352893] [ 0.00736767 0.99996775 -0.00319708 -0.19708066] [-0.00690716 0.00324799 0.99997087 0.71933035] [ 0. 0. 0. 1. ]] SLAMing on 21.632557844 meters Centerline goodness : 0.129557 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:0.72 [[ 0.99994645 -0.0074201 0.00721326 -1.46446529] [ 0.00744561 0.9999661 -0.00351713 -0.1953659 ] [-0.00718692 0.00357065 0.9999678 0.71973209] [ 0. 0. 0. 1. ]] SLAMing on 21.662557844 meters Centerline goodness : 0.162840 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99975608e-01 1.24865317e-03 6.87206024e-03 -1.48698076e+00] [-1.22271228e-03 9.99992117e-01 -3.77774299e-03 -1.97127457e-01] [-6.87672316e-03 3.76924829e-03 9.99969251e-01 7.19916242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692557844 meters Centerline goodness : 0.162840 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99975608e-01 1.24865317e-03 6.87206024e-03 -1.48698076e+00] [-1.22271228e-03 9.99992117e-01 -3.77774299e-03 -1.97127457e-01] [-6.87672316e-03 3.76924829e-03 9.99969251e-01 7.19916242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722557844 meters Centerline goodness : 0.147137 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99976810e-01 1.13751780e-03 6.71461106e-03 -1.48634738e+00] [-1.10989164e-03 9.99990911e-01 -4.11662848e-03 -1.95476501e-01] [-6.71923277e-03 4.10908052e-03 9.99968983e-01 7.19483797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752557844 meters Centerline goodness : 0.124521 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:0.72 [[ 0.99998365 0.00258788 0.00509957 -1.47980937] [-0.00257269 0.99999224 -0.0029829 -0.19264854] [-0.00510725 0.00296973 0.99998255 0.71627543] [ 0. 0. 0. 1. ]] SLAMing on 21.782557844 meters Centerline goodness : 0.143147 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:0.72 [[ 9.99984031e-01 -3.84399477e-03 4.14271983e-03 -1.50131211e+00] [ 3.84334502e-03 9.99992601e-01 1.64790503e-04 -1.86756040e-01] [-4.14332263e-03 -1.48865970e-04 9.99991405e-01 7.16646264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812557844 meters Centerline goodness : 0.093554 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:0.72 [[ 9.99990972e-01 -3.92880673e-04 4.23108877e-03 -1.50175761e+00] [ 3.77867938e-04 9.99993633e-01 3.54841163e-03 -1.85127125e-01] [-4.23245593e-03 -3.54678080e-03 9.99984753e-01 7.16931738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842557844 meters Centerline goodness : 0.139215 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.72 [[ 0.99995912 0.00827494 0.00364539 -1.52456787] [-0.00828572 0.99996132 0.00295063 -0.18479766] [-0.00362083 -0.00298071 0.999989 0.71736105] [ 0. 0. 0. 1. ]] SLAMing on 21.872557844 meters Centerline goodness : 0.151792 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.72 [[ 9.99990242e-01 6.40608753e-04 4.37088376e-03 -1.54309232e+00] [-6.59632744e-04 9.99990311e-01 4.35238336e-03 -1.75223133e-01] [-4.36805324e-03 -4.35522407e-03 9.99980976e-01 7.15415204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902557844 meters Centerline goodness : 0.100336 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.17, Z:0.71 [[ 0.99997689 0.00197078 0.00650613 -1.49879672] [-0.00199919 0.99998848 0.00436394 -0.17202966] [-0.00649745 -0.00437684 0.99996931 0.71425683] [ 0. 0. 0. 1. ]] SLAMing on 21.932557844 meters Centerline goodness : 0.207493 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:0.71 [[ 0.99994224 0.00994587 0.00407496 -1.51912295] [-0.00995914 0.99994513 0.00324768 -0.17075305] [-0.00404244 -0.00328808 0.99998642 0.71404372] [ 0. 0. 0. 1. ]] SLAMing on 21.962557844 meters Centerline goodness : 0.151822 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:0.71 [[ 0.99994413 0.00977854 0.00401559 -1.51902245] [-0.00979102 0.99994726 0.00309992 -0.17031132] [-0.00398507 -0.00313906 0.99998713 0.71408228] [ 0. 0. 0. 1. ]] SLAMing on 21.992557844 meters Centerline goodness : 0.110976 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.16, Z:0.71 [[ 9.99989555e-01 -3.76263784e-04 4.55514072e-03 -1.54143681e+00] [ 3.63529744e-04 9.99996025e-01 2.79603692e-03 -1.64713099e-01] [-4.55617466e-03 -2.79435178e-03 9.99985716e-01 7.14281608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022557844 meters Centerline goodness : 0.124345 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.71 [[ 0.99996246 0.00764953 0.00406874 -1.56197897] [-0.00765734 0.99996886 0.00190751 -0.16800708] [-0.00405403 -0.00193859 0.9999899 0.71352114] [ 0. 0. 0. 1. ]] SLAMing on 22.052557844 meters Centerline goodness : 0.144548 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.71 [[ 0.99996272 0.00755472 0.0041807 -1.56205901] [-0.00756185 0.99996997 0.00169347 -0.16699286] [-0.00416778 -0.00172502 0.99998983 0.71311671] [ 0. 0. 0. 1. ]] SLAMing on 22.082557844 meters Centerline goodness : 0.126491 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.71 [[ 9.99964018e-01 7.41286565e-03 4.12456647e-03 -1.56164041e+00] [-7.41852119e-03 9.99971561e-01 1.35758008e-03 -1.65434623e-01] [-4.11438561e-03 -1.38812941e-03 9.99990572e-01 7.12644928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112557844 meters Centerline goodness : 0.131951 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.16, Z:0.71 [[ 9.99965827e-01 7.26929063e-03 3.93741313e-03 -1.56097395e+00] [-7.27331670e-03 9.99973040e-01 1.00916532e-03 -1.63858080e-01] [-3.92997106e-03 -1.03776889e-03 9.99991739e-01 7.12292586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142557844 meters Centerline goodness : 0.189529 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.16, Z:0.71 [[ 9.99967437e-01 7.12700279e-03 3.78559161e-03 -1.56041330e+00] [-7.12962436e-03 9.99974353e-01 6.79468445e-04 -1.62393959e-01] [-3.78065194e-03 -7.06436166e-04 9.99992604e-01 7.12003723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.172557844 meters Centerline goodness : 0.111932 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.15, Z:0.71 [[ 9.99987765e-01 -1.77419408e-03 4.61755010e-03 -1.58203949e+00] [ 1.77090813e-03 9.99998176e-01 7.15614653e-04 -1.53136366e-01] [-4.61881132e-03 -7.07428641e-04 9.99989083e-01 7.12182990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202557844 meters Centerline goodness : 0.107641 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.15, Z:0.71 [[ 9.99985807e-01 -1.83531081e-03 5.00179322e-03 -1.58350532e+00] [ 1.83244539e-03 9.99998154e-01 5.77401448e-04 -1.52490613e-01] [-5.00284370e-03 -5.68227739e-04 9.99987324e-01 7.13130654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.232557844 meters Centerline goodness : 0.126037 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.15, Z:0.71 [[ 9.99983595e-01 -1.88613441e-03 5.40850264e-03 -1.58502747e+00] [ 1.88341419e-03 9.99998097e-01 5.08003097e-04 -1.52180639e-01] [-5.40945051e-03 -4.97808313e-04 9.99985245e-01 7.14028308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262557844 meters Centerline goodness : 0.108889 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.16, Z:0.71 [[ 9.99963006e-01 6.14928125e-03 6.01441876e-03 -1.60680899e+00] [-6.14739184e-03 9.99981049e-01 -3.32583114e-04 -1.55807297e-01] [-6.01634993e-03 2.95597822e-04 9.99981858e-01 7.13482928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292557844 meters Centerline goodness : 0.111362 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.15, Z:0.71 [[ 9.99966400e-01 5.88422903e-03 5.70737007e-03 -1.60575124e+00] [-5.88063034e-03 9.99982500e-01 -6.47110347e-04 -1.54741987e-01] [-5.71107793e-03 6.13525671e-04 9.99983503e-01 7.12878924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322557844 meters Centerline goodness : 0.109422 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.15, Z:0.71 [[ 9.99985961e-01 -2.76993700e-03 4.51715939e-03 -1.62424156e+00] [ 2.76736502e-03 9.99996005e-01 5.75529714e-04 -1.48129116e-01] [-4.51873553e-03 -5.63021005e-04 9.99989632e-01 7.11233650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352557844 meters Centerline goodness : 0.105961 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.15, Z:0.71 [[ 9.99986269e-01 -2.86844690e-03 4.38567824e-03 -1.62363010e+00] [ 2.86688189e-03 9.99995825e-01 3.63091557e-04 -1.47115625e-01] [-4.38670144e-03 -3.50513350e-04 9.99990317e-01 7.10667258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382557844 meters Centerline goodness : 0.116298 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.14, Z:0.71 [[ 9.99993606e-01 -3.00064148e-03 1.94536272e-03 -1.67038420e+00] [ 2.99907973e-03 9.99995179e-01 8.05231065e-04 -1.43645573e-01] [-1.94776955e-03 -7.99391618e-04 9.99997784e-01 7.12982273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412557844 meters Centerline goodness : 0.128751 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.15, Z:0.71 [[ 9.99979520e-01 5.28886129e-03 3.60375961e-03 -1.65132056e+00] [-5.28717940e-03 9.99985909e-01 -4.76073638e-04 -1.46606686e-01] [-3.60622672e-03 4.57010164e-04 9.99993393e-01 7.13580678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442557844 meters Centerline goodness : 0.112850 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.14, Z:0.71 [[ 9.99987929e-01 -3.62157246e-03 3.32043908e-03 -1.67218125e+00] [ 3.62096280e-03 9.99993426e-01 1.89600785e-04 -1.39749677e-01] [-3.32110390e-03 -1.77575310e-04 9.99994469e-01 7.13382029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472557844 meters Centerline goodness : 0.112994 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.14, Z:0.71 [[ 9.99987721e-01 -3.76694775e-03 3.21986966e-03 -1.67182415e+00] [ 3.76663548e-03 9.99992901e-01 1.03039972e-04 -1.39618788e-01] [-3.22023495e-03 -9.09106319e-05 9.99994811e-01 7.13085447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502557844 meters Centerline goodness : 0.108090 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.14, Z:0.71 [[ 9.99989536e-01 4.42291424e-03 1.16892047e-03 -1.69148408e+00] [-4.42184453e-03 9.99989804e-01 -9.16129087e-04 -1.42770549e-01] [-1.17296051e-03 9.10950715e-04 9.99998897e-01 7.11950141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532557844 meters Centerline goodness : 0.117646 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.14, Z:0.71 [[ 9.99996023e-01 -2.22945142e-03 -1.72749274e-03 -1.67222615e+00] [ 2.22930321e-03 9.99997511e-01 -8.77154846e-05 -1.39224516e-01] [ 1.72768400e-03 8.38640306e-05 9.99998504e-01 7.13886066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562557844 meters Centerline goodness : 0.133508 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.14, Z:0.71 [[ 9.99995611e-01 -2.27395325e-03 -1.89935733e-03 -1.67155425e+00] [ 2.27351993e-03 9.99997389e-01 -2.30264845e-04 -1.38515059e-01] [ 1.89987598e-03 2.25945607e-04 9.99998170e-01 7.13440371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592557844 meters Centerline goodness : 0.180871 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.14, Z:0.71 [[ 9.99995101e-01 -2.37960222e-03 -2.03380098e-03 -1.67131269e+00] [ 2.37842861e-03 9.99997004e-01 -5.79274840e-04 -1.36837688e-01] [ 2.03517333e-03 5.74434752e-04 9.99997764e-01 7.13680607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622557844 meters Centerline goodness : 0.192744 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.13, Z:0.72 [[ 9.99984221e-01 -7.63244292e-04 -5.56555725e-03 -1.71521594e+00] [ 7.67422569e-04 9.99999425e-01 7.48641260e-04 -1.30488842e-01] [ 5.56498266e-03 -7.52900581e-04 9.99984232e-01 7.15170687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.652557844 meters Centerline goodness : 0.106078 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.13, Z:0.71 [[ 9.99981995e-01 -8.43704878e-04 -5.94127084e-03 -1.71392921e+00] [ 8.45741536e-04 9.99999584e-01 3.40294324e-04 -1.28451521e-01] [ 5.94098127e-03 -3.45312977e-04 9.99982293e-01 7.14552883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682557844 meters Centerline goodness : 0.152772 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.13, Z:0.71 [[ 9.99980903e-01 -9.44114028e-04 -6.10760346e-03 -1.71322673e+00] [ 9.43526393e-04 9.99999550e-01 -9.90944125e-05 -1.26345840e-01] [ 6.10769427e-03 9.33298350e-05 9.99981344e-01 7.14015142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712557844 meters Centerline goodness : 0.108303 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.12, Z:0.71 [[ 9.99981366e-01 -1.06176499e-03 -6.01173102e-03 -1.71342385e+00] [ 1.05876774e-03 9.99999314e-01 -5.01727012e-04 -1.24402807e-01] [ 6.01225961e-03 4.95352635e-04 9.99981804e-01 7.13969696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742557844 meters Centerline goodness : 0.194353 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.12, Z:0.72 [[ 9.99970020e-01 -8.15561186e-04 -7.70028784e-03 -1.76153229e+00] [ 8.14797164e-04 9.99999663e-01 -1.02356512e-04 -1.20875569e-01] [ 7.70036872e-03 9.60792703e-05 9.99970347e-01 7.16230290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772557844 meters Centerline goodness : 0.095490 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.12, Z:0.72 [[ 9.99985830e-01 -6.91517307e-04 -5.27835178e-03 -1.72576354e+00] [ 6.88189808e-04 9.99999563e-01 -6.32195125e-04 -1.19006144e-01] [ 5.27878665e-03 6.28553659e-04 9.99985870e-01 7.20416527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802557844 meters Centerline goodness : 0.186276 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.12, Z:0.72 [[ 9.99985676e-01 -8.16197303e-04 -5.28971829e-03 -1.72587085e+00] [ 8.11245421e-04 9.99999231e-01 -9.38211586e-04 -1.17607212e-01] [ 5.29047998e-03 9.33906887e-04 9.99985569e-01 7.20652787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832557844 meters SLAMing on 22.862557844 meters Centerline goodness : 0.181541 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.12, Z:0.72 [[ 9.99985626e-01 -9.94281341e-04 -5.26864593e-03 -1.72583177e+00] [ 9.86917701e-04 9.99998533e-01 -1.40004975e-03 -1.15107678e-01] [ 5.27003025e-03 1.39482991e-03 9.99985141e-01 7.20460636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892557844 meters Centerline goodness : 0.297126 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.11, Z:0.72 [[ 9.99971370e-01 -1.19147560e-03 -7.47260603e-03 -1.77285815e+00] [ 1.18186220e-03 9.99998469e-01 -1.29076910e-03 -1.12108366e-01] [ 7.47413250e-03 1.28190056e-03 9.99971247e-01 7.22110284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922557844 meters Centerline goodness : 0.179047 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.11, Z:0.72 [[ 0.99998332 -0.00223253 -0.00532647 -1.72854511] [ 0.00221866 0.99999414 -0.00260815 -0.11134288] [ 0.00533226 0.00259629 0.99998241 0.72177891] [ 0. 0. 0. 1. ]] SLAMing on 22.952557844 meters Centerline goodness : 0.273762 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.11, Z:0.72 [[ 0.99995842 -0.00241398 -0.0087933 -1.77314344] [ 0.00239144 0.99999383 -0.00257277 -0.10779163] [ 0.00879946 0.00255163 0.99995803 0.72281938] [ 0. 0. 0. 1. ]] SLAMing on 22.982557844 meters Centerline goodness : 0.102643 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.11, Z:0.72 [[ 0.99995575 -0.00252348 -0.0090625 -1.7721454 ] [ 0.0024974 0.99999271 -0.00288852 -0.10619719] [ 0.00906973 0.00286576 0.99995476 0.72229173] [ 0. 0. 0. 1. ]] SLAMing on 23.012557844 meters Centerline goodness : 0.112074 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.10, Z:0.72 [[ 0.99992685 -0.00231614 -0.01187159 -1.81798368] [ 0.00228515 0.99999395 -0.00262311 -0.10207728] [ 0.01187759 0.00259579 0.99992609 0.72352585] [ 0. 0. 0. 1. ]] SLAMing on 23.042557844 meters Centerline goodness : 0.118617 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.10, Z:0.72 [[ 0.9999274 -0.00253107 -0.01178092 -1.81834963] [ 0.00249441 0.999992 -0.00312551 -0.09990465] [ 0.01178873 0.00309589 0.99992572 0.72379293] [ 0. 0. 0. 1. ]] SLAMing on 23.072557844 meters Centerline goodness : 0.117019 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.10, Z:0.72 [[ 0.99992834 -0.00274344 -0.01165302 -1.81883834] [ 0.00270116 0.99998972 -0.00364251 -0.09763767] [ 0.01166289 0.00361077 0.99992547 0.72411712] [ 0. 0. 0. 1. ]] SLAMing on 23.102557844 meters Centerline goodness : 0.281262 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.09, Z:0.72 [[ 9.99937928e-01 8.58720302e-04 -1.11086719e-02 -1.82030834e+00] [-8.65265129e-04 9.99999455e-01 -5.84371118e-04 -9.30601228e-02] [ 1.11081641e-02 5.93946792e-04 9.99938126e-01 7.24354015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132557844 meters Centerline goodness : 0.110421 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.09, Z:0.72 [[ 9.99936888e-01 6.19093560e-04 -1.12177038e-02 -1.81974464e+00] [-6.33929386e-04 9.99998929e-01 -1.31902931e-03 -8.94439925e-02] [ 1.12168752e-02 1.32605730e-03 9.99936210e-01 7.23930699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162557844 meters Centerline goodness : 0.108225 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.09, Z:0.72 [[ 9.99935557e-01 3.55027415e-04 -1.13470357e-02 -1.81922732e+00] [-3.78642448e-04 9.99997767e-01 -2.07908266e-03 -8.59275843e-02] [ 1.13462722e-02 2.08324515e-03 9.99933459e-01 7.23685376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192557844 meters Centerline goodness : 0.189705 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.08, Z:0.72 [[ 9.99904588e-01 1.15356818e-04 -1.38131247e-02 -1.86534779e+00] [-1.55483616e-04 9.99995771e-01 -2.90393749e-03 -7.93559783e-02] [ 1.38127313e-02 2.90580813e-03 9.99900377e-01 7.24846423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222557844 meters Centerline goodness : 0.183728 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.07, Z:0.73 [[ 0.99987442 -0.00749859 -0.01396133 -1.84642856] [ 0.00746621 0.99996932 -0.00236971 -0.06918218] [ 0.01397867 0.00226518 0.99989973 0.72730908] [ 0. 0. 0. 1. ]] SLAMing on 23.252557844000002 meters Centerline goodness : 0.084427 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.07, Z:0.73 [[ 9.99901055e-01 -4.17325500e-03 -1.34336884e-02 -1.84805746e+00] [ 4.18602521e-03 9.99990813e-01 9.22632822e-04 -6.74341443e-02] [ 1.34297146e-02 -9.78775290e-04 9.99909338e-01 7.27614155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282557844 meters Centerline goodness : 0.175468 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.07, Z:0.73 [[ 9.99899587e-01 -4.35444388e-03 -1.34853606e-02 -1.84779755e+00] [ 4.36088777e-03 9.99990391e-01 4.48474630e-04 -6.51615836e-02] [ 1.34832782e-02 -5.07237742e-04 9.99908968e-01 7.27409068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312557844 meters Centerline goodness : 0.183059 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.73 [[ 9.99892134e-01 -4.80314762e-03 -1.38798441e-02 -1.84597347e+00] [ 4.79967515e-03 9.99988441e-01 -2.83481027e-04 -6.24531271e-02] [ 1.38810453e-02 2.16831706e-04 9.99903630e-01 7.25929210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342557844 meters Centerline goodness : 0.184714 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.73 [[ 9.99890476e-01 -4.96635408e-03 -1.39416859e-02 -1.84585180e+00] [ 4.95810300e-03 9.99987512e-01 -6.26329490e-04 -6.10279465e-02] [ 1.39446223e-02 5.57136578e-04 9.99902614e-01 7.25996015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.372557844 meters Centerline goodness : 0.089753 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.73 [[ 9.99891404e-01 -5.14505674e-03 -1.38097330e-02 -1.84642681e+00] [ 5.13029322e-03 9.99986230e-01 -1.10427914e-03 -5.87297970e-02] [ 1.38152245e-02 1.03331124e-03 9.99904031e-01 7.26427978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402557844 meters Centerline goodness : 0.123924 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.73 [[ 9.99915622e-01 -2.41631239e-03 -1.27636418e-02 -1.85034455e+00] [ 2.43479744e-03 9.99996009e-01 1.43291786e-03 -5.53025904e-02] [ 1.27601285e-02 -1.46387383e-03 9.99917515e-01 7.27933323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432557844 meters Centerline goodness : 0.183018 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.73 [[ 9.99914636e-01 -2.62286031e-03 -1.28000782e-02 -1.85032782e+00] [ 2.63378234e-03 9.99996182e-01 8.36495706e-04 -5.23860809e-02] [ 1.27978353e-02 -8.70136919e-04 9.99917726e-01 7.28107627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462557844 meters Centerline goodness : 0.180161 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.73 [[ 9.99910813e-01 -2.94948969e-03 -1.30256061e-02 -1.84932475e+00] [ 2.95122540e-03 9.99995639e-01 1.14034360e-04 -4.93527996e-02] [ 1.30252129e-02 -1.52465690e-04 9.99915157e-01 7.27395514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.492557844 meters Centerline goodness : 0.105314 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.73 [[ 9.99910299e-01 -3.06488667e-03 -1.30383877e-02 -1.84925112e+00] [ 3.06347642e-03 9.99995299e-01 -1.28132422e-04 -4.83814958e-02] [ 1.30387191e-02 8.81781349e-05 9.99914988e-01 7.27323124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522557844 meters Centerline goodness : 0.154371 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.05, Z:0.73 [[ 9.99913337e-01 5.06883027e-03 -1.21501142e-02 -1.82954413e+00] [-5.08443518e-03 9.99986288e-01 -1.25379797e-03 -5.18807769e-02] [ 1.21435923e-02 1.31546578e-03 9.99925399e-01 7.28192718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.552557844 meters Centerline goodness : 0.178939 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.05, Z:0.73 [[ 9.99913456e-01 4.93402814e-03 -1.21957528e-02 -1.82943752e+00] [-4.95435915e-03 9.99986387e-01 -1.63740724e-03 -4.99441194e-02] [ 1.21875077e-02 1.69768767e-03 9.99924288e-01 7.28272766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582557844 meters Centerline goodness : 0.155312 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.05, Z:0.73 [[ 0.99991218 0.00477489 -0.01236219 -1.82888685] [-0.00480129 0.99998626 -0.00210651 -0.04765572] [ 0.01235196 0.00216568 0.99992137 0.72810731] [ 0. 0. 0. 1. ]] SLAMing on 23.612557844 meters Centerline goodness : 0.155312 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.05, Z:0.73 [[ 0.99991218 0.00477489 -0.01236219 -1.82888685] [-0.00480129 0.99998626 -0.00210651 -0.04765572] [ 0.01235196 0.00216568 0.99992137 0.72810731] [ 0. 0. 0. 1. ]] SLAMing on 23.642557844 meters Centerline goodness : 0.180142 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.73 [[ 9.99915280e-01 -2.44111387e-03 -1.27856901e-02 -1.84574778e+00] [ 2.42852007e-03 9.99996551e-01 -1.00042503e-03 -3.64871700e-02] [ 1.27880881e-02 9.69289969e-04 9.99917759e-01 7.25384930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.672557844 meters Centerline goodness : 0.180041 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 9.99913641e-01 -2.58235965e-03 -1.28857317e-02 -1.84561622e+00] [ 2.56287276e-03 9.99995548e-01 -1.52856860e-03 -3.38687507e-02] [ 1.28896216e-02 1.49541210e-03 9.99915807e-01 7.25650881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702557844 meters Centerline goodness : 0.183233 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991582 -0.00269736 -0.01269199 -1.8464471 ] [ 0.00267159 0.99999434 -0.00204709 -0.03108822] [ 0.01269744 0.00201301 0.99991736 0.72630114] [ 0. 0. 0. 1. ]] SLAMing on 23.732557844 meters Centerline goodness : 0.146204 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991771 -0.00285796 -0.01250582 -1.84730824] [ 0.00282543 0.99999258 -0.00261811 -0.0282694 ] [ 0.01251321 0.00258256 0.99991837 0.72711807] [ 0. 0. 0. 1. ]] SLAMing on 23.762557844 meters Centerline goodness : 0.120318 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991824 -0.00304508 -0.01241966 -1.84772839] [ 0.00300705 0.99999074 -0.00307979 -0.02624496] [ 0.01242892 0.00304219 0.99991813 0.7275196 ] [ 0. 0. 0. 1. ]] SLAMing on 23.792557844 meters Centerline goodness : 0.184082 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991952 -0.00318734 -0.01227943 -1.84808564] [ 0.00314638 0.99998943 -0.00335328 -0.02523484] [ 0.01228999 0.00331438 0.99991898 0.72752597] [ 0. 0. 0. 1. ]] SLAMing on 23.822557844 meters Centerline goodness : 0.113067 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991863 -0.0035623 -0.01224934 -1.84792205] [ 0.00351932 0.99998758 -0.00352895 -0.02507845] [ 0.01226176 0.00348555 0.99991875 0.72694862] [ 0. 0. 0. 1. ]] SLAMing on 23.852557844 meters Centerline goodness : 0.153096 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991848 -0.00354502 -0.01226671 -1.84763498] [ 0.00350392 0.99998818 -0.00337047 -0.02571731] [ 0.01227851 0.00332721 0.99991908 0.72642797] [ 0. 0. 0. 1. ]] SLAMing on 23.882557844 meters Centerline goodness : 0.141050 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991732 -0.00379695 -0.01228586 -1.84736099] [ 0.003758 0.99998785 -0.00319174 -0.02717834] [ 0.01229783 0.00314531 0.99991943 0.7258884 ] [ 0. 0. 0. 1. ]] SLAMing on 23.912557844 meters Centerline goodness : 0.176294 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991789 -0.00374294 -0.01225571 -1.84742423] [ 0.00370712 0.9999888 -0.00294363 -0.02846794] [ 0.01226659 0.00289795 0.99992056 0.72580689] [ 0. 0. 0. 1. ]] SLAMing on 23.942557844 meters Centerline goodness : 0.133133 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.03, Z:0.72 [[ 0.99990716 0.00472861 -0.0127791 -1.8684144 ] [-0.00477866 0.99998102 -0.00388893 -0.03302701] [ 0.01276047 0.00394964 0.99991078 0.72469856] [ 0. 0. 0. 1. ]] SLAMing on 23.972557844 meters Centerline goodness : 0.137936 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.03, Z:0.72 [[ 0.99990812 0.00478775 -0.01268162 -1.8687203 ] [-0.00483488 0.99998151 -0.00368798 -0.03399206] [ 0.01266373 0.00374896 0.99991278 0.72474935] [ 0. 0. 0. 1. ]] SLAMing on 24.002557844000002 meters Centerline goodness : 0.114486 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.03, Z:0.72 [[ 0.9999082 0.00485653 -0.01264951 -1.86885336] [-0.004901 0.99998191 -0.00348677 -0.03491088] [ 0.01263235 0.00354845 0.99991391 0.72480362] [ 0. 0. 0. 1. ]] SLAMing on 24.032557844 meters Centerline goodness : 0.153547 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.04, Z:0.72 [[ 0.99993419 0.00394629 -0.01077202 -1.82438242] [-0.00398754 0.99998479 -0.00381018 -0.03849276] [ 0.01075682 0.00385289 0.99993472 0.72469813] [ 0. 0. 0. 1. ]] SLAMing on 24.062557844 meters Centerline goodness : 0.178989 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.03, Z:0.72 [[ 0.99992333 -0.00443709 -0.01156081 -1.84401362] [ 0.00440087 0.99998533 -0.00315668 -0.03194808] [ 0.01157465 0.00310556 0.99992819 0.72387941] [ 0. 0. 0. 1. ]] SLAMing on 24.092557844 meters Centerline goodness : 0.175988 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.03, Z:0.72 [[ 0.9999219 -0.00445907 -0.01167479 -1.8435904 ] [ 0.00442047 0.99998468 -0.00333035 -0.0310204 ] [ 0.01168946 0.00327848 0.9999263 0.72366879] [ 0. 0. 0. 1. ]] SLAMing on 24.122557844 meters Centerline goodness : 0.127854 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.03, Z:0.72 [[ 0.99991957 -0.00446907 -0.01186938 -1.84296653] [ 0.00442738 0.99998395 -0.00353579 -0.02988579] [ 0.01188499 0.00348296 0.99992331 0.72348397] [ 0. 0. 0. 1. ]] SLAMing on 24.152557844 meters Centerline goodness : 0.171755 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.03, Z:0.72 [[ 0.99991807 -0.0044993 -0.0119839 -1.84259498] [ 0.00445434 0.99998295 -0.00377547 -0.02866783] [ 0.01200068 0.00372178 0.99992106 0.7233937 ] [ 0. 0. 0. 1. ]] SLAMing on 24.182557844 meters Centerline goodness : 0.122492 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.03, Z:0.72 [[ 0.99991794 -0.00454248 -0.01197858 -1.84264939] [ 0.00449506 0.99998197 -0.00398252 -0.02780307] [ 0.01199645 0.00392835 0.99992032 0.72348599] [ 0. 0. 0. 1. ]] SLAMing on 24.212557844 meters Centerline goodness : 0.178490 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.03, Z:0.72 [[ 0.99991883 -0.00452798 -0.01190909 -1.84290551] [ 0.00448133 0.99998219 -0.00394115 -0.02803158] [ 0.01192673 0.00388746 0.99992132 0.72358173] [ 0. 0. 0. 1. ]] SLAMing on 24.242557844 meters Centerline goodness : 0.150788 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.03, Z:0.72 [[ 0.99993633 0.00336165 -0.01077227 -1.8241899 ] [-0.00341477 0.99998208 -0.0049171 -0.03402038] [ 0.01075555 0.00495357 0.99992989 0.72452851] [ 0. 0. 0. 1. ]] SLAMing on 24.272557844 meters Centerline goodness : 0.175546 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.03, Z:0.72 [[ 0.99993862 0.00340412 -0.01054388 -1.8248901 ] [-0.00345436 0.99998275 -0.00475001 -0.03483461] [ 0.01052752 0.00478615 0.99993313 0.72469368] [ 0. 0. 0. 1. ]] SLAMing on 24.302557844 meters Centerline goodness : 0.109971 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.04, Z:0.72 [[ 0.99994151 0.00345456 -0.01024895 -1.8257449 ] [-0.00350081 0.99998375 -0.00449834 -0.03611161] [ 0.01023324 0.00453396 0.99993736 0.72481169] [ 0. 0. 0. 1. ]] SLAMing on 24.332557844 meters Centerline goodness : 0.176985 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.04, Z:0.73 [[ 0.99994453 0.00346967 -0.00994451 -1.82670461] [-0.00351196 0.99998485 -0.00423754 -0.03753137] [ 0.00992966 0.00427223 0.99994157 0.72508902] [ 0. 0. 0. 1. ]] SLAMing on 24.362557844 meters Centerline goodness : 0.168731 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.04, Z:0.73 [[ 0.99994591 -0.00548365 -0.00883768 -1.8054368 ] [ 0.00545871 0.99998106 -0.00284306 -0.03928095] [ 0.0088531 0.00279467 0.99995691 0.72621955] [ 0. 0. 0. 1. ]] SLAMing on 24.392557844 meters Centerline goodness : 0.176738 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.73 [[ 0.99991906 -0.00494534 -0.01172291 -1.85072396] [ 0.00491898 0.99998531 -0.00227585 -0.03848972] [ 0.01173399 0.002218 0.99992869 0.72697295] [ 0. 0. 0. 1. ]] SLAMing on 24.422557844 meters Centerline goodness : 0.133636 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.73 [[ 9.99917943e-01 -4.81780334e-03 -1.18699756e-02 -1.85009554e+00] [ 4.79557024e-03 9.99986695e-01 -1.90080541e-03 -4.01612124e-02] [ 1.18789753e-02 1.84372613e-03 9.99927743e-01 7.26436934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452557844 meters Centerline goodness : 0.124484 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.73 [[ 9.99917732e-01 -4.71386076e-03 -1.19293532e-02 -1.84974060e+00] [ 4.69511841e-03 9.99987700e-01 -1.59863109e-03 -4.16394890e-02] [ 1.19367422e-02 1.54248985e-03 9.99927565e-01 7.26041322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482557844 meters Centerline goodness : 0.111840 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.05, Z:0.72 [[ 0.99991431 0.00407012 -0.0124421 -1.87112868] [-0.00410071 0.99998863 -0.00243359 -0.04551525] [ 0.01243205 0.0024844 0.99991963 0.72480441] [ 0. 0. 0. 1. ]] SLAMing on 24.512557844 meters Centerline goodness : 0.173490 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.04, Z:0.73 [[ 0.99991422 0.00418556 -0.01241065 -1.8715892 ] [-0.00421739 0.99998788 -0.00253998 -0.04455748] [ 0.01239987 0.0025921 0.99991976 0.72559206] [ 0. 0. 0. 1. ]] SLAMing on 24.542557844 meters Centerline goodness : 0.172076 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.04, Z:0.73 [[ 0.99991144 0.00416331 -0.01264011 -1.87097269] [-0.00419927 0.99998721 -0.00281951 -0.04301006] [ 0.01262821 0.00287234 0.99991614 0.72562847] [ 0. 0. 0. 1. ]] SLAMing on 24.572557844 meters Centerline goodness : 0.169325 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.04, Z:0.73 [[ 0.99990642 0.00411301 -0.0130474 -1.86981141] [-0.00415412 0.99998649 -0.00312539 -0.04143973] [ 0.01303437 0.0031793 0.99990999 0.72550235] [ 0. 0. 0. 1. ]] SLAMing on 24.602557844 meters Centerline goodness : 0.174359 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.03, Z:0.72 [[ 9.99917443e-01 -2.43157668e-03 -1.26172008e-02 -1.88518042e+00] [ 2.41201566e-03 9.99995866e-01 -1.56533158e-03 -3.38140661e-02] [ 1.26209548e-02 1.53476947e-03 9.99919175e-01 7.22298115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632557844 meters Centerline goodness : 0.101757 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:0.72 [[ 9.99914613e-01 -1.88169323e-03 -1.29315956e-02 -1.88389736e+00] [ 1.85562256e-03 9.99996222e-01 -2.02774792e-03 -2.95108453e-02] [ 1.29353624e-02 2.00357862e-03 9.99914327e-01 7.21716235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662557844000002 meters Centerline goodness : 0.175951 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:0.72 [[ 9.99914761e-01 -1.66313973e-03 -1.29500608e-02 -1.88373066e+00] [ 1.63044782e-03 9.99995459e-01 -2.53460824e-03 -2.60987234e-02] [ 1.29542174e-02 2.51327780e-03 9.99912932e-01 7.21687961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692557844 meters Centerline goodness : 0.109305 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.02, Z:0.72 [[ 9.99907738e-01 -1.35772448e-03 -1.35156184e-02 -1.88213851e+00] [ 1.31767332e-03 9.99994716e-01 -2.97178845e-03 -2.27273253e-02] [ 1.35195818e-02 2.95370510e-03 9.99904244e-01 7.21528637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722557844 meters Centerline goodness : 0.182125 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.02, Z:0.72 [[ 9.99903545e-01 -1.03351036e-03 -1.38503829e-02 -1.88128652e+00] [ 9.85864439e-04 9.99993575e-01 -3.44643004e-03 -1.91700266e-02] [ 1.38538558e-02 3.43244301e-03 9.99898139e-01 7.21685715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752557844000002 meters Centerline goodness : 0.104607 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.01, Z:0.72 [[ 9.99905082e-01 2.44173412e-03 -1.35596831e-02 -1.88313155e+00] [-2.46191754e-03 9.99995886e-01 -1.47199473e-03 -9.61650577e-03] [ 1.35560331e-02 1.50523783e-03 9.99906980e-01 7.23300668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782557844 meters Centerline goodness : 0.187296 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.00, Z:0.72 [[ 0.99991591 0.00265517 -0.01269314 -1.8855692 ] [-0.00268304 0.99999403 -0.00217859 -0.00497954] [ 0.01268728 0.00221247 0.99991707 0.72395506] [ 0. 0. 0. 1. ]] SLAMing on 24.812557844 meters Centerline goodness : 0.187755 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.00, Z:0.72 [[ 9.99930220e-01 2.83737208e-03 -1.14675710e-02 -1.88900209e+00] [-2.87053418e-03 9.99991743e-01 -2.87639138e-03 -4.75425947e-04] [ 1.14593149e-02 2.90910871e-03 9.99930108e-01 7.24829153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842557844 meters Centerline goodness : 0.186489 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.00, Z:0.73 [[ 0.99994161 0.00278803 -0.01044094 -1.89186983] [-0.00282649 0.99998927 -0.00367087 0.00379828] [ 0.01043059 0.00370016 0.99993875 0.72549479] [ 0. 0. 0. 1. ]] SLAMing on 24.872557844 meters Centerline goodness : 0.132704 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.01, Z:0.73 [[ 0.99994612 0.00256822 -0.01005791 -1.89306679] [-0.00261349 0.9999865 -0.00449032 0.0077144 ] [ 0.01004624 0.00451637 0.99993934 0.72595141] [ 0. 0. 0. 1. ]] SLAMing on 24.902557844 meters Centerline goodness : 0.140704 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.01, Z:0.73 [[ 0.99994753 0.00232587 -0.00997638 -1.89329783] [-0.00237797 0.99998358 -0.00521316 0.01116444] [ 0.00996409 0.00523661 0.99993665 0.72604434] [ 0. 0. 0. 1. ]] SLAMing on 24.932557844 meters Centerline goodness : 0.145523 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.02, Z:0.73 [[ 0.99994957 0.00206523 -0.00982862 -1.89370394] [-0.00212575 0.99997882 -0.0061511 0.01652985] [ 0.00981571 0.00617169 0.99993278 0.72619409] [ 0. 0. 0. 1. ]] SLAMing on 24.962557844 meters Centerline goodness : 0.164027 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.02, Z:0.72 [[ 0.99993471 -0.00587304 -0.00980189 -1.91280228] [ 0.00582262 0.99996971 -0.00516431 0.02387139] [ 0.00983192 0.0051069 0.99993862 0.72409303] [ 0. 0. 0. 1. ]] SLAMing on 24.992557844 meters Centerline goodness : 0.140863 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.03, Z:0.72 [[ 0.99992802 -0.00625562 -0.01023871 -1.91105171] [ 0.00619458 0.99996292 -0.00598258 0.02724633] [ 0.01027576 0.00591872 0.99992969 0.72304135] [ 0. 0. 0. 1. ]] SLAMing on 25.022557844 meters Centerline goodness : 0.130756 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.03, Z:0.72 [[ 0.99992526 -0.00639665 -0.0104187 -1.91042194] [ 0.00633086 0.99995989 -0.00633611 0.0288721 ] [ 0.01045881 0.00626967 0.99992565 0.72275483] [ 0. 0. 0. 1. ]] SLAMing on 25.052557844 meters Centerline goodness : 0.141057 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.03, Z:0.72 [[ 0.99992329 -0.00648463 -0.0105527 -1.91012072] [ 0.00641466 0.99995731 -0.00665067 0.03049469] [ 0.01059538 0.00658247 0.9999222 0.72284186] [ 0. 0. 0. 1. ]] SLAMing on 25.082557844 meters Centerline goodness : 0.140455 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.03, Z:0.72 [[ 0.99994306 -0.00283967 -0.01028631 -1.91088023] [ 0.00280954 0.99999172 -0.00294244 0.03086896] [ 0.01029458 0.00291337 0.99994277 0.72294583] [ 0. 0. 0. 1. ]] SLAMing on 25.112557844 meters Centerline goodness : 0.143354 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.03, Z:0.72 [[ 0.99994207 -0.00293278 -0.01035604 -1.91092652] [ 0.00289899 0.99999043 -0.00327597 0.03255007] [ 0.01036555 0.00324576 0.99994101 0.72338625] [ 0. 0. 0. 1. ]] SLAMing on 25.142557844 meters Centerline goodness : 0.137047 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.03, Z:0.72 [[ 0.99994075 -0.00305309 -0.01044854 -1.91079648] [ 0.00301517 0.99998882 -0.00364263 0.0341859 ] [ 0.01045954 0.00361091 0.99993878 0.72357573] [ 0. 0. 0. 1. ]] SLAMing on 25.172557844 meters Centerline goodness : 0.138777 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 0.99993403 -0.00282003 -0.01113501 -1.90862784] [ 0.00277456 0.99998776 -0.00409725 0.03737702] [ 0.01114643 0.00406608 0.99992961 0.72280296] [ 0. 0. 0. 1. ]] SLAMing on 25.202557844 meters Centerline goodness : 0.144809 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 0.99993252 -0.00274047 -0.01128941 -1.90807871] [ 0.00269004 0.99998634 -0.00448042 0.03984055] [ 0.01130153 0.00444975 0.99992623 0.72254809] [ 0. 0. 0. 1. ]] SLAMing on 25.232557844 meters Centerline goodness : 0.125685 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 0.99993137 -0.00260914 -0.01142175 -1.90778806] [ 0.00255393 0.999985 -0.00484564 0.04217932] [ 0.01143422 0.00481613 0.99992303 0.72263228] [ 0. 0. 0. 1. ]] SLAMing on 25.262557844 meters Centerline goodness : 0.133413 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 0.99992766 -0.00249522 -0.01176676 -1.90697319] [ 0.0024343 0.99998358 -0.00518863 0.04430006] [ 0.01177951 0.00515961 0.99991731 0.72269157] [ 0. 0. 0. 1. ]] SLAMing on 25.292557844 meters Centerline goodness : 0.129574 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.05, Z:0.72 [[ 0.99992496 -0.00242376 -0.0120084 -1.90651664] [ 0.0023573 0.99998185 -0.00554544 0.0463852 ] [ 0.01202162 0.00551671 0.99991252 0.7228835 ] [ 0. 0. 0. 1. ]] SLAMing on 25.322557844 meters Centerline goodness : 0.129392 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.05, Z:0.72 [[ 9.99921750e-01 -1.43482265e-03 -1.24272165e-02 -1.90547292e+00] [ 1.36815928e-03 9.99984639e-01 -5.37114518e-03 4.84440553e-02] [ 1.24347323e-02 5.35372248e-03 9.99908353e-01 7.22769331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352557844 meters Centerline goodness : 0.146874 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.05, Z:0.72 [[ 9.99919520e-01 -1.43964317e-03 -1.26047870e-02 -1.90506757e+00] [ 1.36760627e-03 9.99982695e-01 -5.72179858e-03 5.02883364e-02] [ 1.26128062e-02 5.70409971e-03 9.99904186e-01 7.22725621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382557844 meters Centerline goodness : 0.112607 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.05, Z:0.72 [[ 9.99938740e-01 -1.21079488e-03 -1.10022524e-02 -1.85973032e+00] [ 1.14902890e-03 9.99983556e-01 -5.61852714e-03 5.29271065e-02] [ 1.10088744e-02 5.60554104e-03 9.99923688e-01 7.22194423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412557844000002 meters Centerline goodness : 0.149678 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.05, Z:0.72 [[ 9.99939476e-01 -1.32511412e-03 -1.09218778e-02 -1.85983276e+00] [ 1.26002240e-03 9.99981418e-01 -5.96448374e-03 5.44054789e-02] [ 1.09295785e-02 5.95036094e-03 9.99922566e-01 7.21969511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442557844 meters Centerline goodness : 0.136095 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.06, Z:0.72 [[ 9.99942207e-01 -1.36592414e-03 -1.06637900e-02 -1.86072602e+00] [ 1.30046707e-03 9.99980287e-01 -6.14277830e-03 5.52497100e-02] [ 1.06719703e-02 6.12855538e-03 9.99924272e-01 7.22310439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472557844 meters Centerline goodness : 0.138117 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.05, Z:0.72 [[ 0.99992403 0.00784495 -0.0095078 -1.88318114] [-0.00790597 0.99994828 -0.00639788 0.05176091] [ 0.00945712 0.00647256 0.99993433 0.72185376] [ 0. 0. 0. 1. ]] SLAMing on 25.502557844000002 meters Centerline goodness : 0.155926 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.05, Z:0.72 [[ 0.99992363 0.00786984 -0.00952879 -1.88306617] [-0.00793059 0.99994836 -0.00635509 0.05157594] [ 0.00947828 0.00643017 0.99993441 0.72172592] [ 0. 0. 0. 1. ]] SLAMing on 25.532557844 meters Centerline goodness : 0.155926 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.05, Z:0.72 [[ 0.99992363 0.00786984 -0.00952879 -1.88306617] [-0.00793059 0.99994836 -0.00635509 0.05157594] [ 0.00947828 0.00643017 0.99993441 0.72172592] [ 0. 0. 0. 1. ]] SLAMing on 25.562557844 meters Centerline goodness : 0.151990 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.06, Z:0.72 [[ 9.99953785e-01 -9.51400059e-04 -9.56676728e-03 -1.86317516e+00] [ 8.96541723e-04 9.99983142e-01 -5.73691508e-03 5.50573535e-02] [ 9.57206411e-03 5.72807294e-03 9.99937780e-01 7.22922632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592557844 meters Centerline goodness : 0.109143 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.05, Z:0.72 [[ 9.99922902e-01 -1.91802999e-03 -1.22683190e-02 -1.90853934e+00] [ 1.82955406e-03 9.99972270e-01 -7.21890259e-03 5.30888721e-02] [ 1.22818249e-02 7.19590047e-03 9.99898683e-01 7.23772449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622557844 meters Centerline goodness : 0.117595 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.05, Z:0.72 [[ 0.99989359 -0.01080467 -0.00980142 -1.88821435] [ 0.01074164 0.99992144 -0.00646071 0.05330888] [ 0.00987046 0.00635474 0.99993109 0.72406499] [ 0. 0. 0. 1. ]] SLAMing on 25.652557844 meters Centerline goodness : 0.139428 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.05, Z:0.72 [[ 0.99996204 -0.00224117 -0.00841993 -1.90878509] [ 0.00218407 0.9999746 -0.00678515 0.04640712] [ 0.00843492 0.0067665 0.99994153 0.72270426] [ 0. 0. 0. 1. ]] SLAMing on 25.682557844 meters Centerline goodness : 0.142062 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 0.99996341 -0.00211662 -0.00828803 -1.90934265] [ 0.0020631 0.999977 -0.00646065 0.04496545] [ 0.00830152 0.00644332 0.99994478 0.72314384] [ 0. 0. 0. 1. ]] SLAMing on 25.712557844 meters Centerline goodness : 0.137520 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 0.9999642 -0.00200656 -0.00821976 -1.90951248] [ 0.00195592 0.99997909 -0.00616354 0.04355561] [ 0.00823195 0.00614724 0.99994722 0.72315284] [ 0. 0. 0. 1. ]] SLAMing on 25.742557844 meters Centerline goodness : 0.132231 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 9.99964801e-01 -1.79562588e-03 -8.19582383e-03 -1.90964546e+00] [ 1.74925378e-03 9.99982443e-01 -5.66168238e-03 4.12324061e-02] [ 8.20584619e-03 5.64714652e-03 9.99950386e-01 7.23255481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772557844 meters Centerline goodness : 0.142113 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 9.99965012e-01 -1.68135167e-03 -8.19437583e-03 -1.90956580e+00] [ 1.63693580e-03 9.99983950e-01 -5.42398266e-03 4.02471404e-02] [ 8.20336394e-03 5.41037922e-03 9.99951715e-01 7.23097628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802557844 meters Centerline goodness : 0.129179 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 9.99963504e-01 -1.54545340e-03 -8.40249534e-03 -1.90878568e+00] [ 1.50245738e-03 9.99985759e-01 -5.12096081e-03 3.89858137e-02] [ 8.41028989e-03 5.10814953e-03 9.99951586e-01 7.22646821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832557844 meters Centerline goodness : 0.117856 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 9.99961728e-01 -1.41274875e-03 -8.63399875e-03 -1.90769732e+00] [ 1.37110695e-03 9.99987410e-01 -4.82702065e-03 3.76812143e-02] [ 8.64070942e-03 4.81499778e-03 9.99951076e-01 7.21757895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862557844 meters Centerline goodness : 0.099736 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 9.99959681e-01 -1.30624198e-03 -8.88426198e-03 -1.90666939e+00] [ 1.26516087e-03 9.99988490e-01 -4.62808072e-03 3.68343637e-02] [ 8.89020511e-03 4.61665410e-03 9.99949824e-01 7.21055648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.892557844 meters Centerline goodness : 0.187897 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.04, Z:0.72 [[ 9.99954629e-01 -1.01579761e-03 -9.47148777e-03 -1.90459931e+00] [ 9.74883778e-04 9.99990179e-01 -4.32330028e-03 3.59231410e-02] [ 9.47578635e-03 4.31387053e-03 9.99945799e-01 7.19967814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922557844 meters Centerline goodness : 0.101392 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99922261e-01 1.34109619e-04 -1.24681351e-02 -1.95045647e+00] [-1.80700166e-04 9.99993006e-01 -3.73571800e-03 3.31427315e-02] [ 1.24675469e-02 3.73768058e-03 9.99915291e-01 7.21150785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952557844 meters Centerline goodness : 0.106252 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99923229e-01 2.38717828e-04 -1.23886795e-02 -1.95079035e+00] [-2.83470006e-04 9.99993441e-01 -3.61071420e-03 3.26805250e-02] [ 1.23877363e-02 3.61394882e-03 9.99916738e-01 7.21370404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982557844 meters Centerline goodness : 0.177296 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99927058e-01 3.65102092e-04 -1.20724928e-02 -1.95174533e+00] [-4.06035666e-04 9.99994177e-01 -3.38837086e-03 3.14713934e-02] [ 1.20711854e-02 3.39302557e-03 9.99921384e-01 7.21571843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.012557844 meters Centerline goodness : 0.182484 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99927993e-01 4.56124153e-04 -1.19917298e-02 -1.95181068e+00] [-4.95258830e-04 9.99994561e-01 -3.26070511e-03 3.09827266e-02] [ 1.19901773e-02 3.26640932e-03 9.99922780e-01 7.21271893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042557844 meters Centerline goodness : 0.102214 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99929038e-01 5.21994613e-04 -1.19015712e-02 -1.95169800e+00] [-5.59664583e-04 9.99994844e-01 -3.16201494e-03 3.06869661e-02] [ 1.18998593e-02 3.16845145e-03 9.99924174e-01 7.20640930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.072557844 meters Centerline goodness : 0.091177 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99928981e-01 5.73684308e-04 -1.19039181e-02 -1.95141628e+00] [-6.10139379e-04 9.99995135e-01 -3.05903745e-03 3.02286808e-02] [ 1.19021052e-02 3.06608325e-03 9.99924467e-01 7.20152997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102557844 meters SLAMing on 26.132557844 meters Centerline goodness : 0.151944 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99925789e-01 7.63112029e-04 -1.21587304e-02 -1.95059961e+00] [-7.95077927e-04 9.99996240e-01 -2.62443219e-03 2.81944318e-02] [ 1.21566820e-02 2.63390457e-03 9.99922636e-01 7.19838460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162557844000002 meters Centerline goodness : 0.121166 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.02, Z:0.72 [[ 9.99895055e-01 1.05703877e-03 -1.44485995e-02 -1.99753689e+00] [-1.09229701e-03 9.99996445e-01 -2.43257924e-03 2.47957351e-02] [ 1.44459768e-02 2.44810612e-03 9.99892655e-01 7.21221767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.192557844 meters Centerline goodness : 0.123416 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.02, Z:0.72 [[ 9.99897533e-01 1.19852130e-03 -1.42649089e-02 -1.99824747e+00] [-1.22817975e-03 9.99997102e-01 -2.07054043e-03 2.31934135e-02] [ 1.42623860e-02 2.08784814e-03 9.99896107e-01 7.21693700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222557844 meters Centerline goodness : 0.128749 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.02, Z:0.72 [[ 9.99901674e-01 1.30301281e-03 -1.39622874e-02 -1.99919408e+00] [-1.32670291e-03 9.99997696e-01 -1.68759259e-03 2.12815786e-02] [ 1.39600562e-02 1.70595047e-03 9.99901098e-01 7.22082434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252557844000002 meters SLAMing on 26.282557844 meters Centerline goodness : 0.187343 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.02, Z:0.72 [[ 9.99909846e-01 1.00572044e-03 -1.33898552e-02 -2.00054298e+00] [-1.02001280e-03 9.99998917e-01 -1.06061608e-03 1.61507268e-02] [ 1.33887740e-02 1.07417828e-03 9.99909789e-01 7.22083508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312557844 meters Centerline goodness : 0.087506 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.01, Z:0.72 [[ 9.99908213e-01 1.16723311e-03 -1.34982923e-02 -2.00006731e+00] [-1.17454671e-03 9.99999168e-01 -5.33901671e-04 1.35974601e-02] [ 1.34976578e-02 5.49707041e-04 9.99908751e-01 7.21798559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342557844 meters Centerline goodness : 0.183718 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.01, Z:0.72 [[ 9.99861255e-01 2.56174557e-04 -1.66554870e-02 -2.04350465e+00] [-2.75734729e-04 9.99999275e-01 -1.17211228e-03 8.54432187e-03] [ 1.66551747e-02 1.17654215e-03 9.99860601e-01 7.21695040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372557844 meters Centerline goodness : 0.114609 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.00, Z:0.72 [[ 9.99850902e-01 4.53674503e-04 -1.72617317e-02 -2.04176340e+00] [-4.52294117e-04 9.99999894e-01 8.38718946e-05 1.41644921e-03] [ 1.72617679e-02 -7.60520098e-05 9.99851002e-01 7.21372028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402557844 meters Centerline goodness : 0.092436 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.00, Z:0.72 [[ 9.99852139e-01 7.33343169e-04 -1.71802859e-02 -2.04216861e+00] [-7.18405883e-04 9.99999359e-01 8.75598904e-04 -2.23658153e-03] [ 1.71809170e-02 -8.63127018e-04 9.99852025e-01 7.21834624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432557844 meters SLAMing on 26.462557844 meters Centerline goodness : 0.168450 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.01, Z:0.72 [[ 9.99872130e-01 -1.22990633e-03 -1.59440199e-02 -2.04744684e+00] [ 1.22567356e-03 9.99999211e-01 -2.75245766e-04 -9.81873708e-03] [ 1.59443458e-02 2.55668407e-04 9.99872848e-01 7.24405512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492557844 meters Centerline goodness : 0.094495 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.01, Z:0.72 [[ 9.99876844e-01 -8.05548664e-04 -1.56731513e-02 -2.04833820e+00] [ 8.17920081e-04 9.99999359e-01 7.82944117e-04 -1.49053788e-02] [ 1.56725105e-02 -7.95667078e-04 9.99876862e-01 7.24820189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522557844 meters Centerline goodness : 0.173381 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.02, Z:0.73 [[ 9.99879531e-01 -6.49515742e-04 -1.55080899e-02 -2.04889647e+00] [ 6.67089904e-04 9.99999141e-01 1.12807933e-03 -1.64280316e-02] [ 1.55073438e-02 -1.13828872e-03 9.99879106e-01 7.25051977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552557844 meters Centerline goodness : 0.180599 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.02, Z:0.72 [[ 9.99880454e-01 -5.27019187e-04 -1.54531375e-02 -2.04891522e+00] [ 5.48381065e-04 9.99998900e-01 1.37816031e-03 -1.75579597e-02] [ 1.54523941e-02 -1.38646977e-03 9.99879643e-01 7.24839189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582557844 meters Centerline goodness : 0.180189 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.02, Z:0.72 [[ 9.99877384e-01 -4.36147986e-04 -1.56533153e-02 -2.04800718e+00] [ 4.60345305e-04 9.99998705e-01 1.54225721e-03 -1.83621876e-02] [ 1.56526223e-02 -1.54927404e-03 9.99876290e-01 7.24120804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612557844 meters Centerline goodness : 0.180314 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.02, Z:0.72 [[ 9.99869813e-01 -3.57844160e-04 -1.61315916e-02 -2.04624494e+00] [ 3.84767569e-04 9.99998538e-01 1.66591379e-03 -1.89976071e-02] [ 1.61309719e-02 -1.67190382e-03 9.99868490e-01 7.23140475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642557844 meters Centerline goodness : 0.180096 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.03, Z:0.72 [[ 9.99807606e-01 8.02350643e-03 -1.78990243e-02 -2.06553278e+00] [-8.01269477e-03 9.99967670e-01 6.75670898e-04 -2.51145185e-02] [ 1.79038669e-02 -5.32121484e-04 9.99839571e-01 7.21634856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672557844 meters Centerline goodness : 0.179891 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.03, Z:0.72 [[ 9.99808290e-01 8.26413908e-03 -1.77506963e-02 -2.06616459e+00] [-8.24470011e-03 9.99965330e-01 1.16801288e-03 -2.70918792e-02] [ 1.77597335e-02 -1.02143980e-03 9.99841762e-01 7.22067588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702557844 meters Centerline goodness : 0.180783 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:0.72 [[ 9.99849550e-01 -3.50077475e-04 -1.73422808e-02 -2.08729943e+00] [ 3.89097923e-04 9.99997400e-01 2.24669515e-03 -2.49666712e-02] [ 1.73414492e-02 -2.25310498e-03 9.99847087e-01 7.20677814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732557844 meters Centerline goodness : 0.097641 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.03, Z:0.72 [[ 9.99853331e-01 -2.55516281e-04 -1.71245981e-02 -2.08784083e+00] [ 3.01256016e-04 9.99996394e-01 2.66846968e-03 -2.71660278e-02] [ 1.71238545e-02 -2.67323719e-03 9.99849802e-01 7.20734024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762557844 meters Centerline goodness : 0.149441 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.03, Z:0.72 [[ 9.99853489e-01 -1.90971403e-04 -1.71161663e-02 -2.08776778e+00] [ 2.43948972e-04 9.99995186e-01 3.09314287e-03 -2.94508474e-02] [ 1.71154932e-02 -3.09686516e-03 9.99848723e-01 7.20594570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792557844 meters Centerline goodness : 0.126081 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.03, Z:0.72 [[ 9.99844875e-01 -6.80937176e-04 -1.76000525e-02 -2.08603122e+00] [ 7.42000093e-04 9.99993728e-01 3.46317632e-03 -3.29737391e-02] [ 1.75975839e-02 -3.47569834e-03 9.99839109e-01 7.19728323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822557844000002 meters Centerline goodness : 0.099297 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.04, Z:0.72 [[ 9.99846698e-01 -6.09795069e-04 -1.74988327e-02 -2.08611734e+00] [ 6.79277624e-04 9.99991909e-01 3.96502757e-03 -3.54857628e-02] [ 1.74962733e-02 -3.97630628e-03 9.99839022e-01 7.19489506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852557844 meters Centerline goodness : 0.184299 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.04, Z:0.72 [[ 9.99845526e-01 -5.40512538e-04 -1.75679372e-02 -2.08598672e+00] [ 6.18881349e-04 9.99989882e-01 4.45576954e-03 -3.79636999e-02] [ 1.75653510e-02 -4.46595371e-03 9.99835743e-01 7.19642293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882557844 meters Centerline goodness : 0.195279 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.04, Z:0.72 [[ 9.99843110e-01 -4.83884504e-04 -1.77065504e-02 -2.08566123e+00] [ 5.72076033e-04 9.99987456e-01 4.97600288e-03 -4.07509946e-02] [ 1.77039205e-02 -4.98535169e-03 9.99830844e-01 7.19750613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912557844000002 meters Centerline goodness : 0.103036 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.04, Z:0.72 [[ 9.99826576e-01 -4.08245570e-03 -1.81700627e-02 -2.08386910e+00] [ 4.12007741e-03 9.99989445e-01 2.03358022e-03 -4.49807645e-02] [ 1.81615689e-02 -2.10808961e-03 9.99832843e-01 7.18935317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942557844 meters Centerline goodness : 0.098268 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.05, Z:0.72 [[ 9.99750975e-01 -5.19529387e-03 -2.17024856e-02 -2.12694072e+00] [ 5.22733876e-03 9.99985329e-01 1.42008507e-03 -4.79772428e-02] [ 2.16947895e-02 -1.53317767e-03 9.99763465e-01 7.18676590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972557844 meters Centerline goodness : 0.105807 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.05, Z:0.72 [[ 9.99759985e-01 4.88862342e-04 -2.19028061e-02 -2.10468221e+00] [-5.20016906e-04 9.99998861e-01 -1.41672757e-03 -5.22171674e-02] [ 2.19020886e-02 1.42777737e-03 9.99759101e-01 7.18426721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002557844000002 meters Centerline goodness : 0.199961 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.05, Z:0.72 [[ 9.99759608e-01 5.88520814e-04 -2.19175587e-02 -2.10453847e+00] [-6.11732532e-04 9.99999259e-01 -1.05235708e-03 -5.41399665e-02] [ 2.19169231e-02 1.06551178e-03 9.99759228e-01 7.18246652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032557844 meters Centerline goodness : 0.198489 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.06, Z:0.72 [[ 9.99763147e-01 6.98345935e-04 -2.17523051e-02 -2.10499862e+00] [-7.15027145e-04 9.99999456e-01 -7.59102688e-04 -5.55550043e-02] [ 2.17517631e-02 7.74476381e-04 9.99763102e-01 7.18340785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062557844 meters SLAMing on 27.092557844 meters Centerline goodness : 0.104984 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99800835e-01 1.95556774e-03 -1.98611889e-02 -2.11128423e+00] [-1.94849617e-03 9.99998031e-01 3.75395317e-04 -5.71749225e-02] [ 1.98618839e-02 -3.36621101e-04 9.99802677e-01 7.20593426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122557844 meters SLAMing on 27.152557844 meters Centerline goodness : 0.179906 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99795361e-01 1.90600081e-03 -2.01395728e-02 -2.11045285e+00] [-1.90630400e-03 9.99998183e-01 4.14378918e-06 -5.55168136e-02] [ 2.01395441e-02 3.42492069e-05 9.99797178e-01 7.20366721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182557844 meters Centerline goodness : 0.183986 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 9.99791466e-01 1.84982916e-03 -2.03372447e-02 -2.10960927e+00] [-1.85435955e-03 9.99998260e-01 -2.03907457e-04 -5.44905033e-02] [ 2.03368321e-02 2.41577500e-04 9.99793156e-01 7.19720179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212557844 meters Centerline goodness : 0.181565 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 9.99789759e-01 1.77751173e-03 -2.04274044e-02 -2.10903874e+00] [-1.78662813e-03 9.99998312e-01 -4.28041587e-04 -5.34058566e-02] [ 2.04266091e-02 4.64447770e-04 9.99791247e-01 7.19061153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242557844 meters Centerline goodness : 0.134983 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.05, Z:0.72 [[ 9.99780845e-01 -6.19230626e-03 -1.99979116e-02 -2.08931490e+00] [ 6.20567982e-03 9.99980561e-01 6.06759740e-04 -4.80551027e-02] [ 1.99937656e-02 -7.30727402e-04 9.99799838e-01 7.20290854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272557844 meters Centerline goodness : 0.186010 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 9.99786132e-01 1.95700761e-03 -2.05878827e-02 -2.10912531e+00] [-1.96994437e-03 9.99997875e-01 -6.08105656e-04 -5.32167209e-02] [ 2.05866489e-02 6.48532585e-04 9.99787862e-01 7.18948303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302557844 meters Centerline goodness : 0.178587 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 9.99783654e-01 1.97551823e-03 -2.07061054e-02 -2.10893097e+00] [-1.98587372e-03 9.99997913e-01 -4.79567824e-04 -5.39809793e-02] [ 2.07051148e-02 5.20583782e-04 9.99785491e-01 7.19117680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332557844 meters Centerline goodness : 0.138125 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99756869e-01 1.75014760e-03 -2.19804392e-02 -2.10547927e+00] [-1.75763906e-03 9.99998404e-01 -3.21509092e-04 -5.57228336e-02] [ 2.19798414e-02 3.60064602e-04 9.99758349e-01 7.18708427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362557844 meters Centerline goodness : 0.297859 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.06, Z:0.72 [[ 9.99751717e-01 1.86707110e-03 -2.22040390e-02 -2.10473854e+00] [-1.86812670e-03 9.99998255e-01 -2.67981770e-05 -5.70553577e-02] [ 2.22039502e-02 6.82714815e-05 9.99753460e-01 7.18407527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392557844 meters SLAMing on 27.422557844 meters SLAMing on 27.452557844 meters Centerline goodness : 0.197122 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99756719e-01 2.10148607e-03 -2.19564849e-02 -2.10579649e+00] [-2.09073377e-03 9.99997683e-01 5.12653707e-04 -5.93455235e-02] [ 2.19575114e-02 -4.66623823e-04 9.99758796e-01 7.19195362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482557844 meters SLAMing on 27.512557844 meters Centerline goodness : 0.182525 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.06, Z:0.72 [[ 9.99691039e-01 1.59911195e-03 -2.48046193e-02 -2.15230157e+00] [-1.60286268e-03 9.99998707e-01 -1.31329234e-04 -6.30062016e-02] [ 2.48043772e-02 1.71047057e-04 9.99692309e-01 7.21353864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542557844 meters Centerline goodness : 0.150735 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99725559e-01 2.25915949e-03 -2.33174482e-02 -2.10688287e+00] [-2.25843776e-03 9.99997448e-01 5.72865062e-05 -6.26244822e-02] [ 2.33175181e-02 -4.60977896e-06 9.99728110e-01 7.21346421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572557844000002 meters Centerline goodness : 0.181853 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99722761e-01 2.33705698e-03 -2.34294737e-02 -2.10639509e+00] [-2.33679851e-03 9.99997269e-01 3.84107150e-05 -6.22926348e-02] [ 2.34294994e-02 1.63498931e-05 9.99725491e-01 7.21028249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602557844 meters Centerline goodness : 0.184593 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99723418e-01 2.38496586e-03 -2.33965825e-02 -2.10649548e+00] [-2.38704354e-03 9.99997149e-01 -6.08748520e-05 -6.16700535e-02] [ 2.33963707e-02 1.16706676e-04 9.99726261e-01 7.21069244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632557844 meters Centerline goodness : 0.181310 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99734029e-01 2.79009340e-03 -2.28929220e-02 -2.10828175e+00] [-2.79661618e-03 9.99996057e-01 -2.52915050e-04 -5.97193495e-02] [ 2.28921261e-02 3.16870498e-04 9.99737891e-01 7.21930666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662557844000002 meters Centerline goodness : 0.278300 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99736020e-01 2.79898303e-03 -2.28047576e-02 -2.10871861e+00] [-2.81311407e-03 9.99995871e-01 -5.87596380e-04 -5.78476953e-02] [ 2.28030187e-02 6.51593651e-04 9.99739765e-01 7.22202165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692557844 meters Centerline goodness : 0.179496 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99740350e-01 2.87100214e-03 -2.26050814e-02 -2.10921964e+00] [-2.89119348e-03 9.99995450e-01 -8.60589988e-04 -5.60391564e-02] [ 2.26025078e-02 9.25722200e-04 9.99744102e-01 7.22146225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722557844 meters Centerline goodness : 0.183127 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 9.99741437e-01 2.88731470e-03 -2.25548920e-02 -2.10911924e+00] [-2.91534263e-03 9.99995018e-01 -1.20987105e-03 -5.39997469e-02] [ 2.25512864e-02 1.27531346e-03 9.99744874e-01 7.21652753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752557844000002 meters Centerline goodness : 0.178822 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 9.99756171e-01 2.93913214e-03 -2.18851659e-02 -2.11065600e+00] [-2.98201899e-03 9.99993697e-01 -1.92725394e-03 -5.00790139e-02] [ 2.18793635e-02 1.99204600e-03 9.99758633e-01 7.21322491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782557844 meters Centerline goodness : 0.180610 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 0.99976646 0.00282027 -0.02142578 -2.11218618] [-0.00287183 0.99999305 -0.00237609 -0.04789306] [ 0.02141893 0.00243706 0.99976762 0.72192512] [ 0. 0. 0. 1. ]] SLAMing on 27.812557844 meters Centerline goodness : 0.176523 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 0.99977372 0.00271985 -0.02109765 -2.11348161] [-0.00277856 0.99999235 -0.00275435 -0.04588138] [ 0.02109 0.00281235 0.99977363 0.72262249] [ 0. 0. 0. 1. ]] SLAMing on 27.842557844 meters Centerline goodness : 0.175527 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.04, Z:0.72 [[ 0.99976788 0.00265669 -0.02138063 -2.11241094] [-0.00272775 0.99999085 -0.00329515 -0.04261952] [ 0.02137168 0.0033527 0.99976598 0.72197249] [ 0. 0. 0. 1. ]] SLAMing on 27.872557844 meters Centerline goodness : 0.176361 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.04, Z:0.72 [[ 0.99976175 0.00252491 -0.02168126 -2.11110412] [-0.00260338 0.99999016 -0.00359186 -0.04138197] [ 0.02167198 0.00364745 0.99975848 0.7210102 ] [ 0. 0. 0. 1. ]] SLAMing on 27.902557844 meters Centerline goodness : 0.184747 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.04, Z:0.72 [[ 0.99975651 0.00240512 -0.02193475 -2.11003114] [-0.00248974 0.99998956 -0.00383171 -0.04044553] [ 0.02192531 0.00388538 0.99975206 0.72021995] [ 0. 0. 0. 1. ]] SLAMing on 27.932557844 meters Centerline goodness : 0.173833 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.03, Z:0.72 [[ 0.99973973 -0.00536093 -0.02217493 -2.09034857] [ 0.00529859 0.99998185 -0.00286893 -0.03411491] [ 0.02218991 0.00275069 0.99974999 0.7217332 ] [ 0. 0. 0. 1. ]] SLAMing on 27.962557844 meters Centerline goodness : 0.154070 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.03, Z:0.72 [[ 0.9997409 -0.005387 -0.02211575 -2.09069546] [ 0.00532286 0.99998146 -0.00295784 -0.03354101] [ 0.02213127 0.00283936 0.99975104 0.72203069] [ 0. 0. 0. 1. ]] SLAMing on 27.992557844 meters Centerline goodness : 0.110413 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.03, Z:0.72 [[ 0.9997446 -0.00525685 -0.02197932 -2.09150384] [ 0.00519938 0.99998292 -0.00267099 -0.03463138] [ 0.02199298 0.00255603 0.99975486 0.72286337] [ 0. 0. 0. 1. ]] SLAMing on 28.022557844 meters Centerline goodness : 0.148733 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.04, Z:0.72 [[ 0.99975637 0.00214858 -0.02196766 -2.1093846 ] [-0.00224334 0.99998828 -0.00428989 -0.04219796] [ 0.02195818 0.00433813 0.99974948 0.72009258] [ 0. 0. 0. 1. ]] SLAMing on 28.052557844 meters Centerline goodness : 0.168428 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.04, Z:0.72 [[ 0.99975456 0.00223614 -0.0220412 -2.10899319] [-0.00232404 0.99998945 -0.00396329 -0.0440331 ] [ 0.0220321 0.00401354 0.99974921 0.71980205] [ 0. 0. 0. 1. ]] SLAMing on 28.082557844 meters Centerline goodness : 0.174325 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.04, Z:0.72 [[ 9.99794350e-01 1.78406464e-03 -2.02008772e-02 -2.06454828e+00] [-1.87947766e-03 9.99987164e-01 -4.70521192e-03 -4.36754886e-02] [ 2.01922235e-02 4.74221139e-03 9.99784870e-01 7.19768536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112557844 meters Centerline goodness : 0.120722 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.04, Z:0.72 [[ 9.99792726e-01 1.87734600e-03 -2.02726518e-02 -2.06424516e+00] [-1.96887665e-03 9.99987955e-01 -4.49596671e-03 -4.46935796e-02] [ 2.02639672e-02 4.53494917e-03 9.99784380e-01 7.19573790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142557844 meters Centerline goodness : 0.157895 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 9.99791448e-01 1.96773911e-03 -2.03270596e-02 -2.06402973e+00] [-2.05651581e-03 9.99988435e-01 -4.34743460e-03 -4.52565572e-02] [ 2.03182699e-02 4.38833085e-03 9.99783932e-01 7.19413176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172557844 meters Centerline goodness : 0.182344 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 0.99978572 0.00214385 -0.0205895 -2.06292033] [-0.00222876 0.9999891 -0.00410162 -0.04619827] [ 0.02058048 0.00414663 0.9997796 0.71857282] [ 0. 0. 0. 1. ]] SLAMing on 28.202557844 meters Centerline goodness : 0.110791 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 0.99978338 0.00221744 -0.02069477 -2.06238128] [-0.00229972 0.99998954 -0.00395303 -0.04687224] [ 0.02068579 0.00399977 0.99977803 0.71806675] [ 0. 0. 0. 1. ]] SLAMing on 28.232557844000002 meters Centerline goodness : 0.113750 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 0.99978618 0.00243873 -0.02053419 -2.06301441] [-0.00251094 0.99999075 -0.00349132 -0.04885156] [ 0.02052549 0.00354214 0.99978306 0.71846951] [ 0. 0. 0. 1. ]] SLAMing on 28.262557844 meters Centerline goodness : 0.162671 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.05, Z:0.72 [[ 0.99977061 -0.00635246 -0.02045432 -2.08435725] [ 0.00630245 0.99997699 -0.00250848 -0.04715604] [ 0.02046979 0.00237899 0.99978764 0.71756082] [ 0. 0. 0. 1. ]] SLAMing on 28.292557844 meters Centerline goodness : 0.175769 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 9.99816482e-01 3.13703145e-05 -1.91572770e-02 -2.06155886e+00] [-1.29907762e-04 9.99986769e-01 -5.14238127e-03 -4.97183731e-02] [ 1.91568622e-02 5.14392623e-03 9.99803258e-01 7.17204048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322557844000002 meters Centerline goodness : 0.118744 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 9.99812024e-01 2.04174061e-04 -1.93875014e-02 -2.06075823e+00] [-2.94774937e-04 9.99989050e-01 -4.67041621e-03 -5.19701680e-02] [ 1.93863355e-02 4.67525324e-03 9.99801136e-01 7.16877307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.352557844 meters Centerline goodness : 0.179224 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 9.99808225e-01 3.55583271e-04 -1.95802846e-02 -2.05998989e+00] [-4.39202869e-04 9.99990802e-01 -4.26646712e-03 -5.38543572e-02] [ 1.95785874e-02 4.27424863e-03 9.99799185e-01 7.16410615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382557844 meters Centerline goodness : 0.180003 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99750191e-01 -3.00214906e-04 -2.23487072e-02 -2.10510074e+00] [ 2.06710457e-04 9.99991217e-01 -4.18607883e-03 -5.80988572e-02] [ 2.23497676e-02 4.18041340e-03 9.99741473e-01 7.16846235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412557844000002 meters Centerline goodness : 0.179979 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99763185e-01 -7.95539883e-05 -2.17616169e-02 -2.10712248e+00] [ 3.78236616e-06 9.99993938e-01 -3.48191202e-03 -6.13633925e-02] [ 2.17617620e-02 3.48100514e-03 9.99757125e-01 7.17881099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442557844 meters Centerline goodness : 0.184434 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99767104e-01 9.71739332e-05 -2.15807182e-02 -2.10785903e+00] [-1.62404006e-04 9.99995424e-01 -3.02087694e-03 -6.34479543e-02] [ 2.15803259e-02 3.02367818e-03 9.99762545e-01 7.18409654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472557844 meters Centerline goodness : 0.173314 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.07, Z:0.72 [[ 9.99766251e-01 2.78110001e-04 -2.16186709e-02 -2.10768757e+00] [-3.32647047e-04 9.99996772e-01 -2.51912748e-03 -6.57876596e-02] [ 2.16179005e-02 2.52573002e-03 9.99763115e-01 7.18292864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502557844000002 meters Centerline goodness : 0.180166 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.07, Z:0.72 [[ 9.99756761e-01 4.56655829e-04 -2.20501907e-02 -2.10643321e+00] [-4.99192513e-04 9.99998025e-01 -1.92361882e-03 -6.87453898e-02] [ 2.20492687e-02 1.93415821e-03 9.99755014e-01 7.18047197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.532557844 meters Centerline goodness : 0.186654 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.07, Z:0.72 [[ 0.99974593 -0.00332638 -0.02229365 -2.10565658] [ 0.00321559 0.99998231 -0.00500369 -0.07344861] [ 0.02230989 0.00493073 0.99973894 0.71776826] [ 0. 0. 0. 1. ]] SLAMing on 28.562557844 meters Centerline goodness : 0.179876 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.08, Z:0.72 [[ 0.99974606 -0.00304694 -0.02232783 -2.10567952] [ 0.00295276 0.99998661 -0.0042497 -0.07698822] [ 0.02234048 0.00418269 0.99974167 0.71800168] [ 0. 0. 0. 1. ]] SLAMing on 28.592557844 meters Centerline goodness : 0.149182 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.08, Z:0.72 [[ 0.9997458 -0.00277256 -0.02237506 -2.10556901] [ 0.00269317 0.99998997 -0.00357758 -0.08005807] [ 0.02238475 0.00351641 0.99974325 0.71807198] [ 0. 0. 0. 1. ]] SLAMing on 28.622557844 meters Centerline goodness : 0.178971 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.08, Z:0.72 [[ 0.99974617 -0.00255102 -0.02238515 -2.10536592] [ 0.0024822 0.99999211 -0.00310199 -0.08214971] [ 0.02239289 0.00304564 0.99974461 0.71778844] [ 0. 0. 0. 1. ]] SLAMing on 28.652557844 meters Centerline goodness : 0.175318 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.08, Z:0.72 [[ 0.99974716 -0.00234745 -0.02236296 -2.10536762] [ 0.00228687 0.99999365 -0.00273427 -0.08365946] [ 0.02236924 0.00268244 0.99974618 0.71769044] [ 0. 0. 0. 1. ]] SLAMing on 28.682557844 meters Centerline goodness : 0.163046 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.09, Z:0.72 [[ 9.99684096e-01 -2.05290101e-03 -2.50498437e-02 -2.15316989e+00] [ 2.00607173e-03 9.99996193e-01 -1.89443068e-03 -8.96821706e-02] [ 2.50536374e-02 1.84358044e-03 9.99684408e-01 7.19421113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712557844 meters Centerline goodness : 0.141278 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.09, Z:0.72 [[ 9.99760386e-01 -8.66632506e-04 -2.18728026e-02 -2.11053648e+00] [ 8.28241096e-04 9.99998101e-01 -1.76421024e-03 -9.33805592e-02] [ 2.18742900e-02 1.74567156e-03 9.99759205e-01 7.19775636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742557844 meters Centerline goodness : 0.180418 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.10, Z:0.72 [[ 0.9997128 0.00720408 -0.02285648 -2.13023055] [-0.00726615 0.99997013 -0.0026339 -0.1013483 ] [ 0.02283682 0.00279922 0.99973529 0.71797087] [ 0. 0. 0. 1. ]] SLAMing on 28.772557844 meters Centerline goodness : 0.111126 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.10, Z:0.72 [[ 0.99970852 0.00740226 -0.02297982 -2.12951162] [-0.00745443 0.99996983 -0.00218554 -0.10346874] [ 0.02296295 0.0023562 0.99973354 0.71727297] [ 0. 0. 0. 1. ]] SLAMing on 28.802557844 meters Centerline goodness : 0.255244 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.11, Z:0.72 [[ 9.99705010e-01 7.57386137e-03 -2.30766085e-02 -2.12900689e+00] [-7.61564811e-03 9.99969515e-01 -1.72343742e-03 -1.05821049e-01] [ 2.30628519e-02 1.89867235e-03 9.99732214e-01 7.16844687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832557844 meters Centerline goodness : 0.138997 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.11, Z:0.72 [[ 0.99972665 0.00413796 -0.02301105 -2.12927802] [-0.00424975 0.99997939 -0.00481166 -0.10937048] [ 0.02299067 0.00490814 0.99972363 0.7167592 ] [ 0. 0. 0. 1. ]] SLAMing on 28.862557844 meters Centerline goodness : 0.145128 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.11, Z:0.72 [[ 0.99972466 0.00438742 -0.02305118 -2.12941057] [-0.00448596 0.99998101 -0.00422462 -0.11194532] [ 0.0230322 0.00432687 0.99972536 0.71715574] [ 0. 0. 0. 1. ]] SLAMing on 28.892557844 meters Centerline goodness : 0.129329 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.11, Z:0.72 [[ 0.9997241 0.00469231 -0.02301515 -2.12963602] [-0.00477487 0.99998236 -0.00353367 -0.11494914] [ 0.02299816 0.00364259 0.99972887 0.71738769] [ 0. 0. 0. 1. ]] SLAMing on 28.922557844 meters Centerline goodness : 0.142789 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.12, Z:0.72 [[ 0.99972307 0.00495838 -0.02300409 -2.12968946] [-0.00502433 0.99998343 -0.00280989 -0.11846983] [ 0.02298977 0.00292469 0.99973142 0.71747668] [ 0. 0. 0. 1. ]] SLAMing on 28.952557844 meters Centerline goodness : 0.143843 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.12, Z:0.72 [[ 9.99719603e-01 5.09122838e-03 -2.31256334e-02 -2.12938062e+00] [-5.14181145e-03 9.99984516e-01 -2.12838059e-03 -1.22513014e-01] [ 2.31144392e-02 2.24669145e-03 9.99730301e-01 7.17571954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982557844000002 meters Centerline goodness : 0.147102 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.13, Z:0.72 [[ 9.99732431e-01 1.32670371e-03 -2.30934048e-02 -2.12936850e+00] [-1.44533165e-03 9.99985843e-01 -5.12094277e-03 -1.27756475e-01] [ 2.30862839e-02 5.15295019e-03 9.99720196e-01 7.17314004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012557844 meters Centerline goodness : 0.143557 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.13, Z:0.72 [[ 0.99971703 -0.00615458 -0.02297784 -2.10926095] [ 0.00607513 0.99997533 -0.003526 -0.12541792] [ 0.02299898 0.00338541 0.99972976 0.71872725] [ 0. 0. 0. 1. ]] SLAMing on 29.042557844 meters Centerline goodness : 0.142149 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.13, Z:0.72 [[ 0.99971466 -0.00592173 -0.02314176 -2.10871245] [ 0.00585429 0.99997842 -0.00298073 -0.12788734] [ 0.02315891 0.0028444 0.99972775 0.71856254] [ 0. 0. 0. 1. ]] SLAMing on 29.072557844000002 meters Centerline goodness : 0.145386 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.13, Z:0.72 [[ 0.99971225 -0.00571312 -0.0232978 -2.10821167] [ 0.00565801 0.99998104 -0.00243072 -0.13060221] [ 0.02331124 0.0022982 0.99972561 0.71847989] [ 0. 0. 0. 1. ]] SLAMing on 29.102557844 meters Centerline goodness : 0.143697 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.13, Z:0.72 [[ 9.99709239e-01 -5.55811177e-03 -2.34636843e-02 -2.10778951e+00] [ 5.51357575e-03 9.99982875e-01 -1.96235058e-03 -1.33124819e-01] [ 2.34741894e-02 1.83241120e-03 9.99722764e-01 7.18525650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132557844 meters Centerline goodness : 0.144880 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.14, Z:0.72 [[ 9.99708055e-01 -5.37278197e-03 -2.35571150e-02 -2.10760142e+00] [ 5.33858246e-03 9.99984603e-01 -1.51441948e-03 -1.35223307e-01] [ 2.35648889e-02 1.38821575e-03 9.99721346e-01 7.18639876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162557844000002 meters Centerline goodness : 0.144631 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.14, Z:0.72 [[ 9.99711668e-01 -4.93659355e-03 -2.34991882e-02 -2.10800014e+00] [ 4.92217194e-03 9.99987661e-01 -6.71508987e-04 -1.38194000e-01] [ 2.35022132e-02 5.55648325e-04 9.99723630e-01 7.18942707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192557844 meters Centerline goodness : 0.148606 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.14, Z:0.72 [[ 9.99713308e-01 -4.74772915e-03 -2.34682791e-02 -2.10816947e+00] [ 4.74277960e-03 9.99988717e-01 -2.66559676e-04 -1.39829304e-01] [ 2.34692799e-02 1.55178380e-04 9.99724546e-01 7.19105438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222557844 meters Centerline goodness : 0.143548 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.14, Z:0.72 [[ 9.99743765e-01 1.93961627e-03 -2.25530805e-02 -2.08678685e+00] [-2.01114169e-03 9.99993019e-01 -3.14917712e-03 -1.43617288e-01] [ 2.25468149e-02 3.19372763e-03 9.99740687e-01 7.19296383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252557844000002 meters Centerline goodness : 0.135593 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.15, Z:0.72 [[ 9.99737339e-01 2.06902111e-03 -2.28248185e-02 -2.08628368e+00] [-2.12996025e-03 9.99994231e-01 -2.64587522e-03 -1.46548438e-01] [ 2.28192124e-02 2.69379621e-03 9.99735979e-01 7.19647139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282557844 meters Centerline goodness : 0.135206 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99684012e-01 1.90702243e-03 -2.50647062e-02 -2.13569659e+00] [-1.94223825e-03 9.99997161e-01 -1.38072680e-03 -1.53308899e-01] [ 2.50620019e-02 1.42897214e-03 9.99684877e-01 7.22790060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312557844 meters Centerline goodness : 0.135206 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99684012e-01 1.90702243e-03 -2.50647062e-02 -2.13569659e+00] [-1.94223825e-03 9.99997161e-01 -1.38072680e-03 -1.53308899e-01] [ 2.50620019e-02 1.42897214e-03 9.99684877e-01 7.22790060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342557844 meters Centerline goodness : 0.130201 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99698319e-01 2.18751945e-03 -2.44639579e-02 -2.13750383e+00] [-2.21787573e-03 9.99996804e-01 -1.21379317e-03 -1.53044846e-01] [ 2.44612245e-02 1.26768501e-03 9.99699976e-01 7.23256416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372557844 meters Centerline goodness : 0.137779 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99709537e-01 2.86800401e-03 -2.39294062e-02 -2.13893520e+00] [-2.89149006e-03 9.99995371e-01 -9.46929115e-04 -1.52743507e-01] [ 2.39265796e-02 1.01584571e-03 9.99713202e-01 7.23331077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402557844 meters Centerline goodness : 0.140889 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99701312e-01 2.86663703e-03 -2.42707409e-02 -2.13784637e+00] [-2.89680462e-03 9.99995075e-01 -1.20789311e-03 -1.51680638e-01] [ 2.42671588e-02 1.27783992e-03 9.99704692e-01 7.22882223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432557844 meters Centerline goodness : 0.114486 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.15, Z:0.72 [[ 9.99614412e-01 2.48062338e-03 -2.76563354e-02 -2.18217900e+00] [-2.50446323e-03 9.99996522e-01 -8.27397421e-04 -1.54170852e-01] [ 2.76541868e-02 8.96342662e-04 9.99617148e-01 7.23235220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462557844 meters Centerline goodness : 0.147532 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99655283e-01 4.84359915e-03 -2.58041416e-02 -2.13738001e+00] [-4.85435246e-03 9.99988155e-01 -3.54102357e-04 -1.49769874e-01] [ 2.58021209e-02 4.79242690e-04 9.99666955e-01 7.23178164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492557844 meters Centerline goodness : 0.134455 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99661448e-01 4.90255355e-03 -2.55529763e-02 -2.13796243e+00] [-4.91776725e-03 9.99987766e-01 -5.32570414e-04 -1.48528517e-01] [ 2.55500527e-02 6.58053701e-04 9.99673328e-01 7.23008470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522557844 meters Centerline goodness : 0.126071 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99665076e-01 4.83010284e-03 -2.54244955e-02 -2.13828007e+00] [-4.85197015e-03 9.99987910e-01 -7.98468875e-04 -1.47256365e-01] [ 2.54203314e-02 9.21560342e-04 9.99676426e-01 7.22934972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552557844 meters Centerline goodness : 0.124808 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99664102e-01 4.68050965e-03 -2.54906880e-02 -2.13826933e+00] [-4.71206286e-03 9.99988204e-01 -1.17790674e-03 -1.45663957e-01] [ 2.54848741e-02 1.29762480e-03 9.99674366e-01 7.23159145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582557844 meters Centerline goodness : 0.137546 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.14, Z:0.72 [[ 0.99972159 0.00521312 -0.02301244 -2.09380878] [-0.00526584 0.99998365 -0.00223103 -0.14047372] [ 0.02300043 0.00235159 0.99973269 0.72291108] [ 0. 0. 0. 1. ]] SLAMing on 29.612557844 meters Centerline goodness : 0.139342 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.14, Z:0.72 [[ 0.99972178 0.0051657 -0.02301487 -2.09378009] [-0.00522077 0.99998365 -0.00233375 -0.1399846 ] [ 0.02300244 0.00245325 0.9997324 0.72281924] [ 0. 0. 0. 1. ]] SLAMing on 29.642557844 meters Centerline goodness : 0.143257 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.14, Z:0.72 [[ 0.99972085 0.00516541 -0.0230552 -2.09350585] [-0.00521978 0.99998373 -0.00229876 -0.14013283] [ 0.02304295 0.00241846 0.99973155 0.72249871] [ 0. 0. 0. 1. ]] SLAMing on 29.672557844 meters Centerline goodness : 0.117481 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.14, Z:0.72 [[ 9.99719112e-01 5.19318517e-03 -2.31241904e-02 -2.09337686e+00] [-5.24287579e-03 9.99984075e-01 -2.08875036e-03 -1.41146501e-01] [ 2.31129749e-02 2.20940091e-03 9.99730418e-01 7.22528257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702557844 meters Centerline goodness : 0.143879 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.14, Z:0.72 [[ 9.99741501e-01 1.52982785e-03 -2.26845868e-02 -2.09540358e+00] [-1.64525911e-03 9.99985790e-01 -5.07074299e-03 -1.44555421e-01] [ 2.26765071e-02 5.10675423e-03 9.99729812e-01 7.23856022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732557844000002 meters Centerline goodness : 0.142931 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.15, Z:0.72 [[ 9.99744845e-01 1.16544022e-03 -2.25585370e-02 -2.09611391e+00] [-1.27425399e-03 9.99987621e-01 -4.80984517e-03 -1.47085274e-01] [ 2.25526521e-02 4.83736322e-03 9.99733954e-01 7.24717685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762557844 meters Centerline goodness : 0.142569 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.15, Z:0.73 [[ 9.99744305e-01 8.41797112e-04 -2.25968223e-02 -2.09613118e+00] [-9.43458355e-04 9.99989481e-01 -4.48863380e-03 -1.49860177e-01] [ 2.25928061e-02 4.50880523e-03 9.99734583e-01 7.25094287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792557844 meters Centerline goodness : 0.120022 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.15, Z:0.72 [[ 0.99966348 -0.00918646 -0.02425965 -2.11751758] [ 0.00909414 0.99995099 -0.00391301 -0.15150349] [ 0.02429441 0.00369107 0.99969803 0.7246816 ] [ 0. 0. 0. 1. ]] SLAMing on 29.822557844000002 meters Centerline goodness : 0.128237 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.16, Z:0.72 [[ 0.99969069 -0.00302156 -0.02468586 -2.09384073] [ 0.00286324 0.99997512 -0.00644636 -0.15612851] [ 0.02470473 0.00637369 0.99967447 0.72397902] [ 0. 0. 0. 1. ]] SLAMing on 29.852557844 meters Centerline goodness : 0.126976 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.16, Z:0.72 [[ 0.99968238 -0.00281776 -0.0250439 -2.09260886] [ 0.00267257 0.99997944 -0.00582901 -0.15909708] [ 0.02505981 0.00576022 0.99966936 0.72343586] [ 0. 0. 0. 1. ]] SLAMing on 29.882557844 meters Centerline goodness : 0.141266 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.16, Z:0.72 [[ 0.99967726 -0.00236392 -0.0252939 -2.0921682 ] [ 0.00224891 0.99998701 -0.00457447 -0.16496448] [ 0.02530439 0.00451611 0.99966959 0.72380122] [ 0. 0. 0. 1. ]] SLAMing on 29.912557844000002 meters Centerline goodness : 0.101203 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.17, Z:0.72 [[ 9.99673728e-01 -2.11744629e-03 -2.54549529e-02 -2.09206277e+00] [ 2.01730956e-03 9.99990129e-01 -3.95891586e-03 -1.67835061e-01] [ 2.54630845e-02 3.90627366e-03 9.99668131e-01 7.24394077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942557844 meters Centerline goodness : 0.112560 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.17, Z:0.72 [[ 9.99672157e-01 -1.89036678e-03 -2.55344003e-02 -2.09211947e+00] [ 1.80332244e-03 9.99992486e-01 -3.43150200e-03 -1.70379064e-01] [ 2.55406953e-02 3.38433025e-03 9.99668055e-01 7.24857219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972557844 meters Centerline goodness : 0.131585 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.17, Z:0.73 [[ 9.99676248e-01 -1.39428961e-03 -2.54058265e-02 -2.09287537e+00] [ 1.32770181e-03 9.99995640e-01 -2.63764552e-03 -1.73897023e-01] [ 2.54093934e-02 2.60306021e-03 9.99673740e-01 7.25648338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002557844000002 meters Centerline goodness : 0.115764 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.18, Z:0.73 [[ 9.99682597e-01 -1.14903444e-03 -2.51671217e-02 -2.09362344e+00] [ 1.09121750e-03 9.99996734e-01 -2.31093316e-03 -1.75046616e-01] [ 2.51696949e-02 2.28273686e-03 9.99680587e-01 7.25897877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032557844 meters Centerline goodness : 0.169460 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.18, Z:0.73 [[ 9.99689467e-01 -9.37778129e-04 -2.49015916e-02 -2.09428496e+00] [ 8.87664190e-04 9.99997559e-01 -2.02345691e-03 -1.76037930e-01] [ 2.49034284e-02 2.00072431e-03 9.99687859e-01 7.25879875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062557844 meters Centerline goodness : 0.115365 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.18, Z:0.73 [[ 0.99967656 0.00839459 -0.02400635 -2.07344891] [-0.00846351 0.99996035 -0.00277072 -0.18016956] [ 0.02398213 0.00297301 0.99970797 0.726774 ] [ 0. 0. 0. 1. ]] SLAMing on 30.092557844 meters Centerline goodness : 0.132523 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.18, Z:0.73 [[ 0.9996728 0.00846767 -0.02413703 -2.07308037] [-0.00853683 0.99995974 -0.00276386 -0.18019406] [ 0.02411266 0.00296901 0.99970484 0.72685034] [ 0. 0. 0. 1. ]] SLAMing on 30.122557844 meters Centerline goodness : 0.149727 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.18, Z:0.73 [[ 0.99965649 0.00873762 -0.0247096 -2.07138896] [-0.00880548 0.99995775 -0.00263889 -0.18052198] [ 0.0246855 0.00285557 0.99969119 0.726694 ] [ 0. 0. 0. 1. ]] SLAMing on 30.152557844 meters Centerline goodness : 0.148651 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.18, Z:0.73 [[ 0.9996494 0.00882199 -0.02496504 -2.07053327] [-0.00888905 0.99995717 -0.00257669 -0.18066911] [ 0.02494124 0.0027977 0.999685 0.72641658] [ 0. 0. 0. 1. ]] SLAMing on 30.182557844 meters Centerline goodness : 0.142792 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.17, Z:0.73 [[ 9.99680924e-01 1.42638831e-03 -2.52193586e-02 -2.05058646e+00] [-1.46581381e-03 9.99997732e-01 -1.54488565e-03 -1.73537778e-01] [ 2.52170978e-02 1.58135960e-03 9.99680748e-01 7.27365541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212557844 meters Centerline goodness : 0.142771 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.17, Z:0.73 [[ 9.99680439e-01 1.48943002e-03 -2.52349122e-02 -2.05049462e+00] [-1.52625931e-03 9.99997798e-01 -1.44025999e-03 -1.73996179e-01] [ 2.52327115e-02 1.47831476e-03 9.99680511e-01 7.27298616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242557844 meters Centerline goodness : 0.154305 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.18, Z:0.73 [[ 9.99682835e-01 1.64915274e-03 -2.51298607e-02 -2.05073461e+00] [-1.67622536e-03 9.99998037e-01 -1.05628177e-03 -1.75917506e-01] [ 2.51280694e-02 1.09807007e-03 9.99683637e-01 7.27282574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272557844 meters Centerline goodness : 0.151389 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.18, Z:0.73 [[ 9.99680172e-01 1.70035804e-03 -2.52321877e-02 -2.05031563e+00] [-1.72248810e-03 9.99998151e-01 -8.55348242e-04 -1.76999478e-01] [ 2.52306867e-02 8.98536821e-04 9.99681252e-01 7.27014947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302557844 meters Centerline goodness : 0.116811 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.18, Z:0.73 [[ 9.99679774e-01 1.79412835e-03 -2.52414638e-02 -2.05026271e+00] [-1.80929856e-03 9.99998196e-01 -5.78178064e-04 -1.78304770e-01] [ 2.52403809e-02 6.23662260e-04 9.99681216e-01 7.26970612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332557844 meters Centerline goodness : 0.112379 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.18, Z:0.73 [[ 9.99683276e-01 1.89625367e-03 -2.50948637e-02 -2.05083748e+00] [-1.90272040e-03 9.99998162e-01 -2.33816012e-04 -1.79898299e-01] [ 2.50943742e-02 2.81490466e-04 9.99685047e-01 7.27321448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362557844 meters Centerline goodness : 0.156402 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.18, Z:0.73 [[ 9.99707873e-01 -5.69952526e-03 -2.34879716e-02 -2.03185663e+00] [ 5.72820925e-03 9.99982928e-01 1.15411950e-03 -1.76759306e-01] [ 2.34809927e-02 -1.28832636e-03 9.99723453e-01 7.29176319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392557844000002 meters Centerline goodness : 0.161847 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.18, Z:0.73 [[ 9.99718784e-01 -5.55702506e-03 -2.30536892e-02 -2.03342229e+00] [ 5.59623106e-03 9.99983002e-01 1.63647134e-03 -1.78936378e-01] [ 2.30442034e-02 -1.76502490e-03 9.99732889e-01 7.30033911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422557844 meters Centerline goodness : 0.125295 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.18, Z:0.73 [[ 0.99971956 -0.00599588 -0.0229097 -2.03402949] [ 0.00604447 0.99997963 0.00205193 -0.18275759] [ 0.02289693 -0.00218983 0.99973543 0.73079484] [ 0. 0. 0. 1. ]] SLAMing on 30.452557844 meters Centerline goodness : 0.215802 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.19, Z:0.73 [[ 0.99970744 -0.00598256 -0.02343577 -2.03275792] [ 0.00604361 0.99997852 0.00253507 -0.18562855] [ 0.02342011 -0.00267597 0.99972213 0.73100859] [ 0. 0. 0. 1. ]] SLAMing on 30.482557844000002 meters Centerline goodness : 0.134630 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.19, Z:0.73 [[ 0.99970057 -0.00588084 -0.02375266 -2.03210998] [ 0.00595571 0.99997751 0.00308244 -0.1885306 ] [ 0.023734 -0.00322298 0.99971311 0.73139083] [ 0. 0. 0. 1. ]] SLAMing on 30.512557844 meters Centerline goodness : 0.150219 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.19, Z:0.73 [[ 0.99969659 -0.00573118 -0.02395577 -2.03170168] [ 0.00581941 0.99997653 0.0036149 -0.19119094] [ 0.02393449 -0.00375321 0.99970648 0.73162394] [ 0. 0. 0. 1. ]] SLAMing on 30.542557844 meters Centerline goodness : 0.152828 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.20, Z:0.73 [[ 0.99970623 -0.00545216 -0.02361622 -2.03257877] [ 0.00556099 0.99997421 0.00454468 -0.19576896] [ 0.02359083 -0.00467468 0.99971077 0.73179407] [ 0. 0. 0. 1. ]] SLAMing on 30.572557844000002 meters Centerline goodness : 0.125441 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.20, Z:0.73 [[ 0.9997104 -0.0052877 -0.02347667 -2.03292095] [ 0.00540511 0.99997319 0.0049405 -0.19754349] [ 0.02344992 -0.00506596 0.99971218 0.73180649] [ 0. 0. 0. 1. ]] SLAMing on 30.602557844 meters Centerline goodness : 0.158257 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.20, Z:0.73 [[ 0.99970924 -0.00521132 -0.02354301 -2.03255676] [ 0.00533288 0.99997276 0.00510336 -0.19824748] [ 0.02351577 -0.00522743 0.9997098 0.73145591] [ 0. 0. 0. 1. ]] SLAMing on 30.632557844 meters Centerline goodness : 0.156388 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.20, Z:0.73 [[ 0.99970318 -0.0051923 -0.02380309 -2.03150413] [ 0.00531461 0.99997298 0.00507829 -0.1980872 ] [ 0.02377608 -0.00520328 0.99970377 0.73075204] [ 0. 0. 0. 1. ]] SLAMing on 30.662557844000002 meters Centerline goodness : 0.175080 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.20, Z:0.73 [[ 0.99969601 -0.00518632 -0.02410365 -2.03049106] [ 0.00530845 0.99997338 0.00500555 -0.19770999] [ 0.02407705 -0.00513198 0.99969693 0.73030916] [ 0. 0. 0. 1. ]] SLAMing on 30.692557844 meters Centerline goodness : 0.175677 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.20, Z:0.73 [[ 0.99969003 0.00351697 -0.02464713 -2.00969874] [-0.00344236 0.99998937 0.00306908 -0.20118577] [ 0.02465766 -0.00298329 0.9996915 0.73294677] [ 0. 0. 0. 1. ]] SLAMing on 30.722557844 meters Centerline goodness : 0.151876 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.20, Z:0.73 [[ 0.99968278 0.0034329 -0.02495086 -2.00913744] [-0.00336324 0.99999033 0.00283308 -0.20062407] [ 0.02496034 -0.00274826 0.99968466 0.73344092] [ 0. 0. 0. 1. ]] SLAMing on 30.752557844000002 meters Centerline goodness : 0.138572 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.20, Z:0.73 [[ 0.99961921 0.00260659 -0.02747078 -2.05445302] [-0.00250732 0.9999902 0.00364763 -0.20440763] [ 0.02748002 -0.00357736 0.99961595 0.7343928 ] [ 0. 0. 0. 1. ]] SLAMing on 30.782557844 meters Centerline goodness : 0.151753 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.20, Z:0.73 [[ 0.9996692 -0.00313466 -0.02552758 -2.03355812] [ 0.00329939 0.99997399 0.00641331 -0.20207044] [ 0.02550681 -0.00649541 0.99965355 0.73443909] [ 0. 0. 0. 1. ]] SLAMing on 30.812557844 meters Centerline goodness : 0.154519 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.21, Z:0.73 [[ 0.99967157 -0.00292255 -0.02546009 -2.03384443] [ 0.00310375 0.99997012 0.00708037 -0.20515875] [ 0.02543863 -0.00715707 0.99965077 0.73468189] [ 0. 0. 0. 1. ]] SLAMing on 30.842557844 meters Centerline goodness : 0.155013 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.21, Z:0.74 [[ 0.99966364 -0.00285023 -0.02577774 -2.0332065 ] [ 0.00304411 0.99996735 0.00748505 -0.2073618 ] [ 0.02575556 -0.007561 0.99963968 0.73501787] [ 0. 0. 0. 1. ]] SLAMing on 30.872557844 meters Centerline goodness : 0.158124 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.21, Z:0.74 [[ 0.99965782 -0.00272638 -0.02601556 -2.03284068] [ 0.00293425 0.99996405 0.00795529 -0.20969563] [ 0.02599293 -0.00802891 0.99962988 0.73550748] [ 0. 0. 0. 1. ]] SLAMing on 30.902557844 meters Centerline goodness : 0.153505 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.21, Z:0.74 [[ 0.99964442 -0.00258042 -0.02654017 -2.03158705] [ 0.00281129 0.9999585 0.00866519 -0.21324564] [ 0.02651671 -0.00873672 0.99961019 0.73567688] [ 0. 0. 0. 1. ]] SLAMing on 30.932557844 meters Centerline goodness : 0.132651 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.21, Z:0.74 [[ 0.99964256 -0.00249233 -0.02661854 -2.03120047] [ 0.00272966 0.99995682 0.00888322 -0.21428223] [ 0.02659525 -0.00895271 0.99960619 0.73536967] [ 0. 0. 0. 1. ]] SLAMing on 30.962557844 meters Centerline goodness : 0.152233 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99963023 0.0064184 -0.02642367 -2.01157004] [-0.00621749 0.99995119 0.00767831 -0.21815568] [ 0.02647167 -0.00751118 0.99962134 0.73665492] [ 0. 0. 0. 1. ]] SLAMing on 30.992557844 meters Centerline goodness : 0.148896 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99962802 0.00641455 -0.02650817 -2.01109526] [-0.00621382 0.99995145 0.00764759 -0.218017 ] [ 0.02655594 -0.00748003 0.99961934 0.73619996] [ 0. 0. 0. 1. ]] SLAMing on 31.022557844 meters Centerline goodness : 0.157231 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99962448 0.00655678 -0.02660671 -2.0106578 ] [-0.00635196 0.9999496 0.00777505 -0.21826713] [ 0.02665635 -0.00760312 0.99961574 0.73593263] [ 0. 0. 0. 1. ]] SLAMing on 31.052557844 meters Centerline goodness : 0.088822 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99961965 0.00661251 -0.02677358 -2.0102429 ] [-0.00640795 0.99994968 0.00771906 -0.21800494] [ 0.02682328 -0.00754456 0.99961172 0.73609062] [ 0. 0. 0. 1. ]] SLAMing on 31.082557844 meters Centerline goodness : 0.131276 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99961723 0.00631106 -0.02693624 -2.01052019] [-0.00612596 0.99995709 0.00694881 -0.21584082] [ 0.02697894 -0.00678114 0.999613 0.73756704] [ 0. 0. 0. 1. ]] SLAMing on 31.112557844 meters Centerline goodness : 0.150384 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99961481 0.00624857 -0.02704051 -2.0103895 ] [-0.00606822 0.99995883 0.00674632 -0.21512594] [ 0.02708155 -0.00657963 0.99961157 0.73781693] [ 0. 0. 0. 1. ]] SLAMing on 31.142557844000002 meters Centerline goodness : 0.111692 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99961309 0.00637599 -0.02707441 -2.00996093] [-0.00619192 0.99995718 0.00687701 -0.21523024] [ 0.0271171 -0.0067067 0.99960977 0.7372492 ] [ 0. 0. 0. 1. ]] SLAMing on 31.172557844 meters Centerline goodness : 0.110063 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99961844 0.00649187 -0.02684814 -2.01027316] [-0.00630193 0.99995456 0.00715309 -0.21592391] [ 0.02689336 -0.00698116 0.99961393 0.73672572] [ 0. 0. 0. 1. ]] SLAMing on 31.202557844 meters Centerline goodness : 0.149676 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.22, Z:0.74 [[ 0.9996756 0.00348097 -0.02523033 -2.01525052] [-0.00336017 0.9999827 0.00482883 -0.22059679] [ 0.02524671 -0.00474248 0.99967 0.73760368] [ 0. 0. 0. 1. ]] SLAMing on 31.232557844000002 meters Centerline goodness : 0.151369 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.22, Z:0.74 [[ 0.99968461 0.00334792 -0.024889 -2.01670896] [-0.0032251 0.99998243 0.00497322 -0.22172812] [ 0.02490522 -0.00489139 0.99967785 0.73848705] [ 0. 0. 0. 1. ]] SLAMing on 31.262557844 meters Centerline goodness : 0.151369 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.22, Z:0.74 [[ 0.99968461 0.00334792 -0.024889 -2.01670896] [-0.0032251 0.99998243 0.00497322 -0.22172812] [ 0.02490522 -0.00489139 0.99967785 0.73848705] [ 0. 0. 0. 1. ]] SLAMing on 31.292557844 meters Centerline goodness : 0.113075 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.22, Z:0.74 [[ 0.9996864 0.00348571 -0.02479832 -2.01711624] [-0.00335446 0.99998016 0.00533242 -0.22331274] [ 0.02481641 -0.00524757 0.99967825 0.73880371] [ 0. 0. 0. 1. ]] SLAMing on 31.322557844000002 meters Centerline goodness : 0.115845 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.22, Z:0.74 [[ 0.99968635 0.00367784 -0.02477255 -2.01694666] [-0.00353615 0.99997715 0.00576104 -0.22469755] [ 0.02479317 -0.00567164 0.99967651 0.7383152 ] [ 0. 0. 0. 1. ]] SLAMing on 31.352557844 meters Centerline goodness : 0.149237 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.23, Z:0.74 [[ 0.99968181 0.00392298 -0.02491776 -2.01608454] [-0.00377025 0.99997384 0.00617321 -0.22586833] [ 0.02494133 -0.0060773 0.99967044 0.73750064] [ 0. 0. 0. 1. ]] SLAMing on 31.382557844 meters Centerline goodness : 0.110957 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.23, Z:0.74 [[ 0.99967526 0.00407493 -0.02515481 -2.01523788] [-0.00391676 0.99997227 0.0063338 -0.22635482] [ 0.02517992 -0.00623322 0.9996635 0.73717669] [ 0. 0. 0. 1. ]] SLAMing on 31.412557844000002 meters Centerline goodness : 0.116195 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 0.99966033 0.00402999 -0.0257485 -2.01372146] [-0.00387937 0.99997509 0.00589705 -0.22513321] [ 0.02577162 -0.00579516 0.99965106 0.73756147] [ 0. 0. 0. 1. ]] SLAMing on 31.442557844 meters Centerline goodness : 0.149465 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99965356 0.00398605 -0.02601666 -2.01295202] [-0.00384072 0.99997676 0.00563328 -0.22415867] [ 0.02603851 -0.00553141 0.99964564 0.73753813] [ 0. 0. 0. 1. ]] SLAMing on 31.472557844 meters Centerline goodness : 0.152148 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99964817 0.00404029 -0.02621463 -2.01225772] [-0.00389524 0.99997683 0.00558217 -0.22379596] [ 0.02623657 -0.0054781 0.99964075 0.73729475] [ 0. 0. 0. 1. ]] SLAMing on 31.502557844000002 meters Centerline goodness : 0.151000 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99965014 0.00406356 -0.02613598 -2.01231796] [-0.00391795 0.99997653 0.00561977 -0.2239659 ] [ 0.0261582 -0.00551541 0.9996426 0.73699918] [ 0. 0. 0. 1. ]] SLAMing on 31.532557844 meters Centerline goodness : 0.112069 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99965626 0.004053 -0.02590247 -2.0131614 ] [-0.00390559 0.9999759 0.00573924 -0.22455492] [ 0.02592511 -0.0056361 0.999648 0.73730781] [ 0. 0. 0. 1. ]] SLAMing on 31.562557844 meters Centerline goodness : 0.153690 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 0.99966432 0.00393565 -0.02560781 -2.01416628] [-0.00378829 0.999976 0.00580023 -0.22502243] [ 0.02563002 -0.00570127 0.99965524 0.73759104] [ 0. 0. 0. 1. ]] SLAMing on 31.592557844 meters Centerline goodness : 0.113131 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 9.99670804e-01 4.67981443e-04 -2.56527833e-02 -2.01402484e+00] [-3.92110857e-04 9.99995535e-01 2.96254703e-03 -2.27842245e-01] [ 2.56540552e-02 -2.95151303e-03 9.99666523e-01 7.36858181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622557844 meters Centerline goodness : 0.153049 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 9.99673901e-01 5.47367816e-04 -2.55301997e-02 -2.01423041e+00] [-4.62633138e-04 9.99994366e-01 3.32478630e-03 -2.29021149e-01] [ 2.55318757e-02 -3.31189097e-03 9.99668522e-01 7.36477301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652557844 meters Centerline goodness : 0.113552 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 9.99671845e-01 5.83554728e-04 -2.56098066e-02 -2.01412029e+00] [-4.93304261e-04 9.99993647e-01 3.53023520e-03 -2.30062572e-01] [ 2.56117040e-02 -3.51644331e-03 9.99665782e-01 7.36600752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682557844 meters Centerline goodness : 0.112993 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 9.99655770e-01 4.24758866e-04 -2.62328297e-02 -2.01263946e+00] [-3.23806999e-04 9.99992527e-01 3.85243063e-03 -2.32503172e-01] [ 2.62342700e-02 -3.84261013e-03 9.99648437e-01 7.36843905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712557844 meters Centerline goodness : 0.133959 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 9.99650842e-01 5.19649782e-04 -2.64182502e-02 -2.01212622e+00] [-4.09693114e-04 9.99991232e-01 4.16739028e-03 -2.34024225e-01] [ 2.64201841e-02 -4.15511182e-03 9.99642290e-01 7.36777657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742557844 meters Centerline goodness : 0.153655 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.24, Z:0.74 [[ 9.99649550e-01 6.29007299e-04 -2.64647310e-02 -2.01196911e+00] [-5.11245609e-04 9.99989940e-01 4.45629048e-03 -2.35312958e-01] [ 2.64672678e-02 -4.44119879e-03 9.99639815e-01 7.36716992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772557844 meters Centerline goodness : 0.135232 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.24, Z:0.74 [[ 9.99652347e-01 7.56190086e-04 -2.63555212e-02 -2.01237022e+00] [-6.31155779e-04 9.99988509e-01 4.75213675e-03 -2.36557302e-01] [ 2.63588119e-02 -4.73385022e-03 9.99641338e-01 7.36914328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802557844000003 meters Centerline goodness : 0.128125 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.24, Z:0.74 [[ 9.99655713e-01 8.69876371e-04 -2.62240205e-02 -2.01296604e+00] [-7.37624487e-04 9.99986964e-01 5.05240981e-03 -2.37925054e-01] [ 2.62280737e-02 -5.03132685e-03 9.99643323e-01 7.37359611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832557844 meters Centerline goodness : 0.113368 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.24, Z:0.74 [[ 9.99657225e-01 1.01431346e-03 -2.61611038e-02 -2.01340991e+00] [-8.73179219e-04 9.99985008e-01 5.40567163e-03 -2.39559899e-01] [ 2.61661946e-02 -5.38097537e-03 9.99643124e-01 7.37870298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862557844 meters Centerline goodness : 0.140799 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99962237 0.00861644 -0.02609365 -1.99032634] [-0.00854557 0.99995949 0.00282618 -0.24350752] [ 0.02611694 -0.00260213 0.99965551 0.73706473] [ 0. 0. 0. 1. ]] SLAMing on 31.892557844000002 meters Centerline goodness : 0.131457 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99961834 0.0086159 -0.02624759 -1.98934279] [-0.00854557 0.99995959 0.00279068 -0.24342362] [ 0.02627058 -0.00256531 0.99965158 0.73608027] [ 0. 0. 0. 1. ]] SLAMing on 31.922557844 meters Centerline goodness : 0.128569 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99961718 0.00863926 -0.0262843 -1.98891498] [-0.00857094 0.99995959 0.00271071 -0.24291051] [ 0.02630665 -0.0024844 0.99965083 0.7355207 ] [ 0. 0. 0. 1. ]] SLAMing on 31.952557844 meters Centerline goodness : 0.147011 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99961906 0.00873506 -0.02618061 -1.98919902] [-0.00867062 0.9999591 0.00257405 -0.24204166] [ 0.02620202 -0.00234607 0.99965392 0.73574413] [ 0. 0. 0. 1. ]] SLAMing on 31.982557844000002 meters Centerline goodness : 0.145565 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99964126 0.00905471 -0.02520649 -1.99209309] [-0.00899181 0.99995617 0.00260755 -0.24115378] [ 0.02522899 -0.00237996 0.99967887 0.73646142] [ 0. 0. 0. 1. ]] SLAMing on 32.01255784400001 meters Centerline goodness : 0.135931 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99964188 0.00900344 -0.02520007 -1.99223739] [-0.008945 0.99995704 0.00243073 -0.24056556] [ 0.02522087 -0.00220444 0.99967947 0.73677905] [ 0. 0. 0. 1. ]] SLAMing on 32.042557844 meters Centerline goodness : 0.133122 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99964133 0.00909581 -0.025189 -1.99230282] [-0.00903264 0.99995577 0.00262025 -0.24130214] [ 0.02521172 -0.00239179 0.99967927 0.73681653] [ 0. 0. 0. 1. ]] SLAMing on 32.072557844 meters Centerline goodness : 0.129502 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99964452 0.00917805 -0.02503195 -1.99264681] [-0.00910677 0.99995415 0.00296033 -0.24258517] [ 0.02505798 -0.00273132 0.99968227 0.73663557] [ 0. 0. 0. 1. ]] SLAMing on 32.102557844 meters Centerline goodness : 0.157719 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99964306 0.00928393 -0.02505102 -1.99262954] [-0.00920451 0.99995225 0.00328394 -0.24422846] [ 0.02508031 -0.00305219 0.99968078 0.73668565] [ 0. 0. 0. 1. ]] SLAMing on 32.132557844000004 meters Centerline goodness : 0.113624 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.24, Z:0.74 [[ 9.99691197e-01 6.62310721e-04 -2.48409263e-02 -1.96932455e+00] [-5.86364835e-04 9.99995133e-01 3.06444826e-03 -2.43382795e-01] [ 2.48428351e-02 -3.04893610e-03 9.99686720e-01 7.36394216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162557844000006 meters Centerline goodness : 0.127842 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.24, Z:0.74 [[ 9.99685801e-01 7.20268718e-04 -2.50555291e-02 -1.96878663e+00] [-6.36688976e-04 9.99994207e-01 3.34359800e-03 -2.44901834e-01] [ 2.50577922e-02 -3.32659487e-03 9.99680469e-01 7.36414444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19255784400001 meters Centerline goodness : 0.136431 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99683434e-01 8.26935468e-04 -2.51465243e-02 -1.96881325e+00] [-7.34006536e-04 9.99992869e-01 3.70450386e-03 -2.46661572e-01] [ 2.51494084e-02 -3.68487343e-03 9.99676912e-01 7.36908906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22255784400001 meters Centerline goodness : 0.147262 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99684454e-01 9.64534710e-04 -2.51010297e-02 -1.96920656e+00] [-8.62242720e-04 9.99991282e-01 4.08571522e-03 -2.48434607e-01] [ 2.51047516e-02 -4.06278281e-03 9.99676570e-01 7.37421704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252557844 meters Centerline goodness : 0.160355 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99678856e-01 1.09128839e-03 -2.53178542e-02 -1.96852255e+00] [-9.79445450e-04 9.99989710e-01 4.42953247e-03 -2.50175343e-01] [ 2.53224276e-02 -4.40331249e-03 9.99669638e-01 7.37240848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282557844 meters Centerline goodness : 0.145522 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99674566e-01 1.06752792e-03 -2.54877071e-02 -1.96765654e+00] [-9.54995070e-04 9.99989745e-01 4.42694531e-03 -2.50425491e-01] [ 2.54921717e-02 -4.40116400e-03 9.99665333e-01 7.36536372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312557844000004 meters Centerline goodness : 0.136731 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99671432e-01 1.04847946e-03 -2.56111142e-02 -1.96691935e+00] [-9.35776251e-04 9.99989829e-01 4.41214751e-03 -2.50551048e-01] [ 2.56154797e-02 -4.38673155e-03 9.99662245e-01 7.35821377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342557844000005 meters Centerline goodness : 0.123076 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99672393e-01 1.04265647e-03 -2.55738040e-02 -1.96683451e+00] [-9.30162656e-04 9.99989842e-01 4.41029228e-03 -2.50577815e-01] [ 2.55781427e-02 -4.38505964e-03 9.99663208e-01 7.35488296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372557844000006 meters Centerline goodness : 0.149642 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99672174e-01 1.07911453e-03 -2.55808354e-02 -1.96673003e+00] [-9.64679041e-04 9.99989475e-01 4.48540381e-03 -2.50789536e-01] [ 2.55854064e-02 -4.45925608e-03 9.99662694e-01 7.35279970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40255784400001 meters Centerline goodness : 0.114490 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971342 0.00227752 -0.02383048 -1.92285227] [-0.00219543 0.99999157 0.00347052 -0.24821474] [ 0.02383818 -0.0034172 0.99970999 0.73550486] [ 0. 0. 0. 1. ]] SLAMing on 32.432557844 meters Centerline goodness : 0.153585 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971148 0.00232713 -0.02390685 -1.92281895] [-0.00223969 0.99999071 0.00368346 -0.24940259] [ 0.0239152 -0.00362886 0.9997074 0.73582521] [ 0. 0. 0. 1. ]] SLAMing on 32.462557844 meters Centerline goodness : 0.127675 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971141 0.00241931 -0.02390051 -1.92304903] [-0.00232501 0.99998941 0.00397272 -0.25085909] [ 0.02390987 -0.00391601 0.99970645 0.73620482] [ 0. 0. 0. 1. ]] SLAMing on 32.492557844000004 meters Centerline goodness : 0.119714 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99970974 0.00249479 -0.02396269 -1.92302671] [-0.0023942 0.99998821 0.00422552 -0.25216959] [ 0.02397295 -0.00416692 0.99970392 0.73645428] [ 0. 0. 0. 1. ]] SLAMing on 32.522557844000005 meters Centerline goodness : 0.085686 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99970819 0.00253073 -0.02402369 -1.92291887] [-0.00242768 0.99998773 0.00431755 -0.25259337] [ 0.02403432 -0.00425797 0.99970207 0.73653499] [ 0. 0. 0. 1. ]] SLAMing on 32.552557844000006 meters Centerline goodness : 0.151940 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971881 0.00284783 -0.02354142 -1.92422776] [-0.0027414 0.99998588 0.00455189 -0.25258232] [ 0.02355405 -0.00448607 0.9997125 0.7366294 ] [ 0. 0. 0. 1. ]] SLAMing on 32.58255784400001 meters Centerline goodness : 0.145999 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971767 0.00287831 -0.02358599 -1.92412243] [-0.00277235 0.99998592 0.00452388 -0.25235125] [ 0.02359868 -0.00445721 0.99971158 0.73666557] [ 0. 0. 0. 1. ]] SLAMing on 32.612557844 meters Centerline goodness : 0.144455 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971069 0.00291708 -0.02387517 -1.92320256] [-0.00281536 0.99998682 0.00429299 -0.25145586] [ 0.02388737 -0.00422453 0.99970573 0.73662755] [ 0. 0. 0. 1. ]] SLAMing on 32.642557844 meters Centerline goodness : 0.132221 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971585 0.00295931 -0.02365293 -1.92367811] [-0.00286019 0.99998699 0.00422316 -0.25092415] [ 0.02366512 -0.00415431 0.99971131 0.73647482] [ 0. 0. 0. 1. ]] SLAMing on 32.672557844 meters Centerline goodness : 0.130023 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971902 0.00287263 -0.02352951 -1.92407456] [-0.00278263 0.99998869 0.00385679 -0.24953487] [ 0.02354032 -0.00379024 0.9997157 0.73680363] [ 0. 0. 0. 1. ]] SLAMing on 32.702557844000005 meters Centerline goodness : 0.131526 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99972578 0.00290084 -0.02323703 -1.92495832] [-0.0028137 0.99998889 0.00378194 -0.2489522 ] [ 0.02324774 -0.00371552 0.99972283 0.73705836] [ 0. 0. 0. 1. ]] SLAMing on 32.732557844000006 meters Centerline goodness : 0.167927 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:0.74 [[ 0.99973353 0.00274783 -0.02291992 -1.92626901] [-0.00267013 0.99999059 0.00342005 -0.24799955] [ 0.0229291 -0.00335794 0.99973145 0.73816842] [ 0. 0. 0. 1. ]] SLAMing on 32.76255784400001 meters Centerline goodness : 0.129246 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:0.74 [[ 0.99972992 0.0027457 -0.02307682 -1.92580925] [-0.00266738 0.99999058 0.00342414 -0.24815152] [ 0.023086 -0.00336166 0.99972783 0.73807688] [ 0. 0. 0. 1. ]] SLAMing on 32.792557844 meters Centerline goodness : 0.131505 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:0.74 [[ 0.99972801 0.00282287 -0.02315043 -1.92537953] [-0.00273666 0.99998921 0.00375503 -0.24936488] [ 0.02316078 -0.00369065 0.99972494 0.73747564] [ 0. 0. 0. 1. ]] SLAMing on 32.822557844 meters Centerline goodness : 0.128589 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:0.74 [[ 0.99972859 0.0029099 -0.02311455 -1.92552937] [-0.002817 0.99998783 0.00405051 -0.25073273] [ 0.02312605 -0.0039843 0.99972462 0.73753695] [ 0. 0. 0. 1. ]] SLAMing on 32.852557844 meters Centerline goodness : 0.129187 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:0.74 [[ 0.99975327 -0.00459784 -0.0217314 -1.90562011] [ 0.00470977 0.99997589 0.00510209 -0.24689206] [ 0.02170741 -0.00520318 0.99975083 0.73878733] [ 0. 0. 0. 1. ]] SLAMing on 32.882557844000004 meters Centerline goodness : 0.087131 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:0.74 [[ 0.99977076 -0.00482914 -0.02085926 -1.90849613] [ 0.00494805 0.99997178 0.00565298 -0.24902992] [ 0.02083137 -0.0057549 0.99976644 0.73926451] [ 0. 0. 0. 1. ]] SLAMing on 32.912557844000006 meters Centerline goodness : 0.123589 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:0.74 [[ 0.99976947 -0.00481991 -0.02092287 -1.90836173] [ 0.00494405 0.99997046 0.00588541 -0.24992948] [ 0.02089389 -0.00598749 0.99976377 0.73917971] [ 0. 0. 0. 1. ]] SLAMing on 32.94255784400001 meters Centerline goodness : 0.178837 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:0.74 [[ 0.99976463 -0.00479634 -0.02115823 -1.90771892] [ 0.00492471 0.99996976 0.00601905 -0.25073564] [ 0.02112873 -0.00612183 0.99975802 0.73914678] [ 0. 0. 0. 1. ]] SLAMing on 32.97255784400001 meters Centerline goodness : 0.092686 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:0.74 [[ 0.9997626 -0.0047022 -0.02127532 -1.90731024] [ 0.00483593 0.99996885 0.00623854 -0.25150906] [ 0.02124533 -0.00633995 0.99975419 0.7388959 ] [ 0. 0. 0. 1. ]] SLAMing on 33.002557844 meters Centerline goodness : 0.119078 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.26, Z:0.74 [[ 0.99978638 0.00395879 -0.020286 -1.88825124] [-0.00386788 0.99998231 0.004519 -0.25505975] [ 0.02030353 -0.00443957 0.99978401 0.74008888] [ 0. 0. 0. 1. ]] SLAMing on 33.032557844 meters SLAMing on 33.062557844000004 meters Centerline goodness : 0.147221 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.26, Z:0.74 [[ 0.99978909 0.0039956 -0.02014497 -1.88896271] [-0.00390055 0.99998109 0.00475524 -0.2562703 ] [ 0.02016359 -0.00467566 0.99978576 0.74065005] [ 0. 0. 0. 1. ]] SLAMing on 33.092557844000005 meters Centerline goodness : 0.131376 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.26, Z:0.74 [[ 0.9997856 0.00397423 -0.02032138 -1.88827965] [-0.00387753 0.99998098 0.00479552 -0.25661142] [ 0.02034005 -0.00471569 0.999782 0.74024837] [ 0. 0. 0. 1. ]] SLAMing on 33.122557844000006 meters Centerline goodness : 0.154802 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.26, Z:0.74 [[ 0.99978202 0.00392293 -0.02050659 -1.88760315] [-0.00382693 0.99998154 0.00471863 -0.25637994] [ 0.02052472 -0.00463913 0.99977858 0.73991144] [ 0. 0. 0. 1. ]] SLAMing on 33.15255784400001 meters Centerline goodness : 0.154802 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.26, Z:0.74 [[ 0.99978202 0.00392293 -0.02050659 -1.88760315] [-0.00382693 0.99998154 0.00471863 -0.25637994] [ 0.02052472 -0.00463913 0.99977858 0.73991144] [ 0. 0. 0. 1. ]] SLAMing on 33.182557844 meters Centerline goodness : 0.157152 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.26, Z:0.74 [[ 0.99977847 0.00377144 -0.02070716 -1.88698199] [-0.00368054 0.99998343 0.00442616 -0.25523383] [ 0.02072351 -0.00434897 0.99977579 0.73974243] [ 0. 0. 0. 1. ]] SLAMing on 33.212557844 meters Centerline goodness : 0.153501 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.25, Z:0.74 [[ 0.99977658 0.00363623 -0.02082225 -1.88661012] [-0.00355093 0.99998516 0.00413193 -0.25399322] [ 0.02083697 -0.00405707 0.99977466 0.73961788] [ 0. 0. 0. 1. ]] SLAMing on 33.242557844000004 meters Centerline goodness : 0.160857 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.25, Z:0.74 [[ 0.99977598 0.00351749 -0.02087123 -1.88653399] [-0.00343785 0.99998668 0.00385039 -0.25277053] [ 0.0208845 -0.00377777 0.99977476 0.7396749 ] [ 0. 0. 0. 1. ]] SLAMing on 33.272557844000005 meters Centerline goodness : 0.154110 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.25, Z:0.74 [[ 0.99978215 0.00346529 -0.0205826 -1.88767945] [-0.00339273 0.99998791 0.00355905 -0.25092917] [ 0.02059468 -0.00348844 0.99978182 0.74027594] [ 0. 0. 0. 1. ]] SLAMing on 33.302557844000006 meters Centerline goodness : 0.132286 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.24, Z:0.74 [[ 0.99980257 -0.00357881 -0.01954501 -1.8687657 ] [ 0.00367187 0.99998208 0.00472747 -0.24444103] [ 0.01952774 -0.00479831 0.9997978 0.74186344] [ 0. 0. 0. 1. ]] SLAMing on 33.33255784400001 meters Centerline goodness : 0.140524 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.24, Z:0.74 [[ 0.99981017 -0.00366356 -0.01913644 -1.86987796] [ 0.0037573 0.99998111 0.00486463 -0.24485422] [ 0.01911825 -0.00493561 0.99980505 0.74176272] [ 0. 0. 0. 1. ]] SLAMing on 33.362557844 meters Centerline goodness : 0.117018 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99979606 -0.00410346 -0.01977376 -1.86831127] [ 0.00419785 0.99997998 0.00473418 -0.24600228] [ 0.01975394 -0.00481622 0.99979327 0.74196288] [ 0. 0. 0. 1. ]] SLAMing on 33.392557844 meters Centerline goodness : 0.139693 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99979121 -0.00419191 -0.01999912 -1.86777384] [ 0.00428682 0.99997974 0.00470527 -0.24627334] [ 0.019979 -0.00479002 0.99978893 0.74188948] [ 0. 0. 0. 1. ]] SLAMing on 33.422557844 meters Centerline goodness : 0.169484 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99978681 -0.00407879 -0.02024122 -1.86685695] [ 0.00417807 0.99997944 0.00486486 -0.24662507] [ 0.02022096 -0.00494839 0.99978329 0.74127262] [ 0. 0. 0. 1. ]] SLAMing on 33.452557844000005 meters Centerline goodness : 0.167177 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99978354 -0.00386101 -0.02044421 -1.86599661] [ 0.00396676 0.99997895 0.00513465 -0.24703365] [ 0.02042396 -0.00521464 0.99977781 0.74062978] [ 0. 0. 0. 1. ]] SLAMing on 33.482557844000006 meters Centerline goodness : 0.141725 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99978736 -0.00381437 -0.02026541 -1.86624392] [ 0.00391835 0.99997935 0.00509398 -0.24641716] [ 0.02024556 -0.00517231 0.99978166 0.7402442 ] [ 0. 0. 0. 1. ]] SLAMing on 33.51255784400001 meters Centerline goodness : 0.135030 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99978478 -0.00365378 -0.02042173 -1.8656187 ] [ 0.00376079 0.99997939 0.00520374 -0.24644371] [ 0.0204023 -0.00527942 0.99977791 0.73989002] [ 0. 0. 0. 1. ]] SLAMing on 33.542557844 meters Centerline goodness : 0.112496 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.25, Z:0.74 [[ 0.99976137 -0.00335625 -0.02158574 -1.86217894] [ 0.00346097 0.99998241 0.00481578 -0.24512152] [ 0.0215692 -0.00488934 0.9997554 0.73972816] [ 0. 0. 0. 1. ]] SLAMing on 33.572557844 meters Centerline goodness : 0.166505 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.24, Z:0.74 [[ 0.99971318 -0.00252601 -0.02381533 -1.89800253] [ 0.00262927 0.99998727 0.00430559 -0.2443813 ] [ 0.02380415 -0.00436698 0.9997071 0.73970123] [ 0. 0. 0. 1. ]] SLAMing on 33.602557844 meters Centerline goodness : 0.158863 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.24, Z:0.74 [[ 0.99971175 0.00704393 -0.02295206 -1.87683731] [-0.00697059 0.99997035 0.00327369 -0.24491966] [ 0.02297444 -0.00311276 0.99973121 0.74003666] [ 0. 0. 0. 1. ]] SLAMing on 33.632557844000004 meters Centerline goodness : 0.119671 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.24, Z:0.74 [[ 0.99971827 0.0069826 -0.02268522 -1.8774894 ] [-0.00691782 0.99997177 0.00293293 -0.24307123] [ 0.02270506 -0.00277517 0.99973836 0.7399462 ] [ 0. 0. 0. 1. ]] SLAMing on 33.662557844000006 meters Centerline goodness : 0.162254 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.24, Z:0.74 [[ 0.99972831 0.00692484 -0.0222563 -1.87869859] [-0.00686739 0.99997289 0.00265674 -0.24161683] [ 0.0222741 -0.00250318 0.99974877 0.74015382] [ 0. 0. 0. 1. ]] SLAMing on 33.69255784400001 meters Centerline goodness : 0.156277 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.24, Z:0.74 [[ 0.99974434 0.00683525 -0.02155323 -1.88059428] [-0.00678868 0.99997446 0.00223315 -0.23942645] [ 0.02156794 -0.00208626 0.99976521 0.74032078] [ 0. 0. 0. 1. ]] SLAMing on 33.72255784400001 meters Centerline goodness : 0.157890 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.24, Z:0.74 [[ 9.99744423e-01 6.78368629e-03 -2.15654941e-02 -1.88036914e+00] [-6.74379185e-03 9.99975413e-01 1.92210797e-03 -2.37932567e-01] [ 2.15780028e-02 -1.77618352e-03 9.99765590e-01 7.40060834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752557844 meters Centerline goodness : 0.151240 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.24, Z:0.74 [[ 9.99740523e-01 6.77389954e-03 -2.17485725e-02 -1.87971396e+00] [-6.73895001e-03 9.99975882e-01 1.67986940e-03 -2.36814716e-01] [ 2.17594272e-02 -1.53287097e-03 9.99762061e-01 7.39838275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782557844 meters Centerline goodness : 0.117970 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.23, Z:0.74 [[ 0.99970715 -0.00314692 -0.02399381 -1.90003318] [ 0.00319683 0.9999928 0.00204217 -0.23277874] [ 0.02398721 -0.00211828 0.99971002 0.73971349] [ 0. 0. 0. 1. ]] SLAMing on 33.812557844000004 meters Centerline goodness : 0.136546 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.23, Z:0.74 [[ 0.99970675 -0.00321107 -0.02400224 -1.90014747] [ 0.00326057 0.99999264 0.00202347 -0.23287042] [ 0.02399557 -0.00210114 0.99970986 0.73988183] [ 0. 0. 0. 1. ]] SLAMing on 33.842557844000005 meters Centerline goodness : 0.150486 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.23, Z:0.74 [[ 0.99970751 -0.00318969 -0.02397347 -1.90032687] [ 0.00324368 0.99999229 0.00221381 -0.23349274] [ 0.02396623 -0.00229092 0.99971014 0.73983719] [ 0. 0. 0. 1. ]] SLAMing on 33.872557844000006 meters Centerline goodness : 0.135636 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.24, Z:0.74 [[ 0.99964249 -0.00396483 -0.02644176 -1.94552343] [ 0.00404402 0.99998749 0.00294235 -0.23877847] [ 0.02642977 -0.00304823 0.99964603 0.74123061] [ 0. 0. 0. 1. ]] SLAMing on 33.90255784400001 meters Centerline goodness : 0.151003 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:0.74 [[ 0.99963847 0.00451992 -0.02650463 -1.92846856] [-0.0044421 0.99998565 0.00299417 -0.245405 ] [ 0.02651778 -0.00287535 0.99964421 0.74160974] [ 0. 0. 0. 1. ]] SLAMing on 33.932557844 meters Centerline goodness : 0.158400 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.9996593 -0.0031037 -0.02591635 -1.90838145] [ 0.00319708 0.99998854 0.00356228 -0.24072703] [ 0.02590499 -0.00364392 0.99965777 0.74272647] [ 0. 0. 0. 1. ]] SLAMing on 33.962557844 meters Centerline goodness : 0.171021 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99967362 -0.00342906 -0.02531576 -1.91039267] [ 0.00350997 0.99998887 0.0031525 -0.23953379] [ 0.02530467 -0.00324033 0.99967453 0.74351089] [ 0. 0. 0. 1. ]] SLAMing on 33.992557844000004 meters Centerline goodness : 0.114591 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99967652 -0.00358126 -0.02517982 -1.91110771] [ 0.00365497 0.99998917 0.0028821 -0.23891575] [ 0.02516923 -0.0029732 0.99967878 0.74421186] [ 0. 0. 0. 1. ]] SLAMing on 34.022557844000005 meters Centerline goodness : 0.154516 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99967272 -0.00362826 -0.02532387 -1.91091649] [ 0.00369705 0.9999896 0.0026702 -0.23842854] [ 0.02531391 -0.00276295 0.99967573 0.74463897] [ 0. 0. 0. 1. ]] SLAMing on 34.052557844000006 meters Centerline goodness : 0.130462 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99966255 -0.00351883 -0.02573715 -1.90968952] [ 0.00358916 0.99998995 0.00268695 -0.23853307] [ 0.02572743 -0.00277842 0.99966513 0.74442573] [ 0. 0. 0. 1. ]] SLAMing on 34.08255784400001 meters Centerline goodness : 0.153640 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99964973 -0.00325286 -0.02626485 -1.90778235] [ 0.00333409 0.99998979 0.00304926 -0.23942317] [ 0.02625466 -0.00313576 0.99965037 0.74339061] [ 0. 0. 0. 1. ]] SLAMing on 34.112557844 meters Centerline goodness : 0.153224 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99964664 -0.00319347 -0.02638931 -1.90715488] [ 0.00327902 0.99998951 0.00319935 -0.23997529] [ 0.02637881 -0.00328475 0.99964662 0.74281429] [ 0. 0. 0. 1. ]] SLAMing on 34.142557844 meters Centerline goodness : 0.153806 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99965888 -0.00325952 -0.02591318 -1.90874634] [ 0.00336535 0.99998617 0.00404142 -0.24287411] [ 0.02589965 -0.00412725 0.99965603 0.74254165] [ 0. 0. 0. 1. ]] SLAMing on 34.172557844 meters Centerline goodness : 0.126834 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99966749 -0.00362437 -0.02552976 -1.91030348] [ 0.00373031 0.99998462 0.00410344 -0.2437592 ] [ 0.0255145 -0.00419731 0.99966564 0.74302643] [ 0. 0. 0. 1. ]] SLAMing on 34.202557844000005 meters Centerline goodness : 0.131293 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99967589 -0.00394053 -0.02515132 -1.91191784] [ 0.00404916 0.99998269 0.00426947 -0.2449546 ] [ 0.02513406 -0.00436993 0.99967454 0.74360202] [ 0. 0. 0. 1. ]] SLAMing on 34.232557844000006 meters Centerline goodness : 0.141503 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:0.74 [[ 0.99967253 -0.00392127 -0.02528732 -1.91183369] [ 0.00404168 0.99998073 0.0047124 -0.24723149] [ 0.02526836 -0.00481306 0.99966912 0.74404245] [ 0. 0. 0. 1. ]] SLAMing on 34.26255784400001 meters Centerline goodness : 0.107841 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99973135 -0.00304059 -0.02297791 -1.86817006] [ 0.00314003 0.99998585 0.00429305 -0.24727163] [ 0.02296453 -0.00436404 0.99972676 0.74390783] [ 0. 0. 0. 1. ]] SLAMing on 34.292557844 meters Centerline goodness : 0.153119 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99972749 -0.00327989 -0.02311236 -1.86784664] [ 0.00339114 0.99998285 0.00477596 -0.25052445] [ 0.02309629 -0.00485304 0.99972147 0.74408393] [ 0. 0. 0. 1. ]] SLAMing on 34.322557844 meters Centerline goodness : 0.135642 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99972806 -0.00325939 -0.02309072 -1.86810861] [ 0.00337683 0.99998155 0.00504908 -0.25209982] [ 0.02307384 -0.00512568 0.99972062 0.74447511] [ 0. 0. 0. 1. ]] SLAMing on 34.352557844 meters Centerline goodness : 0.138937 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99972878 -0.00320131 -0.02306749 -1.86845079] [ 0.00332293 0.99998077 0.00523594 -0.25296638] [ 0.02305029 -0.00531117 0.9997202 0.74494531] [ 0. 0. 0. 1. ]] SLAMing on 34.382557844000004 meters SLAMing on 34.412557844000006 meters Centerline goodness : 0.125992 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.75 [[ 0.99972873 -0.00317199 -0.02307385 -1.86855145] [ 0.00329379 0.99998083 0.00524263 -0.25273093] [ 0.02305677 -0.00531721 0.99972002 0.7451187 ] [ 0. 0. 0. 1. ]] SLAMing on 34.44255784400001 meters Centerline goodness : 0.129405 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99972111 -0.00324326 -0.02339201 -1.86748486] [ 0.00336301 0.99998143 0.00508208 -0.2520832 ] [ 0.02337509 -0.00515933 0.99971345 0.7446632 ] [ 0. 0. 0. 1. ]] SLAMing on 34.47255784400001 meters Centerline goodness : 0.112650 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.25, Z:0.74 [[ 0.99971924 0.00478713 -0.023206 -1.84448832] [-0.00472761 0.9999854 0.00261878 -0.25135512] [ 0.02321819 -0.00250834 0.99972727 0.74376014] [ 0. 0. 0. 1. ]] SLAMing on 34.502557844 meters Centerline goodness : 0.116492 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99971366 -0.00390262 -0.02360857 -1.86585658] [ 0.0040041 0.99998294 0.00425263 -0.24593051] [ 0.02359157 -0.00434595 0.99971223 0.74324808] [ 0. 0. 0. 1. ]] SLAMing on 34.532557844 meters Centerline goodness : 0.126652 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.25, Z:0.74 [[ 0.99977505 0.00489932 -0.02063613 -1.84727018] [-0.0048368 0.99998356 0.00307832 -0.2474863 ] [ 0.02065087 -0.00297782 0.99978231 0.74325156] [ 0. 0. 0. 1. ]] SLAMing on 34.562557844000004 meters Centerline goodness : 0.138196 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.24, Z:0.74 [[ 0.99981478 -0.00280168 -0.01904076 -1.82758648] [ 0.00287442 0.99998867 0.00379378 -0.24280969] [ 0.01902992 -0.0038478 0.99981151 0.74458582] [ 0. 0. 0. 1. ]] SLAMing on 34.592557844000005 meters Centerline goodness : 0.155816 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.24, Z:0.75 [[ 0.99981313 -0.00291929 -0.01910968 -1.82769868] [ 0.00299259 0.99998827 0.00380836 -0.24319812] [ 0.01909833 -0.00386483 0.99981014 0.74508236] [ 0. 0. 0. 1. ]] SLAMing on 34.622557844000006 meters Centerline goodness : 0.113627 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.24, Z:0.75 [[ 0.99980535 -0.00307714 -0.01948823 -1.82680907] [ 0.00315171 0.99998782 0.00379702 -0.24362392] [ 0.01947631 -0.0038577 0.99980288 0.74514729] [ 0. 0. 0. 1. ]] SLAMing on 34.65255784400001 meters Centerline goodness : 0.156741 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.24, Z:0.74 [[ 0.99978493 -0.00354689 -0.02043307 -1.82389852] [ 0.0036227 0.99998669 0.00367452 -0.24401794] [ 0.02041976 -0.00374775 0.99978447 0.74415543] [ 0. 0. 0. 1. ]] SLAMing on 34.682557844 meters SLAMing on 34.712557844 meters Centerline goodness : 0.127689 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.24, Z:0.75 [[ 0.99980964 -0.0051154 -0.01882883 -1.82870934] [ 0.00516496 0.99998332 0.00258483 -0.24354384] [ 0.01881529 -0.00268159 0.99981938 0.74562265] [ 0. 0. 0. 1. ]] SLAMing on 34.742557844000004 meters Centerline goodness : 0.168579 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.24, Z:0.74 [[ 9.99849225e-01 1.91021183e-03 -1.72591744e-02 -1.80698572e+00] [-1.91442398e-03 9.99998142e-01 -2.27534125e-04 -2.44696438e-01] [ 1.72587077e-02 2.60541196e-04 9.99851023e-01 7.44686970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.772557844000005 meters Centerline goodness : 0.182407 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.24, Z:0.74 [[ 9.99846144e-01 1.89182276e-03 -1.74387071e-02 -1.80611268e+00] [-1.89740115e-03 9.99998154e-01 -3.03346019e-04 -2.44047173e-01] [ 1.74381011e-02 3.36387571e-04 9.99847888e-01 7.43869296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802557844000006 meters Centerline goodness : 0.107693 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.24, Z:0.74 [[ 0.99982049 -0.00292062 -0.01872054 -1.7814447 ] [ 0.00297224 0.99999186 0.00273043 -0.24111367] [ 0.01871242 -0.00278558 0.99982103 0.74333546] [ 0. 0. 0. 1. ]] SLAMing on 34.83255784400001 meters SLAMing on 34.862557844 meters Centerline goodness : 0.187707 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.24, Z:0.74 [[ 0.99981475 -0.00313078 -0.01899141 -1.78051382] [ 0.00317423 0.99999241 0.00225819 -0.239205 ] [ 0.01898419 -0.00231805 0.9998171 0.74301493] [ 0. 0. 0. 1. ]] SLAMing on 34.892557844 meters Centerline goodness : 0.161127 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.24, Z:0.74 [[ 9.99817755e-01 -3.34538314e-03 -1.87953432e-02 -1.78153144e+00] [ 3.37813414e-03 9.99992830e-01 1.71102688e-03 -2.36976100e-01] [ 1.87894844e-02 -1.77420824e-03 9.99821888e-01 7.43940277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922557844 meters Centerline goodness : 0.130476 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.24, Z:0.74 [[ 9.99819963e-01 -3.41478793e-03 -1.86649701e-02 -1.78189875e+00] [ 3.44208500e-03 9.99993053e-01 1.43054561e-03 -2.35416579e-01] [ 1.86599554e-02 -1.49453447e-03 9.99824771e-01 7.43929929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.952557844000005 meters Centerline goodness : 0.137148 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.23, Z:0.74 [[ 9.99859581e-01 -1.51692850e-03 -1.66888197e-02 -1.73700057e+00] [ 1.53765920e-03 9.99998062e-01 1.22942889e-03 -2.32729967e-01] [ 1.66869224e-02 -1.25491797e-03 9.99859976e-01 7.43040732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982557844000006 meters Centerline goodness : 0.134519 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.23, Z:0.74 [[ 9.99800305e-01 -2.74361261e-03 -1.97945119e-02 -1.78071285e+00] [ 2.77772664e-03 9.99994704e-01 1.69611981e-03 -2.32081847e-01] [ 1.97897535e-02 -1.75076485e-03 9.99802631e-01 7.43323316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01255784400001 meters Centerline goodness : 0.144245 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.23, Z:0.74 [[ 9.99795577e-01 -2.88731000e-03 -2.00117050e-02 -1.78005770e+00] [ 2.91610733e-03 9.99994754e-01 1.40999263e-03 -2.31018991e-01] [ 2.00075289e-02 -1.46806067e-03 9.99798752e-01 7.43175045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04255784400001 meters Centerline goodness : 0.147576 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.23, Z:0.74 [[ 9.99808902e-01 4.66007620e-03 -1.89853367e-02 -1.75865857e+00] [-4.68783192e-03 9.99988007e-01 -1.41771403e-03 -2.31787416e-01] [ 1.89785024e-02 1.50644318e-03 9.99818757e-01 7.42846537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072557844 meters Centerline goodness : 0.147576 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.23, Z:0.74 [[ 9.99808902e-01 4.66007620e-03 -1.89853367e-02 -1.75865857e+00] [-4.68783192e-03 9.99988007e-01 -1.41771403e-03 -2.31787416e-01] [ 1.89785024e-02 1.50644318e-03 9.99818757e-01 7.42846537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102557844 meters SLAMing on 35.132557844000004 meters SLAMing on 35.162557844000006 meters Centerline goodness : 0.178104 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.22, Z:0.74 [[ 9.99848559e-01 2.57167466e-04 -1.74009532e-02 -1.73857651e+00] [-2.26706783e-04 9.99998439e-01 1.75246807e-03 -2.20433110e-01] [ 1.74013767e-02 -1.74825776e-03 9.99847056e-01 7.43653656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19255784400001 meters Centerline goodness : 0.115853 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.22, Z:0.74 [[ 9.99798753e-01 -9.23840473e-04 -2.00399847e-02 -1.78389873e+00] [ 9.70114637e-04 9.99996886e-01 2.29949320e-03 -2.18983499e-01] [ 2.00377979e-02 -2.31847152e-03 9.99796535e-01 7.44610740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22255784400001 meters Centerline goodness : 0.149096 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.21, Z:0.74 [[ 9.99802166e-01 -9.63502436e-04 -1.98670769e-02 -1.73338708e+00] [ 9.73630924e-04 9.99999401e-01 5.00146464e-04 -2.14762113e-01] [ 1.98665831e-02 -5.19390719e-04 9.99802505e-01 7.42200634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252557844 meters Centerline goodness : 0.071830 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.21, Z:0.74 [[ 9.99795116e-01 -1.04729366e-03 -2.02145686e-02 -1.73234841e+00] [ 1.05705411e-03 9.99999330e-01 4.72163485e-04 -2.14777487e-01] [ 2.02140605e-02 -4.93434639e-04 9.99795553e-01 7.41834513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282557844 meters Centerline goodness : 0.126990 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.22, Z:0.74 [[ 9.99792736e-01 -1.09079560e-03 -2.03296751e-02 -1.73211758e+00] [ 1.10310906e-03 9.99999215e-01 5.94484674e-04 -2.15482379e-01] [ 2.03290106e-02 -6.16787308e-04 9.99793154e-01 7.41845284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312557844000004 meters Centerline goodness : 0.183379 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.22, Z:0.74 [[ 9.99796000e-01 -1.15803977e-03 -2.01647431e-02 -1.73266470e+00] [ 1.17281598e-03 9.99999052e-01 7.20963698e-04 -2.16231965e-01] [ 2.01638891e-02 -7.44466155e-04 9.99796411e-01 7.41996151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342557844000005 meters Centerline goodness : 0.142586 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.22, Z:0.74 [[ 9.99799887e-01 -1.21097738e-03 -1.99679669e-02 -1.73336818e+00] [ 1.22786838e-03 9.99998899e-01 8.33666253e-04 -2.16897883e-01] [ 1.99669353e-02 -8.58017461e-04 9.99800273e-01 7.42265298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372557844000006 meters SLAMing on 35.40255784400001 meters Centerline goodness : 0.115571 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.22, Z:0.74 [[ 9.99807314e-01 -1.31582873e-03 -1.95858080e-02 -1.73472919e+00] [ 1.32913796e-03 9.99998895e-01 6.66532698e-04 -2.15702311e-01] [ 1.95849093e-02 -6.92436507e-04 9.99807957e-01 7.42796779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432557844 meters Centerline goodness : 0.112916 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.21, Z:0.74 [[ 9.99804551e-01 -1.45639012e-03 -1.97164800e-02 -1.73433398e+00] [ 1.46118407e-03 9.99998906e-01 2.28740613e-04 -2.13490262e-01] [ 1.97161253e-02 -2.57505312e-04 9.99805585e-01 7.42714167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462557844 meters Centerline goodness : 0.112735 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.21, Z:0.74 [[ 9.99804162e-01 -1.59718816e-03 -1.97252684e-02 -1.73424180e+00] [ 1.59153573e-03 9.99998688e-01 -3.02252738e-04 -2.10819074e-01] [ 1.97257252e-02 2.70800076e-04 9.99805392e-01 7.42646423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492557844000004 meters Centerline goodness : 0.147908 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.21, Z:0.74 [[ 9.99806954e-01 -1.75033318e-03 -1.95701499e-02 -1.73454609e+00] [ 1.73316909e-03 9.99998098e-01 -8.93981061e-04 -2.07871968e-01] [ 1.95716774e-02 8.59890102e-04 9.99808087e-01 7.42552613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522557844000005 meters Centerline goodness : 0.114235 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.21, Z:0.74 [[ 0.99981018 0.00723547 -0.01809004 -1.71432004] [-0.00727548 0.99997123 -0.00214688 -0.20819464] [ 0.01807399 0.00227808 0.99983406 0.74275725] [ 0. 0. 0. 1. ]] SLAMing on 35.552557844000006 meters Centerline goodness : 0.149341 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.20, Z:0.74 [[ 0.99981801 0.00694102 -0.01777007 -1.71515437] [-0.0070001 0.99997017 -0.0032646 -0.20250458] [ 0.01774688 0.00338839 0.99983677 0.74283821] [ 0. 0. 0. 1. ]] SLAMing on 35.58255784400001 meters Centerline goodness : 0.145434 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.20, Z:0.74 [[ 0.99981742 0.00675168 -0.01787578 -1.71483624] [-0.00681821 0.99997005 -0.0036632 -0.2006041 ] [ 0.01785051 0.00378441 0.9998335 0.74274946] [ 0. 0. 0. 1. ]] SLAMing on 35.612557844 meters Centerline goodness : 0.124164 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.20, Z:0.74 [[ 0.99981762 0.00657467 -0.01793028 -1.71455007] [-0.00664758 0.99996987 -0.00400977 -0.19907474] [ 0.01790338 0.00412823 0.9998312 0.74248032] [ 0. 0. 0. 1. ]] SLAMing on 35.642557844 meters Centerline goodness : 0.136620 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.19, Z:0.74 [[ 0.99982278 -0.00246851 -0.01866298 -1.73398916] [ 0.00241469 0.99999286 -0.00290574 -0.19231722] [ 0.01867002 0.00286016 0.99982161 0.74089861] [ 0. 0. 0. 1. ]] SLAMing on 35.672557844 meters Centerline goodness : 0.112815 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.19, Z:0.74 [[ 0.99981935 -0.00286816 -0.01878942 -1.73331675] [ 0.00280324 0.99999001 -0.00348059 -0.19012902] [ 0.01879921 0.00342729 0.9998174 0.74023792] [ 0. 0. 0. 1. ]] SLAMing on 35.702557844000005 meters Centerline goodness : 0.123084 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.19, Z:0.74 [[ 0.99981991 -0.00301023 -0.01873722 -1.73354406] [ 0.00294023 0.9999886 -0.0037619 -0.18886035] [ 0.01874833 0.00370613 0.99981737 0.74035134] [ 0. 0. 0. 1. ]] SLAMing on 35.732557844000006 meters Centerline goodness : 0.144141 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.19, Z:0.74 [[ 0.99982139 -0.00314812 -0.01863533 -1.73394253] [ 0.00307215 0.99998686 -0.00410404 -0.18716534] [ 0.018648 0.00404606 0.99981792 0.74051814] [ 0. 0. 0. 1. ]] SLAMing on 35.76255784400001 meters Centerline goodness : 0.129132 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.19, Z:0.74 [[ 0.99982318 -0.00331287 -0.01851042 -1.73444076] [ 0.00322971 0.99998457 -0.00452074 -0.18510393] [ 0.01852511 0.00446016 0.99981845 0.74082626] [ 0. 0. 0. 1. ]] SLAMing on 35.79255784400001 meters Centerline goodness : 0.143349 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.18, Z:0.74 [[ 0.99982416 -0.00347409 -0.0184276 -1.73462505] [ 0.00338434 0.99998227 -0.00489955 -0.18337786] [ 0.0184443 0.00483632 0.99981819 0.74079275] [ 0. 0. 0. 1. ]] SLAMing on 35.822557844 meters Centerline goodness : 0.129770 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.18, Z:0.74 [[ 0.99982301 -0.00369301 -0.01844746 -1.73441221] [ 0.00359561 0.99997944 -0.00531033 -0.18176172] [ 0.0184667 0.00524306 0.99981573 0.74053863] [ 0. 0. 0. 1. ]] SLAMing on 35.852557844 meters Centerline goodness : 0.136734 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.18, Z:0.74 [[ 0.9998162 -0.0040883 -0.01873125 -1.73303525] [ 0.00397626 0.99997401 -0.00601456 -0.17898485] [ 0.01875535 0.00593898 0.99980646 0.73937769] [ 0. 0. 0. 1. ]] SLAMing on 35.882557844000004 meters Centerline goodness : 0.124625 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.18, Z:0.74 [[ 9.99811854e-01 -1.21291567e-03 -1.93593554e-02 -1.73089809e+00] [ 1.15507251e-03 9.99994837e-01 -2.99876832e-03 -1.77774331e-01] [ 1.93628927e-02 2.97584266e-03 9.99808093e-01 7.38504027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912557844000006 meters Centerline goodness : 0.131228 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.18, Z:0.74 [[ 9.99746725e-01 -1.10025931e-03 -2.24783107e-02 -1.77494383e+00] [ 1.06609562e-03 9.99998259e-01 -1.53177821e-03 -1.75237004e-01] [ 2.24799569e-02 1.50742622e-03 9.99746157e-01 7.38781828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94255784400001 meters Centerline goodness : 0.167468 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.17, Z:0.74 [[ 9.99769839e-01 -1.99241916e-04 -2.14529455e-02 -1.72976047e+00] [ 1.59515553e-04 9.99998270e-01 -1.85348594e-03 -1.73998102e-01] [ 2.14532777e-02 1.84963726e-03 9.99768141e-01 7.38481623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97255784400001 meters Centerline goodness : 0.127143 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.17, Z:0.74 [[ 9.99772510e-01 -6.74890124e-04 -2.13183735e-02 -1.73050257e+00] [ 6.11222819e-04 9.99995335e-01 -2.99287392e-03 -1.68780606e-01] [ 2.13202939e-02 2.97916279e-03 9.99768258e-01 7.39282270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002557844 meters Centerline goodness : 0.148255 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.17, Z:0.74 [[ 9.99777189e-01 -9.18882110e-04 -2.10885814e-02 -1.73142327e+00] [ 8.42566590e-04 9.99993066e-01 -3.62740766e-03 -1.65785722e-01] [ 2.10917684e-02 3.60883090e-03 9.99771031e-01 7.39901813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.032557844 meters Centerline goodness : 0.127029 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.16, Z:0.74 [[ 9.99782846e-01 -1.13188766e-03 -2.08081475e-02 -1.73236544e+00] [ 1.04267061e-03 9.99990220e-01 -4.29795113e-03 -1.62433359e-01] [ 2.08128088e-02 4.27532177e-03 9.99774249e-01 7.40355409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062557844000004 meters Centerline goodness : 0.115459 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.16, Z:0.74 [[ 9.99789524e-01 -1.33558417e-03 -2.04725059e-02 -1.73340868e+00] [ 1.23462236e-03 9.99987019e-01 -4.94342652e-03 -1.59047734e-01] [ 2.04788425e-02 4.91711024e-03 9.99778195e-01 7.40687033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092557844000005 meters Centerline goodness : 0.108924 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.16, Z:0.74 [[ 9.99793928e-01 -1.55496073e-03 -2.02406279e-02 -1.73415083e+00] [ 1.44242063e-03 9.99983428e-01 -5.57352151e-03 -1.55902833e-01] [ 2.02489590e-02 5.54317746e-03 9.99779602e-01 7.40979777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122557844000006 meters Centerline goodness : 0.112219 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.15, Z:0.74 [[ 0.99979424 -0.00204017 -0.02018208 -1.73411667] [ 0.00190544 0.99997579 -0.00669271 -0.15092561] [ 0.02019525 0.00665287 0.99977392 0.74078154] [ 0. 0. 0. 1. ]] SLAMing on 36.15255784400001 meters Centerline goodness : 0.112268 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.15, Z:0.74 [[ 0.99979023 -0.00226732 -0.02035568 -1.73339243] [ 0.00212221 0.9999722 -0.00714758 -0.14900881] [ 0.02037132 0.00710288 0.99976725 0.74027824] [ 0. 0. 0. 1. ]] SLAMing on 36.182557844 meters Centerline goodness : 0.110963 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.15, Z:0.74 [[ 0.99978659 -0.00243809 -0.02051394 -1.73289022] [ 0.00228433 0.99996915 -0.00751573 -0.14733566] [ 0.02053163 0.00746727 0.99976132 0.74007193] [ 0. 0. 0. 1. ]] SLAMing on 36.212557844 meters Centerline goodness : 0.110708 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.15, Z:0.74 [[ 0.999786 -0.00251624 -0.02053343 -1.7330202 ] [ 0.00235826 0.99996746 -0.00771429 -0.14620085] [ 0.02055217 0.00766421 0.99975941 0.74032365] [ 0. 0. 0. 1. ]] SLAMing on 36.242557844000004 meters Centerline goodness : 0.120394 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.15, Z:0.74 [[ 0.99978587 -0.00256334 -0.0205339 -1.73319515] [ 0.00240276 0.99996637 -0.00784112 -0.1454002 ] [ 0.02055331 0.00779011 0.99975841 0.74056969] [ 0. 0. 0. 1. ]] SLAMing on 36.272557844000005 meters Centerline goodness : 0.092973 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.15, Z:0.74 [[ 0.99978493 -0.00260669 -0.02057445 -1.73311605] [ 0.00244436 0.99996572 -0.00791095 -0.14503371] [ 0.02059437 0.00785896 0.99975702 0.74056386] [ 0. 0. 0. 1. ]] SLAMing on 36.302557844000006 meters Centerline goodness : 0.118425 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.14, Z:0.74 [[ 0.99972771 -0.00309577 -0.02312857 -1.77940893] [ 0.00291976 0.99996655 -0.00763981 -0.14067856] [ 0.02315144 0.0075702 0.99970331 0.74146738] [ 0. 0. 0. 1. ]] SLAMing on 36.33255784400001 meters Centerline goodness : 0.112893 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.14, Z:0.74 [[ 0.99972896 -0.0032489 -0.0230532 -1.77952856] [ 0.00306374 0.9999628 -0.00806247 -0.13866314] [ 0.02307854 0.00798966 0.99970173 0.74139607] [ 0. 0. 0. 1. ]] SLAMing on 36.362557844 meters Centerline goodness : 0.127896 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.14, Z:0.74 [[ 0.99972866 -0.00342363 -0.0230411 -1.77943938] [ 0.00322785 0.99995842 -0.0085288 -0.13642323] [ 0.02306934 0.00845211 0.99969814 0.74121907] [ 0. 0. 0. 1. ]] SLAMing on 36.392557844 meters Centerline goodness : 0.112411 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.13, Z:0.74 [[ 0.99972634 -0.0036072 -0.02311339 -1.77923571] [ 0.003399 0.99995336 -0.00904065 -0.1340004 ] [ 0.02314493 0.00895961 0.99969197 0.74128226] [ 0. 0. 0. 1. ]] SLAMing on 36.422557844 meters Centerline goodness : 0.112180 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.13, Z:0.74 [[ 9.99728628e-01 2.38948160e-04 -2.32940804e-02 -1.77892242e+00] [-3.72824375e-04 9.99983439e-01 -5.74304697e-03 -1.30624250e-01] [ 2.32923224e-02 5.75017306e-03 9.99712160e-01 7.41434109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452557844000005 meters Centerline goodness : 0.112765 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.13, Z:0.74 [[ 9.99721471e-01 9.46266593e-05 -2.36002440e-02 -1.77784371e+00] [-2.43184821e-04 9.99980176e-01 -6.29198174e-03 -1.27810341e-01] [ 2.35991807e-02 6.29596846e-03 9.99701675e-01 7.40974253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482557844000006 meters Centerline goodness : 0.137775 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.13, Z:0.74 [[ 9.99714726e-01 -1.08098282e-04 -2.38841876e-02 -1.77678342e+00] [-5.59589765e-05 9.99976413e-01 -6.86808981e-03 -1.25076080e-01] [ 2.38843666e-02 6.86746706e-03 9.99691140e-01 7.40434548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51255784400001 meters Centerline goodness : 0.118141 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.12, Z:0.74 [[ 9.99712787e-01 -2.93684780e-04 -2.39636817e-02 -1.77645150e+00] [ 1.18658206e-04 9.99973312e-01 -7.30492158e-03 -1.23177603e-01] [ 2.39651875e-02 7.29998002e-03 9.99686141e-01 7.40239657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54255784400001 meters Centerline goodness : 0.148130 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.12, Z:0.74 [[ 9.99719156e-01 -6.60632076e-04 -2.36890781e-02 -1.77739755e+00] [ 4.68398830e-04 9.99966927e-01 -8.11947781e-03 -1.19663160e-01] [ 2.36936586e-02 8.10610157e-03 9.99686402e-01 7.40744121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.572557844 meters Centerline goodness : 0.115458 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.11, Z:0.74 [[ 0.99970878 -0.00742297 -0.0229619 -1.80106872] [ 0.00729766 0.99995805 -0.00553625 -0.11397189] [ 0.02300203 0.00536707 0.99972101 0.74101783] [ 0. 0. 0. 1. ]] SLAMing on 36.602557844 meters Centerline goodness : 0.135787 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.12, Z:0.74 [[ 9.99787970e-01 1.14032612e-03 -2.05600329e-02 -1.78233305e+00] [-1.27521906e-03 9.99977742e-01 -6.54901344e-03 -1.16029575e-01] [ 2.05521072e-02 6.57384340e-03 9.99767171e-01 7.41562866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.632557844000004 meters Centerline goodness : 0.115616 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99792272e-01 9.88114880e-04 -2.03577135e-02 -1.78290455e+00] [-1.12854898e-03 9.99975641e-01 -6.88799064e-03 -1.14575044e-01] [ 2.03504115e-02 6.90953449e-03 9.99769033e-01 7.41684057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662557844000006 meters Centerline goodness : 0.147189 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99792916e-01 8.24516293e-04 -2.03333754e-02 -1.78285411e+00] [-9.70161637e-04 9.99973939e-01 -7.15404712e-03 -1.13606983e-01] [ 2.03269469e-02 7.17229229e-03 9.99767660e-01 7.41491073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69255784400001 meters Centerline goodness : 0.126816 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99789909e-01 6.67268880e-04 -2.04863943e-02 -1.78257375e+00] [-8.18868692e-04 9.99972340e-01 -7.39252745e-03 -1.12619528e-01] [ 2.04808948e-02 7.40775002e-03 9.99762801e-01 7.41611758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72255784400001 meters Centerline goodness : 0.125314 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99787030e-01 6.18875871e-04 -2.06279501e-02 -1.78226211e+00] [-7.73749634e-04 9.99971569e-01 -7.50082153e-03 -1.12025155e-01] [ 2.06227216e-02 7.51518495e-03 9.99759084e-01 7.41696199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.752557844 meters Centerline goodness : 0.129438 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99784876e-01 5.90702235e-04 -2.07328819e-02 -1.78205337e+00] [-7.47793060e-04 9.99971068e-01 -7.56995810e-03 -1.11654547e-01] [ 2.07278104e-02 7.58383353e-03 9.99756392e-01 7.41798903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782557844 meters Centerline goodness : 0.107362 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99784937e-01 5.44869652e-04 -2.07312177e-02 -1.78211278e+00] [-7.03643324e-04 9.99970474e-01 -7.65215214e-03 -1.11257242e-01] [ 2.07264362e-02 7.66509383e-03 9.99755801e-01 7.41897781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812557844000004 meters Centerline goodness : 0.116585 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99787086e-01 4.94709821e-04 -2.06285575e-02 -1.78248905e+00] [-6.54747789e-04 9.99969738e-01 -7.75204636e-03 -1.10827654e-01] [ 2.06240982e-02 7.76390235e-03 9.99757155e-01 7.42093987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842557844000005 meters Centerline goodness : 0.111742 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99792762e-01 4.52587741e-04 -2.03525846e-02 -1.78329918e+00] [-6.12268219e-04 9.99969078e-01 -7.84016338e-03 -1.10473310e-01] [ 2.03484068e-02 7.85099984e-03 9.99762124e-01 7.42272815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872557844000006 meters Centerline goodness : 0.131360 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.11, Z:0.74 [[ 0.99985068 -0.00512188 -0.0165039 -1.76236266] [ 0.0050401 0.99997483 -0.00499323 -0.10896268] [ 0.01652906 0.00490931 0.99985133 0.74189 ] [ 0. 0. 0. 1. ]] SLAMing on 36.90255784400001 meters Centerline goodness : 0.127654 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.11, Z:0.74 [[ 0.99985212 -0.00517165 -0.01640069 -1.76290167] [ 0.00508601 0.99997324 -0.00525916 -0.10738442] [ 0.01642745 0.00517497 0.99985167 0.74241134] [ 0. 0. 0. 1. ]] SLAMing on 36.932557844 meters Centerline goodness : 0.130500 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.11, Z:0.74 [[ 9.99866024e-01 -1.59236451e-03 -1.62910769e-02 -1.76345569e+00] [ 1.56642669e-03 9.99997485e-01 -1.60478580e-03 -1.07651015e-01] [ 1.62935914e-02 1.57905202e-03 9.99866004e-01 7.42626399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962557844 meters Centerline goodness : 0.130500 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.11, Z:0.74 [[ 9.99866024e-01 -1.59236451e-03 -1.62910769e-02 -1.76345569e+00] [ 1.56642669e-03 9.99997485e-01 -1.60478580e-03 -1.07651015e-01] [ 1.62935914e-02 1.57905202e-03 9.99866004e-01 7.42626399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992557844000004 meters Centerline goodness : 0.167153 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.10, Z:0.74 [[ 9.99806104e-01 -6.08906280e-04 -1.96820633e-02 -1.80636580e+00] [ 5.91649555e-04 9.99999435e-01 -8.82585282e-04 -1.02106482e-01] [ 1.96825896e-02 8.70769268e-04 9.99805900e-01 7.42011264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022557844000005 meters Centerline goodness : 0.182333 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.10, Z:0.74 [[ 9.99802948e-01 -7.13856980e-04 -1.98382432e-02 -1.80565312e+00] [ 6.90770974e-04 9.99999076e-01 -1.17054038e-03 -1.00770129e-01] [ 1.98390605e-02 1.15660604e-03 9.99802517e-01 7.41426173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052557844000006 meters Centerline goodness : 0.129627 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.10, Z:0.74 [[ 9.99800521e-01 -7.96151545e-04 -1.99570729e-02 -1.80518797e+00] [ 7.68753672e-04 9.99998752e-01 -1.38047444e-03 -9.97653459e-02] [ 1.99581470e-02 1.36485699e-03 9.99799885e-01 7.41148398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08255784400001 meters Centerline goodness : 0.182217 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.10, Z:0.74 [[ 9.99799115e-01 -8.40205859e-04 -2.00255877e-02 -1.80498134e+00] [ 8.09965611e-04 9.99998520e-01 -1.51814341e-03 -9.90003131e-02] [ 2.00268337e-02 1.50161840e-03 9.99798315e-01 7.41092612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112557844 meters Centerline goodness : 0.122814 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.10, Z:0.74 [[ 9.99736715e-01 -1.18341102e-03 -2.29150488e-02 -1.84980572e+00] [ 1.15038719e-03 9.99998281e-01 -1.45427027e-03 -9.60613437e-02] [ 2.29167304e-02 1.42752620e-03 9.99736358e-01 7.41287619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142557844 meters Centerline goodness : 0.117990 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.10, Z:0.74 [[ 9.99731477e-01 -1.26578882e-03 -2.31381079e-02 -1.84904398e+00] [ 1.22893138e-03 9.99997954e-01 -1.60708260e-03 -9.54376214e-02] [ 2.31400947e-02 1.57821591e-03 9.99730986e-01 7.40925737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172557844 meters Centerline goodness : 0.200982 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.09, Z:0.74 [[ 9.99723476e-01 -1.38554784e-03 -2.34745125e-02 -1.84794463e+00] [ 1.34157620e-03 9.99997316e-01 -1.88881017e-03 -9.41260397e-02] [ 2.34770665e-02 1.85679502e-03 9.99722651e-01 7.40531308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202557844000005 meters Centerline goodness : 0.299056 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.09, Z:0.74 [[ 9.99692203e-01 1.37422277e-03 -2.47711666e-02 -1.84337692e+00] [-1.36371160e-03 9.99998973e-01 4.41218714e-04 -8.92844748e-02] [ 2.47717475e-02 -4.07302181e-04 9.99693050e-01 7.38964678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232557844000006 meters Centerline goodness : 0.187966 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.09, Z:0.74 [[ 9.99688209e-01 1.20710311e-03 -2.49404703e-02 -1.84289683e+00] [-1.20886841e-03 9.99999268e-01 -5.57033818e-05 -8.68699987e-02] [ 2.49403848e-02 8.58357608e-05 9.99688937e-01 7.38938983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26255784400001 meters Centerline goodness : 0.108863 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.08, Z:0.74 [[ 9.99685989e-01 1.02065104e-03 -2.50376106e-02 -1.84257707e+00] [-1.03314060e-03 9.99999348e-01 -4.85901568e-04 -8.49595859e-02] [ 2.50370983e-02 5.11616361e-04 9.99686392e-01 7.38858723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29255784400001 meters Centerline goodness : 0.114017 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.08, Z:0.74 [[ 9.99687128e-01 8.66909171e-04 -2.49978841e-02 -1.84274358e+00] [-8.87175381e-04 9.99999287e-01 -7.99637918e-04 -8.36779672e-02] [ 2.49971730e-02 8.21565241e-04 9.99687184e-01 7.38982761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322557844 meters Centerline goodness : 0.186339 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.08, Z:0.74 [[ 9.99692775e-01 7.28178777e-04 -2.47754991e-02 -1.84349498e+00] [-7.55665054e-04 9.99999109e-01 -1.10006934e-03 -8.24054569e-02] [ 2.47746760e-02 1.11845335e-03 9.99692435e-01 7.39311621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352557844 meters Centerline goodness : 0.113093 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:0.74 [[ 9.99777908e-01 -5.59197220e-03 -2.03190475e-02 -1.82374604e+00] [ 5.61304905e-03 9.99983766e-01 9.80410920e-04 -7.97045917e-02] [ 2.03132352e-02 -1.09424499e-03 9.99793066e-01 7.39322234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382557844000004 meters Centerline goodness : 0.110195 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:0.74 [[ 9.99779425e-01 -5.69586288e-03 -2.02153228e-02 -1.82399018e+00] [ 5.71260547e-03 9.99983386e-01 7.70562256e-04 -7.88521485e-02] [ 2.02105979e-02 -8.85874453e-04 9.99795353e-01 7.39302992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412557844000006 meters Centerline goodness : 0.103077 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99779509e-01 1.45453019e-03 -2.09479665e-02 -1.80513619e+00] [-1.47815064e-03 9.99998289e-01 -1.11213754e-03 -8.35560076e-02] [ 2.09463131e-02 1.14285658e-03 9.99779949e-01 7.41062643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44255784400001 meters Centerline goodness : 0.102646 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.08, Z:0.74 [[ 9.99770784e-01 1.34693955e-03 -2.13674060e-02 -1.80367355e+00] [-1.37402803e-03 9.99998271e-01 -1.25311664e-03 -8.30296393e-02] [ 2.13656812e-02 1.28218882e-03 9.99770906e-01 7.40324576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47255784400001 meters Centerline goodness : 0.295248 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.08, Z:0.74 [[ 9.99763535e-01 1.29996908e-03 -2.17067924e-02 -1.80251040e+00] [-1.32867126e-03 9.99998262e-01 -1.30789713e-03 -8.26475896e-02] [ 2.17050544e-02 1.33642905e-03 9.99763524e-01 7.39781085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502557844 meters Centerline goodness : 0.104496 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.08, Z:0.74 [[ 9.99763673e-01 1.34698862e-03 -2.16975701e-02 -1.80254687e+00] [-1.37427874e-03 9.99998283e-01 -1.24288811e-03 -8.26202414e-02] [ 2.16958587e-02 1.27241289e-03 9.99763807e-01 7.39773811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532557844 meters Centerline goodness : 0.174636 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:0.74 [[ 9.99802869e-01 -7.20275225e-03 -1.85025011e-02 -1.78254972e+00] [ 7.19128423e-03 9.99973907e-01 -6.86269337e-04 -8.23272339e-02] [ 1.85069614e-02 5.53077308e-04 9.99828579e-01 7.41313256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562557844000004 meters Centerline goodness : 0.211246 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.09, Z:0.74 [[ 9.99871248e-01 -2.44192720e-04 -1.60445466e-02 -1.80750785e+00] [ 2.06726225e-04 9.99997248e-01 -2.33677150e-03 -8.65195640e-02] [ 1.60450730e-02 2.33315381e-03 9.99868547e-01 7.40389246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592557844000005 meters Centerline goodness : 0.174822 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.09, Z:0.74 [[ 9.99876266e-01 -2.40272924e-04 -1.57287987e-02 -1.80852821e+00] [ 2.03978292e-04 9.99997313e-01 -2.30909081e-03 -8.67008005e-02] [ 1.57293113e-02 2.30559676e-03 9.99873629e-01 7.40744230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622557844000006 meters Centerline goodness : 0.179413 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.09, Z:0.74 [[ 9.99880577e-01 -2.23982523e-04 -1.54525831e-02 -1.80921160e+00] [ 1.87437308e-04 9.99997183e-01 -2.36639842e-03 -8.61258289e-02] [ 1.54530696e-02 2.36321942e-03 9.99877801e-01 7.40729599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65255784400001 meters Centerline goodness : 0.174704 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.09, Z:0.74 [[ 9.99883981e-01 -1.97490067e-04 -1.52310830e-02 -1.80966466e+00] [ 1.60180134e-04 9.99996984e-01 -2.45077264e-03 -8.53645963e-02] [ 1.52315210e-02 2.44804858e-03 9.99880997e-01 7.40615998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682557844 meters Centerline goodness : 0.103638 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99886433e-01 -2.45994158e-04 -1.50685343e-02 -1.81008759e+00] [ 2.07051536e-04 9.99996635e-01 -2.58587247e-03 -8.48061842e-02] [ 1.50691197e-02 2.58245883e-03 9.99883119e-01 7.40649518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712557844 meters Centerline goodness : 0.179146 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99884269e-01 -3.95105217e-04 -1.52083164e-02 -1.80996462e+00] [ 3.50053181e-04 9.99995543e-01 -2.96487700e-03 -8.34505411e-02] [ 1.52094201e-02 2.95921015e-03 9.99879951e-01 7.41081847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742557844000004 meters Centerline goodness : 0.177585 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99880613e-01 -4.34946027e-04 -1.54457147e-02 -1.80926416e+00] [ 3.85016974e-04 9.99994692e-01 -3.23537700e-03 -8.18049075e-02] [ 1.54470399e-02 3.22904388e-03 9.99875473e-01 7.40947097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772557844000005 meters Centerline goodness : 0.177422 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99878158e-01 -4.15236411e-04 -1.56044114e-02 -1.80850477e+00] [ 3.60785317e-04 9.99993837e-01 -3.49212109e-03 -7.97713275e-02] [ 1.56057653e-02 3.48606576e-03 9.99872146e-01 7.40424035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802557844000006 meters Centerline goodness : 0.179158 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99878155e-01 -5.14634236e-04 -1.56016195e-02 -1.80835991e+00] [ 4.54242962e-04 9.99992392e-01 -3.87413020e-03 -7.76193259e-02] [ 1.56034946e-02 3.86657123e-03 9.99870782e-01 7.40265574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83255784400001 meters Centerline goodness : 0.102521 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99879905e-01 -6.77986623e-04 -1.54827547e-02 -1.80878532e+00] [ 6.12029612e-04 9.99990720e-01 -4.26437174e-03 -7.59109084e-02] [ 1.54855022e-02 4.25438371e-03 9.99871041e-01 7.40526537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862557844 meters Centerline goodness : 0.102114 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.07, Z:0.74 [[ 9.99878137e-01 -9.91724549e-04 -1.55797502e-02 -1.80878978e+00] [ 9.16512110e-04 9.99987896e-01 -4.83397511e-03 -7.37561558e-02] [ 1.55843556e-02 4.81910699e-03 9.99866943e-01 7.40933038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892557844 meters Centerline goodness : 0.105371 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.07, Z:0.74 [[ 9.99875878e-01 -1.04563226e-03 -1.57205477e-02 -1.80824058e+00] [ 9.67823573e-04 9.99987249e-01 -4.95628314e-03 -7.29833851e-02] [ 1.57255297e-02 4.94045324e-03 9.99864141e-01 7.40526744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922557844 meters Centerline goodness : 0.174234 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.07, Z:0.74 [[ 9.99873024e-01 -1.06980843e-03 -1.58994082e-02 -1.80725743e+00] [ 9.91348187e-04 9.99987298e-01 -4.94185243e-03 -7.27961239e-02] [ 1.59044931e-02 4.92546309e-03 9.99861384e-01 7.39566791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.952557844000005 meters Centerline goodness : 0.097751 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.07, Z:0.74 [[ 9.99871172e-01 -1.11030363e-03 -1.60126858e-02 -1.80643779e+00] [ 1.03270229e-03 9.99987688e-01 -4.85369588e-03 -7.33219427e-02] [ 1.60178777e-02 4.83653425e-03 9.99860008e-01 7.38569191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982557844000006 meters Centerline goodness : 0.130730 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.07, Z:0.74 [[ 9.99869429e-01 -1.18308318e-03 -1.61159922e-02 -1.80571235e+00] [ 1.10557513e-03 9.99987785e-01 -4.81744805e-03 -7.37695301e-02] [ 1.61214948e-02 4.79900159e-03 9.99858523e-01 7.37664432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01255784400001 meters Centerline goodness : 0.102639 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.07, Z:0.74 [[ 0.99980945 -0.00206246 -0.01941137 -1.84950984] [ 0.00195254 0.99998196 -0.00567997 -0.06989759] [ 0.01942273 0.00564099 0.99979545 0.73771148] [ 0. 0. 0. 1. ]] SLAMing on 38.04255784400001 meters Centerline goodness : 0.174029 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.07, Z:0.74 [[ 9.99791274e-01 -1.05724883e-03 -2.04032164e-02 -1.80462046e+00] [ 9.61767628e-04 9.99988544e-01 -4.68895868e-03 -7.12222531e-02] [ 2.04079400e-02 4.66835681e-03 9.99780837e-01 7.39615705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072557844 meters Centerline goodness : 0.177493 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.07, Z:0.74 [[ 9.99786830e-01 -1.13672691e-03 -2.06155955e-02 -1.80420263e+00] [ 1.03517268e-03 9.99987282e-01 -4.93609033e-03 -6.99980349e-02] [ 2.06209443e-02 4.91369740e-03 9.99775291e-01 7.39921492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102557844 meters Centerline goodness : 0.176403 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.07, Z:0.74 [[ 9.99785102e-01 -1.23196103e-03 -2.06937832e-02 -1.80407588e+00] [ 1.12468944e-03 9.99985876e-01 -5.19459792e-03 -6.89081884e-02] [ 2.06998904e-02 5.17020753e-03 9.99772366e-01 7.40105417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132557844000004 meters Centerline goodness : 0.156861 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.07, Z:0.74 [[ 9.99785686e-01 -1.31782123e-03 -2.06602236e-02 -1.80416367e+00] [ 1.20511503e-03 9.99984331e-01 -5.46672774e-03 -6.77605715e-02] [ 2.06671040e-02 5.44065820e-03 9.99771609e-01 7.40190476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162557844000006 meters Centerline goodness : 0.103699 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.74 [[ 9.99739623e-01 -4.88203520e-04 -2.28133387e-02 -1.85171357e+00] [ 3.72522879e-04 9.99987054e-01 -5.07472045e-03 -6.33479229e-02] [ 2.28155209e-02 5.06490062e-03 9.99726862e-01 7.41276796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19255784400001 meters Centerline goodness : 0.101893 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.06, Z:0.74 [[ 9.99755905e-01 -5.35520803e-03 -2.14348490e-02 -1.82994076e+00] [ 5.32668522e-03 9.99984850e-01 -1.38754883e-03 -6.01374167e-02] [ 2.14419549e-02 1.27303344e-03 9.99769284e-01 7.41533096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22255784400001 meters Centerline goodness : 0.183165 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.74 [[ 0.99975603 0.00334892 -0.02183267 -1.8509775 ] [-0.00340227 0.99999132 -0.00240703 -0.0616733 ] [ 0.02182442 0.00248072 0.99975874 0.74040085] [ 0. 0. 0. 1. ]] SLAMing on 38.252557844 meters Centerline goodness : 0.103478 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.74 [[ 0.99975418 0.00327829 -0.02192769 -1.85095645] [-0.00333721 0.99999092 -0.00265058 -0.06054344] [ 0.0219188 0.00272311 0.99975605 0.7408199 ] [ 0. 0. 0. 1. ]] SLAMing on 38.282557844 meters Centerline goodness : 0.284669 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.74 [[ 0.99975679 0.00319714 -0.02182041 -1.85150307] [-0.00326043 0.99999058 -0.00286563 -0.05968545] [ 0.02181104 0.00293607 0.9997578 0.74132787] [ 0. 0. 0. 1. ]] SLAMing on 38.312557844000004 meters Centerline goodness : 0.180621 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.06, Z:0.74 [[ 9.99781373e-01 -4.88357717e-03 -2.03311965e-02 -1.83260321e+00] [ 4.84881447e-03 9.99986698e-01 -1.75876609e-03 -5.59778901e-02] [ 2.03395151e-02 1.65979937e-03 9.99791753e-01 7.43009923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342557844000005 meters Centerline goodness : 0.185145 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99823074e-01 -2.90045354e-03 -1.85851359e-02 -1.83939412e+00] [ 2.90032528e-03 9.99995793e-01 -3.38550216e-05 -5.41922982e-02] [ 1.85851559e-02 -2.00539078e-05 9.99827281e-01 7.45704203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372557844000006 meters Centerline goodness : 0.186447 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99825485e-01 -2.96785554e-03 -1.84442524e-02 -1.83987083e+00] [ 2.96306597e-03 9.99995569e-01 -2.87000656e-04 -5.28860286e-02] [ 1.84450224e-02 2.32299033e-04 9.99829849e-01 7.45976568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40255784400001 meters Centerline goodness : 0.182474 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99824786e-01 -3.06004864e-03 -1.84670816e-02 -1.83987503e+00] [ 3.05070333e-03 9.99995204e-01 -5.34202284e-04 -5.17469472e-02] [ 1.84686277e-02 4.77771097e-04 9.99829326e-01 7.46097802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432557844 meters Centerline goodness : 0.179754 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99822187e-01 -3.10795655e-03 -1.85993526e-02 -1.83944760e+00] [ 3.09588949e-03 9.99994978e-01 -6.77547490e-04 -5.10602023e-02] [ 1.86013650e-02 6.19845472e-04 9.99826788e-01 7.45963087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462557844 meters Centerline goodness : 0.114938 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99818897e-01 -3.11474074e-03 -1.87742322e-02 -1.83883078e+00] [ 3.10244155e-03 9.99994953e-01 -6.84200408e-04 -5.09799146e-02] [ 1.87762686e-02 6.25830539e-04 9.99823514e-01 7.45606306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492557844000004 meters Centerline goodness : 0.161296 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99814685e-01 -3.03269746e-03 -1.90104702e-02 -1.83806381e+00] [ 3.02568809e-03 9.99995344e-01 -3.97462623e-04 -5.22186461e-02] [ 1.90115871e-02 3.39869214e-04 9.99819206e-01 7.45203753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522557844000005 meters Centerline goodness : 0.104984 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99814626e-01 -2.95929064e-03 -1.90251233e-02 -1.83802656e+00] [ 2.95754652e-03 9.99995619e-01 -1.19809955e-04 -5.35699888e-02] [ 1.90253945e-02 6.35200576e-05 9.99818999e-01 7.45113938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552557844000006 meters Centerline goodness : 0.110524 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99814979e-01 -2.89189357e-03 -1.90169741e-02 -1.83795363e+00] [ 2.89590420e-03 9.99995790e-01 1.83362721e-04 -5.51241980e-02] [ 1.90163638e-02 -2.38400130e-04 9.99819144e-01 7.44861034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58255784400001 meters Centerline goodness : 0.123684 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99815201e-01 -2.83149423e-03 -1.90143897e-02 -1.83782707e+00] [ 2.84180468e-03 9.99995829e-01 5.15246175e-04 -5.68484667e-02] [ 1.90128514e-02 -5.69186139e-04 9.99819077e-01 7.44550114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61255784400001 meters Centerline goodness : 0.101244 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99816099e-01 -2.74605212e-03 -1.89796397e-02 -1.83777564e+00] [ 2.76161781e-03 9.99995872e-01 7.93964654e-04 -5.81898638e-02] [ 1.89773811e-02 -8.46233154e-04 9.99819555e-01 7.44251287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642557844 meters Centerline goodness : 0.102691 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99815916e-01 -2.67890969e-03 -1.89988915e-02 -1.83765182e+00] [ 2.69772847e-03 9.99995896e-01 9.64959447e-04 -5.89448509e-02] [ 1.89962285e-02 -1.01603566e-03 9.99819039e-01 7.44085054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672557844 meters Centerline goodness : 0.122007 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99809486e-01 -2.53562503e-03 -1.93536350e-02 -1.83648656e+00] [ 2.55805845e-03 9.99996085e-01 1.13446415e-03 -5.92357271e-02] [ 1.93506827e-02 -1.18375575e-03 9.99812057e-01 7.43652177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702557844000005 meters Centerline goodness : 0.169308 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99808991e-01 -2.52217771e-03 -1.93809438e-02 -1.83645986e+00] [ 2.54332674e-03 9.99996197e-01 1.06665713e-03 -5.87427800e-02] [ 1.93781798e-02 -1.11574546e-03 9.99811603e-01 7.43723437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732557844000006 meters Centerline goodness : 0.105603 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.06, Z:0.74 [[ 9.99800674e-01 5.88676802e-03 -1.90776955e-02 -1.85752896e+00] [-5.88724988e-03 9.99982670e-01 3.09057415e-05 -6.17414163e-02] [ 1.90775468e-02 8.14155791e-05 9.99818004e-01 7.42269801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76255784400001 meters Centerline goodness : 0.095961 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99847137e-01 -2.50566603e-03 -1.73038566e-02 -1.83777695e+00] [ 2.51938326e-03 9.99996529e-01 7.70973086e-04 -5.88871448e-02] [ 1.73018647e-02 -8.14450279e-04 9.99849980e-01 7.43513019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79255784400001 meters Centerline goodness : 0.099099 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99854084e-01 -2.56724740e-03 -1.68884508e-02 -1.83918811e+00] [ 2.57855378e-03 9.99996466e-01 6.47732888e-04 -5.84269302e-02] [ 1.68867283e-02 -6.91186152e-04 9.99857170e-01 7.44145515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822557844 meters Centerline goodness : 0.129069 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:0.75 [[ 9.99856679e-01 5.28910232e-03 -1.60825286e-02 -1.82039022e+00] [-5.30073156e-03 9.99985719e-01 -6.80556536e-04 -6.39394927e-02] [ 1.60786994e-02 7.65708165e-04 9.99870436e-01 7.45210318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852557844 meters Centerline goodness : 0.180133 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:0.75 [[ 9.99854519e-01 5.29737918e-03 -1.62135612e-02 -1.81997557e+00] [-5.30746656e-03 9.99985748e-01 -5.79190605e-04 -6.45584948e-02] [ 1.62102619e-02 6.65159278e-04 9.99868384e-01 7.45028484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882557844000004 meters Centerline goodness : 0.180133 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:0.75 [[ 9.99854519e-01 5.29737918e-03 -1.62135612e-02 -1.81997557e+00] [-5.30746656e-03 9.99985748e-01 -5.79190605e-04 -6.45584948e-02] [ 1.62102619e-02 6.65159278e-04 9.99868384e-01 7.45028484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912557844000006 meters Centerline goodness : 0.182751 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.07, Z:0.74 [[ 9.99849848e-01 5.26925272e-03 -1.65080962e-02 -1.81899279e+00] [-5.27833925e-03 9.99985941e-01 -5.06906200e-04 -6.51191541e-02] [ 1.65051931e-02 5.93965419e-04 9.99863604e-01 7.44548486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94255784400001 meters Centerline goodness : 0.173871 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.07, Z:0.74 [[ 9.99841389e-01 5.23519849e-03 -1.70232138e-02 -1.81735998e+00] [-5.24441096e-03 9.99986125e-01 -4.96573730e-04 -6.52169070e-02] [ 1.70203779e-02 5.85771697e-04 9.99854971e-01 7.43922190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97255784400001 meters Centerline goodness : 0.124557 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:0.74 [[ 9.99829847e-01 5.23476897e-03 -1.76882268e-02 -1.81517576e+00] [-5.24828714e-03 9.99985970e-01 -7.17912744e-04 -6.34207896e-02] [ 1.76842205e-02 8.10623482e-04 9.99843293e-01 7.43179862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002557844 meters Centerline goodness : 0.098566 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:0.74 [[ 9.99831559e-01 5.15882576e-03 -1.76136112e-02 -1.81550129e+00] [-5.17616769e-03 9.99986163e-01 -9.39128383e-04 -6.23795191e-02] [ 1.76085227e-02 1.03014120e-03 9.99844427e-01 7.43454244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032557844 meters Centerline goodness : 0.099547 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:0.74 [[ 9.99835053e-01 5.04735879e-03 -1.74467820e-02 -1.81639975e+00] [-5.06897219e-03 9.99986439e-01 -1.19481841e-03 -6.14066096e-02] [ 1.74405148e-02 1.28305858e-03 9.99847079e-01 7.44317997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062557844000004 meters Centerline goodness : 0.101032 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.06, Z:0.75 [[ 9.99804857e-01 4.92598813e-03 -1.91306672e-02 -1.86529019e+00] [-4.95739260e-03 9.99986441e-01 -1.59450047e-03 -5.71761647e-02] [ 1.91225533e-02 1.68902754e-03 9.99815721e-01 7.46611759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092557844000005 meters Centerline goodness : 0.176497 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.06, Z:0.75 [[ 9.99851186e-01 4.67785132e-03 -1.66049349e-02 -1.82526204e+00] [-4.70826243e-03 9.99987309e-01 -1.79283003e-03 -5.86360137e-02] [ 1.65963375e-02 1.87074362e-03 9.99860521e-01 7.48795630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122557844000006 meters Centerline goodness : 0.122025 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.06, Z:0.75 [[ 0.99985438 0.00461636 -0.0164287 -1.82592395] [-0.00464923 0.99998726 -0.00196336 -0.05776168] [ 0.01641942 0.00203946 0.99986311 0.74916642] [ 0. 0. 0. 1. ]] SLAMing on 39.15255784400001 meters Centerline goodness : 0.183054 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.05, Z:0.75 [[ 9.99802629e-01 4.92875016e-03 -1.92460355e-02 -1.86967592e+00] [-4.96449521e-03 9.99986039e-01 -1.80993216e-03 -5.28509126e-02] [ 1.92368461e-02 1.90512178e-03 9.99813140e-01 7.48608702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182557844 meters Centerline goodness : 0.181292 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.05, Z:0.75 [[ 9.99798389e-01 4.87604490e-03 -1.94783171e-02 -1.86880938e+00] [-4.91288600e-03 9.99986232e-01 -1.84398617e-03 -5.28149135e-02] [ 1.94690576e-02 1.93930916e-03 9.99808579e-01 7.48061725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212557844 meters Centerline goodness : 0.156932 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.75 [[ 9.99796013e-01 -3.32764630e-03 -1.99213090e-02 -1.84806311e+00] [ 3.31122268e-03 9.99994150e-01 -8.57353284e-04 -4.95738614e-02] [ 1.99240455e-02 7.91214505e-04 9.99801183e-01 7.49607350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242557844000004 meters Centerline goodness : 0.130900 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.75 [[ 9.99795559e-01 -3.34689269e-03 -1.99408839e-02 -1.84802107e+00] [ 3.32863185e-03 9.99994010e-01 -9.48869850e-04 -4.89959002e-02] [ 1.99439402e-02 8.82300000e-04 9.99800711e-01 7.49608381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272557844000005 meters Centerline goodness : 0.099495 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.75 [[ 9.99794905e-01 -3.39629355e-03 -1.99652979e-02 -1.84814353e+00] [ 3.37441772e-03 9.99993669e-01 -1.12928013e-03 -4.79871844e-02] [ 1.99690069e-02 1.06167726e-03 9.99800036e-01 7.49985524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302557844000006 meters Centerline goodness : 0.141993 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.75 [[ 9.99796203e-01 -3.45686078e-03 -1.98897384e-02 -1.84857750e+00] [ 3.43114343e-03 9.99993233e-01 -1.32697655e-03 -4.69872505e-02] [ 1.98941909e-02 1.25846157e-03 9.99801299e-01 7.50457425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33255784400001 meters Centerline goodness : 0.146740 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.75 [[ 9.99802295e-01 -3.62554334e-03 -1.95505845e-02 -1.85001076e+00] [ 3.59204737e-03 9.99992021e-01 -1.74814246e-03 -4.51498093e-02] [ 1.95567664e-02 1.67757022e-03 9.99807341e-01 7.51444554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36255784400001 meters Centerline goodness : 0.152868 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 9.99800163e-01 -3.69573145e-03 -1.96462742e-02 -1.84951208e+00] [ 3.65870228e-03 9.99991463e-01 -1.92040330e-03 -4.42756572e-02] [ 1.96532038e-02 1.84813967e-03 9.99805149e-01 7.51014609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392557844 meters Centerline goodness : 0.122726 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 0.99979699 -0.00371365 -0.01980362 -1.84851976] [ 0.00367445 0.99999122 -0.00201557 -0.0435122 ] [ 0.01981093 0.00194239 0.99980186 0.75001876] [ 0. 0. 0. 1. ]] SLAMing on 39.422557844 meters Centerline goodness : 0.160811 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 0.99979248 -0.00370936 -0.02003105 -1.84743004] [ 0.00366896 0.99999116 -0.0020533 -0.04309507] [ 0.02003849 0.00197938 0.99979725 0.74912612] [ 0. 0. 0. 1. ]] SLAMing on 39.452557844000005 meters Centerline goodness : 0.160012 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 0.99979084 -0.00375666 -0.02010391 -1.84716927] [ 0.00371422 0.99999079 -0.00214829 -0.04271377] [ 0.02011179 0.00207317 0.99979559 0.74901113] [ 0. 0. 0. 1. ]] SLAMing on 39.482557844000006 meters Centerline goodness : 0.130681 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.05, Z:0.75 [[ 0.9997879 0.00451219 -0.02009447 -1.86787175] [-0.00458103 0.99998379 -0.0033813 -0.04616784] [ 0.02007889 0.00347264 0.99979237 0.74781188] [ 0. 0. 0. 1. ]] SLAMing on 39.51255784400001 meters Centerline goodness : 0.165739 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 0.99977161 -0.00321358 -0.02112843 -1.84837458] [ 0.00316773 0.99999256 -0.0022032 -0.04142198] [ 0.02113535 0.00213577 0.99977434 0.75095981] [ 0. 0. 0. 1. ]] SLAMing on 39.54255784400001 meters Centerline goodness : 0.135621 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 0.99976732 -0.00330675 -0.0213161 -1.84761616] [ 0.00325334 0.99999148 -0.00253996 -0.03967818] [ 0.02132432 0.00247002 0.99976956 0.7505101 ] [ 0. 0. 0. 1. ]] SLAMing on 39.572557844 meters Centerline goodness : 0.102590 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 0.99976476 -0.00344782 -0.02141332 -1.84711126] [ 0.00338387 0.99998971 -0.00302201 -0.03730373] [ 0.02142352 0.00294884 0.99976614 0.75015148] [ 0. 0. 0. 1. ]] SLAMing on 39.602557844 meters Centerline goodness : 0.163230 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.75 [[ 0.99976479 -0.00358268 -0.0213901 -1.84708279] [ 0.0035064 0.99998736 -0.00360273 -0.03439365] [ 0.02140274 0.00352688 0.99976471 0.75012285] [ 0. 0. 0. 1. ]] SLAMing on 39.632557844000004 meters Centerline goodness : 0.134307 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.75 [[ 0.99976876 -0.00359032 -0.02120221 -1.84767112] [ 0.00350267 0.99998517 -0.00416987 -0.03126109] [ 0.02121687 0.00409464 0.99976651 0.75051184] [ 0. 0. 0. 1. ]] SLAMing on 39.662557844000006 meters Centerline goodness : 0.161366 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.75 [[ 9.99777678e-01 1.53235246e-04 -2.10848560e-02 -1.84823039e+00] [-1.83280619e-04 9.99998971e-01 -1.42304899e-03 -2.53678141e-02] [ 2.10846163e-02 1.42659707e-03 9.99776677e-01 7.51095124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69255784400001 meters Centerline goodness : 0.128238 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.02, Z:0.75 [[ 9.99784318e-01 2.57259920e-04 -2.07665771e-02 -1.84907272e+00] [-2.97544626e-04 9.99998080e-01 -1.93681530e-03 -2.22203025e-02] [ 2.07660390e-02 1.94257655e-03 9.99782475e-01 7.51331807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72255784400001 meters Centerline goodness : 0.165059 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.02, Z:0.75 [[ 9.99790643e-01 2.52037007e-04 -2.04598919e-02 -1.84988634e+00] [-3.02095581e-04 9.99996969e-01 -2.44361466e-03 -1.94350041e-02] [ 2.04592140e-02 2.44928391e-03 9.99787688e-01 7.51527958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752557844 meters Centerline goodness : 0.168396 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.02, Z:0.75 [[ 9.99792439e-01 1.55256570e-04 -2.03728928e-02 -1.85018013e+00] [-2.14458254e-04 9.99995761e-01 -2.90375201e-03 -1.71523177e-02] [ 2.03723557e-02 2.90751844e-03 9.99788234e-01 7.51724525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782557844 meters Centerline goodness : 0.176041 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.01, Z:0.75 [[ 9.99794689e-01 -8.98612099e-05 -2.02625710e-02 -1.85066679e+00] [ 1.70438711e-05 9.99993542e-01 -3.59383109e-03 -1.41577486e-02] [ 2.02627631e-02 3.59274788e-03 9.99788234e-01 7.52141890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812557844000004 meters Centerline goodness : 0.186864 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.01, Z:0.75 [[ 9.99795477e-01 -2.02051042e-04 -2.02228345e-02 -1.85111323e+00] [ 1.22821206e-04 9.99992313e-01 -3.91900564e-03 -1.26669256e-02] [ 2.02234709e-02 3.91572032e-03 9.99787817e-01 7.52804172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842557844000005 meters Centerline goodness : 0.173890 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.01, Z:0.75 [[ 9.99794696e-01 -2.98947214e-04 -2.02601962e-02 -1.85113029e+00] [ 2.13497771e-04 9.99991075e-01 -4.21963369e-03 -1.12128128e-02] [ 2.02612769e-02 4.21444188e-03 9.99785837e-01 7.53043829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872557844000006 meters Centerline goodness : 0.116915 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.01, Z:0.75 [[ 9.99790434e-01 -3.65463066e-04 -2.04683917e-02 -1.85045231e+00] [ 2.73166014e-04 9.99989784e-01 -4.51186230e-03 -9.64882731e-03] [ 2.04698315e-02 4.50532550e-03 9.99780320e-01 7.52808941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90255784400001 meters Centerline goodness : 0.134511 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.01, Z:0.75 [[ 9.99786224e-01 -4.08882914e-04 -2.06721677e-02 -1.84974395e+00] [ 3.08123638e-04 9.99988059e-01 -4.87710161e-03 -7.63547485e-03] [ 2.06739150e-02 4.86968942e-03 9.99774412e-01 7.52511164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932557844 meters Centerline goodness : 0.162435 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.01, Z:0.75 [[ 9.99787734e-01 -4.38110968e-04 -2.05984307e-02 -1.84984238e+00] [ 3.28309279e-04 9.99985722e-01 -5.33366469e-03 -5.18331179e-03] [ 2.06004733e-02 5.32576988e-03 9.99773603e-01 7.52436278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962557844 meters Centerline goodness : 0.178617 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.00, Z:0.75 [[ 9.99798821e-01 2.54626466e-03 -1.98955771e-02 -1.85343011e+00] [-2.61105454e-03 9.99991371e-01 -3.23119903e-03 7.72631440e-04] [ 1.98871780e-02 3.28249742e-03 9.99796842e-01 7.54752875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992557844000004 meters SLAMing on 40.022557844000005 meters Centerline goodness : 0.204950 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.01, Z:0.75 [[ 9.99846867e-01 -1.63817751e-03 -1.74229581e-02 -1.87426998e+00] [ 1.63255369e-03 9.99998611e-01 -3.37000056e-04 1.09648568e-02] [ 1.74234859e-02 3.08504535e-04 9.99848152e-01 7.53289767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052557844000006 meters Centerline goodness : 0.178050 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.01, Z:0.75 [[ 9.99836942e-01 -1.65565349e-03 -1.79818777e-02 -1.87263459e+00] [ 1.64327553e-03 9.99998403e-01 -7.03111610e-04 1.30323713e-02] [ 1.79830131e-02 6.73447782e-04 9.99838066e-01 7.52800656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08255784400001 meters Centerline goodness : 0.097508 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99811278e-01 -1.48679117e-03 -1.93700009e-02 -1.86840313e+00] [ 1.46709897e-03 9.99998393e-01 -1.03080445e-03 1.55325742e-02] [ 1.93715024e-02 1.00219220e-03 9.99811853e-01 7.51416548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11255784400001 meters Centerline goodness : 0.210001 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99810984e-01 -1.59097014e-03 -1.93769334e-02 -1.86817693e+00] [ 1.56618444e-03 9.99997936e-01 -1.29424258e-03 1.67013027e-02] [ 1.93789525e-02 1.26365009e-03 9.99811412e-01 7.51054857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142557844 meters Centerline goodness : 0.177006 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99813765e-01 -1.62053356e-03 -1.92304410e-02 -1.86873466e+00] [ 1.59363168e-03 9.99997730e-01 -1.41416379e-03 1.73193007e-02] [ 1.92326891e-02 1.38325418e-03 9.99814078e-01 7.51402428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172557844 meters Centerline goodness : 0.211399 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99815672e-01 -1.58531751e-03 -1.91339453e-02 -1.86930197e+00] [ 1.55771123e-03 9.99997724e-01 -1.45760862e-03 1.78719672e-02] [ 1.91362125e-02 1.42753478e-03 9.99815867e-01 7.51965622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202557844000005 meters Centerline goodness : 0.098980 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99816187e-01 -1.57142927e-03 -1.91081864e-02 -1.86955101e+00] [ 1.54315427e-03 9.99997693e-01 -1.49438681e-03 1.82498119e-02] [ 1.91104907e-02 1.46462525e-03 9.99816305e-01 7.52292764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232557844000006 meters Centerline goodness : 0.173550 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99816454e-01 -1.54472607e-03 -1.90963741e-02 -1.86961220e+00] [ 1.51774380e-03 9.99997830e-01 -1.42736480e-03 1.78808277e-02] [ 1.90985376e-02 1.39811941e-03 9.99816629e-01 7.52329320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26255784400001 meters Centerline goodness : 0.177553 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99814097e-01 -1.47474004e-03 -1.92249088e-02 -1.86920531e+00] [ 1.45236775e-03 9.99998252e-01 -1.17762371e-03 1.64170531e-02] [ 1.92266119e-02 1.14948315e-03 9.99814491e-01 7.52178335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29255784400001 meters Centerline goodness : 0.173562 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.01, Z:0.75 [[ 0.99980526 0.00687879 -0.0184965 -1.84863242] [-0.00691528 0.99997427 -0.00190964 0.01169534] [ 0.01848289 0.00203717 0.9998271 0.75283948] [ 0. 0. 0. 1. ]] SLAMing on 40.322557844 meters Centerline goodness : 0.175888 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.01, Z:0.75 [[ 0.99980649 0.00691837 -0.018415 -1.84868336] [-0.00695521 0.99997394 -0.00193737 0.01208431] [ 0.01840112 0.00206507 0.99982855 0.75256592] [ 0. 0. 0. 1. ]] SLAMing on 40.352557844 meters Centerline goodness : 0.179320 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99815700e-01 -1.17810425e-03 -1.91618969e-02 -1.86854049e+00] [ 1.16408362e-03 9.99999047e-01 -7.42830750e-04 1.80768856e-02] [ 1.91627538e-02 7.20387796e-04 9.99816118e-01 7.51117083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382557844000004 meters Centerline goodness : 0.208548 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99813523e-01 -1.17985672e-03 -1.92750359e-02 -1.86810782e+00] [ 1.16101755e-03 9.99998837e-01 -9.88548131e-04 1.92719012e-02] [ 1.92761798e-02 9.65985134e-04 9.99813731e-01 7.50869475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412557844000006 meters Centerline goodness : 0.110360 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.02, Z:0.75 [[ 9.99755218e-01 8.95734290e-03 -2.02304077e-02 -1.89072384e+00] [-8.98136133e-03 9.99959065e-01 -1.09669676e-03 1.87973454e-02] [ 2.02197560e-02 1.27812491e-03 9.99794743e-01 7.51089522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44255784400001 meters Centerline goodness : 0.201043 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99814059e-01 3.59830776e-03 -1.89446215e-02 -1.86818739e+00] [-3.56393434e-03 9.99991942e-01 1.84786491e-03 2.25464347e-02] [ 1.89511181e-02 -1.78000393e-03 9.99818827e-01 7.50614540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47255784400001 meters Centerline goodness : 0.173894 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99819625e-01 3.60785993e-03 -1.86467411e-02 -1.86915674e+00] [-3.57816271e-03 9.99992277e-01 1.62574062e-03 2.38538549e-02] [ 1.86524626e-02 -1.55872630e-03 9.99824813e-01 7.50970322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502557844 meters Centerline goodness : 0.096594 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99823718e-01 3.58713718e-03 -1.84300091e-02 -1.87006126e+00] [-3.56139495e-03 9.99992637e-01 1.42938762e-03 2.48732700e-02] [ 1.84350008e-02 -1.36349910e-03 9.99829131e-01 7.51538885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532557844 meters Centerline goodness : 0.120740 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99827655e-01 3.52697860e-03 -1.82269492e-02 -1.87070574e+00] [-3.50498184e-03 9.99993090e-01 1.23863087e-03 2.56813504e-02] [ 1.82311918e-02 -1.17453227e-03 9.99833108e-01 7.51727608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562557844000004 meters Centerline goodness : 0.130149 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99829110e-01 3.50200502e-03 -1.81517794e-02 -1.87101472e+00] [-3.48235357e-03 9.99993316e-01 1.11411342e-03 2.61804182e-02] [ 1.81555598e-02 -1.05071211e-03 9.99834622e-01 7.51884632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592557844000005 meters Centerline goodness : 0.274255 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99827424e-01 3.35066366e-03 -1.82728003e-02 -1.87086865e+00] [-3.33818035e-03 9.99994174e-01 7.13622362e-04 2.79246891e-02] [ 1.82750849e-02 -6.52501305e-04 9.99832784e-01 7.52093816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622557844000006 meters Centerline goodness : 0.095168 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99827785e-01 3.31804684e-03 -1.82589938e-02 -1.87097218e+00] [-3.30774251e-03 9.99994353e-01 5.94514336e-04 2.85508231e-02] [ 1.82608633e-02 -5.34015902e-04 9.99833114e-01 7.52191227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65255784400001 meters SLAMing on 40.682557844 meters Centerline goodness : 0.207970 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99832211e-01 3.35371824e-03 -1.80084055e-02 -1.87176274e+00] [-3.34303639e-03 9.99994218e-01 6.23230200e-04 2.85315032e-02] [ 1.80103915e-02 -5.62922874e-04 9.99837641e-01 7.52451123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.712557844 meters Centerline goodness : 0.179127 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99834294e-01 3.42213256e-03 -1.78794179e-02 -1.87211858e+00] [-3.40743014e-03 9.99993831e-01 8.52708895e-04 2.73723143e-02] [ 1.78822257e-02 -7.91644728e-04 9.99839787e-01 7.52508494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742557844000004 meters Centerline goodness : 0.260377 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99834160e-01 3.53024333e-03 -1.78658793e-02 -1.87204469e+00] [-3.50904344e-03 9.99993102e-01 1.21782285e-03 2.55269450e-02] [ 1.78700552e-02 -1.15492874e-03 9.99839651e-01 7.52335453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.772557844000005 meters Centerline goodness : 0.260377 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99834160e-01 3.53024333e-03 -1.78658793e-02 -1.87204469e+00] [-3.50904344e-03 9.99993102e-01 1.21782285e-03 2.55269450e-02] [ 1.78700552e-02 -1.15492874e-03 9.99839651e-01 7.52335453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802557844000006 meters Centerline goodness : 0.123124 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99845481e-01 9.81407871e-04 -1.75513679e-02 -1.87399236e+00] [-9.94733862e-04 9.99999224e-01 -7.50542548e-04 2.06359600e-02] [ 1.75506177e-02 7.67885515e-04 9.99845681e-01 7.53501904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83255784400001 meters Centerline goodness : 0.196037 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99844602e-01 1.17423639e-03 -1.75895707e-02 -1.87395486e+00] [-1.17774239e-03 9.99999289e-01 -1.88965033e-04 1.80714439e-02] [ 1.75893363e-02 2.09651651e-04 9.99845274e-01 7.53633094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86255784400001 meters Centerline goodness : 0.085365 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.01, Z:0.75 [[ 9.99794422e-01 8.69323071e-04 -2.02573063e-02 -1.91918569e+00] [-8.75507888e-04 9.99999573e-01 -2.96446273e-04 1.43895806e-02] [ 2.02570400e-02 3.14120761e-04 9.99794756e-01 7.54191669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892557844 meters SLAMing on 40.922557844 meters Centerline goodness : 0.096604 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.01, Z:0.75 [[ 9.99783007e-01 1.26471873e-03 -2.07927824e-02 -1.91727164e+00] [-1.25064522e-03 9.99998980e-01 6.89835542e-04 9.36102396e-03] [ 2.07936337e-02 -6.63681459e-04 9.99783569e-01 7.53314677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952557844000005 meters Centerline goodness : 0.129825 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.01, Z:0.75 [[ 9.99777327e-01 1.41526124e-03 -2.10545422e-02 -1.91633891e+00] [-1.39920461e-03 9.99998719e-01 7.77332566e-04 9.27854409e-03] [ 2.10556153e-02 -7.47699863e-04 9.99778026e-01 7.52807089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982557844000006 meters Centerline goodness : 0.189604 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 9.99717831e-01 2.60403799e-03 -2.36109640e-02 -1.96196897e+00] [-2.56849231e-03 9.99995522e-01 1.53567511e-03 8.88177267e-03] [ 2.36148572e-02 -1.47459721e-03 9.99720043e-01 7.53037992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01255784400001 meters Centerline goodness : 0.192169 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 9.99718994e-01 2.72142835e-03 -2.35483906e-02 -1.96199819e+00] [-2.69143989e-03 9.99995526e-01 1.30508283e-03 1.03085007e-02] [ 2.35518370e-02 -1.24133701e-03 9.99721846e-01 7.52773326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04255784400001 meters Centerline goodness : 0.316983 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 9.99710578e-01 2.88909246e-03 -2.38833352e-02 -1.96125993e+00] [-2.86537454e-03 9.99995367e-01 1.02723676e-03 1.20407931e-02] [ 2.38861923e-02 -9.58504757e-04 9.99714225e-01 7.52803362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.072557844 meters Centerline goodness : 0.186619 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.01, Z:0.75 [[ 0.99960033 0.00606234 -0.02761196 -2.00294663] [-0.00599415 0.99997878 0.0025519 0.014354 ] [ 0.02762685 -0.00238537 0.99961546 0.75255698] [ 0. 0. 0. 1. ]] SLAMing on 41.102557844 meters Centerline goodness : 0.103261 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.02, Z:0.75 [[ 9.99625490e-01 7.05910229e-04 -2.73565704e-02 -1.98081706e+00] [-5.45225228e-04 9.99982560e-01 5.88074017e-03 1.88215996e-02] [ 2.73602445e-02 -5.86362228e-03 9.99608441e-01 7.52432922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132557844000004 meters Centerline goodness : 0.180241 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.02, Z:0.75 [[ 9.99634423e-01 6.79717582e-04 -2.70288547e-02 -1.98176244e+00] [-5.25133671e-04 9.99983469e-01 5.72590488e-03 1.96969058e-02] [ 2.70322999e-02 -5.70961786e-03 9.99618255e-01 7.52574553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162557844000006 meters Centerline goodness : 0.187862 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.02, Z:0.75 [[ 9.99643498e-01 6.41342758e-04 -2.66920469e-02 -1.98280537e+00] [-4.89349829e-04 9.99983633e-01 5.70045777e-03 1.95917858e-02] [ 2.66952660e-02 -5.68536380e-03 9.99627450e-01 7.52892851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19255784400001 meters Centerline goodness : 0.194710 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.02, Z:0.75 [[ 9.99651355e-01 6.13041672e-04 -2.63968402e-02 -1.98394981e+00] [-4.58570124e-04 9.99982739e-01 5.85755123e-03 1.82976638e-02] [ 2.63999755e-02 -5.84340422e-03 9.99634381e-01 7.53615404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22255784400001 meters Centerline goodness : 0.112343 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 0.9996393 0.0055246 -0.02628201 -1.96247676] [-0.00546672 0.99998247 0.00227365 0.01403262] [ 0.02629411 -0.00212915 0.99965198 0.75475752] [ 0. 0. 0. 1. ]] SLAMing on 41.252557844 meters Centerline goodness : 0.097750 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 0.99963124 0.00565013 -0.02656044 -1.96153953] [-0.0055826 0.999981 0.00261613 0.0124958 ] [ 0.02657472 -0.00246689 0.99964379 0.7543896 ] [ 0. 0. 0. 1. ]] SLAMing on 41.282557844 meters Centerline goodness : 0.187953 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 0.99962681 0.00573669 -0.02670844 -1.96088045] [-0.0056615 0.9999798 0.00289001 0.0111732 ] [ 0.02672448 -0.00273772 0.99963909 0.75392914] [ 0. 0. 0. 1. ]] SLAMing on 41.312557844000004 meters Centerline goodness : 0.250333 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 0.99962572 0.00582933 -0.02672885 -1.96077277] [-0.00574729 0.99997854 0.00314483 0.00989762] [ 0.02674661 -0.00299004 0.99963777 0.75386926] [ 0. 0. 0. 1. ]] SLAMing on 41.342557844000005 meters Centerline goodness : 0.187512 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 0.99962872 0.00592531 -0.02659541 -1.96124862] [-0.00583767 0.99997728 0.00337149 0.00883633] [ 0.02661478 -0.00321498 0.99964059 0.75411151] [ 0. 0. 0. 1. ]] SLAMing on 41.372557844000006 meters Centerline goodness : 0.181358 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:0.76 [[ 9.99692513e-01 6.91229868e-04 -2.47871415e-02 -1.94142138e+00] [-5.06794596e-04 9.99972148e-01 7.44627423e-03 9.67086733e-03] [ 2.47915982e-02 -7.43142261e-03 9.99665019e-01 7.55693704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40255784400001 meters Centerline goodness : 0.170120 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:0.76 [[ 9.99694550e-01 7.73636502e-04 -2.47023768e-02 -1.94181477e+00] [-5.87275840e-04 9.99971321e-01 7.55060369e-03 9.36855344e-03] [ 2.47075098e-02 -7.53379025e-03 9.99666335e-01 7.55996958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432557844 meters Centerline goodness : 0.085819 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:0.76 [[ 9.99694941e-01 8.49483595e-04 -2.46840836e-02 -1.94170412e+00] [-6.58210835e-04 9.99969706e-01 7.75592167e-03 8.18527636e-03] [ 2.46899243e-02 -7.73730832e-03 9.99665215e-01 7.55747033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462557844 meters Centerline goodness : 0.185724 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:0.76 [[ 9.99695425e-01 9.36219578e-04 -2.46613149e-02 -1.94143995e+00] [-7.36116070e-04 9.99966746e-01 8.12189368e-03 5.86024760e-03] [ 2.46680987e-02 -8.10126637e-03 9.99662870e-01 7.55277825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492557844000004 meters Centerline goodness : 0.101980 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.00, Z:0.75 [[ 0.99970379 -0.00265889 -0.02419202 -1.94244036] [ 0.00277244 0.99998529 0.00466135 0.00430757] [ 0.02417927 -0.00472704 0.99969646 0.75498471] [ 0. 0. 0. 1. ]] SLAMing on 41.522557844000005 meters Centerline goodness : 0.089187 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.01, Z:0.75 [[ 0.99971836 0.00501895 -0.02319522 -1.96192012] [-0.00492725 0.99997982 0.00400899 -0.00523708] [ 0.02321488 -0.00389357 0.99972292 0.75283407] [ 0. 0. 0. 1. ]] SLAMing on 41.552557844000006 meters Centerline goodness : 0.264365 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.01, Z:0.76 [[ 0.99978084 -0.00221053 -0.02081791 -1.94439431] [ 0.00235147 0.99997447 0.00674832 -0.00764931] [ 0.02080246 -0.00679579 0.99976051 0.75531885] [ 0. 0. 0. 1. ]] SLAMing on 41.58255784400001 meters Centerline goodness : 0.185809 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.01, Z:0.76 [[ 0.99978024 -0.00197726 -0.0208702 -1.94457228] [ 0.00213056 0.99997089 0.00732599 -0.01037488] [ 0.0208551 -0.00736885 0.99975535 0.75593844] [ 0. 0. 0. 1. ]] SLAMing on 41.61255784400001 meters Centerline goodness : 0.153670 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.02, Z:0.76 [[ 0.99974288 0.00581523 -0.02191715 -1.92402452] [-0.0056787 0.99996412 0.00628635 -0.01771508] [ 0.02195292 -0.00616027 0.99974003 0.75836182] [ 0. 0. 0. 1. ]] SLAMing on 41.642557844 meters Centerline goodness : 0.101715 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.02, Z:0.76 [[ 0.9997245 0.00633235 -0.02260132 -1.92104887] [-0.00617045 0.99995485 0.00722609 -0.02209908] [ 0.02264606 -0.00708464 0.99971844 0.75636108] [ 0. 0. 0. 1. ]] SLAMing on 41.672557844 meters Centerline goodness : 0.183274 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.02, Z:0.76 [[ 0.99972382 0.00651626 -0.02257909 -1.92064796] [-0.00634642 0.99995109 0.0075853 -0.02376877] [ 0.02262741 -0.00743991 0.99971628 0.75556476] [ 0. 0. 0. 1. ]] SLAMing on 41.702557844000005 meters Centerline goodness : 0.183124 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.03, Z:0.76 [[ 0.99972848 0.00667693 -0.02232446 -1.92114914] [-0.00650173 0.99994757 0.00791124 -0.02534845] [ 0.02237611 -0.00776395 0.99971948 0.75530282] [ 0. 0. 0. 1. ]] SLAMing on 41.732557844000006 meters Centerline goodness : 0.156607 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:0.76 [[ 9.99781478e-01 -1.38201068e-03 -2.08587289e-02 -1.90161237e+00] [ 1.56702680e-03 9.99959555e-01 8.85622425e-03 -2.24770826e-02] [ 2.08456459e-02 -8.88697515e-03 9.99743207e-01 7.56253272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76255784400001 meters Centerline goodness : 0.100156 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:0.76 [[ 9.99784996e-01 -1.20345217e-03 -2.07005611e-02 -1.90233714e+00] [ 1.39457936e-03 9.99956513e-01 9.22099098e-03 -2.40782103e-02] [ 2.06885639e-02 -9.24787701e-03 9.99743197e-01 7.56806720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79255784400001 meters Centerline goodness : 0.132895 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.03, Z:0.76 [[ 9.99788309e-01 -1.02205691e-03 -2.05497458e-02 -1.90300452e+00] [ 1.21916033e-03 9.99953355e-01 9.58128688e-03 -2.56242107e-02] [ 2.05389947e-02 -9.60431205e-03 9.99742920e-01 7.57339618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822557844 meters Centerline goodness : 0.120199 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.03, Z:0.76 [[ 9.99796005e-01 -7.48155137e-04 -2.01838704e-02 -1.90402382e+00] [ 9.53555024e-04 9.99947842e-01 1.01687330e-02 -2.82995444e-02] [ 2.01752099e-02 -1.01859050e-02 9.99744572e-01 7.57538006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852557844 meters Centerline goodness : 0.136016 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.03, Z:0.76 [[ 9.99797881e-01 -5.74393837e-04 -2.00964595e-02 -1.90412730e+00] [ 7.87269124e-04 9.99943653e-01 1.05863687e-02 -3.02366073e-02] [ 2.00892464e-02 -1.06000503e-02 9.99741997e-01 7.57387727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882557844000004 meters Centerline goodness : 0.136712 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.03, Z:0.76 [[ 9.99797616e-01 -3.83245888e-04 -2.01141640e-02 -1.90398275e+00] [ 6.07387380e-04 9.99937780e-01 1.11385396e-02 -3.29418108e-02] [ 2.01086437e-02 -1.11485024e-02 9.99735642e-01 7.57294526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912557844000006 meters Centerline goodness : 0.161933 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.04, Z:0.76 [[ 9.99793826e-01 -1.54538094e-04 -2.03046946e-02 -1.90337322e+00] [ 3.93172189e-04 9.99930899e-01 1.17491899e-02 -3.58638993e-02] [ 2.03014758e-02 -1.17547507e-02 9.99724800e-01 7.57169732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94255784400001 meters Centerline goodness : 0.156220 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.04, Z:0.76 [[ 9.99786745e-01 3.37965301e-05 -2.06509690e-02 -1.90221668e+00] [ 2.20838543e-04 9.99923983e-01 1.23280128e-02 -3.87329930e-02] [ 2.06498158e-02 -1.23299443e-02 9.99710737e-01 7.56805885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97255784400001 meters Centerline goodness : 0.105218 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.04, Z:0.75 [[ 9.99761751e-01 -1.81270080e-03 -2.17521468e-02 -1.89685212e+00] [ 2.04909038e-03 9.99939037e-01 1.08500510e-02 -4.32560072e-02] [ 2.17311529e-02 -1.08920380e-02 9.99704517e-01 7.54118420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002557844 meters Centerline goodness : 0.135962 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.05, Z:0.75 [[ 9.99761644e-01 -1.62809321e-03 -2.17716337e-02 -1.89688113e+00] [ 1.87451028e-03 9.99934366e-01 1.13026488e-02 -4.54274108e-02] [ 2.17518030e-02 -1.13407659e-02 9.99699078e-01 7.54321615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032557844 meters Centerline goodness : 0.162204 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.05, Z:0.76 [[ 9.99763395e-01 -1.44149981e-03 -2.17042790e-02 -1.89748746e+00] [ 1.69709834e-03 9.99929378e-01 1.17626019e-02 -4.76011323e-02] [ 2.16857904e-02 -1.17966531e-02 9.99695236e-01 7.55115947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062557844000004 meters Centerline goodness : 0.148023 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.05, Z:0.76 [[ 9.99768845e-01 -1.03448990e-03 -2.14752635e-02 -1.89864037e+00] [ 1.30697992e-03 9.99918772e-01 1.26783982e-02 -5.15810100e-02] [ 2.14604034e-02 -1.27035353e-02 9.99688987e-01 7.56164839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092557844000005 meters Centerline goodness : 0.162830 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.05, Z:0.76 [[ 9.99767632e-01 -8.41424542e-04 -2.15400780e-02 -1.89817750e+00] [ 1.12458041e-03 9.99913076e-01 1.31367997e-02 -5.36764135e-02] [ 2.15271520e-02 -1.31579707e-02 9.99681674e-01 7.55714116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122557844000006 meters Centerline goodness : 0.155951 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:0.75 [[ 9.99762453e-01 -6.93706761e-04 -2.17843352e-02 -1.89704173e+00] [ 9.88793976e-04 9.99907868e-01 1.35379959e-02 -5.56979432e-02] [ 2.17729368e-02 -1.35563202e-02 9.99671029e-01 7.54865313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15255784400001 meters Centerline goodness : 0.162845 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:0.75 [[ 9.99754986e-01 -5.80857440e-04 -2.21275770e-02 -1.89561232e+00] [ 8.89998681e-04 9.99902108e-01 1.39635731e-02 -5.80344395e-02] [ 2.21173000e-02 -1.39798454e-02 9.99657636e-01 7.53975974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18255784400001 meters Centerline goodness : 0.177924 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:0.75 [[ 0.99974883 -0.00412712 -0.02202829 -1.89566743] [ 0.00435997 0.99993502 0.01053273 -0.05909412] [ 0.02198339 -0.01062613 0.99970186 0.75365256] [ 0. 0. 0. 1. ]] SLAMing on 42.212557844 meters Centerline goodness : 0.104545 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:0.75 [[ 0.99974811 -0.00391205 -0.02210004 -1.89572309] [ 0.00415885 0.99992938 0.01113254 -0.0618582 ] [ 0.02205493 -0.01122165 0.99969378 0.75416721] [ 0. 0. 0. 1. ]] SLAMing on 42.242557844000004 meters Centerline goodness : 0.175004 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.07, Z:0.75 [[ 9.99810004e-01 1.56420361e-03 -1.94295861e-02 -1.87251189e+00] [-1.39600607e-03 9.99961464e-01 8.66732306e-03 -6.60197511e-02] [ 1.94423948e-02 -8.63855249e-03 9.99773659e-01 7.53789140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272557844000005 meters Centerline goodness : 0.180682 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.07, Z:0.75 [[ 9.99772074e-01 4.57477207e-04 -2.13445562e-02 -1.91949455e+00] [-2.68171147e-04 9.99960615e-01 8.87107527e-03 -7.19596029e-02] [ 2.13477739e-02 -8.86332933e-03 9.99732821e-01 7.54869498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302557844000006 meters Centerline goodness : 0.175232 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:0.75 [[ 0.99979138 0.00690185 -0.01922396 -1.89738125] [-0.00678719 0.99995883 0.00602326 -0.07474118] [ 0.01926474 -0.00589153 0.99979706 0.75411779] [ 0. 0. 0. 1. ]] SLAMing on 42.33255784400001 meters Centerline goodness : 0.173081 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.08, Z:0.75 [[ 0.99982436 0.00366311 -0.01837999 -1.89938748] [-0.00361198 0.99998952 0.00281432 -0.07627715] [ 0.0183901 -0.00274744 0.99982711 0.75386959] [ 0. 0. 0. 1. ]] SLAMing on 42.36255784400001 meters Centerline goodness : 0.178427 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.08, Z:0.75 [[ 0.99982077 0.00380182 -0.01854651 -1.89874147] [-0.00374402 0.99998803 0.00314997 -0.0778691 ] [ 0.01855826 -0.00307997 0.99982304 0.75348478] [ 0. 0. 0. 1. ]] SLAMing on 42.392557844 meters Centerline goodness : 0.137417 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.08, Z:0.75 [[ 0.99981595 0.00389223 -0.01878582 -1.89775173] [-0.00383024 0.9999871 0.00333477 -0.07865402] [ 0.01879856 -0.0032622 0.99981797 0.75276012] [ 0. 0. 0. 1. ]] SLAMing on 42.422557844 meters Centerline goodness : 0.149652 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.07, Z:0.75 [[ 0.9997996 -0.00314121 -0.01977124 -1.87856098] [ 0.00323006 0.99998482 0.00446401 -0.0742001 ] [ 0.01975692 -0.00452697 0.99979456 0.75427579] [ 0. 0. 0. 1. ]] SLAMing on 42.452557844000005 meters Centerline goodness : 0.142685 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.08, Z:0.75 [[ 9.99827500e-01 3.81286954e-03 -1.81777761e-02 -1.85799462e+00] [-3.78277218e-03 9.99991418e-01 1.68981988e-03 -7.85758685e-02] [ 1.81840631e-02 -1.62076600e-03 9.99833343e-01 7.54936977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482557844000006 meters Centerline goodness : 0.150081 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.08, Z:0.75 [[ 0.99980748 -0.0052169 -0.01891508 -1.88000617] [ 0.00527088 0.99998218 0.00280488 -0.07779081] [ 0.01890011 -0.00290404 0.99981716 0.75457579] [ 0. 0. 0. 1. ]] SLAMing on 42.51255784400001 meters Centerline goodness : 0.139522 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.08, Z:0.75 [[ 0.99980918 -0.00499838 -0.0188845 -1.88013361] [ 0.00506224 0.99998162 0.00333521 -0.08013666] [ 0.01886748 -0.00343017 0.99981611 0.75470121] [ 0. 0. 0. 1. ]] SLAMing on 42.54255784400001 meters Centerline goodness : 0.136158 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.09, Z:0.76 [[ 0.99980765 0.00354876 -0.01928917 -1.85985002] [-0.00349864 0.99999042 0.00263105 -0.08689888] [ 0.01929832 -0.00256306 0.99981048 0.75620782] [ 0. 0. 0. 1. ]] SLAMing on 42.572557844 meters Centerline goodness : 0.148380 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.09, Z:0.76 [[ 9.99803085e-01 9.29559955e-05 -1.98439738e-02 -1.85776481e+00] [-1.00957764e-04 9.99999914e-01 -4.02232783e-04 -9.08302020e-02] [ 1.98439347e-02 4.04156981e-04 9.99803008e-01 7.55134893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602557844 meters Centerline goodness : 0.138541 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.09, Z:0.76 [[ 9.99800788e-01 3.19642304e-04 -1.99570232e-02 -1.85754104e+00] [-3.15035335e-04 9.99999923e-01 2.33987944e-04 -9.39436185e-02] [ 1.99570965e-02 -2.27654163e-04 9.99800811e-01 7.55307260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.632557844000004 meters Centerline goodness : 0.140756 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.10, Z:0.76 [[ 9.99803622e-01 6.14121786e-04 -1.98076004e-02 -1.85818039e+00] [-5.95723869e-04 9.99999386e-01 9.34718309e-04 -9.70584679e-02] [ 1.98081622e-02 -9.22734890e-04 9.99803373e-01 7.55815972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662557844000006 meters Centerline goodness : 0.139713 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.10, Z:0.76 [[ 9.99805788e-01 8.80515088e-04 -1.96878137e-02 -1.85873320e+00] [-8.48816186e-04 9.99998330e-01 1.61837580e-03 -1.00169953e-01] [ 1.96892058e-02 -1.60135016e-03 9.99804866e-01 7.56337502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69255784400001 meters Centerline goodness : 0.139713 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.10, Z:0.76 [[ 9.99805788e-01 8.80515088e-04 -1.96878137e-02 -1.85873320e+00] [-8.48816186e-04 9.99998330e-01 1.61837580e-03 -1.00169953e-01] [ 1.96892058e-02 -1.60135016e-03 9.99804866e-01 7.56337502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72255784400001 meters Centerline goodness : 0.140007 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.10, Z:0.76 [[ 9.99805792e-01 1.13117160e-03 -1.96748114e-02 -1.85872477e+00] [-1.08703779e-03 9.99996870e-01 2.25371296e-03 -1.03161285e-01] [ 1.96772991e-02 -2.23188800e-03 9.99803892e-01 7.56352899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.752557844 meters Centerline goodness : 0.146829 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.11, Z:0.76 [[ 9.99759674e-01 7.46154928e-03 -2.06135833e-02 -1.83458062e+00] [-7.47752637e-03 9.99971799e-01 -6.98105889e-04 -1.09516806e-01] [ 2.06077930e-02 8.52076728e-04 9.99787274e-01 7.55957882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782557844 meters Centerline goodness : 0.138373 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.11, Z:0.76 [[ 9.99759126e-01 7.58168312e-03 -2.05963108e-02 -1.83451303e+00] [-7.59260826e-03 9.99971073e-01 -4.52294374e-04 -1.10620411e-01] [ 2.05922859e-02 6.08565147e-04 9.99787771e-01 7.55786443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812557844000004 meters Centerline goodness : 0.139042 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 9.99806951e-01 7.63335106e-04 -1.96335796e-02 -1.81808104e+00] [-7.36122522e-04 9.99998759e-01 1.39321227e-03 -1.06074349e-01] [ 1.96346188e-02 -1.37849060e-03 9.99806272e-01 7.58423889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842557844000005 meters Centerline goodness : 0.135520 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 9.99832634e-01 1.61016826e-03 -1.82239186e-02 -1.82258440e+00] [-1.56865991e-03 9.99996144e-01 2.29175099e-03 -1.07886112e-01] [ 1.82275384e-02 -2.26278030e-03 9.99831304e-01 7.59857861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872557844000006 meters Centerline goodness : 0.134380 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 9.99830458e-01 1.62777438e-03 -1.83413605e-02 -1.82209034e+00] [-1.58523697e-03 9.99996021e-01 2.33350723e-03 -1.08211774e-01] [ 1.83450859e-02 -2.30403620e-03 9.99829060e-01 7.59521550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90255784400001 meters Centerline goodness : 0.155524 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 9.99824649e-01 1.61610571e-03 -1.86563738e-02 -1.82086073e+00] [-1.57215484e-03 9.99995955e-01 2.37023606e-03 -1.08708801e-01] [ 1.86601289e-02 -2.34048972e-03 9.99823145e-01 7.58779794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93255784400001 meters Centerline goodness : 0.136592 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 9.99818813e-01 1.62586498e-03 -1.89657134e-02 -1.81972861e+00] [-1.58002536e-03 9.99995795e-01 2.43170742e-03 -1.09200573e-01] [ 1.89695872e-02 -2.40130052e-03 9.99817178e-01 7.58124768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962557844 meters Centerline goodness : 0.136272 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 9.99816102e-01 1.69051098e-03 -1.91024843e-02 -1.81914921e+00] [-1.64172411e-03 9.99995352e-01 2.56934757e-03 -1.09727942e-01] [ 1.91067391e-02 -2.53751406e-03 9.99814230e-01 7.57703104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.992557844000004 meters Centerline goodness : 0.140848 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 0.99982153 0.00197032 -0.01878881 -1.82054144] [-0.00190957 0.99999289 0.00325102 -0.11247578] [ 0.01879509 -0.00321456 0.99981819 0.75883978] [ 0. 0. 0. 1. ]] SLAMing on 43.022557844000005 meters Centerline goodness : 0.146682 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 0.99982147 0.002055 -0.01878289 -1.82082155] [-0.00198627 0.99999127 0.00367756 -0.11472259] [ 0.01879028 -0.00363959 0.99981682 0.75941565] [ 0. 0. 0. 1. ]] SLAMing on 43.052557844000006 meters Centerline goodness : 0.147094 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.12, Z:0.76 [[ 0.99981765 0.00215405 -0.01897456 -1.82036103] [-0.0020764 0.99998939 0.00411078 -0.1169673 ] [ 0.01898322 -0.00407063 0.99981152 0.75952007] [ 0. 0. 0. 1. ]] SLAMing on 43.08255784400001 meters Centerline goodness : 0.143712 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.12, Z:0.76 [[ 0.99981332 0.00221508 -0.01919439 -1.81958936] [-0.0021311 0.99998807 0.00439469 -0.11844825] [ 0.01920389 -0.00435296 0.99980611 0.75915242] [ 0. 0. 0. 1. ]] SLAMing on 43.11255784400001 meters Centerline goodness : 0.140415 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.12, Z:0.76 [[ 0.99980977 0.00231127 -0.01936693 -1.81888155] [-0.00222106 0.99998659 0.00467794 -0.11978156] [ 0.01937748 -0.00463403 0.9998015 0.75869291] [ 0. 0. 0. 1. ]] SLAMing on 43.142557844 meters Centerline goodness : 0.144463 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.12, Z:0.76 [[ 0.99979602 0.00226597 -0.02006969 -1.81703319] [-0.00216215 0.99998418 0.00519281 -0.12303366] [ 0.02008114 -0.00514835 0.9997851 0.75873175] [ 0. 0. 0. 1. ]] SLAMing on 43.172557844 meters Centerline goodness : 0.144525 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 0.99979283 0.00241023 -0.02021128 -1.81683481] [-0.00229715 0.99998159 0.00561657 -0.12513687] [ 0.02022444 -0.00556898 0.99977996 0.75909464] [ 0. 0. 0. 1. ]] SLAMing on 43.202557844000005 meters Centerline goodness : 0.141274 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 0.99979257 0.00255709 -0.02020612 -1.81702622] [-0.00243681 0.99997918 0.00597476 -0.12670257] [ 0.02022098 -0.00592428 0.99977798 0.75944682] [ 0. 0. 0. 1. ]] SLAMing on 43.232557844000006 meters Centerline goodness : 0.128422 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 0.99979521 0.00268457 -0.02005827 -1.81760717] [-0.00256047 0.99997744 0.00621041 -0.12753796] [ 0.02007449 -0.00615778 0.99977952 0.75979942] [ 0. 0. 0. 1. ]] SLAMing on 43.26255784400001 meters Centerline goodness : 0.124595 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 0.9998065 0.00292543 -0.0194524 -1.81975872] [-0.00279609 0.99997383 0.0066731 -0.12940137] [ 0.01947142 -0.00661742 0.99978851 0.76089776] [ 0. 0. 0. 1. ]] SLAMing on 43.29255784400001 meters Centerline goodness : 0.136918 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 0.99980996 0.00305767 -0.01925321 -1.82069587] [-0.00292221 0.99997081 0.00705951 -0.13131432] [ 0.01927424 -0.00700191 0.99978972 0.76171443] [ 0. 0. 0. 1. ]] SLAMing on 43.322557844 meters Centerline goodness : 0.126913 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 9.99833412e-01 -1.85359586e-04 -1.82514224e-02 -1.82375610e+00] [ 2.55698957e-04 9.99992550e-01 3.85165356e-03 -1.32283437e-01] [ 1.82505725e-02 -3.85567879e-03 9.99826010e-01 7.62328791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.352557844 meters Centerline goodness : 0.138695 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 9.99831681e-01 -2.39953251e-05 -1.83468851e-02 -1.82354196e+00] [ 1.03087223e-04 9.99990707e-01 4.30998339e-03 -1.34399992e-01] [ 1.83466111e-02 -4.31114927e-03 9.99822392e-01 7.62393688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382557844000004 meters Centerline goodness : 0.127617 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.14, Z:0.76 [[ 9.99825775e-01 7.55276779e-05 -1.86658684e-02 -1.82245591e+00] [ 1.18857808e-05 9.99989035e-01 4.68290883e-03 -1.36283317e-01] [ 1.86660174e-02 -4.68231480e-03 9.99814811e-01 7.61953944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.412557844000006 meters Centerline goodness : 0.117703 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.14, Z:0.76 [[ 9.99818611e-01 1.74636609e-04 -1.90450798e-02 -1.82125513e+00] [-7.70052856e-05 9.99986854e-01 5.12694073e-03 -1.38683727e-01] [ 1.90457248e-02 -5.12454419e-03 9.99805481e-01 7.61581392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44255784400001 meters Centerline goodness : 0.130094 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.14, Z:0.76 [[ 0.99981153 -0.00365596 -0.01906682 -1.82103625] [ 0.00369502 0.99999115 0.00201403 -0.14341627] [ 0.01905928 -0.00208411 0.99981618 0.76140408] [ 0. 0. 0. 1. ]] SLAMing on 43.47255784400001 meters Centerline goodness : 0.132101 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.15, Z:0.76 [[ 9.99813955e-01 2.51808812e-03 -1.91236856e-02 -1.79820224e+00] [-2.53696622e-03 9.99996318e-01 -9.62961872e-04 -1.48081340e-01] [ 1.91211904e-02 1.01129886e-03 9.99816662e-01 7.60966500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502557844 meters Centerline goodness : 0.117798 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.15, Z:0.76 [[ 9.99798055e-01 2.73778957e-03 -1.99086503e-02 -1.79576128e+00] [-2.74248802e-03 9.99996218e-01 -2.08701987e-04 -1.51893769e-01] [ 1.99080036e-02 2.63259075e-04 9.99801781e-01 7.60337909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.532557844 meters Centerline goodness : 0.132228 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.16, Z:0.76 [[ 9.99733054e-01 9.77375470e-04 -2.30838744e-02 -1.83746853e+00] [-9.87447493e-04 9.99999422e-01 -4.24928360e-04 -1.59015103e-01] [ 2.30834458e-02 4.47609041e-04 9.99733442e-01 7.59860884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562557844000004 meters Centerline goodness : 0.141025 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.16, Z:0.76 [[ 9.99730804e-01 1.19003801e-03 -2.31711554e-02 -1.83728693e+00] [-1.18536667e-03 9.99999274e-01 2.15335821e-04 -1.62127923e-01] [ 2.31713948e-02 -1.87811538e-04 9.99731490e-01 7.59984658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.592557844000005 meters Centerline goodness : 0.111255 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.17, Z:0.76 [[ 9.99754193e-01 1.52890948e-03 -2.21182104e-02 -1.84108739e+00] [-1.50714605e-03 9.99998364e-01 1.00059593e-03 -1.65161313e-01] [ 2.21197040e-02 -9.67014604e-04 9.99754862e-01 7.61976502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622557844000006 meters Centerline goodness : 0.109625 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.16, Z:0.76 [[ 9.99804029e-01 3.37177720e-03 -1.95073228e-02 -1.80020030e+00] [-3.35038215e-03 9.99993750e-01 1.12934757e-03 -1.63272324e-01] [ 1.95110088e-02 -1.06376927e-03 9.99809076e-01 7.63548292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65255784400001 meters Centerline goodness : 0.124090 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.16, Z:0.76 [[ 9.99804185e-01 3.37438269e-03 -1.94988361e-02 -1.80029274e+00] [-3.35331273e-03 9.99993758e-01 1.11317003e-03 -1.63153536e-01] [ 1.95024707e-02 -1.04756636e-03 9.99809260e-01 7.63707375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68255784400001 meters Centerline goodness : 0.108873 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.16, Z:0.76 [[ 9.99798697e-01 3.30451020e-03 -1.97900188e-02 -1.79920819e+00] [-3.28572763e-03 9.99994120e-01 9.81533310e-04 -1.62805326e-01] [ 1.97931459e-02 -9.16311113e-04 9.99803677e-01 7.63131486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.712557844 meters Centerline goodness : 0.124775 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.16, Z:0.76 [[ 9.99780442e-01 3.31244867e-03 -2.06904447e-02 -1.79575225e+00] [-3.30002105e-03 9.99994353e-01 6.34759802e-04 -1.61250317e-01] [ 2.06924305e-02 -5.66341533e-04 9.99785728e-01 7.61260940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742557844000004 meters Centerline goodness : 0.134811 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.15, Z:0.76 [[ 0.99978838 -0.00412267 -0.02015443 -1.77651585] [ 0.00416576 0.99998912 0.00209689 -0.15369854] [ 0.02014557 -0.00218041 0.99979468 0.76167894] [ 0. 0. 0. 1. ]] SLAMing on 43.772557844000005 meters Centerline goodness : 0.117497 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.15, Z:0.76 [[ 0.99979158 -0.00408804 -0.02000217 -1.77698223] [ 0.00413246 0.99998909 0.00217976 -0.15395229] [ 0.01999304 -0.00226197 0.99979756 0.76178316] [ 0. 0. 0. 1. ]] SLAMing on 43.802557844000006 meters Centerline goodness : 0.130102 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99979335 -0.00403106 -0.01992513 -1.77747291] [ 0.00407999 0.99998876 0.00241535 -0.15506881] [ 0.01991517 -0.00249615 0.99979856 0.76228539] [ 0. 0. 0. 1. ]] SLAMing on 43.83255784400001 meters Centerline goodness : 0.153352 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.9997869 -0.00409454 -0.02023336 -1.77691779] [ 0.00414809 0.999988 0.00260551 -0.15648615] [ 0.02022245 -0.00268889 0.99979189 0.7627172 ] [ 0. 0. 0. 1. ]] SLAMing on 43.86255784400001 meters Centerline goodness : 0.146650 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99977496 -0.00422338 -0.02078932 -1.77563887] [ 0.00428156 0.99998704 0.00275451 -0.15785229] [ 0.02077742 -0.0028429 0.99978008 0.76294214] [ 0. 0. 0. 1. ]] SLAMing on 43.892557844 meters Centerline goodness : 0.147343 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.16, Z:0.76 [[ 0.99976691 -0.00373599 -0.02126414 -1.77408157] [ 0.00382083 0.9999849 0.0039505 -0.16140071] [ 0.02124906 -0.00403083 0.99976609 0.76168482] [ 0. 0. 0. 1. ]] SLAMing on 43.922557844 meters Centerline goodness : 0.123278 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.16, Z:0.76 [[ 0.99977242 -0.00348312 -0.0210468 -1.77417519] [ 0.00357892 0.9999834 0.00451584 -0.1626828 ] [ 0.02103072 -0.00459013 0.99976829 0.76071218] [ 0. 0. 0. 1. ]] SLAMing on 43.952557844000005 meters Centerline goodness : 0.137783 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.999781 -0.00348147 -0.02063575 -1.77524676] [ 0.00357945 0.99998249 0.00471291 -0.16328436] [ 0.02061898 -0.00478574 0.99977595 0.76058732] [ 0. 0. 0. 1. ]] SLAMing on 43.982557844000006 meters Centerline goodness : 0.110949 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99978985 -0.00381034 -0.02014292 -1.77696212] [ 0.00390036 0.99998257 0.00443171 -0.16286001] [ 0.02012569 -0.00450935 0.99978729 0.76129592] [ 0. 0. 0. 1. ]] SLAMing on 44.01255784400001 meters Centerline goodness : 0.111954 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99979249 -0.00414437 -0.01994479 -1.77803109] [ 0.00422377 0.99998331 0.00394084 -0.16177975] [ 0.01992812 -0.00402426 0.99979332 0.76229233] [ 0. 0. 0. 1. ]] SLAMing on 44.04255784400001 meters Centerline goodness : 0.112149 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.9997906 -0.00423361 -0.02002077 -1.77802557] [ 0.0043085 0.99998388 0.00369867 -0.16100339] [ 0.02000479 -0.00378415 0.99979272 0.76267129] [ 0. 0. 0. 1. ]] SLAMing on 44.072557844 meters Centerline goodness : 0.116978 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.16, Z:0.76 [[ 9.99773417e-01 -1.58039797e-03 -2.12277184e-02 -1.77388556e+00] [ 1.70656127e-03 9.99980982e-01 5.92652896e-03 -1.56630502e-01] [ 2.12179484e-02 -5.96141251e-03 9.99757101e-01 7.61255322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102557844 meters Centerline goodness : 0.131168 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.16, Z:0.76 [[ 9.99774393e-01 -1.66074154e-03 -2.11755877e-02 -1.77386896e+00] [ 1.78285655e-03 9.99981884e-01 5.74920839e-03 -1.55761211e-01] [ 2.11656561e-02 -5.78566436e-03 9.99759242e-01 7.60954931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.132557844000004 meters Centerline goodness : 0.129891 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.16, Z:0.76 [[ 0.99976024 0.00665128 -0.02086183 -1.75589041] [-0.00655114 0.99996671 0.00486478 -0.16125199] [ 0.02089349 -0.00472694 0.99977053 0.76218681] [ 0. 0. 0. 1. ]] SLAMing on 44.162557844000006 meters Centerline goodness : 0.137947 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99978664 -0.00320539 -0.02040579 -1.77841286] [ 0.00331261 0.99998087 0.00522302 -0.1561319 ] [ 0.02038865 -0.0052895 0.99977814 0.76156918] [ 0. 0. 0. 1. ]] SLAMing on 44.19255784400001 meters Centerline goodness : 0.130685 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99979653 -0.00327913 -0.01990318 -1.77968492] [ 0.00338931 0.99997911 0.00550421 -0.15698945] [ 0.01988471 -0.00557055 0.99978676 0.76116214] [ 0. 0. 0. 1. ]] SLAMing on 44.22255784400001 meters Centerline goodness : 0.142776 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99979387 -0.00329107 -0.02003445 -1.77935711] [ 0.00340463 0.99997832 0.00563653 -0.15770677] [ 0.02001547 -0.00570358 0.9997834 0.76115166] [ 0. 0. 0. 1. ]] SLAMing on 44.252557844 meters Centerline goodness : 0.148718 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.16, Z:0.76 [[ 0.999817 0.00275529 -0.01893063 -1.75651547] [-0.00271283 0.99999375 0.00226828 -0.1594097 ] [ 0.01893676 -0.00221651 0.99981823 0.76006773] [ 0. 0. 0. 1. ]] SLAMing on 44.282557844 meters Centerline goodness : 0.143970 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.16, Z:0.76 [[ 0.99981363 0.00269911 -0.01911596 -1.75606915] [-0.00265209 0.9999934 0.00248432 -0.16087986] [ 0.01912254 -0.00243316 0.99981419 0.76006754] [ 0. 0. 0. 1. ]] SLAMing on 44.312557844000004 meters Centerline goodness : 0.133525 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.16, Z:0.76 [[ 0.99981512 0.00267671 -0.01904082 -1.75643973] [-0.00262476 0.99999277 0.00275288 -0.1624894 ] [ 0.01904805 -0.00270239 0.99981492 0.7603953 ] [ 0. 0. 0. 1. ]] SLAMing on 44.342557844000005 meters Centerline goodness : 0.137208 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.16, Z:0.76 [[ 0.99984366 0.00233897 -0.01752654 -1.76096307] [-0.00228886 0.99999324 0.00287857 -0.16386046] [ 0.01753315 -0.00283801 0.99984225 0.76172429] [ 0. 0. 0. 1. ]] SLAMing on 44.372557844000006 meters Centerline goodness : 0.127417 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.16, Z:0.76 [[ 0.99984569 0.00235354 -0.01740876 -1.76155493] [-0.00230132 0.99999279 0.00301908 -0.16447253] [ 0.01741574 -0.00297855 0.9998439 0.76221227] [ 0. 0. 0. 1. ]] SLAMing on 44.40255784400001 meters Centerline goodness : 0.134957 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.17, Z:0.76 [[ 9.99796576e-01 5.94699422e-04 -2.01606642e-02 -1.80628813e+00] [-5.34519590e-04 9.99995386e-01 2.99026967e-03 -1.65613809e-01] [ 2.01623495e-02 -2.97888511e-03 9.99792281e-01 7.62554507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43255784400001 meters Centerline goodness : 0.125556 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.17, Z:0.76 [[ 9.99772849e-01 2.00737136e-04 -2.13122049e-02 -1.80297387e+00] [-1.38593492e-04 9.99995735e-01 2.91730817e-03 -1.66525277e-01] [ 2.13126996e-02 -2.91369177e-03 9.99768613e-01 7.61734086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462557844 meters Centerline goodness : 0.132178 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.17, Z:0.76 [[ 9.99770398e-01 2.68711268e-04 -2.14261251e-02 -1.80251239e+00] [-2.01161009e-04 9.99995003e-01 3.15479831e-03 -1.67599260e-01] [ 2.14268657e-02 -3.14976386e-03 9.99765457e-01 7.61378287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492557844000004 meters Centerline goodness : 0.146360 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.17, Z:0.76 [[ 0.99974685 0.00893699 -0.02064839 -1.7831117 ] [-0.00889061 0.99995775 0.00233685 -0.17333004] [ 0.02066841 -0.00215268 0.99978407 0.76211735] [ 0. 0. 0. 1. ]] SLAMing on 44.522557844000005 meters Centerline goodness : 0.150014 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.17, Z:0.76 [[ 9.99760134e-01 -3.54688685e-04 -2.18986180e-02 -1.80385521e+00] [ 4.29139154e-04 9.99994144e-01 3.39517362e-03 -1.70265739e-01] [ 2.18972856e-02 -3.40375679e-03 9.99754432e-01 7.61326586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552557844000006 meters Centerline goodness : 0.120658 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.17, Z:0.76 [[ 9.99792045e-01 -6.62708011e-05 -2.03927236e-02 -1.75847095e+00] [ 1.13282993e-04 9.99997339e-01 2.30419493e-03 -1.70388020e-01] [ 2.03925167e-02 -2.30602591e-03 9.99789392e-01 7.61059594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58255784400001 meters Centerline goodness : 0.120658 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.17, Z:0.76 [[ 9.99792045e-01 -6.62708011e-05 -2.03927236e-02 -1.75847095e+00] [ 1.13282993e-04 9.99997339e-01 2.30419493e-03 -1.70388020e-01] [ 2.03925167e-02 -2.30602591e-03 9.99789392e-01 7.61059594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61255784400001 meters Centerline goodness : 0.121383 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.17, Z:0.76 [[ 9.99787898e-01 -1.33565789e-04 -2.05946934e-02 -1.75792634e+00] [ 1.79158002e-04 9.99997538e-01 2.21195535e-03 -1.70356226e-01] [ 2.05943473e-02 -2.21517590e-03 9.99785460e-01 7.61006398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642557844 meters Centerline goodness : 0.132832 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.17, Z:0.76 [[ 9.99792485e-01 -1.58410438e-04 -2.03705949e-02 -1.75854408e+00] [ 1.99649653e-04 9.99997935e-01 2.02243045e-03 -1.69289770e-01] [ 2.03702324e-02 -2.02607775e-03 9.99790452e-01 7.61123067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.672557844 meters Centerline goodness : 0.129171 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.17, Z:0.76 [[ 9.99784649e-01 9.03271259e-03 -1.86833215e-02 -1.73862176e+00] [-9.01308820e-03 9.99958738e-01 1.13430910e-03 -1.71489066e-01] [ 1.86927964e-02 -9.65670400e-04 9.99824808e-01 7.61429302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702557844000005 meters Centerline goodness : 0.140780 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.17, Z:0.76 [[ 9.99787955e-01 8.93572484e-03 -1.85525969e-02 -1.73884992e+00] [-8.92193840e-03 9.99959858e-01 8.25738424e-04 -1.69928096e-01] [ 1.85592307e-02 -6.60038204e-04 9.99827545e-01 7.61278028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.732557844000006 meters Centerline goodness : 0.123569 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.16, Z:0.76 [[ 9.99811789e-01 1.84511965e-03 -1.93127536e-02 -1.71947166e+00] [-1.81451825e-03 9.99997071e-01 1.60192094e-03 -1.63797809e-01] [ 1.93156528e-02 -1.56657609e-03 9.99812208e-01 7.63073665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76255784400001 meters Centerline goodness : 0.139047 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.16, Z:0.76 [[ 9.99809419e-01 1.78536815e-03 -1.94406324e-02 -1.71901841e+00] [-1.75524918e-03 9.99997233e-01 1.56623211e-03 -1.63790915e-01] [ 1.94433749e-02 -1.53181046e-03 9.99809786e-01 7.62810747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79255784400001 meters Centerline goodness : 0.119686 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.17, Z:0.76 [[ 0.99980735 0.00179167 -0.01954635 -1.71877188] [-0.0017565 0.99999681 0.00181651 -0.16519476] [ 0.01954954 -0.00178183 0.9998073 0.76277073] [ 0. 0. 0. 1. ]] SLAMing on 44.822557844 meters Centerline goodness : 0.134618 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.17, Z:0.76 [[ 9.99799482e-01 1.59643145e-03 -1.99611368e-02 -1.71775492e+00] [-1.55638669e-03 9.99996746e-01 2.02151049e-03 -1.67014002e-01] [ 1.99642990e-02 -1.99003789e-03 9.99798713e-01 7.62732673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.852557844 meters Centerline goodness : 0.124872 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.17, Z:0.76 [[ 9.99787797e-01 1.25164562e-03 -2.05619395e-02 -1.71614563e+00] [-1.20851306e-03 9.99997044e-01 2.10998148e-03 -1.68641169e-01] [ 2.05645197e-02 -2.08468436e-03 9.99786354e-01 7.62538998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882557844000004 meters Centerline goodness : 0.126442 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.17, Z:0.76 [[ 9.99779402e-01 1.13621560e-03 -2.09727439e-02 -1.71491843e+00] [-1.08780697e-03 9.99996718e-01 2.31943249e-03 -1.70127537e-01] [ 2.09753105e-02 -2.29610653e-03 9.99777357e-01 7.62161796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.912557844000006 meters Centerline goodness : 0.130326 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.17, Z:0.76 [[ 9.99776819e-01 1.19983138e-03 -2.10919849e-02 -1.71441593e+00] [-1.14592208e-03 9.99996047e-01 2.56781439e-03 -1.71243958e-01] [ 2.10949825e-02 -2.54307153e-03 9.99774242e-01 7.61739883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94255784400001 meters Centerline goodness : 0.126958 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.17, Z:0.76 [[ 9.99783765e-01 1.24418287e-03 -2.07575267e-02 -1.71569107e+00] [-1.18858558e-03 9.99995674e-01 2.69053841e-03 -1.71651172e-01] [ 2.07607844e-02 -2.66528452e-03 9.99780919e-01 7.62558520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97255784400001 meters Centerline goodness : 0.129654 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.17, Z:0.76 [[ 9.99839972e-01 1.42096639e-03 -1.78328428e-02 -1.67385056e+00] [-1.39593119e-03 9.99998023e-01 1.41625071e-03 -1.70623911e-01] [ 1.78348200e-02 -1.39113065e-03 9.99839979e-01 7.63443416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002557844 meters Centerline goodness : 0.143610 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.17, Z:0.76 [[ 9.99843180e-01 1.36080067e-03 -1.76568416e-02 -1.67457458e+00] [-1.34013928e-03 9.99998404e-01 1.18194275e-03 -1.69580007e-01] [ 1.76584218e-02 -1.15809477e-03 9.99843407e-01 7.63985257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.032557844 meters Centerline goodness : 0.140995 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.17, Z:0.76 [[ 9.99839107e-01 1.59138789e-03 -1.78669509e-02 -1.67360386e+00] [-1.57729977e-03 9.99998434e-01 8.02566055e-04 -1.66568845e-01] [ 1.78682001e-02 -7.74255390e-04 9.99840051e-01 7.63212096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062557844000004 meters Centerline goodness : 0.136207 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.16, Z:0.76 [[ 9.99834505e-01 1.50197100e-03 -1.81302813e-02 -1.67236596e+00] [-1.49522218e-03 9.99998808e-01 3.85790202e-04 -1.64364949e-01] [ 1.81308391e-02 -3.58617557e-04 9.99835559e-01 7.62222536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.092557844000005 meters Centerline goodness : 0.335820 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.16, Z:0.76 [[ 9.99799684e-01 3.73632875e-03 -1.96629526e-02 -1.62910606e+00] [-3.73201827e-03 9.99993003e-01 2.55908991e-04 -1.62468526e-01] [ 1.96637712e-02 -1.82475230e-04 9.99806633e-01 7.63537787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122557844000006 meters Centerline goodness : 0.139599 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.16, Z:0.76 [[ 9.99732017e-01 3.12484068e-03 -2.29374951e-02 -1.67307678e+00] [-3.11419148e-03 9.99995026e-01 4.99976477e-04 -1.60037905e-01] [ 2.29389434e-02 -4.28410740e-04 9.99736776e-01 7.63882647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15255784400001 meters Centerline goodness : 0.131001 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.15, Z:0.77 [[ 9.99727073e-01 -4.17098453e-03 -2.29865905e-02 -1.65375269e+00] [ 4.19966594e-03 9.99990462e-01 1.19961224e-03 -1.53849098e-01] [ 2.29813677e-02 -1.29582083e-03 9.99735054e-01 7.65761953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18255784400001 meters Centerline goodness : 0.127544 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.16, Z:0.77 [[ 9.99751186e-01 4.55719818e-03 -2.18357089e-02 -1.63470145e+00] [-4.56587459e-03 9.99989516e-01 -3.47510202e-04 -1.55946123e-01] [ 2.18338963e-02 4.47122844e-04 9.99761512e-01 7.67298572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.212557844 meters Centerline goodness : 0.110361 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.15, Z:0.76 [[ 9.99843943e-01 -4.13057911e-04 -1.76612014e-02 -1.65547085e+00] [ 4.45989969e-04 9.99998169e-01 1.86075761e-03 -1.47513275e-01] [ 1.76604005e-02 -1.86834394e-03 9.99842297e-01 7.64945336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242557844000004 meters Centerline goodness : 0.124182 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.14, Z:0.76 [[ 9.99847171e-01 -5.62468567e-04 -1.74733820e-02 -1.65579464e+00] [ 5.85764189e-04 9.99998946e-01 1.32811683e-03 -1.44823973e-01] [ 1.74726166e-02 -1.33814914e-03 9.99846447e-01 7.64726093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.272557844000005 meters Centerline goodness : 0.122987 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.14, Z:0.76 [[ 9.99844531e-01 -7.44039112e-04 -1.76170300e-02 -1.65507216e+00] [ 7.57667648e-04 9.99999419e-01 7.66938305e-04 -1.42171887e-01] [ 1.76164491e-02 -7.80166924e-04 9.99844514e-01 7.64061221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302557844000006 meters Centerline goodness : 0.140269 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.14, Z:0.76 [[ 9.99836580e-01 -9.11869659e-04 -1.80549714e-02 -1.65356779e+00] [ 9.15871878e-04 9.99999558e-01 2.13401091e-04 -1.39589507e-01] [ 1.80547688e-02 -2.29902258e-04 9.99836973e-01 7.63351519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33255784400001 meters Centerline goodness : 0.134603 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.14, Z:0.76 [[ 9.99832465e-01 -1.09986231e-03 -1.82710587e-02 -1.65272181e+00] [ 1.09272075e-03 9.99999323e-01 -4.00846480e-04 -1.36644623e-01] [ 1.82714872e-02 3.80814159e-04 9.99832990e-01 7.62850181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36255784400001 meters Centerline goodness : 0.140999 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.13, Z:0.77 [[ 9.99832830e-01 1.78545918e-03 -1.81968209e-02 -1.65526899e+00] [-1.75722369e-03 9.99997227e-01 1.56754265e-03 -1.30003698e-01] [ 1.81995693e-02 -1.53530472e-03 9.99833195e-01 7.65508551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.392557844 meters Centerline goodness : 0.154104 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.12, Z:0.77 [[ 0.99983087 -0.00510025 -0.01766987 -1.68030715] [ 0.00517248 0.99997844 0.00404451 -0.12438698] [ 0.01764886 -0.00413522 0.9998357 0.76653141] [ 0. 0. 0. 1. ]] SLAMing on 45.422557844 meters Centerline goodness : 0.120376 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.12, Z:0.77 [[ 0.9998656 0.00364037 -0.01598548 -1.66119225] [-0.00360108 0.99999043 0.00248612 -0.12488318] [ 0.01599438 -0.00242822 0.99986913 0.76758496] [ 0. 0. 0. 1. ]] SLAMing on 45.452557844000005 meters Centerline goodness : 0.142684 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.12, Z:0.77 [[ 0.99986925 0.00346569 -0.01579464 -1.6618671 ] [-0.00343407 0.99999204 0.00202908 -0.12286289] [ 0.01580154 -0.00197458 0.9998732 0.76794096] [ 0. 0. 0. 1. ]] SLAMing on 45.482557844000006 meters Centerline goodness : 0.131584 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.12, Z:0.77 [[ 9.99897660e-01 4.21442677e-03 -1.36714637e-02 -1.62171356e+00] [-4.19641924e-03 9.99990290e-01 1.34558139e-03 -1.18583940e-01] [ 1.36770018e-02 -1.28807249e-03 9.99905636e-01 7.70050669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51255784400001 meters Centerline goodness : 0.107720 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.12, Z:0.77 [[ 9.99899420e-01 4.18544401e-03 -1.35510906e-02 -1.62209118e+00] [-4.16847153e-03 9.99990492e-01 1.28048356e-03 -1.18149703e-01] [ 1.35563211e-02 -1.22386744e-03 9.99907360e-01 7.70108459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54255784400001 meters Centerline goodness : 0.154303 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.12, Z:0.77 [[ 9.99900228e-01 4.14591526e-03 -1.35035060e-02 -1.62205542e+00] [-4.12942504e-03 9.99990694e-01 1.24883363e-03 -1.18110299e-01] [ 1.35085579e-02 -1.19294732e-03 9.99908044e-01 7.69795626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572557844 meters Centerline goodness : 0.110751 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.11, Z:0.77 [[ 9.99902416e-01 -4.25581506e-03 -1.33058668e-02 -1.60019682e+00] [ 4.27565609e-03 9.99989789e-01 1.46305765e-03 -1.14428173e-01] [ 1.32995044e-02 -1.51980619e-03 9.99910403e-01 7.69921729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602557844 meters Centerline goodness : 0.146409 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.77 [[ 9.99900371e-01 -4.26061990e-03 -1.34571756e-02 -1.59955946e+00] [ 4.28212974e-03 9.99989599e-01 1.56998227e-03 -1.15173221e-01] [ 1.34503465e-02 -1.62745123e-03 9.99908216e-01 7.69429907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.632557844000004 meters Centerline goodness : 0.106341 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99877161e-01 4.21408739e-03 -1.50965141e-02 -1.57837859e+00] [-4.19768305e-03 9.99990565e-01 1.11815363e-03 -1.19005971e-01] [ 1.51010837e-02 -1.05464589e-03 9.99885416e-01 7.70180659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662557844000006 meters Centerline goodness : 0.136459 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99872181e-01 4.17957918e-03 -1.54321983e-02 -1.57723599e+00] [-4.16528052e-03 9.99990866e-01 9.58572969e-04 -1.18129786e-01] [ 1.54360638e-02 -8.94171010e-04 9.99880457e-01 7.69724699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69255784400001 meters Centerline goodness : 0.120571 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.11, Z:0.77 [[ 0.99984876 -0.00459843 -0.01677229 -1.59656381] [ 0.0046321 0.99998733 0.00196926 -0.11244435] [ 0.01676303 -0.00204665 0.9998574 0.76890877] [ 0. 0. 0. 1. ]] SLAMing on 45.72255784400001 meters Centerline goodness : 0.151479 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 9.99875963e-01 4.25546797e-03 -1.51640595e-02 -1.57734404e+00] [-4.24666126e-03 9.99990795e-01 6.12914865e-04 -1.14574802e-01] [ 1.51665282e-02 -5.48442216e-04 9.99884831e-01 7.70210501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75255784400001 meters Centerline goodness : 0.146923 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99990954 -0.0026466 -0.01318752 -1.56073043] [ 0.00267483 0.99999417 0.00212405 -0.10821173] [ 0.01318182 -0.00215913 0.99991078 0.77211182] [ 0. 0. 0. 1. ]] SLAMing on 45.782557844 meters Centerline goodness : 0.143345 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99991802 -0.00199711 -0.01264789 -1.56204731] [ 0.00202434 0.99999566 0.00214028 -0.10612851] [ 0.01264356 -0.00216571 0.99991772 0.77195857] [ 0. 0. 0. 1. ]] SLAMing on 45.812557844000004 meters Centerline goodness : 0.126528 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.10, Z:0.77 [[ 0.999914 -0.00204397 -0.01295399 -1.5608971 ] [ 0.00206861 0.99999608 0.00188904 -0.10499182] [ 0.01295008 -0.00191567 0.99991431 0.77126005] [ 0. 0. 0. 1. ]] SLAMing on 45.842557844000005 meters Centerline goodness : 0.171339 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.10, Z:0.77 [[ 0.9999057 -0.00200265 -0.01358597 -1.55882553] [ 0.00202585 0.99999651 0.00169409 -0.10411199] [ 0.01358253 -0.00172145 0.99990627 0.77060301] [ 0. 0. 0. 1. ]] SLAMing on 45.872557844000006 meters Centerline goodness : 0.155920 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.10, Z:0.77 [[ 0.99989738 -0.00180817 -0.01421097 -1.55669655] [ 0.00183583 0.99999645 0.00193371 -0.10495118] [ 0.01420742 -0.0019596 0.99989715 0.76971348] [ 0. 0. 0. 1. ]] SLAMing on 45.90255784400001 meters Centerline goodness : 0.116738 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99990142 -0.00178013 -0.01392804 -1.55769944] [ 0.0018096 0.99999615 0.00210359 -0.10576237] [ 0.01392424 -0.00212859 0.99990079 0.77016584] [ 0. 0. 0. 1. ]] SLAMing on 45.93255784400001 meters Centerline goodness : 0.148431 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.11, Z:0.77 [[ 9.99903324e-01 6.48069891e-03 -1.23021272e-02 -1.54097732e+00] [-6.46812026e-03 9.99978518e-01 1.06199038e-03 -1.12829672e-01] [ 1.23087454e-02 -9.82316075e-04 9.99923762e-01 7.71746074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962557844 meters Centerline goodness : 0.123314 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.11, Z:0.77 [[ 9.99906205e-01 6.53464174e-03 -1.20366333e-02 -1.54202789e+00] [-6.52019234e-03 9.99977975e-01 1.23930375e-03 -1.13787854e-01] [ 1.20444666e-02 -1.16070634e-03 9.99926789e-01 7.72416493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.992557844000004 meters Centerline goodness : 0.116849 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99991573 -0.00279145 -0.01267828 -1.56307993] [ 0.00281706 0.99999403 0.00200222 -0.11029615] [ 0.01267261 -0.00203777 0.99991762 0.7720554 ] [ 0. 0. 0. 1. ]] SLAMing on 46.022557844000005 meters Centerline goodness : 0.125740 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.11, Z:0.77 [[ 9.99939069e-01 -1.95538104e-03 -1.08643497e-02 -1.51933670e+00] [ 1.97171062e-03 9.99996942e-01 1.49253553e-03 -1.09395690e-01] [ 1.08613980e-02 -1.51386594e-03 9.99939867e-01 7.72290565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052557844000006 meters Centerline goodness : 0.120593 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.11, Z:0.77 [[ 9.99937871e-01 -1.82271996e-03 -1.09969323e-02 -1.51923672e+00] [ 1.83945592e-03 9.99997165e-01 1.51195236e-03 -1.09667814e-01] [ 1.09941453e-02 -1.53208680e-03 9.99938389e-01 7.72982366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08255784400001 meters Centerline goodness : 0.126703 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.11, Z:0.77 [[ 9.99928916e-01 7.12598244e-03 -9.55950571e-03 -1.49962391e+00] [-7.12170940e-03 9.99974525e-01 4.80961291e-04 -1.13773202e-01] [ 9.56268950e-03 -4.12847081e-04 9.99954191e-01 7.74067040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11255784400001 meters Centerline goodness : 0.119919 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.11, Z:0.77 [[ 9.99926998e-01 7.24148421e-03 -9.67264379e-03 -1.49942686e+00] [-7.23592657e-03 9.99973635e-01 6.09446023e-04 -1.14335640e-01] [ 9.67680207e-03 -5.39410992e-04 9.99953033e-01 7.74322098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142557844 meters Centerline goodness : 0.122361 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.77 [[ 9.99923274e-01 7.54127603e-03 -9.82731015e-03 -1.49887823e+00] [-7.52981269e-03 9.99970927e-01 1.20295717e-03 -1.16919553e-01] [ 9.83609627e-03 -1.12886706e-03 9.99950987e-01 7.74038633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.172557844 meters Centerline goodness : 0.156406 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.77 [[ 9.99920958e-01 7.67008238e-03 -9.96229679e-03 -1.49840398e+00] [-7.65499080e-03 9.99969496e-01 1.55211927e-03 -1.18665269e-01] [ 9.97389777e-03 -1.47573530e-03 9.99949170e-01 7.73813499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202557844000005 meters Centerline goodness : 0.120166 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.12, Z:0.77 [[ 0.99993356 -0.00169375 -0.01140162 -1.51941556] [ 0.00172182 0.99999551 0.00245232 -0.11739203] [ 0.01139741 -0.00247179 0.99993199 0.77357584] [ 0. 0. 0. 1. ]] SLAMing on 46.232557844000006 meters Centerline goodness : 0.115041 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.77 [[ 0.99991028 0.00691552 -0.01147179 -1.50073806] [-0.00688859 0.99997343 0.00238576 -0.12526207] [ 0.01148798 -0.00230652 0.99993135 0.77444463] [ 0. 0. 0. 1. ]] SLAMing on 46.26255784400001 meters Centerline goodness : 0.117946 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.77 [[ 0.99990991 0.00716261 -0.01135183 -1.50106538] [-0.00713013 0.99997038 0.00289853 -0.12722284] [ 0.01137225 -0.00281733 0.99993136 0.77450091] [ 0. 0. 0. 1. ]] SLAMing on 46.29255784400001 meters Centerline goodness : 0.120176 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.77 [[ 0.99990945 0.00735203 -0.01127149 -1.50130113] [-0.00731546 0.99996785 0.00328255 -0.12872022] [ 0.01129526 -0.00319979 0.99993109 0.77457334] [ 0. 0. 0. 1. ]] SLAMing on 46.322557844 meters Centerline goodness : 0.116334 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.77 [[ 0.99990517 0.00754125 -0.01152271 -1.50053759] [-0.00749836 0.99996482 0.00376051 -0.13105372] [ 0.01155066 -0.00367375 0.99992654 0.77439684] [ 0. 0. 0. 1. ]] SLAMing on 46.352557844 meters Centerline goodness : 0.118973 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.12, Z:0.77 [[ 9.99916840e-01 -7.73863961e-04 -1.28730237e-02 -1.47882066e+00] [ 8.21778671e-04 9.99992753e-01 3.71722916e-03 -1.24811380e-01] [ 1.28700538e-02 -3.72749881e-03 9.99910230e-01 7.74534207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382557844000004 meters Centerline goodness : 0.119292 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.13, Z:0.77 [[ 9.99912174e-01 -7.39116891e-04 -1.32324278e-02 -1.47738181e+00] [ 7.88866858e-04 9.99992639e-01 3.75487602e-03 -1.25037918e-01] [ 1.32295551e-02 -3.76498487e-03 9.99905397e-01 7.73564532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412557844000006 meters Centerline goodness : 0.161606 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.77 [[ 0.99986935 0.0072409 -0.01445195 -1.49700682] [-0.00719979 0.99996989 0.00289471 -0.12990467] [ 0.01447247 -0.00279028 0.99989138 0.77195652] [ 0. 0. 0. 1. ]] SLAMing on 46.44255784400001 meters Centerline goodness : 0.129954 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.13, Z:0.77 [[ 0.99993869 0.00246963 -0.01079421 -1.47251712] [-0.00241633 0.99998484 0.00494764 -0.13030688] [ 0.01080627 -0.00492125 0.9999295 0.77107674] [ 0. 0. 0. 1. ]] SLAMing on 46.47255784400001 meters Centerline goodness : 0.111198 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.13, Z:0.77 [[ 0.99994032 0.00259543 -0.01061253 -1.47349301] [-0.00253809 0.99998213 0.00541236 -0.13270167] [ 0.01062639 -0.0053851 0.99992904 0.77200538] [ 0. 0. 0. 1. ]] SLAMing on 46.50255784400001 meters Centerline goodness : 0.111198 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.13, Z:0.77 [[ 0.99994032 0.00259543 -0.01061253 -1.47349301] [-0.00253809 0.99998213 0.00541236 -0.13270167] [ 0.01062639 -0.0053851 0.99992904 0.77200538] [ 0. 0. 0. 1. ]] SLAMing on 46.532557844 meters Centerline goodness : 0.117071 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.14, Z:0.77 [[ 9.99947188e-01 -6.42642236e-04 -1.02570824e-02 -1.47418650e+00] [ 6.66847985e-04 9.99997001e-01 2.35666034e-03 -1.35011872e-01] [ 1.02555372e-02 -2.36337579e-03 9.99944618e-01 7.71709213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562557844000004 meters Centerline goodness : 0.158538 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.14, Z:0.77 [[ 9.99943486e-01 -5.84425116e-04 -1.06152809e-02 -1.47297273e+00] [ 6.13859734e-04 9.99995976e-01 2.76980686e-03 -1.37262553e-01] [ 1.06136194e-02 -2.77616662e-03 9.99939820e-01 7.71155819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.592557844000005 meters Centerline goodness : 0.112901 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.14, Z:0.77 [[ 9.99940126e-01 -4.52931360e-04 -1.09333881e-02 -1.47194341e+00] [ 4.88512511e-04 9.99994593e-01 3.25190599e-03 -1.39631357e-01] [ 1.09318561e-02 -3.25705238e-03 9.99934941e-01 7.70749197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622557844000006 meters Centerline goodness : 0.126005 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.14, Z:0.77 [[ 9.99939397e-01 -2.10511972e-04 -1.10071354e-02 -1.47136674e+00] [ 2.56163577e-04 9.99991372e-01 4.14621026e-03 -1.42867057e-01] [ 1.10061676e-02 -4.14877862e-03 9.99930824e-01 7.69814158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65255784400001 meters Centerline goodness : 0.110871 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.15, Z:0.77 [[ 9.99930609e-01 -3.66276982e-03 -1.11964912e-02 -1.47079118e+00] [ 3.67801142e-03 9.99992337e-01 1.34099595e-03 -1.47910356e-01] [ 1.11914936e-02 -1.38208372e-03 9.99936418e-01 7.69886538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68255784400001 meters Centerline goodness : 0.111971 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.15, Z:0.77 [[ 0.99992981 -0.00351778 -0.01131404 -1.47084205] [ 0.00353848 0.9999921 0.0018099 -0.15033975] [ 0.01130758 -0.0018498 0.99993436 0.7705358 ] [ 0. 0. 0. 1. ]] SLAMing on 46.712557844 meters Centerline goodness : 0.116359 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.16, Z:0.77 [[ 9.99912252e-01 5.12873126e-03 -1.22140733e-02 -1.48948482e+00] [-5.11997234e-03 9.99986613e-01 7.48278823e-04 -1.59483673e-01] [ 1.22177475e-02 -6.85677446e-04 9.99925125e-01 7.70604981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742557844000004 meters Centerline goodness : 0.151161 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.16, Z:0.77 [[ 0.99992028 0.00809796 -0.00968832 -1.44942127] [-0.00808225 0.99996596 0.00166013 -0.16095394] [ 0.00970143 -0.00158169 0.99995169 0.7720736 ] [ 0. 0. 0. 1. ]] SLAMing on 46.772557844000005 meters Centerline goodness : 0.148537 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:0.77 [[ 9.99957631e-01 3.70993592e-04 -9.19776627e-03 -1.47315874e+00] [-3.34109002e-04 9.99991899e-01 4.01138046e-03 -1.58897966e-01] [ 9.19917995e-03 -4.00813744e-03 9.99949654e-01 7.72548871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802557844000006 meters Centerline goodness : 0.144793 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.16, Z:0.77 [[ 0.99991249 0.01010959 -0.00853229 -1.45237929] [-0.01007958 0.99994289 0.0035528 -0.16363093] [ 0.00856772 -0.00346649 0.99995729 0.77328799] [ 0. 0. 0. 1. ]] SLAMing on 46.83255784400001 meters Centerline goodness : 0.113572 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.16, Z:0.77 [[ 0.99990621 0.01026365 -0.0090679 -1.45072129] [-0.01023196 0.99994141 0.00353403 -0.16353319] [ 0.00910364 -0.00344092 0.99995264 0.77298849] [ 0. 0. 0. 1. ]] SLAMing on 46.86255784400001 meters Centerline goodness : 0.110920 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.16, Z:0.77 [[ 0.99989803 0.01043173 -0.0097521 -1.44846771] [-0.01039759 0.99993966 0.00354499 -0.16349245] [ 0.0097885 -0.00344323 0.99994616 0.7722812 ] [ 0. 0. 0. 1. ]] SLAMing on 46.892557844 meters Centerline goodness : 0.154531 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.16, Z:0.77 [[ 0.99989291 0.0105559 -0.01013602 -1.44701558] [-0.01051957 0.99993808 0.00363047 -0.16367655] [ 0.01017371 -0.00352345 0.99994204 0.7715628 ] [ 0. 0. 0. 1. ]] SLAMing on 46.922557844 meters Centerline goodness : 0.133317 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:0.77 [[ 0.99989155 0.01081681 -0.00999386 -1.44734192] [-0.01077502 0.99993302 0.00422522 -0.16591149] [ 0.01003889 -0.00411707 0.99994113 0.77144472] [ 0. 0. 0. 1. ]] SLAMing on 46.952557844000005 meters Centerline goodness : 0.153979 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:0.77 [[ 9.99949612e-01 1.15897511e-03 -9.97147377e-03 -1.46808412e+00] [-1.11155168e-03 9.99988053e-01 4.76013837e-03 -1.63177064e-01] [ 9.97687152e-03 -4.74881471e-03 9.99938954e-01 7.70888963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982557844000006 meters Centerline goodness : 0.112968 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.77 [[ 9.99946689e-01 1.23029121e-03 -1.02521442e-02 -1.46761632e+00] [-1.17754224e-03 9.99986047e-01 5.14961345e-03 -1.65241152e-01] [ 1.02583367e-02 -5.13726658e-03 9.99934185e-01 7.71349811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01255784400001 meters Centerline goodness : 0.149501 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.77 [[ 0.99994315 -0.00263257 -0.01033282 -1.46696952] [ 0.00265149 0.99999483 0.00181733 -0.16866572] [ 0.01032799 -0.00184462 0.99994496 0.77072358] [ 0. 0. 0. 1. ]] SLAMing on 47.04255784400001 meters Centerline goodness : 0.112272 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.77 [[ 0.99994355 -0.00245074 -0.01033856 -1.46673977] [ 0.00247831 0.99999341 0.00265474 -0.17187603] [ 0.01033199 -0.00268021 0.99994303 0.77007512] [ 0. 0. 0. 1. ]] SLAMing on 47.072557844 meters Centerline goodness : 0.158984 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.77 [[ 0.99994641 -0.00229479 -0.01009463 -1.46736356] [ 0.00232921 0.99999151 0.00339976 -0.17464179] [ 0.01008674 -0.00342309 0.99994327 0.76983367] [ 0. 0. 0. 1. ]] SLAMing on 47.102557844 meters Centerline goodness : 0.129219 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.18, Z:0.77 [[ 0.99994879 -0.00223269 -0.00987096 -1.46811626] [ 0.0022702 0.99999024 0.00379095 -0.17620993] [ 0.0098624 -0.00381317 0.99994409 0.770067 ] [ 0. 0. 0. 1. ]] SLAMing on 47.132557844000004 meters Centerline goodness : 0.151442 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.18, Z:0.77 [[ 0.99994933 -0.00216857 -0.00983009 -1.46853029] [ 0.002207 0.99998996 0.00389971 -0.17679094] [ 0.00982153 -0.00392121 0.99994408 0.77070184] [ 0. 0. 0. 1. ]] SLAMing on 47.162557844000006 meters Centerline goodness : 0.111089 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.77 [[ 9.99943860e-01 1.05535903e-03 -1.05433635e-02 -1.46680460e+00] [-9.86148097e-04 9.99977948e-01 6.56745062e-03 -1.74544687e-01] [ 1.05500620e-02 -6.55668461e-03 9.99922850e-01 7.71578023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19255784400001 meters Centerline goodness : 0.125585 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.77 [[ 9.99941731e-01 1.07528218e-03 -1.07414476e-02 -1.46605810e+00] [-1.00505369e-03 9.99978100e-01 6.54134450e-03 -1.74476162e-01] [ 1.07482462e-02 -6.53016761e-03 9.99920913e-01 7.71175010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22255784400001 meters Centerline goodness : 0.113487 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.18, Z:0.77 [[ 0.99988903 0.0092725 -0.01165975 -1.48367588] [-0.00921525 0.99994526 0.00495454 -0.18196403] [ 0.01170505 -0.00484654 0.99991975 0.77018862] [ 0. 0. 0. 1. ]] SLAMing on 47.25255784400001 meters Centerline goodness : 0.146116 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.18, Z:0.77 [[ 0.99988859 0.00931365 -0.01166503 -1.48365995] [-0.00925561 0.99994456 0.00502023 -0.18233062] [ 0.01171114 -0.0049117 0.99991936 0.77021184] [ 0. 0. 0. 1. ]] SLAMing on 47.282557844 meters Centerline goodness : 0.111357 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.18, Z:0.77 [[ 0.9998878 0.00937631 -0.01168176 -1.48369431] [-0.00931694 0.99994346 0.00512634 -0.18282771] [ 0.01172917 -0.00501692 0.99991863 0.77040808] [ 0. 0. 0. 1. ]] SLAMing on 47.312557844000004 meters Centerline goodness : 0.144434 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.18, Z:0.77 [[ 0.99988717 0.00947544 -0.01165642 -1.48396644] [-0.00941355 0.99994137 0.00535246 -0.18378999] [ 0.01170645 -0.00524213 0.99991774 0.77079867] [ 0. 0. 0. 1. ]] SLAMing on 47.342557844000005 meters Centerline goodness : 0.136475 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:0.77 [[ 0.99988 0.00964038 -0.01212601 -1.48278427] [-0.00957307 0.99993852 0.00559645 -0.1850731 ] [ 0.01217922 -0.00547969 0.99991082 0.77101762] [ 0. 0. 0. 1. ]] SLAMing on 47.372557844000006 meters Centerline goodness : 0.149312 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.77 [[ 9.99918700e-01 1.97701202e-04 -1.27496593e-02 -1.50094920e+00] [-1.21164940e-04 9.99981972e-01 6.00349760e-03 -1.79171039e-01] [ 1.27506163e-02 -6.00146470e-03 9.99900697e-01 7.69665934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40255784400001 meters Centerline goodness : 0.122670 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.77 [[ 9.99924199e-01 1.72442481e-04 -1.23112253e-02 -1.50193199e+00] [-1.01072772e-04 9.99983189e-01 5.79751157e-03 -1.77968409e-01] [ 1.23120180e-02 -5.79582779e-03 9.99907407e-01 7.69386965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43255784400001 meters Centerline goodness : 0.146853 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.77 [[ 9.99929138e-01 1.60378692e-04 -1.19034832e-02 -1.50322528e+00] [-9.35983762e-05 9.99984257e-01 5.61049416e-03 -1.76702259e-01] [ 1.19041956e-02 -5.60898245e-03 9.99913411e-01 7.69798686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462557844 meters Centerline goodness : 0.152290 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.77 [[ 9.99931898e-01 9.29959353e-05 -1.16700914e-02 -1.50395773e+00] [-3.00033380e-05 9.99985431e-01 5.39783996e-03 -1.75545709e-01] [ 1.16704234e-02 -5.39712221e-03 9.99917333e-01 7.70015801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.492557844000004 meters Centerline goodness : 0.168592 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99989631 0.00762904 -0.01221344 -1.52395836] [-0.00757682 0.99996198 0.00431591 -0.18005876] [ 0.0122459 -0.00422293 0.9999161 0.76893645] [ 0. 0. 0. 1. ]] SLAMing on 47.522557844000005 meters Centerline goodness : 0.151652 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99988898 0.00736714 -0.01295213 -1.5222631 ] [-0.00731998 0.99996642 0.0036851 -0.17838436] [ 0.01297885 -0.00358988 0.99990933 0.76937818] [ 0. 0. 0. 1. ]] SLAMing on 47.552557844000006 meters Centerline goodness : 0.155683 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99988903 0.00731456 -0.01297808 -1.52225089] [-0.00726815 0.99996704 0.00361958 -0.1781707 ] [ 0.01300412 -0.00352485 0.99990923 0.76944568] [ 0. 0. 0. 1. ]] SLAMing on 47.58255784400001 meters Centerline goodness : 0.111588 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99989078 0.0072916 -0.01285546 -1.52269452] [-0.00724547 0.99996716 0.00363181 -0.17816138] [ 0.01288152 -0.00353827 0.99991077 0.76954846] [ 0. 0. 0. 1. ]] SLAMing on 47.61255784400001 meters Centerline goodness : 0.112155 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99991313 -0.00199378 -0.01302931 -1.54281265] [ 0.00205796 0.99998581 0.00491471 -0.17452388] [ 0.01301933 -0.00494109 0.99990304 0.76832108] [ 0. 0. 0. 1. ]] SLAMing on 47.642557844 meters Centerline goodness : 0.112905 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99991927 -0.002182 -0.01251754 -1.54440642] [ 0.00224385 0.99998533 0.00492969 -0.1748714 ] [ 0.0125066 -0.00495738 0.9999095 0.76867306] [ 0. 0. 0. 1. ]] SLAMing on 47.672557844 meters Centerline goodness : 0.114000 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99993257 0.00526989 -0.01034857 -1.52371092] [-0.00524688 0.9999837 0.00224995 -0.17621525] [ 0.01036026 -0.0021955 0.99994392 0.76786071] [ 0. 0. 0. 1. ]] SLAMing on 47.702557844000005 meters Centerline goodness : 0.139533 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99993117 0.005393 -0.01042019 -1.52333906] [-0.00536586 0.99998214 0.00263041 -0.1780072 ] [ 0.01043419 -0.00257431 0.99994225 0.76750738] [ 0. 0. 0. 1. ]] SLAMing on 47.732557844000006 meters Centerline goodness : 0.112733 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99992941 0.0054574 -0.01055393 -1.52288413] [-0.00542775 0.99998125 0.00283568 -0.17903103] [ 0.01056921 -0.00277819 0.99994028 0.76730826] [ 0. 0. 0. 1. ]] SLAMing on 47.76255784400001 meters Centerline goodness : 0.151189 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99992632 0.00549493 -0.01082412 -1.52210808] [-0.00546276 0.99998058 0.00299971 -0.17996498] [ 0.01084039 -0.00294036 0.99993692 0.7672138 ] [ 0. 0. 0. 1. ]] SLAMing on 47.79255784400001 meters Centerline goodness : 0.112839 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99992245 0.00548416 -0.01118092 -1.52101659] [-0.00545051 0.99998053 0.0030373 -0.18032847] [ 0.01119736 -0.00297612 0.99993288 0.76688016] [ 0. 0. 0. 1. ]] SLAMing on 47.822557844 meters Centerline goodness : 0.124725 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99991001 0.00562518 -0.01217908 -1.51749647] [-0.00559024 0.99998017 0.00290074 -0.17912951] [ 0.01219515 -0.00283239 0.99992162 0.76500216] [ 0. 0. 0. 1. ]] SLAMing on 47.852557844 meters Centerline goodness : 0.152115 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.18, Z:0.76 [[ 0.99989855 0.00599054 -0.01292327 -1.51474348] [-0.00595191 0.99997771 0.00302504 -0.17893418] [ 0.01294111 -0.00294782 0.99991192 0.76375971] [ 0. 0. 0. 1. ]] SLAMing on 47.882557844000004 meters Centerline goodness : 0.155672 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.76 [[ 0.99987747 0.00589264 -0.01450219 -1.55258668] [-0.0058571 0.99997974 0.00249149 -0.17961647] [ 0.01451658 -0.00240624 0.99989173 0.76287954] [ 0. 0. 0. 1. ]] SLAMing on 47.912557844000006 meters Centerline goodness : 0.129201 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.76 [[ 0.99987336 0.00583677 -0.01480554 -1.55180972] [-0.00580479 0.99998073 0.00220241 -0.17861645] [ 0.01481811 -0.00211619 0.99988797 0.76304477] [ 0. 0. 0. 1. ]] SLAMing on 47.94255784400001 meters Centerline goodness : 0.127325 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.76 [[ 0.99987238 0.00571176 -0.01491958 -1.55202619] [-0.00568566 0.99998223 0.00179113 -0.17726852] [ 0.01492954 -0.00170608 0.99988709 0.76406013] [ 0. 0. 0. 1. ]] SLAMing on 47.97255784400001 meters Centerline goodness : 0.146616 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.77 [[ 9.99883878e-01 5.57066996e-03 -1.41844025e-02 -1.55494671e+00] [-5.55182842e-03 9.99983654e-01 1.36735860e-03 -1.75614686e-01] [ 1.41917877e-02 -1.28845045e-03 9.99898461e-01 7.65931914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00255784400001 meters Centerline goodness : 0.122144 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.18, Z:0.77 [[ 9.99885677e-01 5.53711961e-03 -1.40702784e-02 -1.55526029e+00] [-5.51921092e-03 9.99983909e-01 1.31131499e-03 -1.75360482e-01] [ 1.40773129e-02 -1.23350825e-03 9.99900149e-01 7.65974478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.032557844 meters Centerline goodness : 0.112054 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.18, Z:0.77 [[ 9.99885457e-01 5.58040250e-03 -1.40688647e-02 -1.55506574e+00] [-5.56092579e-03 9.99983525e-01 1.42312403e-03 -1.75766786e-01] [ 1.40765745e-02 -1.34472510e-03 9.99900016e-01 7.65628146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062557844000004 meters Centerline goodness : 0.110952 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.77 [[ 9.99883604e-01 5.62216507e-03 -1.41834620e-02 -1.55467710e+00] [-5.60085098e-03 9.99983126e-01 1.54201710e-03 -1.76436760e-01] [ 1.41918922e-02 -1.46239816e-03 9.99898221e-01 7.65498809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092557844000005 meters Centerline goodness : 0.148268 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.77 [[ 9.99880770e-01 5.61981318e-03 -1.43827372e-02 -1.55429549e+00] [-5.59872839e-03 9.99983193e-01 1.50582376e-03 -1.76504435e-01] [ 1.43909579e-02 -1.42511918e-03 9.99895429e-01 7.65733638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122557844000006 meters Centerline goodness : 0.112221 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.77 [[ 9.99877244e-01 5.61596785e-03 -1.46272847e-02 -1.55383429e+00] [-5.59630922e-03 9.99983382e-01 1.38455503e-03 -1.76053981e-01] [ 1.46348172e-02 -1.30252626e-03 9.99892057e-01 7.66038883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15255784400001 meters Centerline goodness : 0.124306 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.17, Z:0.77 [[ 9.99873028e-01 5.57060275e-03 -1.49297160e-02 -1.55346324e+00] [-5.55618714e-03 9.99984057e-01 1.00686931e-03 -1.74613233e-01] [ 1.49350869e-02 -9.23789169e-04 9.99888039e-01 7.66796110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18255784400001 meters Centerline goodness : 0.134044 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.17, Z:0.77 [[ 0.99989443 -0.00205004 -0.01438525 -1.53492626] [ 0.00207936 0.99999579 0.00202384 -0.16582509] [ 0.01438105 -0.00205353 0.99989448 0.76767122] [ 0. 0. 0. 1. ]] SLAMing on 48.212557844 meters Centerline goodness : 0.144765 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99989584 -0.00208862 -0.0142813 -1.53523665] [ 0.00211629 0.99999591 0.00192262 -0.16540293] [ 0.01427722 -0.00195264 0.99989617 0.76775007] [ 0. 0. 0. 1. ]] SLAMing on 48.242557844000004 meters Centerline goodness : 0.113142 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.16, Z:0.77 [[ 0.99989769 -0.00212597 -0.01414517 -1.53568309] [ 0.00215164 0.99999607 0.00179939 -0.16478636] [ 0.01414129 -0.00182965 0.99989833 0.76788397] [ 0. 0. 0. 1. ]] SLAMing on 48.272557844000005 meters Centerline goodness : 0.149894 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.16, Z:0.77 [[ 0.99990002 -0.00214582 -0.01397688 -1.53649612] [ 0.00216992 0.99999618 0.00170936 -0.16412121] [ 0.01397315 -0.00173952 0.99990086 0.76846668] [ 0. 0. 0. 1. ]] SLAMing on 48.302557844000006 meters Centerline goodness : 0.122037 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.16, Z:0.77 [[ 0.99990155 -0.00211722 -0.01387144 -1.53718069] [ 0.00214285 0.99999602 0.00183274 -0.16462141] [ 0.01386751 -0.00186229 0.99990211 0.76918937] [ 0. 0. 0. 1. ]] SLAMing on 48.33255784400001 meters Centerline goodness : 0.125513 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99990319 -0.00209342 -0.01375579 -1.53782213] [ 0.00212192 0.99999563 0.00205729 -0.16580265] [ 0.01375143 -0.00208628 0.99990327 0.76982756] [ 0. 0. 0. 1. ]] SLAMing on 48.36255784400001 meters Centerline goodness : 0.131463 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.9999029 -0.00209577 -0.01377684 -1.5380225 ] [ 0.00212734 0.99999514 0.00227771 -0.16704673] [ 0.013772 -0.0023068 0.9999025 0.77028068] [ 0. 0. 0. 1. ]] SLAMing on 48.392557844 meters Centerline goodness : 0.131463 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.9999029 -0.00209577 -0.01377684 -1.5380225 ] [ 0.00212734 0.99999514 0.00227771 -0.16704673] [ 0.013772 -0.0023068 0.9999025 0.77028068] [ 0. 0. 0. 1. ]] SLAMing on 48.422557844 meters Centerline goodness : 0.109825 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99990763 -0.00212424 -0.01342426 -1.53890828] [ 0.0021602 0.99999412 0.00266449 -0.16849087] [ 0.01341852 -0.00269324 0.99990634 0.76995911] [ 0. 0. 0. 1. ]] SLAMing on 48.452557844000005 meters Centerline goodness : 0.146919 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.999909 -0.00209519 -0.01332647 -1.53907777] [ 0.00213292 0.99999376 0.00281753 -0.16927052] [ 0.01332049 -0.0028457 0.99990723 0.76982273] [ 0. 0. 0. 1. ]] SLAMing on 48.482557844000006 meters Centerline goodness : 0.109997 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99990766 -0.00208843 -0.01342778 -1.53873827] [ 0.00212959 0.99999308 0.00305176 -0.17072381] [ 0.01342131 -0.00308008 0.99990519 0.76974564] [ 0. 0. 0. 1. ]] SLAMing on 48.51255784400001 meters Centerline goodness : 0.119321 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99990621 -0.00204637 -0.01354189 -1.53868306] [ 0.0020891 0.99999288 0.00314184 -0.17109388] [ 0.01353537 -0.00316983 0.99990337 0.77018109] [ 0. 0. 0. 1. ]] SLAMing on 48.54255784400001 meters Centerline goodness : 0.146944 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99990443 -0.00204028 -0.01367362 -1.5386115 ] [ 0.00208084 0.99999348 0.00295256 -0.17048755] [ 0.01366751 -0.00298073 0.99990215 0.77079231] [ 0. 0. 0. 1. ]] SLAMing on 48.572557844 meters Centerline goodness : 0.149532 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:0.77 [[ 0.99988856 0.00761098 -0.01284319 -1.51804668] [-0.00758597 0.99996924 0.00199479 -0.1717276 ] [ 0.01285798 -0.00189714 0.99991553 0.7715467 ] [ 0. 0. 0. 1. ]] SLAMing on 48.602557844 meters Centerline goodness : 0.130963 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:0.77 [[ 0.99988431 0.00762104 -0.01316349 -1.51702855] [-0.00759884 0.99996962 0.00173541 -0.17064635] [ 0.01317632 -0.00163518 0.99991185 0.77140978] [ 0. 0. 0. 1. ]] SLAMing on 48.632557844000004 meters Centerline goodness : 0.123924 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.77 [[ 0.99984216 0.00653985 -0.0165194 -1.56128903] [-0.00650011 0.99997585 0.00245849 -0.17327275] [ 0.01653508 -0.00235073 0.99986052 0.77222164] [ 0. 0. 0. 1. ]] SLAMing on 48.662557844000006 meters Centerline goodness : 0.154925 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.77 [[ 0.99983489 0.00658841 -0.01693482 -1.55988703] [-0.00655112 0.999976 0.0022563 -0.1722639 ] [ 0.01694928 -0.00214498 0.99985405 0.77177363] [ 0. 0. 0. 1. ]] SLAMing on 48.69255784400001 meters Centerline goodness : 0.122016 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.77 [[ 0.99982701 0.006691 -0.01735484 -1.55830509] [-0.00665431 0.9999755 0.00217082 -0.17158394] [ 0.01736894 -0.00205496 0.99984704 0.77103649] [ 0. 0. 0. 1. ]] SLAMing on 48.72255784400001 meters Centerline goodness : 0.151187 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.77 [[ 0.99981579 0.0068642 -0.017924 -1.55621356] [-0.00682493 0.99997418 0.00225143 -0.17177834] [ 0.01793899 -0.00212868 0.99983682 0.7701167 ] [ 0. 0. 0. 1. ]] SLAMing on 48.75255784400001 meters Centerline goodness : 0.151215 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.77 [[ 0.99981373 0.00691247 -0.01802026 -1.55608639] [-0.00686997 0.99997348 0.00241915 -0.17275676] [ 0.0180365 -0.0022949 0.9998347 0.77030729] [ 0. 0. 0. 1. ]] SLAMing on 48.782557844 meters Centerline goodness : 0.152908 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.77 [[ 0.99981597 0.00696195 -0.0178763 -1.55676886] [-0.00691403 0.99997234 0.00274069 -0.17435684] [ 0.01789489 -0.00261659 0.99983645 0.77078138] [ 0. 0. 0. 1. ]] SLAMing on 48.812557844000004 meters Centerline goodness : 0.112070 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.18, Z:0.77 [[ 0.99982171 0.0069696 -0.01754928 -1.55786557] [-0.00691562 0.99997117 0.00313517 -0.17612569] [ 0.01757062 -0.00301324 0.99984108 0.77104998] [ 0. 0. 0. 1. ]] SLAMing on 48.842557844000005 meters Centerline goodness : 0.153335 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.18, Z:0.77 [[ 0.99982515 0.00710644 -0.01729621 -1.55898572] [-0.00704163 0.99996797 0.00380473 -0.17935925] [ 0.0173227 -0.00368228 0.99984317 0.77197053] [ 0. 0. 0. 1. ]] SLAMing on 48.872557844000006 meters Centerline goodness : 0.138028 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.18, Z:0.77 [[ 0.99985351 0.00497257 -0.01637802 -1.56186035] [-0.00493767 0.99998545 0.00217061 -0.18404833] [ 0.01638857 -0.00208942 0.99986352 0.77224357] [ 0. 0. 0. 1. ]] SLAMing on 48.90255784400001 meters Centerline goodness : 0.159620 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.19, Z:0.77 [[ 0.99985021 0.00505928 -0.01655192 -1.56134665] [-0.00501911 0.99998436 0.00246762 -0.18539426] [ 0.01656414 -0.00238417 0.99985996 0.77207558] [ 0. 0. 0. 1. ]] SLAMing on 48.93255784400001 meters Centerline goodness : 0.156213 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.77 [[ 0.99985704 -0.00318751 -0.01660514 -1.54067842] [ 0.00323993 0.99998985 0.00313095 -0.17930062] [ 0.016595 -0.0031843 0.99985722 0.77196892] [ 0. 0. 0. 1. ]] SLAMing on 48.962557844 meters Centerline goodness : 0.135809 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.19, Z:0.77 [[ 0.99988616 0.00435736 -0.01444597 -1.56121491] [-0.0043108 0.99998542 0.00325288 -0.19172521] [ 0.01445993 -0.00319023 0.99989036 0.77049619] [ 0. 0. 0. 1. ]] SLAMing on 48.992557844000004 meters Centerline goodness : 0.154565 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.20, Z:0.77 [[ 0.99990746 0.00235132 -0.01339908 -1.56543606] [-0.00232645 0.99999554 0.00187138 -0.19656206] [ 0.01340342 -0.00184003 0.99990848 0.77201172] [ 0. 0. 0. 1. ]] SLAMing on 49.022557844000005 meters Centerline goodness : 0.129305 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.20, Z:0.77 [[ 0.99990647 0.00248561 -0.01344855 -1.56573414] [-0.00245477 0.99999432 0.00230919 -0.19875147] [ 0.01345421 -0.00227596 0.9999069 0.77280388] [ 0. 0. 0. 1. ]] SLAMing on 49.052557844000006 meters Centerline goodness : 0.128537 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.20, Z:0.77 [[ 0.99990193 0.0025617 -0.01376824 -1.56515272] [-0.00252437 0.99999309 0.00272767 -0.20106418] [ 0.01377514 -0.00269265 0.99990149 0.77324412] [ 0. 0. 0. 1. ]] SLAMing on 49.08255784400001 meters Centerline goodness : 0.121465 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.20, Z:0.77 [[ 0.9998969 0.00273637 -0.01409585 -1.56424501] [-0.00268964 0.99999083 0.00333286 -0.20422974] [ 0.01410484 -0.00329461 0.99989509 0.77316847] [ 0. 0. 0. 1. ]] SLAMing on 49.11255784400001 meters Centerline goodness : 0.138734 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.21, Z:0.77 [[ 0.99989682 0.00281834 -0.01408592 -1.56412739] [-0.00276915 0.99999 0.00351046 -0.20505702] [ 0.01409567 -0.00347109 0.99989463 0.77292303] [ 0. 0. 0. 1. ]] SLAMing on 49.142557844 meters Centerline goodness : 0.114269 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.21, Z:0.77 [[ 0.99989701 0.00284405 -0.01406691 -1.56395239] [-0.00279458 0.99998985 0.00353469 -0.20517823] [ 0.01407682 -0.00349501 0.99989481 0.77255301] [ 0. 0. 0. 1. ]] SLAMing on 49.172557844 meters Centerline goodness : 0.123427 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.21, Z:0.77 [[ 0.99989767 0.00286661 -0.01401552 -1.56399956] [-0.0028174 0.9999898 0.00352952 -0.20510724] [ 0.0140255 -0.00348967 0.99989555 0.77242207] [ 0. 0. 0. 1. ]] SLAMing on 49.202557844000005 meters Centerline goodness : 0.114233 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.21, Z:0.77 [[ 0.99989872 0.00288926 -0.0139356 -1.56437017] [-0.00284025 0.99998972 0.0035357 -0.20504456] [ 0.01394567 -0.00349576 0.99989664 0.77273488] [ 0. 0. 0. 1. ]] SLAMing on 49.232557844000006 meters Centerline goodness : 0.165292 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.20, Z:0.77 [[ 0.99990398 0.00297657 -0.01353402 -1.56550764] [-0.0029326 0.99999036 0.00326784 -0.20312249] [ 0.01354362 -0.00322784 0.99990307 0.77290465] [ 0. 0. 0. 1. ]] SLAMing on 49.26255784400001 meters Centerline goodness : 0.159171 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.20, Z:0.77 [[ 0.99989951 0.00306177 -0.0138417 -1.56453734] [-0.00302033 0.9999909 0.00301444 -0.20173466] [ 0.0138508 -0.00297233 0.99989966 0.77270797] [ 0. 0. 0. 1. ]] SLAMing on 49.29255784400001 meters Centerline goodness : 0.139157 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.20, Z:0.77 [[ 0.99989527 0.00311366 -0.01413346 -1.5635076 ] [-0.00307466 0.99999141 0.00278 -0.20059181] [ 0.014142 -0.00273625 0.99989625 0.77234204] [ 0. 0. 0. 1. ]] SLAMing on 49.32255784400001 meters Centerline goodness : 0.151264 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.20, Z:0.77 [[ 0.99989269 0.00302461 -0.0143341 -1.56281089] [-0.00299116 0.99999275 0.00235479 -0.19896789] [ 0.01434112 -0.00231166 0.99989449 0.77219407] [ 0. 0. 0. 1. ]] SLAMing on 49.352557844 meters Centerline goodness : 0.134423 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.20, Z:0.77 [[ 9.99897960e-01 2.58846103e-03 -1.40488556e-02 -1.56402996e+00] [-2.56888521e-03 9.99995705e-01 1.41127756e-03 -1.95534887e-01] [ 1.40524483e-02 -1.37504365e-03 9.99900314e-01 7.73031064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382557844000004 meters Centerline goodness : 0.150543 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:0.78 [[ 9.99861538e-01 1.27713055e-03 -1.65913891e-02 -1.61062266e+00] [-1.23911714e-03 9.99996584e-01 2.30123080e-03 -1.98134731e-01] [ 1.65942714e-02 -2.28035349e-03 9.99859705e-01 7.75154516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.412557844000006 meters Centerline goodness : 0.141895 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:0.77 [[ 9.99863794e-01 1.16987363e-03 -1.64628513e-02 -1.61080074e+00] [-1.13737759e-03 9.99997387e-01 1.98312516e-03 -1.96460243e-01] [ 1.64651283e-02 -1.96413057e-03 9.99862511e-01 7.74822121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44255784400001 meters Centerline goodness : 0.105236 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:0.77 [[ 9.99888330e-01 3.06352224e-03 -1.46267520e-02 -1.56556905e+00] [-3.04544416e-03 9.99994571e-01 1.25807368e-03 -1.90098891e-01] [ 1.46305267e-02 -1.21338823e-03 9.99892232e-01 7.73169703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47255784400001 meters Centerline goodness : 0.122855 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99838392e-01 1.39792368e-03 -1.79230354e-02 -1.60975073e+00] [-1.36738999e-03 9.99997593e-01 1.71574212e-03 -1.91838187e-01] [ 1.79253908e-02 -1.69095707e-03 9.99837897e-01 7.74016916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50255784400001 meters Centerline goodness : 0.142941 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99837326e-01 1.22870892e-03 -1.79947886e-02 -1.60951335e+00] [-1.20349218e-03 9.99998279e-01 1.41209805e-03 -1.90606354e-01] [ 1.79964927e-02 -1.39021175e-03 9.99837084e-01 7.73897903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532557844 meters Centerline goodness : 0.154293 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99842747e-01 9.75551818e-04 -1.77067489e-02 -1.61067094e+00] [-9.53336055e-04 9.99998748e-01 1.26304698e-03 -1.90253437e-01] [ 1.77079589e-02 -1.24596788e-03 9.99842425e-01 7.74342868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562557844000004 meters Centerline goodness : 0.155967 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99843864e-01 9.30215466e-04 -1.76460124e-02 -1.61082113e+00] [-9.09337902e-04 9.99998877e-01 1.19111892e-03 -1.89858377e-01] [ 1.76471006e-02 -1.17488676e-03 9.99843588e-01 7.74286497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592557844000005 meters Centerline goodness : 0.151295 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99847995e-01 8.85053610e-04 -1.74127458e-02 -1.61140844e+00] [-8.63256011e-04 9.99998834e-01 1.25929519e-03 -1.90057212e-01] [ 1.74138400e-02 -1.24407211e-03 9.99847594e-01 7.74149730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622557844000006 meters Centerline goodness : 0.112205 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99853889e-01 7.79542653e-04 -1.70761078e-02 -1.61255888e+00] [-7.57422556e-04 9.99998866e-01 1.30181192e-03 -1.90421343e-01] [ 1.70771032e-02 -1.28868788e-03 9.99853345e-01 7.74507351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65255784400001 meters Centerline goodness : 0.125700 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.19, Z:0.77 [[ 0.99986356 0.00666976 -0.015112 -1.5909477 ] [-0.0067149 0.99997314 -0.00293853 -0.19096623] [ 0.01509199 0.00303961 0.99988149 0.77411576] [ 0. 0. 0. 1. ]] SLAMing on 49.68255784400001 meters Centerline goodness : 0.151322 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.19, Z:0.77 [[ 0.99986281 0.00669792 -0.0151492 -1.59079842] [-0.00674099 0.99997338 -0.00279356 -0.19163351] [ 0.01513009 0.0028953 0.99988134 0.77393051] [ 0. 0. 0. 1. ]] SLAMing on 49.712557844 meters Centerline goodness : 0.150993 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.20, Z:0.77 [[ 9.99822903e-01 5.45143651e-03 -1.80123586e-02 -1.63461490e+00] [-5.48028868e-03 9.99983777e-01 -1.55282624e-03 -1.95619921e-01] [ 1.80036012e-02 1.65126416e-03 9.99836558e-01 7.74470887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742557844000004 meters Centerline goodness : 0.155513 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.19, Z:0.77 [[ 0.99985143 0.00663882 -0.01590723 -1.58922947] [-0.00666621 0.99997639 -0.00166964 -0.19244425] [ 0.01589577 0.00177543 0.99987208 0.77240108] [ 0. 0. 0. 1. ]] SLAMing on 49.772557844000005 meters Centerline goodness : 0.136574 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.20, Z:0.77 [[ 9.99814458e-01 4.98590898e-03 -1.86061722e-02 -1.63408967e+00] [-5.00745657e-03 9.99986845e-01 -1.11167886e-03 -1.95645492e-01] [ 1.86003847e-02 1.20464220e-03 9.99826272e-01 7.73365834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802557844000006 meters Centerline goodness : 0.153075 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99829191e-01 -2.47242047e-03 -1.83159829e-02 -1.61437953e+00] [ 2.46213260e-03 9.99996798e-01 -5.84216890e-04 -1.90462690e-01] [ 1.83173687e-02 5.39020722e-04 9.99832078e-01 7.74518829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.83255784400001 meters Centerline goodness : 0.153032 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.20, Z:0.78 [[ 9.99803735e-01 6.89168500e-03 -1.85740969e-02 -1.63549684e+00] [-6.89927979e-03 9.99976140e-01 -3.44842276e-04 -1.98630365e-01] [ 1.85712772e-02 4.72922487e-04 9.99827427e-01 7.75405982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86255784400001 meters Centerline goodness : 0.153472 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.19, Z:0.78 [[ 9.99833027e-01 -3.89392870e-04 -1.82692970e-02 -1.61574643e+00] [ 3.99239717e-04 9.99999777e-01 5.35339219e-04 -1.93493469e-01] [ 1.82690845e-02 -5.42543661e-04 9.99832959e-01 7.76807785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.892557844 meters Centerline goodness : 0.158439 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.19, Z:0.78 [[ 9.99830406e-01 -3.74499072e-04 -1.84124784e-02 -1.61534257e+00] [ 3.85651070e-04 9.99999744e-01 6.02129108e-04 -1.93921004e-01] [ 1.84122482e-02 -6.09127783e-04 9.99830295e-01 7.76718899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922557844 meters Centerline goodness : 0.156692 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.78 [[ 9.99824222e-01 -3.70932605e-04 -1.87453112e-02 -1.61447806e+00] [ 3.83142011e-04 9.99999717e-01 6.47744020e-04 -1.94417170e-01] [ 1.87450656e-02 -6.54812277e-04 9.99824081e-01 7.76677029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.952557844000005 meters Centerline goodness : 0.137684 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:0.78 [[ 9.99820748e-01 -3.92591950e-04 -1.89292942e-02 -1.61384683e+00] [ 4.07008464e-04 9.99999630e-01 7.57751545e-04 -1.95205134e-01] [ 1.89289897e-02 -7.65320099e-04 9.99820538e-01 7.76411054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982557844000006 meters Centerline goodness : 0.152607 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.20, Z:0.78 [[ 9.99803526e-01 -3.97671750e-04 -1.98179753e-02 -1.65401186e+00] [ 4.22847851e-04 9.99999109e-01 1.26619277e-03 -1.98859234e-01] [ 1.98174541e-02 -1.27432399e-03 9.99802803e-01 7.76235873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01255784400001 meters Centerline goodness : 0.158111 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:0.78 [[ 9.99838539e-01 8.69003856e-04 -1.79482689e-02 -1.61038656e+00] [-8.66256133e-04 9.99999612e-01 1.60865216e-04 -1.95292390e-01] [ 1.79484017e-02 -1.45291445e-04 9.99838904e-01 7.76176583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04255784400001 meters Centerline goodness : 0.162301 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:0.78 [[ 9.99837239e-01 7.97328972e-04 -1.80238611e-02 -1.61026131e+00] [-7.96623644e-04 9.99999682e-01 4.63126305e-05 -1.95049475e-01] [ 1.80238923e-02 -3.19468587e-05 9.99837556e-01 7.76338305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07255784400001 meters Centerline goodness : 0.114809 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.78 [[ 9.99845376e-01 8.81287700e-04 -1.75626429e-02 -1.61161405e+00] [-8.82553609e-04 9.99999608e-01 -6.43291983e-05 -1.93840748e-01] [ 1.75625794e-02 7.98192254e-05 9.99845763e-01 7.76548635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102557844 meters Centerline goodness : 0.157640 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.78 [[ 9.99853945e-01 9.51909184e-04 -1.70640775e-02 -1.61289659e+00] [-9.55707393e-04 9.99999520e-01 -2.14431744e-04 -1.92395743e-01] [ 1.70638652e-02 2.30708690e-04 9.99854375e-01 7.76582301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.132557844000004 meters Centerline goodness : 0.111816 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.78 [[ 9.99858746e-01 8.21312217e-04 -1.67873139e-02 -1.61387966e+00] [-8.30554099e-04 9.99999507e-01 -5.43563271e-04 -1.91099055e-01] [ 1.67868591e-02 5.57429262e-04 9.99858935e-01 7.77144078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162557844000006 meters Centerline goodness : 0.154852 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.19, Z:0.78 [[ 9.99863621e-01 8.24754257e-04 -1.64942339e-02 -1.61503655e+00] [-8.34178607e-04 9.99999493e-01 -5.64500567e-04 -1.91065059e-01] [ 1.64937599e-02 5.78182718e-04 9.99863802e-01 7.77880639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19255784400001 meters Centerline goodness : 0.152368 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.20, Z:0.78 [[ 0.99983662 0.00946598 -0.01539893 -1.59704382] [-0.00949851 0.99995281 -0.00204097 -0.19673424] [ 0.01537888 0.00218691 0.99987935 0.77954859] [ 0. 0. 0. 1. ]] SLAMing on 50.22255784400001 meters Centerline goodness : 0.154376 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.20, Z:0.78 [[ 0.99983702 0.00949267 -0.01535649 -1.59730132] [-0.00952387 0.99995273 -0.00196001 -0.19718948] [ 0.01533716 0.00210595 0.99988016 0.77978242] [ 0. 0. 0. 1. ]] SLAMing on 50.25255784400001 meters Centerline goodness : 0.069647 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99852803e-01 2.88398480e-03 -1.69131505e-02 -1.57834158e+00] [-2.88266258e-03 9.99995840e-01 1.02555993e-04 -1.91984694e-01] [ 1.69133759e-02 -5.37859912e-05 9.99856957e-01 7.80530288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282557844 meters Centerline goodness : 0.155523 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99847688e-01 2.85837414e-03 -1.72171456e-02 -1.57727063e+00] [-2.85479010e-03 9.99995898e-01 2.32740441e-04 -1.93095808e-01] [ 1.72177402e-02 -1.83553655e-04 9.99851747e-01 7.80111093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.312557844000004 meters Centerline goodness : 0.155523 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99847688e-01 2.85837414e-03 -1.72171456e-02 -1.57727063e+00] [-2.85479010e-03 9.99995898e-01 2.32740441e-04 -1.93095808e-01] [ 1.72177402e-02 -1.83553655e-04 9.99851747e-01 7.80111093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342557844000005 meters Centerline goodness : 0.070596 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99841610e-01 2.82340751e-03 -1.75722182e-02 -1.57634159e+00] [-2.81674735e-03 9.99995951e-01 4.03755272e-04 -1.94581404e-01] [ 1.75732870e-02 -3.54194822e-04 9.99845515e-01 7.80128565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372557844000006 meters Centerline goodness : 0.154282 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.20, Z:0.78 [[ 9.99839419e-01 2.87994009e-03 -1.76873252e-02 -1.57623273e+00] [-2.86957202e-03 9.99995696e-01 6.11538158e-04 -1.95844249e-01] [ 1.76890103e-02 -5.60684904e-04 9.99843380e-01 7.80462290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40255784400001 meters Centerline goodness : 0.114975 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.20, Z:0.78 [[ 9.99841797e-01 2.94776636e-03 -1.75411675e-02 -1.57675401e+00] [-2.93538590e-03 9.99995424e-01 7.31499552e-04 -1.96245888e-01] [ 1.75432435e-02 -6.79893731e-04 9.99845874e-01 7.80719281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43255784400001 meters Centerline goodness : 0.152340 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.20, Z:0.78 [[ 9.99846844e-01 3.00603974e-03 -1.72409881e-02 -1.57756768e+00] [-2.99380902e-03 9.99995248e-01 7.35164526e-04 -1.95883554e-01] [ 1.72431161e-02 -6.83435706e-04 9.99851093e-01 7.80773961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462557844 meters Centerline goodness : 0.146295 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99851651e-01 3.09155392e-03 -1.69445877e-02 -1.57770185e+00] [-3.08238855e-03 9.99995089e-01 5.66992973e-04 -1.94457303e-01] [ 1.69462574e-02 -5.14679057e-04 9.99856269e-01 7.79728108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492557844000004 meters Centerline goodness : 0.131386 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99847626e-01 2.99521302e-03 -1.71974983e-02 -1.57647345e+00] [-2.98964863e-03 9.99995470e-01 3.49258076e-04 -1.93637039e-01] [ 1.71984665e-02 -2.97790381e-04 9.99852051e-01 7.78717326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522557844000005 meters Centerline goodness : 0.178610 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:0.78 [[ 9.99830495e-01 3.31228415e-03 -1.81110329e-02 -1.57341565e+00] [-3.30557706e-03 9.99994456e-01 4.00255516e-04 -1.93421844e-01] [ 1.81122582e-02 -3.40320256e-04 9.99835902e-01 7.77701000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552557844000006 meters Centerline goodness : 0.149414 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:0.78 [[ 9.99812681e-01 3.75735230e-03 -1.89864527e-02 -1.57049583e+00] [-3.74830116e-03 9.99992844e-01 5.12280447e-04 -1.92951591e-01] [ 1.89882416e-02 -4.41017545e-04 9.99819610e-01 7.76651284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58255784400001 meters Centerline goodness : 0.135245 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:0.78 [[ 9.99814170e-01 3.65198728e-03 -1.89284937e-02 -1.57090056e+00] [-3.64620246e-03 9.99993295e-01 3.40117165e-04 -1.92450856e-01] [ 1.89296088e-02 -2.71036841e-04 9.99820782e-01 7.77086061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61255784400001 meters Centerline goodness : 0.146578 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:0.78 [[ 9.99815218e-01 3.47118358e-03 -1.89071704e-02 -1.57117710e+00] [-3.46970489e-03 9.99993974e-01 1.11011563e-04 -1.91974742e-01] [ 1.89074418e-02 -4.53887480e-05 9.99821237e-01 7.77426820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642557844 meters Centerline goodness : 0.125660 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:0.78 [[ 9.99817171e-01 3.30726971e-03 -1.88331052e-02 -1.57146758e+00] [-3.30929667e-03 9.99994521e-01 -7.64633260e-05 -1.91560529e-01] [ 1.88327491e-02 1.38773679e-04 9.99822638e-01 7.77538899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672557844 meters Centerline goodness : 0.111529 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.19, Z:0.78 [[ 9.99838972e-01 3.86124975e-03 -1.75248348e-02 -1.53098521e+00] [-3.85354775e-03 9.99992463e-01 4.73238646e-04 -1.88646699e-01] [ 1.75265301e-02 -4.05629654e-04 9.99846316e-01 7.77074030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702557844000005 meters Centerline goodness : 0.115518 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 0.99979508 0.00288966 -0.02003631 -1.57712372] [-0.00285213 0.99999412 0.00190168 -0.19126899] [ 0.02004168 -0.00184414 0.99979744 0.77848061] [ 0. 0. 0. 1. ]] SLAMing on 50.732557844000006 meters Centerline goodness : 0.137404 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 0.99979231 0.00280623 -0.02018588 -1.57637302] [-0.00277179 0.99999466 0.0017336 -0.19061551] [ 0.02019064 -0.00167729 0.99979474 0.77786655] [ 0. 0. 0. 1. ]] SLAMing on 50.76255784400001 meters Centerline goodness : 0.122156 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99799936e-01 -4.07120928e-04 -1.99980551e-02 -1.57619940e+00] [ 3.72797931e-04 9.99998451e-01 -1.72001476e-03 -1.91010218e-01] [ 1.99987244e-02 1.71221541e-03 9.99798539e-01 7.77022415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79255784400001 meters Centerline goodness : 0.108154 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99799800e-01 -5.10255721e-04 -2.00025050e-02 -1.57613343e+00] [ 4.71670886e-04 9.99998019e-01 -1.93367045e-03 -1.90108447e-01] [ 2.00034520e-02 1.92384873e-03 9.99798060e-01 7.76887066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82255784400001 meters Centerline goodness : 0.150913 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99809008e-01 -4.70273675e-04 -1.95378015e-02 -1.57746436e+00] [ 4.35400240e-04 9.99998305e-01 -1.78913659e-03 -1.89899685e-01] [ 1.95386098e-02 1.78028812e-03 9.99807518e-01 7.76835846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.852557844 meters Centerline goodness : 0.129617 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99822939e-01 -1.93137298e-04 -1.88163066e-02 -1.58014573e+00] [ 1.70424632e-04 9.99999255e-01 -1.20866956e-03 -1.90756221e-01] [ 1.88165260e-02 1.20524879e-03 9.99822227e-01 7.77611213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882557844000004 meters Centerline goodness : 0.158872 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99821116e-01 -3.26699364e-04 -1.89110862e-02 -1.58003248e+00] [ 2.99972983e-04 9.99998952e-01 -1.41608471e-03 -1.90454934e-01] [ 1.89115290e-02 1.41015858e-03 9.99820167e-01 7.77851639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.912557844000006 meters Centerline goodness : 0.112047 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99814456e-01 -4.86826399e-04 -1.92566226e-02 -1.57902684e+00] [ 4.56142177e-04 9.99998619e-01 -1.59779755e-03 -1.90221433e-01] [ 1.92573739e-02 1.58871733e-03 9.99813297e-01 7.77683247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94255784400001 meters Centerline goodness : 0.158552 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99808550e-01 -4.83619145e-04 -1.95609255e-02 -1.57788140e+00] [ 4.47905054e-04 9.99998225e-01 -1.83012735e-03 -1.89137406e-01] [ 1.95617759e-02 1.82101553e-03 9.99806992e-01 7.77127140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97255784400001 meters Centerline goodness : 0.116617 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99792951e-01 2.42619389e-03 -2.02031953e-02 -1.57580436e+00] [-2.41246159e-03 9.99996842e-01 7.04053755e-04 -1.85748135e-01] [ 2.02048397e-02 -6.55168548e-04 9.99795647e-01 7.76591373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00255784400001 meters Centerline goodness : 0.157903 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.78 [[ 9.99793858e-01 4.04790280e-03 -1.98961296e-02 -1.53503577e+00] [-4.02233818e-03 9.99991033e-01 1.32475490e-03 -1.81789670e-01] [ 1.99013136e-02 -1.24445285e-03 9.99801175e-01 7.76857955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.032557844 meters Centerline goodness : 0.153939 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.78 [[ 9.99806783e-01 3.94085966e-03 -1.92578868e-02 -1.53699571e+00] [-3.92602516e-03 9.99991967e-01 8.08053819e-04 -1.78999014e-01] [ 1.92609166e-02 -7.32290741e-04 9.99814223e-01 7.77484579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062557844000004 meters Centerline goodness : 0.157145 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.78 [[ 9.99810828e-01 3.68561254e-03 -1.90977674e-02 -1.53787968e+00] [-3.67939407e-03 9.99993166e-01 3.60740015e-04 -1.77344092e-01] [ 1.90989664e-02 -2.90403561e-04 9.99817556e-01 7.78213114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.092557844000005 meters Centerline goodness : 0.113693 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.78 [[ 9.99814686e-01 3.60053814e-03 -1.89110852e-02 -1.53842235e+00] [-3.59807259e-03 9.99993513e-01 1.64399024e-04 -1.76253362e-01] [ 1.89115545e-02 -9.63251008e-05 9.99821156e-01 7.78237737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122557844000006 meters Centerline goodness : 0.153507 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.78 [[ 9.99818849e-01 3.47378445e-03 -1.87136934e-02 -1.53859258e+00] [-3.47455246e-03 9.99993964e-01 -8.52641667e-06 -1.75230621e-01] [ 1.87135508e-02 7.35465815e-05 9.99824883e-01 7.77544755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15255784400001 meters Centerline goodness : 0.160263 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.78 [[ 9.99822761e-01 3.48702932e-03 -1.85010025e-02 -1.53948746e+00] [-3.48646599e-03 9.99993920e-01 6.27030308e-05 -1.75611598e-01] [ 1.85011087e-02 1.81119865e-06 9.99828840e-01 7.78155369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18255784400001 meters Centerline goodness : 0.157208 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:0.78 [[ 9.99846041e-01 -3.93644987e-03 -1.70996590e-02 -1.52114575e+00] [ 3.95824375e-03 9.99991396e-01 1.24086350e-03 -1.70935286e-01] [ 1.70946273e-02 -1.30835707e-03 9.99853020e-01 7.80397729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212557844 meters Centerline goodness : 0.152266 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.17, Z:0.78 [[ 9.99872848e-01 5.33266901e-03 -1.50283188e-02 -1.50298491e+00] [-5.32251350e-03 9.99985579e-01 7.15674011e-04 -1.74990812e-01] [ 1.50319185e-02 -6.35594582e-04 9.99886812e-01 7.81401515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242557844000004 meters Centerline goodness : 0.124068 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.78 [[ 9.99889028e-01 4.77194313e-03 -1.41124060e-02 -1.54603218e+00] [-4.75665196e-03 9.99988063e-01 1.11689396e-03 -1.76795316e-01] [ 1.41175673e-02 -1.04964222e-03 9.99899791e-01 7.80965760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.272557844000005 meters Centerline goodness : 0.126865 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.78 [[ 9.99891476e-01 4.72500238e-03 -1.39538787e-02 -1.54627941e+00] [-4.71096898e-03 9.99988364e-01 1.03839723e-03 -1.76246243e-01] [ 1.39586228e-02 -9.72548244e-04 9.99902101e-01 7.80655088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302557844000006 meters Centerline goodness : 0.129867 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.78 [[ 9.99890266e-01 4.60012486e-03 -1.40816995e-02 -1.54561692e+00] [-4.59043420e-03 9.99989204e-01 7.20419168e-04 -1.75085981e-01] [ 1.40848615e-02 -6.55698999e-04 9.99900588e-01 7.80190524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33255784400001 meters Centerline goodness : 0.156561 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.17, Z:0.78 [[ 9.99889447e-01 4.55651791e-03 -1.41538447e-02 -1.54522364e+00] [-4.54815175e-03 9.99989463e-01 6.23220095e-04 -1.74693014e-01] [ 1.41565353e-02 -5.58777363e-04 9.99899635e-01 7.79838834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36255784400001 meters Centerline goodness : 0.114362 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.17, Z:0.78 [[ 9.99890811e-01 4.50694022e-03 -1.40731757e-02 -1.54519512e+00] [-4.50040569e-03 9.99989750e-01 4.95960210e-04 -1.73847353e-01] [ 1.40752667e-02 -4.32571057e-04 9.99900845e-01 7.79402706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.392557844 meters Centerline goodness : 0.158090 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.17, Z:0.78 [[ 9.99892845e-01 4.54015823e-03 -1.39170581e-02 -1.54536300e+00] [-4.53381443e-03 9.99989603e-01 4.87345796e-04 -1.73325784e-01] [ 1.39191261e-02 -4.24196216e-04 9.99903034e-01 7.78922383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422557844 meters Centerline goodness : 0.142030 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.16, Z:0.78 [[ 0.99990237 -0.00257446 -0.01373409 -1.52623483] [ 0.0026004 0.99999487 0.00187094 -0.16416462] [ 0.01372921 -0.00190647 0.99990393 0.77948332] [ 0. 0. 0. 1. ]] SLAMing on 51.452557844000005 meters Centerline goodness : 0.125062 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.16, Z:0.78 [[ 9.99901172e-01 -2.71517540e-03 -1.37939925e-02 -1.52601287e+00] [ 2.73602002e-03 9.99995143e-01 1.49249039e-03 -1.62423535e-01] [ 1.37898731e-02 -1.53008353e-03 9.99903744e-01 7.79361859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482557844000006 meters Centerline goodness : 0.131632 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.16, Z:0.78 [[ 9.99869767e-01 5.30909784e-03 -1.52401517e-02 -1.54772400e+00] [-5.30740351e-03 9.99985904e-01 1.51618235e-04 -1.62079155e-01] [ 1.52407419e-02 -7.07128550e-05 9.99883851e-01 7.78867348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51255784400001 meters Centerline goodness : 0.130217 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.15, Z:0.78 [[ 9.99862559e-01 -7.04900643e-04 -1.65640141e-02 -1.52833803e+00] [ 7.30141855e-04 9.99998581e-01 1.51786033e-03 -1.50835857e-01] [ 1.65629207e-02 -1.52974580e-03 9.99861655e-01 7.79993338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54255784400001 meters SLAMing on 51.57255784400001 meters Centerline goodness : 0.107128 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.99985617 0.00238804 -0.01679125 -1.52608352] [-0.00233144 0.99999154 0.00338914 -0.14119525] [ 0.0167992 -0.00334951 0.99985327 0.77749919] [ 0. 0. 0. 1. ]] SLAMing on 51.602557844 meters Centerline goodness : 0.119404 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.9998544 0.0020942 -0.0169351 -1.52556245] [-0.00204886 0.99999427 0.00269416 -0.13809008] [ 0.01694064 -0.00265907 0.99985296 0.77715183] [ 0. 0. 0. 1. ]] SLAMing on 51.632557844000004 meters Centerline goodness : 0.157755 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.99985199 0.00186179 -0.01710356 -1.52524213] [-0.0018245 0.99999593 0.00219516 -0.13590727] [ 0.01710757 -0.00216363 0.99985131 0.77726011] [ 0. 0. 0. 1. ]] SLAMing on 51.662557844000006 meters Centerline goodness : 0.116430 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.99985125 0.00176609 -0.01715684 -1.5254524 ] [-0.00173166 0.99999646 0.00202185 -0.13509725] [ 0.01716035 -0.00199184 0.99985077 0.77781705] [ 0. 0. 0. 1. ]] SLAMing on 51.69255784400001 meters Centerline goodness : 0.148053 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 0.99985266 0.00166877 -0.01708438 -1.526047 ] [-0.00163555 0.99999675 0.00195824 -0.13489958] [ 0.0170876 -0.00193001 0.99985213 0.77852899] [ 0. 0. 0. 1. ]] SLAMing on 51.72255784400001 meters Centerline goodness : 0.127524 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.99985366 0.00164373 -0.01702833 -1.52648322] [-0.0016089 0.99999659 0.00205863 -0.13552314] [ 0.01703165 -0.00203093 0.99985289 0.77904516] [ 0. 0. 0. 1. ]] SLAMing on 51.75255784400001 meters Centerline goodness : 0.157432 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99851879e-01 1.28366458e-03 -1.71631111e-02 -1.52607222e+00] [-1.24807966e-03 9.99997050e-01 2.08388778e-03 -1.36983018e-01] [ 1.71657355e-02 -2.06215818e-03 9.99850531e-01 7.79073561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782557844 meters Centerline goodness : 0.147325 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99852331e-01 1.29749332e-03 -1.71357094e-02 -1.52622402e+00] [-1.25885049e-03 9.99996641e-01 2.26569952e-03 -1.37945770e-01] [ 1.71385916e-02 -2.24379365e-03 9.99850606e-01 7.79187043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.812557844000004 meters Centerline goodness : 0.132978 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99855993e-01 1.37570611e-03 -1.69145177e-02 -1.52694197e+00] [-1.33447480e-03 9.99996112e-01 2.44867348e-03 -1.38565735e-01] [ 1.69178205e-02 -2.42574886e-03 9.99853941e-01 7.79446518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842557844000005 meters Centerline goodness : 0.112192 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99860038e-01 1.43459080e-03 -1.66687350e-02 -1.52789214e+00] [-1.39199482e-03 9.99995737e-01 2.56676279e-03 -1.38936356e-01] [ 1.66723462e-02 -2.54320075e-03 9.99857772e-01 7.79981033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872557844000006 meters Centerline goodness : 0.106045 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99861433e-01 1.50124349e-03 -1.65789111e-02 -1.52849712e+00] [-1.45648124e-03 9.99995263e-01 2.71169564e-03 -1.39562440e-01] [ 1.65829035e-02 -2.68717302e-03 9.99858883e-01 7.80645217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90255784400001 meters Centerline goodness : 0.134527 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99857444e-01 1.49752723e-03 -1.68180917e-02 -1.52762479e+00] [-1.45165303e-03 9.99995194e-01 2.73954670e-03 -1.39855602e-01] [ 1.68221134e-02 -2.71474213e-03 9.99854813e-01 7.80255073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93255784400001 meters Centerline goodness : 0.136214 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99852078e-01 1.49033997e-03 -1.71347698e-02 -1.52627939e+00] [-1.44363466e-03 9.99995210e-01 2.73780851e-03 -1.40033926e-01] [ 1.71387680e-02 -2.71266718e-03 9.99849441e-01 7.79346653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962557844 meters Centerline goodness : 0.158813 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99848129e-01 1.48831955e-03 -1.73638707e-02 -1.52527007e+00] [-1.44152548e-03 9.99995297e-01 2.70711478e-03 -1.40014171e-01] [ 1.73678181e-02 -2.68167319e-03 9.99845572e-01 7.78564876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.992557844000004 meters Centerline goodness : 0.096227 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.14, Z:0.78 [[ 9.99847096e-01 1.50260791e-03 -1.74220412e-02 -1.52497432e+00] [-1.45626793e-03 9.99995369e-01 2.67222947e-03 -1.39849284e-01] [ 1.74259758e-02 -2.64644971e-03 9.99844654e-01 7.78293036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022557844000005 meters Centerline goodness : 0.114323 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99850785e-01 1.49106286e-03 -1.72099819e-02 -1.52553992e+00] [-1.44798030e-03 9.99995788e-01 2.51553649e-03 -1.38955382e-01] [ 1.72136603e-02 -2.49024143e-03 9.99848733e-01 7.78282977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052557844000006 meters Centerline goodness : 0.129005 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.9998706 0.00188815 -0.01597566 -1.52884227] [-0.0018475 0.99999502 0.00255896 -0.13750509] [ 0.01598041 -0.00252912 0.99986911 0.77852819] [ 0. 0. 0. 1. ]] SLAMing on 52.08255784400001 meters Centerline goodness : 0.113869 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.99987373 0.00183351 -0.01578483 -1.52911577] [-0.00179697 0.99999567 0.00232902 -0.13635666] [ 0.01578903 -0.00230036 0.9998727 0.77811856] [ 0. 0. 0. 1. ]] SLAMing on 52.11255784400001 meters Centerline goodness : 0.106928 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 0.99987353 0.00170248 -0.01581243 -1.52874032] [-0.00167101 0.9999966 0.00200357 -0.13497078] [ 0.01581579 -0.00197689 0.99987297 0.7775858 ] [ 0. 0. 0. 1. ]] SLAMing on 52.142557844 meters Centerline goodness : 0.163761 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 0.99987235 0.00158796 -0.01589856 -1.52818288] [-0.00156294 0.99999752 0.00158591 -0.13280608] [ 0.01590104 -0.00156086 0.99987235 0.77689052] [ 0. 0. 0. 1. ]] SLAMing on 52.172557844 meters Centerline goodness : 0.158090 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99873053e-01 1.56739033e-03 -1.58562881e-02 -1.52833632e+00] [-1.54367395e-03 9.99997672e-01 1.50783687e-03 -1.32277381e-01] [ 1.58586146e-02 -1.48316852e-03 9.99873144e-01 7.76884555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202557844000005 meters Centerline goodness : 0.158090 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99873053e-01 1.56739033e-03 -1.58562881e-02 -1.52833632e+00] [-1.54367395e-03 9.99997672e-01 1.50783687e-03 -1.32277381e-01] [ 1.58586146e-02 -1.48316852e-03 9.99873144e-01 7.76884555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.232557844000006 meters Centerline goodness : 0.152202 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 0.99987242 0.00159554 -0.0158936 -1.52842421] [-0.00157054 0.99999751 0.00158507 -0.13267066] [ 0.01589608 -0.0015599 0.99987243 0.77721833] [ 0. 0. 0. 1. ]] SLAMing on 52.26255784400001 meters Centerline goodness : 0.127041 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99868461e-01 1.51844117e-03 -1.61479084e-02 -1.52785512e+00] [-1.49216829e-03 9.99997544e-01 1.63893846e-03 -1.33488450e-01] [ 1.61503573e-02 -1.61462748e-03 9.99868271e-01 7.77383876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29255784400001 meters Centerline goodness : 0.139040 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99866200e-01 1.48394382e-03 -1.62904862e-02 -1.52743028e+00] [-1.45628082e-03 9.99997478e-01 1.70983927e-03 -1.34241830e-01] [ 1.62929824e-02 -1.68588698e-03 9.99865839e-01 7.77327396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32255784400001 meters Centerline goodness : 0.136826 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99865988e-01 1.42184455e-03 -1.63090099e-02 -1.52718578e+00] [-1.39621298e-03 9.99997773e-01 1.58289850e-03 -1.33684583e-01] [ 1.63112242e-02 -1.55991552e-03 9.99865746e-01 7.76960222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.352557844 meters Centerline goodness : 0.129058 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99870148e-01 1.42795672e-03 -1.60514247e-02 -1.52711229e+00] [-1.40827381e-03 9.99998243e-01 1.23747691e-03 -1.30654195e-01] [ 1.60531635e-02 -1.21471142e-03 9.99870402e-01 7.75806724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382557844000004 meters Centerline goodness : 0.226339 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99870665e-01 1.33183464e-03 -1.60274838e-02 -1.52701133e+00] [-1.31628073e-03 9.99998653e-01 9.80961907e-04 -1.29415179e-01] [ 1.60287687e-02 -9.59738366e-04 9.99871070e-01 7.75499735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.412557844000006 meters Centerline goodness : 0.144901 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99869464e-01 1.22838349e-03 -1.61104491e-02 -1.52678387e+00] [-1.21557901e-03 9.99998938e-01 8.04562131e-04 -1.28822997e-01] [ 1.61114202e-02 -7.84873583e-04 9.99869895e-01 7.75471136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44255784400001 meters Centerline goodness : 0.180845 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 9.99827353e-01 -6.62624384e-04 -1.85694699e-02 -1.57504849e+00] [ 6.74810007e-04 9.99999561e-01 6.49959900e-04 -1.32100715e-01] [ 1.85690310e-02 -6.62378551e-04 9.99827361e-01 7.78363317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47255784400001 meters Centerline goodness : 0.118455 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 9.99828729e-01 -6.48285718e-04 -1.84957512e-02 -1.57558184e+00] [ 6.60630689e-04 9.99999563e-01 6.61346874e-04 -1.31895829e-01] [ 1.84953144e-02 -6.73452465e-04 9.99828720e-01 7.78904448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50255784400001 meters Centerline goodness : 0.154513 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 9.99828896e-01 -6.38925115e-04 -1.84870392e-02 -1.57569308e+00] [ 6.52194954e-04 9.99999534e-01 7.11771299e-04 -1.32019025e-01] [ 1.84865758e-02 -7.23706665e-04 9.99828847e-01 7.79027934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.532557844 meters Centerline goodness : 0.155007 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99824115e-01 -6.96872425e-04 -1.87417305e-02 -1.57478687e+00] [ 7.10570224e-04 9.99999485e-01 7.24222307e-04 -1.32378983e-01] [ 1.87412162e-02 -7.37412244e-04 9.99824096e-01 7.78567849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562557844000004 meters Centerline goodness : 0.152431 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99815490e-01 -8.27773489e-04 -1.91911390e-02 -1.57313582e+00] [ 8.40798695e-04 9.99999422e-01 6.70650642e-04 -1.32750915e-01] [ 1.91905728e-02 -6.86662785e-04 9.99815608e-01 7.77759345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.592557844000005 meters Centerline goodness : 0.158715 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99812341e-01 -8.74153211e-04 -1.93524947e-02 -1.57239864e+00] [ 8.87986956e-04 9.99999356e-01 7.06248447e-04 -1.33240724e-01] [ 1.93518649e-02 -7.23300676e-04 9.99812473e-01 7.77197531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622557844000006 meters Centerline goodness : 0.132945 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99817208e-01 -8.19323285e-04 -1.91018066e-02 -1.57301232e+00] [ 8.36441006e-04 9.99999256e-01 8.88158710e-04 -1.33978022e-01] [ 1.91010647e-02 -9.03973896e-04 9.99817149e-01 7.77158480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65255784400001 meters Centerline goodness : 0.149757 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.14, Z:0.78 [[ 9.99790745e-01 6.92302008e-03 -1.92493408e-02 -1.59347649e+00] [-6.92201885e-03 9.99976036e-01 1.18642446e-04 -1.39079145e-01] [ 1.92497009e-02 1.46266806e-05 9.99814707e-01 7.76108252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68255784400001 meters Centerline goodness : 0.150582 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.14, Z:0.78 [[ 9.99787764e-01 6.85569622e-03 -1.94274487e-02 -1.59315523e+00] [-6.85792425e-03 9.99976483e-01 -4.80637742e-05 -1.38443814e-01] [ 1.94266623e-02 1.81285545e-04 9.99811268e-01 7.76357316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.712557844 meters Centerline goodness : 0.154138 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.14, Z:0.78 [[ 9.99784711e-01 6.74119381e-03 -1.96236679e-02 -1.59271438e+00] [-6.74957116e-03 9.99977156e-01 -3.60699172e-04 -1.37150185e-01] [ 1.96207881e-02 4.93072860e-04 9.99807372e-01 7.76504758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742557844000004 meters Centerline goodness : 0.140811 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.78 [[ 9.99790896e-01 6.68601847e-03 -1.93251729e-02 -1.59368203e+00] [-6.70267076e-03 9.99977219e-01 -7.97045319e-04 -1.34677428e-01] [ 1.93194036e-02 9.26408925e-04 9.99812934e-01 7.76840678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.772557844000005 meters Centerline goodness : 0.168105 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 9.99844025e-01 -6.57404677e-04 -1.76491605e-02 -1.57575843e+00] [ 6.68738113e-04 9.99999574e-01 6.36257491e-04 -1.25775570e-01] [ 1.76487347e-02 -6.47960917e-04 9.99844039e-01 7.77601564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802557844000006 meters Centerline goodness : 0.158213 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.78 [[ 9.99849378e-01 -7.22476956e-04 -1.73407029e-02 -1.57668940e+00] [ 7.30287861e-04 9.99999635e-01 4.44109560e-04 -1.24810549e-01] [ 1.73403757e-02 -4.56706372e-04 9.99849540e-01 7.77814063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.83255784400001 meters Centerline goodness : 0.162833 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.78 [[ 9.99850250e-01 -7.66642470e-04 -1.72884139e-02 -1.57690677e+00] [ 7.73821107e-04 9.99999617e-01 4.08542441e-04 -1.24747627e-01] [ 1.72880941e-02 -4.21859402e-04 9.99850461e-01 7.77947675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86255784400001 meters Centerline goodness : 0.158632 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.13, Z:0.78 [[ 9.99810252e-01 6.43893512e-03 -1.83847942e-02 -1.59535717e+00] [-6.45763307e-03 9.99978691e-01 -9.57848095e-04 -1.30917663e-01] [ 1.83782349e-02 1.07638860e-03 9.99830527e-01 7.76150690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89255784400001 meters Centerline goodness : 0.154195 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99821407e-01 -1.92090098e-03 -1.88006470e-02 -1.57429710e+00] [ 1.91420211e-03 9.99998098e-01 -3.74299637e-04 -1.25813743e-01] [ 1.88013302e-02 3.38244552e-04 9.99823182e-01 7.76330211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922557844 meters Centerline goodness : 0.163783 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99811393e-01 -1.89985651e-03 -1.93279263e-02 -1.57262657e+00] [ 1.89951282e-03 9.99998195e-01 -3.61405178e-05 -1.27619052e-01] [ 1.93279600e-02 -5.79942323e-07 9.99813198e-01 7.75737621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952557844000005 meters Centerline goodness : 0.099118 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99813977e-01 -1.86157423e-03 -1.91975642e-02 -1.57322806e+00] [ 1.86412541e-03 9.99998256e-01 1.14996619e-04 -1.28437026e-01] [ 1.91973167e-02 -1.50761894e-04 9.99815703e-01 7.76268418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982557844000006 meters Centerline goodness : 0.148888 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99817388e-01 -1.82055160e-03 -1.90230617e-02 -1.57407849e+00] [ 1.82590070e-03 9.99998298e-01 2.63825206e-04 -1.29315953e-01] [ 1.90225490e-02 -2.98511250e-04 9.99819010e-01 7.77039237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01255784400001 meters Centerline goodness : 0.135455 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99821080e-01 -1.79584961e-03 -1.88303948e-02 -1.57488374e+00] [ 1.80242440e-03 9.99998320e-01 3.32192382e-04 -1.29710857e-01] [ 1.88297666e-02 -3.66073309e-04 9.99822637e-01 7.77599097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04255784400001 meters Centerline goodness : 0.114088 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.13, Z:0.78 [[ 9.99807347e-01 6.73451234e-03 -1.84367844e-02 -1.59771858e+00] [-6.72755242e-03 9.99977273e-01 4.39499107e-04 -1.34817091e-01] [ 1.84393252e-02 -3.15380003e-04 9.99829931e-01 7.77252110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07255784400001 meters Centerline goodness : 0.111326 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.13, Z:0.78 [[ 9.99802022e-01 6.84046178e-03 -1.86848901e-02 -1.59676419e+00] [-6.83389694e-03 9.99976562e-01 4.15173952e-04 -1.34302637e-01] [ 1.86872922e-02 -2.87401143e-04 9.99825336e-01 7.76777616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102557844 meters Centerline goodness : 0.134643 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.13, Z:0.78 [[ 9.99796119e-01 6.84409176e-03 -1.89968059e-02 -1.59549962e+00] [-6.83994774e-03 9.99976567e-01 2.83109934e-04 -1.33753788e-01] [ 1.89982984e-02 -1.53115054e-04 9.99819504e-01 7.76119845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.132557844000004 meters Centerline goodness : 0.151454 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 9.99800166e-01 -1.08134792e-03 -1.99614363e-02 -1.57503161e+00] [ 1.08523610e-03 9.99999394e-01 1.83953133e-04 -1.25048970e-01] [ 1.99612253e-02 -2.05579245e-04 9.99800734e-01 7.76801838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162557844000006 meters Centerline goodness : 0.150910 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99797138e-01 -1.14114215e-03 -2.01092058e-02 -1.57438293e+00] [ 1.14255130e-03 9.99999346e-01 5.85863816e-05 -1.24676307e-01] [ 2.01091257e-02 -8.15502959e-05 9.99797788e-01 7.76350869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19255784400001 meters Centerline goodness : 0.114066 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99797861e-01 -1.13093245e-03 -2.00738161e-02 -1.57423750e+00] [ 1.12957293e-03 9.99999359e-01 -7.90644694e-05 -1.23763549e-01] [ 2.00738926e-02 5.63736483e-05 9.99798498e-01 7.75877002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22255784400001 meters Centerline goodness : 0.164564 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99798167e-01 -1.13646495e-03 -2.00582759e-02 -1.57407272e+00] [ 1.13350562e-03 9.99999345e-01 -1.58905285e-04 -1.23232095e-01] [ 2.00584433e-02 1.36137044e-04 9.99798800e-01 7.75499216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25255784400001 meters Centerline goodness : 0.154551 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99795616e-01 -1.13058005e-03 -2.01853280e-02 -1.57356892e+00] [ 1.12766880e-03 9.99999352e-01 -1.55608110e-04 -1.23248349e-01] [ 2.01854909e-02 1.32813941e-04 9.99796243e-01 7.75176498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282557844 meters Centerline goodness : 0.073872 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 9.99763031e-01 6.25773120e-03 -2.08500136e-02 -1.59248582e+00] [-6.28793088e-03 9.99979274e-01 -1.38318040e-03 -1.29239334e-01] [ 2.08409259e-02 1.51395607e-03 9.99781658e-01 7.73343013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.312557844000004 meters Centerline goodness : 0.130186 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 9.99757774e-01 6.27585281e-03 -2.10951960e-02 -1.59182330e+00] [-6.30517876e-03 9.99979246e-01 -1.32394697e-03 -1.29528250e-01] [ 2.10864493e-02 1.45663525e-03 9.99776595e-01 7.73265477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342557844000005 meters Centerline goodness : 0.106682 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 9.99753362e-01 6.38136697e-03 -2.12718979e-02 -1.59101856e+00] [-6.40697327e-03 9.99978830e-01 -1.13582687e-03 -1.30245307e-01] [ 2.12641994e-02 1.27183522e-03 9.99773082e-01 7.72667248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372557844000006 meters Centerline goodness : 0.135965 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 9.99750407e-01 6.45967728e-03 -2.13868260e-02 -1.59042823e+00] [-6.48293522e-03 9.99978467e-01 -1.01833428e-03 -1.30562894e-01] [ 2.13797874e-02 1.15672952e-03 9.99770757e-01 7.72192452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40255784400001 meters Centerline goodness : 0.113229 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 9.99751489e-01 6.49033508e-03 -2.13268840e-02 -1.59044359e+00] [-6.51208849e-03 9.99978344e-01 -9.50708304e-04 -1.30770607e-01] [ 2.13202517e-02 1.08935460e-03 9.99772104e-01 7.71978695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43255784400001 meters Centerline goodness : 0.101120 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 9.99751525e-01 6.39786901e-03 -2.13531074e-02 -1.59047647e+00] [-6.42306356e-03 9.99978754e-01 -1.11152454e-03 -1.30265353e-01] [ 2.13455424e-02 1.24840072e-03 9.99771379e-01 7.72182074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462557844 meters Centerline goodness : 0.119768 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 0.99975535 0.00618675 -0.02123571 -1.59108472] [-0.00622236 0.99997934 -0.00161122 -0.128131 ] [ 0.02122531 0.00174297 0.9997732 0.77269278] [ 0. 0. 0. 1. ]] SLAMing on 53.492557844000004 meters Centerline goodness : 0.149065 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 9.99788555e-01 1.00590902e-03 -2.05385991e-02 -1.56912233e+00] [-9.78291532e-04 9.99998604e-01 1.35466580e-03 -1.23018124e-01] [ 2.05399331e-02 -1.33428662e-03 9.99788143e-01 7.72742144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522557844000005 meters Centerline goodness : 0.146173 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 9.99798745e-01 1.03802770e-03 -2.00347711e-02 -1.57055923e+00] [-1.01718044e-03 9.99998931e-01 1.05071636e-03 -1.20757276e-01] [ 2.00358403e-02 -1.03012592e-03 9.99798732e-01 7.72923082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552557844000006 meters Centerline goodness : 0.159789 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 9.99812407e-01 1.05319112e-03 -1.93401379e-02 -1.57261908e+00] [-1.03863458e-03 9.99999170e-01 7.62688628e-04 -1.18736404e-01] [ 1.93409251e-02 -7.42458217e-04 9.99812671e-01 7.73323782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58255784400001 meters Centerline goodness : 0.143345 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 9.99819685e-01 9.54509454e-04 -1.89654203e-02 -1.57397808e+00] [-9.46856371e-04 9.99999467e-01 4.12503732e-04 -1.16890455e-01] [ 1.89658039e-02 -3.94471822e-04 9.99820055e-01 7.73979687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61255784400001 meters Centerline goodness : 0.145160 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.77 [[ 9.99818830e-01 6.08923699e-04 -1.90246130e-02 -1.57376073e+00] [-6.17432876e-04 9.99999712e-01 -4.41401467e-04 -1.12988407e-01] [ 1.90243388e-02 4.53067920e-04 9.99818918e-01 7.73762404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64255784400001 meters Centerline goodness : 0.133648 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.77 [[ 9.99816535e-01 4.43751872e-04 -1.91493787e-02 -1.57327904e+00] [-4.59137958e-04 9.99999575e-01 -7.99088044e-04 -1.11395384e-01] [ 1.91490160e-02 8.07733646e-04 9.99816315e-01 7.73412474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.672557844 meters Centerline goodness : 0.128167 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.10, Z:0.78 [[ 9.99776177e-01 -6.98069632e-03 -1.99716078e-02 -1.55324600e+00] [ 6.98526347e-03 9.99975590e-01 1.58929969e-04 -1.04101256e-01] [ 1.99700109e-02 -2.98401339e-04 9.99800535e-01 7.75601777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702557844000005 meters Centerline goodness : 0.110562 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.10, Z:0.78 [[ 9.99776679e-01 -6.97934222e-03 -1.99469678e-02 -1.55357766e+00] [ 6.98642999e-03 9.99975554e-01 2.85665923e-04 -1.04648057e-01] [ 1.99444864e-02 -4.24960222e-04 9.99800999e-01 7.76064220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.732557844000006 meters Centerline goodness : 0.117981 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.11, Z:0.78 [[ 9.99777053e-01 -7.04475683e-03 -1.99051660e-02 -1.55397717e+00] [ 7.05382827e-03 9.99975047e-01 3.85558011e-04 -1.05346904e-01] [ 1.99019532e-02 -5.25879674e-04 9.99801798e-01 7.76615429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76255784400001 meters Centerline goodness : 0.148698 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.11, Z:0.78 [[ 9.99773918e-01 -7.11208259e-03 -2.00382541e-02 -1.55390280e+00] [ 7.12364486e-03 9.99974499e-01 5.05688181e-04 -1.06298475e-01] [ 2.00341466e-02 -6.48319260e-04 9.99799086e-01 7.77110060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79255784400001 meters Centerline goodness : 0.157279 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.78 [[ 9.99804060e-01 -5.85590065e-04 -1.97863213e-02 -1.57311115e+00] [ 5.62627926e-04 9.99999162e-01 -1.16605251e-03 -1.13127035e-01] [ 1.97869875e-02 1.15469170e-03 9.99803552e-01 7.75107464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82255784400001 meters Centerline goodness : 0.112410 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.78 [[ 9.99804549e-01 -5.92823424e-04 -1.97613680e-02 -1.57315767e+00] [ 5.72927487e-04 9.99999323e-01 -1.01245600e-03 -1.14089776e-01] [ 1.97619549e-02 1.00093628e-03 9.99804212e-01 7.75110543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.852557844 meters Centerline goodness : 0.129759 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 9.99811410e-01 -6.78224965e-04 -1.94083362e-02 -1.57394385e+00] [ 6.62345225e-04 9.99999441e-01 -8.24608095e-04 -1.15435012e-01] [ 1.94088846e-02 8.11597564e-04 9.99811300e-01 7.74989510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882557844000004 meters Centerline goodness : 0.148579 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99810312e-01 -6.79682518e-04 -1.94648091e-02 -1.57384847e+00] [ 6.65128772e-04 9.99999494e-01 -7.54159465e-04 -1.15873925e-01] [ 1.94653118e-02 7.41069806e-04 9.99810258e-01 7.75083416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.912557844000006 meters Centerline goodness : 0.111199 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.12, Z:0.78 [[ 9.99742356e-01 -2.00513335e-03 -2.26097481e-02 -1.61791782e+00] [ 1.99242146e-03 9.99997844e-01 -5.84743472e-04 -1.18543660e-01] [ 2.26108719e-02 5.39544669e-04 9.99744196e-01 7.75349787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94255784400001 meters Centerline goodness : 0.116499 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.12, Z:0.77 [[ 9.99736561e-01 -2.05819606e-03 -2.28598527e-02 -1.61705108e+00] [ 2.04241580e-03 9.99997660e-01 -7.13630837e-04 -1.17919109e-01] [ 2.28612680e-02 6.66753514e-04 9.99738425e-01 7.74904433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97255784400001 meters Centerline goodness : 0.134130 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.12, Z:0.77 [[ 9.99695728e-01 -3.00228309e-04 -2.46649626e-02 -1.60956430e+00] [ 3.20991815e-04 9.99999597e-01 8.37866972e-04 -1.17900736e-01] [ 2.46647011e-02 -8.45529284e-04 9.99695422e-01 7.71349483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00255784400001 meters Centerline goodness : 0.116817 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.12, Z:0.77 [[ 9.99691477e-01 -4.58285419e-04 -2.48342610e-02 -1.60878139e+00] [ 4.69746290e-04 9.99999786e-01 4.55662514e-04 -1.16171822e-01] [ 2.48340469e-02 -4.67187734e-04 9.99691478e-01 7.70763829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.032557844 meters Centerline goodness : 0.155797 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.11, Z:0.77 [[ 9.99692583e-01 -6.05942326e-04 -2.47865392e-02 -1.60890890e+00] [ 6.06659072e-04 9.99999816e-01 2.13971457e-05 -1.14089058e-01] [ 2.47865217e-02 -3.64275467e-05 9.99692766e-01 7.70739140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062557844000004 meters Centerline goodness : 0.145147 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 9.99697082e-01 8.37620017e-03 -2.31426832e-02 -1.58835320e+00] [-8.40736516e-03 9.99963877e-01 -1.24967478e-03 -1.13603485e-01] [ 2.31313797e-02 1.44386522e-03 9.99731391e-01 7.71609618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.092557844000005 meters Centerline goodness : 0.130795 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99970068 0.00818769 -0.02305445 -1.58874075] [-0.008231 0.99996453 -0.00178439 -0.11100391] [ 0.02303902 0.00197361 0.99973262 0.77181454] [ 0. 0. 0. 1. ]] SLAMing on 54.122557844000006 meters Centerline goodness : 0.130795 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99970068 0.00818769 -0.02305445 -1.58874075] [-0.008231 0.99996453 -0.00178439 -0.11100391] [ 0.02303902 0.00197361 0.99973262 0.77181454] [ 0. 0. 0. 1. ]] SLAMing on 54.15255784400001 meters Centerline goodness : 0.150396 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99969187 0.00799025 -0.02350158 -1.58685214] [-0.00805603 0.99996389 -0.00270556 -0.10603242] [ 0.02347911 0.00289406 0.99972014 0.77050975] [ 0. 0. 0. 1. ]] SLAMing on 54.18255784400001 meters Centerline goodness : 0.133635 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.10, Z:0.77 [[ 0.99969507 0.00783074 -0.0234191 -1.58678006] [-0.00790491 0.99996402 -0.00307658 -0.1041326 ] [ 0.02339416 0.00326077 0.999721 0.76993174] [ 0. 0. 0. 1. ]] SLAMing on 54.212557844 meters Centerline goodness : 0.126845 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.10, Z:0.77 [[ 0.99969877 0.00771689 -0.02329829 -1.58721988] [-0.00779663 0.99996405 -0.00333362 -0.10278914] [ 0.02327172 0.00351427 0.999723 0.77006378] [ 0. 0. 0. 1. ]] SLAMing on 54.242557844000004 meters Centerline goodness : 0.149811 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.10, Z:0.77 [[ 0.99970384 0.00761816 -0.0231125 -1.58794456] [-0.00770091 0.99996425 -0.00349334 -0.10210267] [ 0.02308506 0.00367029 0.99972677 0.77040851] [ 0. 0. 0. 1. ]] SLAMing on 54.272557844000005 meters Centerline goodness : 0.134337 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.10, Z:0.77 [[ 0.9997058 0.00740048 -0.0230987 -1.58863309] [-0.00748875 0.99996498 -0.00373717 -0.10172358] [ 0.02307024 0.00390905 0.9997262 0.77144373] [ 0. 0. 0. 1. ]] SLAMing on 54.302557844000006 meters Centerline goodness : 0.132346 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.10, Z:0.77 [[ 0.99970673 0.00734407 -0.0230763 -1.58874935] [-0.00743335 0.99996521 -0.00378535 -0.10160619] [ 0.0230477 0.00395577 0.99972654 0.77150214] [ 0. 0. 0. 1. ]] SLAMing on 54.33255784400001 meters Centerline goodness : 0.147168 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.10, Z:0.77 [[ 0.99971136 0.00735307 -0.0228722 -1.58943212] [-0.0074408 0.99996527 -0.0037531 -0.1015718 ] [ 0.02284381 0.00392221 0.99973135 0.77169007] [ 0. 0. 0. 1. ]] SLAMing on 54.36255784400001 meters Centerline goodness : 0.135368 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.10, Z:0.77 [[ 9.99795124e-01 -6.07974339e-05 -2.02411927e-02 -1.57166910e+00] [ 2.02755396e-05 9.99997995e-01 -2.00215111e-03 -9.54061720e-02] [ 2.02412739e-02 2.00133052e-03 9.99793121e-01 7.72633861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39255784400001 meters Centerline goodness : 0.138793 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.10, Z:0.77 [[ 9.99805707e-01 -2.75005295e-05 -1.97115902e-02 -1.57359850e+00] [-1.14268389e-05 9.99998050e-01 -1.97473133e-03 -9.53385055e-02] [ 1.97116061e-02 1.97457289e-03 9.99803758e-01 7.73661611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422557844 meters Centerline goodness : 0.155146 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.10, Z:0.77 [[ 9.99815493e-01 -2.04426515e-05 -1.92088654e-02 -1.57545036e+00] [-1.74046652e-05 9.99998059e-01 -1.97013540e-03 -9.53161557e-02] [ 1.92088684e-02 1.97010622e-03 9.99813552e-01 7.74689386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.452557844000005 meters Centerline goodness : 0.145924 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.09, Z:0.77 [[ 9.99816354e-01 -9.79405342e-05 -1.91637532e-02 -1.57551891e+00] [ 5.58749028e-05 9.99997588e-01 -2.19558539e-03 -9.41452947e-02] [ 1.91639220e-02 2.19411140e-03 9.99813948e-01 7.74584416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482557844000006 meters Centerline goodness : 0.131356 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99738353e-01 -1.03117193e-04 -2.28738789e-02 -1.61794233e+00] [ 7.84976446e-05 9.99999417e-01 -1.07721243e-03 -9.65730301e-02] [ 2.28739767e-02 1.07513504e-03 9.99737778e-01 7.73950559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51255784400001 meters Centerline goodness : 0.137246 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99728578e-01 -1.35277220e-04 -2.32970394e-02 -1.61653965e+00] [ 1.04900201e-04 9.99999143e-01 -1.30511756e-03 -9.53470099e-02] [ 2.32971960e-02 1.30231945e-03 9.99727735e-01 7.73372288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54255784400001 meters Centerline goodness : 0.136029 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.09, Z:0.77 [[ 9.99726102e-01 -1.98731802e-04 -2.34026153e-02 -1.61620450e+00] [ 1.63781573e-04 9.99998869e-01 -1.49533989e-03 -9.44594644e-02] [ 2.34028860e-02 1.49109740e-03 9.99725003e-01 7.73253276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57255784400001 meters Centerline goodness : 0.138918 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.09, Z:0.77 [[ 9.99733393e-01 -1.34652094e-04 -2.30894915e-02 -1.61746096e+00] [ 9.84698800e-05 9.99998766e-01 -1.56817230e-03 -9.37369609e-02] [ 2.30896741e-02 1.56548060e-03 9.99732172e-01 7.73973194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602557844 meters Centerline goodness : 0.149062 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.09, Z:0.77 [[ 9.99738580e-01 -9.64190216e-05 -2.28639795e-02 -1.61825238e+00] [ 6.19044991e-05 9.99998858e-01 -1.51026182e-03 -9.38317977e-02] [ 2.28640990e-02 1.50845163e-03 9.99737444e-01 7.74306665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632557844000004 meters Centerline goodness : 0.136205 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.09, Z:0.77 [[ 9.99742658e-01 -4.21638438e-05 -2.26851488e-02 -1.61885172e+00] [ 1.06264981e-05 9.99999033e-01 -1.39033867e-03 -9.43906528e-02] [ 2.26851855e-02 1.38973981e-03 9.99741692e-01 7.74537933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662557844000006 meters Centerline goodness : 0.130467 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99743074e-01 -2.93004773e-05 -2.26668168e-02 -1.61888271e+00] [ 2.66893480e-07 9.99999180e-01 -1.28088689e-03 -9.51290705e-02] [ 2.26668357e-02 1.28055174e-03 9.99742254e-01 7.74543227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69255784400001 meters Centerline goodness : 0.137912 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99739037e-01 -2.02575048e-05 -2.28441850e-02 -1.61832750e+00] [-6.15600995e-06 9.99999332e-01 -1.15617584e-03 -9.60222551e-02] [ 2.28441931e-02 1.15601475e-03 9.99738369e-01 7.74394753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72255784400001 meters Centerline goodness : 0.138452 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99731163e-01 -1.68127142e-05 -2.31862484e-02 -1.61720613e+00] [-7.61083207e-06 9.99999445e-01 -1.05327479e-03 -9.66762072e-02] [ 2.31862532e-02 1.05316810e-03 9.99730608e-01 7.73985809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75255784400001 meters Centerline goodness : 0.130610 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99717614e-01 -1.79117500e-06 -2.37632508e-02 -1.61504921e+00] [-2.01585665e-05 9.99999573e-01 -9.23444707e-04 -9.74580962e-02] [ 2.37632423e-02 9.23662973e-04 9.99717188e-01 7.72861666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782557844 meters Centerline goodness : 0.140861 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99715259e-01 3.02977960e-05 -2.38621082e-02 -1.61456275e+00] [-4.90529391e-05 9.99999690e-01 -7.85395196e-04 -9.83451723e-02] [ 2.38620770e-02 7.86342068e-04 9.99714951e-01 7.72509874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.812557844000004 meters Centerline goodness : 0.121436 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99716465e-01 1.06184113e-04 -2.38113261e-02 -1.61462447e+00] [-1.19826779e-04 9.99999830e-01 -5.71522517e-04 -9.94972768e-02] [ 2.38112613e-02 5.74213704e-04 9.99716307e-01 7.72423045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842557844000005 meters Centerline goodness : 0.121522 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99719545e-01 3.17996789e-04 -2.36797538e-02 -1.61524400e+00] [-3.20867183e-04 9.99999942e-01 -1.17417766e-04 -1.01401071e-01] [ 2.36797151e-02 1.24982891e-04 9.99719588e-01 7.72899846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872557844000006 meters Centerline goodness : 0.136173 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99715467e-01 4.06950958e-04 -2.38499195e-02 -1.61482363e+00] [-4.05004668e-04 9.99999914e-01 8.64360431e-05 -1.02324895e-01] [ 2.38499526e-02 -7.67521205e-05 9.99715546e-01 7.72931191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90255784400001 meters Centerline goodness : 0.121817 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99712388e-01 4.88377104e-04 -2.39771249e-02 -1.61437534e+00] [-4.80580891e-04 9.99999830e-01 3.30913345e-04 -1.03647945e-01] [ 2.39772824e-02 -3.19295222e-04 9.99712453e-01 7.72780381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93255784400001 meters Centerline goodness : 0.152874 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99711247e-01 5.46578023e-04 -2.40234207e-02 -1.61422121e+00] [-5.34458508e-04 9.99999727e-01 5.10905263e-04 -1.04729964e-01] [ 2.40236933e-02 -4.97918216e-04 9.99711265e-01 7.72742391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962557844 meters Centerline goodness : 0.134773 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.11, Z:0.77 [[ 9.99717357e-01 6.33415994e-04 -2.37656041e-02 -1.61467923e+00] [-6.18988593e-04 9.99999620e-01 6.14422075e-04 -1.05035661e-01] [ 2.37659842e-02 -5.99537775e-04 9.99717369e-01 7.72389329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.992557844000004 meters Centerline goodness : 0.122699 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99715538e-01 6.03792913e-04 -2.38428082e-02 -1.61418785e+00] [-5.92265873e-04 9.99999704e-01 4.90518528e-04 -1.04399069e-01] [ 2.38430973e-02 -4.76257712e-04 9.99715600e-01 7.71865510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022557844000005 meters Centerline goodness : 0.133988 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99711352e-01 5.73002954e-04 -2.40184007e-02 -1.61333297e+00] [-5.64255595e-04 9.99999772e-01 3.70969723e-04 -1.03824396e-01] [ 2.40186078e-02 -3.57310126e-04 9.99711448e-01 7.71160286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052557844000006 meters Centerline goodness : 0.116701 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99705563e-01 5.30968610e-04 -2.42591215e-02 -1.61236504e+00] [-5.25270567e-04 9.99999833e-01 2.41254125e-04 -1.03205079e-01] [ 2.42592455e-02 -2.28440488e-04 9.99705675e-01 7.70553033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08255784400001 meters Centerline goodness : 0.144516 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99700952e-01 5.39021707e-04 -2.44482324e-02 -1.61174299e+00] [-5.33601921e-04 9.99999832e-01 2.28207409e-04 -1.03103553e-01] [ 2.44483513e-02 -2.15093541e-04 9.99701071e-01 7.70306110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11255784400001 meters Centerline goodness : 0.119087 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99698452e-01 6.01196040e-04 -2.45488134e-02 -1.61144579e+00] [-5.92370368e-04 9.99999757e-01 3.66785719e-04 -1.03746344e-01] [ 2.45490280e-02 -3.52133125e-04 9.99698565e-01 7.70262493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14255784400001 meters Centerline goodness : 0.114655 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99701217e-01 6.99084133e-04 -2.44333394e-02 -1.61200631e+00] [-6.84702955e-04 9.99999587e-01 5.96949366e-04 -1.04827700e-01] [ 2.44337466e-02 -5.80041428e-04 9.99701283e-01 7.70730596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172557844 meters Centerline goodness : 0.118197 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.11, Z:0.77 [[ 9.99705115e-01 7.47784535e-04 -2.42718693e-02 -1.61265541e+00] [-7.31039104e-04 9.99999489e-01 6.98776869e-04 -1.05244500e-01] [ 2.42723795e-02 -6.80827125e-04 9.99705151e-01 7.71108728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202557844000005 meters Centerline goodness : 0.110803 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.11, Z:0.77 [[ 9.99711233e-01 7.85054005e-04 -2.40173554e-02 -1.61347881e+00] [-7.66246251e-04 9.99999393e-01 7.92283029e-04 -1.05593567e-01] [ 2.40179628e-02 -7.73651035e-04 9.99711228e-01 7.71407338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232557844000006 meters Centerline goodness : 0.142223 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 9.99713418e-01 9.27552686e-03 -2.20691442e-02 -1.59375748e+00] [-9.28910861e-03 9.99956724e-01 -5.12981219e-04 -1.08346451e-01] [ 2.20634310e-02 7.17836885e-04 9.99756315e-01 7.72000490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26255784400001 meters Centerline goodness : 0.115620 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 9.99710488e-01 9.25719415e-03 -2.22091131e-02 -1.59338103e+00] [-9.27150363e-03 9.99956872e-01 -5.41422141e-04 -1.08270143e-01] [ 2.22031432e-02 7.47177265e-04 9.99753201e-01 7.71971081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29255784400001 meters Centerline goodness : 0.115902 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 9.99706996e-01 9.30998768e-03 -2.23438082e-02 -1.59283710e+00] [-9.32180340e-03 9.99956461e-01 -4.24714786e-04 -1.08741616e-01] [ 2.23388813e-02 6.32874930e-04 9.99750256e-01 7.71625126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32255784400001 meters Centerline goodness : 0.146440 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 9.99702859e-01 9.41417407e-03 -2.24848103e-02 -1.59256897e+00] [-9.42014824e-03 9.99955617e-01 -1.59791946e-04 -1.09939219e-01] [ 2.24823080e-02 3.71554711e-04 9.99747172e-01 7.71766717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.352557844 meters Centerline goodness : 0.117694 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 9.99699413e-01 9.59242352e-03 -2.25625518e-02 -1.59258375e+00] [-9.58921178e-03 9.99953991e-01 2.50538741e-04 -1.11776453e-01] [ 2.25639170e-02 -3.41063446e-05 9.99745402e-01 7.72087929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382557844000004 meters Centerline goodness : 0.112039 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99973796 0.00584702 -0.0221321 -1.59399903] [-0.00591517 0.99997796 -0.00301493 -0.11476469] [ 0.02211398 0.00314506 0.99975051 0.77244249] [ 0. 0. 0. 1. ]] SLAMing on 55.412557844000006 meters Centerline goodness : 0.116527 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.77 [[ 0.99975879 -0.00280372 -0.02178307 -1.57395124] [ 0.00275094 0.99999321 -0.00245225 -0.1118869 ] [ 0.0217898 0.00239174 0.99975971 0.77352467] [ 0. 0. 0. 1. ]] SLAMing on 55.44255784400001 meters Centerline goodness : 0.121562 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.77 [[ 0.99976015 -0.00265915 -0.02173884 -1.57405321] [ 0.00261583 0.99999454 -0.00202104 -0.11408835] [ 0.0217441 0.00196369 0.99976164 0.77354275] [ 0. 0. 0. 1. ]] SLAMing on 55.47255784400001 meters Centerline goodness : 0.109823 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 0.9997615 -0.00248502 -0.021697 -1.57425743] [ 0.00244996 0.99999565 -0.00164217 -0.11571752] [ 0.02170099 0.00158862 0.99976324 0.77370206] [ 0. 0. 0. 1. ]] SLAMing on 55.50255784400001 meters Centerline goodness : 0.126034 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 9.99765190e-01 -2.35568106e-03 -2.15410413e-02 -1.57476882e+00] [ 2.32504832e-03 9.99996250e-01 -1.44699832e-03 -1.16346642e-01] [ 2.15443692e-02 1.39657459e-03 9.99766918e-01 7.73892051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.532557844 meters Centerline goodness : 0.123771 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99766993e-01 -2.28751666e-03 -2.14645446e-02 -1.57509970e+00] [ 2.25808662e-03 9.99996477e-01 -1.39523733e-03 -1.16397788e-01] [ 2.14676606e-02 1.34644343e-03 9.99768637e-01 7.74149087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562557844000004 meters Centerline goodness : 0.116989 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99768818e-01 -2.26811897e-03 -2.13814336e-02 -1.57525808e+00] [ 2.23655295e-03 9.99996374e-01 -1.50012582e-03 -1.15795068e-01] [ 2.13847585e-02 1.45195831e-03 9.99770266e-01 7.74099255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.592557844000005 meters Centerline goodness : 0.163232 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 9.99772456e-01 -1.78463345e-03 -2.12567788e-02 -1.57516041e+00] [ 1.75186280e-03 9.99997248e-01 -1.56017831e-03 -1.14163480e-01] [ 2.12595046e-02 1.52258434e-03 9.99772832e-01 7.73257643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622557844000006 meters Centerline goodness : 0.115727 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.9997826 -0.00168163 -0.02078304 -1.57629225] [ 0.00164638 0.99999718 -0.00171305 -0.11291816] [ 0.02078586 0.00167846 0.99978254 0.77307539] [ 0. 0. 0. 1. ]] SLAMing on 55.65255784400001 meters Centerline goodness : 0.109490 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 9.99794321e-01 -1.60654219e-03 -2.02171957e-02 -1.57777415e+00] [ 1.56970884e-03 9.99997080e-01 -1.83761961e-03 -1.11892082e-01] [ 2.02200888e-02 1.80550654e-03 9.99793923e-01 7.73161756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68255784400001 meters Centerline goodness : 0.144553 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99979114 0.00763717 -0.01895656 -1.55699436] [-0.00769699 0.99996562 -0.00308446 -0.11260265] [ 0.01893235 0.00322972 0.99981555 0.77409628] [ 0. 0. 0. 1. ]] SLAMing on 55.712557844 meters Centerline goodness : 0.130105 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99978889 0.00762768 -0.0190786 -1.55672163] [-0.00768755 0.99996575 -0.00306687 -0.11284133] [ 0.01905456 0.00321289 0.99981328 0.77414827] [ 0. 0. 0. 1. ]] SLAMing on 55.742557844000004 meters Centerline goodness : 0.146119 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99978815 0.00767127 -0.01910006 -1.55688638] [-0.00772757 0.99996601 -0.00287551 -0.11388762] [ 0.01907735 0.0030225 0.99981344 0.77451094] [ 0. 0. 0. 1. ]] SLAMing on 55.772557844000005 meters Centerline goodness : 0.164662 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.9998159 -0.00211555 -0.01907046 -1.57949745] [ 0.00207279 0.99999529 -0.0022616 -0.1125577 ] [ 0.01907515 0.00222166 0.99981558 0.77443704] [ 0. 0. 0. 1. ]] SLAMing on 55.802557844000006 meters Centerline goodness : 0.130827 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99986626 0.00330809 -0.01601642 -1.55741271] [-0.0033996 0.99997804 -0.00568958 -0.11419217] [ 0.01599724 0.00574326 0.99985554 0.77343693] [ 0. 0. 0. 1. ]] SLAMing on 55.83255784400001 meters Centerline goodness : 0.111866 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.12, Z:0.77 [[ 0.99986787 0.00322922 -0.01593148 -1.55782316] [-0.00331078 0.99998153 -0.00509614 -0.117975 ] [ 0.01591472 0.00514821 0.9998601 0.77393686] [ 0. 0. 0. 1. ]] SLAMing on 55.86255784400001 meters Centerline goodness : 0.112536 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 9.99868113e-01 4.12830673e-04 -1.62353574e-02 -1.55461812e+00] [-5.23767599e-04 9.99976542e-01 -6.82938657e-03 -1.25701100e-01] [ 1.62321572e-02 6.83698941e-03 9.99844874e-01 7.71125151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89255784400001 meters Centerline goodness : 0.158157 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 9.99857588e-01 4.74004322e-04 -1.68694507e-02 -1.55240592e+00] [-5.81842899e-04 9.99979426e-01 -6.38820254e-03 -1.28451545e-01] [ 1.68660755e-02 6.39710816e-03 9.99837293e-01 7.70146448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922557844 meters Centerline goodness : 0.112757 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 9.99851181e-01 5.58207606e-04 -1.72424875e-02 -1.55097106e+00] [-6.64418359e-04 9.99980839e-01 -6.15471351e-03 -1.29734821e-01] [ 1.72387215e-02 6.16525380e-03 9.99832394e-01 7.69338721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.952557844000005 meters Centerline goodness : 0.124242 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 9.99840271e-01 1.30884493e-03 -1.78247042e-02 -1.54918421e+00] [-1.41246392e-03 9.99982171e-01 -5.80187560e-03 -1.29361803e-01] [ 1.78167927e-02 5.82612562e-03 9.99824294e-01 7.68561591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982557844000006 meters Centerline goodness : 0.195548 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 0.99984443 0.00160823 -0.01756493 -1.54972331] [-0.00171403 0.99998047 -0.0060103 -0.12723536] [ 0.01755492 0.00603947 0.99982766 0.76820783] [ 0. 0. 0. 1. ]] SLAMing on 56.01255784400001 meters Centerline goodness : 0.195548 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 0.99984443 0.00160823 -0.01756493 -1.54972331] [-0.00171403 0.99998047 -0.0060103 -0.12723536] [ 0.01755492 0.00603947 0.99982766 0.76820783] [ 0. 0. 0. 1. ]] SLAMing on 56.04255784400001 meters Centerline goodness : 0.158749 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.12, Z:0.77 [[ 0.99984795 -0.00263117 -0.01723811 -1.52864014] [ 0.00258215 0.99999256 -0.00286573 -0.12070795] [ 0.01724552 0.00282079 0.99984731 0.76840134] [ 0. 0. 0. 1. ]] SLAMing on 56.07255784400001 meters Centerline goodness : 0.129099 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.12, Z:0.77 [[ 0.99982949 0.00606291 -0.01744242 -1.5515989 ] [-0.00612053 0.99997598 -0.00325153 -0.12257197] [ 0.01742229 0.00335773 0.99984258 0.76810681] [ 0. 0. 0. 1. ]] SLAMing on 56.102557844 meters Centerline goodness : 0.153926 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.12, Z:0.77 [[ 9.99844456e-01 1.64471530e-03 -1.75601386e-02 -1.53009020e+00] [-1.64547090e-03 9.99998646e-01 -2.85805816e-05 -1.16045624e-01] [ 1.75600678e-02 5.74708332e-05 9.99845808e-01 7.68287781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.132557844000004 meters Centerline goodness : 0.119738 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.11, Z:0.77 [[ 0.9998194 -0.00531976 -0.01824482 -1.5537324 ] [ 0.00537339 0.99998138 0.00289169 -0.11279272] [ 0.0182291 -0.0029892 0.99982937 0.76864287] [ 0. 0. 0. 1. ]] SLAMing on 56.162557844000006 meters Centerline goodness : 0.145490 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.11, Z:0.77 [[ 9.99860583e-01 2.57952249e-03 -1.64972741e-02 -1.53435482e+00] [-2.57578582e-03 9.99996652e-01 2.47746614e-04 -1.11505458e-01] [ 1.64978579e-02 -2.05218630e-04 9.99863880e-01 7.69811340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19255784400001 meters Centerline goodness : 0.146542 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.11, Z:0.77 [[ 9.99863205e-01 2.48097984e-03 -1.63528311e-02 -1.53516321e+00] [-2.47663672e-03 9.99996892e-01 2.85834291e-04 -1.12111970e-01] [ 1.63534894e-02 -2.45295168e-04 9.99866243e-01 7.70584086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22255784400001 meters Centerline goodness : 0.145349 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.11, Z:0.77 [[ 9.99871070e-01 2.43229118e-03 -1.58722380e-02 -1.53682598e+00] [-2.42402516e-03 9.99996916e-01 5.40002905e-04 -1.13538940e-01] [ 1.58735025e-02 -5.01458578e-04 9.99873882e-01 7.71414309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25255784400001 meters Centerline goodness : 0.120187 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99984474 -0.00659526 -0.01633988 -1.56051849] [ 0.00663139 0.99997568 0.00215829 -0.11356334] [ 0.01632525 -0.00226631 0.99986417 0.77188747] [ 0. 0. 0. 1. ]] SLAMing on 56.282557844 meters Centerline goodness : 0.115812 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.12, Z:0.77 [[ 0.99983903 -0.00728216 -0.01639797 -1.56022536] [ 0.00732109 0.99997052 0.00231543 -0.11674327] [ 0.01638063 -0.00243511 0.99986286 0.77207754] [ 0. 0. 0. 1. ]] SLAMing on 56.312557844000004 meters Centerline goodness : 0.155443 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.12, Z:0.77 [[ 9.99869305e-01 -1.38536280e-03 -1.61075478e-02 -1.53731792e+00] [ 1.36792025e-03 9.99998466e-01 -1.09384784e-03 -1.19174750e-01] [ 1.61090385e-02 1.07167104e-03 9.99869667e-01 7.71558435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342557844000005 meters Centerline goodness : 0.117008 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99802941e-01 -3.45872816e-03 -1.95478043e-02 -1.58038941e+00] [ 3.43572199e-03 9.99993365e-01 -1.21037983e-03 -1.24429215e-01] [ 1.95518610e-02 1.14298049e-03 9.99808191e-01 7.71543448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372557844000006 meters Centerline goodness : 0.111431 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.77 [[ 9.99795844e-01 -3.41629882e-03 -1.99148018e-02 -1.57923731e+00] [ 3.39704427e-03 9.99993729e-01 -1.00059536e-03 -1.25539826e-01] [ 1.99180953e-02 9.32739621e-04 9.99801180e-01 7.71172548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40255784400001 meters Centerline goodness : 0.162633 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.77 [[ 9.99791832e-01 -3.36932092e-03 -2.01231111e-02 -1.57843785e+00] [ 3.35199197e-03 9.99993982e-01 -8.94814182e-04 -1.25950834e-01] [ 2.01260049e-02 8.27175404e-04 9.99797109e-01 7.70709970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43255784400001 meters Centerline goodness : 0.161706 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.77 [[ 9.99790642e-01 -3.32281038e-03 -2.01898876e-02 -1.57809679e+00] [ 3.30708260e-03 9.99994202e-01 -8.12331336e-04 -1.26263408e-01] [ 2.01924697e-02 7.45391642e-04 9.99795833e-01 7.70417288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46255784400001 meters Centerline goodness : 0.159832 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.77 [[ 9.99793111e-01 -3.25041502e-03 -2.00791031e-02 -1.57845307e+00] [ 3.23699335e-03 9.99994515e-01 -7.00904800e-04 -1.26811225e-01] [ 2.00812712e-02 6.35763867e-04 9.99798149e-01 7.70548027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.492557844000004 meters Centerline goodness : 0.161722 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.77 [[ 9.99798854e-01 -3.18559420e-03 -1.98016183e-02 -1.57934644e+00] [ 3.17306963e-03 9.99994745e-01 -6.63889027e-04 -1.26674346e-01] [ 1.98036291e-02 6.00923574e-04 9.99803708e-01 7.70861859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522557844000005 meters Centerline goodness : 0.159708 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.77 [[ 9.99806137e-01 -3.12757891e-03 -1.94398397e-02 -1.58052447e+00] [ 3.11398667e-03 9.99994885e-01 -7.29426494e-04 -1.25898483e-01] [ 1.94420216e-02 6.68749683e-04 9.99810762e-01 7.71309301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552557844000006 meters Centerline goodness : 0.159031 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99806549e-01 -3.24039232e-03 -1.94000943e-02 -1.58058172e+00] [ 3.21876889e-03 9.99994163e-01 -1.14572582e-03 -1.23993865e-01] [ 1.94036937e-02 1.08305976e-03 9.99811144e-01 7.71196917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58255784400001 meters Centerline goodness : 0.154407 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99801032e-01 -3.36355871e-03 -1.96616899e-02 -1.57952171e+00] [ 3.33640743e-03 9.99993435e-01 -1.41356313e-03 -1.23006614e-01] [ 1.96663154e-02 1.34768247e-03 9.99805691e-01 7.70503748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61255784400001 meters Centerline goodness : 0.120438 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 0.9997975 -0.00345252 -0.01982547 -1.57869256] [ 0.00341916 0.99999268 -0.00171622 -0.12157717] [ 0.01983125 0.00164808 0.99980198 0.76971853] [ 0. 0. 0. 1. ]] SLAMing on 56.64255784400001 meters Centerline goodness : 0.154412 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 0.99979646 -0.00347675 -0.01987325 -1.57828616] [ 0.00343725 0.99999205 -0.00202132 -0.1196645 ] [ 0.01988012 0.0019526 0.99980046 0.76914372] [ 0. 0. 0. 1. ]] SLAMing on 56.672557844 meters Centerline goodness : 0.159954 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 0.99980891 -0.00337092 -0.01925574 -1.57982486] [ 0.00332356 0.99999137 -0.00249091 -0.11617687] [ 0.01926397 0.00242644 0.99981149 0.76896363] [ 0. 0. 0. 1. ]] SLAMing on 56.702557844000005 meters Centerline goodness : 0.144818 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 0.99981006 -0.00345217 -0.01918115 -1.58017528] [ 0.00340036 0.99999048 -0.00273299 -0.1150146 ] [ 0.01919041 0.00266725 0.99981229 0.76922732] [ 0. 0. 0. 1. ]] SLAMing on 56.732557844000006 meters Centerline goodness : 0.158017 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99981064 -0.00352303 -0.01913838 -1.58040672] [ 0.0034679 0.99998974 -0.00291322 -0.11419287] [ 0.01914845 0.0028463 0.9998126 0.76941812] [ 0. 0. 0. 1. ]] SLAMing on 56.76255784400001 meters Centerline goodness : 0.131032 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.77 [[ 0.99980152 0.00414159 -0.01948747 -1.600144 ] [-0.00422045 0.99998307 -0.00400688 -0.11913191] [ 0.01947054 0.00408833 0.99980207 0.76788692] [ 0. 0. 0. 1. ]] SLAMing on 56.79255784400001 meters Centerline goodness : 0.143443 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99979478 -0.0027591 -0.02006956 -1.58085694] [ 0.00269975 0.9999919 -0.00298378 -0.11270833] [ 0.02007763 0.00292898 0.99979413 0.76951123] [ 0. 0. 0. 1. ]] SLAMing on 56.82255784400001 meters Centerline goodness : 0.157986 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99979172 -0.00282912 -0.02021171 -1.57979372] [ 0.00276391 0.99999089 -0.00325356 -0.11128611] [ 0.02022074 0.00319702 0.99979043 0.76824175] [ 0. 0. 0. 1. ]] SLAMing on 56.852557844 meters Centerline goodness : 0.145158 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99979379 -0.00288519 -0.02010119 -1.57982985] [ 0.00281679 0.99999015 -0.00342987 -0.11043234] [ 0.02011089 0.00337254 0.99979207 0.76778895] [ 0. 0. 0. 1. ]] SLAMing on 56.882557844000004 meters Centerline goodness : 0.130234 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99979876 -0.00290925 -0.01984903 -1.58058761] [ 0.00284009 0.9999898 -0.00351174 -0.10996184] [ 0.01985904 0.00345466 0.99979682 0.76793855] [ 0. 0. 0. 1. ]] SLAMing on 56.912557844000006 meters Centerline goodness : 0.111475 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99980205 -0.0029219 -0.01968059 -1.58123114] [ 0.00285198 0.99998953 -0.00357973 -0.1095547 ] [ 0.01969085 0.00352289 0.99979991 0.76824996] [ 0. 0. 0. 1. ]] SLAMing on 56.94255784400001 meters Centerline goodness : 0.156986 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99979616 -0.00299848 -0.0199664 -1.58049245] [ 0.00292403 0.99998867 -0.00375699 -0.10868538] [ 0.01997744 0.00369784 0.99979359 0.76820543] [ 0. 0. 0. 1. ]] SLAMing on 56.97255784400001 meters Centerline goodness : 0.158362 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99978999 -0.00306333 -0.02026327 -1.5794095 ] [ 0.00298468 0.9999879 -0.00391071 -0.10803976] [ 0.02027501 0.00384941 0.99978703 0.76763558] [ 0. 0. 0. 1. ]] SLAMing on 57.00255784400001 meters Centerline goodness : 0.110764 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99978395 -0.00313052 -0.02054873 -1.57833834] [ 0.00304694 0.99998696 -0.00409716 -0.10724979] [ 0.02056129 0.00403366 0.99978046 0.76700532] [ 0. 0. 0. 1. ]] SLAMing on 57.032557844 meters Centerline goodness : 0.146268 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99978183 -0.00321225 -0.0206389 -1.57794413] [ 0.00312419 0.99998589 -0.0042975 -0.10633844] [ 0.02065241 0.00423208 0.99977776 0.7666837 ] [ 0. 0. 0. 1. ]] SLAMing on 57.062557844000004 meters Centerline goodness : 0.163383 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.11, Z:0.77 [[ 0.99972054 -0.00426986 -0.02325114 -1.62430154] [ 0.00418111 0.99998379 -0.00386424 -0.10967705] [ 0.02326726 0.00376594 0.99972219 0.76779484] [ 0. 0. 0. 1. ]] SLAMing on 57.092557844000005 meters Centerline goodness : 0.147336 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.11, Z:0.77 [[ 0.99977195 0.00426388 -0.02092518 -1.60579519] [-0.0043767 0.99997612 -0.00534871 -0.11106169] [ 0.02090187 0.00543907 0.99976674 0.76863794] [ 0. 0. 0. 1. ]] SLAMing on 57.122557844000006 meters Centerline goodness : 0.115607 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.11, Z:0.77 [[ 0.99977729 0.00421119 -0.02067916 -1.60693377] [-0.00432132 0.9999767 -0.00528399 -0.11149823] [ 0.02065642 0.00537218 0.9997722 0.76950565] [ 0. 0. 0. 1. ]] SLAMing on 57.15255784400001 meters Centerline goodness : 0.145418 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99977483 -0.00320445 -0.02097671 -1.58745651] [ 0.00311945 0.9999868 -0.00408327 -0.10699525] [ 0.02098952 0.00401691 0.99977163 0.77163504] [ 0. 0. 0. 1. ]] SLAMing on 57.18255784400001 meters Centerline goodness : 0.159667 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99977296 -0.00309829 -0.0210815 -1.58722267] [ 0.00301925 0.9999883 -0.00377996 -0.10835725] [ 0.02109297 0.00371546 0.99977061 0.77173926] [ 0. 0. 0. 1. ]] SLAMing on 57.21255784400001 meters Centerline goodness : 0.118203 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99977394 -0.0029783 -0.02105229 -1.58750964] [ 0.00290775 0.99999006 -0.003381 -0.1102356 ] [ 0.02106215 0.00331902 0.99977266 0.77214953] [ 0. 0. 0. 1. ]] SLAMing on 57.242557844000004 meters Centerline goodness : 0.118351 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.77 [[ 0.99982836 0.00283746 -0.01830843 -1.56547792] [-0.00296158 0.99997279 -0.00675611 -0.11154877] [ 0.01828876 0.00680918 0.99980956 0.77122192] [ 0. 0. 0. 1. ]] SLAMing on 57.272557844000005 meters Centerline goodness : 0.114038 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.77 [[ 0.99983433 0.00284927 -0.01797772 -1.56668788] [-0.0029633 0.99997564 -0.00631928 -0.11417293] [ 0.01795927 0.00637151 0.99981842 0.77193155] [ 0. 0. 0. 1. ]] SLAMing on 57.302557844000006 meters Centerline goodness : 0.148947 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.11, Z:0.77 [[ 0.99984889 -0.00567597 -0.01643089 -1.54696824] [ 0.00558995 0.99997046 -0.00527643 -0.11426997] [ 0.01646035 0.00518378 0.99985108 0.77340761] [ 0. 0. 0. 1. ]] SLAMing on 57.33255784400001 meters Centerline goodness : 0.110822 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.12, Z:0.77 [[ 0.99984805 -0.00553368 -0.01653058 -1.5468455 ] [ 0.00545444 0.99997344 -0.00483503 -0.11623745] [ 0.0165569 0.00474413 0.99985167 0.7736513 ] [ 0. 0. 0. 1. ]] SLAMing on 57.36255784400001 meters Centerline goodness : 0.111560 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 0.99985671 0.00210081 -0.01679697 -1.56638271] [-0.00219266 0.99998274 -0.00545168 -0.12399678] [ 0.01678522 0.00548773 0.99984406 0.77211842] [ 0. 0. 0. 1. ]] SLAMing on 57.39255784400001 meters Centerline goodness : 0.112289 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.77 [[ 0.99985966 0.00213717 -0.01661614 -1.56702078] [-0.00221887 0.99998553 -0.00489972 -0.12780836] [ 0.01660543 0.0049359 0.99984994 0.7725277 ] [ 0. 0. 0. 1. ]] SLAMing on 57.422557844 meters Centerline goodness : 0.109380 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.77 [[ 0.99986006 0.0022538 -0.01657633 -1.56729692] [-0.00233033 0.99998671 -0.00459905 -0.12923678] [ 0.01656574 0.00463704 0.99985203 0.77281966] [ 0. 0. 0. 1. ]] SLAMing on 57.452557844000005 meters Centerline goodness : 0.167832 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.77 [[ 0.99985833 0.00238696 -0.01666194 -1.56701327] [-0.00246011 0.99998742 -0.0043711 -0.13013135] [ 0.01665129 0.00441147 0.99985163 0.77278251] [ 0. 0. 0. 1. ]] SLAMing on 57.482557844000006 meters Centerline goodness : 0.071285 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.12, Z:0.77 [[ 0.99983246 -0.00520377 -0.01754917 -1.54631827] [ 0.0051436 0.99998074 -0.00347249 -0.12374906] [ 0.0175669 0.00338164 0.99983997 0.77397377] [ 0. 0. 0. 1. ]] SLAMing on 57.51255784400001 meters Centerline goodness : 0.120315 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.12, Z:0.77 [[ 0.99982734 -0.00518312 -0.01784423 -1.5453061 ] [ 0.0051233 0.99998111 -0.00339634 -0.12435558] [ 0.01786149 0.00330433 0.99983501 0.77357073] [ 0. 0. 0. 1. ]] SLAMing on 57.54255784400001 meters Centerline goodness : 0.114412 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:0.77 [[ 0.99982496 -0.0051373 -0.01799049 -1.54494072] [ 0.00507973 0.99998183 -0.00324453 -0.12533769] [ 0.01800684 0.00315257 0.99983289 0.77355674] [ 0. 0. 0. 1. ]] SLAMing on 57.57255784400001 meters Centerline goodness : 0.120694 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 0.9998338 -0.00482718 -0.01758016 -1.54617409] [ 0.00478189 0.99998514 -0.0026173 -0.12794583] [ 0.01759254 0.0025328 0.99984203 0.77387068] [ 0. 0. 0. 1. ]] SLAMing on 57.602557844 meters Centerline goodness : 0.165456 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 0.99983662 -0.00467622 -0.01746051 -1.54659676] [ 0.00463679 0.99998661 -0.00229789 -0.12928365] [ 0.01747102 0.00221655 0.99984491 0.77411104] [ 0. 0. 0. 1. ]] SLAMing on 57.632557844000004 meters Centerline goodness : 0.121267 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 0.9998487 0.00393294 -0.01694424 -1.5266921 ] [-0.00399714 0.99998495 -0.00375711 -0.13394298] [ 0.01692921 0.00382427 0.99984938 0.77552447] [ 0. 0. 0. 1. ]] SLAMing on 57.662557844000006 meters Centerline goodness : 0.155875 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.13, Z:0.77 [[ 0.99982459 0.00431322 -0.01822608 -1.52271483] [-0.00437947 0.99998394 -0.00359652 -0.1344708 ] [ 0.01821027 0.00367571 0.99982742 0.77471599] [ 0. 0. 0. 1. ]] SLAMing on 57.69255784400001 meters Centerline goodness : 0.119002 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.78 [[ 9.99800435e-01 -6.90079912e-04 -1.99653032e-02 -1.49959734e+00] [ 6.71462508e-04 9.99999334e-01 -9.39176534e-04 -1.27310384e-01] [ 1.99659380e-02 9.25583155e-04 9.99800232e-01 7.75189902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72255784400001 meters Centerline goodness : 0.160455 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.77 [[ 9.99802937e-01 -5.68656051e-04 -1.98434897e-02 -1.49951287e+00] [ 5.46433862e-04 9.99999218e-01 -1.12527717e-03 -1.25846630e-01] [ 1.98441141e-02 1.11421227e-03 9.99802465e-01 7.74457197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75255784400001 meters Centerline goodness : 0.124916 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.77 [[ 9.99806198e-01 -6.08257953e-04 -1.96773186e-02 -1.49956343e+00] [ 5.79364417e-04 9.99998746e-01 -1.47403498e-03 -1.24118245e-01] [ 1.96781905e-02 1.46234897e-03 9.99805296e-01 7.73802514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782557844 meters Centerline goodness : 0.141945 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.77 [[ 9.99809949e-01 -7.04658423e-04 -1.94825251e-02 -1.49997609e+00] [ 6.69054435e-04 9.99998095e-01 -1.83394089e-03 -1.22443517e-01] [ 1.94837803e-02 1.82055748e-03 9.99808516e-01 7.73604390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812557844000004 meters Centerline goodness : 0.157525 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.77 [[ 9.99813903e-01 -7.48193916e-04 -1.92768997e-02 -1.50061550e+00] [ 7.08659612e-04 9.99997632e-01 -2.05761366e-03 -1.21252231e-01] [ 1.92783935e-02 2.04356998e-03 9.99812066e-01 7.73747736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842557844000005 meters Centerline goodness : 0.155538 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.77 [[ 9.99818316e-01 -6.98188274e-04 -1.90485831e-02 -1.50174264e+00] [ 6.59095845e-04 9.99997664e-01 -2.05844946e-03 -1.20681972e-01] [ 1.90499758e-02 2.04552063e-03 9.99816440e-01 7.74518172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872557844000006 meters Centerline goodness : 0.150998 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.78 [[ 9.99817123e-01 -6.39576710e-04 -1.91130993e-02 -1.50186959e+00] [ 6.05912689e-04 9.99998255e-01 -1.76704529e-03 -1.22166611e-01] [ 1.91141961e-02 1.75514127e-03 9.99815767e-01 7.75013507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90255784400001 meters Centerline goodness : 0.162407 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.78 [[ 9.99812085e-01 -7.10341043e-04 -1.93724019e-02 -1.50131345e+00] [ 6.82181179e-04 9.99998701e-01 -1.46017691e-03 -1.24271476e-01] [ 1.93734140e-02 1.44668703e-03 9.99811271e-01 7.75243903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93255784400001 meters Centerline goodness : 0.162407 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.78 [[ 9.99812085e-01 -7.10341043e-04 -1.93724019e-02 -1.50131345e+00] [ 6.82181179e-04 9.99998701e-01 -1.46017691e-03 -1.24271476e-01] [ 1.93734140e-02 1.44668703e-03 9.99811271e-01 7.75243903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96255784400001 meters Centerline goodness : 0.134866 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:0.78 [[ 9.99747711e-01 -3.26886542e-03 -2.22222648e-02 -1.54496010e+00] [ 3.23373818e-03 9.99993465e-01 -1.61647408e-03 -1.30206420e-01] [ 2.22274036e-02 1.54420527e-03 9.99751748e-01 7.75275148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992557844000004 meters Centerline goodness : 0.155111 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:0.77 [[ 9.99738119e-01 -3.29734742e-03 -2.26455280e-02 -1.54364192e+00] [ 3.26989259e-03 9.99993874e-01 -1.24929480e-03 -1.32414858e-01] [ 2.26495086e-02 1.17491919e-03 9.99742777e-01 7.74869225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022557844000005 meters Centerline goodness : 0.138528 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.14, Z:0.78 [[ 9.99738371e-01 -3.27638499e-03 -2.26374549e-02 -1.54365526e+00] [ 3.26007291e-03 9.99994399e-01 -7.57446385e-04 -1.35158903e-01] [ 2.26398098e-02 6.83448462e-04 9.99743453e-01 7.75010306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052557844000006 meters Centerline goodness : 0.156226 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.14, Z:0.78 [[ 9.99737028e-01 -3.23566683e-03 -2.27025379e-02 -1.54389165e+00] [ 3.22134421e-03 9.99994589e-01 -6.67425024e-04 -1.35625683e-01] [ 2.27045746e-02 5.94116821e-04 9.99742041e-01 7.75687427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08255784400001 meters Centerline goodness : 0.162979 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.14, Z:0.77 [[ 9.99734227e-01 4.45274410e-03 -2.26196261e-02 -1.56410218e+00] [-4.48754000e-03 9.99988824e-01 -1.48777866e-03 -1.40876676e-01] [ 2.26127486e-02 1.58888973e-03 9.99743037e-01 7.74382700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11255784400001 meters Centerline goodness : 0.163348 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.78 [[ 9.99749504e-01 -2.83490078e-03 -2.22011975e-02 -1.54527539e+00] [ 2.83490118e-03 9.99995981e-01 -3.14550280e-05 -1.33382990e-01] [ 2.22011975e-02 -3.14910523e-05 9.99753523e-01 7.75579251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14255784400001 meters Centerline goodness : 0.158252 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.78 [[ 9.99755009e-01 -2.79838404e-03 -2.19565553e-02 -1.54590826e+00] [ 2.79639478e-03 9.99996083e-01 -1.21302537e-04 -1.32586869e-01] [ 2.19568087e-02 5.98736227e-05 9.99758918e-01 7.75588191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172557844 meters Centerline goodness : 0.147417 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.77 [[ 0.99981415 0.00519638 -0.01856504 -1.52529468] [-0.00523636 0.99998407 -0.00210567 -0.13216622] [ 0.0185538 0.0022025 0.99982544 0.77472007] [ 0. 0. 0. 1. ]] SLAMing on 58.202557844000005 meters Centerline goodness : 0.117211 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.77 [[ 0.99981489 0.00509743 -0.01855244 -1.52552648] [-0.0051401 0.99998425 -0.00225332 -0.13166965] [ 0.01854066 0.00234826 0.99982535 0.77499415] [ 0. 0. 0. 1. ]] SLAMing on 58.232557844000006 meters Centerline goodness : 0.122204 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 0.99981266 0.00502881 -0.01869128 -1.52517165] [-0.00507563 0.9999841 -0.00245806 -0.13087071] [ 0.01867862 0.00255247 0.99982228 0.77501094] [ 0. 0. 0. 1. ]] SLAMing on 58.26255784400001 meters Centerline goodness : 0.155027 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.13, Z:0.77 [[ 0.99979984 0.00490162 -0.01939751 -1.52274909] [-0.00495615 0.9999839 -0.00276411 -0.12963823] [ 0.01938365 0.00285969 0.99980803 0.77387832] [ 0. 0. 0. 1. ]] SLAMing on 58.29255784400001 meters Centerline goodness : 0.155027 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.13, Z:0.77 [[ 0.99979984 0.00490162 -0.01939751 -1.52274909] [-0.00495615 0.9999839 -0.00276411 -0.12963823] [ 0.01938365 0.00285969 0.99980803 0.77387832] [ 0. 0. 0. 1. ]] SLAMing on 58.32255784400001 meters Centerline goodness : 0.158777 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.13, Z:0.77 [[ 0.99979517 0.00488646 -0.01964017 -1.5219054 ] [-0.00494034 0.99998416 -0.00269571 -0.13030121] [ 0.01962669 0.00279219 0.99980348 0.77348971] [ 0. 0. 0. 1. ]] SLAMing on 58.352557844 meters Centerline goodness : 0.153207 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.13, Z:0.77 [[ 0.99980104 0.00489123 -0.019338 -1.5230518 ] [-0.00494068 0.99998464 -0.00251034 -0.13120974] [ 0.01932543 0.00260538 0.99980985 0.77401173] [ 0. 0. 0. 1. ]] SLAMing on 58.382557844000004 meters Centerline goodness : 0.159467 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 9.99804138e-01 -4.50012224e-03 -1.92726513e-02 -1.54574540e+00] [ 4.47286294e-03 9.99988935e-01 -1.45727559e-03 -1.28818964e-01] [ 1.92789959e-02 1.37078623e-03 9.99813203e-01 7.73807470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.412557844000006 meters Centerline goodness : 0.153791 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.77 [[ 0.99985633 0.00280221 -0.01671707 -1.5254215 ] [-0.00286594 0.99998871 -0.00378922 -0.13034434] [ 0.01670627 0.00383658 0.99985308 0.77343129] [ 0. 0. 0. 1. ]] SLAMing on 58.44255784400001 meters Centerline goodness : 0.158483 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.77 [[ 0.99985706 0.00290542 -0.01665566 -1.52564231] [-0.00296241 0.99998984 -0.00339797 -0.13223876] [ 0.01664562 0.00344682 0.99985551 0.77349826] [ 0. 0. 0. 1. ]] SLAMing on 58.47255784400001 meters Centerline goodness : 0.158482 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.77 [[ 0.99985402 0.00303582 -0.01681426 -1.52514723] [-0.00308652 0.99999077 -0.00298973 -0.13417814] [ 0.01680503 0.00304119 0.99985416 0.77331755] [ 0. 0. 0. 1. ]] SLAMing on 58.50255784400001 meters Centerline goodness : 0.157007 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.14, Z:0.77 [[ 0.99985037 0.00309239 -0.0170198 -1.52443771] [-0.00313902 0.99999139 -0.00271368 -0.13566692] [ 0.01701126 0.0027667 0.99985147 0.77304342] [ 0. 0. 0. 1. ]] SLAMing on 58.532557844 meters Centerline goodness : 0.165870 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.14, Z:0.77 [[ 9.99837716e-01 3.19467323e-04 -1.80122159e-02 -1.52084746e+00] [-4.19175013e-04 9.99984610e-01 -5.53205564e-03 -1.38271672e-01] [ 1.80101714e-02 5.53870815e-03 9.99822462e-01 7.71791125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562557844000004 meters Centerline goodness : 0.161219 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.14, Z:0.77 [[ 9.99783134e-01 -9.62409336e-04 -2.08028636e-02 -1.56515837e+00] [ 8.63016374e-04 9.99988173e-01 -4.78629967e-03 -1.42955440e-01] [ 2.08072239e-02 4.76730848e-03 9.99772140e-01 7.72320145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.592557844000005 meters Centerline goodness : 0.162669 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.14, Z:0.77 [[ 0.99975212 -0.00823608 -0.02068479 -1.54536243] [ 0.00816289 0.99996013 -0.00362027 -0.13891078] [ 0.02071378 0.00345052 0.99977949 0.77387022] [ 0. 0. 0. 1. ]] SLAMing on 58.622557844000006 meters Centerline goodness : 0.160641 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.14, Z:0.77 [[ 0.99975084 -0.00812322 -0.02079113 -1.54501284] [ 0.00805448 0.99996182 -0.00338794 -0.13991963] [ 0.02081786 0.00321964 0.9997781 0.77375451] [ 0. 0. 0. 1. ]] SLAMing on 58.65255784400001 meters Centerline goodness : 0.159792 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.14, Z:0.77 [[ 0.99974837 -0.00802843 -0.02094628 -1.54450352] [ 0.00796266 0.99996311 -0.00322161 -0.14063718] [ 0.02097137 0.00305402 0.99977541 0.77357478] [ 0. 0. 0. 1. ]] SLAMing on 58.68255784400001 meters Centerline goodness : 0.117512 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.14, Z:0.77 [[ 0.99978599 0.00152363 -0.02063152 -1.52333233] [-0.00161265 0.99998946 -0.00429914 -0.14308243] [ 0.02062475 0.00433149 0.9997779 0.77435678] [ 0. 0. 0. 1. ]] SLAMing on 58.71255784400001 meters Centerline goodness : 0.163334 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.15, Z:0.78 [[ 9.99718620e-01 1.16814844e-03 -2.36921333e-02 -1.56797947e+00] [-1.24760331e-03 9.99993647e-01 -3.33913529e-03 -1.45327730e-01] [ 2.36880822e-02 3.36775411e-03 9.99713726e-01 7.75040455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742557844000004 meters Centerline goodness : 0.159422 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.14, Z:0.77 [[ 9.99717523e-01 1.14246366e-03 -2.37396092e-02 -1.56766239e+00] [-1.23166214e-03 9.99992236e-01 -3.74308710e-03 -1.43183545e-01] [ 2.37351485e-02 3.77126894e-03 9.99711168e-01 7.74630638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.772557844000005 meters Centerline goodness : 0.154996 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.14, Z:0.77 [[ 9.99715501e-01 1.20033218e-03 -2.38217504e-02 -1.56726155e+00] [-1.29826063e-03 9.99990769e-01 -4.09584390e-03 -1.41045014e-01] [ 2.38166142e-02 4.12560547e-03 9.99707831e-01 7.74192037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802557844000006 meters Centerline goodness : 0.159799 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.14, Z:0.78 [[ 9.99633652e-01 1.16869385e-03 -2.70406181e-02 -1.61265048e+00] [-1.24448759e-03 9.99995344e-01 -2.78629965e-03 -1.42871141e-01] [ 2.70372358e-02 2.81893061e-03 9.99630452e-01 7.75316807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.83255784400001 meters Centerline goodness : 0.132267 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.14, Z:0.78 [[ 9.99638576e-01 1.15551979e-03 -2.68585580e-02 -1.61307771e+00] [-1.24093133e-03 9.99994226e-01 -3.16359891e-03 -1.40622817e-01] [ 2.68547473e-02 3.19578514e-03 9.99634238e-01 7.75170295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86255784400001 meters Centerline goodness : 0.115234 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.14, Z:0.77 [[ 9.99638067e-01 1.10098044e-03 -2.68797868e-02 -1.61275733e+00] [-1.19847214e-03 9.99992762e-01 -3.61111129e-03 -1.37957477e-01] [ 2.68756165e-02 3.64201898e-03 9.99632151e-01 7.74566369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89255784400001 meters Centerline goodness : 0.163094 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.78 [[ 0.99960004 -0.0060359 -0.02762837 -1.5926314 ] [ 0.00595797 0.99997804 -0.00290208 -0.13148307] [ 0.02764528 0.00273631 0.99961405 0.77588045] [ 0. 0. 0. 1. ]] SLAMing on 58.922557844 meters Centerline goodness : 0.133847 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.14, Z:0.77 [[ 9.99604349e-01 1.50461183e-03 -2.80870195e-02 -1.61265270e+00] [-1.60935412e-03 9.99991834e-01 -3.70697359e-03 -1.38044266e-01] [ 2.80812126e-02 3.75070889e-03 9.99598608e-01 7.74815697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952557844000005 meters Centerline goodness : 0.138219 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 0.99968899 0.00214693 -0.02484571 -1.57319124] [-0.0022624 0.99998677 -0.00462031 -0.13411062] [ 0.02483546 0.00467508 0.99968062 0.77640274] [ 0. 0. 0. 1. ]] SLAMing on 58.982557844000006 meters Centerline goodness : 0.150630 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99970104 0.00220144 -0.02435135 -1.57517721] [-0.0023109 0.99998735 -0.00446778 -0.13454726] [ 0.0243412 0.00452272 0.99969348 0.77758774] [ 0. 0. 0. 1. ]] SLAMing on 59.01255784400001 meters Centerline goodness : 0.130846 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99970955 0.00224079 -0.02399573 -1.57652599] [-0.00234699 0.99998757 -0.00439837 -0.1346844 ] [ 0.02398557 0.00445341 0.99970239 0.77832825] [ 0. 0. 0. 1. ]] SLAMing on 59.04255784400001 meters Centerline goodness : 0.152126 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99970582 0.00205697 -0.02416698 -1.57584285] [-0.0021744 0.99998595 -0.00483374 -0.13275127] [ 0.0241567 0.00488487 0.99969625 0.77796548] [ 0. 0. 0. 1. ]] SLAMing on 59.07255784400001 meters Centerline goodness : 0.142288 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 0.99969846 0.00192125 -0.02448038 -1.57446245] [-0.00205078 0.99998402 -0.00526748 -0.13070473] [ 0.02446986 0.00531609 0.99968643 0.77701902] [ 0. 0. 0. 1. ]] SLAMing on 59.102557844 meters Centerline goodness : 0.150617 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 0.99968995 0.00180733 -0.02483431 -1.57303191] [-0.00195219 0.99998122 -0.00581016 -0.12793206] [ 0.02482334 0.00585684 0.9996747 0.77605111] [ 0. 0. 0. 1. ]] SLAMing on 59.132557844000004 meters Centerline goodness : 0.144971 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 0.99969047 0.00166492 -0.02482307 -1.5727392 ] [-0.00182514 0.99997764 -0.00643329 -0.12474121] [ 0.02481181 0.0064766 0.99967116 0.77541028] [ 0. 0. 0. 1. ]] SLAMing on 59.162557844000006 meters Centerline goodness : 0.157963 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99695956e-01 1.50461053e-03 -2.46116137e-02 -1.57330216e+00] [-1.67953206e-03 9.99973468e-01 -7.08814935e-03 -1.21355097e-01] [ 2.46002958e-02 7.12733024e-03 9.99671959e-01 7.75348275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19255784400001 meters Centerline goodness : 0.153371 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99702410e-01 1.32597098e-03 -2.43584199e-02 -1.57428366e+00] [-1.51328458e-03 9.99969417e-01 -7.67306807e-03 -1.18432009e-01] [ 2.43475007e-02 7.70764586e-03 9.99673843e-01 7.75819509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22255784400001 meters Centerline goodness : 0.146585 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.12, Z:0.78 [[ 9.99626132e-01 6.07194921e-04 -2.73354597e-02 -1.62113846e+00] [-8.04374735e-04 9.99973735e-01 -7.20291643e-03 -1.17516721e-01] [ 2.73303682e-02 7.22221144e-03 9.99600365e-01 7.77584107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25255784400001 meters Centerline goodness : 0.152592 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 0.99968841 0.00190855 -0.02488845 -1.57697369] [-0.00210174 0.99996785 -0.00773849 -0.11080044] [ 0.02487288 0.00778839 0.99966028 0.77716448] [ 0. 0. 0. 1. ]] SLAMing on 59.282557844 meters Centerline goodness : 0.129750 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 0.99969172 0.00177194 -0.02476521 -1.57731696] [-0.00197107 0.99996591 -0.0080185 -0.10953702] [ 0.02475016 0.00806484 0.99966114 0.77719986] [ 0. 0. 0. 1. ]] SLAMing on 59.312557844000004 meters Centerline goodness : 0.156429 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 0.99969747 0.00166127 -0.02453996 -1.57811056] [-0.00186338 0.99996452 -0.00821536 -0.10876109] [ 0.02452544 0.0082586 0.99966509 0.77757368] [ 0. 0. 0. 1. ]] SLAMing on 59.342557844000005 meters Centerline goodness : 0.144893 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 9.99702517e-01 1.56525928e-03 -2.43398387e-02 -1.57893204e+00] [-1.76859248e-03 9.99963702e-01 -8.33464379e-03 -1.08397505e-01] [ 2.43259094e-02 8.37521163e-03 9.99668998e-01 7.78118710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372557844000006 meters Centerline goodness : 0.123604 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 9.99704287e-01 1.48569383e-03 -2.42720108e-02 -1.57927810e+00] [-1.69270928e-03 9.99962351e-01 -8.51066008e-03 -1.07529740e-01] [ 2.42584528e-02 8.54922883e-03 9.99669164e-01 7.78385339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40255784400001 meters Centerline goodness : 0.133170 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.10, Z:0.78 [[ 0.99966253 -0.00339772 -0.02575411 -1.55508977] [ 0.00325333 0.99997877 -0.00564641 -0.10066454] [ 0.02577275 0.00556072 0.99965236 0.77825852] [ 0. 0. 0. 1. ]] SLAMing on 59.43255784400001 meters Centerline goodness : 0.138041 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.10, Z:0.78 [[ 0.99965858 -0.00350123 -0.02589345 -1.55441887] [ 0.00335077 0.99997726 -0.00585175 -0.0997634 ] [ 0.02591335 0.00576299 0.99964758 0.77777948] [ 0. 0. 0. 1. ]] SLAMing on 59.46255784400001 meters Centerline goodness : 0.128185 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.10, Z:0.78 [[ 0.99957079 -0.00519216 -0.02883185 -1.60003617] [ 0.0050241 0.99996998 -0.00589866 -0.1035409 ] [ 0.02886161 0.00575128 0.99956687 0.77857812] [ 0. 0. 0. 1. ]] SLAMing on 59.492557844000004 meters Centerline goodness : 0.120780 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 0.99961599 0.00303795 -0.02754351 -1.58175081] [-0.00325162 0.99996494 -0.00771609 -0.10618897] [ 0.0275191 0.00780269 0.99959082 0.78052087] [ 0. 0. 0. 1. ]] SLAMing on 59.522557844000005 meters Centerline goodness : 0.164746 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 0.99961885 0.00304121 -0.0274391 -1.58224696] [-0.0032527 0.99996532 -0.00766619 -0.10637504] [ 0.02741483 0.00775252 0.99959408 0.78088972] [ 0. 0. 0. 1. ]] SLAMing on 59.552557844000006 meters Centerline goodness : 0.110312 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.10, Z:0.78 [[ 0.99958915 -0.00590105 -0.02804837 -1.60233651] [ 0.00572895 0.99996429 -0.00621214 -0.10334432] [ 0.02808402 0.0060489 0.99958726 0.77921901] [ 0. 0. 0. 1. ]] SLAMing on 59.58255784400001 meters Centerline goodness : 0.163906 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.10, Z:0.78 [[ 0.99957164 -0.00603302 -0.02863799 -1.60066892] [ 0.00586325 0.99996476 -0.00600825 -0.10473451] [ 0.02867323 0.00583776 0.99957179 0.77897198] [ 0. 0. 0. 1. ]] SLAMing on 59.61255784400001 meters Centerline goodness : 0.122822 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.11, Z:0.78 [[ 0.99955997 -0.00609651 -0.02902926 -1.59985117] [ 0.00593223 0.99996592 -0.00574202 -0.10659598] [ 0.02906328 0.00556728 0.99956207 0.77935029] [ 0. 0. 0. 1. ]] SLAMing on 59.64255784400001 meters Centerline goodness : 0.166667 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.11, Z:0.78 [[ 9.99590013e-01 1.29131269e-04 -2.86319759e-02 -1.61873302e+00] [-3.39016654e-04 9.99973109e-01 -7.32572093e-03 -1.14876562e-01] [ 2.86302600e-02 7.33242419e-03 9.99563176e-01 7.77272130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.672557844 meters Centerline goodness : 0.116989 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.11, Z:0.78 [[ 0.9995598 -0.00792851 -0.02858938 -1.59753716] [ 0.00774604 0.99994895 -0.00648758 -0.11241842] [ 0.02863936 0.00626327 0.99957019 0.77876438] [ 0. 0. 0. 1. ]] SLAMing on 59.702557844000005 meters Centerline goodness : 0.114581 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.11, Z:0.78 [[ 0.99955296 -0.00781717 -0.0288579 -1.5968612 ] [ 0.0076446 0.99995226 -0.0060853 -0.11438505] [ 0.02890409 0.00586197 0.999565 0.77882072] [ 0. 0. 0. 1. ]] SLAMing on 59.732557844000006 meters Centerline goodness : 0.129865 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99954877 -0.00768089 -0.02903906 -1.59648591] [ 0.0075173 0.99995528 -0.00573828 -0.11597035] [ 0.02908184 0.0055174 0.99956181 0.77904105] [ 0. 0. 0. 1. ]] SLAMing on 59.76255784400001 meters Centerline goodness : 0.147820 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99955184 -0.00742182 -0.02900071 -1.59683988] [ 0.00727668 0.99996048 -0.00510724 -0.11904186] [ 0.02903747 0.00489393 0.99956634 0.77954242] [ 0. 0. 0. 1. ]] SLAMing on 59.79255784400001 meters Centerline goodness : 0.222213 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99955639 -0.0072904 -0.0288768 -1.59708451] [ 0.00715328 0.99996266 -0.00484863 -0.12019697] [ 0.02891107 0.00463991 0.99957122 0.77941364] [ 0. 0. 0. 1. ]] SLAMing on 59.82255784400001 meters Centerline goodness : 0.222213 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99955639 -0.0072904 -0.0288768 -1.59708451] [ 0.00715328 0.99996266 -0.00484863 -0.12019697] [ 0.02891107 0.00463991 0.99957122 0.77941364] [ 0. 0. 0. 1. ]] SLAMing on 59.852557844 meters Centerline goodness : 0.113152 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.13, Z:0.78 [[ 9.99590619e-01 5.54317653e-04 -2.86057214e-02 -1.61730313e+00] [-7.09821472e-04 9.99985026e-01 -5.42624076e-03 -1.26451948e-01] [ 2.86022852e-02 5.44432432e-03 9.99576044e-01 7.77418949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882557844000004 meters Centerline goodness : 0.118678 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.12, Z:0.78 [[ 0.99958146 -0.00448847 -0.02857907 -1.59450487] [ 0.0044248 0.99998759 -0.0022907 -0.12412836] [ 0.02858899 0.00216328 0.99958891 0.77731442] [ 0. 0. 0. 1. ]] SLAMing on 59.912557844000006 meters Centerline goodness : 0.113307 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.13, Z:0.78 [[ 0.99954751 0.00367665 -0.02985401 -1.61523796] [-0.00375963 0.99998922 -0.00272384 -0.12968916] [ 0.02984367 0.00283485 0.99955056 0.77623922] [ 0. 0. 0. 1. ]] SLAMing on 59.94255784400001 meters Centerline goodness : 0.131902 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99950771 0.00402447 -0.03111511 -1.57518836] [-0.00410729 0.99998819 -0.00259838 -0.12800697] [ 0.03110429 0.0027249 0.99951243 0.7784771 ] [ 0. 0. 0. 1. ]] SLAMing on 59.97255784400001 meters Centerline goodness : 0.166227 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99950702 0.00387779 -0.03115583 -1.57582031] [-0.00396547 0.99998835 -0.00275306 -0.12810311] [ 0.03114479 0.00287525 0.99951075 0.77968936] [ 0. 0. 0. 1. ]] SLAMing on 60.00255784400001 meters Centerline goodness : 0.116656 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99950882 0.00387156 -0.03109855 -1.57628574] [-0.00395806 0.99998847 -0.00272029 -0.12834261] [ 0.03108766 0.00284205 0.99951262 0.78019769] [ 0. 0. 0. 1. ]] SLAMing on 60.03255784400001 meters Centerline goodness : 0.161633 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99951154 0.00387933 -0.03101034 -1.57647222] [-0.0039647 0.99998852 -0.00269196 -0.12823574] [ 0.03099954 0.00281359 0.99951544 0.78005472] [ 0. 0. 0. 1. ]] SLAMing on 60.062557844000004 meters Centerline goodness : 0.116546 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99951567 0.00387223 -0.03087774 -1.57666082] [-0.00396052 0.99998824 -0.00279855 -0.12743864] [ 0.03086654 0.00291949 0.99951925 0.7798111 ] [ 0. 0. 0. 1. ]] SLAMing on 60.092557844000005 meters Centerline goodness : 0.111804 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99951789 0.00386525 -0.03080668 -1.57660816] [-0.00395249 0.99998835 -0.00277149 -0.12722318] [ 0.03079561 0.00289192 0.99952152 0.77935623] [ 0. 0. 0. 1. ]] SLAMing on 60.122557844000006 meters Centerline goodness : 0.167388 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.13, Z:0.78 [[ 0.99950302 0.00256328 -0.03141885 -1.61698417] [-0.00270149 0.99998686 -0.0043572 -0.1277763 ] [ 0.03140727 0.00443991 0.99949681 0.77794229] [ 0. 0. 0. 1. ]] SLAMing on 60.15255784400001 meters Centerline goodness : 0.152130 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99950204 -0.00475298 -0.03119411 -1.59757736] [ 0.00464949 0.99998345 -0.00338919 -0.12292078] [ 0.03120971 0.00324246 0.9995076 0.77966021] [ 0. 0. 0. 1. ]] SLAMing on 60.18255784400001 meters Centerline goodness : 0.113675 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99950364 -0.0046864 -0.03115314 -1.59776315] [ 0.00458573 0.99998403 -0.00330213 -0.12312484] [ 0.03116812 0.00315763 0.99950917 0.77979639] [ 0. 0. 0. 1. ]] SLAMing on 60.21255784400001 meters Centerline goodness : 0.151777 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99950627 -0.0046172 -0.0310788 -1.59802914] [ 0.00451973 0.99998465 -0.00320565 -0.12335137] [ 0.03109312 0.0030636 0.9995118 0.77989454] [ 0. 0. 0. 1. ]] SLAMing on 60.242557844000004 meters Centerline goodness : 0.162575 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99954577 0.00412824 -0.02985325 -1.57787223] [-0.00426029 0.99998142 -0.00436114 -0.12639048] [ 0.0298347 0.00448634 0.99954478 0.7809341 ] [ 0. 0. 0. 1. ]] SLAMing on 60.272557844000005 meters Centerline goodness : 0.165691 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99954492 0.00415782 -0.02987765 -1.5777878 ] [-0.00428764 0.99998164 -0.00428242 -0.12687245] [ 0.0298593 0.00440857 0.99954439 0.78092316] [ 0. 0. 0. 1. ]] SLAMing on 60.302557844000006 meters Centerline goodness : 0.160476 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99954352 0.00421411 -0.02991654 -1.57765007] [-0.00434252 0.99998163 -0.00422861 -0.12723562] [ 0.02989817 0.00435659 0.99954346 0.78089001] [ 0. 0. 0. 1. ]] SLAMing on 60.33255784400001 meters Centerline goodness : 0.159825 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99954524 0.00428948 -0.02984812 -1.57774374] [-0.00441816 0.99998122 -0.0042465 -0.12678597] [ 0.02982934 0.00437645 0.99954543 0.78070759] [ 0. 0. 0. 1. ]] SLAMing on 60.36255784400001 meters Centerline goodness : 0.166257 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.13, Z:0.78 [[ 9.99498268e-01 -2.46740469e-03 -3.15772667e-02 -1.60109888e+00] [ 2.43229553e-03 9.99996380e-01 -1.15021316e-03 -1.26117388e-01] [ 3.15799904e-02 1.07283082e-03 9.99500652e-01 7.81463489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39255784400001 meters Centerline goodness : 0.165613 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 9.99495548e-01 -2.49039231e-03 -3.16614518e-02 -1.60059144e+00] [ 2.44434990e-03 9.99995898e-01 -1.49283289e-03 -1.24268865e-01] [ 3.16650397e-02 1.41468816e-03 9.99497536e-01 7.80900154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422557844 meters Centerline goodness : 0.126585 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99948829 -0.00254447 -0.03188558 -1.59966879] [ 0.00248439 0.99999506 -0.00192364 -0.12206948] [ 0.03189032 0.00184344 0.99948967 0.78018552] [ 0. 0. 0. 1. ]] SLAMing on 60.452557844000005 meters Centerline goodness : 0.145288 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.78 [[ 0.99949081 0.00656946 -0.03122454 -1.57903909] [-0.00667695 0.99997213 -0.00333951 -0.12170506] [ 0.03120173 0.00354629 0.99950682 0.78126573] [ 0. 0. 0. 1. ]] SLAMing on 60.482557844000006 meters Centerline goodness : 0.159777 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.78 [[ 0.99950748 0.00648583 -0.03070399 -1.58027409] [-0.00661139 0.99997019 -0.00398948 -0.11812763] [ 0.0306772 0.00419051 0.99952056 0.78095961] [ 0. 0. 0. 1. ]] SLAMing on 60.51255784400001 meters Centerline goodness : 0.129457 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.78 [[ 9.99526669e-01 -7.25781866e-04 -3.07556704e-02 -1.56118386e+00] [ 6.26493908e-04 9.99994562e-01 -3.23779482e-03 -1.10728991e-01] [ 3.07578530e-02 3.21699403e-03 9.99521688e-01 7.82791877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54255784400001 meters Centerline goodness : 0.126787 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.78 [[ 9.99524364e-01 -8.40150215e-04 -3.08275708e-02 -1.56103715e+00] [ 7.33219342e-04 9.99993677e-01 -3.47981699e-03 -1.09631613e-01] [ 3.08302994e-02 3.45555849e-03 9.99518660e-01 7.82835880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57255784400001 meters Centerline goodness : 0.123422 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.78 [[ 9.99523078e-01 -9.26309405e-04 -3.08668025e-02 -1.56099974e+00] [ 8.14440100e-04 9.99993056e-01 -3.63663509e-03 -1.08904101e-01] [ 3.08699568e-02 3.60976154e-03 9.99516891e-01 7.82937470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602557844 meters SLAMing on 60.632557844000004 meters Centerline goodness : 0.139095 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.78 [[ 9.99550503e-01 -1.33953813e-03 -2.99499105e-02 -1.56410366e+00] [ 1.21183326e-03 9.99990099e-01 -4.28169299e-03 -1.06152573e-01] [ 2.99553495e-02 4.24347409e-03 9.99542230e-01 7.84197330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662557844000006 meters Centerline goodness : 0.147616 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.10, Z:0.78 [[ 9.99556496e-01 -1.44762512e-03 -2.97441593e-02 -1.56497735e+00] [ 1.31316400e-03 9.99988834e-01 -4.53962575e-03 -1.04824988e-01] [ 2.97503988e-02 4.49855345e-03 9.99547236e-01 7.84724953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69255784400001 meters Centerline goodness : 0.115192 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.10, Z:0.78 [[ 9.99556406e-01 -1.58275902e-03 -2.97403205e-02 -1.56497126e+00] [ 1.43912565e-03 9.99987201e-01 -4.85036819e-03 -1.03319984e-01] [ 2.97476168e-02 4.80541654e-03 9.99545891e-01 7.84658903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72255784400001 meters Centerline goodness : 0.125705 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.10, Z:0.78 [[ 0.99952445 -0.00728003 -0.02996449 -1.54209849] [ 0.00721467 0.99997135 -0.00228871 -0.098681 ] [ 0.02998029 0.00207143 0.99954834 0.78469911] [ 0. 0. 0. 1. ]] SLAMing on 60.75255784400001 meters Centerline goodness : 0.146175 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.10, Z:0.78 [[ 0.99951061 -0.00736776 -0.0304016 -1.54070292] [ 0.00730052 0.99997066 -0.00232194 -0.09866901] [ 0.03041782 0.00209885 0.99953507 0.78424193] [ 0. 0. 0. 1. ]] SLAMing on 60.78255784400001 meters Centerline goodness : 0.125035 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.10, Z:0.78 [[ 0.99949593 -0.00741227 -0.03086974 -1.53944468] [ 0.00734932 0.99997068 -0.00215225 -0.09978107] [ 0.03088479 0.00192429 0.9995211 0.78418324] [ 0. 0. 0. 1. ]] SLAMing on 60.812557844000004 meters Centerline goodness : 0.120406 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.10, Z:0.78 [[ 0.99947835 -0.00849189 -0.03115946 -1.53880651] [ 0.00841799 0.99996144 -0.00250206 -0.10219887] [ 0.03117951 0.00223845 0.99951129 0.78458213] [ 0. 0. 0. 1. ]] SLAMing on 60.842557844000005 meters Centerline goodness : 0.158838 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.10, Z:0.79 [[ 0.99948148 -0.00849725 -0.03105738 -1.53933224] [ 0.00843628 0.99996222 -0.00209363 -0.10438404] [ 0.031074 0.00183054 0.99951541 0.78513409] [ 0. 0. 0. 1. ]] SLAMing on 60.872557844000006 meters Centerline goodness : 0.125869 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.11, Z:0.79 [[ 0.99949689 -0.00213221 -0.03164531 -1.52599302] [ 0.00203168 0.99999279 -0.00320858 -0.10993142] [ 0.03165193 0.00314267 0.99949401 0.78828799] [ 0. 0. 0. 1. ]] SLAMing on 60.90255784400001 meters Centerline goodness : 0.148252 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.11, Z:0.79 [[ 0.99950428 -0.00199871 -0.03141982 -1.527085 ] [ 0.00191395 0.99999445 -0.00272756 -0.11211674] [ 0.03142509 0.00266607 0.99950255 0.7891962 ] [ 0. 0. 0. 1. ]] SLAMing on 60.93255784400001 meters Centerline goodness : 0.114004 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.11, Z:0.79 [[ 0.99950919 -0.00190397 -0.03126921 -1.52788763] [ 0.00183357 0.99999572 -0.00228005 -0.11439916] [ 0.03127342 0.00222159 0.9995084 0.78996365] [ 0. 0. 0. 1. ]] SLAMing on 60.96255784400001 meters Centerline goodness : 0.124483 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.12, Z:0.79 [[ 0.99955638 0.00409441 -0.02950063 -1.50716371] [-0.00427045 0.99997344 -0.00590667 -0.11732567] [ 0.02947567 0.00603003 0.99954731 0.79030049] [ 0. 0. 0. 1. ]] SLAMing on 60.992557844000004 meters Centerline goodness : 0.120747 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.12, Z:0.79 [[ 0.99955398 0.00422258 -0.02956371 -1.50720892] [-0.00438462 0.99997571 -0.0054183 -0.11998749] [ 0.02954011 0.00554551 0.99954821 0.79062293] [ 0. 0. 0. 1. ]] SLAMing on 61.022557844000005 meters Centerline goodness : 0.117788 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.12, Z:0.79 [[ 0.99954812 0.0043713 -0.02973951 -1.50674953] [-0.00452066 0.9999775 -0.00495675 -0.12227598] [ 0.02971717 0.00508895 0.99954539 0.79054591] [ 0. 0. 0. 1. ]] SLAMing on 61.052557844000006 meters Centerline goodness : 0.131831 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.12, Z:0.79 [[ 0.99952341 -0.00343847 -0.03067781 -1.48479008] [ 0.00334253 0.99998936 -0.00317829 -0.12045178] [ 0.03068841 0.00307423 0.99952427 0.79060076] [ 0. 0. 0. 1. ]] SLAMing on 61.08255784400001 meters Centerline goodness : 0.132292 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.12, Z:0.79 [[ 0.99951553 -0.00331861 -0.03094671 -1.48407442] [ 0.00323387 0.99999088 -0.00278786 -0.12250489] [ 0.03095568 0.00268643 0.99951715 0.7905683 ] [ 0. 0. 0. 1. ]] SLAMing on 61.11255784400001 meters Centerline goodness : 0.136327 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.12, Z:0.79 [[ 0.99951581 -0.00326106 -0.03094372 -1.4845753 ] [ 0.00318713 0.99999195 -0.00243837 -0.12462136] [ 0.03095142 0.00233857 0.99951815 0.79129367] [ 0. 0. 0. 1. ]] SLAMing on 61.14255784400001 meters Centerline goodness : 0.131914 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.13, Z:0.79 [[ 0.99952535 -0.00329606 -0.03063008 -1.48609339] [ 0.00323359 0.99999259 -0.00208878 -0.12673503] [ 0.03063674 0.00198874 0.99952861 0.79233105] [ 0. 0. 0. 1. ]] SLAMing on 61.172557844 meters Centerline goodness : 0.130524 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.13, Z:0.79 [[ 0.99953155 -0.00325219 -0.03043191 -1.4869437 ] [ 0.00320233 0.99999345 -0.00168697 -0.12869007] [ 0.0304372 0.00158873 0.99953542 0.79279733] [ 0. 0. 0. 1. ]] SLAMing on 61.202557844000005 meters Centerline goodness : 0.129212 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.13, Z:0.79 [[ 9.99534661e-01 -3.12500220e-03 -3.03429859e-02 -1.48724725e+00] [ 3.08991443e-03 9.99994502e-01 -1.20319231e-03 -1.30684158e-01] [ 3.03465791e-02 1.10887518e-03 9.99538821e-01 7.92774248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.232557844000006 meters Centerline goodness : 0.125586 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.14, Z:0.79 [[ 0.99958074 0.0030873 -0.02878902 -1.4645154 ] [-0.0032031 0.99998696 -0.0039769 -0.13596212] [ 0.02877637 0.00406745 0.9995776 0.7917213 ] [ 0. 0. 0. 1. ]] SLAMing on 61.26255784400001 meters Centerline goodness : 0.141195 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.14, Z:0.79 [[ 0.99957746 0.00321823 -0.02888843 -1.46437598] [-0.00332116 0.9999883 -0.00351566 -0.13835568] [ 0.02887678 0.00361012 0.99957646 0.79192094] [ 0. 0. 0. 1. ]] SLAMing on 61.29255784400001 meters Centerline goodness : 0.143175 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.14, Z:0.79 [[ 0.99957384 0.00335104 -0.02899851 -1.46418564] [-0.0034417 0.99998934 -0.00307717 -0.14062667] [ 0.02898789 0.00317566 0.99957472 0.79202256] [ 0. 0. 0. 1. ]] SLAMing on 61.32255784400001 meters Centerline goodness : 0.078413 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.14, Z:0.79 [[ 0.99956984 0.00344442 -0.02912508 -1.46402291] [-0.00352205 0.99999038 -0.00261454 -0.14315513] [ 0.02911579 0.002716 0.99957236 0.79228288] [ 0. 0. 0. 1. ]] SLAMing on 61.352557844 meters Centerline goodness : 0.071270 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.15, Z:0.79 [[ 0.99957129 0.00358019 -0.02905878 -1.4645129 ] [-0.00364081 0.9999913 -0.00203348 -0.14616403] [ 0.02905125 0.00213841 0.99957564 0.79283394] [ 0. 0. 0. 1. ]] SLAMing on 61.382557844000004 meters Centerline goodness : 0.124453 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.15, Z:0.79 [[ 9.99574558e-01 3.74831788e-03 -2.89249445e-02 -1.46522793e+00] [-3.78981488e-03 9.99991866e-01 -1.37995589e-03 -1.49472980e-01] [ 2.89195367e-02 1.48898899e-03 9.99580634e-01 7.93420960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.412557844000006 meters Centerline goodness : 0.116620 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.15, Z:0.79 [[ 9.99527417e-01 -6.41238840e-03 -3.00636719e-02 -1.48622149e+00] [ 6.40612335e-03 9.99979434e-01 -3.04706765e-04 -1.53300214e-01] [ 3.00650076e-02 1.11971175e-04 9.99547939e-01 7.92860188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44255784400001 meters Centerline goodness : 0.148741 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.16, Z:0.79 [[ 9.99522977e-01 -6.24713095e-03 -3.02455403e-02 -1.48579308e+00] [ 6.26060160e-03 9.99980341e-01 3.50696845e-04 -1.56660470e-01] [ 3.02427549e-02 -5.39884832e-04 9.99542437e-01 7.92909344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47255784400001 meters Centerline goodness : 0.145555 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.16, Z:0.79 [[ 9.99584510e-01 -5.87339133e-03 -2.82189875e-02 -1.44136165e+00] [ 5.86620168e-03 9.99982737e-01 -3.37560272e-04 -1.59089066e-01] [ 2.82204830e-02 1.71881747e-04 9.99601708e-01 7.93213312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50255784400001 meters Centerline goodness : 0.143605 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.16, Z:0.79 [[ 9.99584004e-01 -5.67727896e-03 -2.82769943e-02 -1.44127129e+00] [ 5.68846899e-03 9.99983771e-01 3.15301639e-04 -1.62402499e-01] [ 2.82747453e-02 -4.76023279e-04 9.99600076e-01 7.93300572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53255784400001 meters Centerline goodness : 0.078406 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.17, Z:0.79 [[ 9.99582086e-01 -5.46789090e-03 -2.83858420e-02 -1.44113017e+00] [ 5.49687229e-03 9.99984447e-01 9.43047913e-04 -1.65528109e-01] [ 2.83802441e-02 -1.09868715e-03 9.99596596e-01 7.93498448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562557844000004 meters Centerline goodness : 0.070908 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.17, Z:0.79 [[ 0.9995825 -0.00525412 -0.02841148 -1.44129505] [ 0.00529964 0.99998479 0.00152723 -0.16828485] [ 0.02840302 -0.00167717 0.99959515 0.7938799 ] [ 0. 0. 0. 1. ]] SLAMing on 61.592557844000005 meters Centerline goodness : 0.141117 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.17, Z:0.79 [[ 9.99620703e-01 1.33238271e-03 -2.75077419e-02 -1.41909394e+00] [-1.36566928e-03 9.99998358e-01 -1.19132883e-03 -1.73416469e-01] [ 2.75061094e-02 1.22844344e-03 9.99620881e-01 7.93694938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622557844000006 meters Centerline goodness : 0.130065 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:0.79 [[ 9.99543213e-01 3.90749961e-06 -3.02219287e-02 -1.46316698e+00] [-1.96836779e-05 9.99999864e-01 -5.21713481e-04 -1.75372603e-01] [ 3.02219226e-02 5.22070048e-04 9.99543077e-01 7.93457537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65255784400001 meters Centerline goodness : 0.078014 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.18, Z:0.79 [[ 9.99594143e-01 1.10099563e-03 -2.84664288e-02 -1.41873827e+00] [-1.12936930e-03 9.99998881e-01 -9.80682947e-04 -1.75679507e-01] [ 2.84653173e-02 1.01243404e-03 9.99594268e-01 7.93500574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68255784400001 meters Centerline goodness : 0.181443 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.18, Z:0.79 [[ 9.99592765e-01 1.14169451e-03 -2.85131633e-02 -1.41844760e+00] [-1.16528183e-03 9.99998992e-01 -8.10640362e-04 -1.76588951e-01] [ 2.85122091e-02 8.43536112e-04 9.99593088e-01 7.93153962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71255784400001 meters Centerline goodness : 0.186795 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.18, Z:0.79 [[ 9.99588270e-01 1.12842119e-03 -2.86708482e-02 -1.41783387e+00] [-1.14908248e-03 9.99999092e-01 -7.04171620e-04 -1.77349531e-01] [ 2.86700276e-02 7.36826861e-04 9.99588659e-01 7.92739126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742557844000004 meters Centerline goodness : 0.186795 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.18, Z:0.79 [[ 9.99588270e-01 1.12842119e-03 -2.86708482e-02 -1.41783387e+00] [-1.14908248e-03 9.99999092e-01 -7.04171620e-04 -1.77349531e-01] [ 2.86700276e-02 7.36826861e-04 9.99588659e-01 7.92739126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.772557844000005 meters Centerline goodness : 0.159435 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.17, Z:0.79 [[ 9.99555344e-01 -6.43423247e-03 -2.91155525e-02 -1.39726411e+00] [ 6.43818096e-03 9.99979274e-01 4.18700855e-05 -1.73561635e-01] [ 2.91146796e-02 -2.29302663e-04 9.99576052e-01 7.94410499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802557844000006 meters Centerline goodness : 0.085516 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.18, Z:0.79 [[ 9.99564426e-01 1.26924201e-03 -2.94847068e-02 -1.37617997e+00] [-1.31586425e-03 9.99997915e-01 -1.56188551e-03 -1.77510938e-01] [ 2.94826629e-02 1.60000306e-03 9.99564011e-01 7.94837609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83255784400001 meters Centerline goodness : 0.127885 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.18, Z:0.79 [[ 9.99563461e-01 1.22350269e-03 -2.95193362e-02 -1.37604853e+00] [-1.26887784e-03 9.99998042e-01 -1.51844973e-03 -1.77802815e-01] [ 2.95174205e-02 1.55524330e-03 9.99563056e-01 7.94714955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86255784400001 meters Centerline goodness : 0.142049 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.18, Z:0.79 [[ 9.99563486e-01 1.15259178e-03 -2.95213472e-02 -1.37606708e+00] [-1.19851291e-03 9.99998099e-01 -1.53787545e-03 -1.77887944e-01] [ 2.95195185e-02 1.57258586e-03 9.99562967e-01 7.94720426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89255784400001 meters Centerline goodness : 0.117764 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.18, Z:0.79 [[ 9.99567372e-01 1.08924952e-03 -2.93918674e-02 -1.37648551e+00] [-1.13729801e-03 9.99998044e-01 -1.61808659e-03 -1.77603809e-01] [ 2.93900474e-02 1.65081387e-03 9.99566656e-01 7.94855176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922557844 meters Centerline goodness : 0.113164 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.18, Z:0.79 [[ 9.99571840e-01 1.01853286e-03 -2.92420900e-02 -1.37688211e+00] [-1.07014191e-03 9.99997897e-01 -1.74929349e-03 -1.76985863e-01] [ 2.92402468e-02 1.77983770e-03 9.99570828e-01 7.94844790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.952557844000005 meters Centerline goodness : 0.084999 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.17, Z:0.79 [[ 9.99576954e-01 8.72218480e-04 -2.90714859e-02 -1.37734431e+00] [-9.34767281e-04 9.99997278e-01 -2.13803063e-03 -1.74857199e-01] [ 2.90695419e-02 2.16430122e-03 9.99575048e-01 7.94846737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982557844000006 meters Centerline goodness : 0.116970 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.17, Z:0.79 [[ 9.99576754e-01 7.78567959e-04 -2.90810297e-02 -1.37732429e+00] [-8.46606646e-04 9.99996933e-01 -2.32738500e-03 -1.74027161e-01] [ 2.90791285e-02 2.35102013e-03 9.99574348e-01 7.94847413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01255784400001 meters Centerline goodness : 0.176330 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.17, Z:0.79 [[ 9.99574786e-01 6.76552844e-04 -2.91511607e-02 -1.37708961e+00] [-7.50556911e-04 9.99996524e-01 -2.52776460e-03 -1.73235940e-01] [ 2.91493492e-02 2.54856936e-03 9.99571818e-01 7.94743760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04255784400001 meters Centerline goodness : 0.159318 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.17, Z:0.80 [[ 0.99953441 -0.00683764 -0.0297358 -1.35667061] [ 0.00677875 0.99997486 -0.00208067 -0.168319 ] [ 0.02974928 0.00187813 0.99955563 0.79625987] [ 0. 0. 0. 1. ]] SLAMing on 62.07255784400001 meters Centerline goodness : 0.144611 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.17, Z:0.80 [[ 0.99952811 -0.00695262 -0.02992011 -1.35600691] [ 0.00688441 0.99997346 -0.00238213 -0.16688414] [ 0.02993588 0.00217502 0.99954945 0.79591877] [ 0. 0. 0. 1. ]] SLAMing on 62.102557844 meters Centerline goodness : 0.142027 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.17, Z:0.80 [[ 9.99527537e-01 -3.70410626e-03 -3.05120017e-02 -1.35455052e+00] [ 3.73200207e-03 9.99992669e-01 8.57358929e-04 -1.66501573e-01] [ 3.05086023e-02 -9.70824713e-04 9.99534033e-01 7.95876014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132557844000004 meters Centerline goodness : 0.115146 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.16, Z:0.80 [[ 9.99526665e-01 1.56155681e-04 -3.07639670e-02 -1.35442638e+00] [-2.24132305e-05 9.99990549e-01 4.34767024e-03 -1.64847689e-01] [ 3.07643552e-02 -4.34492281e-03 9.99517222e-01 7.96589021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162557844000006 meters Centerline goodness : 0.144338 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.16, Z:0.80 [[ 9.99530067e-01 7.97896308e-05 -3.06535203e-02 -1.35469380e+00] [ 4.01038805e-05 9.99992353e-01 3.91061300e-03 -1.62656603e-01] [ 3.06535979e-02 -3.91000460e-03 9.99522420e-01 7.96663351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19255784400001 meters Centerline goodness : 0.120547 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.16, Z:0.80 [[ 9.99532580e-01 3.18031564e-05 -3.05715773e-02 -1.35481584e+00] [ 7.46232533e-05 9.99993942e-01 3.48007352e-03 -1.60415455e-01] [ 3.05715027e-02 -3.48072821e-03 9.99526522e-01 7.96600555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22255784400001 meters Centerline goodness : 0.128369 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.16, Z:0.80 [[ 0.99951808 0.00938946 -0.02958787 -1.33406911] [-0.00932312 0.99995371 0.00237906 -0.16176567] [ 0.02960884 -0.00210206 0.99955935 0.79733388] [ 0. 0. 0. 1. ]] SLAMing on 62.25255784400001 meters Centerline goodness : 0.070744 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.16, Z:0.80 [[ 0.99952118 0.00939156 -0.02948242 -1.33430311] [-0.0093346 0.99995429 0.00206897 -0.15985808] [ 0.0295005 -0.00179278 0.99956316 0.7973621 ] [ 0. 0. 0. 1. ]] SLAMing on 62.28255784400001 meters Centerline goodness : 0.128339 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.16, Z:0.80 [[ 0.99952123 0.00984008 -0.02933407 -1.33475555] [-0.00978968 0.99995035 0.00186126 -0.15709374] [ 0.02935092 -0.0015732 0.99956793 0.79752555] [ 0. 0. 0. 1. ]] SLAMing on 62.312557844000004 meters Centerline goodness : 0.113435 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.15, Z:0.80 [[ 9.99518969e-01 9.75859351e-03 -2.94380727e-02 -1.33447319e+00] [-9.72059258e-03 9.99951726e-01 1.43371334e-03 -1.54981164e-01] [ 2.94506426e-02 -1.14686817e-03 9.99565578e-01 7.97578699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342557844000005 meters Centerline goodness : 0.066780 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.15, Z:0.80 [[ 9.99517455e-01 9.65965091e-03 -2.95220129e-02 -1.33421824e+00] [-9.63641744e-03 9.99953137e-01 9.29164330e-04 -1.52538752e-01] [ 2.95296049e-02 -6.44229526e-04 9.99563699e-01 7.97610932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372557844000006 meters Centerline goodness : 0.129954 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.15, Z:0.80 [[ 0.99954048 0.00254067 -0.03020559 -1.35771921] [-0.00244182 0.99999154 0.00330905 -0.14763088] [ 0.03021374 -0.00323377 0.99953823 0.79826322] [ 0. 0. 0. 1. ]] SLAMing on 62.40255784400001 meters Centerline goodness : 0.135709 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:0.80 [[ 0.9995278 0.00664126 -0.03000111 -1.35844249] [-0.00643908 0.99995594 0.00683064 -0.14441741] [ 0.03004515 -0.00663423 0.99952653 0.79868364] [ 0. 0. 0. 1. ]] SLAMing on 62.43255784400001 meters Centerline goodness : 0.135754 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:0.80 [[ 9.99566306e-01 -3.40306461e-04 -2.94462785e-02 -1.33959028e+00] [ 5.74638517e-04 9.99968234e-01 7.94985516e-03 -1.37273537e-01] [ 2.94426377e-02 -7.96332832e-03 9.99534750e-01 8.00493283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46255784400001 meters Centerline goodness : 0.142586 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.14, Z:0.80 [[ 0.99949357 -0.00151495 -0.03178527 -1.38517295] [ 0.00177977 0.99996393 0.00830467 -0.1383728 ] [ 0.03177154 -0.00835703 0.99946022 0.80089922] [ 0. 0. 0. 1. ]] SLAMing on 62.492557844000004 meters Centerline goodness : 0.138910 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:0.80 [[ 0.99951822 0.00552148 -0.0305423 -1.3644394 ] [-0.00536507 0.99997208 0.00520068 -0.14042197] [ 0.03057016 -0.00503432 0.99951995 0.8012571 ] [ 0. 0. 0. 1. ]] SLAMing on 62.522557844000005 meters Centerline goodness : 0.121473 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:0.80 [[ 0.99951749 0.00551434 -0.03056748 -1.36455298] [-0.0053555 0.99997174 0.00527566 -0.14101602] [ 0.03059571 -0.00510941 0.99951878 0.80150545] [ 0. 0. 0. 1. ]] SLAMing on 62.552557844000006 meters Centerline goodness : 0.147024 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.14, Z:0.80 [[ 0.99954041 -0.00186367 -0.03025708 -1.3454298 ] [ 0.00206145 0.99997671 0.00650661 -0.13676239] [ 0.03024425 -0.00656599 0.99952097 0.80360093] [ 0. 0. 0. 1. ]] SLAMing on 62.58255784400001 meters Centerline goodness : 0.110717 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:0.80 [[ 0.99959013 0.00705899 -0.02774427 -1.3261092 ] [-0.00689802 0.99995884 0.00589365 -0.14000727] [ 0.02778473 -0.00569985 0.99959768 0.80385397] [ 0. 0. 0. 1. ]] SLAMing on 62.61255784400001 meters Centerline goodness : 0.124042 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:0.80 [[ 0.99959164 0.00702794 -0.02769781 -1.32647138] [-0.00686826 0.99995927 0.00585596 -0.14003272] [ 0.02773783 -0.00566334 0.99959919 0.80426308] [ 0. 0. 0. 1. ]] SLAMing on 62.64255784400001 meters Centerline goodness : 0.115402 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:0.80 [[ 0.999592 0.00698397 -0.02769598 -1.32672637] [-0.00682612 0.99995994 0.00579003 -0.1399575 ] [ 0.0277353 -0.00559861 0.99959962 0.80468712] [ 0. 0. 0. 1. ]] SLAMing on 62.672557844 meters Centerline goodness : 0.124664 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:0.80 [[ 0.99959177 0.00695406 -0.02771155 -1.32667353] [-0.00679799 0.99996052 0.00572205 -0.13967587] [ 0.02775025 -0.00553133 0.99959958 0.80470679] [ 0. 0. 0. 1. ]] SLAMing on 62.702557844000005 meters Centerline goodness : 0.112384 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:0.80 [[ 0.99959649 0.00717697 -0.02748351 -1.32684842] [-0.00702589 0.99995969 0.00558982 -0.13819155] [ 0.02752252 -0.00539446 0.99960663 0.80411402] [ 0. 0. 0. 1. ]] SLAMing on 62.732557844000006 meters Centerline goodness : 0.125759 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:0.80 [[ 0.9995998 0.00709757 -0.02738382 -1.32696525] [-0.0069558 0.99996193 0.00526867 -0.1367203 ] [ 0.02742017 -0.00507608 0.99961111 0.80393527] [ 0. 0. 0. 1. ]] SLAMing on 62.76255784400001 meters Centerline goodness : 0.111313 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.13, Z:0.81 [[ 9.99614851e-01 2.95000372e-05 -2.77515492e-02 -1.30786549e+00] [ 1.30585101e-04 9.99983364e-01 5.76668177e-03 -1.30201702e-01] [ 2.77512577e-02 -5.76808468e-03 9.99598218e-01 8.05471696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79255784400001 meters Centerline goodness : 0.121165 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.13, Z:0.81 [[ 9.99613705e-01 -2.70376475e-05 -2.77928100e-02 -1.30761000e+00] [ 1.78527164e-04 9.99985142e-01 5.44820602e-03 -1.28456283e-01] [ 2.77922497e-02 -5.45106317e-03 9.99598858e-01 8.05202355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82255784400001 meters Centerline goodness : 0.123084 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.13, Z:0.80 [[ 9.99610567e-01 -5.43984563e-05 -2.79054129e-02 -1.30705764e+00] [ 1.98093093e-04 9.99986737e-01 5.14660776e-03 -1.26661707e-01] [ 2.79047628e-02 -5.15013137e-03 9.99597319e-01 8.04722057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.852557844 meters Centerline goodness : 0.169654 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.13, Z:0.80 [[ 9.99612323e-01 -7.05584963e-05 -2.78424079e-02 -1.30701664e+00] [ 2.08668177e-04 9.99987690e-01 4.95753292e-03 -1.25478527e-01] [ 2.78417153e-02 -4.96142082e-03 9.99600032e-01 8.04429942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882557844000004 meters Centerline goodness : 0.150035 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.80 [[ 9.99657549e-01 1.28104056e-03 -2.61370075e-02 -1.26181620e+00] [-1.17417960e-03 9.99990892e-01 4.10343058e-03 -1.22976350e-01] [ 2.61420261e-02 -4.07133582e-03 9.99649948e-01 8.04385628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.912557844000006 meters Centerline goodness : 0.113279 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.80 [[ 9.99653093e-01 1.28927761e-03 -2.63064962e-02 -1.26139789e+00] [-1.18327615e-03 9.99991120e-01 4.04464736e-03 -1.22893060e-01] [ 2.63114773e-02 -4.01211639e-03 9.99645742e-01 8.04532406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94255784400001 meters Centerline goodness : 0.117037 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.80 [[ 9.99658191e-01 1.36221556e-03 -2.61083552e-02 -1.26202610e+00] [-1.25600568e-03 9.99990872e-01 4.08400896e-03 -1.22852764e-01] [ 2.61136802e-02 -4.04982077e-03 9.99650776e-01 8.04764671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97255784400001 meters Centerline goodness : 0.113116 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.81 [[ 0.99967817 0.00160762 -0.02531761 -1.26455275] [-0.00149998 0.99998976 0.00427001 -0.12317475] [ 0.02532421 -0.00423066 0.99967034 0.80568783] [ 0. 0. 0. 1. ]] SLAMing on 63.00255784400001 meters Centerline goodness : 0.160857 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.81 [[ 0.99967645 0.00161871 -0.02538457 -1.26434079] [-0.00151065 0.99998972 0.00427563 -0.12335096] [ 0.02539123 -0.0042359 0.99966862 0.80566812] [ 0. 0. 0. 1. ]] SLAMing on 63.03255784400001 meters Centerline goodness : 0.113271 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.80 [[ 0.99967213 0.00173796 -0.02554631 -1.26342696] [-0.00162464 0.99998875 0.00445596 -0.12392046] [ 0.02555377 -0.00441299 0.99966371 0.80491938] [ 0. 0. 0. 1. ]] SLAMing on 63.062557844000004 meters Centerline goodness : 0.123306 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.80 [[ 0.99966596 0.00197039 -0.02576991 -1.26217078] [-0.00184788 0.99998688 0.00477703 -0.12476947] [ 0.02577898 -0.00472782 0.99965649 0.80391902] [ 0. 0. 0. 1. ]] SLAMing on 63.092557844000005 meters Centerline goodness : 0.112340 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.13, Z:0.80 [[ 0.99965652 0.00220751 -0.02611438 -1.26062318] [-0.00207656 0.99998514 0.00504037 -0.12541699] [ 0.02612512 -0.00498441 0.99964625 0.80301882] [ 0. 0. 0. 1. ]] SLAMing on 63.122557844000006 meters Centerline goodness : 0.168350 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.13, Z:0.80 [[ 0.99964389 0.00237221 -0.02657927 -1.25884108] [-0.00223667 0.99998435 0.00512799 -0.12554233] [ 0.02659102 -0.00506671 0.99963356 0.80224407] [ 0. 0. 0. 1. ]] SLAMing on 63.15255784400001 meters Centerline goodness : 0.127956 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.13, Z:0.80 [[ 0.99960813 0.00255148 -0.02787594 -1.25487548] [-0.00241312 0.99998461 0.004996 -0.12539145] [ 0.02788826 -0.00492677 0.99959891 0.80157444] [ 0. 0. 0. 1. ]] SLAMing on 63.18255784400001 meters Centerline goodness : 0.159068 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99519644e-01 1.36413513e-03 -3.09615900e-02 -1.29887625e+00] [-1.19295359e-03 9.99983906e-01 5.54663455e-03 -1.28753376e-01] [ 3.09686581e-02 -5.50703445e-03 9.99505185e-01 8.01407004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21255784400001 meters Centerline goodness : 0.130277 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.13, Z:0.80 [[ 0.99954442 0.00245975 -0.03008162 -1.25597496] [-0.00228243 0.99997983 0.00592747 -0.12658458] [ 0.0300956 -0.00585611 0.99952987 0.80169476] [ 0. 0. 0. 1. ]] SLAMing on 63.242557844000004 meters Centerline goodness : 0.157364 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99465110e-01 1.42692068e-03 -3.26719826e-02 -1.30197841e+00] [-1.20078347e-03 9.99975197e-01 6.94001656e-03 -1.30837967e-01] [ 3.26810751e-02 -6.89707243e-03 9.99442033e-01 8.02363002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.272557844000005 meters Centerline goodness : 0.158115 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 0.99947179 0.00154236 -0.03246173 -1.30284403] [-0.00130829 0.999973 0.00723071 -0.13213155] [ 0.032472 -0.00718442 0.99944682 0.80294598] [ 0. 0. 0. 1. ]] SLAMing on 63.302557844000006 meters Centerline goodness : 0.147133 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.13, Z:0.81 [[ 0.99954204 0.00194371 -0.03019806 -1.26248902] [-0.00176464 0.99998071 0.00595518 -0.13034718] [ 0.03020905 -0.00589917 0.99952619 0.80523846] [ 0. 0. 0. 1. ]] SLAMing on 63.33255784400001 meters Centerline goodness : 0.131232 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.13, Z:0.81 [[ 0.99954564 0.00214496 -0.03006499 -1.26331137] [-0.00194708 0.99997626 0.0066092 -0.13363745] [ 0.03007846 -0.00654766 0.9995261 0.80605671] [ 0. 0. 0. 1. ]] SLAMing on 63.36255784400001 meters Centerline goodness : 0.125622 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.14, Z:0.81 [[ 9.99487384e-01 3.11270394e-04 -3.20136243e-02 -1.30936685e+00] [-8.65214741e-05 9.99975345e-01 7.02156045e-03 -1.38609900e-01] [ 3.20150206e-02 -7.01519122e-03 9.99462768e-01 8.06207199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39255784400001 meters Centerline goodness : 0.132410 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.14, Z:0.81 [[ 0.99955033 0.00689627 -0.02918185 -1.28743023] [-0.00677854 0.99996849 0.00413167 -0.13975325] [ 0.02920942 -0.003932 0.99956558 0.80522631] [ 0. 0. 0. 1. ]] SLAMing on 63.422557844 meters Centerline goodness : 0.128530 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.14, Z:0.81 [[ 0.99956754 0.0067064 -0.02863148 -1.28975652] [-0.00658794 0.99996935 0.00422961 -0.14104736] [ 0.02865897 -0.00403916 0.99958109 0.80656193] [ 0. 0. 0. 1. ]] SLAMing on 63.452557844000005 meters Centerline goodness : 0.155970 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.15, Z:0.81 [[ 0.99945852 0.01499036 -0.02929099 -1.30858706] [-0.01490382 0.9998839 0.00317085 -0.148311 ] [ 0.02933512 -0.00273259 0.9995659 0.80543297] [ 0. 0. 0. 1. ]] SLAMing on 63.482557844000006 meters Centerline goodness : 0.130028 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.14, Z:0.81 [[ 0.99949804 0.00768276 -0.03073519 -1.28797916] [-0.00756245 0.99996329 0.00402865 -0.14007876] [ 0.03076501 -0.00379419 0.99951944 0.80655148] [ 0. 0. 0. 1. ]] SLAMing on 63.51255784400001 meters Centerline goodness : 0.139037 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.14, Z:0.81 [[ 0.99948559 0.00781031 -0.03110561 -1.28633185] [-0.00768857 0.99996232 0.00403139 -0.13961901] [ 0.03113593 -0.00379016 0.99950797 0.8055485 ] [ 0. 0. 0. 1. ]] SLAMing on 63.54255784400001 meters Centerline goodness : 0.131381 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.14, Z:0.80 [[ 0.99947187 0.00794846 -0.03150874 -1.28470983] [-0.00782451 0.99996116 0.00405537 -0.13925971] [ 0.03153975 -0.00380669 0.99949525 0.80469097] [ 0. 0. 0. 1. ]] SLAMing on 63.57255784400001 meters SLAMing on 63.60255784400001 meters Centerline goodness : 0.158410 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99500123e-01 -7.17853715e-04 -3.16067948e-02 -1.30291035e+00] [ 8.67960643e-04 9.99988410e-01 4.73573406e-03 -1.32400573e-01] [ 3.16030289e-02 -4.76080023e-03 9.99489161e-01 8.02999988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.632557844000004 meters Centerline goodness : 0.158410 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99500123e-01 -7.17853715e-04 -3.16067948e-02 -1.30291035e+00] [ 8.67960643e-04 9.99988410e-01 4.73573406e-03 -1.32400573e-01] [ 3.16030289e-02 -4.76080023e-03 9.99489161e-01 8.02999988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662557844000006 meters Centerline goodness : 0.156589 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99504249e-01 -7.12091791e-04 -3.14761780e-02 -1.30338252e+00] [ 8.61611792e-04 9.99988409e-01 4.73695090e-03 -1.32551433e-01] [ 3.14724400e-02 -4.76172280e-03 9.99493277e-01 8.03203916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69255784400001 meters Centerline goodness : 0.155108 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99509771e-01 -6.82889547e-04 -3.13009728e-02 -1.30397688e+00] [ 8.33889050e-04 9.99988078e-01 4.81131527e-03 -1.32946184e-01] [ 3.12973140e-02 -4.83505816e-03 9.99498424e-01 8.03464741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72255784400001 meters Centerline goodness : 0.092007 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99514910e-01 -6.29974429e-04 -3.11375716e-02 -1.30455686e+00] [ 7.83328923e-04 9.99987624e-01 4.91310972e-03 -1.33345416e-01] [ 3.11340911e-02 -4.93511738e-03 9.99503033e-01 8.03718190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75255784400001 meters SLAMing on 63.78255784400001 meters Centerline goodness : 0.157873 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99515676e-01 -5.18160034e-04 -3.11150420e-02 -1.30425492e+00] [ 6.75548883e-04 9.99987031e-01 5.04798883e-03 -1.33712096e-01] [ 3.11120228e-02 -5.06656370e-03 9.99503063e-01 8.03158975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812557844000004 meters Centerline goodness : 0.157554 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99507257e-01 -5.41652235e-04 -3.13839032e-02 -1.30311563e+00] [ 6.99502531e-04 9.99987161e-01 5.01889693e-03 -1.33772998e-01] [ 3.13807818e-02 -5.03837703e-03 9.99494803e-01 8.02409994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842557844000005 meters Centerline goodness : 0.138598 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99500463e-01 -5.81055768e-04 -3.15988305e-02 -1.30214412e+00] [ 7.38256907e-04 9.99987409e-01 4.96346435e-03 -1.33747973e-01] [ 3.15955486e-02 -4.98431298e-03 9.99488308e-01 8.01689162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872557844000006 meters Centerline goodness : 0.155893 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99498408e-01 -5.43631104e-04 -3.16644473e-02 -1.30183767e+00] [ 7.03737534e-04 9.99987024e-01 5.04542186e-03 -1.34186888e-01] [ 3.16612936e-02 -5.06517457e-03 9.99485821e-01 8.01445675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90255784400001 meters Centerline goodness : 0.137544 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99502180e-01 -5.01866460e-04 -3.15458349e-02 -1.30220003e+00] [ 6.64021094e-04 9.99986621e-01 5.13002068e-03 -1.34551779e-01] [ 3.15428383e-02 -5.14841395e-03 9.99489141e-01 8.01548009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93255784400001 meters Centerline goodness : 0.151878 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.14, Z:0.80 [[ 9.99530608e-01 -6.75874015e-05 -3.06359227e-02 -1.30541307e+00] [ 2.42429218e-04 9.99983706e-01 5.70340657e-03 -1.36057160e-01] [ 3.06350381e-02 -5.70815648e-03 9.99514338e-01 8.02927138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96255784400001 meters Centerline goodness : 0.155085 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.14, Z:0.80 [[ 9.99537296e-01 6.76441478e-05 -3.04169252e-02 -1.30626499e+00] [ 1.13555091e-04 9.99982260e-01 5.95541775e-03 -1.37113886e-01] [ 3.04167885e-02 -5.95611615e-03 9.99519556e-01 8.03437335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992557844000004 meters Centerline goodness : 0.128653 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.14, Z:0.80 [[ 0.99955906 0.00780622 -0.02864879 -1.28529238] [-0.00770787 0.99996402 0.00354171 -0.13886332] [ 0.0286754 -0.00331933 0.99958326 0.80336954] [ 0. 0. 0. 1. ]] SLAMing on 64.022557844 meters Centerline goodness : 0.154047 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.14, Z:0.80 [[ 9.99551796e-01 -1.16850308e-03 -2.99139126e-02 -1.30251471e+00] [ 1.31119677e-03 9.99987854e-01 4.75097338e-03 -1.35427338e-01] [ 2.99079978e-02 -4.78806699e-03 9.99541188e-01 8.01501031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.052557844 meters Centerline goodness : 0.138168 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.14, Z:0.80 [[ 9.99548008e-01 -1.08433463e-03 -3.00433673e-02 -1.30202165e+00] [ 1.23275926e-03 9.99987126e-01 4.92226423e-03 -1.36237898e-01] [ 3.00376431e-02 -4.95707565e-03 9.99536476e-01 8.01267431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082557844 meters SLAMing on 64.112557844 meters Centerline goodness : 0.156605 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.14, Z:0.80 [[ 9.99555797e-01 -9.41037022e-04 -2.97879619e-02 -1.30262459e+00] [ 1.09573552e-03 9.99985997e-01 5.17742540e-03 -1.37457511e-01] [ 2.97826727e-02 -5.20776530e-03 9.99542831e-01 8.01207723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.142557844 meters Centerline goodness : 0.125744 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.14, Z:0.80 [[ 0.99957083 0.00786034 -0.02821989 -1.28348688] [-0.00776059 0.99996325 0.00364262 -0.14061831] [ 0.02824749 -0.00342206 0.9995951 0.80255812] [ 0. 0. 0. 1. ]] SLAMing on 64.172557844 meters Centerline goodness : 0.153386 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.14, Z:0.80 [[ 0.99957575 0.00795399 -0.02801876 -1.28443954] [-0.0078462 0.9999614 0.00395473 -0.14224495] [ 0.02804913 -0.00373321 0.99959957 0.80325038] [ 0. 0. 0. 1. ]] SLAMing on 64.202557844 meters Centerline goodness : 0.129779 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.14, Z:0.80 [[ 0.99956945 0.00802031 -0.02822393 -1.28407356] [-0.00790708 0.99996025 0.00412112 -0.14331832] [ 0.02825586 -0.00389617 0.99959313 0.80357283] [ 0. 0. 0. 1. ]] SLAMing on 64.232557844 meters Centerline goodness : 0.153369 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.15, Z:0.80 [[ 9.99605161e-01 4.93316823e-03 -2.76619854e-02 -1.28538543e+00] [-4.89894779e-03 9.99987149e-01 1.30472684e-03 -1.45627270e-01] [ 2.76680664e-02 -1.16869706e-03 9.99616483e-01 8.03204154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.262557844 meters Centerline goodness : 0.131258 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.15, Z:0.80 [[ 0.99960533 0.00496204 -0.02765057 -1.28577861] [-0.00492069 0.99998667 0.00156333 -0.14713895] [ 0.02765796 -0.00142666 0.99961643 0.8037459 ] [ 0. 0. 0. 1. ]] SLAMing on 64.292557844 meters Centerline goodness : 0.149550 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.15, Z:0.80 [[ 0.99961346 0.00507341 -0.02733466 -1.28674268] [-0.00502024 0.99998537 0.00201327 -0.14899164] [ 0.02734447 -0.00187527 0.99962431 0.80382466] [ 0. 0. 0. 1. ]] SLAMing on 64.322557844 meters Centerline goodness : 0.068736 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.15, Z:0.80 [[ 0.99961337 0.00527178 -0.02730069 -1.28654087] [-0.00519821 0.99998267 0.00276486 -0.15262872] [ 0.02731479 -0.00262188 0.99962344 0.80344799] [ 0. 0. 0. 1. ]] SLAMing on 64.352557844 meters Centerline goodness : 0.136292 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.16, Z:0.80 [[ 9.99622507e-01 1.79988543e-03 -2.74154077e-02 -1.28553534e+00] [-1.81035298e-03 9.99998298e-01 -3.56997031e-04 -1.55000120e-01] [ 2.74147185e-02 4.06493832e-04 9.99624063e-01 8.02364556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.382557844 meters Centerline goodness : 0.155541 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:0.80 [[ 9.99603265e-01 1.75283731e-03 -2.81111990e-02 -1.28361017e+00] [-1.75264294e-03 9.99998464e-01 3.15538365e-05 -1.57975186e-01] [ 2.81112111e-02 1.77275764e-05 9.99604802e-01 8.02219854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.412557844 meters Centerline goodness : 0.138688 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:0.80 [[ 9.99612073e-01 -3.11967165e-04 -2.78497160e-02 -1.28454589e+00] [ 2.71995077e-04 9.99998928e-01 -1.43905480e-03 -1.63507563e-01] [ 2.78501350e-02 1.43092157e-03 9.99611086e-01 8.02126673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.442557844 meters Centerline goodness : 0.149964 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99613404e-01 -2.79466907e-05 -2.78036437e-02 -1.28449058e+00] [ 5.60276608e-06 9.99999677e-01 -8.03710542e-04 -1.66169330e-01] [ 2.78036572e-02 8.03244053e-04 9.99613081e-01 8.01866696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.472557844 meters Centerline goodness : 0.138561 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99608796e-01 -3.52911965e-05 -2.79688085e-02 -1.28358060e+00] [ 1.29490301e-05 9.99999681e-01 -7.99005112e-04 -1.66317105e-01] [ 2.79688277e-02 7.98330369e-04 9.99608477e-01 8.01129157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502557844 meters Centerline goodness : 0.133179 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99587094e-01 2.05582892e-04 -2.87332315e-02 -1.28094593e+00] [-2.27742900e-04 9.99999679e-01 -7.67962273e-04 -1.66403084e-01] [ 2.87330644e-02 7.74188967e-04 9.99586820e-01 8.00363286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.532557844 meters Centerline goodness : 0.074298 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99581465e-01 1.25648830e-04 -2.89288685e-02 -1.28009410e+00] [-1.53889218e-04 9.99999514e-01 -9.73976587e-04 -1.65571347e-01] [ 2.89287321e-02 9.78020785e-04 9.99580998e-01 7.99763774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.562557844 meters Centerline goodness : 0.139509 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99580384e-01 1.35010785e-04 -2.89661407e-02 -1.27992190e+00] [-1.64357681e-04 9.99999476e-01 -1.01076632e-03 -1.65237847e-01] [ 2.89659891e-02 1.01510300e-03 9.99579882e-01 7.99628350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.592557844 meters Centerline goodness : 0.151321 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99579133e-01 2.85476010e-04 -2.90082076e-02 -1.28006455e+00] [-3.05264845e-04 9.99999724e-01 -6.77754300e-04 -1.66579789e-01] [ 2.90080061e-02 6.86324242e-04 9.99578944e-01 8.00022935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.622557844 meters Centerline goodness : 0.108404 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99574078e-01 3.17802726e-04 -2.91815442e-02 -1.27969272e+00] [-3.32094308e-04 9.99999827e-01 -4.84902016e-04 -1.67807660e-01] [ 2.91813851e-02 4.94386510e-04 9.99574010e-01 8.00122343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.652557844 meters Centerline goodness : 0.135514 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99569821e-01 3.29895416e-04 -2.93268405e-02 -1.27938738e+00] [-3.39257540e-04 9.99999893e-01 -3.14258823e-04 -1.68947464e-01] [ 2.93267337e-02 3.24072987e-04 9.99569826e-01 8.00224448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.682557844 meters Centerline goodness : 0.074892 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.16, Z:0.80 [[ 9.99564261e-01 -6.84981154e-03 -2.87118245e-02 -1.26002424e+00] [ 6.87402380e-03 9.99976096e-01 7.44665778e-04 -1.63149590e-01] [ 2.87060374e-02 -9.41707063e-04 9.99587453e-01 8.01697851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.712557844 meters Centerline goodness : 0.138308 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:0.80 [[ 9.99547104e-01 -6.52044973e-03 -2.93780578e-02 -1.29990229e+00] [ 6.55166857e-03 9.99978070e-01 9.66524231e-04 -1.65095704e-01] [ 2.93711114e-02 -1.15856179e-03 9.99567904e-01 8.01613710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.742557844 meters Centerline goodness : 0.121190 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:0.80 [[ 9.99548781e-01 -6.53133800e-03 -2.93185152e-02 -1.30010765e+00] [ 6.56343025e-03 9.99977962e-01 9.98503647e-04 -1.65297928e-01] [ 2.93113475e-02 -1.19048313e-03 9.99569621e-01 8.01617908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.772557844 meters Centerline goodness : 0.139642 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99611264e-01 4.97522980e-04 -2.78760421e-02 -1.27811007e+00] [-5.55405483e-04 9.99997706e-01 -2.06872043e-03 -1.65525582e-01] [ 2.78749490e-02 2.08339875e-03 9.99609247e-01 8.00971831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.802557844 meters Centerline goodness : 0.155226 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99611261e-01 4.85092581e-04 -2.78763687e-02 -1.27800108e+00] [-5.40321124e-04 9.99997906e-01 -1.97369734e-03 -1.66055850e-01] [ 2.78753529e-02 1.98799228e-03 9.99609430e-01 8.00717104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.832557844 meters Centerline goodness : 0.144941 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99609721e-01 6.06013098e-04 -2.79291566e-02 -1.27744014e+00] [-6.51873931e-04 9.99998454e-01 -1.63296579e-03 -1.67133827e-01] [ 2.79281238e-02 1.65053477e-03 9.99608571e-01 7.99912740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862557844 meters Centerline goodness : 0.171067 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.17, Z:0.80 [[ 9.99592672e-01 1.17753074e-03 -2.85149556e-02 -1.27479701e+00] [-1.19844017e-03 9.99999025e-01 -7.16200281e-04 -1.69563689e-01] [ 2.85140845e-02 7.50082021e-04 9.99593109e-01 7.98061560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.892557844 meters Centerline goodness : 0.137078 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.17, Z:0.80 [[ 9.99589365e-01 1.28349951e-03 -2.86261103e-02 -1.27441148e+00] [-1.30158805e-03 9.99998965e-01 -6.13264933e-04 -1.69819178e-01] [ 2.86252936e-02 6.50272508e-04 9.99590001e-01 7.97939163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922557844 meters Centerline goodness : 0.063849 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99591269e-01 1.14500882e-03 -2.85654441e-02 -1.27518241e+00] [-1.17236050e-03 9.99998870e-01 -9.40779695e-04 -1.69038404e-01] [ 2.85643346e-02 9.73884168e-04 9.99591482e-01 7.99077284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.952557844 meters Centerline goodness : 0.137731 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99601430e-01 1.20518345e-03 -2.82051265e-02 -1.27682884e+00] [-1.23264402e-03 9.99998783e-01 -9.56235554e-04 -1.68745091e-01] [ 2.82039398e-02 9.90621308e-04 9.99601699e-01 8.00324823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.982557844 meters Centerline goodness : 0.160857 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.17, Z:0.80 [[ 0.9995975 0.01051345 -0.02634962 -1.2579531 ] [-0.01056535 0.99994251 -0.00183118 -0.17194469] [ 0.02632886 0.00210884 0.99965111 0.80193447] [ 0. 0. 0. 1. ]] SLAMing on 65.012557844 meters Centerline goodness : 0.151960 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.17, Z:0.80 [[ 0.99961014 0.01055007 -0.02585088 -1.25934248] [-0.01060509 0.99994178 -0.00199234 -0.17073994] [ 0.02582835 0.00226571 0.99966382 0.80215927] [ 0. 0. 0. 1. ]] SLAMing on 65.042557844 meters Centerline goodness : 0.132270 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.16, Z:0.80 [[ 9.99615859e-01 5.40931536e-03 -2.71822296e-02 -1.24011280e+00] [-5.41579032e-03 9.99985321e-01 -1.64590352e-04 -1.60116231e-01] [ 2.71809403e-02 3.11740382e-04 9.99630481e-01 8.03042303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.072557844 meters Centerline goodness : 0.123432 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.16, Z:0.80 [[ 9.99603212e-01 5.41099101e-03 -2.76430751e-02 -1.23873659e+00] [-5.42943819e-03 9.99985085e-01 -5.92319910e-04 -1.58300782e-01] [ 2.76394578e-02 7.42171252e-04 9.99617682e-01 8.03018459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.102557844 meters Centerline goodness : 0.135416 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.16, Z:0.80 [[ 9.99587122e-01 5.39923625e-03 -2.82211709e-02 -1.23707497e+00] [-5.43110377e-03 9.99984697e-01 -1.05267629e-03 -1.56509056e-01] [ 2.82150554e-02 1.20551378e-03 9.99601149e-01 8.02966134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.132557844 meters Centerline goodness : 0.155544 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.15, Z:0.80 [[ 0.99958463 0.00518732 -0.02834898 -1.2368942 ] [-0.00523754 0.99998484 -0.00169747 -0.15341302] [ 0.02833975 0.00184524 0.99959665 0.80312394] [ 0. 0. 0. 1. ]] SLAMing on 65.162557844 meters Centerline goodness : 0.134954 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.15, Z:0.80 [[ 0.99958919 0.0051524 -0.02819388 -1.23763163] [-0.00520702 0.99998471 -0.00186453 -0.15239001] [ 0.02818384 0.00201057 0.99960073 0.80359297] [ 0. 0. 0. 1. ]] SLAMing on 65.192557844 meters Centerline goodness : 0.135586 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.15, Z:0.80 [[ 0.99959704 0.00508363 -0.02792712 -1.23867616] [-0.0051392 0.99998495 -0.00191839 -0.15196396] [ 0.02791695 0.00206114 0.99960812 0.8040131 ] [ 0. 0. 0. 1. ]] SLAMing on 65.222557844 meters Centerline goodness : 0.130922 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.15, Z:0.80 [[ 0.99960365 0.0051627 -0.02767455 -1.23929167] [-0.00520921 0.99998514 -0.00160878 -0.15288601] [ 0.02766583 0.00175231 0.99961569 0.80374573] [ 0. 0. 0. 1. ]] SLAMing on 65.252557844 meters Centerline goodness : 0.134124 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.15, Z:0.81 [[ 9.99599526e-01 -1.97280515e-03 -2.82293236e-02 -1.21980979e+00] [ 1.95963015e-03 9.99997958e-01 -4.94370745e-04 -1.48878754e-01] [ 2.82302413e-02 4.38853728e-04 9.99601351e-01 8.05988876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282557844 meters Centerline goodness : 0.166869 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.15, Z:0.81 [[ 9.99591716e-01 -2.04238280e-03 -2.84996575e-02 -1.21918735e+00] [ 2.03548958e-03 9.99997892e-01 -2.70879481e-04 -1.50566257e-01] [ 2.85001507e-02 2.12758129e-04 9.99593766e-01 8.06166507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.312557844 meters Centerline goodness : 0.142071 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.15, Z:0.81 [[ 0.99958203 -0.00605796 -0.0282679 -1.22023162] [ 0.00595344 0.99997513 -0.00378012 -0.15310051] [ 0.02829009 0.00361025 0.99959324 0.80684303] [ 0. 0. 0. 1. ]] SLAMing on 65.342557844 meters Centerline goodness : 0.147662 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.15, Z:0.81 [[ 9.99675153e-01 8.99974350e-04 -2.54711360e-02 -1.19952936e+00] [-1.06046812e-03 9.99979667e-01 -6.28819948e-03 -1.54845796e-01] [ 2.54649588e-02 6.31316810e-03 9.99655781e-01 8.06009640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.372557844 meters Centerline goodness : 0.070719 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.16, Z:0.81 [[ 9.99688322e-01 8.85757276e-04 -2.49494268e-02 -1.20094020e+00] [-1.02746735e-03 9.99983411e-01 -5.66764626e-03 -1.57007154e-01] [ 2.49439927e-02 5.69151450e-03 9.99672648e-01 8.05645540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.402557844 meters Centerline goodness : 0.138381 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.16, Z:0.81 [[ 9.99675876e-01 8.94479399e-04 -2.54429290e-02 -1.19965113e+00] [-1.03019576e-03 9.99985310e-01 -5.32154101e-03 -1.59130506e-01] [ 2.54377953e-02 5.34602737e-03 9.99662112e-01 8.05583574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.432557844 meters Centerline goodness : 0.076033 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.17, Z:0.80 [[ 9.99640120e-01 -1.36411490e-03 -2.67912215e-02 -1.19370858e+00] [ 1.17887122e-03 9.99975300e-01 -6.92892018e-03 -1.65179893e-01] [ 2.68000116e-02 6.89484320e-03 9.99617037e-01 8.02661782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.462557844 meters Centerline goodness : 0.070756 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.17, Z:0.80 [[ 9.99626828e-01 -1.22723346e-03 -2.72891520e-02 -1.19228348e+00] [ 1.05233114e-03 9.99978821e-01 -6.42266297e-03 -1.67891725e-01] [ 2.72964561e-02 6.39154899e-03 9.99606949e-01 8.02392905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.492557844 meters Centerline goodness : 0.141399 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.17, Z:0.80 [[ 9.99623052e-01 -1.04787387e-03 -2.74345715e-02 -1.19196329e+00] [ 8.83990097e-04 9.99981699e-01 -5.98506930e-03 -1.69965049e-01] [ 2.74403410e-02 5.95856135e-03 9.99605684e-01 8.02498473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.522557844 meters Centerline goodness : 0.118588 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.17, Z:0.80 [[ 0.99961427 -0.00811365 -0.02656084 -1.17291555] [ 0.0079916 0.99995703 -0.00469809 -0.16632475] [ 0.02659782 0.00448402 0.99963616 0.80423985] [ 0. 0. 0. 1. ]] SLAMing on 65.552557844 meters Centerline goodness : 0.118588 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.17, Z:0.80 [[ 0.99961427 -0.00811365 -0.02656084 -1.17291555] [ 0.0079916 0.99995703 -0.00469809 -0.16632475] [ 0.02659782 0.00448402 0.99963616 0.80423985] [ 0. 0. 0. 1. ]] SLAMing on 65.582557844 meters Centerline goodness : 0.162086 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.17, Z:0.80 [[ 0.99961756 -0.00807761 -0.02644769 -1.17354753] [ 0.00795692 0.99995746 -0.00466555 -0.16664039] [ 0.02648425 0.00445333 0.99963931 0.80494236] [ 0. 0. 0. 1. ]] SLAMing on 65.612557844 meters Centerline goodness : 0.137056 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.17, Z:0.81 [[ 0.99961922 -0.00799209 -0.02641097 -1.17382967] [ 0.00787091 0.99995803 -0.00468901 -0.16651435] [ 0.02644734 0.00447935 0.99964017 0.80546399] [ 0. 0. 0. 1. ]] SLAMing on 65.642557844 meters Centerline goodness : 0.160551 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99962334 0.001393 -0.02740866 -1.15680302] [-0.0014946 0.99999209 -0.00368662 -0.17162078] [ 0.02740331 0.0037262 0.99961751 0.80656528] [ 0. 0. 0. 1. ]] SLAMing on 65.672557844 meters Centerline goodness : 0.158754 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.18, Z:0.81 [[ 9.99520939e-01 5.18329888e-04 -3.09454899e-02 -1.20032234e+00] [-6.02012185e-04 9.99996187e-01 -2.69492819e-03 -1.75016372e-01] [ 3.09439750e-02 2.71226672e-03 9.99517441e-01 8.06819246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702557844 meters Centerline goodness : 0.157715 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.17, Z:0.81 [[ 9.99519739e-01 5.18001054e-04 -3.09842463e-02 -1.20001006e+00] [-6.04987999e-04 9.99995902e-01 -2.79814830e-03 -1.74670459e-01] [ 3.09826698e-02 2.81554955e-03 9.99515956e-01 8.06493918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.732557844 meters Centerline goodness : 0.151376 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.17, Z:0.81 [[ 9.99534812e-01 7.23331220e-04 -3.04899529e-02 -1.20113005e+00] [-8.11909980e-04 9.99995486e-01 -2.89289835e-03 -1.73554429e-01] [ 3.04877227e-02 2.91630770e-03 9.99530887e-01 8.06251944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.762557844 meters Centerline goodness : 0.135847 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.9996041 0.00279477 -0.02799706 -1.15862028] [-0.00286076 0.99999322 -0.0023174 -0.16845878] [ 0.0279904 0.00239657 0.99960532 0.80623472] [ 0. 0. 0. 1. ]] SLAMing on 65.792557844 meters Centerline goodness : 0.143546 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99961135 0.00281229 -0.02773525 -1.15948147] [-0.00288074 0.9999929 -0.00242844 -0.16747766] [ 0.02772822 0.00250739 0.99961235 0.80651715] [ 0. 0. 0. 1. ]] SLAMing on 65.822557844 meters Centerline goodness : 0.136026 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99961466 0.00280855 -0.02761605 -1.16008576] [-0.0028779 0.9999928 -0.00247152 -0.16719757] [ 0.02760891 0.00255004 0.99961555 0.80698061] [ 0. 0. 0. 1. ]] SLAMing on 65.852557844 meters Centerline goodness : 0.178731 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99961473 0.0028017 -0.02761413 -1.16033089] [-0.00287014 0.99999291 -0.00243912 -0.1674575 ] [ 0.0276071 0.00251744 0.99961568 0.80737002] [ 0. 0. 0. 1. ]] SLAMing on 65.882557844 meters Centerline goodness : 0.148336 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99961533 0.00280479 -0.027592 -1.16039193] [-0.0028719 0.99999301 -0.00239285 -0.16766497] [ 0.02758509 0.00247117 0.9996164 0.80736694] [ 0. 0. 0. 1. ]] SLAMing on 65.912557844 meters Centerline goodness : 0.132435 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99961634 0.00280583 -0.02755546 -1.16035679] [-0.00287036 0.99999323 -0.00230251 -0.16814416] [ 0.02754881 0.00238072 0.99961762 0.80713339] [ 0. 0. 0. 1. ]] SLAMing on 65.942557844 meters Centerline goodness : 0.131590 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99962072 0.00283621 -0.02739289 -1.16100818] [-0.0028966 0.99999346 -0.00216522 -0.16884433] [ 0.02738657 0.00224375 0.9996224 0.80752668] [ 0. 0. 0. 1. ]] SLAMing on 65.972557844 meters Centerline goodness : 0.128293 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99963153 0.00267189 -0.0270125 -1.16222504] [-0.00272876 0.99999414 -0.00206868 -0.16953671] [ 0.02700681 0.00214163 0.99963296 0.80767127] [ 0. 0. 0. 1. ]] SLAMing on 66.002557844 meters Centerline goodness : 0.127894 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.17, Z:0.81 [[ 9.99561184e-01 7.23901805e-04 -2.96127454e-02 -1.20759860e+00] [-7.68434619e-04 9.99998591e-01 -1.49248683e-03 -1.73886495e-01] [ 2.96116232e-02 1.51458736e-03 9.99560332e-01 8.08259830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.032557844 meters Centerline goodness : 0.137097 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.17, Z:0.81 [[ 0.99955553 0.00874794 -0.02849949 -1.18568523] [-0.00885747 0.99995385 -0.00371936 -0.17482214] [ 0.02846564 0.00397014 0.99958689 0.80757461] [ 0. 0. 0. 1. ]] SLAMing on 66.062557844 meters Centerline goodness : 0.074467 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.17, Z:0.81 [[ 0.99954747 0.00871278 -0.02879145 -1.18487748] [-0.00883118 0.99995305 -0.00398781 -0.17400014] [ 0.02875536 0.00424027 0.99957749 0.80767146] [ 0. 0. 0. 1. ]] SLAMing on 66.092557844 meters Centerline goodness : 0.082604 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.17, Z:0.81 [[ 0.99954498 0.00861258 -0.02890763 -1.18446722] [-0.00873827 0.9999529 -0.00422446 -0.17305904] [ 0.02886989 0.00447514 0.99957316 0.80750431] [ 0. 0. 0. 1. ]] SLAMing on 66.122557844 meters Centerline goodness : 0.134293 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.17, Z:0.81 [[ 0.99954667 0.0085343 -0.02887236 -1.18441331] [-0.00866745 0.99995236 -0.00448971 -0.1716894 ] [ 0.02883267 0.00473792 0.99957302 0.80725728] [ 0. 0. 0. 1. ]] SLAMing on 66.152557844 meters Centerline goodness : 0.129067 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.17, Z:0.81 [[ 0.99955632 0.00261063 -0.02967055 -1.16700139] [-0.00270688 0.9999912 -0.00320417 -0.16508825] [ 0.02966193 0.00328307 0.9995546 0.80968712] [ 0. 0. 0. 1. ]] SLAMing on 66.182557844 meters Centerline goodness : 0.132208 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.16, Z:0.81 [[ 0.99954692 0.00285414 -0.0299633 -1.16576468] [-0.0029488 0.9999908 -0.00311527 -0.16478125] [ 0.02995413 0.00320221 0.99954614 0.80909016] [ 0. 0. 0. 1. ]] SLAMing on 66.212557844 meters Centerline goodness : 0.152459 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.16, Z:0.81 [[ 0.99948959 0.00363883 -0.03173822 -1.16007503] [-0.00374087 0.99998802 -0.00315626 -0.163609 ] [ 0.03172636 0.00327338 0.99949123 0.80786443] [ 0. 0. 0. 1. ]] SLAMing on 66.242557844 meters Centerline goodness : 0.135831 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.16, Z:0.81 [[ 0.99947662 0.00344478 -0.03216541 -1.15838568] [-0.00355887 0.99998758 -0.00349036 -0.16255234] [ 0.03215299 0.003603 0.99947646 0.80690795] [ 0. 0. 0. 1. ]] SLAMing on 66.272557844 meters Centerline goodness : 0.127374 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.16, Z:0.81 [[ 0.99948785 0.00491898 -0.03162023 -1.1103564 ] [-0.0050658 0.99997675 -0.00456478 -0.15643555] [ 0.03159704 0.00472263 0.99948953 0.80584942] [ 0. 0. 0. 1. ]] SLAMing on 66.302557844 meters Centerline goodness : 0.081069 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.16, Z:0.81 [[ 0.99948887 0.00486428 -0.03159641 -1.11046142] [-0.00501016 0.99997715 -0.00453947 -0.15614081] [ 0.03157361 0.00469546 0.9994904 0.80562891] [ 0. 0. 0. 1. ]] SLAMing on 66.332557844 meters Centerline goodness : 0.154350 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.16, Z:0.81 [[ 0.99950301 0.00468694 -0.03117305 -1.11198257] [-0.00483686 0.99997709 -0.00473558 -0.15528064] [ 0.03115014 0.00488401 0.99950278 0.80619191] [ 0. 0. 0. 1. ]] SLAMing on 66.362557844 meters Centerline goodness : 0.144457 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.15, Z:0.81 [[ 0.99954051 0.00420088 -0.03001864 -1.11622504] [-0.00435299 0.99997801 -0.00500365 -0.15461335] [ 0.02999696 0.00513202 0.99953681 0.80783416] [ 0. 0. 0. 1. ]] SLAMing on 66.392557844 meters Centerline goodness : 0.112873 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.16, Z:0.81 [[ 0.99954941 0.00422799 -0.02971711 -1.11705788] [-0.0043693 0.99997945 -0.00469161 -0.15575671] [ 0.02969667 0.00481934 0.99954734 0.80771516] [ 0. 0. 0. 1. ]] SLAMing on 66.422557844 meters Centerline goodness : 0.163741 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.15, Z:0.81 [[ 0.99961721 0.00528099 -0.02715783 -1.07344107] [-0.00543345 0.99996987 -0.00554334 -0.15331337] [ 0.02712773 0.00568878 0.99961579 0.80752757] [ 0. 0. 0. 1. ]] SLAMing on 66.452557844 meters Centerline goodness : 0.138964 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.15, Z:0.81 [[ 0.99959792 -0.00394975 -0.02807829 -1.09334841] [ 0.00383817 0.99998453 -0.00402659 -0.15155648] [ 0.02809376 0.00391721 0.99959762 0.80625162] [ 0. 0. 0. 1. ]] SLAMing on 66.482557844 meters Centerline goodness : 0.074859 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.15, Z:0.81 [[ 0.99965038 0.0037281 -0.02617663 -1.0723561 ] [-0.00390183 0.99997068 -0.00658891 -0.15281837] [ 0.0261513 0.00668874 0.99963562 0.80596631] [ 0. 0. 0. 1. ]] SLAMing on 66.512557844 meters Centerline goodness : 0.133154 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.16, Z:0.81 [[ 0.99957273 0.00249636 -0.02912267 -1.11768232] [-0.00266789 0.99997932 -0.00585243 -0.15503468] [ 0.02910746 0.00592762 0.99955871 0.80682565] [ 0. 0. 0. 1. ]] SLAMing on 66.542557844 meters Centerline goodness : 0.163337 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.15, Z:0.81 [[ 0.99960606 0.00478402 -0.02765578 -1.07365853] [-0.0049455 0.9999711 -0.00577355 -0.14882133] [ 0.02762736 0.00590804 0.99960083 0.80705915] [ 0. 0. 0. 1. ]] SLAMing on 66.572557844 meters Centerline goodness : 0.152480 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.15, Z:0.81 [[ 0.99959283 0.00505089 -0.02808331 -1.07210465] [-0.00522068 0.99996852 -0.00597564 -0.14716746] [ 0.02805224 0.00611982 0.99958772 0.8066525 ] [ 0. 0. 0. 1. ]] SLAMing on 66.602557844 meters Centerline goodness : 0.155559 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.14, Z:0.81 [[ 0.99954405 0.00721203 -0.02932044 -1.06755679] [-0.00734978 0.99996244 -0.00459287 -0.14213162] [ 0.02928621 0.00480628 0.99955951 0.80566027] [ 0. 0. 0. 1. ]] SLAMing on 66.632557844 meters Centerline goodness : 0.136364 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.14, Z:0.81 [[ 0.99953391 0.00714798 -0.0296795 -1.06632316] [-0.00730162 0.99996048 -0.00507159 -0.13994032] [ 0.02964208 0.00528593 0.9995466 0.80534423] [ 0. 0. 0. 1. ]] SLAMing on 66.662557844 meters Centerline goodness : 0.119122 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.14, Z:0.81 [[ 0.99952833 0.00681445 -0.02994477 -1.06578692] [-0.00699208 0.99995855 -0.005831 -0.13703909] [ 0.02990379 0.00603763 0.99953455 0.80552878] [ 0. 0. 0. 1. ]] SLAMing on 66.692557844 meters Centerline goodness : 0.133588 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.13, Z:0.80 [[ 9.99594213e-01 -9.01054783e-04 -2.84709943e-02 -1.08356032e+00] [ 7.39112439e-04 9.99983493e-01 -5.69798832e-03 -1.29583858e-01] [ 2.84756585e-02 5.67463289e-03 9.99578379e-01 8.04823099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722557844 meters Centerline goodness : 0.158813 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.13, Z:0.81 [[ 9.99603694e-01 -8.83273306e-04 -2.81367078e-02 -1.08514713e+00] [ 7.25693644e-04 9.99983999e-01 -5.61022017e-03 -1.29869382e-01] [ 2.81412129e-02 5.58757817e-03 9.99588341e-01 8.06024757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.752557844 meters Centerline goodness : 0.160568 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.13, Z:0.81 [[ 0.9996361 -0.00852262 -0.02559361 -1.0656965 ] [ 0.00840058 0.99995284 -0.00487238 -0.12563735] [ 0.02563393 0.00465561 0.99966056 0.80738947] [ 0. 0. 0. 1. ]] SLAMing on 66.782557844 meters Centerline goodness : 0.082811 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.13, Z:0.81 [[ 0.99973806 -0.00515247 -0.02229945 -1.08951514] [ 0.00497519 0.99995564 -0.00799833 -0.13145401] [ 0.02233967 0.00788529 0.99971934 0.80715875] [ 0. 0. 0. 1. ]] SLAMing on 66.812557844 meters Centerline goodness : 0.133933 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.13, Z:0.81 [[ 0.99974562 -0.0051813 -0.021951 -1.09059063] [ 0.00501331 0.99995778 -0.00770124 -0.13249645] [ 0.02198998 0.00758924 0.99972939 0.80715734] [ 0. 0. 0. 1. ]] SLAMing on 66.842557844 meters Centerline goodness : 0.107776 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.13, Z:0.81 [[ 0.99975081 -0.0025959 -0.02217173 -1.09049502] [ 0.00249027 0.99998543 -0.00479023 -0.13256051] [ 0.02218384 0.00473382 0.9997427 0.80740049] [ 0. 0. 0. 1. ]] SLAMing on 66.872557844 meters Centerline goodness : 0.083540 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.14, Z:0.81 [[ 0.99973618 -0.002745 -0.02280419 -1.08907469] [ 0.00264962 0.99998762 -0.00421154 -0.13587841] [ 0.02281547 0.00415001 0.99973108 0.8071597 ] [ 0. 0. 0. 1. ]] SLAMing on 66.902557844 meters Centerline goodness : 0.135649 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.15, Z:0.81 [[ 0.99970512 0.00490545 -0.02378253 -1.10458458] [-0.00505969 0.99996653 -0.00642934 -0.14508407] [ 0.0237502 0.00654777 0.99969648 0.80579002] [ 0. 0. 0. 1. ]] SLAMing on 66.932557844 meters Centerline goodness : 0.083505 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.14, Z:0.81 [[ 0.9996983 -0.00238735 -0.02444605 -1.08373156] [ 0.00225044 0.99998164 -0.0056264 -0.14244458] [ 0.02445904 0.00556968 0.99968532 0.80700291] [ 0. 0. 0. 1. ]] SLAMing on 66.962557844 meters Centerline goodness : 0.128619 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.14, Z:0.81 [[ 0.99969336 -0.0021182 -0.02467176 -1.08285042] [ 0.00199043 0.99998449 -0.00520232 -0.14368495] [ 0.02468239 0.00515162 0.99968207 0.80651326] [ 0. 0. 0. 1. ]] SLAMing on 66.992557844 meters Centerline goodness : 0.158119 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.14, Z:0.81 [[ 0.99968907 -0.00182095 -0.02486841 -1.08194181] [ 0.00170013 0.99998665 -0.00487856 -0.14426837] [ 0.02487697 0.00483476 0.99967883 0.80598586] [ 0. 0. 0. 1. ]] SLAMing on 67.022557844 meters Centerline goodness : 0.136981 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.15, Z:0.81 [[ 0.99960717 0.0089412 -0.02656255 -1.09753591] [-0.00908626 0.99994443 -0.00534519 -0.15008385] [ 0.02651328 0.00558445 0.99963286 0.8055898 ] [ 0. 0. 0. 1. ]] SLAMing on 67.052557844 meters Centerline goodness : 0.134213 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.15, Z:0.81 [[ 0.99958424 0.00907506 -0.02736777 -1.09518995] [-0.00923777 0.99994037 -0.00582477 -0.14838373] [ 0.02731328 0.00607517 0.99960846 0.80565376] [ 0. 0. 0. 1. ]] SLAMing on 67.082557844 meters Centerline goodness : 0.148289 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.15, Z:0.81 [[ 0.99954688 0.00941563 -0.02858972 -1.09147718] [-0.00959946 0.99993408 -0.00629956 -0.14627951] [ 0.02852852 0.00657115 0.99957138 0.80544921] [ 0. 0. 0. 1. ]] SLAMing on 67.112557844 meters Centerline goodness : 0.174660 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.14, Z:0.80 [[ 0.99946607 0.01045058 -0.03095741 -1.12688992] [-0.01067325 0.99991828 -0.00703637 -0.14418222] [ 0.03088135 0.00736303 0.99949594 0.80456435] [ 0. 0. 0. 1. ]] SLAMing on 67.142557844 meters Centerline goodness : 0.147540 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.14, Z:0.80 [[ 0.99941582 0.01112725 -0.03231416 -1.12242752] [-0.01136947 0.99990856 -0.00732178 -0.14163301] [ 0.03222974 0.0076849 0.99945094 0.80365482] [ 0. 0. 0. 1. ]] SLAMing on 67.172557844 meters Centerline goodness : 0.161495 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.14, Z:0.80 [[ 0.99941362 0.01098677 -0.03242989 -1.12219158] [-0.01123976 0.99990773 -0.00762924 -0.14068161] [ 0.03234308 0.00798927 0.99944489 0.80373272] [ 0. 0. 0. 1. ]] SLAMing on 67.202557844 meters Centerline goodness : 0.122115 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.14, Z:0.80 [[ 0.99940993 0.01094298 -0.0325582 -1.12171119] [-0.01120112 0.99990718 -0.00775689 -0.14016283] [ 0.03247029 0.008117 0.99943974 0.80346775] [ 0. 0. 0. 1. ]] SLAMing on 67.232557844 meters Centerline goodness : 0.192465 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 0.99946929 0.00204376 -0.03251103 -1.13990232] [-0.00227212 0.999973 -0.00698867 -0.1332542 ] [ 0.03249587 0.00705883 0.99944694 0.80137145] [ 0. 0. 0. 1. ]] SLAMing on 67.262557844 meters Centerline goodness : 0.129063 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 0.99946781 0.00199207 -0.03255946 -1.13961484] [-0.00222337 0.99997254 -0.00706919 -0.13276466] [ 0.03254449 0.00713782 0.9994448 0.80106292] [ 0. 0. 0. 1. ]] SLAMing on 67.292557844 meters Centerline goodness : 0.182529 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 0.99946823 0.00193792 -0.03255011 -1.13959728] [-0.00217176 0.99997208 -0.00715039 -0.13239409] [ 0.03253534 0.00721727 0.99944453 0.80098403] [ 0. 0. 0. 1. ]] SLAMing on 67.322557844 meters Centerline goodness : 0.076637 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.13, Z:0.80 [[ 0.99942237 -0.00810464 -0.0330036 -1.16203324] [ 0.00788105 0.99994514 -0.00689933 -0.12734911] [ 0.0330577 0.00663524 0.99943142 0.80104134] [ 0. 0. 0. 1. ]] SLAMing on 67.352557844 meters Centerline goodness : 0.146899 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99518535e-01 6.49976794e-04 -3.10205581e-02 -1.14346339e+00] [-9.09831671e-04 9.99964612e-01 -8.36348031e-03 -1.28496717e-01] [ 3.10140243e-02 8.38767708e-03 9.99483755e-01 8.02106955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.382557844 meters Centerline goodness : 0.061909 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99522199e-01 6.28124661e-04 -3.09027249e-02 -1.14395175e+00] [-8.90321618e-04 9.99963719e-01 -8.47156196e-03 -1.27695480e-01] [ 3.08962825e-02 8.49502761e-03 9.99486495e-01 8.02385554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.412557844 meters Centerline goodness : 0.164887 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99524487e-01 6.11861713e-04 -3.08289723e-02 -1.14431215e+00] [-8.75280670e-04 9.99963221e-01 -8.53175545e-03 -1.27198097e-01] [ 3.08226182e-02 8.55468249e-03 9.99488261e-01 8.02636391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.442557844 meters Centerline goodness : 0.164887 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99524487e-01 6.11861713e-04 -3.08289723e-02 -1.14431215e+00] [-8.75280670e-04 9.99963221e-01 -8.53175545e-03 -1.27198097e-01] [ 3.08226182e-02 8.55468249e-03 9.99488261e-01 8.02636391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.472557844 meters Centerline goodness : 0.148511 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99521256e-01 6.17193159e-04 -3.09334311e-02 -1.14406538e+00] [-8.80488466e-04 9.99963497e-01 -8.49877622e-03 -1.27229702e-01] [ 3.09270565e-02 8.52194402e-03 9.99485314e-01 8.02677582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502557844 meters Centerline goodness : 0.082196 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99521113e-01 6.37108123e-04 -3.09376660e-02 -1.14416433e+00] [-8.98521334e-04 9.99964008e-01 -8.43650750e-03 -1.27567061e-01] [ 3.09311775e-02 8.46026552e-03 9.99485711e-01 8.02845605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.532557844 meters Centerline goodness : 0.157887 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99524950e-01 6.98091670e-04 -3.08121307e-02 -1.14461960e+00] [-9.55184923e-04 9.99964849e-01 -8.32996698e-03 -1.27999470e-01] [ 3.08052326e-02 8.35544111e-03 9.99490482e-01 8.03013615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562557844 meters Centerline goodness : 0.139507 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.13, Z:0.80 [[ 9.99533522e-01 6.27212720e-04 -3.05343179e-02 -1.14557205e+00] [-8.81489107e-04 9.99965043e-01 -8.31481215e-03 -1.28016436e-01] [ 3.05280354e-02 8.33784914e-03 9.99499134e-01 8.03300888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.592557844 meters Centerline goodness : 0.158759 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.12, Z:0.80 [[ 0.99962524 0.00198767 -0.02730259 -1.10575603] [-0.0022112 0.99996427 -0.00815943 -0.12440279] [ 0.0272854 0.00821674 0.99959391 0.80442798] [ 0. 0. 0. 1. ]] SLAMing on 67.622557844 meters Centerline goodness : 0.153818 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.13, Z:0.81 [[ 9.99542773e-01 5.45165257e-04 -3.02315804e-02 -1.15265151e+00] [-7.76559748e-04 9.99970491e-01 -7.64285263e-03 -1.27699200e-01] [ 3.02265217e-02 7.66283473e-03 9.99513701e-01 8.06058417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.652557844 meters Centerline goodness : 0.107665 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.12, Z:0.81 [[ 0.99952979 -0.00614587 -0.0300403 -1.13465329] [ 0.00595098 0.99996069 -0.00657263 -0.12144641] [ 0.03007952 0.00639077 0.99952708 0.80838291] [ 0. 0. 0. 1. ]] SLAMing on 67.682557844 meters Centerline goodness : 0.121143 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.12, Z:0.81 [[ 0.99943033 -0.00619357 -0.03317618 -1.18074381] [ 0.00603761 0.99997026 -0.0047991 -0.12462705] [ 0.03320491 0.00459606 0.999438 0.80930506] [ 0. 0. 0. 1. ]] SLAMing on 67.712557844 meters Centerline goodness : 0.144998 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.12, Z:0.81 [[ 0.99948048 0.00327626 -0.03206307 -1.16028529] [-0.00346505 0.99997698 -0.00583423 -0.12477549] [ 0.03204322 0.0059423 0.99946882 0.81002091] [ 0. 0. 0. 1. ]] SLAMing on 67.742557844 meters Centerline goodness : 0.134620 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.12, Z:0.81 [[ 0.99944136 0.00514853 -0.03302221 -1.15675425] [-0.00531453 0.99997367 -0.00494112 -0.11805508] [ 0.0329959 0.00511385 0.9994424 0.80937479] [ 0. 0. 0. 1. ]] SLAMing on 67.772557844 meters Centerline goodness : 0.151600 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.12, Z:0.81 [[ 0.99943895 0.00492869 -0.03312843 -1.15663147] [-0.00511224 0.99997204 -0.0054583 -0.11604742] [ 0.0331006 0.0056246 0.9994362 0.8096127 ] [ 0. 0. 0. 1. ]] SLAMing on 67.802557844 meters Centerline goodness : 0.076031 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.11, Z:0.81 [[ 0.99945001 -0.0022349 -0.03308597 -1.13935269] [ 0.0021056 0.99999001 -0.0039424 -0.10680823] [ 0.03309445 0.00387056 0.99944473 0.81173145] [ 0. 0. 0. 1. ]] SLAMing on 67.832557844 meters Centerline goodness : 0.127851 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.11, Z:0.81 [[ 0.99945357 -0.00229676 -0.03297415 -1.13975097] [ 0.00216279 0.99998926 -0.00409806 -0.10596318] [ 0.03298321 0.0040245 0.9994478 0.81184854] [ 0. 0. 0. 1. ]] SLAMing on 67.862557844 meters Centerline goodness : 0.150958 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.11, Z:0.81 [[ 0.99946004 -0.00237812 -0.03277142 -1.14067802] [ 0.00224437 0.999989 -0.00411751 -0.10609638] [ 0.03278085 0.00404173 0.99945439 0.81248767] [ 0. 0. 0. 1. ]] SLAMing on 67.892557844 meters Centerline goodness : 0.128380 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.11, Z:0.81 [[ 0.99950635 0.00364019 -0.03120591 -1.15851914] [-0.00381192 0.99997791 -0.00544555 -0.11185515] [ 0.0311854 0.00556182 0.99949814 0.80937435] [ 0. 0. 0. 1. ]] SLAMing on 67.922557844 meters Centerline goodness : 0.128377 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.11, Z:0.81 [[ 0.99951042 0.00359999 -0.03108004 -1.15875408] [-0.00376721 0.99997873 -0.00532353 -0.11240754] [ 0.03106021 0.00543801 0.99950272 0.80908293] [ 0. 0. 0. 1. ]] SLAMing on 67.952557844 meters Centerline goodness : 0.130658 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:0.81 [[ 0.99955525 0.0045065 -0.02947853 -1.11294699] [-0.00467461 0.99997319 -0.0056364 -0.10899917] [ 0.02945234 0.00577169 0.99954952 0.80844362] [ 0. 0. 0. 1. ]] SLAMing on 67.982557844 meters Centerline goodness : 0.136505 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.11, Z:0.81 [[ 0.99943938 0.00274896 -0.03336713 -1.15761776] [-0.00292674 0.99998178 -0.0052805 -0.11221536] [ 0.03335201 0.00537519 0.99942921 0.80869511] [ 0. 0. 0. 1. ]] SLAMing on 68.012557844 meters Centerline goodness : 0.134149 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.11, Z:0.81 [[ 0.99939072 -0.00559483 -0.03445132 -1.13558769] [ 0.00543179 0.99997361 -0.00482425 -0.1059212 ] [ 0.0344774 0.00463418 0.99939473 0.80904927] [ 0. 0. 0. 1. ]] SLAMing on 68.042557844 meters Centerline goodness : 0.082041 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.11, Z:0.81 [[ 9.99450624e-01 9.46321069e-04 -3.31293755e-02 -1.15334011e+00] [-1.13916280e-03 9.99982517e-01 -5.80247715e-03 -1.11543112e-01] [ 3.31233053e-02 5.83702916e-03 9.99434228e-01 8.05960398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.072557844 meters Centerline goodness : 0.077113 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:0.81 [[ 0.99952505 0.00261113 -0.03070591 -1.10993737] [-0.00279742 0.99997793 -0.00602569 -0.10941868] [ 0.03068949 0.00610872 0.9995103 0.8064353 ] [ 0. 0. 0. 1. ]] SLAMing on 68.102557844 meters Centerline goodness : 0.166562 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:0.81 [[ 0.99952817 0.0026826 -0.030598 -1.11024535] [-0.00286143 0.99997907 -0.00580218 -0.1102286 ] [ 0.0305818 0.005887 0.99951493 0.80641421] [ 0. 0. 0. 1. ]] SLAMing on 68.132557844 meters Centerline goodness : 0.058709 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:0.81 [[ 0.99951771 0.00275212 -0.03093164 -1.10941368] [-0.00291774 0.99998164 -0.00531058 -0.11296007] [ 0.03091645 0.00539827 0.99950739 0.8063265 ] [ 0. 0. 0. 1. ]] SLAMing on 68.162557844 meters Centerline goodness : 0.152670 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:0.81 [[ 0.99951687 0.00281769 -0.03095301 -1.10942879] [-0.00297099 0.99998354 -0.00490767 -0.11489021] [ 0.03093867 0.00499726 0.99950879 0.80629324] [ 0. 0. 0. 1. ]] SLAMing on 68.192557844 meters Centerline goodness : 0.068643 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.12, Z:0.81 [[ 0.99952142 0.0029361 -0.0307945 -1.10990354] [-0.00307306 0.99998559 -0.00440113 -0.11700406] [ 0.03078113 0.00449366 0.99951605 0.8062344 ] [ 0. 0. 0. 1. ]] SLAMing on 68.222557844 meters Centerline goodness : 0.154293 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.12, Z:0.81 [[ 0.99952345 0.00310113 -0.03071239 -1.11012403] [-0.00322547 0.9999868 -0.00399959 -0.11880286] [ 0.03069959 0.00409675 0.99952026 0.80623643] [ 0. 0. 0. 1. ]] SLAMing on 68.252557844 meters Centerline goodness : 0.164058 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.12, Z:0.81 [[ 0.99954902 -0.00404705 -0.02975527 -1.09038508] [ 0.00397328 0.99998889 -0.00253804 -0.11694868] [ 0.02976521 0.00241867 0.99955399 0.80801094] [ 0. 0. 0. 1. ]] SLAMing on 68.282557844 meters Centerline goodness : 0.126809 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.12, Z:0.81 [[ 0.99954293 -0.00397558 -0.02996885 -1.08991611] [ 0.0039062 0.99998955 -0.00237308 -0.11781653] [ 0.02997797 0.00225493 0.99954802 0.80816409] [ 0. 0. 0. 1. ]] SLAMing on 68.312557844 meters Centerline goodness : 0.155404 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.12, Z:0.81 [[ 0.99946759 0.00588475 -0.03209209 -1.10391746] [-0.00600562 0.99997523 -0.00367103 -0.12426052] [ 0.03206969 0.00386181 0.99947817 0.80766661] [ 0. 0. 0. 1. ]] SLAMing on 68.342557844 meters Centerline goodness : 0.132729 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.12, Z:0.81 [[ 0.99944375 0.00613962 -0.03277961 -1.1018937 ] [-0.00626513 0.99997343 -0.00372762 -0.12385593] [ 0.03275585 0.00393092 0.99945565 0.80755241] [ 0. 0. 0. 1. ]] SLAMing on 68.372557844 meters Centerline goodness : 0.131875 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.12, Z:0.81 [[ 0.99943639 0.00757398 -0.03270367 -1.06333977] [-0.0076575 0.99996773 -0.00242938 -0.12208835] [ 0.03268422 0.00267844 0.99946214 0.80895659] [ 0. 0. 0. 1. ]] SLAMing on 68.402557844 meters Centerline goodness : 0.154286 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99948777 0.00765755 -0.03107333 -1.06850787] [-0.00773875 0.99996695 -0.00249349 -0.12130298] [ 0.0310532 0.00273268 0.999514 0.81056538] [ 0. 0. 0. 1. ]] SLAMing on 68.432557844 meters Centerline goodness : 0.157732 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99949632 0.00742953 -0.03085297 -1.06985167] [-0.00752265 0.99996749 -0.00290325 -0.12014454] [ 0.0308304 0.00313388 0.99951972 0.81186657] [ 0. 0. 0. 1. ]] SLAMing on 68.462557844 meters Centerline goodness : 0.154915 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99949152 0.00739063 -0.03101741 -1.06965119] [-0.00748957 0.99996723 -0.00307486 -0.11976719] [ 0.03099366 0.0033056 0.99951411 0.81232022] [ 0. 0. 0. 1. ]] SLAMing on 68.492557844 meters Centerline goodness : 0.154258 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99947842 0.00754096 -0.03140083 -1.06823372] [-0.00763917 0.99996629 -0.00300906 -0.11979263] [ 0.03137708 0.00324737 0.99950234 0.81175274] [ 0. 0. 0. 1. ]] SLAMing on 68.522557844 meters Centerline goodness : 0.129713 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99946433 0.00786611 -0.03176757 -1.06666168] [-0.00794973 0.99996526 -0.00250673 -0.12141444] [ 0.03174675 0.00275793 0.99949214 0.81074927] [ 0. 0. 0. 1. ]] SLAMing on 68.552557844 meters Centerline goodness : 0.159420 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99947463 0.00779044 -0.03146081 -1.06776543] [-0.00786941 0.99996619 -0.0023873 -0.12213338] [ 0.03144114 0.00263362 0.99950214 0.81115015] [ 0. 0. 0. 1. ]] SLAMing on 68.582557844 meters Centerline goodness : 0.128766 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.12, Z:0.81 [[ 9.99577445e-01 -2.03442613e-04 -2.90669786e-02 -1.04943052e+00] [ 1.70791116e-04 9.99999352e-01 -1.12579756e-03 -1.17090752e-01] [ 2.90671888e-02 1.12035747e-03 9.99576832e-01 8.11883907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.612557844 meters Centerline goodness : 0.153598 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99960945 0.00440652 -0.02759586 -1.0737924 ] [-0.00451759 0.99998194 -0.00396402 -0.12196711] [ 0.02757789 0.00408714 0.9996113 0.81165322] [ 0. 0. 0. 1. ]] SLAMing on 68.642557844 meters Centerline goodness : 0.064343 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99960725 0.00454245 -0.02765331 -1.07389607] [-0.00463879 0.99998339 -0.00342065 -0.12464364] [ 0.02763731 0.00354758 0.99961172 0.81207034] [ 0. 0. 0. 1. ]] SLAMing on 68.672557844 meters Centerline goodness : 0.153603 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.13, Z:0.81 [[ 0.99960782 0.00462654 -0.02761902 -1.07386418] [-0.00471765 0.99998364 -0.00323451 -0.12547894] [ 0.0276036 0.00336354 0.99961329 0.81187243] [ 0. 0. 0. 1. ]] SLAMing on 68.702557844 meters Centerline goodness : 0.149646 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.13, Z:0.81 [[ 0.9996106 0.00464238 -0.02751537 -1.07418143] [-0.00473017 0.99998393 -0.00312621 -0.12601176] [ 0.02750041 0.00325514 0.99961649 0.81199004] [ 0. 0. 0. 1. ]] SLAMing on 68.732557844 meters Centerline goodness : 0.075988 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.12, Z:0.81 [[ 0.99961885 0.00499206 -0.02715208 -1.03634477] [-0.00507758 0.99998236 -0.00308151 -0.12480358] [ 0.02713622 0.00321821 0.99962656 0.81380729] [ 0. 0. 0. 1. ]] SLAMing on 68.762557844 meters Centerline goodness : 0.132231 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.13, Z:0.81 [[ 0.99952215 0.00334462 -0.03072922 -1.08073798] [-0.00343508 0.99998992 -0.00289154 -0.12772605] [ 0.03071924 0.00299571 0.99952356 0.81422232] [ 0. 0. 0. 1. ]] SLAMing on 68.792557844 meters Centerline goodness : 0.152438 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.13, Z:0.81 [[ 0.99949554 0.00360937 -0.03155365 -1.07805351] [-0.0037049 0.99998873 -0.00296957 -0.12709224] [ 0.03154257 0.00308498 0.99949765 0.8135276 ] [ 0. 0. 0. 1. ]] SLAMing on 68.822557844 meters Centerline goodness : 0.134862 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99940539 0.00566922 -0.03401063 -1.06909965] [-0.00573522 0.99998185 -0.00184338 -0.12480334] [ 0.03399957 0.00203734 0.99941977 0.81101537] [ 0. 0. 0. 1. ]] SLAMing on 68.852557844 meters Centerline goodness : 0.130105 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99937797 0.00587993 -0.03477202 -1.06665689] [-0.00595508 0.99998015 -0.00205797 -0.12358651] [ 0.03475923 0.00226376 0.99939315 0.81056638] [ 0. 0. 0. 1. ]] SLAMing on 68.882557844 meters Centerline goodness : 0.089594 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99938944 0.00610096 -0.03440235 -1.06770985] [-0.00618922 0.99997782 -0.00245963 -0.12067167] [ 0.03438658 0.00267105 0.99940504 0.81090756] [ 0. 0. 0. 1. ]] SLAMing on 68.912557844 meters Centerline goodness : 0.126068 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99939482 0.00595211 -0.03427191 -1.06802254] [-0.00605584 0.99997739 -0.00292339 -0.11841354] [ 0.03425374 0.00312916 0.99940827 0.81090728] [ 0. 0. 0. 1. ]] SLAMing on 68.942557844 meters Centerline goodness : 0.095512 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99939961 0.00580056 -0.03415796 -1.06810122] [-0.00591998 0.99997671 -0.00339613 -0.1159806 ] [ 0.03413747 0.00359631 0.99941068 0.810549 ] [ 0. 0. 0. 1. ]] SLAMing on 68.972557844 meters Centerline goodness : 0.150801 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.11, Z:0.81 [[ 0.99939707 0.00557639 -0.03426938 -1.06758365] [-0.00571758 0.99997556 -0.00402346 -0.11325257] [ 0.03424611 0.00421697 0.99940453 0.81025465] [ 0. 0. 0. 1. ]] SLAMing on 69.002557844 meters Centerline goodness : 0.090779 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.11, Z:0.81 [[ 0.99939709 0.00532859 -0.03430836 -1.06733507] [-0.00548947 0.99997437 -0.00459682 -0.11073044] [ 0.03428299 0.00478238 0.99940072 0.80995658] [ 0. 0. 0. 1. ]] SLAMing on 69.032557844 meters Centerline goodness : 0.127893 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.11, Z:0.81 [[ 0.99939746 0.0050626 -0.03433797 -1.06735899] [-0.00524231 0.99997302 -0.00514546 -0.10844577] [ 0.03431099 0.00532237 0.99939703 0.81004866] [ 0. 0. 0. 1. ]] SLAMing on 69.062557844 meters Centerline goodness : 0.150718 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.81 [[ 0.99937231 -0.001445 -0.03539632 -1.04877545] [ 0.00128664 0.99998906 -0.00449622 -0.09749778] [ 0.03540243 0.00444786 0.99936324 0.81267529] [ 0. 0. 0. 1. ]] SLAMing on 69.092557844 meters Centerline goodness : 0.258881 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.10, Z:0.81 [[ 0.99924075 -0.00278355 -0.03886105 -1.09361307] [ 0.00264257 0.99998974 -0.00367885 -0.09932874] [ 0.03887089 0.00357336 0.99923785 0.81312552] [ 0. 0. 0. 1. ]] SLAMing on 69.122557844 meters Centerline goodness : 0.135521 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.10, Z:0.81 [[ 0.99923534 -0.00297445 -0.03898578 -1.09330885] [ 0.00281691 0.99998765 -0.00409525 -0.09723624] [ 0.03899748 0.0039823 0.99923137 0.81310378] [ 0. 0. 0. 1. ]] SLAMing on 69.152557844 meters Centerline goodness : 0.153233 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.10, Z:0.81 [[ 0.99922965 -0.00318326 -0.0391149 -1.09304965] [ 0.00300974 0.99998537 -0.00449445 -0.09532868] [ 0.03912863 0.00437326 0.99922461 0.81319765] [ 0. 0. 0. 1. ]] SLAMing on 69.182557844 meters Centerline goodness : 0.162376 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.09, Z:0.82 [[ 0.99911786 -0.0053327 -0.0416541 -1.14097258] [ 0.00514352 0.99997597 -0.00464755 -0.09465382] [ 0.04167789 0.0044292 0.99912128 0.81504306] [ 0. 0. 0. 1. ]] SLAMing on 69.212557844 meters Centerline goodness : 0.160189 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.10, Z:0.82 [[ 0.99923898 0.00309328 -0.03888294 -1.12341518] [-0.00334079 0.99997456 -0.00630206 -0.09519705] [ 0.03886246 0.00642717 0.9992239 0.81657932] [ 0. 0. 0. 1. ]] SLAMing on 69.242557844 meters Centerline goodness : 0.140580 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.09, Z:0.82 [[ 0.9992511 0.00301281 -0.0385767 -1.12462622] [-0.00326487 0.99997372 -0.00647253 -0.094198 ] [ 0.03855619 0.00659363 0.99923468 0.81722831] [ 0. 0. 0. 1. ]] SLAMing on 69.272557844 meters Centerline goodness : 0.143737 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99926548 0.00285281 -0.0382147 -1.12591341] [-0.00310607 0.9999736 -0.00656952 -0.09386772] [ 0.03819495 0.00668339 0.99924796 0.817594 ] [ 0. 0. 0. 1. ]] SLAMing on 69.302557844 meters Centerline goodness : 0.146847 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99926483 0.0027483 -0.03823928 -1.12579102] [-0.00300665 0.99997303 -0.00670025 -0.09350107] [ 0.03821984 0.00681029 0.99924615 0.81749178] [ 0. 0. 0. 1. ]] SLAMing on 69.33255784400001 meters Centerline goodness : 0.142774 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99927177 0.00236719 -0.03808309 -1.12615833] [-0.00263169 0.99997275 -0.00689674 -0.093325 ] [ 0.03806573 0.00699194 0.99925078 0.81712447] [ 0. 0. 0. 1. ]] SLAMing on 69.362557844 meters Centerline goodness : 0.142774 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99927177 0.00236719 -0.03808309 -1.12615833] [-0.00263169 0.99997275 -0.00689674 -0.093325 ] [ 0.03806573 0.00699194 0.99925078 0.81712447] [ 0. 0. 0. 1. ]] SLAMing on 69.392557844 meters Centerline goodness : 0.140605 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99927325 0.00235628 -0.03804501 -1.12654821] [-0.00261826 0.99997319 -0.00683781 -0.09366459] [ 0.03802788 0.00693245 0.99925263 0.81759291] [ 0. 0. 0. 1. ]] SLAMing on 69.422557844 meters Centerline goodness : 0.151863 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99927468 0.00240571 -0.03800424 -1.12708092] [-0.0026628 0.9999739 -0.00671557 -0.09413403] [ 0.03798709 0.00681189 0.99925501 0.81827788] [ 0. 0. 0. 1. ]] SLAMing on 69.452557844 meters Centerline goodness : 0.130342 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99928022 0.0024137 -0.03785793 -1.12782776] [-0.00266635 0.9999745 -0.00662445 -0.09455789] [ 0.03784098 0.00672062 0.99926117 0.81877536] [ 0. 0. 0. 1. ]] SLAMing on 69.482557844 meters Centerline goodness : 0.153957 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.82 [[ 0.99934898 0.00341811 -0.03591552 -1.08406573] [-0.00368087 0.99996693 -0.00725255 -0.09094876] [ 0.03588954 0.00738003 0.99932851 0.81962167] [ 0. 0. 0. 1. ]] SLAMing on 69.512557844 meters Centerline goodness : 0.173730 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.09, Z:0.82 [[ 0.99934195 0.00307386 -0.03614159 -1.12337698] [-0.00337751 0.99995949 -0.00834349 -0.09083612] [ 0.03611448 0.00846007 0.99931185 0.81804134] [ 0. 0. 0. 1. ]] SLAMing on 69.542557844 meters Centerline goodness : 0.136493 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.82 [[ 0.99932664 0.00428074 -0.03644102 -1.0837668 ] [-0.00458051 0.99995632 -0.00814683 -0.08820937] [ 0.03640455 0.00830826 0.9993026 0.82040759] [ 0. 0. 0. 1. ]] SLAMing on 69.572557844 meters Centerline goodness : 0.143030 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.82 [[ 0.99932369 0.00424934 -0.0365255 -1.08347314] [-0.00456007 0.99995408 -0.00842835 -0.08683951] [ 0.03648801 0.00858921 0.99929718 0.82042833] [ 0. 0. 0. 1. ]] SLAMing on 69.602557844 meters Centerline goodness : 0.131483 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.82 [[ 0.99932021 0.00482116 -0.03654968 -1.08289139] [-0.00513186 0.99995145 -0.00841192 -0.08521572] [ 0.03650735 0.00859377 0.99929643 0.81996409] [ 0. 0. 0. 1. ]] SLAMing on 69.632557844 meters Centerline goodness : 0.145280 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99929743 0.00490135 -0.03715664 -1.08096392] [-0.00522958 0.99994812 -0.0087415 -0.08344985] [ 0.03711187 0.00892967 0.99927122 0.81961073] [ 0. 0. 0. 1. ]] SLAMing on 69.662557844 meters Centerline goodness : 0.144575 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99927258 0.00495335 -0.03781249 -1.07877671] [-0.00530283 0.9999441 -0.00914795 -0.08137169] [ 0.03776506 0.00934181 0.99924298 0.81906698] [ 0. 0. 0. 1. ]] SLAMing on 69.692557844 meters Centerline goodness : 0.143857 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99926089 0.00498277 -0.03811617 -1.07756716] [-0.00535489 0.99993894 -0.00966687 -0.07823964] [ 0.03806568 0.00986384 0.99922656 0.81829129] [ 0. 0. 0. 1. ]] SLAMing on 69.722557844 meters Centerline goodness : 0.130162 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99926397 0.00493976 -0.03804101 -1.07760403] [-0.00531882 0.99993715 -0.00986978 -0.07700207] [ 0.03798986 0.01006485 0.99922744 0.81802252] [ 0. 0. 0. 1. ]] SLAMing on 69.752557844 meters Centerline goodness : 0.139754 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99927957 0.0049759 -0.03762418 -1.07900056] [-0.00535359 0.99993622 -0.00994432 -0.07614423] [ 0.0375723 0.01013858 0.99924248 0.81849047] [ 0. 0. 0. 1. ]] SLAMing on 69.782557844 meters Centerline goodness : 0.159899 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99928335 0.00499342 -0.03752147 -1.07943994] [-0.00536839 0.99993659 -0.00989932 -0.07633859] [ 0.03746966 0.01009366 0.99924679 0.81874523] [ 0. 0. 0. 1. ]] SLAMing on 69.812557844 meters Centerline goodness : 0.144214 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99927573 0.00178512 -0.03801102 -1.07746758] [-0.00228903 0.99991003 -0.01321745 -0.07645098] [ 0.037984 0.01329489 0.9991899 0.81774565] [ 0. 0. 0. 1. ]] SLAMing on 69.842557844 meters Centerline goodness : 0.142780 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99926576 0.00177101 -0.03827287 -1.07677309] [-0.00227593 0.9999109 -0.01315322 -0.07687344] [ 0.03824617 0.01323067 0.99918075 0.8177248 ] [ 0. 0. 0. 1. ]] SLAMing on 69.872557844 meters Centerline goodness : 0.142257 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99926545 0.00183624 -0.03827774 -1.07704781] [-0.0023349 0.99991294 -0.01298674 -0.07753772] [ 0.03825056 0.01306658 0.99918275 0.81817328] [ 0. 0. 0. 1. ]] SLAMing on 69.902557844 meters Centerline goodness : 0.145600 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99926382 0.00184225 -0.03832005 -1.07726607] [-0.00233718 0.99991438 -0.01287507 -0.07816822] [ 0.03829305 0.01295515 0.99918257 0.81874388] [ 0. 0. 0. 1. ]] SLAMing on 69.932557844 meters Centerline goodness : 0.145909 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99925779 0.00172429 -0.03848233 -1.07657502] [-0.00222983 0.99991173 -0.01309797 -0.07732015] [ 0.03845635 0.01317406 0.99917343 0.818338 ] [ 0. 0. 0. 1. ]] SLAMing on 69.962557844 meters Centerline goodness : 0.143160 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.07, Z:0.82 [[ 0.99924657 0.00155257 -0.03878001 -1.07522599] [-0.00208564 0.99990385 -0.01370919 -0.07417436] [ 0.038755 0.01377974 0.99915373 0.81735599] [ 0. 0. 0. 1. ]] SLAMing on 69.992557844 meters Centerline goodness : 0.135216 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.07, Z:0.82 [[ 0.99924795 0.00143241 -0.03874903 -1.07518939] [-0.00198006 0.99989865 -0.01409842 -0.0720568 ] [ 0.0387249 0.01416455 0.99914951 0.81717263] [ 0. 0. 0. 1. ]] SLAMing on 70.022557844 meters Centerline goodness : 0.129355 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.07, Z:0.82 [[ 0.99925687 -0.00346693 -0.03838866 -1.05211843] [ 0.00304148 0.99993337 -0.0111356 -0.06726539] [ 0.03842471 0.01101056 0.99920084 0.81780475] [ 0. 0. 0. 1. ]] SLAMing on 70.052557844 meters Centerline goodness : 0.130864 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.07, Z:0.82 [[ 0.99925867 -0.00362444 -0.03832715 -1.05260956] [ 0.00318404 0.99992828 -0.01154523 -0.06515644] [ 0.03836624 0.01141464 0.99919855 0.81829151] [ 0. 0. 0. 1. ]] SLAMing on 70.08255784400001 meters Centerline goodness : 0.143849 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.07, Z:0.82 [[ 0.99925884 -0.00364338 -0.03832105 -1.0526383 ] [ 0.00320317 0.99992825 -0.01154243 -0.06521938] [ 0.03836035 0.01141113 0.99919881 0.81828621] [ 0. 0. 0. 1. ]] SLAMing on 70.112557844 meters Centerline goodness : 0.161090 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.07, Z:0.82 [[ 0.99927234 -0.00373811 -0.03795808 -1.05388429] [ 0.00330933 0.99993008 -0.01135287 -0.06628817] [ 0.03799787 0.011219 0.99921484 0.81875817] [ 0. 0. 0. 1. ]] SLAMing on 70.142557844 meters Centerline goodness : 0.150952 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.07, Z:0.82 [[ 0.99927672 -0.00375419 -0.03784103 -1.05451107] [ 0.00333248 0.99993171 -0.01120115 -0.06723458] [ 0.03788049 0.01106695 0.99922099 0.8193034 ] [ 0. 0. 0. 1. ]] SLAMing on 70.172557844 meters Centerline goodness : 0.148413 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.07, Z:0.82 [[ 0.99927809 -0.0037492 -0.03780545 -1.05492287] [ 0.00333613 0.99993411 -0.01098344 -0.06852404] [ 0.03784414 0.01084939 0.99922476 0.8198038 ] [ 0. 0. 0. 1. ]] SLAMing on 70.202557844 meters Centerline goodness : 0.125293 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.82 [[ 0.99927941 -0.00385144 -0.03776017 -1.05545199] [ 0.00344258 0.99993481 -0.01088697 -0.06922439] [ 0.03779964 0.01074913 0.99922752 0.82047966] [ 0. 0. 0. 1. ]] SLAMing on 70.232557844 meters Centerline goodness : 0.113938 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.07, Z:0.82 [[ 0.9991593 -0.00494375 -0.04069711 -1.10097162] [ 0.00453513 0.99993844 -0.01012668 -0.07224639] [ 0.04074467 0.0099336 0.99912021 0.82049701] [ 0. 0. 0. 1. ]] SLAMing on 70.262557844 meters Centerline goodness : 0.134655 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.07, Z:0.82 [[ 0.99915877 -0.00496833 -0.04070716 -1.10086904] [ 0.00455555 0.99993733 -0.01022667 -0.07148757] [ 0.04075542 0.01003262 0.99911878 0.820398 ] [ 0. 0. 0. 1. ]] SLAMing on 70.292557844 meters Centerline goodness : 0.130902 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.07, Z:0.82 [[ 0.99916619 -0.00507306 -0.04051165 -1.10134633] [ 0.00465124 0.99993406 -0.01049971 -0.07011845] [ 0.04056225 0.01030252 0.9991239 0.82035299] [ 0. 0. 0. 1. ]] SLAMing on 70.322557844 meters Centerline goodness : 0.132636 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.07, Z:0.82 [[ 0.99916601 -0.00511042 -0.04051132 -1.10161882] [ 0.00468709 0.99993349 -0.01053797 -0.07017199] [ 0.04056248 0.0103393 0.99912351 0.82072819] [ 0. 0. 0. 1. ]] SLAMing on 70.352557844 meters Centerline goodness : 0.136645 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.07, Z:0.82 [[ 0.9991625 -0.00511824 -0.04059681 -1.1015756 ] [ 0.00469609 0.99993398 -0.01048708 -0.07071454] [ 0.0406478 0.01028765 0.99912057 0.8209995 ] [ 0. 0. 0. 1. ]] SLAMing on 70.382557844 meters Centerline goodness : 0.144964 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.07, Z:0.82 [[ 0.99915197 -0.0051178 -0.04085517 -1.10105123] [ 0.00470357 0.99993662 -0.01022882 -0.07230562] [ 0.04090493 0.01002798 0.99911272 0.8211744 ] [ 0. 0. 0. 1. ]] SLAMing on 70.412557844 meters Centerline goodness : 0.082620 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.08, Z:0.82 [[ 9.99184365e-01 -1.51310773e-03 -4.03523857e-02 -1.16124618e+00] [ 1.07744062e-03 9.99940924e-01 -1.08161269e-02 -8.09473782e-02] [ 4.03663678e-02 1.07638275e-02 9.99126967e-01 8.17678740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.442557844 meters Centerline goodness : 0.157237 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.08, Z:0.82 [[ 9.99257936e-01 -8.38185535e-04 -3.85081112e-02 -1.11578339e+00] [ 4.11323786e-04 9.99938402e-01 -1.10915683e-02 -8.13459158e-02] [ 3.85150360e-02 1.10674984e-02 9.99196729e-01 8.17852184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.472557844 meters Centerline goodness : 0.155104 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99922327 0.00687717 -0.03880147 -1.13358841] [-0.0073622 0.99989637 -0.01237146 -0.09113773] [ 0.03871237 0.01264751 0.99917035 0.81596795] [ 0. 0. 0. 1. ]] SLAMing on 70.502557844 meters Centerline goodness : 0.134940 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 9.99205677e-01 -1.62928557e-04 -3.98495633e-02 -1.11331142e+00] [-2.90101916e-04 9.99935403e-01 -1.13624712e-02 -8.73800567e-02] [ 3.98488405e-02 1.13650061e-02 9.99141084e-01 8.17826115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.532557844 meters Centerline goodness : 0.130183 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 9.99151099e-01 4.85074470e-04 -4.11927820e-02 -1.10881708e+00] [-9.31773149e-04 9.99940967e-01 -1.08255939e-02 -8.90028918e-02] [ 4.11850991e-02 1.08547864e-02 9.99092569e-01 8.16545296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.562557844 meters Centerline goodness : 0.138140 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 9.99139282e-01 5.26993610e-04 -4.14779084e-02 -1.10809296e+00] [-9.78596284e-04 9.99940460e-01 -1.08682374e-02 -8.90128713e-02] [ 4.14697113e-02 1.08994731e-02 9.99080309e-01 8.16687632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.592557844 meters Centerline goodness : 0.134027 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 9.99148694e-01 7.13082202e-04 -4.12477687e-02 -1.10933992e+00] [-1.14995845e-03 9.99943488e-01 -1.05687555e-02 -9.03774050e-02] [ 4.12379013e-02 1.06071915e-02 9.99093050e-01 8.17625021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.622557844 meters Centerline goodness : 0.148398 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 9.99147067e-01 8.07449996e-04 -4.12854385e-02 -1.10945476e+00] [-1.24036541e-03 9.99944509e-01 -1.04613705e-02 -9.09145032e-02] [ 4.12747005e-02 1.05036567e-02 9.99092624e-01 8.18046500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.652557844 meters Centerline goodness : 0.221295 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 9.99146383e-01 9.10441559e-04 -4.12998456e-02 -1.10941272e+00] [-1.33798659e-03 9.99945793e-01 -1.03257591e-02 -9.13480884e-02] [ 4.12882058e-02 1.03722035e-02 9.99093440e-01 8.18102018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.682557844 meters Centerline goodness : 0.151879 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 0.99915188 0.0011674 -0.04116019 -1.1097359 ] [-0.001573 0.99995051 -0.00982339 -0.0936412 ] [ 0.04114669 0.0098798 0.99910427 0.81807211] [ 0. 0. 0. 1. ]] SLAMing on 70.712557844 meters Centerline goodness : 0.229391 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 0.99915327 0.00127376 -0.04112315 -1.10989481] [-0.00166897 0.99995274 -0.00957743 -0.09494958] [ 0.04110901 0.00963795 0.99910818 0.81815166] [ 0. 0. 0. 1. ]] SLAMing on 70.742557844 meters Centerline goodness : 0.172019 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99915269 0.00133665 -0.04113537 -1.10997519] [-0.00172641 0.99995394 -0.00944086 -0.09571124] [ 0.04112086 0.00950388 0.99910898 0.81833054] [ 0. 0. 0. 1. ]] SLAMing on 70.772557844 meters Centerline goodness : 0.129990 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99916337 0.00152414 -0.04086848 -1.11080486] [-0.00190837 0.99995433 -0.00936444 -0.09547161] [ 0.04085234 0.0094346 0.99912065 0.81851685] [ 0. 0. 0. 1. ]] SLAMing on 70.802557844 meters Centerline goodness : 0.134211 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99916484 0.00153316 -0.04083222 -1.11078712] [-0.00191903 0.99995386 -0.00941276 -0.09511091] [ 0.0408159 0.00948325 0.99912168 0.81834704] [ 0. 0. 0. 1. ]] SLAMing on 70.83255784400001 meters Centerline goodness : 0.138672 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99917322 0.00164399 -0.04062241 -1.11164618] [-0.00202232 0.99995495 -0.00927397 -0.09577346] [ 0.04060533 0.00934846 0.99913153 0.81881198] [ 0. 0. 0. 1. ]] SLAMing on 70.862557844 meters Centerline goodness : 0.134143 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99918072 0.00176339 -0.04043233 -1.11250562] [-0.0021308 0.99995682 -0.0090458 -0.09681742] [ 0.04041463 0.00912455 0.99914133 0.81936057] [ 0. 0. 0. 1. ]] SLAMing on 70.892557844 meters Centerline goodness : 0.125469 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99919121 0.00194315 -0.04016411 -1.11359797] [-0.00229487 0.99995941 -0.00871276 -0.09820539] [ 0.04014555 0.00879788 0.99915511 0.81996883] [ 0. 0. 0. 1. ]] SLAMing on 70.922557844 meters Centerline goodness : 0.135437 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99919124 0.00199295 -0.0401608 -1.11352418] [-0.00234095 0.99996011 -0.00861992 -0.09859659] [ 0.04014202 0.00870696 0.99915605 0.81980515] [ 0. 0. 0. 1. ]] SLAMing on 70.952557844 meters Centerline goodness : 0.152577 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99918841 0.00203006 -0.04022946 -1.1132265 ] [-0.00237538 0.99996073 -0.00853796 -0.09890271] [ 0.04021055 0.00862659 0.99915399 0.81959963] [ 0. 0. 0. 1. ]] SLAMing on 70.982557844 meters Centerline goodness : 0.130511 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99917977 0.00200208 -0.0404447 -1.11205347] [-0.0023507 0.99996048 -0.0085739 -0.09884844] [ 0.04042593 0.00866195 0.99914499 0.81863514] [ 0. 0. 0. 1. ]] SLAMing on 71.012557844 meters Centerline goodness : 0.222330 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.9991815 0.00199887 -0.04040208 -1.11224356] [-0.00234777 0.99996035 -0.00859024 -0.09878111] [ 0.04038331 0.00867807 0.99914658 0.81875163] [ 0. 0. 0. 1. ]] SLAMing on 71.042557844 meters Centerline goodness : 0.123111 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99918513 0.00199264 -0.04031254 -1.11273671] [-0.00234107 0.9999603 -0.00859804 -0.09872982] [ 0.04029381 0.00868541 0.99915013 0.81912878] [ 0. 0. 0. 1. ]] SLAMing on 71.072557844 meters Centerline goodness : 0.124422 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.10, Z:0.82 [[ 0.99910169 -0.00608876 -0.04193736 -1.1345097 ] [ 0.00582728 0.99996283 -0.00635427 -0.09709795] [ 0.04197449 0.00610418 0.99910004 0.81919569] [ 0. 0. 0. 1. ]] SLAMing on 71.102557844 meters Centerline goodness : 0.154321 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:0.82 [[ 0.99911137 -0.00607155 -0.04170866 -1.13500063] [ 0.00581443 0.99996336 -0.00628311 -0.09717236] [ 0.04174528 0.00603502 0.99911006 0.81899924] [ 0. 0. 0. 1. ]] SLAMing on 71.132557844 meters Centerline goodness : 0.071304 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:0.82 [[ 0.99911741 -0.00605338 -0.04156635 -1.13553103] [ 0.00579911 0.99996375 -0.00623524 -0.09733374] [ 0.04160258 0.00598869 0.99911629 0.819272 ] [ 0. 0. 0. 1. ]] SLAMing on 71.162557844 meters Centerline goodness : 0.150602 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.10, Z:0.82 [[ 0.99922947 0.00233393 -0.03917923 -1.11645605] [-0.0026425 0.99996589 -0.00782592 -0.09889955] [ 0.03915963 0.00792342 0.99920155 0.82045136] [ 0. 0. 0. 1. ]] SLAMing on 71.192557844 meters Centerline goodness : 0.131901 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.10, Z:0.82 [[ 0.99923216 0.0021391 -0.03912184 -1.11650887] [-0.00246486 0.99996268 -0.0082805 -0.09687562] [ 0.03910266 0.00837057 0.99920014 0.82029744] [ 0. 0. 0. 1. ]] SLAMing on 71.222557844 meters Centerline goodness : 0.131901 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.10, Z:0.82 [[ 0.99923216 0.0021391 -0.03912184 -1.11650887] [-0.00246486 0.99996268 -0.0082805 -0.09687562] [ 0.03910266 0.00837057 0.99920014 0.82029744] [ 0. 0. 0. 1. ]] SLAMing on 71.252557844 meters SLAMing on 71.282557844 meters Centerline goodness : 0.222762 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.9992112 0.00204955 -0.03965824 -1.11460687] [-0.00239529 0.99995952 -0.00867251 -0.09526406] [ 0.03963886 0.00876066 0.99917567 0.81957737] [ 0. 0. 0. 1. ]] SLAMing on 71.312557844 meters Centerline goodness : 0.153801 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99920988 0.00209778 -0.03968901 -1.11450835] [-0.00243982 0.99996029 -0.00857147 -0.09565614] [ 0.03966946 0.00866153 0.99917532 0.81948213] [ 0. 0. 0. 1. ]] SLAMing on 71.342557844 meters Centerline goodness : 0.154659 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99920539 0.0022487 -0.0397935 -1.11400313] [-0.00258199 0.999962 -0.00832608 -0.09640154] [ 0.03977327 0.00842221 0.99917324 0.81908588] [ 0. 0. 0. 1. ]] SLAMing on 71.372557844 meters Centerline goodness : 0.152151 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:0.82 [[ 0.99919291 -0.00484716 -0.03987514 -1.09433101] [ 0.00456737 0.99996433 -0.00710473 -0.0918582 ] [ 0.03990815 0.00691687 0.99917941 0.82115568] [ 0. 0. 0. 1. ]] SLAMing on 71.402557844 meters Centerline goodness : 0.134821 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:0.82 [[ 0.9991971 -0.00474222 -0.03978276 -1.09485197] [ 0.00447782 0.99996731 -0.00673253 -0.09398152] [ 0.03981339 0.00654898 0.99918567 0.82163946] [ 0. 0. 0. 1. ]] SLAMing on 71.432557844 meters Centerline goodness : 0.132821 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:0.82 [[ 0.99919572 -0.00468512 -0.03982405 -1.09492775] [ 0.00442717 0.99996866 -0.00656291 -0.09486572] [ 0.03985355 0.00638133 0.99918515 0.82193546] [ 0. 0. 0. 1. ]] SLAMing on 71.462557844 meters Centerline goodness : 0.150067 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:0.82 [[ 0.99917587 -0.00468655 -0.04031894 -1.09297208] [ 0.00442154 0.99996805 -0.00665955 -0.09417123] [ 0.04034886 0.00647579 0.99916467 0.82088404] [ 0. 0. 0. 1. ]] SLAMing on 71.492557844 meters Centerline goodness : 0.075621 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99917454 0.002865 -0.04052206 -1.11223683] [-0.00317725 0.99996574 -0.00764344 -0.09858196] [ 0.04049878 0.00776587 0.99914941 0.81823174] [ 0. 0. 0. 1. ]] SLAMing on 71.522557844 meters Centerline goodness : 0.125067 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99917857 0.00283082 -0.04042488 -1.1125057 ] [-0.00314682 0.99996498 -0.00775531 -0.09797688] [ 0.04040151 0.00787615 0.99915248 0.818272 ] [ 0. 0. 0. 1. ]] SLAMing on 71.552557844 meters Centerline goodness : 0.151327 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99918935 0.00288615 -0.04015352 -1.11394755] [-0.00319793 0.99996522 -0.00770282 -0.0979742 ] [ 0.04012989 0.00782498 0.99916383 0.81936377] [ 0. 0. 0. 1. ]] SLAMing on 71.58255784400001 meters Centerline goodness : 0.157230 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.10, Z:0.82 [[ 0.99908943 0.00173733 -0.04262973 -1.16003843] [-0.00202394 0.99997563 -0.00668105 -0.1025499 ] [ 0.04261709 0.00676124 0.9990686 0.81979483] [ 0. 0. 0. 1. ]] SLAMing on 71.612557844 meters Centerline goodness : 0.131130 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.11, Z:0.82 [[ 9.99112447e-01 1.01019111e-03 -4.21105346e-02 -1.12338389e+00] [-1.23441908e-03 9.99985198e-01 -5.29908533e-03 -1.05259416e-01] [ 4.21045582e-02 5.34636416e-03 9.99098905e-01 8.21213908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642557844 meters Centerline goodness : 0.159049 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.12, Z:0.82 [[ 0.9990793 0.00829305 -0.04209238 -1.14107676] [-0.00860183 0.99993737 -0.0071599 -0.1151728 ] [ 0.04203037 0.00751538 0.99908807 0.81915907] [ 0. 0. 0. 1. ]] SLAMing on 71.672557844 meters Centerline goodness : 0.175915 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.12, Z:0.82 [[ 0.99911685 0.00786684 -0.04127507 -1.09899271] [-0.00818449 0.99993813 -0.00753268 -0.11517085] [ 0.04121326 0.00786384 0.99911943 0.81999346] [ 0. 0. 0. 1. ]] SLAMing on 71.702557844 meters Centerline goodness : 0.079465 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.11, Z:0.82 [[ 0.99911745 0.00785393 -0.04126312 -1.0990119 ] [-0.00816883 0.99993875 -0.00746831 -0.1149934 ] [ 0.04120194 0.00779879 0.9991204 0.81984352] [ 0. 0. 0. 1. ]] SLAMing on 71.732557844 meters Centerline goodness : 0.142444 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.11, Z:0.82 [[ 0.99911616 0.00780398 -0.04130381 -1.09885925] [-0.00813056 0.99993695 -0.00774469 -0.11357341] [ 0.04124077 0.00807367 0.99911662 0.81988351] [ 0. 0. 0. 1. ]] SLAMing on 71.762557844 meters Centerline goodness : 0.133995 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.11, Z:0.82 [[ 0.99909175 0.00813999 -0.0418259 -1.09716652] [-0.00848775 0.99993082 -0.00814367 -0.11096178] [ 0.04175672 0.00849128 0.99909172 0.81969126] [ 0. 0. 0. 1. ]] SLAMing on 71.792557844 meters Centerline goodness : 0.111286 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.11, Z:0.82 [[ 0.99907246 0.00812602 -0.04228701 -1.09567621] [-0.0084932 0.99992771 -0.00851077 -0.10918986] [ 0.0422148 0.00886202 0.99906925 0.81937109] [ 0. 0. 0. 1. ]] SLAMing on 71.822557844 meters Centerline goodness : 0.137921 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.11, Z:0.82 [[ 0.99905112 0.00807614 -0.04279772 -1.09415633] [-0.00846272 0.99992494 -0.00885929 -0.10736484] [ 0.04272296 0.00921307 0.99904448 0.81900645] [ 0. 0. 0. 1. ]] SLAMing on 71.852557844 meters Centerline goodness : 0.126082 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.11, Z:0.82 [[ 0.99905037 0.00803403 -0.04282295 -1.09416327] [-0.00842617 0.99992413 -0.00898473 -0.10681046] [ 0.04274752 0.00933703 0.99904228 0.81912532] [ 0. 0. 0. 1. ]] SLAMing on 71.882557844 meters Centerline goodness : 0.137424 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.10, Z:0.82 [[ 9.99126003e-01 8.37329036e-05 -4.17997982e-02 -1.07510858e+00] [-4.22853975e-04 9.99967071e-01 -8.10420790e-03 -9.92878574e-02] [ 4.17977432e-02 8.11480006e-03 9.99093138e-01 8.20368340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.912557844 meters Centerline goodness : 0.059109 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.10, Z:0.82 [[ 9.99130801e-01 5.51671801e-05 -4.16850067e-02 -1.07554753e+00] [-3.94327744e-04 9.99966889e-01 -8.12809372e-03 -9.92488299e-02] [ 4.16831781e-02 8.13746634e-03 9.99097740e-01 8.20588826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.942557844 meters Centerline goodness : 0.143981 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.10, Z:0.82 [[ 9.99133701e-01 -4.75831326e-05 -4.16154404e-02 -1.07588825e+00] [-2.92830387e-04 9.99966551e-01 -8.17384716e-03 -9.92059903e-02] [ 4.16144374e-02 8.17895244e-03 9.99100267e-01 8.20775267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.972557844 meters Centerline goodness : 0.155666 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.10, Z:0.82 [[ 9.99131070e-01 -3.15955396e-05 -4.16785702e-02 -1.07573513e+00] [-3.06254504e-04 9.99967150e-01 -8.09967546e-03 -9.95188339e-02] [ 4.16774570e-02 8.10540167e-03 9.99098239e-01 8.20744519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002557844 meters Centerline goodness : 0.154753 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.82 [[ 0.99909711 -0.00762661 -0.04179484 -1.05489872] [ 0.00733675 0.99994799 -0.00708442 -0.09480548] [ 0.0418467 0.00677138 0.9991011 0.8229356 ] [ 0. 0. 0. 1. ]] SLAMing on 72.032557844 meters Centerline goodness : 0.076536 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.82 [[ 0.99909078 -0.00761186 -0.0419485 -1.05446734] [ 0.00732375 0.99994856 -0.00701759 -0.0951563 ] [ 0.04199976 0.00670399 0.99909513 0.82287433] [ 0. 0. 0. 1. ]] SLAMing on 72.062557844 meters Centerline goodness : 0.060174 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.82 [[ 0.99908668 -0.00763822 -0.04204117 -1.05428535] [ 0.00734724 0.99994801 -0.00707138 -0.09483918] [ 0.042093 0.00675604 0.99909085 0.82296131] [ 0. 0. 0. 1. ]] SLAMing on 72.092557844 meters Centerline goodness : 0.065920 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.82 [[ 0.99909821 -0.00779715 -0.04173703 -1.05546071] [ 0.00749143 0.99994399 -0.00747622 -0.09288456] [ 0.04179299 0.0071568 0.99910066 0.82357312] [ 0. 0. 0. 1. ]] SLAMing on 72.122557844 meters SLAMing on 72.152557844 meters Centerline goodness : 0.158358 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:0.83 [[ 0.99917636 0.00125735 -0.04055874 -1.03695305] [-0.00160559 0.99996212 -0.00855454 -0.09450979] [ 0.04054645 0.00861261 0.99914053 0.82516954] [ 0. 0. 0. 1. ]] SLAMing on 72.182557844 meters Centerline goodness : 0.131921 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:0.83 [[ 0.99917627 0.00110442 -0.04056549 -1.03689949] [-0.00147082 0.99995839 -0.00900351 -0.09227715] [ 0.04055386 0.00905575 0.99913632 0.82508804] [ 0. 0. 0. 1. ]] SLAMing on 72.212557844 meters Centerline goodness : 0.135619 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:0.82 [[ 0.99917616 0.00104436 -0.0405699 -1.03665889] [-0.0014186 0.9999567 -0.00919675 -0.09120224] [ 0.04055854 0.00924673 0.99913438 0.82473821] [ 0. 0. 0. 1. ]] SLAMing on 72.242557844 meters Centerline goodness : 0.125655 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:0.82 [[ 9.99178820e-01 9.15475724e-04 -4.05073806e-02 -1.03639938e+00] [-1.30343508e-03 9.99953528e-01 -9.55212457e-03 -8.93906210e-02] [ 4.04967534e-02 9.59707930e-03 9.99133579e-01 8.24069824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.272557844 meters Centerline goodness : 0.134089 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:0.82 [[ 9.99177469e-01 8.44579237e-04 -4.05422295e-02 -1.03622533e+00] [-1.23987301e-03 9.99951932e-01 -9.72601997e-03 -8.86431392e-02] [ 4.05320663e-02 9.76828723e-03 9.99130488e-01 8.23935999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.302557844 meters Centerline goodness : 0.193441 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:0.82 [[ 9.99174475e-01 7.20286113e-04 -4.06183343e-02 -1.03597401e+00] [-1.12758657e-03 9.99949308e-01 -1.00054845e-02 -8.74482809e-02] [ 4.06090685e-02 1.00430254e-02 9.99124637e-01 8.23875110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33255784400001 meters Centerline goodness : 0.132976 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.08, Z:0.82 [[ 9.99174667e-01 6.69448852e-04 -4.06144803e-02 -1.03570464e+00] [-1.10048378e-03 9.99943304e-01 -1.05914101e-02 -8.40625770e-02] [ 4.06050873e-02 1.06273642e-02 9.99118755e-01 8.23347610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362557844 meters Centerline goodness : 0.146963 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.08, Z:0.82 [[ 9.99177991e-01 5.62153607e-04 -4.05342724e-02 -1.03583233e+00] [-1.00903048e-03 9.99938933e-01 -1.10050518e-02 -8.18014432e-02] [ 4.05256106e-02 1.10369059e-02 9.99117541e-01 8.23200131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.392557844 meters Centerline goodness : 0.130645 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.82 [[ 0.99920198 -0.00400961 -0.0397407 -1.01320493] [ 0.00369609 0.99996149 -0.00795944 -0.07574676] [ 0.03977108 0.0078062 0.99917832 0.82401678] [ 0. 0. 0. 1. ]] SLAMing on 72.422557844 meters Centerline goodness : 0.127049 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.82 [[ 0.99921243 -0.00406433 -0.03947163 -1.01424793] [ 0.00374569 0.99995983 -0.00814333 -0.07474688] [ 0.03950314 0.00798907 0.99918751 0.82451547] [ 0. 0. 0. 1. ]] SLAMing on 72.452557844 meters Centerline goodness : 0.134112 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.07, Z:0.83 [[ 0.99922546 -0.00410188 -0.03913624 -1.01549912] [ 0.00378069 0.99995859 -0.00827755 -0.07396299] [ 0.03916857 0.00812318 0.9991996 0.82508862] [ 0. 0. 0. 1. ]] SLAMing on 72.482557844 meters Centerline goodness : 0.159294 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.83 [[ 0.99911334 -0.00492218 -0.04181273 -1.06202359] [ 0.00460557 0.99996002 -0.00766504 -0.07542862] [ 0.04184879 0.00746568 0.99909606 0.82537651] [ 0. 0. 0. 1. ]] SLAMing on 72.512557844 meters Centerline goodness : 0.151125 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.07, Z:0.83 [[ 0.99915487 -0.00330484 -0.04097112 -1.01660002] [ 0.00297056 0.99996183 -0.00821698 -0.06999054] [ 0.04099671 0.00808833 0.99912654 0.82607162] [ 0. 0. 0. 1. ]] SLAMing on 72.542557844 meters Centerline goodness : 0.137334 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.83 [[ 0.99908151 0.00471344 -0.04259004 -1.03760635] [-0.00510404 0.99994587 -0.00906706 -0.07173479] [ 0.042545 0.00927612 0.99905149 0.82509584] [ 0. 0. 0. 1. ]] SLAMing on 72.572557844 meters Centerline goodness : 0.120555 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.83 [[ 0.99908715 0.0046099 -0.04246895 -1.03805136] [-0.00501167 0.99994365 -0.00935872 -0.07016246] [ 0.04242341 0.00956302 0.99905395 0.8252838 ] [ 0. 0. 0. 1. ]] SLAMing on 72.602557844 meters Centerline goodness : 0.212453 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.83 [[ 0.99909147 0.00449716 -0.04237945 -1.03845354] [-0.00491015 0.99994142 -0.00964598 -0.06871219] [ 0.04233359 0.00984531 0.99905502 0.82553764] [ 0. 0. 0. 1. ]] SLAMing on 72.632557844 meters Centerline goodness : 0.144066 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.83 [[ 0.99908938 0.00430288 -0.04244875 -1.03821643] [-0.00473573 0.99993776 -0.01010188 -0.06655011] [ 0.04240264 0.0102937 0.99904757 0.82542471] [ 0. 0. 0. 1. ]] SLAMing on 72.662557844 meters Centerline goodness : 0.135429 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.82 [[ 0.99908368 0.00425453 -0.04258751 -1.03748089] [-0.00469284 0.99993699 -0.01019741 -0.06612717] [ 0.04254144 0.01038792 0.9990407 0.8248369 ] [ 0. 0. 0. 1. ]] SLAMing on 72.692557844 meters Centerline goodness : 0.135810 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.82 [[ 0.99907524 0.00412569 -0.04279759 -1.03637705] [-0.00457382 0.99993568 -0.01037823 -0.06548784] [ 0.04275202 0.01056438 0.99902986 0.82391764] [ 0. 0. 0. 1. ]] SLAMing on 72.722557844 meters Centerline goodness : 0.131602 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.82 [[ 0.99907289 0.00408166 -0.04285666 -1.03608109] [-0.00453253 0.99993535 -0.01042861 -0.06531048] [ 0.04281132 0.01061319 0.9990268 0.82367829] [ 0. 0. 0. 1. ]] SLAMing on 72.752557844 meters Centerline goodness : 0.138096 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.82 [[ 0.99907593 0.00399275 -0.04279423 -1.03636373] [-0.00444619 0.99993493 -0.01050599 -0.06508133] [ 0.0427495 0.01068656 0.99902867 0.8237814 ] [ 0. 0. 0. 1. ]] SLAMing on 72.782557844 meters Centerline goodness : 0.142461 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.06, Z:0.82 [[ 0.99907055 0.00392722 -0.0429257 -1.03602333] [-0.00438877 0.99993351 -0.01066341 -0.06429335] [ 0.04288096 0.01084189 0.99902136 0.82378989] [ 0. 0. 0. 1. ]] SLAMing on 72.812557844 meters Centerline goodness : 0.206843 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.83 [[ 0.99906596 -0.00318186 -0.04309393 -1.01731225] [ 0.00278369 0.99995291 -0.00929642 -0.05579801] [ 0.04312148 0.00916778 0.99902777 0.825673 ] [ 0. 0. 0. 1. ]] SLAMing on 72.842557844 meters SLAMing on 72.872557844 meters Centerline goodness : 0.135123 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99911735 -0.00294873 -0.04190248 -1.02097228] [ 0.00254837 0.99995063 -0.00960486 -0.05274351] [ 0.04192873 0.0094896 0.99907554 0.82652281] [ 0. 0. 0. 1. ]] SLAMing on 72.902557844 meters Centerline goodness : 0.154031 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99912492 -0.003009 -0.04171741 -1.02159157] [ 0.00260158 0.99994843 -0.00981703 -0.0515091 ] [ 0.04174479 0.00969991 0.99908122 0.82669545] [ 0. 0. 0. 1. ]] SLAMing on 72.932557844 meters Centerline goodness : 0.122734 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99912601 -0.00323372 -0.04167433 -1.02142147] [ 0.00280676 0.99994302 -0.01029976 -0.04924073] [ 0.04170527 0.01017378 0.99907816 0.82617875] [ 0. 0. 0. 1. ]] SLAMing on 72.962557844 meters Centerline goodness : 0.152367 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.999125 -0.00328486 -0.04169459 -1.02159979] [ 0.00285517 0.99994225 -0.01036087 -0.0489812 ] [ 0.04172622 0.01023276 0.99907668 0.82653251] [ 0. 0. 0. 1. ]] SLAMing on 72.992557844 meters Centerline goodness : 0.149205 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99912942 -0.00327975 -0.04158898 -1.02222411] [ 0.00285387 0.99994293 -0.01029554 -0.04930194] [ 0.04162037 0.01016789 0.99908176 0.82710085] [ 0. 0. 0. 1. ]] SLAMing on 73.022557844 meters Centerline goodness : 0.139099 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99912271 -0.00331469 -0.04174706 -1.02197472] [ 0.00290197 0.99994636 -0.00994308 -0.05147135] [ 0.04177778 0.00981321 0.99907873 0.82740038] [ 0. 0. 0. 1. ]] SLAMing on 73.052557844 meters Centerline goodness : 0.139587 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99911359 -0.00325573 -0.04196946 -1.02129242] [ 0.00285294 0.99994933 -0.00965348 -0.0531319 ] [ 0.04199877 0.00952518 0.99907226 0.82722791] [ 0. 0. 0. 1. ]] SLAMing on 73.08255784400001 meters Centerline goodness : 0.087545 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99910853 -0.00316557 -0.04209665 -1.02085919] [ 0.00277597 0.99995281 -0.00931009 -0.0549738 ] [ 0.04212413 0.00918493 0.99907016 0.82709559] [ 0. 0. 0. 1. ]] SLAMing on 73.112557844 meters Centerline goodness : 0.117728 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.83 [[ 0.99910918 -0.0029847 -0.0420945 -1.02107861] [ 0.00261437 0.99995742 -0.00884998 -0.05716538] [ 0.04211912 0.00873205 0.99907444 0.82745478] [ 0. 0. 0. 1. ]] SLAMing on 73.142557844 meters Centerline goodness : 0.117728 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.83 [[ 0.99910918 -0.0029847 -0.0420945 -1.02107861] [ 0.00261437 0.99995742 -0.00884998 -0.05716538] [ 0.04211912 0.00873205 0.99907444 0.82745478] [ 0. 0. 0. 1. ]] SLAMing on 73.172557844 meters Centerline goodness : 0.137345 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.83 [[ 0.99910998 -0.00295317 -0.04207774 -1.02122764] [ 0.0025834 0.99995759 -0.00883939 -0.05710999] [ 0.04210206 0.00872282 0.99907524 0.82761427] [ 0. 0. 0. 1. ]] SLAMing on 73.202557844 meters Centerline goodness : 0.211609 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.83 [[ 0.99911258 -0.00286508 -0.04202192 -1.02113396] [ 0.00248764 0.99995612 -0.00903133 -0.05593796] [ 0.04204595 0.00891878 0.99907587 0.82722065] [ 0. 0. 0. 1. ]] SLAMing on 73.232557844 meters Centerline goodness : 0.216244 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99910943 -0.00298248 -0.04208851 -1.02073214] [ 0.00258747 0.99995212 -0.00943678 -0.05397358] [ 0.04211464 0.00931948 0.99906932 0.82681341] [ 0. 0. 0. 1. ]] SLAMing on 73.262557844 meters Centerline goodness : 0.155569 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99909853 -0.00304549 -0.04234211 -1.0198395 ] [ 0.00262743 0.99994729 -0.00992548 -0.05127083] [ 0.0423701 0.00980528 0.99905387 0.82632944] [ 0. 0. 0. 1. ]] SLAMing on 73.292557844 meters Centerline goodness : 0.133632 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.05, Z:0.83 [[ 9.98952389e-01 -1.24749275e-03 -4.57445960e-02 -1.06317932e+00] [ 9.04699881e-04 9.99971364e-01 -7.51356335e-03 -5.00282891e-02] [ 4.57526591e-02 7.46430693e-03 9.98924911e-01 8.25553404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.322557844 meters Centerline goodness : 0.142715 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.83 [[ 0.9989925 0.00735902 -0.04427 -1.04308648] [-0.00776581 0.99992913 -0.00902395 -0.05021823] [ 0.04420045 0.00935865 0.99897885 0.82694485] [ 0. 0. 0. 1. ]] SLAMing on 73.352557844 meters Centerline goodness : 0.138422 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.83 [[ 0.99899653 0.00720665 -0.04420399 -1.04360196] [-0.00762327 0.99992803 -0.00926346 -0.04945957] [ 0.04413406 0.00959114 0.99897958 0.82744301] [ 0. 0. 0. 1. ]] SLAMing on 73.382557844 meters Centerline goodness : 0.159528 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.83 [[ 0.99900684 0.007029 -0.04399913 -1.0443572 ] [-0.00744764 0.99992848 -0.00935815 -0.04956563] [ 0.0439302 0.00967655 0.99898774 0.8276712 ] [ 0. 0. 0. 1. ]] SLAMing on 73.412557844 meters Centerline goodness : 0.120245 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.83 [[ 0.99901805 0.00705453 -0.04373981 -1.04495246] [-0.00746504 0.99992955 -0.00922894 -0.0498417 ] [ 0.04367162 0.0095464 0.99900033 0.82743058] [ 0. 0. 0. 1. ]] SLAMing on 73.442557844 meters Centerline goodness : 0.142913 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.83 [[ 9.99079919e-01 -2.00027062e-04 -4.28867796e-02 -1.02604400e+00] [-1.17925962e-04 9.99972530e-01 -7.41111902e-03 -4.30481891e-02] [ 4.28870839e-02 7.40935766e-03 9.99052451e-01 8.28691828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.472557844 meters Centerline goodness : 0.159056 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:0.83 [[ 0.99893867 -0.00172306 -0.04602797 -1.06829529] [ 0.0013865 0.99997208 -0.00734302 -0.04572474] [ 0.04603934 0.00727141 0.99891316 0.82672908] [ 0. 0. 0. 1. ]] SLAMing on 73.502557844 meters Centerline goodness : 0.120419 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:0.83 [[ 0.99893277 -0.00178915 -0.04615326 -1.0679115 ] [ 0.00144705 0.99997124 -0.00744463 -0.04546811] [ 0.04616525 0.0073699 0.99890663 0.826624 ] [ 0. 0. 0. 1. ]] SLAMing on 73.532557844 meters Centerline goodness : 0.156514 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.04, Z:0.83 [[ 0.99893367 -0.00184219 -0.0461317 -1.06815437] [ 0.00149203 0.99996983 -0.00762372 -0.04445986] [ 0.04614435 0.00754676 0.99890627 0.82689074] [ 0. 0. 0. 1. ]] SLAMing on 73.562557844 meters Centerline goodness : 0.118627 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.04, Z:0.83 [[ 0.99894438 -0.00192919 -0.04589561 -1.06905107] [ 0.00156305 0.99996668 -0.00801224 -0.04205552] [ 0.04590953 0.00793205 0.99891411 0.8273035 ] [ 0. 0. 0. 1. ]] SLAMing on 73.592557844 meters Centerline goodness : 0.124226 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.04, Z:0.83 [[ 0.99893656 -0.00204162 -0.04606058 -1.06867867] [ 0.001664 0.99996471 -0.00823525 -0.04122252] [ 0.04607577 0.00814984 0.9989047 0.827397 ] [ 0. 0. 0. 1. ]] SLAMing on 73.622557844 meters Centerline goodness : 0.142604 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.83 [[ 0.99894428 0.00622586 -0.04551442 -1.04846405] [-0.00669136 0.99992678 -0.01008246 -0.0431826 ] [ 0.04544831 0.01037637 0.9989128 0.82935843] [ 0. 0. 0. 1. ]] SLAMing on 73.652557844 meters Centerline goodness : 0.117127 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.83 [[ 0.99894769 0.00615516 -0.04544915 -1.04884794] [-0.0066346 0.99992385 -0.01040551 -0.04113399] [ 0.04538164 0.0106961 0.99891246 0.82958991] [ 0. 0. 0. 1. ]] SLAMing on 73.682557844 meters Centerline goodness : 0.147273 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.83 [[ 0.99896116 0.00614204 -0.04515395 -1.04995388] [-0.00662262 0.99992293 -0.01050125 -0.04020023] [ 0.04508597 0.01078938 0.99892484 0.83000819] [ 0. 0. 0. 1. ]] SLAMing on 73.712557844 meters Centerline goodness : 0.115767 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.83 [[ 0.99897749 0.00610234 -0.04479654 -1.05146688] [-0.0065838 0.99992206 -0.01060795 -0.03969094] [ 0.04472831 0.01089203 0.99893981 0.83098019] [ 0. 0. 0. 1. ]] SLAMing on 73.742557844 meters Centerline goodness : 0.143623 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.83 [[ 0.99897773 0.00596707 -0.04480949 -1.05164033] [-0.00645989 0.99992015 -0.01086136 -0.03877361] [ 0.0447411 0.01113972 0.9989365 0.83128541] [ 0. 0. 0. 1. ]] SLAMing on 73.772557844 meters Centerline goodness : 0.118016 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.83 [[ 0.99897948 0.00588145 -0.04478171 -1.05158733] [-0.00638588 0.99991767 -0.01112967 -0.03742067] [ 0.04471256 0.01140428 0.9989348 0.83108098] [ 0. 0. 0. 1. ]] SLAMing on 73.802557844 meters Centerline goodness : 0.119831 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.83 [[ 0.99893206 0.00998453 -0.04511152 -1.05035666] [-0.01033602 0.99991796 -0.00756514 -0.03460401] [ 0.04503229 0.00802333 0.99895331 0.83059495] [ 0. 0. 0. 1. ]] SLAMing on 73.83255784400001 meters Centerline goodness : 0.133029 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.03, Z:0.83 [[ 0.99901552 0.0115393 -0.04283487 -1.00542398] [-0.01188796 0.99989817 -0.00789406 -0.02669311] [ 0.04273942 0.00839551 0.99905098 0.83078708] [ 0. 0. 0. 1. ]] SLAMing on 73.862557844 meters Centerline goodness : 0.138933 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.02, Z:0.83 [[ 0.99901225 0.01124302 -0.04298971 -1.00489527] [-0.01162536 0.99989497 -0.00865427 -0.02310949] [ 0.04288789 0.0091455 0.99903803 0.83054742] [ 0. 0. 0. 1. ]] SLAMing on 73.892557844 meters Centerline goodness : 0.152735 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.02, Z:0.83 [[ 0.99901392 0.01099282 -0.04301558 -1.00451203] [-0.01142295 0.99988706 -0.00976636 -0.01645429] [ 0.04290336 0.01024809 0.99902667 0.82988707] [ 0. 0. 0. 1. ]] SLAMing on 73.922557844 meters Centerline goodness : 0.133660 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.83 [[ 0.99907177 0.00235076 -0.0430124 -1.02503782] [-0.00273551 0.99995676 -0.00888844 -0.00870549] [ 0.04298964 0.00899785 0.999035 0.82792774] [ 0. 0. 0. 1. ]] SLAMing on 73.952557844 meters Centerline goodness : 0.141764 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.83 [[ 0.99908162 0.0021574 -0.04279329 -1.02583583] [-0.00256093 0.99995275 -0.00937718 -0.00614933] [ 0.04277104 0.00947816 0.99903994 0.82821846] [ 0. 0. 0. 1. ]] SLAMing on 73.982557844 meters Centerline goodness : 0.136882 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.00, Z:0.83 [[ 0.99912853 -0.00594339 -0.04131402 -1.0064888 ] [ 0.00558753 0.99994634 -0.00872383 0.00160882] [ 0.04136366 0.00848538 0.99910813 0.83082586] [ 0. 0. 0. 1. ]] SLAMing on 74.012557844 meters Centerline goodness : 0.135958 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.00, Z:0.83 [[ 0.99912401 -0.00606627 -0.04140547 -1.00624341] [ 0.00570796 0.99994528 -0.0087665 0.00154558] [ 0.04145638 0.00852248 0.99910397 0.83085821] [ 0. 0. 0. 1. ]] SLAMing on 74.042557844 meters Centerline goodness : 0.152882 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.00, Z:0.83 [[ 0.99907417 -0.0068377 -0.04247398 -1.00280599] [ 0.00644736 0.99993578 -0.00932035 0.00225749] [ 0.04253498 0.00903787 0.9990541 0.82989601] [ 0. 0. 0. 1. ]] SLAMing on 74.072557844 meters Centerline goodness : 0.152978 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.00, Z:0.83 [[ 0.99905518 -0.00696004 -0.04289885 -1.00153523] [ 0.00656678 0.99993518 -0.00930119 0.00164461] [ 0.04296081 0.00901069 0.99903612 0.82964011] [ 0. 0. 0. 1. ]] SLAMing on 74.102557844 meters Centerline goodness : 0.137484 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.00, Z:0.83 [[ 9.99034534e-01 -7.06469445e-03 -4.33600039e-02 -1.00025524e+00] [ 6.67170177e-03 9.99935408e-01 -9.20151337e-03 6.12571572e-04] [ 4.34222091e-02 8.90334461e-03 9.99017138e-01 8.29464300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.132557844 meters Centerline goodness : 0.143543 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.00, Z:0.83 [[ 9.99031460e-01 -7.32455731e-03 -4.33877097e-02 -1.00051534e+00] [ 6.93604419e-03 9.99934555e-01 -9.09823538e-03 -7.00921525e-04] [ 4.34515108e-02 8.78848430e-03 9.99016881e-01 8.30103734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.162557844 meters Centerline goodness : 0.144412 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.00, Z:0.83 [[ 0.99904052 -0.00724893 -0.0431914 -1.00145977] [ 0.00687326 0.9999373 -0.00883995 -0.00190202] [ 0.04325277 0.0085346 0.99902771 0.83086693] [ 0. 0. 0. 1. ]] SLAMing on 74.192557844 meters Centerline goodness : 0.136679 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.01, Z:0.83 [[ 0.9991598 0.00101903 -0.04097149 -0.98297436] [-0.00143348 0.99994809 -0.01008724 -0.00563333] [ 0.04095908 0.0101375 0.9991094 0.83249497] [ 0. 0. 0. 1. ]] SLAMing on 74.222557844 meters Centerline goodness : 0.137609 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.01, Z:0.83 [[ 0.99916311 0.00110201 -0.04088835 -0.98321658] [-0.00150716 0.99995006 -0.00987921 -0.00660709] [ 0.04087542 0.00993257 0.99911488 0.83254865] [ 0. 0. 0. 1. ]] SLAMing on 74.252557844 meters Centerline goodness : 0.142717 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.01, Z:0.83 [[ 0.99914664 0.00116437 -0.04128735 -0.98139572] [-0.00157423 0.9999498 -0.0098957 -0.00628201] [ 0.04127375 0.00995225 0.99909831 0.83126724] [ 0. 0. 0. 1. ]] SLAMing on 74.282557844 meters Centerline goodness : 0.144889 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 0.99913164 0.00117133 -0.04164854 -0.98010988] [-0.00159392 0.99994757 -0.010115 -0.00496 ] [ 0.04163451 0.0101726 0.99908112 0.83069468] [ 0. 0. 0. 1. ]] SLAMing on 74.312557844 meters Centerline goodness : 0.122443 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 0.99912593 0.00116932 -0.04178516 -0.97963936] [-0.00160485 0.99994472 -0.01039119 -0.00342833] [ 0.0417707 0.01044916 0.99907258 0.83046393] [ 0. 0. 0. 1. ]] SLAMing on 74.342557844 meters Centerline goodness : 0.143480 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 0.99914625 0.00172656 -0.04127705 -0.98140894] [-0.00215843 0.99994337 -0.01042056 -0.00165238] [ 0.04125672 0.01050076 0.9990934 0.83101732] [ 0. 0. 0. 1. ]] SLAMing on 74.372557844 meters Centerline goodness : 0.145242 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 9.99160447e-01 1.71874243e-03 -4.09322310e-02 -9.82444227e-01] [-2.15441121e-03 9.99941477e-01 -1.06019293e-02 -6.19044945e-04] [ 4.09116135e-02 1.06812133e-02 9.99105676e-01 8.31201275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.402557844 meters Centerline goodness : 0.145667 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 9.99165591e-01 1.71089061e-03 -4.08067847e-02 -9.82734828e-01] [-2.14803614e-03 9.99940755e-01 -1.06711313e-02 -1.78185320e-04] [ 4.07861099e-02 1.07498816e-02 9.99110071e-01 8.31103308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.432557844 meters Centerline goodness : 0.145411 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 0.9991581 0.00181756 -0.04098517 -0.98209116] [-0.0022465 0.99994316 -0.01042211 -0.00129099] [ 0.0409639 0.0105054 0.9991054 0.83078049] [ 0. 0. 0. 1. ]] SLAMing on 74.462557844 meters Centerline goodness : 0.139564 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 0.99915382 0.00191862 -0.04108475 -0.9819119 ] [-0.0023363 0.99994605 -0.01012081 -0.00279611] [ 0.04106312 0.01020823 0.99910441 0.83093649] [ 0. 0. 0. 1. ]] SLAMing on 74.492557844 meters Centerline goodness : 0.141302 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.01, Z:0.83 [[ 0.99918096 0.00175225 -0.04042692 -0.98416323] [-0.00214678 0.99995048 -0.00971778 -0.00590061] [ 0.04040789 0.00979661 0.99913524 0.83197887] [ 0. 0. 0. 1. ]] SLAMing on 74.522557844 meters Centerline goodness : 0.138373 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.00, Z:0.83 [[ 0.99922538 -0.00604789 -0.03888526 -0.96420221] [ 0.00572148 0.99994751 -0.00849996 -0.00295042] [ 0.03893462 0.0082709 0.99920753 0.83360034] [ 0. 0. 0. 1. ]] SLAMing on 74.552557844 meters Centerline goodness : 0.137457 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.00, Z:0.83 [[ 0.9992282 -0.00594367 -0.03882886 -0.96427001] [ 0.00563152 0.99995098 -0.00814337 -0.0048067 ] [ 0.03887536 0.00791841 0.99921269 0.83351577] [ 0. 0. 0. 1. ]] SLAMing on 74.58255784400001 meters Centerline goodness : 0.136251 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.83 [[ 0.99919116 -0.00611341 -0.03974493 -0.96122466] [ 0.00581019 0.99995316 -0.00774021 -0.00873627] [ 0.03979038 0.00750302 0.99917988 0.83262953] [ 0. 0. 0. 1. ]] SLAMing on 74.612557844 meters Centerline goodness : 0.143826 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.01, Z:0.83 [[ 9.99151233e-01 3.88474610e-05 -4.11923909e-02 -9.83355579e-01] [-4.57295450e-04 9.99948393e-01 -1.01490068e-02 -1.44744597e-02] [ 4.11898708e-02 1.01592298e-02 9.99099687e-01 8.32459807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642557844 meters Centerline goodness : 0.134793 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.83 [[ 0.99919067 -0.00490135 -0.03992476 -0.96142662] [ 0.00465695 0.99996986 -0.00621235 -0.01413827] [ 0.03995401 0.0060214 0.99918338 0.8331418 ] [ 0. 0. 0. 1. ]] SLAMing on 74.672557844 meters Centerline goodness : 0.139433 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.83 [[ 0.99919947 -0.0047744 -0.03971925 -0.96204941] [ 0.00453812 0.99997148 -0.00603682 -0.01455703] [ 0.03974694 0.00585174 0.99919264 0.83332062] [ 0. 0. 0. 1. ]] SLAMing on 74.702557844 meters Centerline goodness : 0.157404 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.9992434 0.002661 -0.03880125 -0.98162034] [-0.00293175 0.99997174 -0.00692244 -0.02091676] [ 0.03878174 0.00703096 0.99922297 0.83076238] [ 0. 0. 0. 1. ]] SLAMing on 74.732557844 meters Centerline goodness : 0.141359 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.83 [[ 0.99926562 -0.00535611 -0.03794126 -0.96143704] [ 0.00511727 0.9999665 -0.00638922 -0.01693453] [ 0.03797421 0.00619037 0.99925955 0.83177799] [ 0. 0. 0. 1. ]] SLAMing on 74.762557844 meters Centerline goodness : 0.135834 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99926994 0.00193415 -0.03815548 -0.98008502] [-0.00223555 0.99996662 -0.00785827 -0.02381407] [ 0.038139 0.00793783 0.99924092 0.82908195] [ 0. 0. 0. 1. ]] SLAMing on 74.792557844 meters Centerline goodness : 0.137926 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.9992706 0.00194762 -0.03813755 -0.98005925] [-0.00225127 0.9999661 -0.00792059 -0.02332668] [ 0.03812084 0.00800067 0.99924111 0.82894852] [ 0. 0. 0. 1. ]] SLAMing on 74.822557844 meters Centerline goodness : 0.137445 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99926664 0.00184637 -0.03824631 -0.97962905] [-0.00216126 0.9999641 -0.00819354 -0.02238902] [ 0.03822981 0.0082702 0.99923475 0.82871447] [ 0. 0. 0. 1. ]] SLAMing on 74.852557844 meters Centerline goodness : 0.137684 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99926642 0.00180536 -0.03825395 -0.97959451] [-0.00212237 0.99996373 -0.00824808 -0.0224061 ] [ 0.03823768 0.00832322 0.99923401 0.82869304] [ 0. 0. 0. 1. ]] SLAMing on 74.882557844 meters Centerline goodness : 0.126089 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99926841 0.00192365 -0.03819609 -0.97958382] [-0.00223878 0.9999638 -0.0082094 -0.02150405] [ 0.03817891 0.0082889 0.99923654 0.82832007] [ 0. 0. 0. 1. ]] SLAMing on 74.912557844 meters Centerline goodness : 0.137293 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99926757 0.00198334 -0.03821497 -0.97921939] [-0.00229529 0.99996439 -0.00812076 -0.02163187] [ 0.0381975 0.00820253 0.99923654 0.82782919] [ 0. 0. 0. 1. ]] SLAMing on 74.942557844 meters Centerline goodness : 0.145693 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99925801 0.00195769 -0.0384656 -0.97830951] [-0.00226613 0.99996562 -0.00797649 -0.02284492] [ 0.03844866 0.00805774 0.99922809 0.8274957 ] [ 0. 0. 0. 1. ]] SLAMing on 74.972557844 meters Centerline goodness : 0.159249 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99924741 0.00192064 -0.03874174 -0.97752902] [-0.00222481 0.99996703 -0.00780939 -0.0244557 ] [ 0.03872546 0.0078897 0.99921874 0.82743641] [ 0. 0. 0. 1. ]] SLAMing on 75.002557844 meters Centerline goodness : 0.158603 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.83 [[ 0.9992453 -0.00562415 -0.03843443 -0.95812407] [ 0.00538721 0.99996586 -0.0062658 -0.02151362] [ 0.03846836 0.00605402 0.99924148 0.83019109] [ 0. 0. 0. 1. ]] SLAMing on 75.032557844 meters Centerline goodness : 0.158603 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.83 [[ 0.9992453 -0.00562415 -0.03843443 -0.95812407] [ 0.00538721 0.99996586 -0.0062658 -0.02151362] [ 0.03846836 0.00605402 0.99924148 0.83019109] [ 0. 0. 0. 1. ]] SLAMing on 75.062557844 meters Centerline goodness : 0.138906 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.83 [[ 0.99934249 0.00330495 -0.03610631 -0.93945998] [-0.00355902 0.99996934 -0.00697473 -0.02338858] [ 0.03608216 0.00709864 0.99932361 0.83131281] [ 0. 0. 0. 1. ]] SLAMing on 75.092557844 meters Centerline goodness : 0.123610 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.03, Z:0.83 [[ 0.99927624 0.00256185 -0.03795311 -0.98762484] [-0.00281542 0.99997406 -0.00662932 -0.02619402] [ 0.03793514 0.00673138 0.99925753 0.83224929] [ 0. 0. 0. 1. ]] SLAMing on 75.122557844 meters Centerline goodness : 0.158998 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.03, Z:0.83 [[ 0.99926777 0.00242107 -0.03818467 -0.98663287] [-0.00268368 0.99997309 -0.00682772 -0.02607668] [ 0.03816711 0.0069252 0.99924737 0.83165315] [ 0. 0. 0. 1. ]] SLAMing on 75.152557844 meters Centerline goodness : 0.137708 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.03, Z:0.83 [[ 0.99925803 0.00234157 -0.03844351 -0.9854917 ] [-0.00261275 0.99997205 -0.00700542 -0.02558254] [ 0.03842604 0.00710067 0.99923622 0.83084764] [ 0. 0. 0. 1. ]] SLAMing on 75.182557844 meters Centerline goodness : 0.142894 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99925707 0.00245476 -0.03846148 -0.98526433] [-0.00273369 0.99997034 -0.00720111 -0.02344952] [ 0.03844266 0.0073009 0.99923414 0.83039495] [ 0. 0. 0. 1. ]] SLAMing on 75.212557844 meters Centerline goodness : 0.134467 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99926177 0.00246962 -0.03833822 -0.98576776] [-0.0027517 0.99996952 -0.00730658 -0.02234716] [ 0.03831901 0.00740668 0.99923811 0.83065656] [ 0. 0. 0. 1. ]] SLAMing on 75.242557844 meters Centerline goodness : 0.146345 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99926532 0.00247702 -0.03824514 -0.98630194] [-0.00276021 0.99996915 -0.00735341 -0.02190162] [ 0.03822575 0.00745357 0.99924133 0.83110899] [ 0. 0. 0. 1. ]] SLAMing on 75.272557844 meters Centerline goodness : 0.148169 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99926378 0.00247884 -0.03828511 -0.98636277] [-0.00276089 0.99996943 -0.00731584 -0.02225211] [ 0.0382658 0.00741615 0.99924008 0.83137714] [ 0. 0. 0. 1. ]] SLAMing on 75.302557844 meters Centerline goodness : 0.146921 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99926589 0.00249477 -0.03822892 -0.98651125] [-0.00277355 0.99996994 -0.00724111 -0.02281558] [ 0.03820971 0.00734182 0.99924277 0.83136959] [ 0. 0. 0. 1. ]] SLAMing on 75.33255784400001 meters Centerline goodness : 0.147839 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99927585 0.00250081 -0.03796732 -0.98734627] [-0.00277995 0.99996948 -0.0073012 -0.02227491] [ 0.0379479 0.00740146 0.99925231 0.83162125] [ 0. 0. 0. 1. ]] SLAMing on 75.362557844 meters Centerline goodness : 0.129902 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99928762 0.00249925 -0.03765653 -0.98822892] [-0.00278594 0.99996752 -0.00756264 -0.02055601] [ 0.0376364 0.00766216 0.99926212 0.83169998] [ 0. 0. 0. 1. ]] SLAMing on 75.392557844 meters Centerline goodness : 0.146363 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99928511 0.00244669 -0.03772648 -0.98802337] [-0.00274221 0.99996595 -0.00778347 -0.01944618] [ 0.03770616 0.00788136 0.99925779 0.83161495] [ 0. 0. 0. 1. ]] SLAMing on 75.422557844 meters Centerline goodness : 0.150750 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99928387 0.00235277 -0.03776523 -0.98783087] [-0.00266017 0.99996372 -0.00809152 -0.01793524] [ 0.03774482 0.00818618 0.99925388 0.831423 ] [ 0. 0. 0. 1. ]] SLAMing on 75.452557844 meters Centerline goodness : 0.145177 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.83 [[ 0.99928987 -0.00208973 -0.03762171 -0.96586832] [ 0.00190714 0.99998623 -0.0048885 -0.01152799] [ 0.03763141 0.00481328 0.9992801 0.83176948] [ 0. 0. 0. 1. ]] SLAMing on 75.482557844 meters Centerline goodness : 0.150201 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.83 [[ 0.99929677 -0.00217597 -0.03743298 -0.96655664] [ 0.0019832 0.99998459 -0.00518609 -0.0099605 ] [ 0.03744369 0.0051082 0.99928568 0.83206286] [ 0. 0. 0. 1. ]] SLAMing on 75.512557844 meters Centerline goodness : 0.132734 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.83 [[ 0.99929509 -0.00236704 -0.03746625 -0.96679034] [ 0.00215477 0.9999814 -0.00570524 -0.00753887] [ 0.03747906 0.00562049 0.99928161 0.83248782] [ 0. 0. 0. 1. ]] SLAMing on 75.542557844 meters Centerline goodness : 0.132774 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.83 [[ 0.99929057 -0.00246888 -0.03758001 -0.96628584] [ 0.00224465 0.99997943 -0.00600774 -0.00595722] [ 0.03759407 0.00591913 0.99927556 0.83208025] [ 0. 0. 0. 1. ]] SLAMing on 75.572557844 meters Centerline goodness : 0.138018 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:0.83 [[ 0.99929148 -0.00257491 -0.03754872 -0.96605643] [ 0.00233852 0.99997718 -0.00633814 -0.00417745] [ 0.03756418 0.00624584 0.9992747 0.83153227] [ 0. 0. 0. 1. ]] SLAMing on 75.602557844 meters Centerline goodness : 0.147356 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:0.83 [[ 0.99929848 -0.0026681 -0.03735537 -0.96649922] [ 0.00242257 0.99997518 -0.00661646 -0.00277982] [ 0.0373721 0.00652132 0.99928014 0.83138002] [ 0. 0. 0. 1. ]] SLAMing on 75.632557844 meters Centerline goodness : 0.142458 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:0.83 [[ 0.99930389 -0.00284199 -0.03719749 -0.96722404] [ 0.00258692 0.99997282 -0.00690351 -0.00162643] [ 0.0372161 0.00680247 0.99928409 0.83185184] [ 0. 0. 0. 1. ]] SLAMing on 75.662557844 meters Centerline goodness : 0.148042 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:0.83 [[ 0.99929966 -0.00288416 -0.03730774 -0.9670771 ] [ 0.00262891 0.99997282 -0.00688898 -0.00177682] [ 0.03732659 0.00678607 0.99928008 0.8320788 ] [ 0. 0. 0. 1. ]] SLAMing on 75.692557844 meters Centerline goodness : 0.147440 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.83 [[ 0.99925858 -0.01117041 -0.03684443 -0.946192 ] [ 0.01095752 0.99992211 -0.00597515 0.00288675] [ 0.03690831 0.005567 0.99930315 0.83403499] [ 0. 0. 0. 1. ]] SLAMing on 75.722557844 meters Centerline goodness : 0.151096 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.00, Z:0.84 [[ 0.9991229 -0.01263442 -0.03992246 -0.99345575] [ 0.01240682 0.99990537 -0.00594363 -0.00250446] [ 0.03999378 0.0054431 0.9991851 0.83508501] [ 0. 0. 0. 1. ]] SLAMing on 75.752557844 meters Centerline goodness : 0.150730 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.00, Z:0.84 [[ 0.99911801 -0.0126137 -0.04005119 -0.99321706] [ 0.01239377 0.99990675 -0.00573478 -0.00376432] [ 0.04011979 0.00523333 0.99918117 0.83527677] [ 0. 0. 0. 1. ]] SLAMing on 75.782557844 meters Centerline goodness : 0.145568 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.84 [[ 0.99919966 -0.00444142 -0.03975306 -0.97263059] [ 0.00416284 0.99996622 -0.00708784 -0.00774612] [ 0.0397832 0.00691668 0.9991844 0.83695884] [ 0. 0. 0. 1. ]] SLAMing on 75.812557844 meters Centerline goodness : 0.132516 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.84 [[ 0.99917834 -0.00439196 -0.040291 -0.97118393] [ 0.00412526 0.99996905 -0.00670009 -0.00998304] [ 0.04031918 0.00652837 0.99916552 0.83684173] [ 0. 0. 0. 1. ]] SLAMing on 75.842557844 meters Centerline goodness : 0.147201 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.84 [[ 0.99917509 -0.00426421 -0.04038503 -0.9709495 ] [ 0.00400893 0.99997148 -0.00640001 -0.01129972] [ 0.04041117 0.00623283 0.99916369 0.83686982] [ 0. 0. 0. 1. ]] SLAMing on 75.872557844 meters Centerline goodness : 0.149424 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.84 [[ 0.99917845 -0.00415324 -0.04031339 -0.97108035] [ 0.00390733 0.99997329 -0.00617696 -0.01220861] [ 0.04033797 0.00601436 0.99916799 0.83680422] [ 0. 0. 0. 1. ]] SLAMing on 75.902557844 meters Centerline goodness : 0.137292 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.84 [[ 0.99917669 -0.00403062 -0.0403694 -0.97044923] [ 0.00379977 0.999976 -0.00579346 -0.01441681] [ 0.04039178 0.00563529 0.99916803 0.83610392] [ 0. 0. 0. 1. ]] SLAMing on 75.932557844 meters Centerline goodness : 0.150242 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99916653 -0.00397277 -0.04062584 -0.96980659] [ 0.00374687 0.9999771 -0.00563492 -0.01539494] [ 0.04064729 0.005478 0.99915854 0.83612438] [ 0. 0. 0. 1. ]] SLAMing on 75.962557844 meters Centerline goodness : 0.145764 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99914606 -0.00377281 -0.04114504 -0.9685235 ] [ 0.00355265 0.99997899 -0.0054227 -0.01609039] [ 0.04116463 0.0052719 0.99913847 0.83617189] [ 0. 0. 0. 1. ]] SLAMing on 75.992557844 meters Centerline goodness : 0.139079 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99914318 -0.00365247 -0.04122587 -0.96827873] [ 0.0034369 0.99998005 -0.00529887 -0.01641363] [ 0.0412444 0.00515264 0.9991358 0.83611598] [ 0. 0. 0. 1. ]] SLAMing on 76.022557844 meters Centerline goodness : 0.148010 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99914283 -0.00361368 -0.04123772 -0.968093 ] [ 0.00339947 0.99998037 -0.00526335 -0.0166778 ] [ 0.04125593 0.00511865 0.9991355 0.83585235] [ 0. 0. 0. 1. ]] SLAMing on 76.052557844 meters Centerline goodness : 0.128927 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99914618 -0.00353485 -0.04116326 -0.96790777] [ 0.00332941 0.99998166 -0.0050583 -0.01813639] [ 0.04118038 0.00491693 0.99913963 0.83522014] [ 0. 0. 0. 1. ]] SLAMing on 76.08255784400001 meters Centerline goodness : 0.150125 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99914248 -0.00344329 -0.04126076 -0.96763053] [ 0.00324381 0.99998273 -0.0049005 -0.01871636] [ 0.04127692 0.00476246 0.99913639 0.83513718] [ 0. 0. 0. 1. ]] SLAMing on 76.112557844 meters Centerline goodness : 0.121935 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99913861 -0.00337907 -0.0413596 -0.96729839] [ 0.00318479 0.99998359 -0.0047623 -0.01926565] [ 0.04137502 0.00462648 0.99913298 0.83501317] [ 0. 0. 0. 1. ]] SLAMing on 76.142557844 meters Centerline goodness : 0.145382 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.9991332 -0.00332865 -0.04149412 -0.96713125] [ 0.00314056 0.9999845 -0.00459741 -0.02009919] [ 0.04150878 0.00446311 0.99912817 0.83531561] [ 0. 0. 0. 1. ]] SLAMing on 76.172557844 meters Centerline goodness : 0.151402 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99911806 -0.0033067 -0.04185893 -0.9666317 ] [ 0.00312692 0.99998561 -0.00435962 -0.02166391] [ 0.04187274 0.00422489 0.99911402 0.83600354] [ 0. 0. 0. 1. ]] SLAMing on 76.202557844 meters Centerline goodness : 0.151924 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99911726 -0.00329432 -0.04187887 -0.96670944] [ 0.00311586 0.99998579 -0.00432575 -0.02178775] [ 0.04189253 0.00419144 0.99911333 0.83622742] [ 0. 0. 0. 1. ]] SLAMing on 76.232557844 meters Centerline goodness : 0.146557 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99912204 -0.00327294 -0.04176651 -0.96721955] [ 0.00309362 0.99998572 -0.00435745 -0.02146254] [ 0.04178017 0.00422441 0.9991179 0.83658303] [ 0. 0. 0. 1. ]] SLAMing on 76.262557844 meters Centerline goodness : 0.145365 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.84 [[ 0.99923192 0.00531818 -0.03882372 -0.9487709 ] [-0.00555244 0.99996701 -0.00592845 -0.02180808] [ 0.03879091 0.00613946 0.99922849 0.83828738] [ 0. 0. 0. 1. ]] SLAMing on 76.292557844 meters Centerline goodness : 0.151196 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99924104 -0.00328345 -0.03881447 -0.96918009] [ 0.00310718 0.99998459 -0.00460079 -0.01739221] [ 0.03882898 0.00447669 0.99923584 0.83654229] [ 0. 0. 0. 1. ]] SLAMing on 76.322557844 meters Centerline goodness : 0.151254 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99924263 -0.00327964 -0.03877396 -0.96939996] [ 0.00310086 0.99998429 -0.00467016 -0.01674339] [ 0.03878866 0.00454639 0.99923709 0.83666242] [ 0. 0. 0. 1. ]] SLAMing on 76.352557844 meters Centerline goodness : 0.152685 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99924275 -0.00322359 -0.03877532 -0.96942787] [ 0.00304757 0.99998479 -0.00459756 -0.01678909] [ 0.03878955 0.00447591 0.99923738 0.83673246] [ 0. 0. 0. 1. ]] SLAMing on 76.382557844 meters Centerline goodness : 0.148692 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99924529 -0.0032172 -0.03871044 -0.96982909] [ 0.00304966 0.99998573 -0.0043862 -0.01823349] [ 0.038724 0.00426484 0.99924084 0.83715135] [ 0. 0. 0. 1. ]] SLAMing on 76.412557844 meters Centerline goodness : 0.147120 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99924588 -0.00314042 -0.03870141 -0.97001284] [ 0.00298182 0.99998692 -0.00415521 -0.01940065] [ 0.03871395 0.00403668 0.99924218 0.83742608] [ 0. 0. 0. 1. ]] SLAMing on 76.442557844 meters Centerline goodness : 0.144750 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99924863 -0.00307721 -0.03863559 -0.97022086] [ 0.00292456 0.9999877 -0.00400701 -0.02006639] [ 0.03864745 0.003891 0.99924533 0.83750565] [ 0. 0. 0. 1. ]] SLAMing on 76.47255784400001 meters Centerline goodness : 0.138946 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.9992496 -0.003036 -0.03861372 -0.97020761] [ 0.00288701 0.99998817 -0.0039135 -0.02048828] [ 0.03862514 0.00379908 0.99924655 0.83740563] [ 0. 0. 0. 1. ]] SLAMing on 76.502557844 meters Centerline goodness : 0.147459 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.84 [[ 0.99929376 0.0045597 -0.03729877 -0.948189 ] [-0.00479796 0.99996864 -0.00630084 -0.02146549] [ 0.03726888 0.00647535 0.99928429 0.83736519] [ 0. 0. 0. 1. ]] SLAMing on 76.532557844 meters Centerline goodness : 0.150858 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99922966 -0.00406621 -0.0390327 -0.96753236] [ 0.00387346 0.99997994 -0.00501234 -0.01746881] [ 0.0390523 0.00485729 0.99922536 0.8358193 ] [ 0. 0. 0. 1. ]] SLAMing on 76.562557844 meters Centerline goodness : 0.156249 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.83 [[ 0.99922281 -0.00405118 -0.03920917 -0.96656417] [ 0.00384832 0.99997882 -0.00524788 -0.01596363] [ 0.0392296 0.00509291 0.99921724 0.83485528] [ 0. 0. 0. 1. ]] SLAMing on 76.592557844 meters Centerline goodness : 0.147616 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.83 [[ 0.99920658 -0.00398789 -0.03962712 -0.96489443] [ 0.00377141 0.99997756 -0.00553608 -0.01404797] [ 0.0396483 0.00538224 0.9991992 0.83379305] [ 0. 0. 0. 1. ]] SLAMing on 76.622557844 meters Centerline goodness : 0.153632 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.83 [[ 0.99917772 -0.00347872 -0.04039534 -0.96234028] [ 0.0032417 0.99997715 -0.00593148 -0.01004559] [ 0.04041506 0.00579566 0.99916617 0.83246425] [ 0. 0. 0. 1. ]] SLAMing on 76.652557844 meters Centerline goodness : 0.146408 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.83 [[ 0.99926314 -0.00129189 -0.0383603 -0.919062 ] [ 0.0010676 0.99998222 -0.00586682 -0.0034639 ] [ 0.0383672 0.00582154 0.99924675 0.83410389] [ 0. 0. 0. 1. ]] SLAMing on 76.682557844 meters Centerline goodness : 0.143663 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.83 [[ 0.99927953 -0.00135544 -0.03792874 -0.92051506] [ 0.00111907 0.99997983 -0.00625257 -0.00115393] [ 0.03793645 0.00620562 0.99926089 0.83456764] [ 0. 0. 0. 1. ]] SLAMing on 76.712557844 meters Centerline goodness : 0.148794 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.83 [[ 0.99928833 -0.00145268 -0.03769244 -0.9213691 ] [ 0.00120325 0.99997724 -0.00663934 0.00101305] [ 0.03770122 0.00658926 0.99926733 0.83487287] [ 0. 0. 0. 1. ]] SLAMing on 76.742557844 meters Centerline goodness : 0.148240 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.83 [[ 0.99930077 -0.00168921 -0.03735133 -0.92233712] [ 0.00142052 0.99997293 -0.007219 0.00382176] [ 0.03736251 0.00716089 0.99927612 0.83494976] [ 0. 0. 0. 1. ]] SLAMing on 76.772557844 meters Centerline goodness : 0.153410 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99930165 -0.00175207 -0.03732487 -0.92256533] [ 0.0014797 0.99997209 -0.00732376 0.00425223] [ 0.03733666 0.00726342 0.99927635 0.83519446] [ 0. 0. 0. 1. ]] SLAMing on 76.802557844 meters Centerline goodness : 0.150809 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99929721 -0.00176829 -0.03744275 -0.92245789] [ 0.00149589 0.99997222 -0.00730175 0.0041243 ] [ 0.03745462 0.00724061 0.9992721 0.8355214 ] [ 0. 0. 0. 1. ]] SLAMing on 76.83255784400001 meters Centerline goodness : 0.132080 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99929017 -0.00178516 -0.03762947 -0.92207272] [ 0.00151459 0.9999728 -0.00721771 0.0035233 ] [ 0.03764133 0.00715559 0.99926569 0.83570074] [ 0. 0. 0. 1. ]] SLAMing on 76.862557844 meters Centerline goodness : 0.149537 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99925653 -0.0020813 -0.03849737 -0.91964878] [ 0.00179936 0.99997132 -0.00735682 0.00321562] [ 0.03851157 0.00728208 0.99923162 0.83534497] [ 0. 0. 0. 1. ]] SLAMing on 76.892557844 meters Centerline goodness : 0.147470 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99924375 -0.00213523 -0.03882487 -0.91868989] [ 0.00185123 0.99997128 -0.00734919 0.00298341] [ 0.03883945 0.00727176 0.999219 0.83517319] [ 0. 0. 0. 1. ]] SLAMing on 76.922557844 meters Centerline goodness : 0.146005 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99924248 -0.00211904 -0.03885828 -0.91880234] [ 0.00183987 0.99997225 -0.00721848 0.00235965] [ 0.0388725 0.00714152 0.99921866 0.83550353] [ 0. 0. 0. 1. ]] SLAMing on 76.952557844 meters Centerline goodness : 0.146005 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99924248 -0.00211904 -0.03885828 -0.91880234] [ 0.00183987 0.99997225 -0.00721848 0.00235965] [ 0.0388725 0.00714152 0.99921866 0.83550353] [ 0. 0. 0. 1. ]] SLAMing on 76.982557844 meters Centerline goodness : 0.150265 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 9.99282550e-01 -2.34127436e-03 -3.78008476e-02 -9.22391384e-01] [ 2.08091642e-03 9.99973853e-01 -6.92549750e-03 4.58991808e-04] [ 3.78160738e-02 6.84186839e-03 9.99261294e-01 8.37123195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.012557844 meters Centerline goodness : 0.148622 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 0.99928248 -0.00228481 -0.03780621 -0.92284831] [ 0.00203861 0.99997647 -0.00654943 -0.00155425] [ 0.03782028 0.00646766 0.99926363 0.83796652] [ 0. 0. 0. 1. ]] SLAMing on 77.042557844 meters Centerline goodness : 0.144319 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 0.99926967 -0.00223077 -0.03814653 -0.92213672] [ 0.00199434 0.99997858 -0.00623469 -0.00343398] [ 0.03815962 0.00615406 0.99925271 0.83829117] [ 0. 0. 0. 1. ]] SLAMing on 77.072557844 meters Centerline goodness : 0.152124 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.84 [[ 0.99920964 0.0050041 -0.03943416 -0.93928774] [-0.0053127 0.99995605 -0.00772492 -0.01072297] [ 0.03939377 0.00792831 0.99919231 0.83537922] [ 0. 0. 0. 1. ]] SLAMing on 77.102557844 meters Centerline goodness : 0.143324 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.83 [[ 9.99189805e-01 -5.25317841e-04 -4.02424852e-02 -9.14125923e-01] [ 3.27165272e-04 9.99987792e-01 -4.93039191e-03 -8.69529153e-03] [ 4.02445840e-02 4.91323139e-03 9.99177779e-01 8.34345001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.132557844 meters Centerline goodness : 0.141739 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.83 [[ 9.99199260e-01 -4.95107329e-04 -4.00074135e-02 -9.14798204e-01] [ 2.96811027e-04 9.99987644e-01 -4.96227660e-03 -8.20499724e-03] [ 4.00093760e-02 4.94642847e-03 9.99187061e-01 8.34428651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.162557844 meters Centerline goodness : 0.147066 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99214231e-01 -4.88074090e-04 -3.96318240e-02 -9.16150008e-01] [ 2.86846599e-04 9.99987041e-01 -5.08294951e-03 -7.26631530e-03] [ 3.96337913e-02 5.06758724e-03 9.99201422e-01 8.35030002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.192557844 meters Centerline goodness : 0.147152 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99220380e-01 -5.44168054e-04 -3.94757763e-02 -9.16853823e-01] [ 3.33905118e-04 9.99985725e-01 -5.33277637e-03 -5.95907778e-03] [ 3.94781147e-02 5.31543767e-03 9.99206297e-01 8.35515798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22255784400001 meters Centerline goodness : 0.133339 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99224715e-01 -5.79725571e-04 -3.93653640e-02 -9.17178535e-01] [ 3.49877587e-04 9.99982854e-01 -5.84547621e-03 -3.18251219e-03] [ 3.93680778e-02 5.82717124e-03 9.99207785e-01 8.35513459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.252557844 meters Centerline goodness : 0.146269 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.83 [[ 9.99222159e-01 -6.96415462e-04 -3.94283219e-02 -9.16645078e-01] [ 4.50865273e-04 9.99980452e-01 -6.23631099e-03 -1.24778773e-03] [ 3.94318943e-02 6.21368327e-03 9.99202940e-01 8.34797528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282557844 meters Centerline goodness : 0.149739 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.83 [[ 9.99222569e-01 -8.16180571e-04 -3.94156315e-02 -9.16255782e-01] [ 5.55768652e-04 9.99977951e-01 -6.61732378e-03 6.69469289e-04] [ 3.94201634e-02 6.59027329e-03 9.99200990e-01 8.34024720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.312557844 meters Centerline goodness : 0.149824 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.83 [[ 9.99227346e-01 -9.70545522e-04 -3.92908206e-02 -9.16679082e-01] [ 6.92080147e-04 9.99974553e-01 -7.10026955e-03 3.21040378e-03] [ 3.92967119e-02 7.06759110e-03 9.99202591e-01 8.34091394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342557844 meters Centerline goodness : 0.156701 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.83 [[ 9.99228415e-01 -1.01662941e-03 -3.92624591e-02 -9.17047636e-01] [ 7.33272071e-04 9.99973589e-01 -7.23073077e-03 3.97383186e-03] [ 3.92687732e-02 7.19636158e-03 9.99202770e-01 8.34570916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.372557844 meters Centerline goodness : 0.152546 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.83 [[ 9.99227072e-01 -1.07405834e-03 -3.92950935e-02 -9.17220541e-01] [ 7.85564813e-04 9.99972633e-01 -7.35642280e-03 4.55084369e-03] [ 3.93019194e-02 7.31986798e-03 9.99200570e-01 8.34980253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.402557844 meters Centerline goodness : 0.149753 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.84 [[ 0.99919498 -0.00886719 -0.0391251 -0.89725982] [ 0.00861507 0.99994106 -0.00660793 0.01172499] [ 0.03918139 0.00626555 0.99921247 0.83675333] [ 0. 0. 0. 1. ]] SLAMing on 77.432557844 meters Centerline goodness : 0.149170 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.83 [[ 9.99229484e-01 -8.48993544e-04 -3.92392329e-02 -9.17270849e-01] [ 5.65994162e-04 9.99973756e-01 -7.22270004e-03 6.31335101e-03] [ 3.92443351e-02 7.19492566e-03 9.99203741e-01 8.34945666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.462557844 meters Centerline goodness : 0.149221 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.83 [[ 9.99229267e-01 -8.44350845e-04 -3.92448613e-02 -9.17170145e-01] [ 5.60927465e-04 9.99973689e-01 -7.23237334e-03 6.53566603e-03] [ 3.92499354e-02 7.20478559e-03 9.99203450e-01 8.34804016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.492557844 meters Centerline goodness : 0.147633 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99229177e-01 -8.72758122e-04 -3.92465411e-02 -9.17339244e-01] [ 5.87529324e-04 9.99973338e-01 -7.27856267e-03 6.79687545e-03] [ 3.92518472e-02 7.24989369e-03 9.99203048e-01 8.35098730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.522557844 meters Centerline goodness : 0.150412 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99219458e-01 -9.65053022e-04 -3.94910622e-02 -9.17244815e-01] [ 6.75038688e-04 9.99972713e-01 -7.35647209e-03 6.73253181e-03] [ 3.94970839e-02 7.32407206e-03 9.99192843e-01 8.35964924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.552557844 meters Centerline goodness : 0.149697 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99214406e-01 -1.00980908e-03 -3.96175492e-02 -9.17100453e-01] [ 7.16488724e-04 9.99972235e-01 -7.41729857e-03 6.86946297e-03] [ 3.96239393e-02 7.38308606e-03 9.99187387e-01 8.36270539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58255784400001 meters Centerline goodness : 0.145065 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99213773e-01 -1.04022270e-03 -3.96327338e-02 -9.17003404e-01] [ 7.43640023e-04 9.99971618e-01 -7.49728295e-03 7.19284386e-03] [ 3.96394078e-02 7.46191590e-03 9.99186187e-01 8.36139858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.612557844 meters Centerline goodness : 0.153269 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99216669e-01 -1.08321382e-03 -3.95585005e-02 -9.17036795e-01] [ 7.82378014e-04 9.99970665e-01 -7.61952260e-03 7.65832166e-03] [ 3.95655936e-02 7.58260429e-03 9.99188204e-01 8.35869181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642557844 meters Centerline goodness : 0.152784 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99213420e-01 -1.06496616e-03 -3.96409781e-02 -9.16902581e-01] [ 7.65254391e-04 9.99971016e-01 -7.57506132e-03 7.45317119e-03] [ 3.96478963e-02 7.53876750e-03 9.99185274e-01 8.35987652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.672557844 meters Centerline goodness : 0.158373 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99210461e-01 -9.88739464e-04 -3.97174690e-02 -9.16805899e-01] [ 6.94309908e-04 9.99972184e-01 -7.42620932e-03 6.86830273e-03] [ 3.97237068e-02 7.39276981e-03 9.99183354e-01 8.36147401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702557844 meters Centerline goodness : 0.160032 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 9.99196740e-01 -8.43554537e-04 -4.00644890e-02 -9.16069041e-01] [ 5.66769248e-04 9.99975900e-01 -6.91935002e-03 4.17695434e-03] [ 4.00693603e-02 6.89108466e-03 9.99173138e-01 8.36400501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.732557844 meters Centerline goodness : 0.148441 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.84 [[ 0.99918412 -0.0088585 -0.03940322 -0.89526509] [ 0.00862264 0.9999439 -0.00615183 0.00754001] [ 0.03945551 0.00580705 0.99920445 0.83733016] [ 0. 0. 0. 1. ]] SLAMing on 77.762557844 meters Centerline goodness : 0.152548 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99232090e-01 -1.20154557e-03 -3.91635932e-02 -9.15270246e-01] [ 9.33328642e-04 9.99975992e-01 -6.86619302e-03 -5.93769360e-04] [ 3.91709030e-02 6.82436789e-03 9.99209222e-01 8.35266347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.792557844 meters Centerline goodness : 0.152950 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99242051e-01 -1.06721962e-03 -3.89125216e-02 -9.16085988e-01] [ 8.12935071e-04 9.99978218e-01 -6.55001150e-03 -2.05880390e-03] [ 3.89186643e-02 6.51341357e-03 9.99221153e-01 8.35574357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.822557844 meters Centerline goodness : 0.152501 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99242299e-01 -9.36610224e-04 -3.89095135e-02 -9.16376222e-01] [ 6.93005902e-04 9.99980079e-01 -6.27380641e-03 -3.35078496e-03] [ 3.89146145e-02 6.24208822e-03 9.99223043e-01 8.36044712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.852557844 meters Centerline goodness : 0.149844 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99230275e-01 -9.21199447e-04 -3.92174598e-02 -9.15321757e-01] [ 6.72951847e-04 9.99979658e-01 -6.34275781e-03 -2.85430158e-03] [ 3.92225050e-02 6.31148417e-03 9.99210569e-01 8.35570795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.882557844 meters Centerline goodness : 0.152404 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.84 [[ 9.99223053e-01 -8.77837676e-04 -3.94020336e-02 -9.14638568e-01] [ 6.25404796e-04 9.99979206e-01 -6.41846396e-03 -2.11275173e-03] [ 3.94068487e-02 6.38883493e-03 9.99202824e-01 8.35170775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.912557844 meters Centerline goodness : 0.149611 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.83 [[ 9.99212294e-01 -6.51947830e-04 -3.96782772e-02 -9.13674683e-01] [ 3.92650122e-04 9.99978521e-01 -6.54244628e-03 -6.70489235e-04] [ 3.96816903e-02 6.52171308e-03 9.99191088e-01 8.34599735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.942557844 meters Centerline goodness : 0.153113 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.83 [[ 9.99210552e-01 -7.00826658e-04 -3.97212923e-02 -9.13509222e-01] [ 4.36272233e-04 9.99977670e-01 -6.66854410e-03 -2.43403742e-04] [ 3.97250788e-02 6.64595034e-03 9.99188545e-01 8.34483776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97255784400001 meters Centerline goodness : 0.150731 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.83 [[ 9.99208004e-01 -7.28878216e-04 -3.97848422e-02 -9.13466993e-01] [ 4.62760452e-04 9.99977463e-01 -6.69772270e-03 -3.02584886e-04] [ 3.97888274e-02 6.67400728e-03 9.99185822e-01 8.34663950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002557844 meters Centerline goodness : 0.147901 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.83 [[ 9.99207662e-01 -7.14525887e-04 -3.97936774e-02 -9.13648133e-01] [ 4.50708341e-04 9.99977865e-01 -6.63821141e-03 -6.14936639e-04] [ 3.97975398e-02 6.61501636e-03 9.99185867e-01 8.34942258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.032557844 meters Centerline goodness : 0.149830 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.84 [[ 9.99204600e-01 -7.83373729e-04 -3.98691957e-02 -9.13932728e-01] [ 5.32034177e-04 9.99979923e-01 -6.31432362e-03 -2.35993460e-03] [ 3.98733417e-02 6.28808944e-03 9.99184956e-01 8.35757062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.062557844 meters Centerline goodness : 0.150225 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.84 [[ 9.99204499e-01 -7.34265413e-04 -3.98726652e-02 -9.14212076e-01] [ 4.95448350e-04 9.99981883e-01 -5.99904442e-03 -3.96219607e-03] [ 3.98763478e-02 5.97451733e-03 9.99186760e-01 8.36280968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.092557844 meters Centerline goodness : 0.151821 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99212457e-01 -7.43909447e-04 -3.96725573e-02 -9.15174455e-01] [ 5.17250675e-04 9.99983489e-01 -5.72319663e-03 -5.62548156e-03] [ 3.96761598e-02 5.69816871e-03 9.99196344e-01 8.37082914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.122557844 meters Centerline goodness : 0.153237 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99221807e-01 -7.69690950e-04 -3.94358843e-02 -9.16220802e-01] [ 5.50772500e-04 9.99984381e-01 -5.56181356e-03 -6.67885024e-03] [ 3.94395493e-02 5.53576519e-03 9.99206624e-01 8.37887511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.152557844 meters Centerline goodness : 0.137551 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99221605e-01 -7.63641290e-04 -3.94411066e-02 -9.16490347e-01] [ 5.45705683e-04 9.99984527e-01 -5.53606591e-03 -6.59965730e-03] [ 3.94447239e-02 5.51023342e-03 9.99206561e-01 8.38358670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.182557844 meters Centerline goodness : 0.159982 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99215646e-01 -8.21863533e-04 -3.95906270e-02 -9.15799143e-01] [ 5.96008615e-04 9.99983485e-01 -5.71622235e-03 -5.57167014e-03] [ 3.95946711e-02 5.68814246e-03 9.99199633e-01 8.37826053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.212557844 meters Centerline goodness : 0.152440 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.84 [[ 9.99203090e-01 -8.82697278e-04 -3.99049475e-02 -9.14540820e-01] [ 6.45138070e-04 9.99981997e-01 -5.96561202e-03 -4.29260097e-03] [ 3.99094949e-02 5.93511376e-03 9.99185672e-01 8.37040966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.242557844 meters Centerline goodness : 0.159694 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.84 [[ 9.99201243e-01 -1.12267769e-03 -3.99451524e-02 -9.14375041e-01] [ 8.64659081e-04 9.99978657e-01 -6.47601238e-03 -2.27904055e-03] [ 3.99515704e-02 6.43630068e-03 9.99180888e-01 8.36924181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.272557844 meters Centerline goodness : 0.156059 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99206364e-01 -1.18100343e-03 -3.98151602e-02 -9.15113687e-01] [ 9.18231433e-04 9.99977683e-01 -6.61743867e-03 -1.57315174e-03] [ 3.98220869e-02 6.57562730e-03 9.99185149e-01 8.37567201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.302557844 meters Centerline goodness : 0.158143 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99211629e-01 -1.15738594e-03 -3.96834982e-02 -9.15986046e-01] [ 8.95285444e-04 9.99977674e-01 -6.62190787e-03 -1.18632768e-03] [ 3.96902764e-02 6.58115930e-03 9.99190357e-01 8.38431484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33255784400001 meters Centerline goodness : 0.155939 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99216508e-01 -1.15041617e-03 -3.95606698e-02 -9.16771918e-01] [ 8.88428617e-04 9.99977564e-01 -6.63936733e-03 -8.23983230e-04] [ 3.95674203e-02 6.59901861e-03 9.99195112e-01 8.39190619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362557844 meters Centerline goodness : 0.155879 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99222232e-01 -1.16922760e-03 -3.94152821e-02 -9.17485418e-01] [ 9.11069184e-04 9.99978022e-01 -6.56702939e-03 -1.63380050e-03] [ 3.94220942e-02 6.52601171e-03 9.99201336e-01 8.39773951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.392557844 meters Centerline goodness : 0.151641 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99219777e-01 -1.19976846e-03 -3.94765414e-02 -9.17192808e-01] [ 9.42376760e-04 9.99978182e-01 -6.53808010e-03 -2.22383649e-03] [ 3.94835243e-02 6.49577716e-03 9.99199107e-01 8.39581427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.422557844 meters Centerline goodness : 0.150955 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99219063e-01 -1.24241677e-03 -3.94932896e-02 -9.16920458e-01] [ 9.81620079e-04 9.99977591e-01 -6.62227526e-03 -1.93521533e-03] [ 3.95006323e-02 6.57833628e-03 9.99197891e-01 8.39182128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.452557844 meters Centerline goodness : 0.159179 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99220735e-01 -1.24344768e-03 -3.94509485e-02 -9.16882084e-01] [ 9.76932172e-04 9.99976578e-01 -6.77417621e-03 -8.46490799e-04] [ 3.94584478e-02 6.73035643e-03 9.99198545e-01 8.38853925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.482557844 meters Centerline goodness : 0.156294 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 9.99217252e-01 -1.08597794e-03 -3.95437018e-02 -9.16717608e-01] [ 8.12566393e-04 9.99975660e-01 -6.92957752e-03 9.84819340e-04] [ 3.95502647e-02 6.89202152e-03 9.99193813e-01 8.38909884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.512557844 meters Centerline goodness : 0.156110 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 9.99210431e-01 -1.10157967e-03 -3.97152498e-02 -9.16366945e-01] [ 8.23639255e-04 9.99975062e-01 -7.01401277e-03 1.39728670e-03] [ 3.97219859e-02 6.97576369e-03 9.99186420e-01 8.39049347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.542557844 meters Centerline goodness : 0.156756 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 9.99207075e-01 -1.09106462e-03 -3.97998747e-02 -9.16235572e-01] [ 8.12151607e-04 9.99975006e-01 -7.02338189e-03 1.38777985e-03] [ 3.98065429e-02 6.98548935e-03 9.99182987e-01 8.39166247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.572557844 meters Centerline goodness : 0.132756 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 9.99221876e-01 -9.36251928e-04 -3.94305287e-02 -9.17435052e-01] [ 6.68997221e-04 9.99976720e-01 -6.79051190e-03 5.67795156e-04] [ 3.94359684e-02 6.75884913e-03 9.99199241e-01 8.39541348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.602557844 meters Centerline goodness : 0.152866 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99229663e-01 -8.46600816e-04 -3.92347150e-02 -9.17970499e-01] [ 5.87422868e-04 9.99977936e-01 -6.61688971e-03 -1.56002327e-04] [ 3.92394511e-02 6.58874511e-03 9.99208113e-01 8.39592210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.632557844 meters Centerline goodness : 0.147384 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99232959e-01 -7.90110235e-04 -3.91518792e-02 -9.18147084e-01] [ 5.36691694e-04 9.99978842e-01 -6.48279198e-03 -8.42402550e-04] [ 3.91561729e-02 6.45680693e-03 9.99212242e-01 8.39540026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.662557844 meters Centerline goodness : 0.154283 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99229204e-01 -7.69523014e-04 -3.92479993e-02 -9.17933549e-01] [ 5.17507288e-04 9.99979188e-01 -6.43086545e-03 -1.14626488e-03] [ 3.92521312e-02 6.40559744e-03 9.99208806e-01 8.39571789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.692557844 meters Centerline goodness : 0.136550 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99222871e-01 -6.79030097e-04 -3.94105630e-02 -9.17542913e-01] [ 4.27791600e-04 9.99979537e-01 -6.38298549e-03 -8.34396053e-04] [ 3.94140908e-02 6.36116558e-03 9.99202715e-01 8.39558775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72255784400001 meters Centerline goodness : 0.143461 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99224756e-01 -6.70665331e-04 -3.93629014e-02 -9.17581581e-01] [ 4.18162729e-04 9.99979287e-01 -6.42261824e-03 -4.36068525e-04] [ 3.93663935e-02 6.40117905e-03 9.99204339e-01 8.39403213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.752557844 meters Centerline goodness : 0.146979 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99227727e-01 -6.27955606e-04 -3.92881013e-02 -9.17767355e-01] [ 3.79661131e-04 9.99979912e-01 -6.32698079e-03 -9.01625119e-04] [ 3.92912852e-02 6.30717847e-03 9.99207893e-01 8.39383624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.782557844 meters Centerline goodness : 0.155032 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99225711e-01 -5.81240394e-04 -3.93400695e-02 -9.17747154e-01] [ 3.46311255e-04 9.99982070e-01 -5.97830318e-03 -3.41885666e-03] [ 3.93428390e-02 5.96005033e-03 9.99207996e-01 8.39598992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.812557844 meters Centerline goodness : 0.153490 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99223688e-01 -4.90485671e-04 -3.93926361e-02 -9.17696428e-01] [ 2.64056869e-04 9.99983417e-01 -5.75299550e-03 -4.45053360e-03] [ 3.93948046e-02 5.73812748e-03 9.99207247e-01 8.39720629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842557844 meters Centerline goodness : 0.153490 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99223688e-01 -4.90485671e-04 -3.93926361e-02 -9.17696428e-01] [ 2.64056869e-04 9.99983417e-01 -5.75299550e-03 -4.45053360e-03] [ 3.93948046e-02 5.73812748e-03 9.99207247e-01 8.39720629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.872557844 meters Centerline goodness : 0.151739 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99218835e-01 -3.88016998e-04 -3.95166921e-02 -9.17461521e-01] [ 1.68631405e-04 9.99984557e-01 -5.55490145e-03 -5.11678595e-03] [ 3.95182372e-02 5.54389840e-03 9.99203470e-01 8.39834696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.902557844 meters Centerline goodness : 0.147151 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99201394e-01 -3.39616464e-04 -3.99557212e-02 -9.16150353e-01] [ 1.27464899e-04 9.99985883e-01 -5.31209444e-03 -6.43476183e-03] [ 3.99569612e-02 5.30275922e-03 9.99187331e-01 8.39565012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.932557844 meters Centerline goodness : 0.155551 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99202073e-01 -3.53542687e-04 -3.99386066e-02 -9.16217922e-01] [ 1.43938424e-04 9.99986203e-01 -5.25091523e-03 -7.15659097e-03] [ 3.99399120e-02 5.24097668e-03 9.99188338e-01 8.39643440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.962557844 meters Centerline goodness : 0.153710 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99208824e-01 -4.06981824e-04 -3.97688327e-02 -9.16883409e-01] [ 1.94709643e-04 9.99985716e-01 -5.34137925e-03 -6.96252376e-03] [ 3.97704385e-02 5.32940990e-03 9.99194630e-01 8.40014264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.992557844 meters Centerline goodness : 0.151641 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99215082e-01 -4.96573462e-04 -3.96102660e-02 -9.17358319e-01] [ 2.72655664e-04 9.99983955e-01 -5.65822615e-03 -5.38878945e-03] [ 3.96124402e-02 5.64298494e-03 9.99199185e-01 8.40091246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.022557844 meters Centerline goodness : 0.153827 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 0.99918881 0.00334432 -0.04013138 -0.91542095] [-0.0034446 0.99999112 -0.00242992 -0.00205194] [ 0.0401229 0.00256618 0.99919146 0.83905673] [ 0. 0. 0. 1. ]] SLAMing on 79.052557844 meters Centerline goodness : 0.130274 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.00, Z:0.84 [[ 9.99182041e-01 3.21609465e-03 -4.03101169e-02 -9.14757562e-01] [-3.33756529e-03 9.99990089e-01 -2.94646930e-03 6.75095591e-04] [ 4.03002413e-02 3.07859685e-03 9.99182873e-01 8.38601303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08255784400001 meters Centerline goodness : 0.152243 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.9991887 0.00312483 -0.04015189 -0.91515374] [-0.00325872 0.99998935 -0.00326956 0.0024734 ] [ 0.04014124 0.00339775 0.99918824 0.83851393] [ 0. 0. 0. 1. ]] SLAMing on 79.112557844 meters Centerline goodness : 0.149183 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.9991994 0.00303025 -0.03989203 -0.91597706] [-0.00317498 0.9999886 -0.00356516 0.0043707 ] [ 0.03988077 0.00368896 0.99919764 0.83868524] [ 0. 0. 0. 1. ]] SLAMing on 79.142557844 meters Centerline goodness : 0.145847 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99919132 0.00292657 -0.0401017 -0.9154383 ] [-0.00307339 0.9999888 -0.00360016 0.00414791] [ 0.04009071 0.00372049 0.99918912 0.83867438] [ 0. 0. 0. 1. ]] SLAMing on 79.172557844 meters Centerline goodness : 0.129776 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.01, Z:0.84 [[ 0.99918163 -0.0054352 -0.04008143 -0.89442422] [ 0.00531118 0.99998078 -0.00320001 0.00856699] [ 0.04009805 0.00298451 0.99919129 0.84045347] [ 0. 0. 0. 1. ]] SLAMing on 79.202557844 meters Centerline goodness : 0.145639 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.84 [[ 0.99918989 -0.00634112 -0.03974113 -0.89602778] [ 0.00620521 0.99997447 -0.00354227 0.00776111] [ 0.03976258 0.0032928 0.99920373 0.84173183] [ 0. 0. 0. 1. ]] SLAMing on 79.232557844 meters Centerline goodness : 0.164655 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.84 [[ 0.9992012 -0.00627685 -0.03946606 -0.89707065] [ 0.00615747 0.9999761 -0.00314562 0.00612972] [ 0.03948486 0.00290009 0.99921596 0.84238601] [ 0. 0. 0. 1. ]] SLAMing on 79.262557844 meters Centerline goodness : 0.156815 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:0.84 [[ 0.99930961 -0.00628721 -0.03661671 -0.85567381] [ 0.00617173 0.99997562 -0.00326593 0.00720446] [ 0.03663635 0.00303769 0.99932405 0.84378055] [ 0. 0. 0. 1. ]] SLAMing on 79.292557844 meters Centerline goodness : 0.154657 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:0.84 [[ 0.99928613 -0.01047196 -0.03629824 -0.85620031] [ 0.0102236 0.99992309 -0.00702106 0.00550034] [ 0.03636897 0.00664495 0.99931634 0.84359705] [ 0. 0. 0. 1. ]] SLAMing on 79.322557844 meters Centerline goodness : 0.164930 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.84 [[ 9.99332425e-01 -2.98442159e-03 -3.64114905e-02 -8.34900077e-01] [ 2.67296206e-03 9.99959451e-01 -8.59956330e-03 6.48661110e-04] [ 3.64356788e-02 8.49649592e-03 9.99299880e-01 8.44838352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.352557844 meters Centerline goodness : 0.159566 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.00, Z:0.84 [[ 9.99320377e-01 -2.91690439e-03 -3.67460985e-02 -8.33868390e-01] [ 2.61350397e-03 9.99962122e-01 -8.30200080e-03 -7.72990587e-04] [ 3.67689228e-02 8.20032250e-03 9.99290149e-01 8.44491380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.382557844 meters Centerline goodness : 0.169349 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.00, Z:0.84 [[ 0.99931066 -0.00279933 -0.03701837 -0.83313251] [ 0.00250799 0.99996554 -0.0079144 -0.00256915] [ 0.03703925 0.0078161 0.99928324 0.84441797] [ 0. 0. 0. 1. ]] SLAMing on 79.412557844 meters Centerline goodness : 0.161123 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.01, Z:0.85 [[ 0.99931314 -0.0035088 -0.03689075 -0.83404469] [ 0.00322183 0.99996411 -0.00783545 -0.00665565] [ 0.03691692 0.00771122 0.99928859 0.84537884] [ 0. 0. 0. 1. ]] SLAMing on 79.442557844 meters Centerline goodness : 0.169524 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.01, Z:0.85 [[ 0.99931524 -0.0034678 -0.03683791 -0.83470244] [ 0.00320076 0.99996819 -0.00730537 -0.00997361] [ 0.03686207 0.00718246 0.99929455 0.84619447] [ 0. 0. 0. 1. ]] SLAMing on 79.47255784400001 meters Centerline goodness : 0.163243 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.01, Z:0.85 [[ 0.99932203 -0.00337802 -0.03666161 -0.83554153] [ 0.00312812 0.9999715 -0.0068714 -0.0121475 ] [ 0.03668378 0.00675206 0.99930411 0.84674308] [ 0. 0. 0. 1. ]] SLAMing on 79.502557844 meters Centerline goodness : 0.153890 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.01, Z:0.85 [[ 0.99932191 -0.00321323 -0.03667967 -0.83547996] [ 0.00297775 0.99997462 -0.0064725 -0.01389626] [ 0.03669953 0.00635889 0.99930611 0.84672182] [ 0. 0. 0. 1. ]] SLAMing on 79.532557844 meters Centerline goodness : 0.168399 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.85 [[ 0.999396 -0.00274764 -0.03464213 -0.78979834] [ 0.00250855 0.99997275 -0.00694334 -0.01490191] [ 0.03466027 0.00685224 0.99937566 0.846408 ] [ 0. 0. 0. 1. ]] SLAMing on 79.562557844 meters Centerline goodness : 0.157206 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.85 [[ 0.9993998 -0.00282622 -0.03452604 -0.79039544] [ 0.00258366 0.99997168 -0.00706789 -0.01464574] [ 0.03454504 0.00697444 0.99937881 0.84692054] [ 0. 0. 0. 1. ]] SLAMing on 79.592557844 meters Centerline goodness : 0.150137 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.85 [[ 0.99940967 -0.00282089 -0.03423974 -0.79153285] [ 0.00257812 0.99997124 -0.00713234 -0.01431341] [ 0.03425887 0.00703985 0.9993882 0.84761312] [ 0. 0. 0. 1. ]] SLAMing on 79.622557844 meters Centerline goodness : 0.138118 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.85 [[ 0.99944684 -0.00232562 -0.0331753 -0.79465742] [ 0.00209866 0.99997417 -0.00687425 -0.01382572] [ 0.03319043 0.00680083 0.99942591 0.84828737] [ 0. 0. 0. 1. ]] SLAMing on 79.652557844 meters Centerline goodness : 0.159875 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.85 [[ 0.99944044 -0.00230737 -0.03336883 -0.79403841] [ 0.00207794 0.99997398 -0.00690841 -0.01362378] [ 0.0333839 0.00683521 0.99941923 0.84812058] [ 0. 0. 0. 1. ]] SLAMing on 79.682557844 meters Centerline goodness : 0.151191 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.85 [[ 0.99943421 -0.00231809 -0.03355422 -0.79325039] [ 0.00208854 0.99997419 -0.00687462 -0.01417193] [ 0.03356929 0.00680065 0.99941325 0.8476165 ] [ 0. 0. 0. 1. ]] SLAMing on 79.712557844 meters Centerline goodness : 0.128341 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99942766 -0.00228263 -0.03375119 -0.79256308] [ 0.0020569 0.9999753 -0.0067212 -0.01521129] [ 0.0337657 0.00664793 0.99940767 0.84727274] [ 0. 0. 0. 1. ]] SLAMing on 79.742557844 meters Centerline goodness : 0.146168 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99943461 -0.00205899 -0.03355916 -0.79327868] [ 0.00185291 0.99997924 -0.0061707 -0.01771301] [ 0.03357117 0.00610503 0.99941768 0.84763411] [ 0. 0. 0. 1. ]] SLAMing on 79.772557844 meters Centerline goodness : 0.154628 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99943627 -0.00193594 -0.03351717 -0.79354331] [ 0.00173982 0.9999812 -0.00587956 -0.01895261] [ 0.03352792 0.00581793 0.99942085 0.84789473] [ 0. 0. 0. 1. ]] SLAMing on 79.802557844 meters Centerline goodness : 0.124984 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.85 [[ 0.99941212 -0.00961181 -0.03290948 -0.77352344] [ 0.00945939 0.99994381 -0.00478408 -0.01541667] [ 0.03295362 0.00446996 0.99944689 0.84949414] [ 0. 0. 0. 1. ]] SLAMing on 79.83255784400001 meters Centerline goodness : 0.147189 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99946622 -0.0013901 -0.03263973 -0.79179495] [ 0.00119843 0.99998193 -0.00589107 -0.02361201] [ 0.03264732 0.00584881 0.99944982 0.84710642] [ 0. 0. 0. 1. ]] SLAMing on 79.862557844 meters Centerline goodness : 0.162282 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99945578 -0.00129399 -0.03296168 -0.79025083] [ 0.00110438 0.99998274 -0.00576998 -0.02398796] [ 0.03296858 0.00573044 0.99943996 0.84592638] [ 0. 0. 0. 1. ]] SLAMing on 79.892557844 meters Centerline goodness : 0.142130 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99945 -0.00128124 -0.03313681 -0.78949515] [ 0.00108935 0.99998254 -0.00580848 -0.02369605] [ 0.03314367 0.00576919 0.99943395 0.84540079] [ 0. 0. 0. 1. ]] SLAMing on 79.922557844 meters Centerline goodness : 0.142292 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99944853 -0.00125227 -0.03318225 -0.78931021] [ 0.00105825 0.99998225 -0.00586422 -0.0232474 ] [ 0.03318901 0.00582587 0.99943211 0.84526572] [ 0. 0. 0. 1. ]] SLAMing on 79.952557844 meters Centerline goodness : 0.133742 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99944815 -0.00121407 -0.03319517 -0.78942105] [ 0.00101836 0.99998201 -0.00591198 -0.0227779 ] [ 0.03320175 0.00587491 0.9994314 0.845507 ] [ 0. 0. 0. 1. ]] SLAMing on 79.982557844 meters Centerline goodness : 0.156650 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 9.99446460e-01 -1.13672615e-03 -3.32487661e-02 -7.89229450e-01] [ 9.40524473e-04 9.99982058e-01 -5.91606610e-03 -2.26008041e-02] [ 3.32548945e-02 5.88152005e-03 9.99429597e-01 8.45388463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.012557844 meters Centerline goodness : 0.147903 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.85 [[ 0.9994338 0.00745764 -0.03280951 -0.76850235] [-0.007701 0.99994372 -0.00729729 -0.02568835] [ 0.03275324 0.00754582 0.99943498 0.84655767] [ 0. 0. 0. 1. ]] SLAMing on 80.042557844 meters Centerline goodness : 0.167545 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99943042 -0.00133221 -0.03372046 -0.7872452 ] [ 0.00111196 0.99997793 -0.00654946 -0.01949687] [ 0.03372844 0.00650823 0.99940984 0.84508838] [ 0. 0. 0. 1. ]] SLAMing on 80.072557844 meters Centerline goodness : 0.163757 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.84 [[ 0.99943168 -0.00134972 -0.03368224 -0.78721132] [ 0.00112309 0.99997661 -0.00674666 -0.018374 ] [ 0.03369055 0.00670499 0.99940982 0.8448745 ] [ 0. 0. 0. 1. ]] SLAMing on 80.102557844 meters Centerline goodness : 0.142387 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 9.99459528e-01 -1.10014852e-03 -3.28548706e-02 -7.89467357e-01] [ 8.73770007e-04 9.99975787e-01 -6.90382043e-03 -1.63871483e-02] [ 3.28616703e-02 6.87138150e-03 9.99436288e-01 8.45143044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.132557844 meters Centerline goodness : 0.144264 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:0.85 [[ 9.99540417e-01 2.25765639e-04 -3.03134365e-02 -7.46269039e-01] [-4.44023668e-04 9.99974028e-01 -7.19350401e-03 -1.28601270e-02] [ 3.03110251e-02 7.20365787e-03 9.99514557e-01 8.46162229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.162557844 meters Centerline goodness : 0.152396 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:0.85 [[ 9.99542278e-01 2.13163857e-04 -3.02520833e-02 -7.46388036e-01] [-4.32394668e-04 9.99973694e-01 -7.24044357e-03 -1.26798924e-02] [ 3.02497441e-02 7.25021030e-03 9.99516077e-01 8.46088768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.192557844 meters Centerline goodness : 0.150124 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:0.85 [[ 9.99536770e-01 2.25556065e-04 -3.04334590e-02 -7.45750147e-01] [-4.47599141e-04 9.99973332e-01 -7.28940308e-03 -1.24064759e-02] [ 3.04310032e-02 7.29964839e-03 9.99510215e-01 8.45732538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22255784400001 meters Centerline goodness : 0.156424 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:0.85 [[ 9.99533365e-01 2.32834856e-04 -3.05450190e-02 -7.45580450e-01] [-4.55170394e-04 9.99973454e-01 -7.27219454e-03 -1.24508614e-02] [ 3.05425149e-02 7.28270427e-03 9.99506937e-01 8.45919413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.252557844 meters Centerline goodness : 0.157115 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:0.85 [[ 9.99531695e-01 2.89387853e-04 -3.05991264e-02 -7.45648796e-01] [-5.08850083e-04 9.99974204e-01 -7.16462934e-03 -1.28947671e-02] [ 3.05962637e-02 7.17684448e-03 9.99506059e-01 8.46249117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282557844 meters Centerline goodness : 0.149726 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:0.85 [[ 9.99530765e-01 3.85314296e-04 -3.06284261e-02 -7.45860232e-01] [-5.98195545e-04 9.99975728e-01 -6.94158775e-03 -1.38888955e-02] [ 3.06250080e-02 6.95665231e-03 9.99506735e-01 8.46711719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.312557844 meters Centerline goodness : 0.138070 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.01, Z:0.85 [[ 0.99956774 -0.00730119 -0.02847856 -0.72624225] [ 0.00714383 0.99995867 -0.00562339 -0.01155373] [ 0.02851844 0.00541752 0.99957859 0.84822453] [ 0. 0. 0. 1. ]] SLAMing on 80.342557844 meters Centerline goodness : 0.161871 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.01, Z:0.85 [[ 0.99957795 -0.00715412 -0.02815569 -0.72750007] [ 0.00700988 0.99996182 -0.00521807 -0.01346551] [ 0.02819194 0.0050185 0.99958993 0.84893262] [ 0. 0. 0. 1. ]] SLAMing on 80.372557844 meters Centerline goodness : 0.149359 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:0.85 [[ 9.99628081e-01 3.84077304e-04 -2.72681390e-02 -7.48220031e-01] [-5.37557062e-04 9.99984055e-01 -5.62143070e-03 -2.18971467e-02] [ 2.72655452e-02 5.63399817e-03 9.99612349e-01 8.47410383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.402557844 meters Centerline goodness : 0.165337 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:0.85 [[ 9.99612705e-01 4.80793363e-04 -2.78246074e-02 -7.46672849e-01] [-6.21531107e-04 9.99987058e-01 -5.04960406e-03 -2.52294747e-02] [ 2.78218195e-02 5.06494223e-03 9.99600066e-01 8.47194786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.432557844 meters Centerline goodness : 0.141255 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:0.85 [[ 9.99604444e-01 5.69588888e-04 -2.81181768e-02 -7.45777527e-01] [-7.03577357e-04 9.99988445e-01 -4.75552690e-03 -2.67215568e-02] [ 2.81151432e-02 4.77342913e-03 9.99593294e-01 8.46926047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.462557844 meters Centerline goodness : 0.149336 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:0.85 [[ 9.99601057e-01 7.04612932e-04 -2.82352783e-02 -7.45372613e-01] [-8.30955619e-04 9.99989695e-01 -4.46315570e-03 -2.79446101e-02] [ 2.82318425e-02 4.48483742e-03 9.99591341e-01 8.46727266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.492557844 meters Centerline goodness : 0.128282 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:0.85 [[ 0.99960411 0.00101373 -0.02811759 -0.74590514] [-0.00111854 0.99999248 -0.00371203 -0.03145787] [ 0.02811361 0.00374201 0.99959773 0.84718581] [ 0. 0. 0. 1. ]] SLAMing on 80.522557844 meters Centerline goodness : 0.161711 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:0.85 [[ 0.99960252 0.00108581 -0.02817115 -0.74594335] [-0.001183 0.99999341 -0.00343348 -0.03329891] [ 0.02816724 0.00346544 0.99959722 0.84752353] [ 0. 0. 0. 1. ]] SLAMing on 80.552557844 meters Centerline goodness : 0.137747 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:0.85 [[ 0.99959897 0.00115891 -0.028294 -0.74566471] [-0.00125093 0.99999399 -0.00323469 -0.03452082] [ 0.02829008 0.00326879 0.99959441 0.84759613] [ 0. 0. 0. 1. ]] SLAMing on 80.58255784400001 meters Centerline goodness : 0.152713 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.03, Z:0.85 [[ 0.99959416 0.00147649 -0.02844881 -0.74477144] [-0.00156323 0.9999942 -0.00302705 -0.03458472] [ 0.02844417 0.00307029 0.99959067 0.84671321] [ 0. 0. 0. 1. ]] SLAMing on 80.612557844 meters Centerline goodness : 0.138932 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.85 [[ 0.99951452 0.00178958 -0.03110503 -0.7911581 ] [-0.00183135 0.99999746 -0.00131429 -0.0382787 ] [ 0.03110259 0.00137062 0.99951526 0.84717587] [ 0. 0. 0. 1. ]] SLAMing on 80.642557844 meters Centerline goodness : 0.153130 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:0.85 [[ 0.99958071 0.00335447 -0.02876024 -0.74733481] [-0.00340355 0.99999283 -0.00165748 -0.03535939] [ 0.02875448 0.00175467 0.99958496 0.84769892] [ 0. 0. 0. 1. ]] SLAMing on 80.672557844 meters Centerline goodness : 0.138987 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:0.85 [[ 0.99958121 0.00334441 -0.02874386 -0.7475155 ] [-0.00339395 0.99999284 -0.00167477 -0.03558955] [ 0.02873806 0.00177162 0.99958541 0.84797014] [ 0. 0. 0. 1. ]] SLAMing on 80.702557844 meters Centerline goodness : 0.158595 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:0.85 [[ 0.99957323 0.00340546 -0.02901307 -0.74695038] [-0.0034555 0.99999263 -0.00167478 -0.03574577] [ 0.02900716 0.00177432 0.99957763 0.84807532] [ 0. 0. 0. 1. ]] SLAMing on 80.732557844 meters Centerline goodness : 0.137052 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:0.85 [[ 0.99956924 0.00346361 -0.02914344 -0.74648871] [-0.00351287 0.99999249 -0.00163931 -0.03567333] [ 0.02913754 0.00174098 0.9995739 0.8478331 ] [ 0. 0. 0. 1. ]] SLAMing on 80.762557844 meters Centerline goodness : 0.137052 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:0.85 [[ 0.99956924 0.00346361 -0.02914344 -0.74648871] [-0.00351287 0.99999249 -0.00163931 -0.03567333] [ 0.02913754 0.00174098 0.9995739 0.8478331 ] [ 0. 0. 0. 1. ]] SLAMing on 80.792557844 meters Centerline goodness : 0.141610 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:0.85 [[ 0.99956934 0.00355056 -0.02912956 -0.74636051] [-0.00359543 0.99999243 -0.00148815 -0.03624515] [ 0.02912405 0.00159224 0.99957454 0.84756919] [ 0. 0. 0. 1. ]] SLAMing on 80.822557844 meters Centerline goodness : 0.153775 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:0.85 [[ 9.99576762e-01 -3.95199395e-03 -2.88214800e-02 -7.26661491e-01] [ 3.93856665e-03 9.99992107e-01 -5.22633035e-04 -3.23971179e-02] [ 2.88233179e-02 4.08896517e-04 9.99584438e-01 8.48813954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.852557844 meters Centerline goodness : 0.159456 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:0.85 [[ 9.99578231e-01 -3.84435723e-03 -2.87850716e-02 -7.26745523e-01] [ 3.83982039e-03 9.99992605e-01 -2.12885835e-04 -3.40676319e-02] [ 2.87856772e-02 1.02266542e-04 9.99585601e-01 8.48846747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.882557844 meters Centerline goodness : 0.150421 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:0.85 [[ 9.99585892e-01 -3.63556461e-03 -2.85451824e-02 -7.27739569e-01] [ 3.64830769e-03 9.99993267e-01 3.94348917e-04 -3.69761275e-02] [ 2.85435565e-02 -4.98327222e-04 9.99592425e-01 8.49559095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.912557844 meters Centerline goodness : 0.170675 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:0.85 [[ 9.99589475e-01 -3.52533241e-03 -2.84333070e-02 -7.28190379e-01] [ 3.54348197e-03 9.99993549e-01 5.87958929e-04 -3.75667423e-02] [ 2.84310508e-02 -6.88470468e-04 9.99595519e-01 8.49840092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.942557844 meters Centerline goodness : 0.156024 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.03, Z:0.85 [[ 9.99654380e-01 -2.02842018e-03 -2.62107880e-02 -6.84788021e-01] [ 2.04323778e-03 9.99997768e-01 5.38554918e-04 -3.48502526e-02] [ 2.62096371e-02 -5.91923655e-04 9.99656293e-01 8.50500536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97255784400001 meters Centerline goodness : 0.139292 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.03, Z:0.85 [[ 9.99648867e-01 -2.07113105e-03 -2.64168939e-02 -6.84007764e-01] [ 2.08401703e-03 9.99997723e-01 4.60271008e-04 -3.48143242e-02] [ 2.64158804e-02 -5.15162648e-04 9.99650907e-01 8.50138746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002557844 meters Centerline goodness : 0.204990 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.03, Z:0.85 [[ 9.99645965e-01 -2.13527346e-03 -2.65214252e-02 -6.83415014e-01] [ 2.14354200e-03 9.99997662e-01 2.83342530e-04 -3.40714848e-02] [ 2.65207582e-02 -3.40092006e-04 9.99648205e-01 8.49557094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.032557844 meters Centerline goodness : 0.169098 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.03, Z:0.85 [[ 9.99641584e-01 -2.13654409e-03 -2.66859435e-02 -6.82706780e-01] [ 2.14135956e-03 9.99997696e-01 1.51873913e-04 -3.32816452e-02] [ 2.66855576e-02 -2.08963679e-04 9.99643855e-01 8.49050078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062557844 meters Centerline goodness : 0.164838 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:0.85 [[ 0.9995477 -0.00240479 -0.02997699 -0.72986299] [ 0.00244578 0.99999612 0.00133061 -0.03725099] [ 0.02997368 -0.00140333 0.9995497 0.85061934] [ 0. 0. 0. 1. ]] SLAMing on 81.092557844 meters Centerline goodness : 0.146551 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.03, Z:0.85 [[ 9.99604068e-01 -3.59935990e-04 -2.81349966e-02 -6.85524343e-01] [ 3.99196841e-04 9.99998954e-01 1.38984102e-03 -3.23126607e-02] [ 2.81344670e-02 -1.40052214e-03 9.99603166e-01 8.51329034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.122557844 meters Centerline goodness : 0.136391 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.03, Z:0.85 [[ 9.99604642e-01 -4.14768418e-04 -2.81138419e-02 -6.85504529e-01] [ 4.49539630e-04 9.99999142e-01 1.23049130e-03 -3.15122418e-02] [ 2.81133074e-02 -1.24264311e-03 9.99603970e-01 8.51147695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.152557844 meters Centerline goodness : 0.155166 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.03, Z:0.85 [[ 9.99609427e-01 8.29900598e-03 -2.66855904e-02 -6.65581967e-01] [-8.30552607e-03 9.99965500e-01 -1.33498760e-04 -3.30330907e-02] [ 2.66835619e-02 3.55084486e-04 9.99643867e-01 8.51906080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.182557844 meters Centerline goodness : 0.130149 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.03, Z:0.85 [[ 9.99617263e-01 8.24359746e-03 -2.64077812e-02 -6.66302431e-01] [-8.25338742e-03 9.99965906e-01 -2.61746145e-04 -3.23867338e-02] [ 2.64047231e-02 4.79599614e-04 9.99651219e-01 8.51892267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.212557844 meters Centerline goodness : 0.159638 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.03, Z:0.85 [[ 9.99707160e-01 -2.38573644e-04 -2.41978919e-02 -6.87685013e-01] [ 2.52125366e-04 9.99999813e-01 5.56987936e-04 -2.63866246e-02] [ 2.41977545e-02 -5.62925730e-04 9.99707033e-01 8.49587471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.242557844 meters Centerline goodness : 0.145084 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.02, Z:0.85 [[ 9.99709521e-01 -3.61372867e-04 -2.40986038e-02 -6.87927378e-01] [ 3.66938765e-04 9.99999907e-01 2.26541888e-04 -2.48186749e-02] [ 2.40985197e-02 -2.35318794e-04 9.99709561e-01 8.49533606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.272557844 meters Centerline goodness : 0.145464 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99740106e-01 1.65734600e-03 -2.27370385e-02 -6.42924992e-01] [-1.66188788e-03 9.99998603e-01 -1.80862348e-04 -1.65973753e-02] [ 2.27367070e-02 2.18601752e-04 9.99741464e-01 8.49337636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.302557844 meters Centerline goodness : 0.148043 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99740618e-01 1.49376577e-03 -2.27258892e-02 -6.42754292e-01] [-1.50830360e-03 9.99998669e-01 -6.22576135e-04 -1.44281910e-02] [ 2.27249290e-02 6.56692190e-04 9.99741540e-01 8.48941616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33255784400001 meters Centerline goodness : 0.124871 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 0.99974233 0.00130493 -0.02266197 -0.64270212] [-0.00132993 0.99999852 -0.00108836 -0.01225641] [ 0.02266052 0.00111821 0.99974259 0.84849307] [ 0. 0. 0. 1. ]] SLAMing on 81.362557844 meters Centerline goodness : 0.127710 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 0.99974062 0.00114837 -0.02274582 -0.64237531] [-0.00118171 0.99999825 -0.00145217 -0.01066762] [ 0.02274411 0.00147867 0.99974023 0.8482543 ] [ 0. 0. 0. 1. ]] SLAMing on 81.392557844 meters Centerline goodness : 0.129482 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99738429e-01 9.81663959e-04 -2.28497391e-02 -6.42082579e-01] [-1.02264427e-03 9.99997890e-01 -1.78185332e-03 -9.29993760e-03] [ 2.28479417e-02 1.80475439e-03 9.99737323e-01 8.48181102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422557844 meters Centerline goodness : 0.126383 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99740841e-01 8.09629553e-04 -2.27507163e-02 -6.42841820e-01] [-8.58556860e-04 9.99997340e-01 -2.14089779e-03 -7.58402682e-03] [ 2.27489224e-02 2.15987574e-03 9.99738877e-01 8.48987899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.452557844 meters Centerline goodness : 0.153925 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99746480e-01 7.63912904e-04 -2.25031739e-02 -6.43794942e-01] [-8.14293154e-04 9.99997183e-01 -2.22972821e-03 -7.01925931e-03] [ 2.25014072e-02 2.24748711e-03 9.99744285e-01 8.49530014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.482557844 meters Centerline goodness : 0.159860 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99749314e-01 7.19914287e-04 -2.23783499e-02 -6.44356431e-01] [-7.71214964e-04 9.99997095e-01 -2.28387865e-03 -6.76877609e-03] [ 2.23766407e-02 2.30056463e-03 9.99746965e-01 8.49950133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.512557844 meters Centerline goodness : 0.148902 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99744264e-01 5.82511085e-04 -2.26067939e-02 -6.43484945e-01] [-6.35523347e-04 9.99997065e-01 -2.33785674e-03 -7.14247506e-03] [ 2.26053657e-02 2.35162601e-03 9.99741700e-01 8.49463632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.542557844 meters Centerline goodness : 0.140090 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99741178e-01 5.40784593e-04 -2.27438752e-02 -6.42838909e-01] [-5.95488975e-04 9.99996946e-01 -2.39853182e-03 -6.95884867e-03] [ 2.27425086e-02 2.41145476e-03 9.99738447e-01 8.48935644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.572557844 meters Centerline goodness : 0.143002 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.85 [[ 0.99978007 0.00182453 -0.02089228 -0.59869142] [-0.0018809 0.99999464 -0.00267886 -0.00288611] [ 0.02088728 0.00271757 0.99977814 0.84890221] [ 0. 0. 0. 1. ]] SLAMing on 81.602557844 meters Centerline goodness : 0.129150 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.85 [[ 0.99977974 0.00178138 -0.02091149 -0.59869344] [-0.00184114 0.99999428 -0.002839 -0.00201083] [ 0.02090632 0.00287688 0.9997773 0.84895998] [ 0. 0. 0. 1. ]] SLAMing on 81.632557844 meters Centerline goodness : 0.144289 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.85 [[ 9.99778559e-01 1.71283022e-03 -2.09737851e-02 -5.98637989e-01] [-1.77769562e-03 9.99993694e-01 -3.07443522e-03 -8.60046507e-04] [ 2.09683868e-02 3.11103942e-03 9.99775299e-01 8.49128040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.662557844 meters Centerline goodness : 0.126009 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 9.99707701e-01 7.82265025e-04 -2.41640452e-02 -6.43429581e-01] [-8.55818460e-04 9.99995032e-01 -3.03372905e-03 -2.51592660e-03] [ 2.41615520e-02 3.05352233e-03 9.99703404e-01 8.49670039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.692557844 meters Centerline goodness : 0.160215 Centerline is valid? [False, False] Translation: X:-0.64, Y:0.00, Z:0.85 [[ 9.99689474e-01 8.61342943e-04 -2.49041026e-02 -6.40995204e-01] [-9.53384220e-04 9.99992759e-01 -3.68419070e-03 1.33079976e-03] [ 2.49007489e-02 3.70678984e-03 9.99683056e-01 8.48344114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72255784400001 meters Centerline goodness : 0.143604 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.85 [[ 0.99972331 0.00296704 -0.02333434 -0.59648129] [-0.00305208 0.99998883 -0.0036096 0.0074399 ] [ 0.02332337 0.00367982 0.9997212 0.84825422] [ 0. 0. 0. 1. ]] SLAMing on 81.752557844 meters Centerline goodness : 0.132737 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.85 [[ 0.99972688 0.00286778 -0.02319372 -0.59671177] [-0.00296037 0.99998778 -0.00395863 0.00926038] [ 0.02318208 0.00402621 0.99972315 0.84798417] [ 0. 0. 0. 1. ]] SLAMing on 81.782557844 meters Centerline goodness : 0.125068 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.85 [[ 0.99973204 0.00275217 -0.02298408 -0.59734892] [-0.00285137 0.99998676 -0.00428419 0.01088069] [ 0.02297199 0.00434858 0.99972665 0.84809401] [ 0. 0. 0. 1. ]] SLAMing on 81.812557844 meters Centerline goodness : 0.150782 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.85 [[ 0.99973715 0.0026734 -0.02277003 -0.59814725] [-0.00277685 0.99998596 -0.00451252 0.01202654] [ 0.02275764 0.00457456 0.99973055 0.8484997 ] [ 0. 0. 0. 1. ]] SLAMing on 81.842557844 meters Centerline goodness : 0.142646 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.85 [[ 0.9997412 0.00256157 -0.02260481 -0.59890971] [-0.00267065 0.99998493 -0.00479628 0.01342616] [ 0.02259218 0.0048554 0.99973297 0.8490687 ] [ 0. 0. 0. 1. ]] SLAMing on 81.872557844 meters Centerline goodness : 0.131687 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.02, Z:0.85 [[ 0.99974249 0.00235338 -0.0225702 -0.59930537] [-0.00247484 0.9999826 -0.00535527 0.01641821] [ 0.0225572 0.00540974 0.99973092 0.84945434] [ 0. 0. 0. 1. ]] SLAMing on 81.902557844 meters Centerline goodness : 0.136379 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.02, Z:0.85 [[ 0.99973313 -0.00314319 -0.02288624 -0.57618349] [ 0.00308533 0.99999196 -0.00256326 0.02121527] [ 0.02289411 0.00249197 0.99973479 0.84926884] [ 0. 0. 0. 1. ]] SLAMing on 81.932557844 meters Centerline goodness : 0.136618 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.02, Z:0.85 [[ 0.99964407 -0.00401646 -0.02637414 -0.61979742] [ 0.00396133 0.99998986 -0.00214189 0.01858274] [ 0.02638248 0.00203665 0.99964985 0.84922106] [ 0. 0. 0. 1. ]] SLAMing on 81.962557844 meters Centerline goodness : 0.140980 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.02, Z:0.85 [[ 0.99963607 -0.00416383 -0.02665302 -0.61877295] [ 0.00410198 0.99998877 -0.0023749 0.01938137] [ 0.02666261 0.00226471 0.99964192 0.84870062] [ 0. 0. 0. 1. ]] SLAMing on 81.992557844 meters Centerline goodness : 0.140874 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.02, Z:0.85 [[ 0.99963081 -0.00427911 -0.02683174 -0.61831871] [ 0.00421367 0.99998801 -0.00249463 0.01961685] [ 0.02684209 0.00238065 0.99963685 0.84867695] [ 0. 0. 0. 1. ]] SLAMing on 82.022557844 meters Centerline goodness : 0.143065 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.02, Z:0.85 [[ 0.99966232 -0.00472468 -0.0255524 -0.62245783] [ 0.00466296 0.99998607 -0.00247473 0.0186736 ] [ 0.02556374 0.00235474 0.99967042 0.85037136] [ 0. 0. 0. 1. ]] SLAMing on 82.052557844 meters Centerline goodness : 0.147211 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.02, Z:0.85 [[ 0.99966929 -0.00465275 -0.0252917 -0.62360473] [ 0.00460162 0.99998725 -0.00207961 0.01687835] [ 0.02530105 0.00196254 0.99967795 0.85125376] [ 0. 0. 0. 1. ]] SLAMing on 82.08255784400001 meters Centerline goodness : 0.147760 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.01, Z:0.85 [[ 0.99966362 -0.00464745 -0.02551564 -0.62310149] [ 0.00460471 0.9999879 -0.00173343 0.0148153 ] [ 0.02552339 0.00161535 0.99967292 0.85147519] [ 0. 0. 0. 1. ]] SLAMing on 82.112557844 meters Centerline goodness : 0.144756 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.01, Z:0.85 [[ 0.99964305 -0.0048166 -0.02627893 -0.62088339] [ 0.00477778 0.9999874 -0.00153981 0.01276126] [ 0.02628601 0.0014137 0.99965346 0.85110793] [ 0. 0. 0. 1. ]] SLAMing on 82.142557844 meters Centerline goodness : 0.146217 Centerline is valid? [False, False] Translation: X:-0.64, Y:0.00, Z:0.85 [[ 0.99960969 0.00234479 -0.02783826 -0.63838448] [-0.00242888 0.99999259 -0.00298749 0.00458599] [ 0.02783105 0.00305394 0.99960798 0.84905141] [ 0. 0. 0. 1. ]] SLAMing on 82.172557844 meters Centerline goodness : 0.149569 Centerline is valid? [False, False] Translation: X:-0.64, Y:0.00, Z:0.85 [[ 0.99960514 0.00247123 -0.02799024 -0.63788957] [-0.00254539 0.99999334 -0.00261406 0.00272433] [ 0.0279836 0.00268428 0.99960478 0.84888227] [ 0. 0. 0. 1. ]] SLAMing on 82.202557844 meters Centerline goodness : 0.149167 Centerline is valid? [False, False] Translation: X:-0.64, Y:0.00, Z:0.85 [[ 9.99613566e-01 2.70110276e-03 -2.76662824e-02 -6.39511059e-01] [-2.75997973e-03 9.99994007e-01 -2.09014739e-03 4.71145646e-04] [ 2.76604709e-02 2.16569807e-03 9.99615030e-01 8.50298576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.232557844 meters Centerline goodness : 0.158056 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 9.99618722e-01 2.80891042e-03 -2.74685527e-02 -6.40448713e-01] [-2.86123426e-03 9.99994166e-01 -1.86574430e-03 -6.04277854e-04] [ 2.74631517e-02 1.94362690e-03 9.99620927e-01 8.51065120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.262557844 meters Centerline goodness : 0.146760 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99962181 0.0029259 -0.02734377 -0.64097889] [-0.00297296 0.99999417 -0.00168059 -0.00144422] [ 0.02733869 0.00176124 0.99962468 0.85143222] [ 0. 0. 0. 1. ]] SLAMing on 82.292557844 meters Centerline goodness : 0.152416 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.9996211 0.00303291 -0.02735783 -0.64087008] [-0.00307633 0.99999407 -0.00154546 -0.00197633] [ 0.02735298 0.00162903 0.99962451 0.8513107 ] [ 0. 0. 0. 1. ]] SLAMing on 82.322557844 meters Centerline goodness : 0.153413 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99961747 0.00314737 -0.02747757 -0.64037705] [-0.00318834 0.99999387 -0.00144713 -0.00225038] [ 0.02747285 0.00153418 0.99962137 0.85096117] [ 0. 0. 0. 1. ]] SLAMing on 82.352557844 meters Centerline goodness : 0.114833 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99960945 0.00325161 -0.02775567 -0.63942327] [-0.00329203 0.99999359 -0.00141066 -0.00223337] [ 0.0277509 0.00150148 0.99961374 0.85048218] [ 0. 0. 0. 1. ]] SLAMing on 82.382557844 meters Centerline goodness : 0.134326 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99960529 0.00328738 -0.02790096 -0.63885411] [-0.00332946 0.99999339 -0.00146211 -0.00190811] [ 0.02789597 0.00155443 0.99960962 0.85014382] [ 0. 0. 0. 1. ]] SLAMing on 82.412557844 meters Centerline goodness : 0.087910 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99960174 0.00332627 -0.02802316 -0.63847449] [-0.00336964 0.9999932 -0.00150082 -0.00163748] [ 0.02801798 0.00159465 0.99960615 0.84996976] [ 0. 0. 0. 1. ]] SLAMing on 82.442557844 meters Centerline goodness : 0.118390 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99960485 0.00338863 -0.02790443 -0.63873264] [-0.0034326 0.99999294 -0.00152815 -0.00129049] [ 0.02789906 0.00162333 0.99960943 0.84986982] [ 0. 0. 0. 1. ]] SLAMing on 82.47255784400001 meters Centerline goodness : 0.131527 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99962488 0.00383279 -0.02711839 -0.64102846] [-0.00386869 0.99999171 -0.00127172 -0.00124928] [ 0.02711329 0.00137615 0.99963142 0.85033781] [ 0. 0. 0. 1. ]] SLAMing on 82.502557844 meters Centerline goodness : 0.131719 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99962865 0.00387789 -0.02697252 -0.64149998] [-0.0039127 0.99999158 -0.00123764 -0.00133094] [ 0.02696749 0.00134271 0.99963541 0.85048328] [ 0. 0. 0. 1. ]] SLAMing on 82.532557844 meters Centerline goodness : 0.151820 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99962779 0.0038746 -0.02700484 -0.64145872] [-0.00390851 0.99999164 -0.00120295 -0.00174542] [ 0.02699995 0.00130805 0.99963458 0.85053729] [ 0. 0. 0. 1. ]] SLAMing on 82.562557844 meters Centerline goodness : 0.143398 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99962489 0.00389945 -0.02710853 -0.64114374] [-0.00393025 0.99999169 -0.00108313 -0.00255453] [ 0.02710408 0.00118927 0.99963191 0.85048725] [ 0. 0. 0. 1. ]] SLAMing on 82.592557844 meters Centerline goodness : 0.143573 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 9.99624213e-01 3.95462945e-03 -2.71255071e-02 -6.41091595e-01] [-3.98162613e-03 9.99991630e-01 -9.41310934e-04 -3.28890872e-03] [ 2.71215575e-02 1.04896083e-03 9.99631593e-01 8.50475927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.622557844 meters Centerline goodness : 0.131909 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.00, Z:0.85 [[ 9.99653616e-01 -3.44960143e-03 -2.60911442e-02 -6.21889878e-01] [ 3.45905785e-03 9.99993967e-01 3.17313359e-04 2.01112716e-03] [ 2.60898921e-02 -4.07454223e-04 9.99659518e-01 8.51844187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.652557844 meters Centerline goodness : 0.131909 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.00, Z:0.85 [[ 9.99653616e-01 -3.44960143e-03 -2.60911442e-02 -6.21889878e-01] [ 3.45905785e-03 9.99993967e-01 3.17313359e-04 2.01112716e-03] [ 2.60898921e-02 -4.07454223e-04 9.99659518e-01 8.51844187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.682557844 meters Centerline goodness : 0.143851 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.00, Z:0.85 [[ 9.99665755e-01 -3.31747667e-03 -2.56392732e-02 -6.23698967e-01] [ 3.33392030e-03 9.99994263e-01 5.98625073e-04 1.21037271e-03] [ 2.56371402e-02 -6.83904279e-04 9.99671081e-01 8.52965593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.712557844 meters Centerline goodness : 0.133477 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.00, Z:0.85 [[ 9.99665606e-01 -3.29001349e-03 -2.56486289e-02 -6.23868972e-01] [ 3.30986122e-03 9.99994255e-01 7.31416644e-04 4.69241062e-04] [ 2.56460752e-02 -8.16065465e-04 9.99670752e-01 8.53323620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.742557844 meters Centerline goodness : 0.130487 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.00, Z:0.85 [[ 9.99663836e-01 -3.28148813e-03 -2.57186229e-02 -6.23684151e-01] [ 3.30419625e-03 9.99994188e-01 8.40497651e-04 -2.60174183e-04] [ 2.57157154e-02 -9.25194483e-04 9.99668868e-01 8.53321229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.772557844 meters Centerline goodness : 0.129782 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.85 [[ 9.99675030e-01 5.19532551e-03 -2.49568242e-02 -6.03234618e-01] [-5.20543351e-03 9.99986394e-01 -3.40070486e-04 -3.85881145e-03] [ 2.49547179e-02 4.69871062e-04 9.99688472e-01 8.54176464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.802557844 meters Centerline goodness : 0.132592 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.00, Z:0.85 [[ 9.99665931e-01 -4.03008646e-03 -2.55300588e-02 -6.24336720e-01] [ 4.04949463e-03 9.99991550e-01 7.08553531e-04 -1.63229641e-03] [ 2.55269875e-02 -8.11700661e-04 9.99673804e-01 8.52945535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83255784400001 meters Centerline goodness : 0.126023 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.00, Z:0.85 [[ 0.99966725 -0.00389753 -0.02549898 -0.62473891] [ 0.00392997 0.99999153 0.00122252 -0.00423985] [ 0.025494 -0.00132232 0.9996741 0.85358349] [ 0. 0. 0. 1. ]] SLAMing on 82.862557844 meters Centerline goodness : 0.213107 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:0.85 [[ 0.99968943 0.00259249 -0.0247855 -0.6016433 ] [-0.00263729 0.99999495 -0.0017747 -0.00547228] [ 0.02478077 0.00183952 0.99969122 0.85319363] [ 0. 0. 0. 1. ]] SLAMing on 82.892557844 meters Centerline goodness : 0.113034 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99610035e-01 6.65880536e-04 -2.79165608e-02 -6.44764634e-01] [-7.20831424e-04 9.99997823e-01 -1.95838014e-03 -1.03368987e-02] [ 2.79151960e-02 1.97773957e-03 9.99608338e-01 8.52828064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922557844 meters Centerline goodness : 0.117733 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99602506e-01 7.18984646e-04 -2.81835563e-02 -6.44050713e-01] [-7.66972755e-04 9.99998275e-01 -1.69192566e-03 -1.19830177e-02] [ 2.81822912e-02 1.71286915e-03 9.99601333e-01 8.52794497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.952557844 meters Centerline goodness : 0.167244 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99600594e-01 7.96028966e-04 -2.82492231e-02 -6.43878142e-01] [-8.37284009e-04 9.99998600e-01 -1.44859703e-03 -1.32927880e-02] [ 2.82480304e-02 1.47167108e-03 9.99599861e-01 8.52819663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.982557844 meters Centerline goodness : 0.115480 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99599604e-01 8.61287599e-04 -2.82823082e-02 -6.43771221e-01] [-8.98430510e-04 9.99998751e-01 -1.30061024e-03 -1.40694669e-02] [ 2.82811527e-02 1.32549917e-03 9.99599129e-01 8.52763948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.012557844 meters Centerline goodness : 0.143405 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99595936e-01 9.19149645e-04 -2.84098591e-02 -6.43028591e-01] [-9.58190552e-04 9.99998615e-01 -1.36061953e-03 -1.34876328e-02] [ 2.84085692e-02 1.38729181e-03 9.99595432e-01 8.52045451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.042557844 meters Centerline goodness : 0.136154 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99593059e-01 8.89107250e-04 -2.85118670e-02 -6.42656567e-01] [-9.32509113e-04 9.99998427e-01 -1.50897815e-03 -1.26037502e-02] [ 2.85104805e-02 1.53495166e-03 9.99592315e-01 8.51848275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.072557844 meters Centerline goodness : 0.114199 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99590043e-01 8.68416955e-04 -2.86180333e-02 -6.42350189e-01] [-9.14304604e-04 9.99998317e-01 -1.59040578e-03 -1.21873580e-02] [ 2.86166040e-02 1.61591938e-03 9.99589155e-01 8.51772800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.102557844 meters Centerline goodness : 0.114937 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99587745e-01 8.98355136e-04 -2.86972727e-02 -6.42298208e-01] [-9.42674012e-04 9.99998384e-01 -1.53086695e-03 -1.24871369e-02] [ 2.86958510e-02 1.55728802e-03 9.99586976e-01 8.52026893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.132557844 meters Centerline goodness : 0.142151 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99588481e-01 9.71529208e-04 -2.86692469e-02 -6.42624142e-01] [-1.00975614e-03 9.99998620e-01 -1.31893026e-03 -1.36397906e-02] [ 2.86679260e-02 1.34733644e-03 9.99588083e-01 8.52477472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.162557844 meters Centerline goodness : 0.142486 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 0.99959038 0.00105477 -0.02860014 -0.64301755] [-0.00108649 0.99999881 -0.0010937 -0.01477494] [ 0.02859895 0.00112432 0.99959033 0.85283108] [ 0. 0. 0. 1. ]] SLAMing on 83.192557844 meters Centerline goodness : 0.143930 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99592633e-01 1.22073737e-03 -2.85145308e-02 -6.43315993e-01] [-1.23984813e-03 9.99999018e-01 -6.52540334e-04 -1.69410380e-02] [ 2.85137062e-02 6.87628198e-04 9.99593165e-01 8.53006898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22255784400001 meters Centerline goodness : 0.145185 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99587836e-01 1.23557030e-03 -2.86815581e-02 -6.42737069e-01] [-1.25241055e-03 9.99999054e-01 -5.69188726e-04 -1.75582372e-02] [ 2.86808277e-02 6.04875213e-04 9.99588437e-01 8.52769542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.252557844 meters Centerline goodness : 0.145746 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99579920e-01 1.29078051e-03 -2.89537241e-02 -6.41933078e-01] [-1.30289429e-03 9.99999071e-01 -3.99522553e-04 -1.85166639e-02] [ 2.89531815e-02 4.37078363e-04 9.99580673e-01 8.52606205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.282557844 meters Centerline goodness : 0.162088 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99573797e-01 1.35109806e-03 -2.91615927e-02 -6.41186080e-01] [-1.35825869e-03 9.99999052e-01 -2.25742853e-04 -1.94739446e-02] [ 2.91612601e-02 2.65255628e-04 9.99574685e-01 8.52235663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.312557844 meters Centerline goodness : 0.144922 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99569043e-01 1.41481963e-03 -2.93210853e-02 -6.40594259e-01] [-1.41707644e-03 9.99998994e-01 -5.61893474e-05 -2.02789845e-02] [ 2.93209763e-02 9.77153514e-05 9.99570043e-01 8.51927409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.342557844 meters Centerline goodness : 0.146198 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99567869e-01 1.51392278e-03 -2.93561319e-02 -6.40439358e-01] [-1.50973229e-03 9.99998847e-01 1.64910746e-04 -2.12531348e-02] [ 2.93563477e-02 -1.20519582e-04 9.99569002e-01 8.51800754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.372557844 meters Centerline goodness : 0.130017 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99572180e-01 1.56415824e-03 -2.92063336e-02 -6.40690427e-01] [-1.55658902e-03 9.99998749e-01 2.81897783e-04 -2.18440395e-02] [ 2.92067380e-02 -2.36314924e-04 9.99573364e-01 8.51603499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.402557844 meters Centerline goodness : 0.138871 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99572981e-01 1.57173255e-03 -2.91785226e-02 -6.40809162e-01] [-1.56443946e-03 9.99998739e-01 2.72774273e-04 -2.17846442e-02] [ 2.91789146e-02 -2.27009761e-04 9.99574179e-01 8.51687415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.432557844 meters SLAMing on 83.462557844 meters Centerline goodness : 0.145063 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.02, Z:0.85 [[ 9.99557677e-01 1.05424857e-02 -2.78083799e-02 -6.20586580e-01] [-1.05702711e-02 9.99943770e-01 -8.52359315e-04 -2.36294361e-02] [ 2.77978303e-02 1.14592441e-03 9.99612909e-01 8.53020056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.492557844 meters Centerline goodness : 0.160365 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.02, Z:0.85 [[ 9.99559272e-01 1.04978074e-02 -2.77679146e-02 -6.20575797e-01] [-1.05289103e-02 9.99944095e-01 -9.74123647e-04 -2.30146425e-02] [ 2.77561360e-02 1.26606021e-03 9.99613922e-01 8.52843866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.522557844 meters Centerline goodness : 0.153133 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.02, Z:0.85 [[ 0.99955897 0.01039497 -0.02781744 -0.62049227] [-0.01043232 0.99994486 -0.00119792 -0.02204748] [ 0.02780346 0.00148759 0.9996123 0.85291749] [ 0. 0. 0. 1. ]] SLAMing on 83.552557844 meters Centerline goodness : 0.157516 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.02, Z:0.85 [[ 0.99955423 0.01022715 -0.02804903 -0.61978365] [-0.01027671 0.99994588 -0.00162345 -0.02005377] [ 0.0280309 0.00191097 0.99960523 0.85271456] [ 0. 0. 0. 1. ]] SLAMing on 83.58255784400001 meters Centerline goodness : 0.159144 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.02, Z:0.85 [[ 0.99955185 0.0101762 -0.02815219 -0.61945668] [-0.01022925 0.99994616 -0.00174121 -0.0194244 ] [ 0.02813295 0.00202841 0.99960213 0.85257056] [ 0. 0. 0. 1. ]] SLAMing on 83.61255784400001 meters Centerline goodness : 0.229553 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:0.85 [[ 0.99957598 0.00256266 -0.02900489 -0.60020393] [-0.00259353 0.99999611 -0.00102664 -0.01203844] [ 0.02900215 0.00110143 0.99957874 0.85392887] [ 0. 0. 0. 1. ]] SLAMing on 83.642557844 meters Centerline goodness : 0.143052 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:0.85 [[ 0.99957164 0.00247526 -0.02916185 -0.59967115] [-0.00251059 0.99999616 -0.00117512 -0.01143705] [ 0.02915883 0.00124783 0.99957401 0.85372609] [ 0. 0. 0. 1. ]] SLAMing on 83.672557844 meters Centerline goodness : 0.119497 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:0.85 [[ 0.99957446 0.00238234 -0.02907277 -0.60004533] [-0.00242286 0.99999614 -0.00135869 -0.01055022] [ 0.02906942 0.00142855 0.99957637 0.85395938] [ 0. 0. 0. 1. ]] SLAMing on 83.702557844 meters Centerline goodness : 0.129029 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:0.85 [[ 0.99958241 0.00230968 -0.02880414 -0.60113115] [-0.00235624 0.99999597 -0.00158271 -0.00922088] [ 0.02880037 0.00164992 0.99958382 0.85455937] [ 0. 0. 0. 1. ]] SLAMing on 83.732557844 meters Centerline goodness : 0.163134 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.01, Z:0.86 [[ 9.99539299e-01 1.79282245e-03 -3.02981243e-02 -6.50493371e-01] [-1.82219848e-03 9.99997896e-01 -9.41982633e-04 -8.25612049e-03] [ 3.02963718e-02 9.96757856e-04 9.99540463e-01 8.57001386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.762557844 meters Centerline goodness : 0.142007 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.00, Z:0.86 [[ 0.99959227 0.00289442 -0.02840626 -0.60668598] [-0.00294859 0.99999391 -0.00186537 -0.00225821] [ 0.02840069 0.00194837 0.99959472 0.85779198] [ 0. 0. 0. 1. ]] SLAMing on 83.792557844 meters Centerline goodness : 0.144486 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.00, Z:0.86 [[ 9.99591663e-01 2.73492463e-03 -2.84433950e-02 -6.06661474e-01] [-2.79867376e-03 9.99993660e-01 -2.20169469e-03 -8.20793507e-04] [ 2.84371932e-02 2.28039944e-03 9.99592980e-01 8.57880965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.822557844 meters Centerline goodness : 0.141757 Centerline is valid? [False, False] Translation: X:-0.61, Y:0.00, Z:0.86 [[ 9.99595349e-01 2.61022999e-03 -2.83253329e-02 -6.07046791e-01] [-2.68100363e-03 9.99993378e-01 -2.46090839e-03 4.44693548e-04] [ 2.83187218e-02 2.53585290e-03 9.99595728e-01 8.57982614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.852557844 meters Centerline goodness : 0.116081 Centerline is valid? [False, False] Translation: X:-0.61, Y:0.00, Z:0.86 [[ 0.99960346 0.00253204 -0.02804477 -0.60796644] [-0.00260702 0.99999312 -0.00263742 0.0014106 ] [ 0.0280379 0.00270949 0.99960319 0.8583083 ] [ 0. 0. 0. 1. ]] SLAMing on 83.882557844 meters Centerline goodness : 0.111975 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.01, Z:0.86 [[ 0.99962148 -0.00501037 -0.02705151 -0.58913982] [ 0.00497042 0.99998646 -0.00154377 0.00809821] [ 0.02705887 0.00140872 0.99963285 0.86036098] [ 0. 0. 0. 1. ]] SLAMing on 83.912557844 meters Centerline goodness : 0.111780 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.01, Z:0.86 [[ 0.99961336 -0.00533232 -0.02728926 -0.58862368] [ 0.00528127 0.99998417 -0.00194252 0.0096713 ] [ 0.02729919 0.00179765 0.99962569 0.86048038] [ 0. 0. 0. 1. ]] SLAMing on 83.942557844 meters Centerline goodness : 0.126529 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.01, Z:0.86 [[ 0.99962575 0.0027736 -0.02721502 -0.5676749 ] [-0.00286642 0.99999021 -0.00337195 0.00760449] [ 0.0272054 0.0034487 0.99962392 0.86144472] [ 0. 0. 0. 1. ]] SLAMing on 83.97255784400001 meters Centerline goodness : 0.124082 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.01, Z:0.86 [[ 0.99962231 0.00270038 -0.02734851 -0.56728956] [-0.00279686 0.99999 -0.00348992 0.00807975] [ 0.02733882 0.00356509 0.99961987 0.86139886] [ 0. 0. 0. 1. ]] SLAMing on 84.002557844 meters Centerline goodness : 0.129427 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.01, Z:0.86 [[ 0.99962674 -0.00481924 -0.02689173 -0.54783581] [ 0.00475283 0.9999855 -0.00253285 0.01359232] [ 0.02690355 0.00240409 0.99963514 0.86324586] [ 0. 0. 0. 1. ]] SLAMing on 84.032557844 meters Centerline goodness : 0.150491 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.01, Z:0.86 [[ 0.9996299 -0.00485848 -0.02676685 -0.54846161] [ 0.00479015 0.99998511 -0.00261609 0.01398925] [ 0.02677917 0.0024869 0.99963828 0.86374544] [ 0. 0. 0. 1. ]] SLAMing on 84.062557844 meters Centerline goodness : 0.152099 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.02, Z:0.86 [[ 0.99964388 -0.00475299 -0.02625882 -0.55010624] [ 0.00467884 0.99998489 -0.00288455 0.01625627] [ 0.02627213 0.00276066 0.99965102 0.86427558] [ 0. 0. 0. 1. ]] SLAMing on 84.092557844 meters Centerline goodness : 0.152099 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.02, Z:0.86 [[ 0.99964388 -0.00475299 -0.02625882 -0.55010624] [ 0.00467884 0.99998489 -0.00288455 0.01625627] [ 0.02627213 0.00276066 0.99965102 0.86427558] [ 0. 0. 0. 1. ]] SLAMing on 84.122557844 meters Centerline goodness : 0.140825 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.02, Z:0.86 [[ 0.99963065 -0.00410883 -0.02686395 -0.54799904] [ 0.00403042 0.99998746 -0.00297207 0.01920704] [ 0.02687582 0.0028627 0.99963468 0.8630892 ] [ 0. 0. 0. 1. ]] SLAMing on 84.152557844 meters Centerline goodness : 0.120384 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.02, Z:0.86 [[ 0.99954559 -0.0045028 -0.02980488 -0.59240108] [ 0.00442792 0.99998687 -0.00257792 0.01699854] [ 0.0298161 0.00244477 0.99955241 0.86287352] [ 0. 0. 0. 1. ]] SLAMing on 84.182557844 meters Centerline goodness : 0.142097 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.02, Z:0.86 [[ 0.99958885 0.00415979 -0.0283693 -0.57232146] [-0.00427527 0.99998282 -0.00401135 0.01565993] [ 0.02835213 0.00413099 0.99958946 0.86401558] [ 0. 0. 0. 1. ]] SLAMing on 84.212557844 meters Centerline goodness : 0.137066 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.01, Z:0.87 [[ 0.99952282 0.00342787 -0.03069819 -0.61954434] [-0.00353501 0.99998785 -0.00343636 0.01188795] [ 0.03068604 0.00354324 0.99952279 0.8653001 ] [ 0. 0. 0. 1. ]] SLAMing on 84.242557844 meters Centerline goodness : 0.145228 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.01, Z:0.87 [[ 0.99952489 0.00350289 -0.03062223 -0.61993751] [-0.00360474 0.99998815 -0.00327125 0.01126208] [ 0.0306104 0.00338008 0.99952568 0.86561097] [ 0. 0. 0. 1. ]] SLAMing on 84.272557844 meters Centerline goodness : 0.120686 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.01, Z:0.87 [[ 0.9995232 0.0036145 -0.03066452 -0.61981878] [-0.00370918 0.99998853 -0.00303145 0.01030225] [ 0.03065321 0.00314374 0.99952514 0.86558582] [ 0. 0. 0. 1. ]] SLAMing on 84.302557844 meters Centerline goodness : 0.136533 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.87 [[ 0.99956001 -0.0042255 -0.02935852 -0.59940024] [ 0.00416944 0.99998937 -0.00197025 0.01227968] [ 0.02936654 0.00184697 0.999567 0.86635364] [ 0. 0. 0. 1. ]] SLAMing on 84.33255784400001 meters Centerline goodness : 0.113137 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.87 [[ 0.99956178 -0.00411422 -0.02931402 -0.59959237] [ 0.00406762 0.99999037 -0.00164919 0.01048495] [ 0.02932052 0.00152923 0.99956889 0.86655099] [ 0. 0. 0. 1. ]] SLAMing on 84.36255784400001 meters Centerline goodness : 0.139296 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.87 [[ 0.99956249 -0.00400674 -0.02930473 -0.59974145] [ 0.00396803 0.99999118 -0.00137889 0.00905437] [ 0.02931 0.001262 0.99956957 0.86680176] [ 0. 0. 0. 1. ]] SLAMing on 84.392557844 meters Centerline goodness : 0.125595 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99962377 -0.00276956 -0.02728826 -0.55656599] [ 0.00272233 0.99999473 -0.00176782 0.01175872] [ 0.02729301 0.00169287 0.99962604 0.8678115 ] [ 0. 0. 0. 1. ]] SLAMing on 84.422557844 meters Centerline goodness : 0.111444 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:0.87 [[ 0.99960525 0.00517972 -0.0276135 -0.57723513] [-0.00525071 0.99998309 -0.00249927 0.00557838] [ 0.02760009 0.00264327 0.99961555 0.86646101] [ 0. 0. 0. 1. ]] SLAMing on 84.452557844 meters Centerline goodness : 0.138296 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:0.87 [[ 0.99960397 0.00521432 -0.02765348 -0.57708318] [-0.00528562 0.99998289 -0.0025058 0.00573425] [ 0.02763994 0.00265098 0.99961443 0.8663623 ] [ 0. 0. 0. 1. ]] SLAMing on 84.482557844 meters Centerline goodness : 0.139984 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99959044 -0.00154447 -0.02857575 -0.55831778] [ 0.00149726 0.99999748 -0.0016735 0.01123919] [ 0.02857826 0.00163003 0.99959023 0.86815315] [ 0. 0. 0. 1. ]] SLAMing on 84.512557844 meters Centerline goodness : 0.163107 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99958803 -0.00158112 -0.02865772 -0.55789296] [ 0.00153136 0.99999728 -0.00175816 0.01150807] [ 0.02866042 0.00171356 0.99958774 0.86777805] [ 0. 0. 0. 1. ]] SLAMing on 84.542557844 meters Centerline goodness : 0.124125 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99958349 -0.00160133 -0.02881468 -0.55719001] [ 0.00155111 0.99999724 -0.00176501 0.01133651] [ 0.02881743 0.00171958 0.99958321 0.86729032] [ 0. 0. 0. 1. ]] SLAMing on 84.572557844 meters Centerline goodness : 0.124125 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99958349 -0.00160133 -0.02881468 -0.55719001] [ 0.00155111 0.99999724 -0.00176501 0.01133651] [ 0.02881743 0.00171958 0.99958321 0.86729032] [ 0. 0. 0. 1. ]] SLAMing on 84.602557844 meters Centerline goodness : 0.111903 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99957749 -0.001625 -0.02902066 -0.55640964] [ 0.00157522 0.99999725 -0.0017382 0.01090027] [ 0.0290234 0.00169175 0.9995773 0.86685427] [ 0. 0. 0. 1. ]] SLAMing on 84.632557844 meters Centerline goodness : 0.163891 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99957238 -0.001609 -0.02919716 -0.55607017] [ 0.00156357 0.99999753 -0.00157859 0.00989642] [ 0.02919962 0.00153227 0.99957243 0.86707822] [ 0. 0. 0. 1. ]] SLAMing on 84.662557844 meters Centerline goodness : 0.149265 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99957097 -0.00153019 -0.02924947 -0.55620642] [ 0.0014946 0.99999812 -0.00123849 0.00810201] [ 0.02925131 0.00119424 0.99957138 0.86756123] [ 0. 0. 0. 1. ]] SLAMing on 84.692557844 meters Centerline goodness : 0.165601 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 9.99576794e-01 -1.41046758e-03 -2.90558597e-02 -5.57113934e-01] [ 1.38854749e-03 9.99998736e-01 -7.74575217e-04 5.86001268e-03] [ 2.90569155e-02 7.33901971e-04 9.99577489e-01 8.68324357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72255784400001 meters Centerline goodness : 0.148013 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.00, Z:0.87 [[ 9.99583625e-01 -1.27712756e-03 -2.88261206e-02 -5.58073061e-01] [ 1.27174602e-03 9.99999170e-01 -2.05022503e-04 3.03777240e-03] [ 2.88263585e-02 1.68277633e-04 9.99584420e-01 8.69061706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.752557844 meters Centerline goodness : 0.144713 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.00, Z:0.87 [[ 9.99579786e-01 -1.15352694e-03 -2.89641218e-02 -5.57714079e-01] [ 1.16437481e-03 9.99999258e-01 3.57664536e-04 4.90504898e-05] [ 2.89636877e-02 -3.91239334e-04 9.99580388e-01 8.69158591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782557844 meters Centerline goodness : 0.164409 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.00, Z:0.87 [[ 9.99534599e-01 -2.94933578e-03 -3.03625886e-02 -5.51171752e-01] [ 2.92366478e-03 9.99995330e-01 -8.89841746e-04 -4.68858872e-03] [ 3.03650713e-02 8.00657581e-04 9.99538554e-01 8.65865152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.812557844 meters Centerline goodness : 0.148442 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.01, Z:0.87 [[ 9.99524223e-01 -2.84248132e-03 -3.07123355e-02 -5.49971438e-01] [ 2.82636609e-03 9.99995844e-01 -5.68114857e-04 -6.34102305e-03] [ 3.07138228e-02 4.81040258e-04 9.99528104e-01 8.65398336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.842557844 meters Centerline goodness : 0.165560 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.01, Z:0.87 [[ 9.99520162e-01 -2.71209259e-03 -3.08559606e-02 -5.49636286e-01] [ 2.70434047e-03 9.99996300e-01 -2.92965284e-04 -7.54381828e-03] [ 3.08566410e-02 2.09379685e-04 9.99523799e-01 8.65443627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.872557844 meters Centerline goodness : 0.160979 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.01, Z:0.87 [[ 0.99954927 0.00608743 -0.02939712 -0.53037176] [-0.00613301 0.99998013 -0.00146031 -0.01098357] [ 0.02938764 0.00163995 0.99956674 0.86705488] [ 0. 0. 0. 1. ]] SLAMing on 84.902557844 meters Centerline goodness : 0.149483 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.01, Z:0.87 [[ 0.99957692 0.00644529 -0.02836281 -0.53366257] [-0.00647764 0.99997847 -0.00104875 -0.01218358] [ 0.02835544 0.00123203 0.99959714 0.86822388] [ 0. 0. 0. 1. ]] SLAMing on 84.932557844 meters Centerline goodness : 0.151563 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.01, Z:0.87 [[ 0.99957824 0.0064342 -0.02831865 -0.53369305] [-0.00646846 0.99997845 -0.00111844 -0.01187759] [ 0.02831084 0.00130115 0.99959832 0.86810518] [ 0. 0. 0. 1. ]] SLAMing on 84.962557844 meters Centerline goodness : 0.144020 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.87 [[ 9.99561806e-01 -6.34706273e-04 -2.95938189e-02 -5.13600090e-01] [ 6.20371508e-04 9.99999686e-01 -4.93562837e-04 -3.74551104e-03] [ 2.95941229e-02 4.74987399e-04 9.99561885e-01 8.68956576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.992557844 meters Centerline goodness : 0.163612 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 9.99444083e-01 -1.47497211e-03 -3.33068939e-02 -5.55524993e-01] [ 1.47104074e-03 9.99998908e-01 -1.42539117e-04 -5.77406267e-03] [ 3.33070678e-02 9.34640796e-05 9.99445161e-01 8.67741122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.022557844 meters Centerline goodness : 0.130684 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.00, Z:0.86 [[ 9.99394198e-01 8.08779743e-04 -3.47934258e-02 -5.49321488e-01] [-7.52998710e-04 9.99998410e-01 1.61627989e-03 -1.73906348e-03] [ 3.47946778e-02 -1.58910134e-03 9.99393218e-01 8.64876243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.052557844 meters Centerline goodness : 0.147339 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.00, Z:0.87 [[ 9.99400145e-01 7.02769697e-04 -3.46244940e-02 -5.49971944e-01] [-6.59161082e-04 9.99998975e-01 1.27087188e-03 2.61155019e-04] [ 3.46253516e-02 -1.24728643e-03 9.99399584e-01 8.65172693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08255784400001 meters Centerline goodness : 0.142143 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.00, Z:0.87 [[ 9.99412640e-01 6.40986044e-04 -3.42631743e-02 -5.51394217e-01] [-6.04967123e-04 9.99999254e-01 1.06159970e-03 1.60321171e-03] [ 3.42638292e-02 -1.04024806e-03 9.99412281e-01 8.65943407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11255784400001 meters Centerline goodness : 0.123669 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.00, Z:0.87 [[ 9.99423274e-01 5.51134327e-04 -3.39531396e-02 -5.52704307e-01] [-5.18614471e-04 9.99999398e-01 9.66585804e-04 2.03447197e-03] [ 3.39536519e-02 -9.48419760e-04 9.99422959e-01 8.66778457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142557844 meters Centerline goodness : 0.115352 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.87 [[ 9.99345871e-01 -1.66924234e-03 -3.61254026e-02 -5.99465361e-01] [ 1.69254810e-03 9.99998379e-01 6.14562695e-04 -1.78227622e-03] [ 3.61243182e-02 -6.75304673e-04 9.99347076e-01 8.67305684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.172557844 meters Centerline goodness : 0.165987 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.87 [[ 9.99335178e-01 -1.87817154e-03 -3.64098085e-02 -5.98735027e-01] [ 1.90302661e-03 9.99997979e-01 6.48003730e-04 -2.61995604e-03] [ 3.64085179e-02 -7.16861757e-04 9.99336733e-01 8.67325812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202557844 meters Centerline goodness : 0.118496 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.87 [[ 9.99304381e-01 -2.72291013e-03 -3.71932662e-02 -5.96124377e-01] [ 2.74327504e-03 9.99996114e-01 4.96520488e-04 -4.36903683e-03] [ 3.71917697e-02 -5.98206458e-04 9.99307968e-01 8.66461841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.232557844 meters Centerline goodness : 0.111253 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.01, Z:0.87 [[ 0.99936256 0.00281878 -0.03558835 -0.57440485] [-0.00292533 0.99999139 -0.00294208 -0.00646833] [ 0.03557975 0.00304431 0.9993622 0.86605063] [ 0. 0. 0. 1. ]] SLAMing on 85.262557844 meters Centerline goodness : 0.128817 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 0.9993734 0.00261402 -0.03529826 -0.57554218] [-0.0027095 0.9999928 -0.00265732 -0.00900062] [ 0.03529106 0.0027513 0.99937329 0.86685779] [ 0. 0. 0. 1. ]] SLAMing on 85.292557844 meters Centerline goodness : 0.142688 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 0.99939133 -0.00150349 -0.03485265 -0.57698232] [ 0.00127605 0.99997775 -0.00654732 -0.00969481] [ 0.03486172 0.00649886 0.99937101 0.86732964] [ 0. 0. 0. 1. ]] SLAMing on 85.322557844 meters Centerline goodness : 0.126183 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 0.99939248 -0.00142912 -0.03482269 -0.57733294] [ 0.00121732 0.99998064 -0.00610276 -0.01225508] [ 0.03483073 0.00605666 0.99937487 0.8677959 ] [ 0. 0. 0. 1. ]] SLAMing on 85.352557844 meters Centerline goodness : 0.114016 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 0.99939247 -0.00130407 -0.03482805 -0.57737076] [ 0.00110224 0.99998249 -0.00581355 -0.01356854] [ 0.03483502 0.00577163 0.99937641 0.86788317] [ 0. 0. 0. 1. ]] SLAMing on 85.382557844 meters Centerline goodness : 0.167762 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 9.99398320e-01 -1.03834864e-03 -3.46687119e-02 -5.77498167e-01] [ 8.40856193e-04 9.99983341e-01 -5.71065567e-03 -1.32343501e-02] [ 3.46740640e-02 5.67806828e-03 9.99382544e-01 8.67456774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.412557844 meters Centerline goodness : 0.125990 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 9.99395116e-01 -9.88214943e-04 -3.47624240e-02 -5.77172977e-01] [ 7.83407798e-04 9.99982260e-01 -5.90475178e-03 -1.21566750e-02] [ 3.47676425e-02 5.87394693e-03 9.99378161e-01 8.67330253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.442557844 meters Centerline goodness : 0.120253 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 9.99395595e-01 -9.36702911e-04 -3.47500650e-02 -5.77212324e-01] [ 7.23908199e-04 9.99980915e-01 -6.13565380e-03 -1.08916725e-02] [ 3.47551491e-02 6.10678953e-03 9.99377199e-01 8.67327776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47255784400001 meters Centerline goodness : 0.113427 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 9.99393813e-01 -8.19733852e-04 -3.48042194e-02 -5.76953567e-01] [ 6.00011611e-04 9.99979829e-01 -6.32306742e-03 -9.65866539e-03] [ 3.48087006e-02 6.29835153e-03 9.99374147e-01 8.67088937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502557844 meters Centerline goodness : 0.166294 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 9.99387659e-01 -7.26635038e-04 -3.49825653e-02 -5.76300901e-01] [ 4.99005171e-04 9.99978651e-01 -6.51524305e-03 -8.27541401e-03] [ 3.49865526e-02 6.49379702e-03 9.99366685e-01 8.66637276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.532557844 meters Centerline goodness : 0.112403 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 9.99373752e-01 -5.98565882e-04 -3.53800258e-02 -5.75045993e-01] [ 3.63927888e-04 9.99977902e-01 -6.63800186e-03 -7.20378377e-03] [ 3.53832172e-02 6.62096904e-03 9.99351885e-01 8.66104024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562557844 meters Centerline goodness : 0.133636 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.01, Z:0.87 [[ 9.99373081e-01 -3.91743601e-04 -3.54018691e-02 -5.74870995e-01] [ 1.51101830e-04 9.99976869e-01 -6.79985110e-03 -5.70014001e-03] [ 3.54037140e-02 6.79023885e-03 9.99350024e-01 8.65734697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.592557844 meters Centerline goodness : 0.211841 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.00, Z:0.87 [[ 9.99387938e-01 -3.83521458e-04 -3.49800247e-02 -5.76213724e-01] [ 1.40598436e-04 9.99975861e-01 -6.94681669e-03 -4.67658314e-03] [ 3.49818446e-02 6.93764667e-03 9.99363867e-01 8.66115678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.622557844 meters Centerline goodness : 0.217492 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.00, Z:0.87 [[ 9.99402663e-01 -3.92782998e-04 -3.45566700e-02 -5.77497468e-01] [ 1.46312470e-04 9.99974538e-01 -7.13459729e-03 -3.34267314e-03] [ 3.45585924e-02 7.12527946e-03 9.99377273e-01 8.66357626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.652557844 meters Centerline goodness : 0.139559 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.00, Z:0.87 [[ 9.99409780e-01 -4.39644325e-04 -3.43496396e-02 -5.78033447e-01] [ 1.86765492e-04 9.99972862e-01 -7.36476824e-03 -1.96639022e-03] [ 3.43519453e-02 7.35400608e-03 9.99382741e-01 8.66312237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.682557844 meters Centerline goodness : 0.113340 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.00, Z:0.87 [[ 9.99412405e-01 -5.02688614e-04 -3.42723189e-02 -5.78223372e-01] [ 2.42594476e-04 9.99971145e-01 -7.59278009e-03 -7.32365153e-04] [ 3.42751468e-02 7.58000433e-03 9.99383689e-01 8.66242400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.712557844 meters Centerline goodness : 0.143330 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.00, Z:0.87 [[ 9.99413750e-01 -5.54570368e-04 -3.42322696e-02 -5.78601914e-01] [ 2.91015788e-04 9.99970285e-01 -7.70351227e-03 -2.65620420e-04] [ 3.42355245e-02 7.68903396e-03 9.99384214e-01 8.66701754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.742557844 meters Centerline goodness : 0.154436 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.00, Z:0.87 [[ 9.99420260e-01 -5.67755084e-04 -3.40414778e-02 -5.79697753e-01] [ 3.13542799e-04 9.99972031e-01 -7.47259508e-03 -1.74723583e-03] [ 3.40447682e-02 7.45758945e-03 9.99392485e-01 8.67769018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.772557844 meters Centerline goodness : 0.147752 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.00, Z:0.87 [[ 0.99941973 -0.0082689 -0.0330428 -0.55961582] [ 0.00806208 0.9999471 -0.00638752 0.00211965] [ 0.03309387 0.00611742 0.99943353 0.869394 ] [ 0. 0. 0. 1. ]] SLAMing on 85.802557844 meters Centerline goodness : 0.147135 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.00, Z:0.87 [[ 9.99416621e-01 -8.22123738e-03 -3.31485920e-02 -5.59357793e-01] [ 8.02334488e-03 9.99949216e-01 -6.09846848e-03 6.62248730e-04] [ 3.31970455e-02 5.82894818e-03 9.99431828e-01 8.69411651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83255784400001 meters Centerline goodness : 0.112616 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.00, Z:0.87 [[ 0.99940853 -0.00818951 -0.03339948 -0.55866693] [ 0.00800062 0.99995126 -0.00578507 -0.00100956] [ 0.03344523 0.00551443 0.99942534 0.86933725] [ 0. 0. 0. 1. ]] SLAMing on 85.86255784400001 meters Centerline goodness : 0.164326 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.00, Z:0.87 [[ 0.99939302 -0.00817216 -0.03386451 -0.55738002] [ 0.00799193 0.99995319 -0.00545411 -0.00292543] [ 0.0339075 0.00518016 0.99941155 0.86920107] [ 0. 0. 0. 1. ]] SLAMing on 85.892557844 meters Centerline goodness : 0.113254 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.00, Z:0.87 [[ 0.99938717 -0.00807764 -0.03405934 -0.55693565] [ 0.0079085 0.99995573 -0.00509788 -0.00476995] [ 0.03409901 0.0048254 0.99940681 0.8693251 ] [ 0. 0. 0. 1. ]] SLAMing on 85.922557844 meters Centerline goodness : 0.113001 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99939413 -0.00789394 -0.03389781 -0.55785344] [ 0.00774071 0.99995923 -0.00464915 -0.00685116] [ 0.03393313 0.00438394 0.99941449 0.87020788] [ 0. 0. 0. 1. ]] SLAMing on 85.952557844 meters Centerline goodness : 0.148537 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.999401 -0.00779691 -0.03371723 -0.55847422] [ 0.00764994 0.99996068 -0.00448562 -0.00749007] [ 0.03375088 0.004225 0.99942135 0.87048123] [ 0. 0. 0. 1. ]] SLAMing on 85.982557844 meters Centerline goodness : 0.160842 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99940197 -0.00773939 -0.03370165 -0.55837 ] [ 0.00759671 0.99996164 -0.00435954 -0.00813578] [ 0.0337341 0.00410092 0.99942243 0.87023221] [ 0. 0. 0. 1. ]] SLAMing on 86.012557844 meters Centerline goodness : 0.159914 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99939623 -0.00773941 -0.03387149 -0.5575954 ] [ 0.00759489 0.99996151 -0.00439313 -0.0081181 ] [ 0.03390418 0.00413323 0.99941654 0.86967968] [ 0. 0. 0. 1. ]] SLAMing on 86.042557844 meters Centerline goodness : 0.135600 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.9993966 -0.00773081 -0.03386244 -0.55730798] [ 0.00758336 0.99996121 -0.00448052 -0.00768047] [ 0.03389576 0.00422103 0.99941646 0.86914095] [ 0. 0. 0. 1. ]] SLAMing on 86.072557844 meters Centerline goodness : 0.161076 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99940054 -0.00766453 -0.03376122 -0.55752926] [ 0.00751381 0.99996124 -0.0045891 -0.00688349] [ 0.03379508 0.00433267 0.99941939 0.86904526] [ 0. 0. 0. 1. ]] SLAMing on 86.102557844 meters Centerline goodness : 0.160062 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99940723 -0.00757205 -0.03358345 -0.5579431 ] [ 0.00741932 0.99996157 -0.0046701 -0.00612941] [ 0.03361752 0.00441817 0.99942501 0.86891249] [ 0. 0. 0. 1. ]] SLAMing on 86.132557844 meters Centerline goodness : 0.143943 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99940752 -0.00752685 -0.03358513 -0.5578946 ] [ 0.0073727 0.99996172 -0.0047115 -0.00580093] [ 0.03361931 0.00446109 0.99942475 0.86881542] [ 0. 0. 0. 1. ]] SLAMing on 86.162557844 meters Centerline goodness : 0.136967 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.9994062 -0.00750702 -0.03362877 -0.55743921] [ 0.00735298 0.99996191 -0.00470201 -0.00610357] [ 0.03366279 0.00445194 0.99942333 0.8681903 ] [ 0. 0. 0. 1. ]] SLAMing on 86.192557844 meters Centerline goodness : 0.124592 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.999411 -0.00745232 -0.03349788 -0.55766775] [ 0.0073027 0.99996282 -0.00458648 -0.00665731] [ 0.03353082 0.00433915 0.99942826 0.86797731] [ 0. 0. 0. 1. ]] SLAMing on 86.22255784400001 meters Centerline goodness : 0.157204 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.9994144 -0.00739994 -0.03340803 -0.55778083] [ 0.0072549 0.99996373 -0.0044606 -0.00724575] [ 0.03343983 0.00421562 0.99943184 0.86777864] [ 0. 0. 0. 1. ]] SLAMing on 86.252557844 meters Centerline goodness : 0.159358 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99941399 -0.007353 -0.03343058 -0.55770722] [ 0.00721183 0.99996457 -0.00434163 -0.00781235] [ 0.03346132 0.00409799 0.99943161 0.8677097 ] [ 0. 0. 0. 1. ]] SLAMing on 86.282557844 meters Centerline goodness : 0.147890 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99944457 0.00123275 -0.03330224 -0.53796396] [-0.00142386 0.99998265 -0.00571534 -0.01077785] [ 0.03329462 0.00575958 0.99942898 0.86962345] [ 0. 0. 0. 1. ]] SLAMing on 86.312557844 meters Centerline goodness : 0.160052 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99943535 0.00123024 -0.03357773 -0.53719843] [-0.00142229 0.99998276 -0.00569643 -0.01091666] [ 0.03357014 0.00574097 0.99941988 0.86950663] [ 0. 0. 0. 1. ]] SLAMing on 86.342557844 meters Centerline goodness : 0.161046 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99942651 0.0012297 -0.03384003 -0.5363149 ] [-0.0014203 0.99998326 -0.00560894 -0.01142115] [ 0.03383257 0.00565379 0.99941152 0.86911819] [ 0. 0. 0. 1. ]] SLAMing on 86.372557844 meters Centerline goodness : 0.161813 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99943196 0.0012478 -0.03367779 -0.53683253] [-0.00143503 0.99998365 -0.00553584 -0.01177825] [ 0.03367033 0.00558102 0.99941741 0.86926744] [ 0. 0. 0. 1. ]] SLAMing on 86.402557844 meters Centerline goodness : 0.155369 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99943663 0.00124661 -0.03353892 -0.53727228] [-0.00143085 0.99998402 -0.00547006 -0.01210155] [ 0.03353157 0.00551497 0.99942244 0.86941068] [ 0. 0. 0. 1. ]] SLAMing on 86.432557844 meters Centerline goodness : 0.161231 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99943184 0.0011523 -0.03368499 -0.53680942] [-0.00134266 0.99998325 -0.00562928 -0.01122951] [ 0.03367794 0.00567131 0.99941665 0.86919915] [ 0. 0. 0. 1. ]] SLAMing on 86.462557844 meters Centerline goodness : 0.161231 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99943184 0.0011523 -0.03368499 -0.53680942] [-0.00134266 0.99998325 -0.00562928 -0.01122951] [ 0.03367794 0.00567131 0.99941665 0.86919915] [ 0. 0. 0. 1. ]] SLAMing on 86.492557844 meters Centerline goodness : 0.148922 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99942509 0.00105193 -0.0338879 -0.53618816] [-0.00124953 0.99998234 -0.00581037 -0.01045147] [ 0.03388119 0.00584938 0.99940875 0.86902126] [ 0. 0. 0. 1. ]] SLAMing on 86.522557844 meters Centerline goodness : 0.152943 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 9.99424070e-01 9.79400169e-04 -3.39200321e-02 -5.36109198e-01] [-1.18146610e-03 9.99981674e-01 -5.93759571e-03 -9.98532243e-03] [ 3.39135952e-02 5.97425144e-03 9.99406912e-01 8.69025295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.552557844 meters Centerline goodness : 0.168088 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 9.99428298e-01 9.17763366e-04 -3.37969797e-02 -5.36631518e-01] [-1.12160686e-03 9.99981293e-01 -6.01294681e-03 -9.74040315e-03] [ 3.37908290e-02 6.04741612e-03 9.99410631e-01 8.69348505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58255784400001 meters Centerline goodness : 0.162515 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.00, Z:0.87 [[ 0.99944739 -0.00689963 -0.03251622 -0.5170356 ] [ 0.00673263 0.99996359 -0.00524272 -0.00468732] [ 0.03255121 0.0050209 0.99945746 0.87087308] [ 0. 0. 0. 1. ]] SLAMing on 86.61255784400001 meters Centerline goodness : 0.151267 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.01, Z:0.87 [[ 0.99945876 -0.00699153 -0.03214503 -0.51837352] [ 0.00682999 0.9999635 -0.00513235 -0.00535891] [ 0.03217974 0.00491002 0.99947004 0.87159315] [ 0. 0. 0. 1. ]] SLAMing on 86.642557844 meters Centerline goodness : 0.115509 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.87 [[ 0.9995152 0.00137058 -0.03110453 -0.49854691] [-0.00156474 0.99997944 -0.00621869 -0.0082757 ] [ 0.03109537 0.00626435 0.99949679 0.87243178] [ 0. 0. 0. 1. ]] SLAMing on 86.672557844 meters Centerline goodness : 0.113460 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.87 [[ 0.99950791 0.00138263 -0.03133727 -0.49781211] [-0.00157329 0.9999804 -0.00606022 -0.00902814] [ 0.03132828 0.00610654 0.99949049 0.87217889] [ 0. 0. 0. 1. ]] SLAMing on 86.702557844 meters Centerline goodness : 0.114139 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.87 [[ 0.99949507 0.00134997 -0.03174555 -0.49664626] [-0.00153711 0.99998158 -0.00587119 -0.01023932] [ 0.03173704 0.00591702 0.99947874 0.87195279] [ 0. 0. 0. 1. ]] SLAMing on 86.732557844 meters Centerline goodness : 0.112451 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.87 [[ 0.99948812 0.00130143 -0.03196557 -0.49622595] [-0.00148134 0.99998319 -0.00560543 -0.01206896] [ 0.03195774 0.00564992 0.99947325 0.87220433] [ 0. 0. 0. 1. ]] SLAMing on 86.762557844 meters Centerline goodness : 0.112752 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.87 [[ 0.99949676 0.00131 -0.03169404 -0.49729833] [-0.00147684 0.99998517 -0.0052411 -0.01422456] [ 0.0316867 0.00528527 0.99948388 0.87289406] [ 0. 0. 0. 1. ]] SLAMing on 86.792557844 meters Centerline goodness : 0.165360 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99951442 0.00151525 -0.0311228 -0.49952326] [-0.00165771 0.99998826 -0.00455219 -0.01723862] [ 0.03111554 0.00460157 0.9995052 0.8742399 ] [ 0. 0. 0. 1. ]] SLAMing on 86.822557844 meters Centerline goodness : 0.113480 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.9995145 0.0015878 -0.03111656 -0.49955828] [-0.00172627 0.99998873 -0.00442363 -0.01769259] [ 0.03110918 0.0044752 0.99950597 0.87428077] [ 0. 0. 0. 1. ]] SLAMing on 86.852557844 meters Centerline goodness : 0.112372 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99950712 0.00159359 -0.03135259 -0.4989362 ] [-0.001736 0.9999883 -0.00451551 -0.01740697] [ 0.03134503 0.00456771 0.99949819 0.87437955] [ 0. 0. 0. 1. ]] SLAMing on 86.882557844 meters Centerline goodness : 0.118532 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99950617 0.00155248 -0.0313847 -0.49882303] [-0.0016993 0.99998774 -0.00465195 -0.01688017] [ 0.0313771 0.00470298 0.99949655 0.87433264] [ 0. 0. 0. 1. ]] SLAMing on 86.912557844 meters Centerline goodness : 0.164716 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99950918 0.00153839 -0.03128954 -0.49905935] [-0.00168881 0.99998714 -0.00478159 -0.01624071] [ 0.03128179 0.00483209 0.99949892 0.87431219] [ 0. 0. 0. 1. ]] SLAMing on 86.942557844 meters Centerline goodness : 0.153877 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99951655 0.00159768 -0.03105033 -0.49967298] [-0.00174701 0.99998704 -0.00478262 -0.01602436] [ 0.03104229 0.00483456 0.99950638 0.87433222] [ 0. 0. 0. 1. ]] SLAMing on 86.97255784400001 meters Centerline goodness : 0.153748 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99952004 0.00166178 -0.03093438 -0.50017896] [-0.00181069 0.99998691 -0.00478621 -0.01600366] [ 0.03092602 0.00483993 0.99950996 0.87468795] [ 0. 0. 0. 1. ]] SLAMing on 87.002557844 meters Centerline goodness : 0.130832 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99951446 0.00164615 -0.0311148 -0.49972112] [-0.00179614 0.9999869 -0.00479338 -0.01621032] [ 0.0311065 0.00484694 0.99950432 0.87471717] [ 0. 0. 0. 1. ]] SLAMing on 87.032557844 meters Centerline goodness : 0.091062 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.9995071 0.0016034 -0.03135256 -0.49895582] [-0.00175691 0.9999866 -0.00486928 -0.01606462] [ 0.03134434 0.00492197 0.99949653 0.87447497] [ 0. 0. 0. 1. ]] SLAMing on 87.062557844 meters Centerline goodness : 0.158969 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99950369 0.0016105 -0.03146065 -0.49831411] [-0.00176509 0.9999865 -0.00488674 -0.01598922] [ 0.03145235 0.00493985 0.99949305 0.87383508] [ 0. 0. 0. 1. ]] SLAMing on 87.092557844 meters Centerline goodness : 0.157826 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99950544 0.00166627 -0.03140209 -0.49822808] [-0.00182026 0.99998646 -0.00487591 -0.01583686] [ 0.03139354 0.00493065 0.99949494 0.87342717] [ 0. 0. 0. 1. ]] SLAMing on 87.122557844 meters Centerline goodness : 0.152819 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99951243 0.0017367 -0.03117504 -0.49880499] [-0.00188812 0.99998656 -0.00482841 -0.0158463 ] [ 0.03116624 0.00488492 0.99950228 0.87341314] [ 0. 0. 0. 1. ]] SLAMing on 87.152557844 meters Centerline goodness : 0.158276 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99951071 0.00182922 -0.03122499 -0.4986729 ] [-0.00197247 0.99998767 -0.00455757 -0.01743404] [ 0.03121626 0.00461693 0.99950199 0.87340136] [ 0. 0. 0. 1. ]] SLAMing on 87.182557844 meters SLAMing on 87.212557844 meters Centerline goodness : 0.072102 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99950068 0.00193909 -0.03153762 -0.497795 ] [-0.00207428 0.9999888 -0.00425433 -0.01896727] [ 0.03152902 0.00431762 0.99949351 0.87320442] [ 0. 0. 0. 1. ]] SLAMing on 87.242557844 meters Centerline goodness : 0.128789 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.01, Z:0.88 [[ 0.99950271 -0.00486594 -0.03115528 -0.47974689] [ 0.00478928 0.99998532 -0.00253477 -0.0141615 ] [ 0.03116716 0.0023843 0.99951134 0.87584368] [ 0. 0. 0. 1. ]] SLAMing on 87.272557844 meters Centerline goodness : 0.157253 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.02, Z:0.88 [[ 0.99950413 -0.004731 -0.0311305 -0.48014801] [ 0.00466321 0.9999866 -0.00224994 -0.01537742] [ 0.03114073 0.00210366 0.9995128 0.8764213 ] [ 0. 0. 0. 1. ]] SLAMing on 87.302557844 meters Centerline goodness : 0.154803 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.02, Z:0.88 [[ 0.99950446 -0.00460341 -0.03113923 -0.48035169] [ 0.00454645 0.99998786 -0.00189983 -0.01715658] [ 0.03114759 0.00175732 0.99951325 0.87680285] [ 0. 0. 0. 1. ]] SLAMing on 87.33255784400001 meters Centerline goodness : 0.153949 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.02, Z:0.88 [[ 0.99950198 -0.00444805 -0.03124117 -0.48006403] [ 0.00440567 0.99998928 -0.00142532 -0.01965557] [ 0.03124717 0.00128698 0.99951086 0.87680658] [ 0. 0. 0. 1. ]] SLAMing on 87.36255784400001 meters Centerline goodness : 0.165843 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.03, Z:0.88 [[ 9.99406392e-01 -5.51883741e-03 -3.40059714e-02 -5.24857879e-01] [ 5.51753523e-03 9.99984770e-01 -1.32135186e-04 -2.81667180e-02] [ 3.40061827e-02 -5.55723950e-05 9.99421621e-01 8.76612440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.392557844 meters Centerline goodness : 0.155437 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:0.88 [[ 9.99435653e-01 3.76581285e-03 -3.33795486e-02 -5.03802553e-01] [-3.78519557e-03 9.99992702e-01 -5.17503399e-04 -3.21196785e-02] [ 3.33773562e-02 6.43559467e-04 9.99442614e-01 8.77216923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422557844 meters Centerline goodness : 0.156271 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:0.88 [[ 9.99428300e-01 3.83673365e-03 -3.35909635e-02 -5.03090848e-01] [-3.85056547e-03 9.99992526e-01 -3.47091234e-04 -3.28729464e-02] [ 3.35893808e-02 4.76237006e-04 9.99435604e-01 8.76950747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.452557844 meters Centerline goodness : 0.115245 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:0.88 [[ 9.99422821e-01 3.90534527e-03 -3.37457028e-02 -5.02730008e-01] [-3.91356967e-03 9.99992326e-01 -1.77668086e-04 -3.38257119e-02] [ 3.37447500e-02 3.09631699e-04 9.99430436e-01 8.77053474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.482557844 meters Centerline goodness : 0.152378 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:0.88 [[ 9.99419485e-01 3.97675293e-03 -3.38360454e-02 -5.02868114e-01] [-3.97798399e-03 9.99992087e-01 3.09360052e-05 -3.50551429e-02] [ 3.38359007e-02 1.03681200e-04 9.99427397e-01 8.77673143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.512557844 meters Centerline goodness : 0.126914 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.04, Z:0.88 [[ 9.99336441e-01 2.71521263e-03 -3.63222498e-02 -5.50775460e-01] [-2.69569664e-03 9.99996195e-01 5.86263612e-04 -4.01165783e-02] [ 3.63237034e-02 -4.87960825e-04 9.99339957e-01 8.79880824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.542557844 meters Centerline goodness : 0.158355 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.04, Z:0.88 [[ 9.99338762e-01 2.77874026e-03 -3.62535126e-02 -5.51024498e-01] [-2.75528985e-03 9.99995961e-01 6.96790177e-04 -4.04679706e-02] [ 3.62553024e-02 -5.96440498e-04 9.99342382e-01 8.79974227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.572557844 meters Centerline goodness : 0.155843 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.04, Z:0.88 [[ 9.99338159e-01 2.79569712e-03 -3.62688288e-02 -5.50921907e-01] [-2.77132412e-03 9.99995899e-01 7.22265209e-04 -4.04724311e-02] [ 3.62706993e-02 -6.21274505e-04 9.99341809e-01 8.79851115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.602557844 meters Centerline goodness : 0.161837 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.04, Z:0.88 [[ 9.99334675e-01 2.68719005e-03 -3.63728844e-02 -5.50714245e-01] [-2.66930099e-03 9.99996291e-01 5.40376610e-04 -3.98852352e-02] [ 3.63742016e-02 -4.42926908e-04 9.99338142e-01 8.79929117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.632557844 meters Centerline goodness : 0.114079 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.04, Z:0.88 [[ 9.99338323e-01 2.68721548e-03 -3.62725075e-02 -5.51241745e-01] [-2.66651533e-03 9.99996253e-01 6.19048874e-04 -4.04459719e-02] [ 3.62740351e-02 -5.21918067e-04 9.99341744e-01 8.80362190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.662557844 meters Centerline goodness : 0.128341 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.04, Z:0.88 [[ 0.99937473 -0.00502951 -0.03499793 -0.53156765] [ 0.00508779 0.99998581 0.00157623 -0.03636291] [ 0.0349895 -0.00175331 0.99938614 0.88207078] [ 0. 0. 0. 1. ]] SLAMing on 87.692557844 meters Centerline goodness : 0.154565 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.04, Z:0.88 [[ 0.99937687 -0.00493942 -0.03494973 -0.53205535] [ 0.00501196 0.99998546 0.00198841 -0.03831823] [ 0.0349394 -0.00216234 0.99938709 0.88266285] [ 0. 0. 0. 1. ]] SLAMing on 87.72255784400001 meters Centerline goodness : 0.158324 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.04, Z:0.88 [[ 0.99936752 -0.00500322 -0.03520704 -0.53143062] [ 0.0050899 0.99998423 0.00237272 -0.04064765] [ 0.03519461 -0.00255042 0.99937722 0.88274608] [ 0. 0. 0. 1. ]] SLAMing on 87.752557844 meters Centerline goodness : 0.091509 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.05, Z:0.88 [[ 9.99304167e-01 -8.43255544e-03 -3.63328078e-02 -5.27563992e-01] [ 8.45257972e-03 9.99964197e-01 3.97563934e-04 -4.81046941e-02] [ 3.63281545e-02 -7.04393250e-04 9.99339666e-01 8.80566669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.782557844 meters Centerline goodness : 0.163917 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.06, Z:0.88 [[ 9.99331100e-01 -9.92373383e-04 -3.65563599e-02 -5.45910796e-01] [ 9.60536261e-04 9.99999144e-01 -8.88457586e-04 -5.94337336e-02] [ 3.65572102e-02 8.52749588e-04 9.99331198e-01 8.79144391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.812557844 meters Centerline goodness : 0.136739 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.06, Z:0.88 [[ 9.99350337e-01 -1.14675778e-03 -3.60220519e-02 -5.47842945e-01] [ 1.13491149e-03 9.99999295e-01 -3.49308277e-04 -6.19608896e-02] [ 3.60224271e-02 3.08199504e-04 9.99350934e-01 8.79538297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842557844 meters Centerline goodness : 0.154888 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.06, Z:0.88 [[ 9.99361777e-01 -9.39717540e-04 -3.57093231e-02 -5.49157011e-01] [ 9.49049506e-04 9.99999520e-01 2.44381889e-04 -6.47575549e-02] [ 3.57090763e-02 -2.78115834e-04 9.99362189e-01 8.80436492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.872557844 meters Centerline goodness : 0.138691 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.07, Z:0.88 [[ 0.99945615 0.00567473 -0.03248392 -0.52826683] [-0.00575752 0.99998041 -0.00245562 -0.06750909] [ 0.03246935 0.00264131 0.99946924 0.87980451] [ 0. 0. 0. 1. ]] SLAMing on 87.902557844 meters Centerline goodness : 0.154780 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.07, Z:0.88 [[ 0.99946058 0.00585891 -0.03231431 -0.52890977] [-0.00592587 0.99998049 -0.00197668 -0.06984076] [ 0.0323021 0.00216711 0.9994758 0.88012044] [ 0. 0. 0. 1. ]] SLAMing on 87.932557844 meters Centerline goodness : 0.164925 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.07, Z:0.88 [[ 0.99945602 0.00601888 -0.0324258 -0.52854767] [-0.00607184 0.99998039 -0.00153502 -0.07210634] [ 0.03241592 0.00173107 0.99947297 0.87998353] [ 0. 0. 0. 1. ]] SLAMing on 87.962557844 meters Centerline goodness : 0.140253 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.88 [[ 9.99432875e-01 6.21177177e-03 -3.30959556e-02 -5.26165321e-01] [-6.24471072e-03 9.99980104e-01 -8.91982341e-04 -7.56744698e-02] [ 3.30897564e-02 1.09815114e-03 9.99451781e-01 8.78893264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.992557844 meters Centerline goodness : 0.140375 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.88 [[ 9.99423267e-01 6.27805996e-03 -3.33724452e-02 -5.25380010e-01] [-6.30594410e-03 9.99979851e-01 -7.30356717e-04 -7.65168124e-02] [ 3.33671876e-02 9.40380270e-04 9.99442718e-01 8.78786767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.022557844 meters Centerline goodness : 0.165609 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.08, Z:0.88 [[ 9.99414791e-01 6.30520669e-03 -3.36202276e-02 -5.24866800e-01] [-6.33276374e-03 9.99979693e-01 -7.13234298e-04 -7.65894037e-02] [ 3.36150478e-02 9.25725865e-04 9.99434426e-01 8.79037858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.052557844 meters Centerline goodness : 0.142180 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.08, Z:0.88 [[ 9.99409111e-01 6.31130964e-03 -3.37875047e-02 -5.24446770e-01] [-6.34015801e-03 9.99979622e-01 -7.46744976e-04 -7.63477548e-02] [ 3.37821033e-02 9.60521852e-04 9.99428760e-01 8.79077816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08255784400001 meters Centerline goodness : 0.142983 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.08, Z:0.88 [[ 0.99937754 0.01009187 -0.03380372 -0.52488123] [-0.01000179 0.99994597 0.00283271 -0.07567757] [ 0.03383048 -0.00249285 0.99942448 0.87997101] [ 0. 0. 0. 1. ]] SLAMing on 88.11255784400001 meters Centerline goodness : 0.150981 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.88 [[ 0.9993856 0.01020168 -0.03353123 -0.52585328] [-0.01010711 0.99994446 0.00298866 -0.0761765 ] [ 0.03355986 -0.00264792 0.9994332 0.88039734] [ 0. 0. 0. 1. ]] SLAMing on 88.142557844 meters Centerline goodness : 0.153506 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.88 [[ 0.99938962 0.01029269 -0.03338329 -0.526519 ] [-0.01019185 0.99994298 0.0031895 -0.07710664] [ 0.03341421 -0.00284731 0.99943753 0.88085316] [ 0. 0. 0. 1. ]] SLAMing on 88.172557844 meters Centerline goodness : 0.141177 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.88 [[ 0.99938555 0.01040182 -0.03347132 -0.52642061] [-0.01029091 0.99994098 0.00348395 -0.07859991] [ 0.03350558 -0.00313736 0.99943361 0.88104095] [ 0. 0. 0. 1. ]] SLAMing on 88.202557844 meters Centerline goodness : 0.140021 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.88 [[ 0.9993718 0.01048832 -0.03385257 -0.52542052] [-0.01036458 0.99993896 0.00382845 -0.08051646] [ 0.03389066 -0.00347518 0.9994195 0.88098547] [ 0. 0. 0. 1. ]] SLAMing on 88.232557844 meters Centerline goodness : 0.150593 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.08, Z:0.88 [[ 0.99935592 0.0105959 -0.03428509 -0.52419799] [-0.01045595 0.99993627 0.00425881 -0.08281596] [ 0.03432803 -0.00389759 0.99940302 0.88074962] [ 0. 0. 0. 1. ]] SLAMing on 88.262557844 meters Centerline goodness : 0.140642 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.08, Z:0.88 [[ 0.99941851 0.0024641 -0.03400845 -0.50157463] [-0.00229526 0.99998485 0.00500279 -0.08301735] [ 0.03402027 -0.00492182 0.99940902 0.88146949] [ 0. 0. 0. 1. ]] SLAMing on 88.292557844 meters Centerline goodness : 0.145429 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.08, Z:0.88 [[ 0.99941366 0.0026033 -0.03414033 -0.50136682] [-0.00242078 0.99998256 0.00538634 -0.08495133] [ 0.03415376 -0.00530053 0.99940253 0.88167786] [ 0. 0. 0. 1. ]] SLAMing on 88.322557844 meters Centerline goodness : 0.161732 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.09, Z:0.88 [[ 0.99940909 0.00267759 -0.03426796 -0.50114728] [-0.00248575 0.99998101 0.00563954 -0.08633655] [ 0.03428241 -0.00555102 0.99939677 0.88186709] [ 0. 0. 0. 1. ]] SLAMing on 88.352557844 meters Centerline goodness : 0.115178 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.09, Z:0.88 [[ 0.9994051 0.00277226 -0.03437667 -0.50089523] [-0.00257148 0.99997939 0.00588352 -0.08751906] [ 0.03439227 -0.00579162 0.99939163 0.88192579] [ 0. 0. 0. 1. ]] SLAMing on 88.382557844 meters Centerline goodness : 0.145433 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.09, Z:0.88 [[ 0.99936473 0.01183244 -0.03361741 -0.48113802] [-0.01167484 0.99991994 0.00488043 -0.09218778] [ 0.03367247 -0.00448485 0.99942286 0.88319156] [ 0. 0. 0. 1. ]] SLAMing on 88.412557844 meters Centerline goodness : 0.145433 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.09, Z:0.88 [[ 0.99936473 0.01183244 -0.03361741 -0.48113802] [-0.01167484 0.99991994 0.00488043 -0.09218778] [ 0.03367247 -0.00448485 0.99942286 0.88319156] [ 0. 0. 0. 1. ]] SLAMing on 88.442557844 meters Centerline goodness : 0.115252 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.09, Z:0.88 [[ 0.9994194 0.00284758 -0.03395214 -0.50074059] [-0.00263535 0.99997672 0.00629404 -0.08855664] [ 0.03396927 -0.00620091 0.99940364 0.88201521] [ 0. 0. 0. 1. ]] SLAMing on 88.47255784400001 meters Centerline goodness : 0.157181 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.09, Z:0.88 [[ 0.99943585 0.01169488 -0.03148352 -0.48244594] [-0.01154973 0.99992183 0.00478842 -0.09246134] [ 0.03153706 -0.00442209 0.9994928 0.8841021 ] [ 0. 0. 0. 1. ]] SLAMing on 88.502557844 meters Centerline goodness : 0.109988 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.09, Z:0.88 [[ 0.99943774 0.01173193 -0.03140967 -0.48288301] [-0.01158545 0.99992117 0.00484138 -0.09275595] [ 0.03146399 -0.00447476 0.99949487 0.8845611 ] [ 0. 0. 0. 1. ]] SLAMing on 88.532557844 meters Centerline goodness : 0.146327 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.09, Z:0.88 [[ 0.99943721 0.01176667 -0.03141335 -0.48284742] [-0.01161842 0.99992051 0.00489762 -0.09302187] [ 0.03146849 -0.00452989 0.99949448 0.88454764] [ 0. 0. 0. 1. ]] SLAMing on 88.562557844 meters Centerline goodness : 0.132949 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947548 0.00469283 -0.03204287 -0.46352735] [-0.00451804 0.99997453 0.00552517 -0.08869334] [ 0.03206799 -0.0053775 0.99947122 0.88606761] [ 0. 0. 0. 1. ]] SLAMing on 88.592557844 meters Centerline goodness : 0.139095 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947517 0.00470382 -0.03205096 -0.4634241 ] [-0.00452793 0.9999743 0.0055582 -0.088899 ] [ 0.03207628 -0.00541016 0.99947078 0.88594729] [ 0. 0. 0. 1. ]] SLAMing on 88.622557844 meters Centerline goodness : 0.102655 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947429 0.00473706 -0.03207356 -0.46345348] [-0.0045587 0.99997375 0.00563175 -0.08932418] [ 0.0320994 -0.00548258 0.99946964 0.88612413] [ 0. 0. 0. 1. ]] SLAMing on 88.652557844 meters Centerline goodness : 0.160859 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947655 0.0048578 -0.03198487 -0.46391091] [-0.00467082 0.99997158 0.0059179 -0.09066301] [ 0.0320127 -0.00576541 0.99947083 0.88651094] [ 0. 0. 0. 1. ]] SLAMing on 88.682557844 meters Centerline goodness : 0.135386 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947701 0.00494033 -0.03195772 -0.463966 ] [-0.0047482 0.99997021 0.00608508 -0.09135087] [ 0.03198683 -0.00593016 0.9994707 0.88648081] [ 0. 0. 0. 1. ]] SLAMing on 88.712557844 meters Centerline goodness : 0.159759 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947921 0.00497122 -0.03188421 -0.4640834 ] [-0.00477685 0.99996956 0.00616957 -0.09172778] [ 0.03191391 -0.00601405 0.99947253 0.8863545 ] [ 0. 0. 0. 1. ]] SLAMing on 88.742557844 meters Centerline goodness : 0.110427 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947916 0.00499286 -0.03188226 -0.46403814] [-0.00479667 0.99996911 0.00622711 -0.09205133] [ 0.03191236 -0.00607094 0.99947223 0.88629302] [ 0. 0. 0. 1. ]] SLAMing on 88.772557844 meters Centerline goodness : 0.110090 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947763 0.00496727 -0.0319342 -0.46384291] [-0.00477162 0.9999694 0.00619986 -0.0920649 ] [ 0.03196402 -0.00604424 0.99947074 0.88621922] [ 0. 0. 0. 1. ]] SLAMing on 88.802557844 meters Centerline goodness : 0.114086 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99946821 0.00496265 -0.03222834 -0.4626269 ] [-0.00477259 0.99997078 0.00597155 -0.09071066] [ 0.03225703 -0.00581456 0.99946269 0.88538944] [ 0. 0. 0. 1. ]] SLAMing on 88.83255784400001 meters Centerline goodness : 0.138093 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99945967 0.00505759 -0.0324774 -0.46186327] [-0.0048719 0.99997135 0.00579417 -0.08974268] [ 0.03250578 -0.00563282 0.99945567 0.88534744] [ 0. 0. 0. 1. ]] SLAMing on 88.86255784400001 meters Centerline goodness : 0.143226 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99946815 0.00501255 -0.0322225 -0.46262572] [-0.00483631 0.99997293 0.00554497 -0.08825282] [ 0.03224943 -0.00538619 0.99946534 0.88551031] [ 0. 0. 0. 1. ]] SLAMing on 88.892557844 meters Centerline goodness : 0.143320 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947263 0.00486869 -0.0321053 -0.46321119] [-0.00470552 0.99997564 0.00515598 -0.08678963] [ 0.03212962 -0.00500219 0.99947119 0.88605439] [ 0. 0. 0. 1. ]] SLAMing on 88.922557844 meters Centerline goodness : 0.158925 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.9994758 0.00478762 -0.03201888 -0.46347343] [-0.00463126 0.999977 0.0049557 -0.08582183] [ 0.03204187 -0.00480481 0.99947498 0.88610575] [ 0. 0. 0. 1. ]] SLAMing on 88.952557844 meters Centerline goodness : 0.134606 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947224 0.00469414 -0.03214359 -0.46299747] [-0.00454112 0.99997802 0.00483186 -0.0854825 ] [ 0.03216556 -0.00468334 0.99947158 0.88583041] [ 0. 0. 0. 1. ]] SLAMing on 88.982557844 meters Centerline goodness : 0.154358 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.88 [[ 0.99944962 0.00193915 -0.03311629 -0.45879368] [-0.00187772 0.99999646 0.00188582 -0.08562158] [ 0.03311983 -0.00182259 0.99944973 0.88378251] [ 0. 0. 0. 1. ]] SLAMing on 89.012557844 meters Centerline goodness : 0.164760 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.88 [[ 0.99944623 0.00188749 -0.03322167 -0.45841782] [-0.00182758 0.99999665 0.0018338 -0.08548076] [ 0.03322502 -0.00177207 0.99944633 0.88358277] [ 0. 0. 0. 1. ]] SLAMing on 89.042557844 meters Centerline goodness : 0.144139 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.08, Z:0.88 [[ 0.99944613 0.00183957 -0.03322715 -0.45854855] [-0.00178294 0.99999691 0.00173408 -0.08495706] [ 0.03323023 -0.00167388 0.99944632 0.88380723] [ 0. 0. 0. 1. ]] SLAMing on 89.072557844 meters Centerline goodness : 0.089006 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.09, Z:0.89 [[ 0.99938454 0.01009466 -0.03359527 -0.4418498 ] [-0.01004719 0.99994828 0.0015815 -0.09099537] [ 0.0336095 -0.00124299 0.99943427 0.88537216] [ 0. 0. 0. 1. ]] SLAMing on 89.102557844 meters Centerline goodness : 0.159990 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.09, Z:0.89 [[ 0.99937654 0.01007105 -0.03383949 -0.44139543] [-0.01002316 0.99994851 0.00158456 -0.09108584] [ 0.03385371 -0.0012444 0.99942602 0.88567327] [ 0. 0. 0. 1. ]] SLAMing on 89.132557844 meters Centerline goodness : 0.146533 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.09, Z:0.89 [[ 0.99937812 0.01004838 -0.03379946 -0.44138302] [-0.01000117 0.99994876 0.00156576 -0.09111872] [ 0.03381346 -0.00122675 0.99942741 0.88548468] [ 0. 0. 0. 1. ]] SLAMing on 89.162557844 meters Centerline goodness : 0.159705 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.89 [[ 0.99942609 0.00284978 -0.03375451 -0.42265449] [-0.00277302 0.99999346 0.00232063 -0.08636627] [ 0.0337609 -0.00222569 0.99942746 0.88734811] [ 0. 0. 0. 1. ]] SLAMing on 89.192557844 meters Centerline goodness : 0.136010 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.89 [[ 0.99943211 0.00285673 -0.03357527 -0.4231044 ] [-0.00278133 0.9999935 0.00229221 -0.08615198] [ 0.0335816 -0.00219752 0.99943356 0.88734183] [ 0. 0. 0. 1. ]] SLAMing on 89.22255784400001 meters Centerline goodness : 0.130226 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:0.89 [[ 9.99420172e-01 1.19138159e-02 -3.18964060e-02 -4.03742534e-01] [-1.18830501e-02 9.99928728e-01 1.15394967e-03 -8.90304127e-02] [ 3.19078806e-02 -7.74253987e-04 9.99490514e-01 8.88248158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.252557844 meters Centerline goodness : 0.160130 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:0.89 [[ 9.99424176e-01 1.19699678e-02 -3.17495800e-02 -4.04203699e-01] [-1.19367531e-02 9.99927991e-01 1.23548749e-03 -8.93105973e-02] [ 3.17620825e-02 -8.55789164e-04 9.99495091e-01 8.88407416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.282557844 meters Centerline goodness : 0.166369 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:0.89 [[ 0.99941975 0.01203756 -0.03186301 -0.40375247] [-0.01199805 0.999927 0.00143084 -0.09043834] [ 0.03187791 -0.00104772 0.99949122 0.88819196] [ 0. 0. 0. 1. ]] SLAMing on 89.312557844 meters Centerline goodness : 0.162342 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:0.89 [[ 0.99941267 0.01201457 -0.03209298 -0.40286398] [-0.01197322 0.99992722 0.00148029 -0.09097699] [ 0.03210843 -0.00109517 0.99948379 0.88769614] [ 0. 0. 0. 1. ]] SLAMing on 89.342557844 meters Centerline goodness : 0.159400 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.09, Z:0.89 [[ 0.99946867 0.00302864 -0.03245319 -0.3841521 ] [-0.00297192 0.99999397 0.00179585 -0.08594861] [ 0.03245843 -0.00169845 0.99947164 0.88836765] [ 0. 0. 0. 1. ]] SLAMing on 89.372557844 meters Centerline goodness : 0.165079 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.09, Z:0.89 [[ 0.99946792 0.00314809 -0.03246497 -0.38422998] [-0.00308156 0.99999305 0.00209893 -0.08746584] [ 0.03247135 -0.00199777 0.99947067 0.88856052] [ 0. 0. 0. 1. ]] SLAMing on 89.402557844 meters Centerline goodness : 0.160209 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.99947731 0.00339453 -0.03214929 -0.38568346] [-0.00331038 0.99999095 0.0026705 -0.0898838 ] [ 0.03215807 -0.00256268 0.99947951 0.88964774] [ 0. 0. 0. 1. ]] SLAMing on 89.432557844 meters Centerline goodness : 0.170789 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.9994782 0.00347398 -0.03211321 -0.38594754] [-0.00338424 0.99999022 0.00284846 -0.09052186] [ 0.03212279 -0.0027383 0.99948018 0.88994437] [ 0. 0. 0. 1. ]] SLAMing on 89.462557844 meters Centerline goodness : 0.168541 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.99947712 0.00350837 -0.03214317 -0.38585919] [-0.00341651 0.99998992 0.0029121 -0.09077154] [ 0.03215306 -0.00280076 0.99947903 0.88991945] [ 0. 0. 0. 1. ]] SLAMing on 89.492557844 meters Centerline goodness : 0.170534 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.99947355 0.0035092 -0.03225379 -0.38552613] [-0.00341586 0.99998982 0.0029486 -0.09101302] [ 0.03226381 -0.00283687 0.99947536 0.88985 ] [ 0. 0. 0. 1. ]] SLAMing on 89.522557844 meters Centerline goodness : 0.161703 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.10, Z:0.89 [[ 0.99941188 0.01241528 -0.03196493 -0.36695739] [-0.01235096 0.99992128 0.00220885 -0.09609396] [ 0.03198984 -0.00181275 0.99948655 0.89125904] [ 0. 0. 0. 1. ]] SLAMing on 89.552557844 meters Centerline goodness : 0.107429 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.99946304 0.00311172 -0.03261831 -0.38588226] [-0.00300788 0.99999025 0.00323212 -0.09116382] [ 0.03262805 -0.00313227 0.99946266 0.88953376] [ 0. 0. 0. 1. ]] SLAMing on 89.58255784400001 meters Centerline goodness : 0.390658 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.99945797 0.00302637 -0.03278117 -0.38528511] [-0.00292969 0.99999122 0.00299689 -0.09005298] [ 0.03278996 -0.00289923 0.99945806 0.88921486] [ 0. 0. 0. 1. ]] SLAMing on 89.61255784400001 meters Centerline goodness : 0.168053 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.09, Z:0.89 [[ 0.99936416 0.01205508 -0.0335553 -0.36547208] [-0.011966 0.99992433 0.0028542 -0.09438782] [ 0.03358716 -0.00245087 0.99943279 0.89013913] [ 0. 0. 0. 1. ]] SLAMing on 89.642557844 meters Centerline goodness : 0.155099 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.09, Z:0.89 [[ 0.99935719 0.01210148 -0.03374543 -0.36487281] [-0.0120182 0.99992421 0.00266974 -0.09340715] [ 0.03377518 -0.00226246 0.9994269 0.89009155] [ 0. 0. 0. 1. ]] SLAMing on 89.672557844 meters Centerline goodness : 0.151971 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.09, Z:0.89 [[ 0.99936094 0.01206039 -0.03364908 -0.36520049] [-0.01198496 0.99992519 0.00244239 -0.09234741] [ 0.03367602 -0.00203754 0.99943073 0.89030925] [ 0. 0. 0. 1. ]] SLAMing on 89.702557844 meters Centerline goodness : 0.164121 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.99944895 0.00210443 -0.03312658 -0.38767147] [-0.00202498 0.99999499 0.00243184 -0.08669755] [ 0.03313153 -0.00236342 0.99944821 0.88972277] [ 0. 0. 0. 1. ]] SLAMing on 89.732557844 meters Centerline goodness : 0.139732 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.09, Z:0.89 [[ 0.9993821 0.01074404 -0.03346617 -0.36930468] [-0.01067805 0.99994068 0.00215006 -0.09163403] [ 0.03348728 -0.00179138 0.99943754 0.89060826] [ 0. 0. 0. 1. ]] SLAMing on 89.762557844 meters Centerline goodness : 0.138438 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.09, Z:0.89 [[ 0.99937499 0.01076685 -0.03367039 -0.36830786] [-0.01070591 0.99994071 0.00198958 -0.09049135] [ 0.03368982 -0.00162786 0.99943101 0.88987019] [ 0. 0. 0. 1. ]] SLAMing on 89.792557844 meters Centerline goodness : 0.117605 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99942103 0.00202403 -0.03396333 -0.38640866] [-0.00193408 0.99999454 0.00268116 -0.08237861] [ 0.03396857 -0.00261392 0.99941948 0.88811348] [ 0. 0. 0. 1. ]] SLAMing on 89.822557844 meters Centerline goodness : 0.154516 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99942426 0.0018776 -0.03387657 -0.3869624 ] [-0.00179763 0.99999553 0.00239106 -0.08101551] [ 0.03388091 -0.00232879 0.99942316 0.88864197] [ 0. 0. 0. 1. ]] SLAMing on 89.852557844 meters Centerline goodness : 0.135817 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99942483 0.0017984 -0.03386408 -0.38726353] [-0.00171871 0.99999569 0.00238193 -0.08131672] [ 0.03386822 -0.00232235 0.99942361 0.8890696 ] [ 0. 0. 0. 1. ]] SLAMing on 89.882557844 meters Centerline goodness : 0.107084 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.08, Z:0.89 [[ 9.99337179e-01 -2.26599128e-04 -3.64026367e-02 -4.33191598e-01] [ 3.29712258e-04 9.99995951e-01 2.82659492e-03 -8.48451078e-02] [ 3.64018488e-02 -2.83672379e-03 9.99333207e-01 8.89874135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.912557844 meters Centerline goodness : 0.131164 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99941431 0.00126925 -0.03419697 -0.38945793] [-0.00118355 0.99999611 0.00252608 -0.08192166] [ 0.03420004 -0.00248413 0.99941192 0.89019333] [ 0. 0. 0. 1. ]] SLAMing on 89.942557844 meters Centerline goodness : 0.139489 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99941741 0.0013131 -0.03410454 -0.38961254] [-0.00122405 0.99999579 0.00263187 -0.08224747] [ 0.03410785 -0.0025886 0.99941481 0.89003301] [ 0. 0. 0. 1. ]] SLAMing on 89.97255784400001 meters Centerline goodness : 0.170567 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99941339 0.00127591 -0.03422359 -0.38924667] [-0.00118376 0.99999562 0.00271279 -0.08288848] [ 0.0342269 -0.00267068 0.99941052 0.88997327] [ 0. 0. 0. 1. ]] SLAMing on 90.002557844 meters Centerline goodness : 0.126355 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 9.99399065e-01 1.05107096e-03 -3.46468505e-02 -3.88438106e-01] [-9.55927530e-04 9.99995727e-01 2.76254214e-03 -8.45818637e-02] [ 3.46496060e-02 -2.72776216e-03 9.99395800e-01 8.90331812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.032557844 meters Centerline goodness : 0.124160 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 9.99396710e-01 1.07164758e-03 -3.47140885e-02 -3.88651572e-01] [-9.73600500e-04 9.99995490e-01 2.84119838e-03 -8.49551430e-02] [ 3.47169767e-02 -2.80568666e-03 9.99393246e-01 8.90979275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062557844 meters Centerline goodness : 0.156042 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99939994 0.00111518 -0.03461973 -0.38894379] [-0.00101764 0.99999546 0.0028352 -0.08457291] [ 0.03462273 -0.00279827 0.99939654 0.89107689] [ 0. 0. 0. 1. ]] SLAMing on 90.092557844 meters Centerline goodness : 0.164951 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99940496 0.00112423 -0.03447408 -0.38919829] [-0.00103141 0.9999958 0.00271011 -0.08366469] [ 0.03447698 -0.00267294 0.99940192 0.89089637] [ 0. 0. 0. 1. ]] SLAMing on 90.122557844 meters Centerline goodness : 0.156790 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 9.99403424e-01 1.05058390e-03 -3.45209106e-02 -3.88794706e-01] [-9.65166268e-04 9.99996432e-01 2.49094479e-03 -8.26652259e-02] [ 3.45234043e-02 -2.45614033e-03 9.99400871e-01 8.90438483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.152557844 meters Centerline goodness : 0.159503 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 9.99402263e-01 9.06545387e-04 -3.45585608e-02 -3.88476305e-01] [-8.32397694e-04 9.99997321e-01 2.15989373e-03 -8.13353340e-02] [ 3.45604263e-02 -2.12983622e-03 9.99400341e-01 8.90085451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.182557844 meters Centerline goodness : 0.164961 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 9.99385616e-01 8.86246035e-04 -3.50371879e-02 -3.87003200e-01] [-8.42072788e-04 9.99998832e-01 1.27548956e-03 -7.75549609e-02] [ 3.50382773e-02 -1.24520206e-03 9.99385195e-01 8.90090568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.212557844 meters Centerline goodness : 0.155689 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 9.99388959e-01 9.37411327e-04 -3.49403801e-02 -3.87141891e-01] [-9.01877271e-04 9.99999060e-01 1.03273804e-03 -7.59495387e-02] [ 3.49413153e-02 -1.00059506e-03 9.99388865e-01 8.90002685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.242557844 meters Centerline goodness : 0.164694 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.07, Z:0.89 [[ 9.99398769e-01 8.86304314e-04 -3.46599963e-02 -3.87991264e-01] [-8.64132259e-04 9.99999412e-01 6.54676260e-04 -7.39885888e-02] [ 3.46605561e-02 -6.24331828e-04 9.99398947e-01 8.90300461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.272557844 meters Centerline goodness : 0.157048 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.07, Z:0.89 [[ 9.99405265e-01 7.35383217e-04 -3.44757207e-02 -3.88667355e-01] [-7.28607989e-04 9.99999713e-01 2.09084698e-04 -7.18006742e-02] [ 3.44758646e-02 -1.83841063e-04 9.99405514e-01 8.90647653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.302557844 meters Centerline goodness : 0.157048 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.07, Z:0.89 [[ 9.99405265e-01 7.35383217e-04 -3.44757207e-02 -3.88667355e-01] [-7.28607989e-04 9.99999713e-01 2.09084698e-04 -7.18006742e-02] [ 3.44758646e-02 -1.83841063e-04 9.99405514e-01 8.90647653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33255784400001 meters Centerline goodness : 0.157685 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.07, Z:0.89 [[ 9.99408289e-01 5.22548628e-04 -3.43918365e-02 -3.88953184e-01] [-5.34088236e-04 9.99999804e-01 -3.26347345e-04 -6.93758698e-02] [ 3.43916592e-02 3.44522517e-04 9.99408373e-01 8.90770970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36255784400001 meters Centerline goodness : 0.155895 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99406623e-01 5.88661148e-05 -3.44441413e-02 -3.88529428e-01] [-1.10093290e-04 9.99998891e-01 -1.48535895e-03 -6.37781790e-02] [ 3.44440156e-02 1.48826964e-03 9.99405521e-01 8.90161402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.392557844 meters Centerline goodness : 0.156016 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99413420e-01 -1.37069203e-04 -3.42461147e-02 -3.88940951e-01] [ 7.06728219e-05 9.99998116e-01 -1.94000337e-03 -6.15168848e-02] [ 3.42463161e-02 1.93644514e-03 9.99411547e-01 8.89949349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422557844 meters Centerline goodness : 0.158682 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99423396e-01 -2.38241251e-04 -3.39531874e-02 -3.89843771e-01] [ 1.65841606e-04 9.99997707e-01 -2.13513750e-03 -6.05323528e-02] [ 3.39536182e-02 2.12827552e-03 9.99421144e-01 8.90177228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.452557844 meters Centerline goodness : 0.159177 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99433140e-01 -3.39103880e-04 -3.36642644e-02 -3.90893738e-01] [ 2.62691576e-04 9.99997379e-01 -2.27423135e-03 -5.98211135e-02] [ 3.36649474e-02 2.26409886e-03 9.99430610e-01 8.90656716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.482557844 meters Centerline goodness : 0.156462 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99431853e-01 -4.55845801e-04 -3.37010920e-02 -3.90964154e-01] [ 3.76840350e-04 9.99997166e-01 -2.35061405e-03 -5.95465255e-02] [ 3.37020680e-02 2.33657863e-03 9.99429193e-01 8.90890588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.512557844 meters Centerline goodness : 0.133160 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99432344e-01 -5.71882056e-04 -3.36847661e-02 -3.90982004e-01] [ 4.96709833e-04 9.99997368e-01 -2.23996442e-03 -5.99836723e-02] [ 3.36859585e-02 2.22196133e-03 9.99429997e-01 8.90493430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.542557844 meters Centerline goodness : 0.397740 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99442546e-01 -8.71195180e-04 -3.33742009e-02 -3.91781750e-01] [ 8.02413231e-04 9.99997527e-01 -2.07426994e-03 -6.05828422e-02] [ 3.33759255e-02 2.04633373e-03 9.99440774e-01 8.89869717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.572557844 meters Centerline goodness : 0.162795 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.06, Z:0.89 [[ 9.99521366e-01 2.00317444e-04 -3.09354001e-02 -3.51157845e-01] [-2.81080445e-04 9.99996564e-01 -2.60637181e-03 -5.82198969e-02] [ 3.09347717e-02 2.61381965e-03 9.99517988e-01 8.91669622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.602557844 meters Centerline goodness : 0.094938 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.06, Z:0.89 [[ 9.99529166e-01 2.41212421e-04 -3.06820382e-02 -3.52205463e-01] [-3.20747011e-04 9.99996601e-01 -2.58732459e-03 -5.80645038e-02] [ 3.06813099e-02 2.59594757e-03 9.99525847e-01 8.92367487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.632557844 meters Centerline goodness : 0.171288 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.06, Z:0.89 [[ 9.99530698e-01 1.85977316e-04 -3.06324742e-02 -3.52445563e-01] [-2.70540327e-04 9.99996164e-01 -2.75644595e-03 -5.72087696e-02] [ 3.06318441e-02 2.76343967e-03 9.99526915e-01 8.92598334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.662557844 meters Centerline goodness : 0.160195 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.05, Z:0.89 [[ 9.99520892e-01 1.94555056e-05 -3.09513410e-02 -3.51258046e-01] [-1.21730303e-04 9.99994539e-01 -3.30249282e-03 -5.46286814e-02] [ 3.09511077e-02 3.30467829e-03 9.99515437e-01 8.91926171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.692557844 meters Centerline goodness : 0.157299 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.05, Z:0.89 [[ 9.99512507e-01 -7.96697175e-05 -3.12208634e-02 -3.50383150e-01] [-3.21052714e-05 9.99993593e-01 -3.57962001e-03 -5.32629094e-02] [ 3.12209485e-02 3.57887733e-03 9.99506100e-01 8.91629395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72255784400001 meters Centerline goodness : 0.162085 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.06, Z:0.89 [[ 0.99944063 0.00838043 -0.03237584 -0.36826924] [-0.00853922 0.99995217 -0.00476937 -0.0598157 ] [ 0.03233432 0.00504317 0.99946439 0.89019976] [ 0. 0. 0. 1. ]] SLAMing on 90.75255784400001 meters Centerline goodness : 0.143935 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.05, Z:0.89 [[ 0.99945866 0.0010547 -0.03288277 -0.34760597] [-0.00117412 0.99999279 -0.00361249 -0.05204155] [ 0.03287873 0.00364914 0.99945269 0.89117192] [ 0. 0. 0. 1. ]] SLAMing on 90.782557844 meters Centerline goodness : 0.162182 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.05, Z:0.89 [[ 0.99944348 0.00121025 -0.03333553 -0.34626481] [-0.0013281 0.99999295 -0.00351318 -0.05227348] [ 0.03333104 0.0035555 0.99943804 0.89095899] [ 0. 0. 0. 1. ]] SLAMing on 90.812557844 meters Centerline goodness : 0.165481 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.05, Z:0.89 [[ 0.99943141 0.00126387 -0.03369362 -0.34520845] [-0.00138229 0.99999295 -0.00349165 -0.05250384] [ 0.03368897 0.00353624 0.99942611 0.89080311] [ 0. 0. 0. 1. ]] SLAMing on 90.842557844 meters Centerline goodness : 0.159931 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.05, Z:0.89 [[ 0.99942399 0.00136141 -0.03390916 -0.34455623] [-0.001476 0.99999328 -0.00335464 -0.05308914] [ 0.03390436 0.00340276 0.99941929 0.89066078] [ 0. 0. 0. 1. ]] SLAMing on 90.872557844 meters Centerline goodness : 0.163046 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99338910e-01 3.16976982e-04 -3.63543984e-02 -3.89105239e-01] [-4.27842461e-04 9.99995282e-01 -3.04183640e-03 -5.69690888e-02] [ 3.63532627e-02 3.05537943e-03 9.99334331e-01 8.91057948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.902557844 meters Centerline goodness : 0.158854 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.05, Z:0.89 [[ 0.99941117 0.00137195 -0.03428446 -0.34630044] [-0.00150504 0.99999143 -0.00385629 -0.05493205] [ 0.03427888 0.00390562 0.99940468 0.89210501] [ 0. 0. 0. 1. ]] SLAMing on 90.932557844 meters Centerline goodness : 0.166042 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.06, Z:0.89 [[ 0.99942328 0.00150464 -0.03392398 -0.34764169] [-0.00162801 0.99999216 -0.00360951 -0.05585687] [ 0.03391829 0.00366266 0.9994179 0.89280253] [ 0. 0. 0. 1. ]] SLAMing on 90.962557844 meters Centerline goodness : 0.146095 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.05, Z:0.89 [[ 0.99944401 0.00260989 -0.03323939 -0.30894823] [-0.00269047 0.99999355 -0.00237989 -0.0545671 ] [ 0.03323296 0.002468 0.99944459 0.89451682] [ 0. 0. 0. 1. ]] SLAMing on 90.992557844 meters Centerline goodness : 0.162245 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.05, Z:0.89 [[ 0.99944322 0.00267585 -0.03325805 -0.30897907] [-0.00275517 0.99999347 -0.00233932 -0.05453404] [ 0.03325158 0.00242965 0.99944406 0.89465438] [ 0. 0. 0. 1. ]] SLAMing on 91.022557844 meters Centerline goodness : 0.160664 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.05, Z:0.89 [[ 0.9994308 0.00270768 -0.03362648 -0.30802734] [-0.00279133 0.99999312 -0.002441 -0.05451634] [ 0.03361964 0.00253347 0.99943149 0.89481388] [ 0. 0. 0. 1. ]] SLAMing on 91.052557844 meters Centerline goodness : 0.144870 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.06, Z:0.89 [[ 0.99943037 0.00275014 -0.03363579 -0.30809521] [-0.00282976 0.99999331 -0.00231967 -0.05523695] [ 0.03362919 0.00241353 0.99943146 0.89494318] [ 0. 0. 0. 1. ]] SLAMing on 91.08255784400001 meters Centerline goodness : 0.160193 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.05, Z:0.90 [[ 9.99471013e-01 -4.45294919e-03 -3.22159116e-02 -2.89716277e-01] [ 4.42262776e-03 9.99989708e-01 -1.01239124e-03 -5.07328693e-02] [ 3.22200881e-02 8.69376710e-04 9.99480420e-01 8.96838381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11255784400001 meters Centerline goodness : 0.149915 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.05, Z:0.90 [[ 9.99486041e-01 -4.30469155e-03 -3.17666993e-02 -2.91419783e-01] [ 4.28154656e-03 9.99990517e-01 -7.96579590e-04 -5.12646027e-02] [ 3.17698271e-02 6.60159579e-04 9.99494994e-01 8.97731780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.142557844 meters Centerline goodness : 0.157117 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 9.99541588e-01 4.78947633e-03 -2.98943898e-02 -2.73817370e-01] [-4.81861149e-03 9.99987983e-01 -9.02637750e-04 -5.74246525e-02] [ 2.98897074e-02 1.04627342e-03 9.99552655e-01 8.98630838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.172557844 meters Centerline goodness : 0.159055 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 9.99543824e-01 4.85732430e-03 -2.98085707e-02 -2.74337153e-01] [-4.87899693e-03 9.99987884e-01 -6.54368846e-04 -5.86738373e-02] [ 2.98050310e-02 7.99506264e-04 9.99555412e-01 8.99132822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202557844 meters Centerline goodness : 0.143544 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 9.99527997e-01 4.75630492e-03 -3.03506406e-02 -2.72818229e-01] [-4.77284719e-03 9.99988498e-01 -4.72615352e-04 -6.06711485e-02] [ 3.03480436e-02 6.17251246e-04 9.99539201e-01 8.99000872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.232557844 meters Centerline goodness : 0.126653 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 9.99521394e-01 4.71873644e-03 -3.05731263e-02 -2.71938228e-01] [-4.73735537e-03 9.99988635e-01 -5.36590219e-04 -6.05055504e-02] [ 3.05702468e-02 6.81169168e-04 9.99532389e-01 8.98473372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.262557844 meters SLAMing on 91.292557844 meters Centerline goodness : 0.111482 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 9.99521199e-01 4.84881228e-03 -3.05591360e-02 -2.71510442e-01] [-4.87324499e-03 9.99987863e-01 -7.25094145e-04 -5.87782095e-02] [ 3.05552492e-02 8.73669126e-04 9.99532698e-01 8.97637634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.322557844 meters Centerline goodness : 0.157879 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 0.99951286 0.00486943 -0.0308276 -0.27074051] [-0.0049081 0.99998726 -0.00117878 -0.056765 ] [ 0.03082147 0.00132951 0.99952402 0.89775731] [ 0. 0. 0. 1. ]] SLAMing on 91.352557844 meters Centerline goodness : 0.160656 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 0.99951155 0.00479789 -0.03088099 -0.27057859] [-0.00484245 0.99998734 -0.0013682 -0.05591336] [ 0.03087404 0.00151707 0.99952213 0.89771199] [ 0. 0. 0. 1. ]] SLAMing on 91.382557844 meters Centerline goodness : 0.158791 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 0.99950383 0.00476296 -0.03113525 -0.26989836] [-0.00481481 0.99998714 -0.0015904 -0.0550147 ] [ 0.03112727 0.00173952 0.99951392 0.89776829] [ 0. 0. 0. 1. ]] SLAMing on 91.412557844 meters Centerline goodness : 0.143998 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.05, Z:0.90 [[ 9.99516882e-01 -2.76295884e-03 -3.09575169e-02 -2.50244469e-01] [ 2.74405040e-03 9.99996022e-01 -6.53254800e-04 -4.65683084e-02] [ 3.09591986e-02 5.67990214e-04 9.99520488e-01 8.98565599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.442557844 meters Centerline goodness : 0.158271 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99947292 0.00587407 -0.03192759 -0.26876381] [-0.00593091 0.99998099 -0.00168583 -0.05387958] [ 0.03191708 0.0018743 0.99948876 0.8976191 ] [ 0. 0. 0. 1. ]] SLAMing on 91.47255784400001 meters Centerline goodness : 0.153528 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99946453 0.00590055 -0.0321844 -0.26787575] [-0.00595767 0.99998084 -0.00167918 -0.05368549] [ 0.03217387 0.00187003 0.99948054 0.89721273] [ 0. 0. 0. 1. ]] SLAMing on 91.50255784400001 meters Centerline goodness : 0.117642 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99945939 0.00586685 -0.03234983 -0.26726658] [-0.00593217 0.99998055 -0.00192362 -0.0525307 ] [ 0.03233791 0.00211448 0.99947476 0.89698826] [ 0. 0. 0. 1. ]] SLAMing on 91.532557844 meters Centerline goodness : 0.154754 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99945911 0.005921 -0.03234864 -0.26702201] [-0.00598495 0.99998032 -0.00188058 -0.05239944] [ 0.03233687 0.00207317 0.99947488 0.89656367] [ 0. 0. 0. 1. ]] SLAMing on 91.562557844 meters Centerline goodness : 0.155457 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99945864 0.00604022 -0.032341 -0.26682533] [-0.00609865 0.99997994 -0.00170838 -0.05278716] [ 0.03233003 0.0019047 0.99947543 0.89619214] [ 0. 0. 0. 1. ]] SLAMing on 91.592557844 meters Centerline goodness : 0.154874 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99946253 0.00606592 -0.03221585 -0.26718072] [-0.00611903 0.99998008 -0.00155018 -0.05352345] [ 0.0322058 0.00174648 0.99947973 0.89621939] [ 0. 0. 0. 1. ]] SLAMing on 91.622557844 meters Centerline goodness : 0.157676 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99946651 0.0060498 -0.03209501 -0.26775096] [-0.00609948 0.99998035 -0.00145033 -0.05435593] [ 0.0320856 0.00164532 0.99948377 0.89666309] [ 0. 0. 0. 1. ]] SLAMing on 91.652557844 meters Centerline goodness : 0.143495 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.05, Z:0.90 [[ 0.9995341 0.00617278 -0.02989129 -0.2255898 ] [-0.00624686 0.99997764 -0.00238555 -0.05137181] [ 0.0298759 0.00257116 0.99955031 0.8971368 ] [ 0. 0. 0. 1. ]] SLAMing on 91.682557844 meters Centerline goodness : 0.151893 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.05, Z:0.90 [[ 0.99954397 0.00619848 -0.02955396 -0.22650882] [-0.00627011 0.99997762 -0.00233167 -0.05107074] [ 0.02953885 0.00251592 0.99956047 0.8971055 ] [ 0. 0. 0. 1. ]] SLAMing on 91.712557844 meters Centerline goodness : 0.122429 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.05, Z:0.90 [[ 0.99954813 0.00618552 -0.0294156 -0.22682418] [-0.00625869 0.99997754 -0.00239591 -0.05064741] [ 0.02940012 0.00257893 0.9995644 0.89703103] [ 0. 0. 0. 1. ]] SLAMing on 91.742557844 meters Centerline goodness : 0.127276 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.05, Z:0.90 [[ 0.99954962 0.00612596 -0.02937724 -0.22703294] [-0.00620368 0.99997749 -0.00255523 -0.04999032] [ 0.02936093 0.00273633 0.99956513 0.89725246] [ 0. 0. 0. 1. ]] SLAMing on 91.772557844 meters Centerline goodness : 0.146209 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.05, Z:0.90 [[ 0.99954929 0.0060284 -0.02940865 -0.22692459] [-0.00611346 0.99997738 -0.00280336 -0.04891196] [ 0.02939108 0.00298188 0.99956354 0.89719025] [ 0. 0. 0. 1. ]] SLAMing on 91.802557844 meters Centerline goodness : 0.140250 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.04, Z:0.90 [[ 9.99561650e-01 -9.79960002e-04 -2.95896427e-02 -2.08806903e-01] [ 9.41201580e-04 9.99998681e-01 -1.32376402e-03 -3.96575814e-02] [ 2.95909009e-02 1.29533393e-03 9.99561254e-01 8.98717937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83255784400001 meters Centerline goodness : 0.153728 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.04, Z:0.90 [[ 0.99956407 -0.00115368 -0.02950167 -0.2089127 ] [ 0.00109959 0.99999768 -0.00184975 -0.03686694] [ 0.02950373 0.00181651 0.99956302 0.89843148] [ 0. 0. 0. 1. ]] SLAMing on 91.86255784400001 meters Centerline goodness : 0.154871 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.04, Z:0.90 [[ 0.99956395 -0.00124699 -0.0295019 -0.20893328] [ 0.00118628 0.99999714 -0.0020752 -0.035858 ] [ 0.0295044 0.00203929 0.99956257 0.8984486 ] [ 0. 0. 0. 1. ]] SLAMing on 91.892557844 meters Centerline goodness : 0.155821 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.99956435 -0.00133635 -0.02948427 -0.20912897] [ 0.00126967 0.99999659 -0.00228025 -0.03495028] [ 0.02948722 0.00224182 0.99956264 0.89868148] [ 0. 0. 0. 1. ]] SLAMing on 91.922557844 meters Centerline goodness : 0.162113 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.99956489 -0.00146856 -0.02945973 -0.20908795] [ 0.00139308 0.99999569 -0.00258264 -0.03356718] [ 0.02946339 0.00254048 0.99956263 0.89848408] [ 0. 0. 0. 1. ]] SLAMing on 91.952557844 meters Centerline goodness : 0.156281 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.99955515 -0.00167413 -0.02977762 -0.20790671] [ 0.00158289 0.99999398 -0.0030873 -0.03112268] [ 0.02978261 0.00303879 0.99955178 0.89777184] [ 0. 0. 0. 1. ]] SLAMing on 91.982557844 meters Centerline goodness : 0.154536 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.99955528 -0.00170464 -0.02977128 -0.20804908] [ 0.00161091 0.99999367 -0.00317232 -0.03061616] [ 0.0297765 0.00312295 0.9995517 0.89795678] [ 0. 0. 0. 1. ]] SLAMing on 92.012557844 meters Centerline goodness : 0.157154 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.99956067 -0.00168548 -0.02959113 -0.20893265] [ 0.00159278 0.99999375 -0.00315599 -0.0304815 ] [ 0.02959626 0.00310747 0.9995571 0.89862403] [ 0. 0. 0. 1. ]] SLAMing on 92.042557844 meters Centerline goodness : 0.155454 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.99956784 -0.00163656 -0.02935056 -0.20995518] [ 0.00154755 0.99999414 -0.00305517 -0.03074371] [ 0.02935539 0.00300843 0.99956451 0.89929981] [ 0. 0. 0. 1. ]] SLAMing on 92.072557844 meters Centerline goodness : 0.120705 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.9995731 -0.00159419 -0.02917324 -0.21069147] [ 0.00151029 0.99999466 -0.00289776 -0.03151971] [ 0.02917771 0.00285247 0.99957017 0.89980182] [ 0. 0. 0. 1. ]] SLAMing on 92.102557844 meters Centerline goodness : 0.111510 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.9995738 -0.00157415 -0.02915021 -0.21094281] [ 0.00149395 0.99999504 -0.00277285 -0.03228449] [ 0.02915443 0.00272812 0.9995712 0.90015742] [ 0. 0. 0. 1. ]] SLAMing on 92.132557844 meters Centerline goodness : 0.129365 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.90 [[ 0.99960451 0.00569514 -0.02753868 -0.18944808] [-0.00584491 0.99996855 -0.00536108 -0.03346466] [ 0.02750729 0.00551992 0.99960636 0.89937014] [ 0. 0. 0. 1. ]] SLAMing on 92.162557844 meters Centerline goodness : 0.152260 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.90 [[ 0.9996076 0.00571763 -0.02742182 -0.1896599 ] [-0.00586562 0.99996865 -0.00531955 -0.03350734] [ 0.02739054 0.0054783 0.9996098 0.89918875] [ 0. 0. 0. 1. ]] SLAMing on 92.192557844 meters Centerline goodness : 0.115235 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.90 [[ 0.999608 0.00569293 -0.02741239 -0.18955973] [-0.0058432 0.99996832 -0.00540489 -0.03297647] [ 0.02738076 0.00556294 0.9996096 0.89901399] [ 0. 0. 0. 1. ]] SLAMing on 92.22255784400001 meters Centerline goodness : 0.115235 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.90 [[ 0.999608 0.00569293 -0.02741239 -0.18955973] [-0.0058432 0.99996832 -0.00540489 -0.03297647] [ 0.02738076 0.00556294 0.9996096 0.89901399] [ 0. 0. 0. 1. ]] SLAMing on 92.25255784400001 meters Centerline goodness : 0.158986 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.90 [[ 0.99958411 0.00572227 -0.02826432 -0.18696168] [-0.00588669 0.99996621 -0.00573744 -0.03162078] [ 0.02823054 0.00590144 0.99958402 0.89856816] [ 0. 0. 0. 1. ]] SLAMing on 92.282557844 meters Centerline goodness : 0.157036 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:0.90 [[ 0.99956777 0.00582371 -0.02881575 -0.18493446] [-0.00599434 0.99996499 -0.00583858 -0.0307804 ] [ 0.02878074 0.00600879 0.99956769 0.89762919] [ 0. 0. 0. 1. ]] SLAMing on 92.312557844 meters Centerline goodness : 0.141270 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:0.90 [[ 0.99956097 0.00588552 -0.02903849 -0.18383599] [-0.00606056 0.99996397 -0.00594357 -0.02986289] [ 0.02900246 0.00611695 0.99956062 0.89679237] [ 0. 0. 0. 1. ]] SLAMing on 92.342557844 meters Centerline goodness : 0.150361 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:0.90 [[ 0.99956468 0.0058867 -0.02891011 -0.1839763 ] [-0.00606388 0.99996334 -0.0060449 -0.02907023] [ 0.02887346 0.00621758 0.99956374 0.89645435] [ 0. 0. 0. 1. ]] SLAMing on 92.372557844 meters Centerline goodness : 0.115493 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:0.90 [[ 0.99957211 0.00580365 -0.02866915 -0.18479076] [-0.00598592 0.99996239 -0.00627618 -0.02802853] [ 0.02863165 0.00644511 0.99956925 0.89680774] [ 0. 0. 0. 1. ]] SLAMing on 92.402557844 meters Centerline goodness : 0.093979 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.02, Z:0.90 [[ 0.9996262 0.00614115 -0.02664105 -0.14621125] [-0.00634739 0.99995049 -0.00766359 -0.02160905] [ 0.02659267 0.00782983 0.99961569 0.89888969] [ 0. 0. 0. 1. ]] SLAMing on 92.432557844 meters Centerline goodness : 0.133580 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99962863 -0.00273895 -0.02711267 -0.16568712] [ 0.00256902 0.99997685 -0.00630059 -0.01713078] [ 0.0271293 0.0062286 0.99961253 0.89708813] [ 0. 0. 0. 1. ]] SLAMing on 92.462557844 meters Centerline goodness : 0.126813 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99962867 -0.00274655 -0.02711038 -0.16533199] [ 0.00257315 0.99997602 -0.00642887 -0.01614115] [ 0.02712739 0.00635672 0.99961177 0.89642107] [ 0. 0. 0. 1. ]] SLAMing on 92.492557844 meters Centerline goodness : 0.078836 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.02, Z:0.90 [[ 0.99962725 -0.0027768 -0.02715969 -0.16478935] [ 0.00259917 0.99997502 -0.00657341 -0.01520072] [ 0.02717726 0.00650037 0.99960949 0.89567466] [ 0. 0. 0. 1. ]] SLAMing on 92.522557844 meters Centerline goodness : 0.127978 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99962592 -0.00285072 -0.027201 -0.16440572] [ 0.00266958 0.99997403 -0.00669361 -0.01480582] [ 0.02721938 0.00661849 0.99960757 0.89519484] [ 0. 0. 0. 1. ]] SLAMing on 92.552557844 meters Centerline goodness : 0.153773 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99962273 -0.00310677 -0.02729021 -0.1645262 ] [ 0.00291573 0.99997099 -0.00703753 -0.01422187] [ 0.02731128 0.0069553 0.99960278 0.89575186] [ 0. 0. 0. 1. ]] SLAMing on 92.58255784400001 meters Centerline goodness : 0.157576 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99962142 -0.00318784 -0.02732861 -0.16464801] [ 0.00299084 0.99996927 -0.00724635 -0.01319373] [ 0.02735087 0.00716188 0.99960024 0.89611171] [ 0. 0. 0. 1. ]] SLAMing on 92.61255784400001 meters Centerline goodness : 0.114155 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99962141 -0.00324402 -0.02732239 -0.164751 ] [ 0.00304076 0.99996742 -0.00747744 -0.01185876] [ 0.02734576 0.00739153 0.99959871 0.89616987] [ 0. 0. 0. 1. ]] SLAMing on 92.642557844 meters Centerline goodness : 0.156219 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.01, Z:0.90 [[ 0.99961449 -0.00810659 -0.02655478 -0.14211398] [ 0.00799823 0.99995926 -0.00418424 -0.00700413] [ 0.02658762 0.00397024 0.9996386 0.89647137] [ 0. 0. 0. 1. ]] SLAMing on 92.672557844 meters Centerline goodness : 0.125435 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.01, Z:0.90 [[ 0.99961739 -0.00813808 -0.02643582 -0.14252105] [ 0.00802764 0.99995861 -0.00428119 -0.00650973] [ 0.02646957 0.00406734 0.99964135 0.89661329] [ 0. 0. 0. 1. ]] SLAMing on 92.702557844 meters Centerline goodness : 0.156658 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.01, Z:0.90 [[ 0.99962057 -0.0081858 -0.02630054 -0.14292664] [ 0.00807251 0.99995769 -0.00441083 -0.00586323] [ 0.02633553 0.00419684 0.99964435 0.89670688] [ 0. 0. 0. 1. ]] SLAMing on 92.732557844 meters Centerline goodness : 0.106560 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.01, Z:0.90 [[ 0.99962439 -0.00822002 -0.02614398 -0.14332483] [ 0.00810399 0.99995685 -0.0045412 -0.00515707] [ 0.02618018 0.00432763 0.99964787 0.89668859] [ 0. 0. 0. 1. ]] SLAMing on 92.762557844 meters Centerline goodness : 0.116025 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.00, Z:0.90 [[ 0.99962484 -0.00828978 -0.0261046 -0.14330659] [ 0.00816963 0.99995556 -0.00470583 -0.00438935] [ 0.02614245 0.0044908 0.99964814 0.89643831] [ 0. 0. 0. 1. ]] SLAMing on 92.792557844 meters Centerline goodness : 0.151712 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.00, Z:0.90 [[ 0.99962215 -0.00834011 -0.02619174 -0.14283451] [ 0.00821635 0.99995458 -0.00482957 -0.00391236] [ 0.02623083 0.00461255 0.99964527 0.89599462] [ 0. 0. 0. 1. ]] SLAMing on 92.822557844 meters Centerline goodness : 0.156418 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.89 [[ 9.99645460e-01 -8.15645446e-04 -2.66137128e-02 -1.62441224e-01] [ 6.58636169e-04 9.99982332e-01 -5.90779575e-03 -9.56796238e-03] [ 2.66180613e-02 5.88817244e-03 9.99628335e-01 8.94248962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.852557844 meters Centerline goodness : 0.152049 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.00, Z:0.90 [[ 0.999592 -0.00657312 -0.02779609 -0.14723287] [ 0.00645455 0.99996969 -0.00435325 -0.00463747] [ 0.02782386 0.00417207 0.99960414 0.89817574] [ 0. 0. 0. 1. ]] SLAMing on 92.882557844 meters Centerline goodness : 0.161200 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.01, Z:0.90 [[ 0.99953014 -0.00729388 -0.02977064 -0.19438564] [ 0.00720489 0.99996925 -0.00309532 -0.00924342] [ 0.0297923 0.00287937 0.99955196 0.89948949] [ 0. 0. 0. 1. ]] SLAMing on 92.912557844 meters Centerline goodness : 0.126037 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.01, Z:0.90 [[ 0.99953351 -0.00724535 -0.02966923 -0.19492066] [ 0.00716029 0.99996995 -0.00297202 -0.00976587] [ 0.02968987 0.00275819 0.99955535 0.89995062] [ 0. 0. 0. 1. ]] SLAMing on 92.942557844 meters Centerline goodness : 0.107824 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.01, Z:0.90 [[ 0.9995983 -0.0064622 -0.02759503 -0.15165396] [ 0.00635975 0.99997256 -0.00379852 -0.00662084] [ 0.02761882 0.00362149 0.99961197 0.9007241 ] [ 0. 0. 0. 1. ]] SLAMing on 92.97255784400001 meters Centerline goodness : 0.163828 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99958175 0.00157063 -0.02887659 -0.1716831 ] [-0.00169263 0.99998974 -0.00420085 -0.01296499] [ 0.0288697 0.00424797 0.99957416 0.89929144] [ 0. 0. 0. 1. ]] SLAMing on 93.00255784400001 meters Centerline goodness : 0.159227 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957789 0.00159234 -0.0290086 -0.17104727] [-0.00171499 0.99998969 -0.00420357 -0.01275862] [ 0.0290016 0.00425155 0.99957032 0.89874816] [ 0. 0. 0. 1. ]] SLAMing on 93.032557844 meters Centerline goodness : 0.130898 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957472 0.00160027 -0.02911736 -0.17061309] [-0.00172448 0.99998952 -0.00424103 -0.01248551] [ 0.02911027 0.00428943 0.999567 0.89845731] [ 0. 0. 0. 1. ]] SLAMing on 93.062557844 meters Centerline goodness : 0.124521 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957369 0.00154215 -0.02915584 -0.170576 ] [-0.00167092 0.99998896 -0.00439251 -0.0118513 ] [ 0.02914874 0.00443935 0.99956523 0.89856751] [ 0. 0. 0. 1. ]] SLAMing on 93.092557844 meters Centerline goodness : 0.157840 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957619 0.00147058 -0.02907364 -0.17091567] [-0.00160413 0.99998827 -0.00457048 -0.01112501] [ 0.02906658 0.00461518 0.99956682 0.89876365] [ 0. 0. 0. 1. ]] SLAMing on 93.122557844 meters Centerline goodness : 0.154171 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957733 0.0013951 -0.02903833 -0.17098302] [-0.00153467 0.99998738 -0.00478481 -0.01008961] [ 0.02903129 0.00482735 0.99956685 0.89870994] [ 0. 0. 0. 1. ]] SLAMing on 93.152557844 meters Centerline goodness : 0.120952 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957995 0.00130651 -0.02895201 -0.17071165] [-0.00145196 0.99998643 -0.00500341 -0.00892855] [ 0.02894508 0.00504335 0.99956828 0.89779654] [ 0. 0. 0. 1. ]] SLAMing on 93.182557844 meters Centerline goodness : 0.118262 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957662 0.00126113 -0.02906888 -0.17033132] [-0.00140875 0.99998622 -0.00505808 -0.00876414] [ 0.0290621 0.00509689 0.99956461 0.89764702] [ 0. 0. 0. 1. ]] SLAMing on 93.212557844 meters Centerline goodness : 0.156775 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957096 0.00119552 -0.02926557 -0.16981611] [-0.00134542 0.99998607 -0.00510291 -0.0088521 ] [ 0.02925906 0.0051401 0.99955865 0.89763563] [ 0. 0. 0. 1. ]] SLAMing on 93.242557844 meters Centerline goodness : 0.164172 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.9995662 0.00113487 -0.02942995 -0.1694089 ] [-0.00128422 0.99998639 -0.00505636 -0.00937088] [ 0.02942381 0.00509196 0.99955406 0.89763798] [ 0. 0. 0. 1. ]] SLAMing on 93.272557844 meters Centerline goodness : 0.118530 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 9.99550963e-01 9.31646889e-04 -2.99500393e-02 -1.67782464e-01] [-1.07885078e-03 9.99987417e-01 -4.89919795e-03 -1.07314978e-02] [ 2.99450981e-02 4.92930965e-03 9.99539390e-01 8.97075246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.302557844 meters Centerline goodness : 0.136227 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.01, Z:0.90 [[ 9.99462995e-01 -6.66309331e-04 -3.27609118e-02 -2.11532810e-01] [ 5.20646625e-04 9.99989943e-01 -4.45456448e-03 -1.42932259e-02] [ 3.27635504e-02 4.43511549e-03 9.99453290e-01 8.96416472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33255784400001 meters Centerline goodness : 0.160235 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.01, Z:0.90 [[ 9.99455680e-01 -6.94772361e-04 -3.29827254e-02 -2.10774824e-01] [ 5.49392300e-04 9.99990096e-01 -4.41662183e-03 -1.45979486e-02] [ 3.29854673e-02 4.39609732e-03 9.99446163e-01 8.96063065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36255784400001 meters Centerline goodness : 0.114183 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.01, Z:0.90 [[ 0.99942087 -0.00816919 -0.03303315 -0.19085089] [ 0.00805507 0.99996113 -0.00358633 -0.00909893] [ 0.03306117 0.00331817 0.99944782 0.89784854] [ 0. 0. 0. 1. ]] SLAMing on 93.392557844 meters Centerline goodness : 0.165101 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.01, Z:0.90 [[ 0.99942428 -0.00819144 -0.03292425 -0.19134407] [ 0.00807536 0.99996071 -0.00365706 -0.00864573] [ 0.03295291 0.00338908 0.99945116 0.89817842] [ 0. 0. 0. 1. ]] SLAMing on 93.422557844 meters Centerline goodness : 0.131120 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.01, Z:0.90 [[ 0.99943504 -0.00818737 -0.03259718 -0.19248189] [ 0.0080697 0.99996045 -0.00373979 -0.00797193] [ 0.03262651 0.00347463 0.99946157 0.89870288] [ 0. 0. 0. 1. ]] SLAMing on 93.452557844 meters Centerline goodness : 0.170222 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.01, Z:0.90 [[ 0.99946421 -0.00813079 -0.03170458 -0.1953049 ] [ 0.00801034 0.99996022 -0.0039243 -0.0064174 ] [ 0.03173523 0.00366824 0.99948958 0.89971022] [ 0. 0. 0. 1. ]] SLAMing on 93.482557844 meters Centerline goodness : 0.168429 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99533176e-01 5.58010254e-04 -3.05469912e-02 -1.76016114e-01] [-7.26374213e-04 9.99984607e-01 -5.50081868e-03 -8.18850833e-03] [ 3.05434515e-02 5.52043932e-03 9.99518195e-01 9.01269936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.512557844 meters Centerline goodness : 0.162266 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99529531e-01 4.54378371e-04 -3.06677316e-02 -1.75544822e-01] [-6.30946598e-04 9.99983281e-01 -5.74802809e-03 -7.15375356e-03] [ 3.06646071e-02 5.76467352e-03 9.99513107e-01 9.00965612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.542557844 meters Centerline goodness : 0.146542 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 9.99523262e-01 3.37801475e-04 -3.08728732e-02 -1.74655227e-01] [-5.23841134e-04 9.99981754e-01 -6.01810160e-03 -5.99417427e-03] [ 3.08702770e-02 6.03140503e-03 9.99505202e-01 9.00319771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.572557844 meters Centerline goodness : 0.163750 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.00, Z:0.90 [[ 9.99517906e-01 2.46587845e-04 -3.10466494e-02 -1.73840782e-01] [-4.40969788e-04 9.99980345e-01 -6.25427234e-03 -4.80935128e-03] [ 3.10444970e-02 6.26494783e-03 9.99498369e-01 8.99604166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.602557844 meters Centerline goodness : 0.115486 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 9.99518614e-01 2.90279091e-04 -3.10234735e-02 -1.74068664e-01] [-4.79742622e-04 9.99981281e-01 -6.09983351e-03 -5.49413308e-03] [ 3.10211221e-02 6.11178042e-03 9.99500043e-01 8.99869894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.632557844 meters Centerline goodness : 0.113654 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.00, Z:0.90 [[ 0.9995102 -0.00753736 -0.03037339 -0.15377949] [ 0.00738309 0.99995929 -0.00518821 -0.00189103] [ 0.03041125 0.00496141 0.99952516 0.90137229] [ 0. 0. 0. 1. ]] SLAMing on 93.662557844 meters Centerline goodness : 0.110974 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.00, Z:0.90 [[ 0.9995039 -0.00747614 -0.03059511 -0.15324688] [ 0.00733049 0.99996127 -0.00486971 -0.00356731] [ 0.03063033 0.00464301 0.99952 0.90139543] [ 0. 0. 0. 1. ]] SLAMing on 93.692557844 meters Centerline goodness : 0.113703 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.01, Z:0.90 [[ 0.99948744 -0.00748185 -0.03112688 -0.15181262] [ 0.00735214 0.99996381 -0.00427961 -0.00733472] [ 0.03115777 0.00404857 0.99950628 0.90137919] [ 0. 0. 0. 1. ]] SLAMing on 93.72255784400001 meters Centerline goodness : 0.112692 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.01, Z:0.90 [[ 0.99948641 -0.00734159 -0.03119313 -0.15187786] [ 0.00722563 0.99996657 -0.00382859 -0.00979482] [ 0.0312202 0.00360123 0.99950604 0.90181453] [ 0. 0. 0. 1. ]] SLAMing on 93.75255784400001 meters Centerline goodness : 0.161708 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99950173 0.00135515 -0.03153498 -0.17190395] [-0.00149184 0.99998959 -0.00431165 -0.01915828] [ 0.03152881 0.00435655 0.99949335 0.90135878] [ 0. 0. 0. 1. ]] SLAMing on 93.782557844 meters Centerline goodness : 0.171522 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99950192 0.00154684 -0.0315203 -0.17188854] [-0.00167272 0.99999073 -0.00396774 -0.02031889] [ 0.03151387 0.00401849 0.99949524 0.90130737] [ 0. 0. 0. 1. ]] SLAMing on 93.812557844 meters Centerline goodness : 0.168863 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99949396 0.00185219 -0.0317552 -0.17109095] [-0.00196843 0.99999148 -0.00362947 -0.02124113] [ 0.03174821 0.00369014 0.99948909 0.90114886] [ 0. 0. 0. 1. ]] SLAMing on 93.842557844 meters Centerline goodness : 0.166699 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99946056 0.00464808 -0.03251127 -0.16787952] [-0.00469464 0.99998806 -0.00135585 -0.01919325] [ 0.03250458 0.00150774 0.99947045 0.90041534] [ 0. 0. 0. 1. ]] SLAMing on 93.872557844 meters Centerline goodness : 0.113283 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99945406 0.00466704 -0.03270768 -0.16728114] [-0.00472403 0.99998746 -0.00166528 -0.01786903] [ 0.0326995 0.00181888 0.99946357 0.9004994 ] [ 0. 0. 0. 1. ]] SLAMing on 93.902557844 meters Centerline goodness : 0.132619 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99945315 0.00483614 -0.03271116 -0.16710729] [-0.00490104 0.99998618 -0.00190415 -0.01621609] [ 0.0327015 0.00206343 0.99946303 0.9004421 ] [ 0. 0. 0. 1. ]] SLAMing on 93.932557844 meters Centerline goodness : 0.167355 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99941957 0.00892626 -0.03287624 -0.16696284] [-0.00886933 0.9999589 0.00187707 -0.01525032] [ 0.03289164 -0.00158439 0.99945767 0.90109297] [ 0. 0. 0. 1. ]] SLAMing on 93.962557844 meters Centerline goodness : 0.164844 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99942078 0.00907036 -0.03279981 -0.16706204] [-0.00902253 0.99995801 0.00160593 -0.013153 ] [ 0.032813 -0.00130907 0.99946065 0.90099314] [ 0. 0. 0. 1. ]] SLAMing on 93.992557844 meters Centerline goodness : 0.164102 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 9.99408662e-01 8.86829722e-03 -3.32216843e-02 -1.66183658e-01] [-8.85137725e-03 9.99960610e-01 6.56342902e-04 -8.88510083e-03] [ 3.32261964e-02 -3.61897120e-04 9.99447792e-01 9.01287720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.022557844 meters Centerline goodness : 0.147607 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 9.99404993e-01 8.71791773e-03 -3.33714994e-02 -1.65688198e-01] [-8.71049973e-03 9.99961995e-01 3.67663348e-04 -7.74837697e-03] [ 3.33734364e-02 -7.67621487e-05 9.99442949e-01 9.01016639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.052557844 meters Centerline goodness : 0.134130 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.00, Z:0.90 [[ 9.99413886e-01 -4.98237436e-04 -3.42291648e-02 -1.85320065e-01] [ 5.49039164e-04 9.99998762e-01 1.47478167e-03 -3.73138299e-03] [ 3.42283876e-02 -1.49271044e-03 9.99412922e-01 8.99050416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08255784400001 meters Centerline goodness : 0.164063 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.00, Z:0.90 [[ 9.99420658e-01 -4.76761643e-04 -3.40311919e-02 -1.85950897e-01] [ 5.34934742e-04 9.99998411e-01 1.70032087e-03 -4.81601510e-03] [ 3.40303272e-02 -1.71754027e-03 9.99419325e-01 8.99246820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11255784400001 meters Centerline goodness : 0.164063 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.00, Z:0.90 [[ 9.99420658e-01 -4.76761643e-04 -3.40311919e-02 -1.85950897e-01] [ 5.34934742e-04 9.99998411e-01 1.70032087e-03 -4.81601510e-03] [ 3.40303272e-02 -1.71754027e-03 9.99419325e-01 8.99246820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.142557844 meters Centerline goodness : 0.162139 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.00, Z:0.90 [[ 0.99948045 -0.01003593 -0.03062851 -0.16783458] [ 0.01008634 0.99994802 0.00149153 -0.00410531] [ 0.03061195 -0.00179969 0.99952972 0.90099195] [ 0. 0. 0. 1. ]] SLAMing on 94.172557844 meters Centerline goodness : 0.114346 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99948027 -0.01020228 -0.03057957 -0.16829457] [ 0.01026039 0.99994584 0.00174396 -0.00599339] [ 0.03056012 -0.00205681 0.99953081 0.90164922] [ 0. 0. 0. 1. ]] SLAMing on 94.202557844 meters Centerline goodness : 0.115644 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99947232 -0.01021761 -0.03083315 -0.1676166 ] [ 0.01028496 0.99994505 0.00202661 -0.0076468 ] [ 0.03081075 -0.00234266 0.99952249 0.9016539 ] [ 0. 0. 0. 1. ]] SLAMing on 94.232557844 meters Centerline goodness : 0.165735 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99549594e-01 -4.56215533e-03 -2.96613623e-02 -1.82186026e-01] [ 4.58063997e-03 9.99989355e-01 5.55269616e-04 -1.33719814e-02] [ 2.96585134e-02 -6.90887541e-04 9.99559851e-01 8.97372056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.262557844 meters Centerline goodness : 0.113894 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99546684e-01 -4.44537925e-03 -2.97769270e-02 -1.81571278e-01] [ 4.47329728e-03 9.99989615e-01 8.71022494e-04 -1.45783421e-02] [ 2.97727458e-02 -1.00382869e-03 9.99556189e-01 8.96774778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.292557844 meters Centerline goodness : 0.129735 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99540610e-01 -4.38116868e-03 -2.99895717e-02 -1.80593027e-01] [ 4.41282394e-03 9.99989774e-01 9.89439163e-04 -1.49312443e-02] [ 2.99849302e-02 -1.12132332e-03 9.99549722e-01 8.96062682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.322557844 meters Centerline goodness : 0.163112 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99533139e-01 -4.44969957e-03 -3.02275469e-02 -1.79861353e-01] [ 4.47553981e-03 9.99989675e-01 7.87252903e-04 -1.39036135e-02] [ 3.02237317e-02 -9.22169955e-04 9.99542733e-01 8.95826198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.352557844 meters Centerline goodness : 0.115627 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99537206e-01 -4.48611979e-03 -3.00873387e-02 -1.80590831e-01] [ 4.50767748e-03 9.99989630e-01 6.48714109e-04 -1.31428223e-02] [ 3.00841165e-02 -7.84037908e-04 9.99547063e-01 8.96419868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.382557844 meters Centerline goodness : 0.153580 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99545545e-01 -4.47066679e-03 -2.98113564e-02 -1.81828106e-01] [ 4.49037141e-03 9.99989742e-01 5.94062419e-04 -1.27193946e-02] [ 2.98083947e-02 -7.27656507e-04 9.99555366e-01 8.97329935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.412557844 meters Centerline goodness : 0.154972 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960302 0.00406784 -0.02787935 -0.16357095] [-0.00410114 0.99999094 -0.00113728 -0.01442198] [ 0.02787447 0.00125116 0.99961065 0.89938164] [ 0. 0. 0. 1. ]] SLAMing on 94.442557844 meters Centerline goodness : 0.120424 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960538 0.00398303 -0.02780674 -0.16384124] [-0.00402166 0.99999102 -0.00133352 -0.01357963] [ 0.02780118 0.00144483 0.99961243 0.89951491] [ 0. 0. 0. 1. ]] SLAMing on 94.47255784400001 meters Centerline goodness : 0.149390 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960467 0.00393395 -0.02783946 -0.16341667] [-0.00397669 0.999991 -0.00148013 -0.01275725] [ 0.02783339 0.00159026 0.99961131 0.89898985] [ 0. 0. 0. 1. ]] SLAMing on 94.50255784400001 meters Centerline goodness : 0.111977 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960441 0.00397426 -0.02784306 -0.16254256] [-0.00401679 0.99999085 -0.00147171 -0.01233416] [ 0.02783696 0.00158297 0.99961122 0.89764284] [ 0. 0. 0. 1. ]] SLAMing on 94.532557844 meters Centerline goodness : 0.115297 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960254 0.00393997 -0.02791491 -0.16231894] [-0.00398433 0.99999089 -0.00153352 -0.01218368] [ 0.02790861 0.00164413 0.99960913 0.89759789] [ 0. 0. 0. 1. ]] SLAMing on 94.562557844 meters Centerline goodness : 0.085862 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960597 0.00394061 -0.02779166 -0.16292882] [-0.00398073 0.99999111 -0.00138863 -0.0128431 ] [ 0.02778594 0.00149871 0.99961277 0.89793331] [ 0. 0. 0. 1. ]] SLAMing on 94.592557844 meters Centerline goodness : 0.113574 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960928 0.00396762 -0.02766838 -0.16363005] [-0.00400505 0.99999114 -0.00129774 -0.01331446] [ 0.02766298 0.00140804 0.99961631 0.89851982] [ 0. 0. 0. 1. ]] SLAMing on 94.622557844 meters Centerline goodness : 0.110558 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 9.99612067e-01 4.11418446e-03 -2.75461346e-02 -1.63930502e-01] [-4.14220011e-03 9.99990960e-01 -9.60060032e-04 -1.48343365e-02] [ 2.75419358e-02 1.07378919e-03 9.99620072e-01 8.98516892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.652557844 meters Centerline goodness : 0.164921 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.02, Z:0.90 [[ 9.99609125e-01 4.16348197e-03 -2.76453159e-02 -1.63326042e-01] [-4.18936095e-03 9.99990839e-01 -8.78253496e-04 -1.51082336e-02] [ 2.76414061e-02 9.93726415e-04 9.99617409e-01 8.97985916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.682557844 meters Centerline goodness : 0.145366 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 9.99602864e-01 4.21201820e-03 -2.78634844e-02 -1.62241074e-01] [-4.23808836e-03 9.99990635e-01 -8.76649686e-04 -1.49036593e-02] [ 2.78595310e-02 9.94389446e-04 9.99611353e-01 8.97249369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.712557844 meters Centerline goodness : 0.154445 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 9.99590740e-01 4.27937604e-03 -2.82849596e-02 -1.60663602e-01] [-4.30904835e-03 9.99990228e-01 -9.88179305e-04 -1.40397967e-02] [ 2.82804544e-02 1.10965614e-03 9.99599412e-01 8.96544812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.742557844 meters Centerline goodness : 0.163982 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 9.99578441e-01 4.38999160e-03 -2.86996304e-02 -1.58800155e-01] [-4.41857773e-03 9.99989803e-01 -9.32701864e-04 -1.34413179e-02] [ 2.86952432e-02 1.05912022e-03 9.99587646e-01 8.95199527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.772557844 meters Centerline goodness : 0.149709 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.89 [[ 9.99569552e-01 4.45960448e-03 -2.89969341e-02 -1.57413959e-01] [-4.49027477e-03 9.99989426e-01 -9.92677944e-04 -1.27881039e-02] [ 2.89922005e-02 1.12245485e-03 9.99579008e-01 8.94247247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.802557844 meters Centerline goodness : 0.204093 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.00, Z:0.90 [[ 9.99525646e-01 -2.26763771e-03 -3.07138567e-02 -1.37151731e-01] [ 2.27121013e-03 9.99997417e-01 8.14264156e-05 -4.73093198e-03] [ 3.07135927e-02 -1.51145413e-04 9.99528215e-01 8.95715777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83255784400001 meters Centerline goodness : 0.170222 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.01, Z:0.90 [[ 9.99521224e-01 -2.25994630e-03 -3.08579756e-02 -1.36742421e-01] [ 2.26535177e-03 9.99997424e-01 1.40213234e-04 -5.08260587e-03] [ 3.08575793e-02 -2.10050273e-04 9.99523769e-01 8.95634576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86255784400001 meters SLAMing on 94.892557844 meters Centerline goodness : 0.166075 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.01, Z:0.90 [[ 9.99490080e-01 -2.50913048e-03 -3.18321260e-02 -1.34221276e-01] [ 2.52161191e-03 9.99996759e-01 3.51963493e-04 -7.47245701e-03] [ 3.18311397e-02 -4.32052288e-04 9.99493167e-01 8.95546035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922557844 meters Centerline goodness : 0.110391 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.01, Z:0.90 [[ 9.99492075e-01 -2.45896316e-03 -3.17733444e-02 -1.34421693e-01] [ 2.47848195e-03 9.99996763e-01 5.74942916e-04 -8.68593127e-03] [ 3.17718278e-02 -6.53400549e-04 9.99494934e-01 8.95659429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.952557844 meters Centerline goodness : 0.121449 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.01, Z:0.90 [[ 9.99520075e-01 5.97085508e-03 -3.03968652e-02 -1.16583301e-01] [-6.00312834e-03 9.99981510e-01 -9.70580650e-04 -1.30064437e-02] [ 3.03905080e-02 1.15259113e-03 9.99537437e-01 8.97516434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.982557844 meters Centerline goodness : 0.068590 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.01, Z:0.90 [[ 9.99532752e-01 6.01855510e-03 -2.99675610e-02 -1.18168147e-01] [-6.03840228e-03 9.99981605e-01 -5.71833627e-04 -1.49361387e-02] [ 2.99635681e-02 7.52522627e-04 9.99550708e-01 8.98173209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.012557844 meters Centerline goodness : 0.147118 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99530505e-01 6.14121526e-03 -3.00175776e-02 -1.18151541e-01] [-6.15371812e-03 9.99981013e-01 -3.24154178e-04 -1.58615271e-02] [ 3.00150170e-02 5.08721701e-04 9.99549318e-01 8.98365110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.042557844 meters Centerline goodness : 0.147818 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99526550e-01 6.28890109e-03 -3.01185161e-02 -1.18051776e-01] [-6.29428863e-03 9.99980187e-01 -8.40715272e-05 -1.68515712e-02] [ 3.01173906e-02 2.73606357e-04 9.99546331e-01 8.98693812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.072557844 meters Centerline goodness : 0.153531 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99528166e-01 6.37034434e-03 -3.00476823e-02 -1.18490454e-01] [-6.37067521e-03 9.99979703e-01 8.47233162e-05 -1.75955394e-02] [ 3.00476121e-02 1.06740684e-04 9.99548463e-01 8.99121579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.102557844 meters Centerline goodness : 0.112225 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99535928e-01 6.25474812e-03 -2.98128463e-02 -1.19956423e-01] [-6.25666880e-03 9.99980426e-01 2.88610138e-05 -1.81889939e-02] [ 2.98124433e-02 1.57681485e-04 9.99555498e-01 9.00546526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.132557844 meters Centerline goodness : 0.160666 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99536156e-01 6.29409463e-03 -2.97969237e-02 -1.20160064e-01] [-6.29520385e-03 9.99980183e-01 5.65847270e-05 -1.83223184e-02] [ 2.97966894e-02 1.31019228e-04 9.99555971e-01 9.00854158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.162557844 meters Centerline goodness : 0.155243 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99537610e-01 6.39147723e-03 -2.97273558e-02 -1.20373218e-01] [-6.38901239e-03 9.99979574e-01 1.77900206e-04 -1.86041661e-02] [ 2.97278856e-02 1.21104980e-05 9.99558029e-01 9.00985411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.192557844 meters SLAMing on 95.22255784400001 meters Centerline goodness : 0.162344 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99544831e-01 6.65696082e-03 -2.94247340e-02 -1.21793733e-01] [-6.65601606e-03 9.99977840e-01 1.30055792e-04 -1.86263077e-02] [ 2.94249477e-02 6.58549078e-05 9.99566990e-01 9.02544548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25255784400001 meters Centerline goodness : 0.151736 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.01, Z:0.90 [[ 9.99550979e-01 -4.56081661e-05 -2.99639455e-02 -1.02550008e-01] [ 9.19952232e-05 9.99998800e-01 1.54671901e-03 -1.04996810e-02] [ 2.99638390e-02 -1.54878104e-03 9.99549783e-01 9.03930614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282557844 meters Centerline goodness : 0.155943 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.01, Z:0.90 [[ 9.99553396e-01 2.43603357e-05 -2.98832462e-02 -1.02322682e-01] [ 2.06419995e-05 9.99998866e-01 1.50562923e-03 -9.99626528e-03] [ 2.98832490e-02 -1.50557366e-03 9.99552262e-01 9.03205353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.312557844 meters Centerline goodness : 0.115192 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.01, Z:0.90 [[ 9.99552842e-01 1.81005277e-04 -2.99012119e-02 -1.01785305e-01] [-1.36321187e-04 9.99998871e-01 1.49642240e-03 -9.43874573e-03] [ 2.99014490e-02 -1.49167710e-03 9.99551739e-01 9.02355813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342557844 meters Centerline goodness : 0.154471 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:0.90 [[ 9.99531665e-01 8.79037575e-03 -2.93117630e-02 -8.16985367e-02] [-8.79661610e-03 9.99961306e-01 -8.39503588e-05 -1.23187277e-02] [ 2.93098908e-02 3.41755368e-04 9.99570314e-01 9.03954033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.372557844 meters Centerline goodness : 0.156079 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:0.90 [[ 9.99526743e-01 8.80551177e-03 -2.94746206e-02 -8.13642334e-02] [-8.81047127e-03 9.99961186e-01 -3.83942089e-05 -1.27307413e-02] [ 2.94731385e-02 2.98061336e-04 9.99565528e-01 9.04107407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.402557844 meters Centerline goodness : 0.117932 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:0.90 [[ 9.99526005e-01 8.92965423e-03 -2.94622856e-02 -8.13823105e-02] [-8.92788186e-03 9.99960127e-01 1.91705703e-04 -1.35754285e-02] [ 2.94628227e-02 7.14209691e-05 9.99565874e-01 9.04073034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.432557844 meters Centerline goodness : 0.372892 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:0.90 [[ 9.99535490e-01 9.10192845e-03 -2.90853773e-02 -8.20837571e-02] [-9.09247191e-03 9.99958558e-01 4.57373608e-04 -1.36869682e-02] [ 2.90883349e-02 -1.92703177e-04 9.99576826e-01 9.03657784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.462557844 meters Centerline goodness : 0.158283 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.90 [[ 9.99596931e-01 1.03050906e-02 -2.64533561e-02 -3.73102661e-02] [-1.03103683e-02 9.99946845e-01 -6.31171966e-05 -8.25426873e-03] [ 2.64512996e-02 3.35835601e-04 9.99650047e-01 9.02695379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.492557844 meters Centerline goodness : 0.123761 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.90 [[ 9.99599725e-01 1.01422273e-02 -2.64107172e-02 -3.73077320e-02] [-1.01557028e-02 9.99948359e-01 -3.76140533e-04 -6.98054442e-03] [ 2.64055384e-02 6.44209366e-04 9.99651105e-01 9.02428839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.522557844 meters Centerline goodness : 0.105593 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.90 [[ 9.99632168e-01 7.15669809e-04 -2.71112061e-02 -5.68736426e-02] [-7.15001170e-04 9.99999744e-01 3.43568633e-05 -5.50461766e-04] [ 2.71112238e-02 -1.49596816e-05 9.99632423e-01 9.01213096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.552557844 meters Centerline goodness : 0.122290 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:0.90 [[ 0.99967317 0.00163835 -0.02551228 -0.01198965] [-0.0016716 0.99999778 -0.00128199 0.00515674] [ 0.02551013 0.00132422 0.99967369 0.90121042] [ 0. 0. 0. 1. ]] SLAMing on 95.58255784400001 meters Centerline goodness : 0.124757 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.00, Z:0.90 [[ 9.99574175e-01 -7.27096369e-04 -2.91708796e-02 -5.50802066e-02] [ 6.80403657e-04 9.99998472e-01 -1.61055593e-03 3.16404781e-03] [ 2.91720061e-02 1.59002214e-03 9.99573142e-01 9.01059858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61255784400001 meters Centerline goodness : 0.124129 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:0.90 [[ 9.99552107e-01 -8.45163585e-03 -2.87080911e-02 -3.46691353e-02] [ 8.43372382e-03 9.99964158e-01 -7.44964633e-04 7.91393688e-03] [ 2.87133583e-02 5.02514856e-04 9.99587560e-01 9.02490949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.642557844 meters Centerline goodness : 0.115440 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.90 [[ 9.99619814e-01 -7.40378133e-04 -2.75622757e-02 -1.58819777e-02] [ 6.69895209e-04 9.99996482e-01 -2.56637026e-03 4.18516261e-03] [ 2.75640788e-02 2.54693073e-03 9.99616794e-01 9.03744396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.672557844 meters Centerline goodness : 0.161496 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.90 [[ 0.99953167 -0.00298887 -0.03045498 -0.06053815] [ 0.00291807 0.99999294 -0.0023688 -0.00108114] [ 0.03046184 0.00227882 0.99953333 0.90388744] [ 0. 0. 0. 1. ]] SLAMing on 95.702557844 meters Centerline goodness : 0.133258 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.90 [[ 0.99949016 -0.00387008 -0.03169293 -0.05683318] [ 0.0037868 0.99998922 -0.0026873 -0.00282972] [ 0.03170299 0.00256592 0.99949404 0.90326423] [ 0. 0. 0. 1. ]] SLAMing on 95.732557844 meters Centerline goodness : 0.155316 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.90 [[ 0.99947932 -0.00388549 -0.03203118 -0.05608438] [ 0.00380844 0.99998971 -0.00246606 -0.00434811] [ 0.03204043 0.00234279 0.99948383 0.90345032] [ 0. 0. 0. 1. ]] SLAMing on 95.762557844 meters Centerline goodness : 0.135867 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:0.90 [[ 0.99947615 -0.00385156 -0.03213382 -0.05585742] [ 0.00378072 0.99999029 -0.0022651 -0.00557584] [ 0.03214224 0.00214243 0.99948101 0.90352351] [ 0. 0. 0. 1. ]] SLAMing on 95.792557844 meters Centerline goodness : 0.134643 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:0.90 [[ 0.9994774 -0.00367217 -0.03211614 -0.05569419] [ 0.00361299 0.99999167 -0.00190042 -0.00677489] [ 0.03212285 0.00178339 0.99948234 0.90322962] [ 0. 0. 0. 1. ]] SLAMing on 95.822557844 meters Centerline goodness : 0.149996 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:0.90 [[ 0.99947807 -0.00359204 -0.03210413 -0.05573735] [ 0.00353411 0.99999202 -0.00186089 -0.00670806] [ 0.03211056 0.00174646 0.9994828 0.90323114] [ 0. 0. 0. 1. ]] SLAMing on 95.852557844 meters Centerline goodness : 0.131106 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.90 [[ 9.99474535e-01 -7.52597730e-04 -3.24050600e-02 -5.52515351e-02] [ 7.75975675e-04 9.99999448e-01 7.08858823e-04 -4.43315238e-03] [ 3.24045086e-02 -7.33631881e-04 9.99474567e-01 9.03793494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.882557844 meters Centerline goodness : 0.151981 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.90 [[ 9.99478230e-01 -6.90754488e-04 -3.22922777e-02 -5.56745897e-02] [ 7.11893067e-04 9.99999540e-01 6.43108951e-04 -3.79948373e-03] [ 3.22918186e-02 -6.65762044e-04 9.99478262e-01 9.04020257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.912557844 meters Centerline goodness : 0.146390 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:0.90 [[ 9.99470399e-01 8.99960439e-03 -3.12718438e-02 -3.44859416e-02] [-9.00792085e-03 9.99959420e-01 -1.25066807e-04 -5.50600008e-03] [ 3.12694492e-02 4.06694865e-04 9.99510908e-01 9.04803622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.942557844 meters Centerline goodness : 0.146755 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.00, Z:0.90 [[ 9.99470671e-01 8.95943366e-03 -3.12746901e-02 -3.44182140e-02] [-8.97184851e-03 9.99959719e-01 -2.56651040e-04 -4.99532226e-03] [ 3.12711309e-02 5.37106969e-04 9.99510794e-01 9.04743370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97255784400001 meters Centerline goodness : 0.157652 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:0.91 [[ 9.99397519e-01 7.87632673e-03 -3.38018213e-02 -8.04350545e-02] [-7.87722031e-03 9.99968969e-01 1.06736565e-04 -7.99570571e-03] [ 3.38016131e-02 1.59592135e-04 9.99428549e-01 9.05565655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00255784400001 meters Centerline goodness : 0.158119 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.91 [[ 9.99478489e-01 9.16834830e-03 -3.09627402e-02 -3.61700082e-02] [-9.18584267e-03 9.99957720e-01 -4.22814618e-04 -4.19252928e-03] [ 3.09575545e-02 7.07012975e-04 9.99520450e-01 9.05609853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.032557844 meters Centerline goodness : 0.158119 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.91 [[ 9.99478489e-01 9.16834830e-03 -3.09627402e-02 -3.61700082e-02] [-9.18584267e-03 9.99957720e-01 -4.22814618e-04 -4.19252928e-03] [ 3.09575545e-02 7.07012975e-04 9.99520450e-01 9.05609853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062557844 meters Centerline goodness : 0.153291 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.91 [[ 9.99478051e-01 9.11334246e-03 -3.09931023e-02 -3.67357212e-02] [-9.12856241e-03 9.99958273e-01 -3.49612668e-04 -4.71044223e-03] [ 3.09886229e-02 6.32352657e-04 9.99519537e-01 9.06426313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.092557844 meters Centerline goodness : 0.098284 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.91 [[ 9.99473813e-01 9.16567055e-03 -3.11140967e-02 -3.64886978e-02] [-9.17827711e-03 9.99957844e-01 -2.62371742e-04 -5.23509945e-03] [ 3.11103802e-02 5.47807487e-04 9.99515805e-01 9.06562943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.122557844 meters Centerline goodness : 0.129385 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.91 [[ 9.99473780e-01 9.29147423e-03 -3.10778283e-02 -3.66184592e-02] [-9.29586080e-03 9.99956793e-01 3.33497862e-06 -6.27925019e-03] [ 3.10765165e-02 2.85561942e-04 9.99516968e-01 9.06616731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.152557844 meters Centerline goodness : 0.120835 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.91 [[ 9.99527090e-01 5.76329773e-04 -3.07451351e-02 -5.60127491e-02] [-5.45885930e-04 9.99999352e-01 9.98584783e-04 -9.01694349e-04] [ 3.07456907e-02 -9.81329206e-04 9.99526758e-01 9.05269156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.182557844 meters Centerline goodness : 0.128607 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.91 [[ 9.99538269e-01 9.49896911e-03 -2.88620738e-02 -3.67659419e-02] [-9.50467210e-03 9.99954828e-01 -6.04069404e-05 -4.43380078e-03] [ 2.88601963e-02 3.34703596e-04 9.99583402e-01 9.06947374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.212557844 meters Centerline goodness : 0.123931 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.91 [[ 9.99530300e-01 9.47063024e-03 -2.91459538e-02 -3.60883632e-02] [-9.47976436e-03 9.99955051e-01 -1.75227748e-04 -4.29184005e-03] [ 2.91429842e-02 4.51442218e-04 9.99575151e-01 9.07197738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.242557844 meters Centerline goodness : 0.129027 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.91 [[ 9.99520110e-01 9.53441190e-03 -2.94727786e-02 -3.50482245e-02] [-9.54296734e-03 9.99954454e-01 -1.49633854e-04 -4.47062242e-03] [ 2.94700095e-02 4.30819810e-04 9.99565572e-01 9.06980674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.272557844 meters Centerline goodness : 0.126909 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.91 [[ 0.99954156 0.00263166 -0.03016201 -0.01648106] [-0.00259466 0.99999583 0.00126578 0.00323701] [ 0.03016522 -0.00118694 0.99954422 0.90846159] [ 0. 0. 0. 1. ]] SLAMing on 96.302557844 meters Centerline goodness : 0.123798 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.91 [[ 0.99954608 0.00270051 -0.03000554 -0.01702212] [-0.00266193 0.99999558 0.00132582 0.00321386] [ 0.03000899 -0.00124535 0.99954885 0.90864736] [ 0. 0. 0. 1. ]] SLAMing on 96.33255784400001 meters Centerline goodness : 0.124206 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.91 [[ 0.99955176 0.00281598 -0.02980511 -0.01786268] [-0.00277071 0.99999494 0.00156006 0.00204921] [ 0.02980936 -0.00147678 0.99955451 0.90918528] [ 0. 0. 0. 1. ]] SLAMing on 96.36255784400001 meters Centerline goodness : 0.109875 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.91 [[ 9.99467253e-01 7.76830737e-04 -3.26283252e-02 -6.41105587e-02] [-7.22556197e-04 9.99998336e-01 1.67517600e-03 -3.05630511e-03] [ 3.26295723e-02 -1.65070776e-03 9.99466151e-01 9.10385222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.392557844 meters Centerline goodness : 0.146593 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99546130e-01 1.33856167e-03 -3.00955482e-02 -2.02008776e-02] [-1.32072464e-03 9.99998940e-01 6.12550699e-04 -1.33353998e-03] [ 3.00963363e-02 -5.72524748e-04 9.99546839e-01 9.10901576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422557844 meters Centerline goodness : 0.130705 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 0.99954146 0.00151723 -0.0302419 -0.01968371] [-0.0014854 0.99999832 0.0010749 -0.00348219] [ 0.03024348 -0.00102949 0.99954203 0.91067882] [ 0. 0. 0. 1. ]] SLAMing on 96.452557844 meters Centerline goodness : 0.131724 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.91 [[ 0.99951723 0.00150827 -0.03103292 -0.01660006] [-0.00146217 0.99999779 0.00150792 -0.00631343] [ 0.03103512 -0.00146182 0.99951723 0.90909623] [ 0. 0. 0. 1. ]] SLAMing on 96.482557844 meters Centerline goodness : 0.151751 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.91 [[ 0.99950613 0.00150417 -0.03138856 -0.01523804] [-0.00145238 0.99999755 0.00167275 -0.00765432] [ 0.031391 -0.00162634 0.99950586 0.90842656] [ 0. 0. 0. 1. ]] SLAMing on 96.512557844 meters Centerline goodness : 0.158187 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99949703 0.00153682 -0.03167523 -0.01444825] [-0.00147825 0.99999715 0.00187257 -0.00909575] [ 0.03167802 -0.00182481 0.99949646 0.90837544] [ 0. 0. 0. 1. ]] SLAMing on 96.542557844 meters Centerline goodness : 0.152192 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99948349 0.0016513 -0.03209408 -0.01362465] [-0.00158307 0.99999643 0.0021514 -0.01045483] [ 0.03209752 -0.00209948 0.99948254 0.90877715] [ 0. 0. 0. 1. ]] SLAMing on 96.572557844 meters Centerline goodness : 0.136492 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99947973 0.00170043 -0.03220843 -0.01327719] [-0.00163046 0.99999625 0.00219868 -0.01037294] [ 0.03221205 -0.00214502 0.99947876 0.90871182] [ 0. 0. 0. 1. ]] SLAMing on 96.602557844 meters Centerline goodness : 0.130591 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99947787 0.00172825 -0.03226454 -0.01303574] [-0.00165714 0.99999614 0.00223036 -0.01043839] [ 0.03226827 -0.00217573 0.99947688 0.90857449] [ 0. 0. 0. 1. ]] SLAMing on 96.632557844 meters Centerline goodness : 0.159096 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99947394 0.00167083 -0.03238917 -0.01244617] [-0.00160192 0.9999964 0.0021533 -0.01032873] [ 0.03239265 -0.00210028 0.99947301 0.90817454] [ 0. 0. 0. 1. ]] SLAMing on 96.662557844 meters Centerline goodness : 0.131325 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99947618 0.00157792 -0.03232458 -0.01279687] [-0.00151529 0.99999693 0.00196203 -0.00980376] [ 0.03232758 -0.00191202 0.9994755 0.90845927] [ 0. 0. 0. 1. ]] SLAMing on 96.692557844 meters Centerline goodness : 0.154427 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.9994875 0.00159574 -0.03197178 -0.01394455] [-0.00153755 0.99999712 0.00184477 -0.00880409] [ 0.03197463 -0.00179467 0.99948707 0.9088273 ] [ 0. 0. 0. 1. ]] SLAMing on 96.72255784400001 meters Centerline goodness : 0.130834 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99949713 0.00159646 -0.03166923 -0.01483344] [-0.00154506 0.99999745 0.0016473 -0.00727173] [ 0.03167177 -0.00159754 0.99949705 0.90903409] [ 0. 0. 0. 1. ]] SLAMing on 96.75255784400001 meters Centerline goodness : 0.132370 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 0.99950953 0.00152231 -0.03127925 -0.01556436] [-0.00148887 0.99999829 0.00109255 -0.00377516] [ 0.03128086 -0.00104545 0.99951009 0.9085725 ] [ 0. 0. 0. 1. ]] SLAMing on 96.782557844 meters Centerline goodness : 0.122724 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99512762e-01 1.40534069e-03 -3.11811399e-02 -1.58149599e-02] [-1.38213208e-03 9.99998752e-01 7.65856665e-04 -2.17410350e-03] [ 3.11821773e-02 -7.22387057e-04 9.99513457e-01 9.08545293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.812557844 meters Centerline goodness : 0.129044 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99516170e-01 1.30030546e-03 -3.10762632e-02 -1.62226412e-02] [-1.28563610e-03 9.99999053e-01 4.92020698e-04 -8.32675756e-04] [ 3.10768735e-02 -4.51829878e-04 9.99516895e-01 9.08735788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842557844 meters Centerline goodness : 0.152810 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99518916e-01 1.24706013e-03 -3.09900071e-02 -1.66014987e-02] [-1.23686495e-03 9.99999174e-01 3.48150453e-04 -2.15688551e-05] [ 3.09904157e-02 -3.09652511e-04 9.99519634e-01 9.08960247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.872557844 meters Centerline goodness : 0.156653 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.91 [[ 9.99523358e-01 1.18762845e-03 -3.08487778e-02 -1.69227667e-02] [-1.18170269e-03 9.99999280e-01 2.10321503e-04 9.23475100e-04] [ 3.08490053e-02 -1.73767171e-04 9.99524041e-01 9.08880025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.902557844 meters Centerline goodness : 0.121662 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.91 [[ 9.99525516e-01 1.19022688e-03 -3.07786606e-02 -1.70563571e-02] [-1.18330140e-03 9.99999270e-01 2.43222837e-04 6.97755639e-04] [ 3.07789276e-02 -2.06687000e-04 9.99526195e-01 9.08820578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.932557844 meters Centerline goodness : 0.127169 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.91 [[ 9.99531990e-01 1.21700270e-03 -3.05666361e-02 -1.78186880e-02] [-1.20658833e-03 9.99999208e-01 3.59153127e-04 2.53243190e-05] [ 3.05670490e-02 -3.22103693e-04 9.99532667e-01 9.09162703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.962557844 meters Centerline goodness : 0.114704 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99539250e-01 1.24623251e-03 -3.03271167e-02 -1.85857696e-02] [-1.23299364e-03 9.99999136e-01 4.55232569e-04 -5.38219656e-04] [ 3.03276579e-02 -4.17629679e-04 9.99539924e-01 9.09403577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.992557844 meters Centerline goodness : 0.115758 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99537067e-01 1.18523471e-03 -3.04014428e-02 -1.80136813e-02] [-1.17348687e-03 9.99999230e-01 4.04262792e-04 -5.81917465e-04] [ 3.04018985e-02 -3.68399951e-04 9.99537688e-01 9.08788744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.022557844 meters Centerline goodness : 0.151578 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99527585e-01 1.12223353e-03 -3.07139523e-02 -1.68576143e-02] [-1.11154908e-03 9.99999316e-01 3.64941413e-04 -6.66961144e-04] [ 3.07143408e-02 -3.30628944e-04 9.99528149e-01 9.08206032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.052557844 meters Centerline goodness : 0.129123 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99519434e-01 1.06598511e-03 -3.09800570e-02 -1.58791011e-02] [-1.05533703e-03 9.99999378e-01 3.60056788e-04 -8.99921391e-04] [ 3.09804215e-02 -3.27189356e-04 9.99519938e-01 9.07694997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08255784400001 meters Centerline goodness : 0.156329 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99514885e-01 1.09694748e-03 -3.11254109e-02 -1.54729969e-02] [-1.08114642e-03 9.99999278e-01 5.24482963e-04 -1.78880241e-03] [ 3.11259638e-02 -4.90577402e-04 9.99515349e-01 9.07642625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11255784400001 meters Centerline goodness : 0.128590 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:0.91 [[ 9.99500696e-01 8.99317369e-04 -3.15840195e-02 -1.44646645e-02] [-8.77201582e-04 9.99999360e-01 7.14070028e-04 -3.49243773e-03] [ 3.15846414e-02 -6.86007938e-04 9.99500845e-01 9.07976416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142557844 meters Centerline goodness : 0.156458 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.91 [[ 0.99943607 0.00602921 -0.03303303 -0.03683106] [-0.00611365 0.9999783 -0.00245581 -0.00657836] [ 0.03301751 0.00265638 0.99945124 0.90769101] [ 0. 0. 0. 1. ]] SLAMing on 97.172557844 meters Centerline goodness : 0.137343 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99419078e-01 -2.39928814e-03 -3.39963316e-02 -1.70864330e-02] [ 2.32899436e-03 9.99995068e-01 -2.10713644e-03 -5.79617220e-04] [ 3.40012196e-02 2.02673509e-03 9.99419736e-01 9.08837607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202557844 meters Centerline goodness : 0.157275 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99410939e-01 -2.40072030e-03 -3.42346677e-02 -1.62409141e-02] [ 2.33173913e-03 9.99995171e-01 -2.05473331e-03 -9.88402970e-04] [ 3.42394352e-02 1.97369663e-03 9.99411710e-01 9.08478538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.232557844 meters Centerline goodness : 0.131080 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 0.99939901 -0.00243808 -0.03457843 -0.01513045] [ 0.00237163 0.99999526 -0.00196244 -0.00197062] [ 0.03458305 0.00187926 0.99940006 0.90812658] [ 0. 0. 0. 1. ]] SLAMing on 97.262557844 meters Centerline goodness : 0.140938 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 0.99939927 -0.00241832 -0.03457252 -0.01538137] [ 0.00235527 0.99999549 -0.00186444 -0.00256496] [ 0.03457687 0.00178189 0.99940045 0.90850004] [ 0. 0. 0. 1. ]] SLAMing on 97.292557844 meters Centerline goodness : 0.147127 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 0.99940626 -0.00252588 -0.03436202 -0.01622102] [ 0.00246072 0.99999509 -0.00193857 -0.00246911] [ 0.03436675 0.00185286 0.99940757 0.90890578] [ 0. 0. 0. 1. ]] SLAMing on 97.322557844 meters Centerline goodness : 0.134907 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 0.99942327 0.006325 -0.03336354 0.00311421] [-0.00643495 0.99997421 -0.00318922 -0.00511492] [ 0.0333425 0.00340207 0.99943819 0.91036901] [ 0. 0. 0. 1. ]] SLAMing on 97.352557844 meters Centerline goodness : 0.148383 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.91 [[ 0.9994212 0.00637971 -0.03341495 0.00342497] [-0.00648891 0.99997395 -0.00316054 -0.00491407] [ 0.03339392 0.00337554 0.99943657 0.91008697] [ 0. 0. 0. 1. ]] SLAMing on 97.382557844 meters Centerline goodness : 0.133502 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 0.99941955 0.00640618 -0.03345939 0.00381788] [-0.00651276 0.99997406 -0.00307719 -0.00519548] [ 0.03343881 0.00329332 0.99943534 0.90960888] [ 0. 0. 0. 1. ]] SLAMing on 97.412557844 meters Centerline goodness : 0.099030 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 0.99942668 0.00632707 -0.03326065 0.00309285] [-0.00643222 0.99997464 -0.00305555 -0.00549909] [ 0.03324048 0.00326774 0.99944204 0.90988156] [ 0. 0. 0. 1. ]] SLAMing on 97.442557844 meters Centerline goodness : 0.131652 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 0.99943998 0.00642565 -0.03283959 0.00135356] [-0.00652114 0.99997481 -0.00280152 -0.00641709] [ 0.03282076 0.0030141 0.99945671 0.91098683] [ 0. 0. 0. 1. ]] SLAMing on 97.47255784400001 meters Centerline goodness : 0.135947 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 9.99443272e-01 6.42985429e-03 -3.27383903e-02 8.69829951e-04] [-6.52426345e-03 9.99974859e-01 -2.77773540e-03 -6.53564933e-03] [ 3.27197068e-02 2.98978284e-03 9.99460095e-01 9.11354514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50255784400001 meters Centerline goodness : 0.125459 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 9.99441274e-01 6.38896459e-03 -3.28073173e-02 9.95446815e-04] [-6.48686977e-03 9.99974817e-01 -2.87867759e-03 -6.07893765e-03] [ 3.27880994e-02 3.08988600e-03 9.99457549e-01 9.11492265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.532557844 meters Centerline goodness : 0.122219 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 0.99943918 0.00630214 -0.03288769 0.00130446] [-0.00640736 0.99997468 -0.0030948 -0.00512486] [ 0.03286736 0.00330378 0.99945426 0.91134574] [ 0. 0. 0. 1. ]] SLAMing on 97.562557844 meters Centerline goodness : 0.158052 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.91 [[ 9.99454473e-01 6.21086268e-03 -3.24373409e-02 3.35336766e-04] [-6.33509555e-03 9.99972982e-01 -3.72856403e-03 -2.16134272e-03] [ 3.24133069e-02 3.93202365e-03 9.99466816e-01 9.11416177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.592557844 meters Centerline goodness : 0.130295 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.91 [[ 9.99460782e-01 6.05922632e-03 -3.22712134e-02 -3.23731213e-04] [-6.19794123e-03 9.99971972e-01 -4.20011131e-03 -1.69526687e-04] [ 3.22448595e-02 4.39786162e-03 9.99470324e-01 9.11884566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.622557844 meters Centerline goodness : 0.155446 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.91 [[ 9.99462837e-01 5.96336422e-03 -3.22253747e-02 -5.48678076e-04] [-6.11371220e-03 9.99970873e-01 -4.56899633e-03 1.45930342e-03] [ 3.21971895e-02 4.76355870e-03 9.99470184e-01 9.12128504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.652557844 meters Centerline goodness : 0.151803 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.91 [[ 9.99459825e-01 5.89625004e-03 -3.23309923e-02 -3.13946340e-04] [-6.05675625e-03 9.99969805e-01 -4.86878141e-03 2.91253192e-03] [ 3.23013085e-02 5.06197235e-03 9.99465358e-01 9.12266630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.682557844 meters Centerline goodness : 0.132275 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.91 [[ 9.99452678e-01 5.91381181e-03 -3.25479891e-02 3.37622363e-04] [-6.07830904e-03 9.99969239e-01 -4.95736776e-03 3.37987534e-03] [ 3.25176709e-02 5.15249122e-03 9.99457880e-01 9.12135327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.712557844 meters Centerline goodness : 0.133945 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.91 [[ 9.99451652e-01 5.91449351e-03 -3.25793655e-02 4.73895851e-04] [-6.07719709e-03 9.99969542e-01 -4.89731142e-03 2.94597183e-03] [ 3.25494080e-02 5.09261721e-03 9.99457153e-01 9.12030420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.742557844 meters Centerline goodness : 0.130296 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.91 [[ 9.99451856e-01 5.85312975e-03 -3.25841776e-02 5.24978412e-04] [-6.01649065e-03 9.99969809e-01 -4.91771549e-03 2.84809294e-03] [ 3.25544098e-02 5.11106227e-03 9.99456896e-01 9.11969111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.772557844 meters Centerline goodness : 0.077434 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.91 [[ 9.99464544e-01 5.77816651e-03 -3.22061676e-02 -6.75090317e-04] [-5.93675926e-03 9.99970708e-01 -4.83084894e-03 2.54056825e-03] [ 3.21773108e-02 5.01946250e-03 9.99469572e-01 9.12128279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.802557844 meters Centerline goodness : 0.114915 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.91 [[ 0.99947968 0.00578149 -0.03173239 -0.00224082] [-0.0059376 0.99997072 -0.00482729 0.00289036] [ 0.03170356 0.00501319 0.99948474 0.91263451] [ 0. 0. 0. 1. ]] SLAMing on 97.83255784400001 meters Centerline goodness : 0.081514 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.91 [[ 0.9994913 0.00569278 -0.03138059 -0.00341516] [-0.00585475 0.99997 -0.00507194 0.00412743] [ 0.03135077 0.00525308 0.99949464 0.91311203] [ 0. 0. 0. 1. ]] SLAMing on 97.86255784400001 meters Centerline goodness : 0.125143 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.91 [[ 0.9994851 0.00569307 -0.03157735 -0.00262565] [-0.00585877 0.99996954 -0.0051576 0.00442728] [ 0.03154703 0.00533995 0.999488 0.91279024] [ 0. 0. 0. 1. ]] SLAMing on 97.89255784400001 meters Centerline goodness : 0.153908 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.91 [[ 0.9994761 -0.00331741 -0.03219499 -0.02091776] [ 0.0031837 0.9999861 -0.00420355 0.00969347] [ 0.03220849 0.00409885 0.99947277 0.91069874] [ 0. 0. 0. 1. ]] SLAMing on 97.922557844 meters Centerline goodness : 0.153908 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.91 [[ 0.9994761 -0.00331741 -0.03219499 -0.02091776] [ 0.0031837 0.9999861 -0.00420355 0.00969347] [ 0.03220849 0.00409885 0.99947277 0.91069874] [ 0. 0. 0. 1. ]] SLAMing on 97.952557844 meters Centerline goodness : 0.118275 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.91 [[ 0.99947678 -0.00327635 -0.03217812 -0.0207182 ] [ 0.00314364 0.99998635 -0.00417421 0.00967065] [ 0.03219136 0.00407087 0.99947343 0.91026577] [ 0. 0. 0. 1. ]] SLAMing on 97.982557844 meters Centerline goodness : 0.153311 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.91 [[ 0.99947822 -0.00322822 -0.03213815 -0.02054768] [ 0.0030948 0.99998639 -0.0042004 0.0100485 ] [ 0.03215127 0.00409874 0.99947461 0.90980447] [ 0. 0. 0. 1. ]] SLAMing on 98.012557844 meters Centerline goodness : 0.155430 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.91 [[ 0.99947222 -0.00327272 -0.03231972 -0.01993161] [ 0.0031356 0.99998587 -0.00429242 0.01033217] [ 0.03233332 0.00418881 0.99946836 0.90950712] [ 0. 0. 0. 1. ]] SLAMing on 98.042557844 meters Centerline goodness : 0.134161 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.99948486 0.00461847 -0.03175973 0.0019662 ] [-0.00482865 0.99996693 -0.00654432 0.00954859] [ 0.03172845 0.00669431 0.99947411 0.90966593] [ 0. 0. 0. 1. ]] SLAMing on 98.072557844 meters Centerline goodness : 0.152960 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.99948363 0.00465513 -0.03179325 0.00238336] [-0.00486471 0.99996693 -0.00651768 0.00958515] [ 0.03176186 0.00666898 0.99947322 0.90908763] [ 0. 0. 0. 1. ]] SLAMing on 98.102557844 meters Centerline goodness : 0.153773 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.99948638 0.00472969 -0.03169546 0.00217216] [-0.0049347 0.99996739 -0.00639297 0.0091586 ] [ 0.03166419 0.00654609 0.99947713 0.90901589] [ 0. 0. 0. 1. ]] SLAMing on 98.132557844 meters Centerline goodness : 0.126514 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.99948198 0.00478002 -0.0318263 0.00265013] [-0.00498371 0.99996759 -0.00632376 0.00884415] [ 0.03179505 0.00647909 0.99947341 0.90883957] [ 0. 0. 0. 1. ]] SLAMing on 98.162557844 meters Centerline goodness : 0.159962 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.99947287 0.00486517 -0.03209855 0.00365478] [-0.0050682 0.99996764 -0.0062469 0.0085449 ] [ 0.03206712 0.00640629 0.99946519 0.90841505] [ 0. 0. 0. 1. ]] SLAMing on 98.192557844 meters Centerline goodness : 0.130408 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.9994686 0.00484755 -0.03223368 0.00403322] [-0.00505307 0.9999674 -0.00629777 0.00869889] [ 0.0322021 0.0064573 0.99946052 0.90837255] [ 0. 0. 0. 1. ]] SLAMing on 98.22255784400001 meters Centerline goodness : 0.161321 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.9994786 0.00472716 -0.0319404 0.00302914] [-0.00493636 0.99996686 -0.00647394 0.00946104] [ 0.03190874 0.00662824 0.99946881 0.90870001] [ 0. 0. 0. 1. ]] SLAMing on 98.25255784400001 meters Centerline goodness : 0.165886 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.99948891 0.00458091 -0.03163756 0.00189524] [-0.00479643 0.99996579 -0.0067395 0.01064882] [ 0.0316056 0.0068878 0.99947669 0.90923467] [ 0. 0. 0. 1. ]] SLAMing on 98.282557844 meters Centerline goodness : 0.137529 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.91 [[ 0.99953185 -0.00237595 -0.03050289 0.01971548] [ 0.00220595 0.99998185 -0.00560581 0.01780454] [ 0.03051566 0.0055359 0.99951896 0.9114655 ] [ 0. 0. 0. 1. ]] SLAMing on 98.312557844 meters Centerline goodness : 0.104988 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.91 [[ 0.99954429 -0.002555 -0.0300781 0.01881127] [ 0.00236324 0.99997667 -0.00640947 0.02218503] [ 0.03009377 0.00633547 0.999527 0.91110712] [ 0. 0. 0. 1. ]] SLAMing on 98.342557844 meters Centerline goodness : 0.150281 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:0.91 [[ 0.99954099 -0.00276025 -0.03016933 0.01929281] [ 0.00255067 0.99997237 -0.00698294 0.02507005] [ 0.03018777 0.00690278 0.99952041 0.91065407] [ 0. 0. 0. 1. ]] SLAMing on 98.372557844 meters Centerline goodness : 0.155523 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:0.91 [[ 9.99502394e-01 4.89333578e-03 -3.11611741e-02 -5.00624541e-04] [-5.15253398e-03 9.99952750e-01 -8.24312584e-03 2.31478850e-02] [ 3.11193653e-02 8.39958302e-03 9.99480381e-01 9.08952738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.402557844 meters Centerline goodness : 0.156560 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.03, Z:0.91 [[ 9.99511552e-01 4.42750281e-03 -3.09363114e-02 -8.61708056e-04] [-4.71951166e-03 9.99944941e-01 -9.37239684e-03 2.91290075e-02] [ 3.08931118e-02 9.51382319e-03 9.99477415e-01 9.08387643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.432557844 meters Centerline goodness : 0.159369 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:0.91 [[ 9.99534701e-01 -6.73659709e-04 -3.04947121e-02 2.14589468e-02] [ 4.66587682e-04 9.99976791e-01 -6.79703072e-03 3.58757929e-02] [ 3.04985833e-02 6.77963961e-03 9.99511817e-01 9.08569978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.462557844 meters Centerline goodness : 0.144902 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:0.91 [[ 9.99539897e-01 -9.89191424e-04 -3.03152706e-02 2.10466751e-02] [ 7.58980285e-04 9.99970798e-01 -7.60446653e-03 3.98812627e-02] [ 3.03219076e-02 7.57795900e-03 9.99511459e-01 9.08450839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.492557844 meters Centerline goodness : 0.130794 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:0.91 [[ 9.99543682e-01 -1.22778251e-03 -3.01814686e-02 2.08251898e-02] [ 9.77127067e-04 9.99964925e-01 -8.31829183e-03 4.36496822e-02] [ 3.01906231e-02 8.28500491e-03 9.99509822e-01 9.08162128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.522557844 meters Centerline goodness : 0.126727 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:0.91 [[ 0.99950936 0.00124219 -0.03129696 0.02529077] [-0.00145 0.99997705 -0.00661822 0.05060087] [ 0.03128802 0.00666035 0.99948822 0.90626601] [ 0. 0. 0. 1. ]] SLAMing on 98.552557844 meters Centerline goodness : 0.146008 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:0.91 [[ 9.99509336e-01 9.95901015e-04 -3.13064677e-02 2.53453905e-02] [-1.22144351e-03 9.99973434e-01 -7.18604319e-03 5.33114584e-02] [ 3.12984795e-02 7.22075634e-03 9.99484000e-01 9.06166348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58255784400001 meters Centerline goodness : 0.144788 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:0.91 [[ 9.99511967e-01 7.87184987e-04 -3.12283209e-02 2.48934198e-02] [-1.02703205e-03 9.99970095e-01 -7.66513751e-03 5.55861088e-02] [ 3.12213531e-02 7.69346916e-03 9.99482885e-01 9.06542002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61255784400001 meters Centerline goodness : 0.121736 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:0.91 [[ 9.99517463e-01 6.04694086e-04 -3.10560103e-02 2.41602919e-02] [-8.57136493e-04 9.99966698e-01 -8.11594733e-03 5.78935762e-02] [ 3.10500685e-02 8.13865033e-03 9.99484695e-01 9.06996752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64255784400001 meters Centerline goodness : 0.146945 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:0.91 [[ 9.99530164e-01 2.37371303e-04 -3.06495530e-02 2.27371864e-02] [-5.13936061e-04 9.99959224e-01 -9.01588911e-03 6.25829893e-02] [ 3.06461632e-02 9.02740503e-03 9.99489529e-01 9.07549189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.672557844 meters Centerline goodness : 0.141716 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:0.91 [[ 9.99536678e-01 1.89633787e-05 -3.04372994e-02 2.21571575e-02] [-3.09893521e-04 9.99954315e-01 -9.55365403e-03 6.52698547e-02] [ 3.04357277e-02 9.55865993e-03 9.99491020e-01 9.07615678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.702557844 meters Centerline goodness : 0.149446 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:0.91 [[ 9.99541833e-01 -2.40779850e-04 -3.02665697e-02 2.18699455e-02] [-6.67683350e-05 9.99948385e-01 -1.01598949e-02 6.82569825e-02] [ 3.02674538e-02 1.01572608e-02 9.99490226e-01 9.07364004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.732557844 meters Centerline goodness : 0.155753 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:0.91 [[ 9.99543077e-01 -5.12579838e-04 -3.02220988e-02 2.19317959e-02] [ 1.86696765e-04 9.99941825e-01 -1.07847758e-02 7.12455708e-02] [ 3.02258687e-02 1.07742056e-02 9.99485024e-01 9.07043062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.762557844 meters Centerline goodness : 0.133685 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:0.91 [[ 9.99540369e-01 -7.66755437e-04 -3.03061630e-02 2.23701654e-02] [ 4.21766579e-04 9.99935063e-01 -1.13882092e-02 7.41109163e-02] [ 3.03129270e-02 1.13701927e-02 9.99475785e-01 9.06660991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.792557844 meters Centerline goodness : 0.139775 Centerline is valid? [False, False] Translation: X:0.02, Y:0.08, Z:0.91 [[ 9.99524717e-01 -1.26285757e-03 -3.08016958e-02 2.39346974e-02] [ 8.75611060e-04 9.99920454e-01 -1.25824960e-02 7.98208057e-02] [ 3.08151356e-02 1.25495455e-02 9.99446315e-01 9.06085830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.822557844 meters Centerline goodness : 0.139020 Centerline is valid? [False, False] Translation: X:0.02, Y:0.08, Z:0.91 [[ 0.99951565 -0.00145431 -0.03108623 0.02482215] [ 0.00104808 0.9999139 -0.01308017 0.08236869] [ 0.03110257 0.01304125 0.99943112 0.90573458] [ 0. 0. 0. 1. ]] SLAMing on 98.852557844 meters Centerline goodness : 0.147984 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:0.91 [[ 0.99950966 -0.00162564 -0.03126974 0.02539577] [ 0.00120209 0.99990735 -0.01355898 0.08497456] [ 0.03128889 0.01351475 0.99941901 0.90552721] [ 0. 0. 0. 1. ]] SLAMing on 98.882557844 meters Centerline goodness : 0.136749 Centerline is valid? [False, False] Translation: X:0.03, Y:0.09, Z:0.91 [[ 0.9995066 -0.00180365 -0.03135766 0.02567387] [ 0.00136467 0.99990086 -0.01401467 0.08726804] [ 0.03137983 0.01396497 0.99940997 0.90542411] [ 0. 0. 0. 1. ]] SLAMing on 98.912557844 meters Centerline goodness : 0.133373 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:0.91 [[ 0.99951195 -0.00210384 -0.03116795 0.02498924] [ 0.00164584 0.99989041 -0.01471277 0.09054318] [ 0.03119549 0.0146543 0.99940587 0.90574638] [ 0. 0. 0. 1. ]] SLAMing on 98.942557844 meters Centerline goodness : 0.137651 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:0.91 [[ 0.99951868 -0.00219 -0.03094538 0.02413878] [ 0.00172923 0.99988736 -0.01490886 0.09157131] [ 0.03097454 0.01484818 0.99940988 0.90618859] [ 0. 0. 0. 1. ]] SLAMing on 98.97255784400001 meters Centerline goodness : 0.138541 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:0.91 [[ 0.99952563 -0.0022792 -0.03071356 0.02332401] [ 0.00181633 0.99988449 -0.01509004 0.09255223] [ 0.03074441 0.0150271 0.99941431 0.90651557] [ 0. 0. 0. 1. ]] SLAMing on 99.00255784400001 meters Centerline goodness : 0.136103 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:0.91 [[ 0.99952804 -0.00235565 -0.03062909 0.02297952] [ 0.00188797 0.99988133 -0.01528934 0.09371125] [ 0.03066148 0.0152243 0.99941388 0.90670318] [ 0. 0. 0. 1. ]] SLAMing on 99.032557844 meters Centerline goodness : 0.142826 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 0.99952617 -0.00258226 -0.03067208 0.02312949] [ 0.00209733 0.99987247 -0.01583187 0.09647582] [ 0.03070905 0.01576003 0.99940411 0.90662324] [ 0. 0. 0. 1. ]] SLAMing on 99.062557844 meters Centerline goodness : 0.127306 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 0.99952509 -0.00271118 -0.03069591 0.02324536] [ 0.00221631 0.99986722 -0.01614424 0.09804433] [ 0.03073561 0.01606854 0.99939838 0.90650496] [ 0. 0. 0. 1. ]] SLAMing on 99.092557844 meters Centerline goodness : 0.149478 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 0.99954109 -0.00789088 -0.02924609 0.04512312] [ 0.00751798 0.99988932 -0.0128388 0.10379651] [ 0.02934417 0.01261304 0.99948979 0.90682549] [ 0. 0. 0. 1. ]] SLAMing on 99.122557844 meters Centerline goodness : 0.140289 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:0.91 [[ 0.99954665 -0.00793961 -0.02904244 0.04439438] [ 0.00756536 0.99988722 -0.01297348 0.10455976] [ 0.02914217 0.01274788 0.99949398 0.90716897] [ 0. 0. 0. 1. ]] SLAMing on 99.152557844 meters Centerline goodness : 0.137807 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:0.91 [[ 0.99954857 -0.00797751 -0.02896565 0.04393356] [ 0.00760229 0.99988606 -0.01304129 0.10475266] [ 0.02906638 0.0128152 0.99949533 0.907622 ] [ 0. 0. 0. 1. ]] SLAMing on 99.182557844 meters Centerline goodness : 0.133776 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:0.91 [[ 9.99616914e-01 3.66655855e-04 -2.76747363e-02 6.27529417e-02] [-7.73423837e-04 9.99891813e-01 -1.46888974e-02 1.01976298e-01] [ 2.76663565e-02 1.47046746e-02 9.99509052e-01 9.09661214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.212557844 meters Centerline goodness : 0.136692 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:0.91 [[ 9.99618543e-01 3.44727772e-04 -2.76161027e-02 6.23612866e-02] [-7.51700829e-04 9.99891258e-01 -1.47277770e-02 1.02105608e-01] [ 2.76080226e-02 1.47429180e-02 9.99510102e-01 9.10032573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.242557844 meters Centerline goodness : 0.138529 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:0.91 [[ 9.99624936e-01 3.58390956e-04 -2.73835540e-02 6.17548586e-02] [-7.63838081e-04 9.99890224e-01 -1.47972020e-02 1.02981662e-01] [ 2.73752447e-02 1.48125687e-02 9.99515475e-01 9.10019891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.272557844 meters Centerline goodness : 0.134853 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:0.91 [[ 9.99627562e-01 3.80560811e-04 -2.72872297e-02 6.15915623e-02] [-7.84938733e-04 9.99890016e-01 -1.48101306e-02 1.03183634e-01] [ 2.72785924e-02 1.48260336e-02 9.99517917e-01 9.09881282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.302557844 meters Centerline goodness : 0.136355 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 9.99544816e-01 -7.14305888e-04 -3.01604010e-02 1.67047894e-02] [ 2.65857549e-04 9.99889398e-01 -1.48701720e-02 9.99773405e-02] [ 3.01676870e-02 1.48553849e-02 9.99434454e-01 9.09408281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33255784400001 meters Centerline goodness : 0.136302 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:0.91 [[ 9.99587216e-01 9.42165361e-05 -2.87295638e-02 6.22118877e-02] [-5.36949055e-04 9.99881222e-01 -1.54030207e-02 1.02430372e-01] [ 2.87247001e-02 1.54120889e-02 9.99468538e-01 9.09673212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36255784400001 meters Centerline goodness : 0.142754 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 9.99444693e-01 1.72634916e-04 -3.33208133e-02 2.30693964e-02] [-6.51966769e-04 9.99896461e-01 -1.43750299e-02 9.80915075e-02] [ 3.33148817e-02 1.43887714e-02 9.99341324e-01 9.07083113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39255784400001 meters Centerline goodness : 0.142008 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 9.99434116e-01 1.77297917e-04 -3.36365439e-02 2.43277949e-02] [-6.64223439e-04 9.99895149e-01 -1.44654647e-02 9.87517981e-02] [ 3.36304524e-02 1.44796211e-02 9.99329442e-01 9.06289061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422557844 meters Centerline goodness : 0.134649 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 0.99941504 -0.00497133 -0.03383597 0.0480521 ] [ 0.00458841 0.99992466 -0.01138533 0.10169075] [ 0.03389002 0.01122342 0.99936255 0.90615342] [ 0. 0. 0. 1. ]] SLAMing on 99.452557844 meters Centerline goodness : 0.136642 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:0.91 [[ 0.99931397 -0.00534426 -0.03664748 0.00208887] [ 0.00495786 0.99993125 -0.0106264 0.09830808] [ 0.03670175 0.01043742 0.99927176 0.90627004] [ 0. 0. 0. 1. ]] SLAMing on 99.482557844 meters Centerline goodness : 0.133971 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:0.91 [[ 0.99943917 -0.00376855 -0.03327379 0.04255962] [ 0.0034199 0.99993872 -0.01052891 0.10248311] [ 0.03331143 0.01040921 0.99939081 0.90824174] [ 0. 0. 0. 1. ]] SLAMing on 99.512557844 meters Centerline goodness : 0.134454 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:0.91 [[ 0.99944844 -0.00384629 -0.03298507 0.04171175] [ 0.00349253 0.99993584 -0.01077576 0.10372719] [ 0.0330244 0.01065462 0.99939775 0.90838855] [ 0. 0. 0. 1. ]] SLAMing on 99.542557844 meters Centerline goodness : 0.136382 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:0.91 [[ 0.99945255 -0.00396026 -0.03284688 0.04145794] [ 0.00359687 0.99993176 -0.01111476 0.10534792] [ 0.03288866 0.01099053 0.99939859 0.90819107] [ 0. 0. 0. 1. ]] SLAMing on 99.572557844 meters Centerline goodness : 0.134624 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:0.91 [[ 9.99446298e-01 -2.60121447e-04 -3.32720568e-02 4.30093847e-02] [ 3.77135272e-06 9.99970320e-01 -7.70449700e-03 1.06480669e-01] [ 3.32730734e-02 7.70010552e-03 9.99416635e-01 9.07513969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.602557844 meters Centerline goodness : 0.147634 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:0.91 [[ 9.99446578e-01 -3.37132246e-04 -3.32629661e-02 4.31743856e-02] [ 7.32148782e-05 9.99968513e-01 -7.93516942e-03 1.07755131e-01] [ 3.32645939e-02 7.92834258e-03 9.99415133e-01 9.07152625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.632557844 meters Centerline goodness : 0.127514 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:0.91 [[ 0.99942575 -0.00776798 -0.03298218 0.06239905] [ 0.0075484 0.99994855 -0.00677676 0.11379498] [ 0.03303312 0.00652391 0.99943297 0.90911794] [ 0. 0. 0. 1. ]] SLAMing on 99.662557844 meters Centerline goodness : 0.134412 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:0.91 [[ 0.99942231 -0.00775403 -0.03308962 0.06254859] [ 0.00753641 0.99994918 -0.00669628 0.11334804] [ 0.03313986 0.00644303 0.99942996 0.90931771] [ 0. 0. 0. 1. ]] SLAMing on 99.692557844 meters Centerline goodness : 0.132291 Centerline is valid? [False, False] Translation: X:0.07, Y:0.11, Z:0.91 [[ 0.99938205 -0.00796667 -0.03423531 0.06559658] [ 0.00774741 0.99994865 -0.00653236 0.11141631] [ 0.03428559 0.00626309 0.99939245 0.90922154] [ 0. 0. 0. 1. ]] SLAMing on 99.72255784400001 meters Centerline goodness : 0.139128 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 9.99389728e-01 -7.33300099e-04 -3.49232552e-02 4.79227544e-02] [ 4.56997767e-04 9.99968540e-01 -7.91902567e-03 1.04159095e-01] [ 3.49279635e-02 7.89823306e-03 9.99358622e-01 9.06481096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75255784400001 meters Centerline goodness : 0.142820 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 9.99385288e-01 -7.26312425e-04 -3.50502407e-02 4.83273253e-02] [ 4.53203654e-04 9.99969483e-01 -7.79923876e-03 1.03378286e-01] [ 3.50548357e-02 7.77855957e-03 9.99355118e-01 9.06366705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.782557844 meters Centerline goodness : 0.137481 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 9.99388193e-01 -6.79800338e-04 -3.49682488e-02 4.79953636e-02] [ 4.11319542e-04 9.99970389e-01 -7.68446589e-03 1.02888121e-01] [ 3.49724372e-02 7.66538136e-03 9.99358880e-01 9.06540199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.812557844 meters Centerline goodness : 0.137481 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 9.99388193e-01 -6.79800338e-04 -3.49682488e-02 4.79953636e-02] [ 4.11319542e-04 9.99970389e-01 -7.68446589e-03 1.02888121e-01] [ 3.49724372e-02 7.66538136e-03 9.99358880e-01 9.06540199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842557844 meters Centerline goodness : 0.129737 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 9.99409830e-01 -5.60118391e-04 -3.43464489e-02 4.58774657e-02] [ 3.00134937e-04 9.99971271e-01 -7.57413069e-03 1.02964579e-01] [ 3.43497045e-02 7.55935209e-03 9.99381286e-01 9.07431360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.872557844 meters Centerline goodness : 0.140207 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:0.91 [[ 0.99943073 -0.00809125 -0.03275288 0.0646822 ] [ 0.00788396 0.9999481 -0.00645314 0.10819004] [ 0.0328034 0.00619125 0.99944265 0.90917491] [ 0. 0. 0. 1. ]] SLAMing on 99.902557844 meters Centerline goodness : 0.136406 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:0.91 [[ 0.99943206 -0.00810515 -0.03270868 0.06464351] [ 0.00789582 0.99994754 -0.0065241 0.10856698] [ 0.03275984 0.00626213 0.99944363 0.9090007 ] [ 0. 0. 0. 1. ]] SLAMing on 99.932557844 meters Centerline goodness : 0.142018 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:0.91 [[ 9.99411683e-01 8.41877967e-05 -3.42969358e-02 4.42659145e-02] [-3.34482583e-04 9.99973356e-01 -7.29220386e-03 1.03947032e-01] [ 3.42954081e-02 7.29938547e-03 9.99385083e-01 9.07503875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.962557844 meters Centerline goodness : 0.134711 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.90 [[ 0.99935313 0.00172294 -0.03592135 0.05093287] [-0.00194013 0.99998005 -0.00601211 0.10455272] [ 0.03591027 0.00607791 0.99933654 0.90448658] [ 0. 0. 0. 1. ]] SLAMing on 99.992557844 meters Centerline goodness : 0.122213 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:0.90 [[ 0.9993513 0.00162353 -0.03597692 0.05108883] [-0.00184856 0.99997893 -0.00622264 0.10535067] [ 0.03596606 0.00628511 0.99933325 0.90444869] [ 0. 0. 0. 1. ]] SLAMing on 100.022557844 meters Centerline goodness : 0.142261 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:0.91 [[ 9.99251308e-01 4.46984642e-04 -3.86862117e-02 4.19601134e-03] [-6.95863769e-04 9.99979149e-01 -6.42005120e-03 1.02991645e-01] [ 3.86825354e-02 6.44216489e-03 9.99230784e-01 9.05193727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.052557844 meters Centerline goodness : 0.142223 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:0.91 [[ 9.99269346e-01 4.01623856e-04 -3.82179753e-02 2.37310075e-03] [-6.56323898e-04 9.99977659e-01 -6.65209151e-03 1.04850020e-01] [ 3.82144499e-02 6.67231450e-03 9.99247285e-01 9.06132388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08255784400001 meters Centerline goodness : 0.143339 Centerline is valid? [False, False] Translation: X:0.00, Y:0.11, Z:0.91 [[ 9.99276133e-01 3.60118256e-04 -3.80405055e-02 1.82296364e-03] [-6.17436808e-04 9.99977009e-01 -6.75279905e-03 1.05527756e-01] [ 3.80371991e-02 6.77139853e-03 9.99253381e-01 9.06269036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11255784400001 meters Centerline goodness : 0.141739 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:0.91 [[ 0.99924811 -0.00711792 -0.03811229 0.02115863] [ 0.00690676 0.99996008 -0.00566919 0.11144503] [ 0.03815112 0.00540169 0.99925738 0.90839546] [ 0. 0. 0. 1. ]] SLAMing on 100.14255784400001 meters Centerline goodness : 0.152606 Centerline is valid? [False, False] Translation: X:0.00, Y:0.11, Z:0.91 [[ 9.99220795e-01 5.29053305e-04 -3.94654602e-02 2.05999340e-03] [-8.01620788e-04 9.99975936e-01 -6.89097722e-03 1.05369076e-01] [ 3.94608648e-02 6.91724407e-03 9.99197174e-01 9.06466170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.172557844 meters Centerline goodness : 0.142690 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:0.91 [[ 9.99209344e-01 5.01741313e-04 -3.97546920e-02 2.78606399e-03] [-7.73788317e-04 9.99976389e-01 -6.82805064e-03 1.04779803e-01] [ 3.97503274e-02 6.85341371e-03 9.99186140e-01 9.06496679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202557844 meters Centerline goodness : 0.154210 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:0.91 [[ 9.99211128e-01 5.59015449e-04 -3.97090455e-02 2.40889002e-03] [-8.22921618e-04 9.99977683e-01 -6.62996206e-03 1.03849633e-01] [ 3.97044531e-02 6.65740930e-03 9.99189289e-01 9.06907517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.232557844 meters Centerline goodness : 0.142379 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:0.91 [[ 0.99924069 -0.00757092 -0.03821943 0.02276056] [ 0.00736913 0.99995817 -0.00541776 0.10560705] [ 0.03825885 0.005132 0.99925468 0.90891966] [ 0. 0. 0. 1. ]] SLAMing on 100.262557844 meters Centerline goodness : 0.131993 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 0.99924262 -0.00748706 -0.0381855 0.02267495] [ 0.00730073 0.99996077 -0.00501663 0.10333704] [ 0.03822156 0.00473405 0.99925808 0.90900307] [ 0. 0. 0. 1. ]] SLAMing on 100.292557844 meters Centerline goodness : 0.142690 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 0.99923443 -0.00737759 -0.03842045 0.02337532] [ 0.00720707 0.99996356 -0.00457485 0.10083651] [ 0.0384528 0.00429445 0.99925119 0.90888077] [ 0. 0. 0. 1. ]] SLAMing on 100.322557844 meters Centerline goodness : 0.149595 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 0.99922196 -0.00727815 -0.03876202 0.02453778] [ 0.00711936 0.9999657 -0.00423291 0.09896154] [ 0.0387915 0.00395366 0.9992395 0.90843131] [ 0. 0. 0. 1. ]] SLAMing on 100.352557844 meters Centerline goodness : 0.149427 Centerline is valid? [False, False] Translation: X:0.03, Y:0.10, Z:0.91 [[ 0.99919697 -0.00707793 -0.0394375 0.02707824] [ 0.00693476 0.99996886 -0.00376606 0.09664511] [ 0.03946293 0.00348954 0.99921494 0.90713523] [ 0. 0. 0. 1. ]] SLAMing on 100.382557844 meters Centerline goodness : 0.143396 Centerline is valid? [False, False] Translation: X:0.03, Y:0.10, Z:0.91 [[ 0.99919233 -0.00700097 -0.03956868 0.0274029 ] [ 0.00686326 0.99996991 -0.00361494 0.09584634] [ 0.0395928 0.00334045 0.99921031 0.90716693] [ 0. 0. 0. 1. ]] SLAMing on 100.412557844 meters Centerline goodness : 0.142688 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:0.91 [[ 0.99925982 0.00151548 -0.03843852 0.04741544] [-0.00171038 0.99998585 -0.00503795 0.09289831] [ 0.03843034 0.00509996 0.99924827 0.90918539] [ 0. 0. 0. 1. ]] SLAMing on 100.442557844 meters Centerline goodness : 0.144474 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:0.91 [[ 0.99925949 0.00151532 -0.03844692 0.04737597] [-0.00171501 0.99998521 -0.00516137 0.09354312] [ 0.03843853 0.00522349 0.99924731 0.90923475] [ 0. 0. 0. 1. ]] SLAMing on 100.47255784400001 meters Centerline goodness : 0.142190 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 0.99924778 0.00157082 -0.03874788 0.04842654] [-0.00178093 0.9999839 -0.00538858 0.09511361] [ 0.03873879 0.00545353 0.99923449 0.9086469 ] [ 0. 0. 0. 1. ]] SLAMing on 100.50255784400001 meters Centerline goodness : 0.137526 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 0.99921527 0.0048434 -0.03931139 0.05256843] [-0.00495962 0.99998361 -0.00285939 0.09976507] [ 0.03929689 0.00305211 0.99922292 0.90533547] [ 0. 0. 0. 1. ]] SLAMing on 100.532557844 meters Centerline goodness : 0.141841 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.90 [[ 0.99921759 0.00473289 -0.03926597 0.05264342] [-0.00486942 0.99998242 -0.00338209 0.10240654] [ 0.03924927 0.00357065 0.99922307 0.90491958] [ 0. 0. 0. 1. ]] SLAMing on 100.562557844 meters Centerline goodness : 0.134265 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 0.99922291 0.00456002 -0.03915066 0.05218936] [-0.00471606 0.9999813 -0.0038942 0.10474746] [ 0.03913218 0.00407581 0.99922573 0.90511724] [ 0. 0. 0. 1. ]] SLAMing on 100.592557844 meters Centerline goodness : 0.143857 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:0.91 [[ 0.99923205 0.00441666 -0.0389334 0.0512104 ] [-0.00458827 0.99998014 -0.00431943 0.10689784] [ 0.03891355 0.00449475 0.99923247 0.90571928] [ 0. 0. 0. 1. ]] SLAMing on 100.622557844 meters Centerline goodness : 0.144950 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99928144 -0.00242828 -0.03782472 0.0680627 ] [ 0.00233201 0.99999393 -0.00258922 0.11668186] [ 0.03783078 0.00249916 0.99928103 0.90902586] [ 0. 0. 0. 1. ]] SLAMing on 100.652557844 meters Centerline goodness : 0.141817 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99928392 -0.00252096 -0.03775311 0.06779836] [ 0.00241671 0.99999314 -0.00280663 0.11785756] [ 0.03775993 0.00271338 0.99928316 0.90909823] [ 0. 0. 0. 1. ]] SLAMing on 100.682557844 meters Centerline goodness : 0.145780 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99928564 -0.00263083 -0.03769985 0.06750754] [ 0.00252066 0.99999241 -0.00296953 0.11844511] [ 0.03770738 0.00287238 0.9992847 0.9093741 ] [ 0. 0. 0. 1. ]] SLAMing on 100.712557844 meters Centerline goodness : 0.152655 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99928468 -0.00272534 -0.03771871 0.06726869] [ 0.00261211 0.99999193 -0.00305115 0.11845884] [ 0.03772672 0.00295044 0.99928374 0.90984529] [ 0. 0. 0. 1. ]] SLAMing on 100.742557844 meters Centerline goodness : 0.148718 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99929795 -0.00278228 -0.03736125 0.06596395] [ 0.00266894 0.99999169 -0.00308329 0.11859871] [ 0.03736951 0.00298141 0.99929707 0.91049219] [ 0. 0. 0. 1. ]] SLAMing on 100.772557844 meters Centerline goodness : 0.143502 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99930071 -0.00274801 -0.03729002 0.06568583] [ 0.00263684 0.99999193 -0.00303004 0.11853117] [ 0.03729804 0.00292959 0.99929989 0.91064465] [ 0. 0. 0. 1. ]] SLAMing on 100.802557844 meters Centerline goodness : 0.143809 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99930005 -0.0027159 -0.03730987 0.06573461] [ 0.00260872 0.99999233 -0.00292125 0.11804288] [ 0.03731752 0.00282188 0.99929947 0.91066878] [ 0. 0. 0. 1. ]] SLAMing on 100.83255784400001 meters Centerline goodness : 0.139815 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99929303 -0.00271167 -0.03749793 0.0663797 ] [ 0.00260654 0.99999254 -0.00285217 0.11759418] [ 0.03750539 0.00275241 0.99929263 0.91044219] [ 0. 0. 0. 1. ]] SLAMing on 100.86255784400001 meters Centerline goodness : 0.142110 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:0.91 [[ 0.99914446 -0.00333589 -0.04122157 0.02317332] [ 0.00323348 0.99999152 -0.00255068 0.11480913] [ 0.04122973 0.00241521 0.99914677 0.9098466 ] [ 0. 0. 0. 1. ]] SLAMing on 100.89255784400001 meters Centerline goodness : 0.140995 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:0.91 [[ 0.9991858 0.0051954 -0.04000928 0.04366067] [-0.00535514 0.99997811 -0.00388651 0.1137611 ] [ 0.03998821 0.0040976 0.99919175 0.91132124] [ 0. 0. 0. 1. ]] SLAMing on 100.922557844 meters Centerline goodness : 0.149068 Centerline is valid? [False, False] Translation: X:0.04, Y:0.12, Z:0.91 [[ 0.99919291 0.00509072 -0.03984491 0.0431078 ] [-0.0052626 0.99997729 -0.00420998 0.11536587] [ 0.03982257 0.00441627 0.99919701 0.91149753] [ 0. 0. 0. 1. ]] SLAMing on 100.952557844 meters Centerline goodness : 0.265739 Centerline is valid? [False, False] Translation: X:0.04, Y:0.12, Z:0.91 [[ 0.99923343 0.00523129 -0.03879675 0.04030252] [-0.00541868 0.99997415 -0.00472643 0.11925115] [ 0.03877102 0.00493304 0.99923594 0.91166376] [ 0. 0. 0. 1. ]] SLAMing on 100.982557844 meters Centerline goodness : 0.143663 Centerline is valid? [False, False] Translation: X:0.06, Y:0.12, Z:0.91 [[ 9.99315329e-01 -3.53647618e-05 -3.69982605e-02 6.17764702e-02] [-2.76040839e-05 9.99998552e-01 -1.70142850e-03 1.23811315e-01] [ 3.69982671e-02 1.70128488e-03 9.99313882e-01 9.11681225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.012557844 meters Centerline goodness : 0.139460 Centerline is valid? [False, False] Translation: X:0.06, Y:0.13, Z:0.91 [[ 9.99321794e-01 -1.82503735e-04 -3.68228111e-02 6.13234776e-02] [ 1.05098675e-04 9.99997781e-01 -2.10402006e-03 1.25807444e-01] [ 3.68231134e-02 2.09872307e-03 9.99319595e-01 9.11625639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.042557844 meters Centerline goodness : 0.130858 Centerline is valid? [False, False] Translation: X:0.06, Y:0.13, Z:0.91 [[ 9.99313299e-01 -3.87513347e-04 -3.70510620e-02 6.20052435e-02] [ 2.91299895e-04 9.99996572e-01 -2.60214296e-03 1.28065972e-01] [ 3.70519433e-02 2.58956309e-03 9.99309986e-01 9.11394257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.072557844 meters Centerline goodness : 0.141428 Centerline is valid? [False, False] Translation: X:0.07, Y:0.13, Z:0.91 [[ 9.99274210e-01 -6.48878177e-04 -3.80871572e-02 6.54692948e-02] [ 5.17182899e-04 9.99993855e-01 -3.46748526e-03 1.32461994e-01] [ 3.80891731e-02 3.44527056e-03 9.99268405e-01 9.09882447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.102557844 meters Centerline goodness : 0.107734 Centerline is valid? [False, False] Translation: X:0.07, Y:0.13, Z:0.91 [[ 9.99267985e-01 -8.09606369e-04 -3.82470766e-02 6.60339580e-02] [ 6.62629084e-04 9.99992349e-01 -3.85535727e-03 1.34464506e-01] [ 3.82499053e-02 3.82719147e-03 9.99260876e-01 9.09579773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.132557844 meters Centerline goodness : 0.160853 Centerline is valid? [False, False] Translation: X:0.11, Y:0.14, Z:0.91 [[ 9.99362256e-01 5.78754039e-05 -3.57082336e-02 1.09539380e-01] [-1.95420295e-04 9.99992576e-01 -3.84843154e-03 1.39370576e-01] [ 3.57077457e-02 3.85295534e-03 9.99354848e-01 9.10376479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.162557844 meters Centerline goodness : 0.141232 Centerline is valid? [False, False] Translation: X:0.11, Y:0.14, Z:0.91 [[ 9.99364475e-01 -4.21480250e-05 -3.56460925e-02 1.09068199e-01] [-9.92341505e-05 9.99992136e-01 -3.96449564e-03 1.39794369e-01] [ 3.56459793e-02 3.96551342e-03 9.99356612e-01 9.10905106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.192557844 meters Centerline goodness : 0.175818 Centerline is valid? [False, False] Translation: X:0.11, Y:0.14, Z:0.91 [[ 9.99361645e-01 -1.55821399e-04 -3.57250385e-02 1.08926626e-01] [ 1.54902581e-05 9.99992284e-01 -3.92833241e-03 1.39141224e-01] [ 3.57253750e-02 3.92527135e-03 9.99353936e-01 9.11517150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22255784400001 meters Centerline goodness : 0.151021 Centerline is valid? [False, False] Translation: X:0.11, Y:0.14, Z:0.91 [[ 0.99936429 -0.00127651 -0.03562833 0.10833797] [ 0.00112095 0.99998975 -0.00438574 0.13707815] [ 0.03563356 0.00434302 0.99935549 0.91219644] [ 0. 0. 0. 1. ]] SLAMing on 101.25255784400001 meters Centerline goodness : 0.123424 Centerline is valid? [False, False] Translation: X:0.11, Y:0.14, Z:0.91 [[ 0.99935979 -0.0012488 -0.03575546 0.10870428] [ 0.00110382 0.99999109 -0.00407421 0.13537587] [ 0.03576023 0.00403214 0.99935226 0.91218333] [ 0. 0. 0. 1. ]] SLAMing on 101.282557844 meters Centerline goodness : 0.154178 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 0.99935608 -0.00117019 -0.03586152 0.10906032] [ 0.00103586 0.99999238 -0.00376413 0.13382397] [ 0.03586565 0.00372455 0.99934968 0.91209115] [ 0. 0. 0. 1. ]] SLAMing on 101.312557844 meters Centerline goodness : 0.147822 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99352063e-01 -1.10029554e-03 -3.59755881e-02 1.09310917e-01] [ 9.74670809e-04 9.99993367e-01 -3.50929512e-03 1.32480338e-01] [ 3.59792107e-02 3.47195696e-03 9.99346507e-01 9.12194154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.342557844 meters Centerline goodness : 0.151927 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99349737e-01 -9.67619129e-04 -3.60439602e-02 1.09242839e-01] [ 8.58915988e-04 9.99995037e-01 -3.03121132e-03 1.29870183e-01] [ 3.60467144e-02 2.99828150e-03 9.99345608e-01 9.12672029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.372557844 meters Centerline goodness : 0.143826 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99346880e-01 -8.33508081e-04 -3.61264319e-02 1.09464803e-01] [ 7.35386574e-04 9.99996005e-01 -2.72926131e-03 1.28549472e-01] [ 3.61285624e-02 2.70091189e-03 9.99343501e-01 9.12666745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.402557844 meters Centerline goodness : 0.147708 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99347012e-01 -6.89224262e-04 -3.61258162e-02 1.09516619e-01] [ 6.01639021e-04 9.99996854e-01 -2.43526500e-03 1.27288629e-01] [ 3.61273809e-02 2.41194010e-03 9.99344282e-01 9.12600557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.432557844 meters Centerline goodness : 0.157282 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99348606e-01 -5.62853188e-04 -3.60838848e-02 1.09247109e-01] [ 4.84883614e-04 9.99997529e-01 -2.16950123e-03 1.26068698e-01] [ 3.60850168e-02 2.15059155e-03 9.99346410e-01 9.12911479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.462557844 meters Centerline goodness : 0.131433 Centerline is valid? [False, False] Translation: X:0.11, Y:0.12, Z:0.91 [[ 9.99349236e-01 -4.35979784e-04 -3.60682044e-02 1.09068106e-01] [ 3.64562090e-04 9.99997960e-01 -1.98662644e-03 1.24977111e-01] [ 3.60689969e-02 1.97218451e-03 9.99347356e-01 9.13171277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.492557844 meters Centerline goodness : 0.137555 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99347605e-01 -4.13242581e-04 -3.61136233e-02 1.09424586e-01] [ 3.39520969e-04 9.99997846e-01 -2.04748836e-03 1.25349274e-01] [ 3.61143916e-02 2.03389126e-03 9.99345593e-01 9.12718990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.522557844 meters Centerline goodness : 0.125732 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99339651e-01 -3.07156702e-04 -3.63340971e-02 1.10333765e-01] [ 2.29803881e-04 9.99997699e-01 -2.13308906e-03 1.26186197e-01] [ 3.63346687e-02 2.12333076e-03 9.99337422e-01 9.12057775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.552557844 meters Centerline goodness : 0.151133 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99337017e-01 -1.78505065e-04 -3.64073336e-02 1.10858607e-01] [ 9.73113734e-05 9.99997505e-01 -2.23190642e-03 1.27301005e-01] [ 3.64076412e-02 2.22688386e-03 9.99334541e-01 9.11396082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58255784400001 meters Centerline goodness : 0.146087 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 9.99225401e-01 3.67913796e-04 -3.93505118e-02 6.55027409e-02] [-4.06356022e-04 9.99999448e-01 -9.68924264e-04 1.24174317e-01] [ 3.93501336e-02 9.84164054e-04 9.99224999e-01 9.11329889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61255784400001 meters Centerline goodness : 0.172427 Centerline is valid? [False, False] Translation: X:0.09, Y:0.12, Z:0.91 [[ 0.99923727 0.00916833 -0.03795811 0.08613411] [-0.00925426 0.999955 -0.00208854 0.12226699] [ 0.03793726 0.00243822 0.99927715 0.91285348] [ 0. 0. 0. 1. ]] SLAMing on 101.64255784400001 meters Centerline goodness : 0.134112 Centerline is valid? [False, False] Translation: X:0.08, Y:0.12, Z:0.91 [[ 0.99924358 0.00922579 -0.03777758 0.08491439] [-0.00930654 0.99995477 -0.00196225 0.12141033] [ 0.03775777 0.00231235 0.99928425 0.91399339] [ 0. 0. 0. 1. ]] SLAMing on 101.672557844 meters Centerline goodness : 0.130853 Centerline is valid? [False, False] Translation: X:0.08, Y:0.12, Z:0.91 [[ 0.99924413 0.00927768 -0.03775053 0.08465142] [-0.00935269 0.99995462 -0.00181079 0.12062473] [ 0.03773202 0.00216249 0.99928555 0.91430088] [ 0. 0. 0. 1. ]] SLAMing on 101.702557844 meters Centerline goodness : 0.130853 Centerline is valid? [False, False] Translation: X:0.08, Y:0.12, Z:0.91 [[ 0.99924413 0.00927768 -0.03775053 0.08465142] [-0.00935269 0.99995462 -0.00181079 0.12062473] [ 0.03773202 0.00216249 0.99928555 0.91430088] [ 0. 0. 0. 1. ]] SLAMing on 101.732557844 meters Centerline goodness : 0.149276 Centerline is valid? [False, False] Translation: X:0.08, Y:0.12, Z:0.91 [[ 0.99924389 0.00934512 -0.03774025 0.08467848] [-0.00940592 0.99995474 -0.00143385 0.11856306] [ 0.03772514 0.00178775 0.99928655 0.91424732] [ 0. 0. 0. 1. ]] SLAMing on 101.762557844 meters Centerline goodness : 0.132081 Centerline is valid? [False, False] Translation: X:0.08, Y:0.12, Z:0.91 [[ 0.99924125 0.00936631 -0.03780465 0.08498062] [-0.00941884 0.99995491 -0.00121159 0.11721131] [ 0.0377916 0.00156675 0.99928441 0.91404852] [ 0. 0. 0. 1. ]] SLAMing on 101.792557844 meters Centerline goodness : 0.126535 Centerline is valid? [False, False] Translation: X:0.09, Y:0.12, Z:0.91 [[ 9.99233360e-01 9.42206611e-03 -3.79988998e-02 8.55734306e-02] [-9.46500659e-03 9.99954754e-01 -9.50304849e-04 1.15694509e-01] [ 3.79882266e-02 1.30923614e-03 9.99277329e-01 9.13967211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.822557844 meters Centerline goodness : 0.152949 Centerline is valid? [False, False] Translation: X:0.09, Y:0.11, Z:0.91 [[ 9.99224564e-01 9.46917116e-03 -3.82178736e-02 8.61279710e-02] [-9.50429208e-03 9.99954561e-01 -7.37383087e-04 1.14558707e-01] [ 3.82091546e-02 1.10004513e-03 9.99269158e-01 9.14007659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.852557844 meters Centerline goodness : 0.146336 Centerline is valid? [False, False] Translation: X:0.09, Y:0.11, Z:0.91 [[ 9.99217079e-01 9.53585670e-03 -3.83965572e-02 8.65680314e-02] [-9.56406854e-03 9.99954111e-01 -5.51130752e-04 1.13720413e-01] [ 3.83895398e-02 9.17926565e-04 9.99262428e-01 9.14064617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.882557844 meters Centerline goodness : 0.128993 Centerline is valid? [False, False] Translation: X:0.11, Y:0.12, Z:0.92 [[ 9.99243370e-01 2.32150385e-03 -3.88239253e-02 1.05550904e-01] [-2.29217538e-03 9.99997053e-01 7.99918192e-04 1.18342959e-01] [ 3.88256679e-02 -7.10321704e-04 9.99245747e-01 9.16580885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.912557844 meters Centerline goodness : 0.150406 Centerline is valid? [False, False] Translation: X:0.11, Y:0.12, Z:0.92 [[ 0.99922756 0.00243519 -0.03922187 0.10651628] [-0.00239379 0.99999653 0.00110248 0.11681264] [ 0.03922442 -0.00100774 0.99922992 0.91672076] [ 0. 0. 0. 1. ]] SLAMing on 101.942557844 meters Centerline goodness : 0.141961 Centerline is valid? [False, False] Translation: X:0.11, Y:0.12, Z:0.92 [[ 0.99922375 0.0024767 -0.03931621 0.10662566] [-0.00242785 0.99999622 0.00129005 0.11558438] [ 0.03931926 -0.0011936 0.99922599 0.91697503] [ 0. 0. 0. 1. ]] SLAMing on 101.97255784400001 meters Centerline goodness : 0.148860 Centerline is valid? [False, False] Translation: X:0.11, Y:0.11, Z:0.92 [[ 0.99922036 0.00251501 -0.03939979 0.10666093] [-0.00245778 0.99999585 0.00150106 0.11425714] [ 0.03940341 -0.00140305 0.9992224 0.91727819] [ 0. 0. 0. 1. ]] SLAMing on 102.00255784400001 meters Centerline goodness : 0.152030 Centerline is valid? [False, False] Translation: X:0.11, Y:0.11, Z:0.92 [[ 0.99921961 0.00254303 -0.03941713 0.10673413] [-0.00247945 0.99999555 0.00166176 0.113278 ] [ 0.03942118 -0.00156273 0.99922146 0.91726337] [ 0. 0. 0. 1. ]] SLAMing on 102.032557844 meters Centerline goodness : 0.156071 Centerline is valid? [False, False] Translation: X:0.11, Y:0.11, Z:0.92 [[ 0.99922311 0.00261231 -0.03932373 0.10651278] [-0.00254009 0.99999499 0.00188651 0.11211987] [ 0.03932846 -0.00178516 0.99922474 0.91728215] [ 0. 0. 0. 1. ]] SLAMing on 102.062557844 meters Centerline goodness : 0.151461 Centerline is valid? [False, False] Translation: X:0.13, Y:0.12, Z:0.92 [[ 0.99925913 -0.00510165 -0.0381467 0.12578625] [ 0.00521751 0.99998207 0.0029384 0.11726166] [ 0.03813103 -0.00313525 0.99926783 0.9191008 ] [ 0. 0. 0. 1. ]] SLAMing on 102.092557844 meters Centerline goodness : 0.146794 Centerline is valid? [False, False] Translation: X:0.13, Y:0.12, Z:0.92 [[ 0.99926437 -0.00510557 -0.03800867 0.12519191] [ 0.0052199 0.99998214 0.00290941 0.11752778] [ 0.03799314 -0.00310567 0.99927317 0.91944693] [ 0. 0. 0. 1. ]] SLAMing on 102.122557844 meters Centerline goodness : 0.153530 Centerline is valid? [False, False] Translation: X:0.11, Y:0.11, Z:0.92 [[ 0.99928249 0.00269559 -0.03777875 0.10514491] [-0.00262342 0.99999464 0.00195971 0.11332673] [ 0.03778383 -0.00185919 0.99928421 0.91770542] [ 0. 0. 0. 1. ]] SLAMing on 102.152557844 meters Centerline goodness : 0.132231 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99925776 -0.00435533 -0.03827472 0.1240948 ] [ 0.00446728 0.99998599 0.00283995 0.12227978] [ 0.03826181 -0.00300883 0.99926322 0.91973134] [ 0. 0. 0. 1. ]] SLAMing on 102.182557844 meters Centerline goodness : 0.152222 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99925401 -0.00449895 -0.03835588 0.1243381 ] [ 0.00460011 0.99998617 0.00254972 0.1235317 ] [ 0.03834388 -0.00272426 0.99926089 0.91967096] [ 0. 0. 0. 1. ]] SLAMing on 102.212557844 meters Centerline goodness : 0.145285 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:0.92 [[ 0.99924666 -0.00466424 -0.03852747 0.12477649] [ 0.00475074 0.9999864 0.00215383 0.12529024] [ 0.0385169 -0.00233525 0.99925522 0.919635 ] [ 0. 0. 0. 1. ]] SLAMing on 102.242557844 meters Centerline goodness : 0.149738 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:0.92 [[ 0.99924042 -0.00480132 -0.0386721 0.1251437 ] [ 0.00487343 0.99998656 0.00177057 0.12725646] [ 0.03866308 -0.00195769 0.99925039 0.91956151] [ 0. 0. 0. 1. ]] SLAMing on 102.272557844 meters Centerline goodness : 0.144166 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:0.92 [[ 0.99923481 -0.00494524 -0.03879866 0.1255147 ] [ 0.0049971 0.99998675 0.00123985 0.13030572] [ 0.03879201 -0.00143278 0.99924628 0.9193647 ] [ 0. 0. 0. 1. ]] SLAMing on 102.302557844 meters Centerline goodness : 0.125370 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:0.92 [[ 0.99923575 -0.00493669 -0.03877551 0.12529503] [ 0.0049914 0.99998668 0.00131447 0.12982191] [ 0.03876851 -0.00150701 0.99924708 0.91963106] [ 0. 0. 0. 1. ]] SLAMing on 102.33255784400001 meters Centerline goodness : 0.136983 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:0.92 [[ 0.99924355 -0.00488862 -0.03858019 0.12451792] [ 0.00495431 0.99998644 0.00160735 0.12815458] [ 0.0385718 -0.00179727 0.99925421 0.92013872] [ 0. 0. 0. 1. ]] SLAMing on 102.36255784400001 meters Centerline goodness : 0.131100 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:0.92 [[ 0.99925253 -0.00482693 -0.03835463 0.12362579] [ 0.004905 0.99998609 0.00194169 0.12626407] [ 0.03834472 -0.00212837 0.9992623 0.92069878] [ 0. 0. 0. 1. ]] SLAMing on 102.39255784400001 meters Centerline goodness : 0.134982 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99925838 -0.00472848 -0.03821422 0.12289893] [ 0.00482027 0.99998571 0.0023102 0.124435 ] [ 0.03820275 -0.00249269 0.9992669 0.92137325] [ 0. 0. 0. 1. ]] SLAMing on 102.422557844 meters Centerline goodness : 0.145758 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99925656 -0.00457167 -0.03828086 0.12287578] [ 0.00468618 0.99998481 0.00290219 0.12152659] [ 0.03826701 -0.00307943 0.9992628 0.92179327] [ 0. 0. 0. 1. ]] SLAMing on 102.452557844 meters Centerline goodness : 0.142779 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99925276 -0.00443708 -0.03839588 0.12326755] [ 0.00456552 0.99998427 0.00325803 0.11976578] [ 0.03838082 -0.0034309 0.9992573 0.92167277] [ 0. 0. 0. 1. ]] SLAMing on 102.482557844 meters Centerline goodness : 0.151360 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99925007 -0.00427802 -0.03848362 0.1236209 ] [ 0.00442118 0.99998362 0.0036358 0.11799132] [ 0.03846743 -0.00380322 0.99925262 0.92149517] [ 0. 0. 0. 1. ]] SLAMing on 102.512557844 meters Centerline goodness : 0.133381 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99924603 -0.00414048 -0.03860355 0.12408209] [ 0.00429734 0.99998284 0.00398127 0.11629509] [ 0.0385864 -0.00414416 0.99924667 0.92129315] [ 0. 0. 0. 1. ]] SLAMing on 102.542557844 meters Centerline goodness : 0.150428 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:0.92 [[ 0.99924449 -0.00391841 -0.03866642 0.12419877] [ 0.00409987 0.99998095 0.00461482 0.11273482] [ 0.0386476 -0.00476986 0.99924152 0.92147778] [ 0. 0. 0. 1. ]] SLAMing on 102.572557844 meters Centerline goodness : 0.145062 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:0.92 [[ 0.99924263 -0.00377701 -0.03872852 0.12404926] [ 0.00397147 0.99997988 0.00494543 0.11110006] [ 0.03870906 -0.00509549 0.99923753 0.92202091] [ 0. 0. 0. 1. ]] SLAMing on 102.602557844 meters Centerline goodness : 0.125922 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:0.92 [[ 0.99924466 -0.00362453 -0.03869068 0.12371945] [ 0.00383131 0.99997876 0.00527183 0.10959915] [ 0.03867075 -0.00541609 0.99923733 0.92243003] [ 0. 0. 0. 1. ]] SLAMing on 102.632557844 meters Centerline goodness : 0.141694 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:0.92 [[ 0.99925318 -0.00328577 -0.03850038 0.12318159] [ 0.00351646 0.99997626 0.00592568 0.10673812] [ 0.03847999 -0.00605664 0.99924102 0.92256969] [ 0. 0. 0. 1. ]] SLAMing on 102.662557844 meters Centerline goodness : 0.145640 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:0.92 [[ 0.99925711 -0.00315644 -0.03840919 0.12300546] [ 0.00339671 0.99997506 0.00619181 0.10544355] [ 0.03838869 -0.00631768 0.99924291 0.92251562] [ 0. 0. 0. 1. ]] SLAMing on 102.692557844 meters Centerline goodness : 0.133365 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.92 [[ 0.99926446 0.00547905 -0.03795406 0.14307671] [-0.00529763 0.99997406 0.00487901 0.10099495] [ 0.0379798 -0.00467436 0.99926757 0.92440967] [ 0. 0. 0. 1. ]] SLAMing on 102.72255784400001 meters Centerline goodness : 0.131233 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.92 [[ 0.99925846 0.00553159 -0.03810425 0.1435941 ] [-0.00534647 0.99997341 0.00495845 0.10052837] [ 0.03813066 -0.00475105 0.99926147 0.92418271] [ 0. 0. 0. 1. ]] SLAMing on 102.75255784400001 meters Centerline goodness : 0.145652 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.92 [[ 0.99925068 0.00559776 -0.03829803 0.1443274 ] [-0.00540865 0.99997267 0.00503973 0.10016417] [ 0.03832519 -0.00482882 0.99925365 0.923766 ] [ 0. 0. 0. 1. ]] SLAMing on 102.782557844 meters Centerline goodness : 0.147303 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.92 [[ 0.99924705 0.00566136 -0.03838342 0.1447148 ] [-0.00546838 0.99997189 0.0051307 0.09979854] [ 0.03841139 -0.00491694 0.99924991 0.92348099] [ 0. 0. 0. 1. ]] SLAMing on 102.812557844 meters Centerline goodness : 0.144711 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.92 [[ 0.99925167 0.00583098 -0.03823749 0.14389111] [-0.00562573 0.9999692 0.00547304 0.09812355] [ 0.03826823 -0.00525383 0.99925369 0.92422753] [ 0. 0. 0. 1. ]] SLAMing on 102.842557844 meters Centerline goodness : 0.143033 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.93 [[ 0.99925493 0.0059366 -0.0381359 0.14305948] [-0.00572116 0.99996707 0.00575593 0.09657014] [ 0.03816882 -0.00553346 0.99925598 0.92514789] [ 0. 0. 0. 1. ]] SLAMing on 102.872557844 meters Centerline goodness : 0.141258 Centerline is valid? [False, False] Translation: X:0.14, Y:0.09, Z:0.93 [[ 0.99926125 0.00607491 -0.0379479 0.14231576] [-0.00584818 0.9999644 0.00608298 0.09495362] [ 0.0379835 -0.00585656 0.9992612 0.92556789] [ 0. 0. 0. 1. ]] SLAMing on 102.902557844 meters Centerline goodness : 0.156320 Centerline is valid? [False, False] Translation: X:0.14, Y:0.09, Z:0.93 [[ 0.99925601 0.00636751 -0.0380378 0.14290637] [-0.00611333 0.99995823 0.00679482 0.09155431] [ 0.03807948 -0.00655723 0.9992532 0.92500537] [ 0. 0. 0. 1. ]] SLAMing on 102.932557844 meters Centerline goodness : 0.138523 Centerline is valid? [False, False] Translation: X:0.14, Y:0.09, Z:0.92 [[ 0.9992468 0.00650097 -0.03825656 0.14374192] [-0.00622883 0.99995447 0.00722856 0.08924675] [ 0.03830181 -0.00698483 0.9992418 0.92460441] [ 0. 0. 0. 1. ]] SLAMing on 102.962557844 meters Centerline goodness : 0.156916 Centerline is valid? [False, False] Translation: X:0.14, Y:0.09, Z:0.92 [[ 0.99923754 0.00665743 -0.03847106 0.14428089] [-0.00636316 0.99994959 0.00776654 0.08641755] [ 0.03852082 -0.00751582 0.99922953 0.92463976] [ 0. 0. 0. 1. ]] SLAMing on 102.992557844 meters Centerline goodness : 0.152984 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:0.93 [[ 0.99923647 0.00685774 -0.03846365 0.14398568] [-0.00654214 0.99994395 0.00832504 0.08377418] [ 0.03851858 -0.00806705 0.99922532 0.92516505] [ 0. 0. 0. 1. ]] SLAMing on 103.022557844 meters Centerline goodness : 0.132904 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:0.93 [[ 0.99924086 0.00710864 -0.03830375 0.14334721] [-0.00677184 0.99993733 0.00891532 0.08109177] [ 0.03836472 -0.00864916 0.99922637 0.9255842 ] [ 0. 0. 0. 1. ]] SLAMing on 103.052557844 meters Centerline goodness : 0.153523 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:0.93 [[ 0.9992411 0.00737394 -0.03824721 0.14301972] [-0.00701412 0.99992995 0.00953353 0.0782205 ] [ 0.03831483 -0.00925802 0.99922283 0.9259643 ] [ 0. 0. 0. 1. ]] SLAMing on 103.08255784400001 meters Centerline goodness : 0.152969 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:0.93 [[ 0.99926122 0.00357747 -0.03826503 0.14368495] [-0.00333915 0.99997464 0.00629014 0.07448464] [ 0.03828656 -0.00615772 0.99924783 0.92520394] [ 0. 0. 0. 1. ]] SLAMing on 103.11255784400001 meters Centerline goodness : 0.177666 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:0.92 [[ 9.99279625e-01 -1.46153478e-04 -3.79500915e-02 1.43090046e-01] [ 2.50940147e-04 9.99996170e-01 2.75642174e-03 7.33710062e-02] [ 3.79495433e-02 -2.76395928e-03 9.99275834e-01 9.24818554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14255784400001 meters Centerline goodness : 0.138297 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:0.92 [[ 9.99283227e-01 1.15029275e-04 -3.78552367e-02 1.42873609e-01] [ 1.30728937e-05 9.99994275e-01 3.38373633e-03 7.04773292e-02] [ 3.78554092e-02 -3.38180584e-03 9.99277505e-01 9.24792189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.172557844 meters Centerline goodness : 0.162474 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:0.92 [[ 9.99287982e-01 3.64063048e-04 -3.77279396e-02 1.42448690e-01] [-2.15209743e-04 9.99992178e-01 3.94942559e-03 6.80335235e-02] [ 3.77290823e-02 -3.93849411e-03 9.99280243e-01 9.24986854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202557844 meters Centerline goodness : 0.167503 Centerline is valid? [False, False] Translation: X:0.14, Y:0.06, Z:0.93 [[ 9.99286491e-01 7.08792801e-04 -3.77625112e-02 1.42382267e-01] [-5.29236682e-04 9.99988509e-01 4.76466167e-03 6.39902606e-02] [ 3.77654544e-02 -4.74127673e-03 9.99275383e-01 9.25362973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.232557844 meters Centerline goodness : 0.140937 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:0.93 [[ 0.99925355 0.00714498 -0.03796443 0.16556868] [-0.00709897 0.9999739 0.0013466 0.06147839] [ 0.03797306 -0.00107609 0.99927818 0.92560459] [ 0. 0. 0. 1. ]] SLAMing on 103.262557844 meters Centerline goodness : 0.121862 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:0.92 [[ 0.99923189 0.0071965 -0.0385207 0.16757431] [-0.007146 0.99997342 0.00144844 0.06071123] [ 0.0385301 -0.00117205 0.99925675 0.92484924] [ 0. 0. 0. 1. ]] SLAMing on 103.292557844 meters Centerline goodness : 0.116640 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:0.92 [[ 0.99906817 0.00700805 -0.04258734 0.12713478] [-0.00691524 0.99997338 0.00232615 0.05630886] [ 0.04260251 -0.00202948 0.99909004 0.92364537] [ 0. 0. 0. 1. ]] SLAMing on 103.322557844 meters Centerline goodness : 0.148650 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99116308e-01 8.98741189e-04 -4.20213658e-02 1.49409488e-01] [-6.80696064e-04 9.99986233e-01 5.20293125e-03 5.89315176e-02] [ 4.20254634e-02 -5.16972968e-03 9.99103165e-01 9.23562135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.352557844 meters Centerline goodness : 0.214303 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99122125e-01 1.07632636e-03 -4.18786424e-02 1.48646361e-01] [-8.39802579e-04 9.99983601e-01 5.66502053e-03 5.65744886e-02] [ 4.18840531e-02 -5.62487755e-03 9.99106644e-01 9.24260099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.382557844 meters Centerline goodness : 0.143527 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:0.92 [[ 9.99126405e-01 1.23825588e-03 -4.17719257e-02 1.48008481e-01] [-9.83092707e-04 9.99980737e-01 6.12847357e-03 5.41114008e-02] [ 4.17787097e-02 -6.08205409e-03 9.99108377e-01 9.24887987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.412557844 meters Centerline goodness : 0.119216 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:0.92 [[ 0.99914987 0.0081833 -0.04040499 0.16988456] [-0.00805065 0.99996166 0.00344466 0.05155708] [ 0.04043163 -0.00311644 0.99917745 0.9248058 ] [ 0. 0. 0. 1. ]] SLAMing on 103.442557844 meters Centerline goodness : 0.148415 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:0.92 [[ 0.99914456 0.00839045 -0.0404937 0.17052839] [-0.00824183 0.99995868 0.0038357 0.04993328] [ 0.04052421 -0.00349868 0.99917243 0.92426434] [ 0. 0. 0. 1. ]] SLAMing on 103.47255784400001 meters Centerline goodness : 0.138209 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:0.92 [[ 0.99913249 0.00852728 -0.04076219 0.1717796 ] [-0.00837086 0.99995694 0.00400659 0.04943346] [ 0.0407946 -0.0036619 0.99916084 0.92353588] [ 0. 0. 0. 1. ]] SLAMing on 103.50255784400001 meters Centerline goodness : 0.135163 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99187728e-01 2.32437274e-04 -4.02967747e-02 1.53566544e-01] [-4.98036467e-05 9.99989724e-01 4.53315914e-03 5.70669441e-02] [ 4.02974142e-02 -4.52747006e-03 9.99177472e-01 9.21719135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.532557844 meters Centerline goodness : 0.159978 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99187999e-01 1.79535692e-04 -4.02903272e-02 1.53387651e-01] [-7.73723530e-06 9.99990909e-01 4.26412788e-03 5.83757517e-02] [ 4.02907264e-02 -4.26035367e-03 9.99178916e-01 9.21939829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562557844 meters SLAMing on 103.592557844 meters Centerline goodness : 0.142296 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99200596e-01 9.51695727e-04 -3.99657719e-02 1.52409258e-01] [-7.74207242e-04 9.99989771e-01 4.45625460e-03 6.05591055e-02] [ 3.99696041e-02 -4.42175046e-03 9.99191112e-01 9.21798517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.622557844 meters Centerline goodness : 0.142296 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99200596e-01 9.51695727e-04 -3.99657719e-02 1.52409258e-01] [-7.74207242e-04 9.99989771e-01 4.45625460e-03 6.05591055e-02] [ 3.99696041e-02 -4.42175046e-03 9.99191112e-01 9.21798517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.652557844 meters Centerline goodness : 0.123899 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99207537e-01 9.03703312e-04 -3.97929707e-02 1.52007572e-01] [-7.30911590e-04 9.99990243e-01 4.35660172e-03 6.09873452e-02] [ 3.97965195e-02 -4.32406413e-03 9.99198449e-01 9.21716937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.682557844 meters Centerline goodness : 0.157475 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:0.92 [[ 9.99268318e-01 7.17242420e-03 -3.75684140e-02 1.73896284e-01] [-7.14579945e-03 9.99974113e-01 8.42929772e-04 6.14209837e-02] [ 3.75734873e-02 -5.73856663e-04 9.99293702e-01 9.21124994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.712557844 meters Centerline goodness : 0.131455 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:0.92 [[ 9.99393064e-01 2.67548662e-03 -3.47324833e-02 1.31929576e-01] [-2.69707521e-03 9.99996198e-01 -5.74730248e-04 5.73727272e-02] [ 3.47308135e-02 6.68057543e-04 9.99396480e-01 9.18677173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.742557844 meters Centerline goodness : 0.148747 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99409883e-01 -4.72933921e-03 -3.40223471e-02 1.51126372e-01] [ 4.76395236e-03 9.99988214e-01 9.36372656e-04 6.08746902e-02] [ 3.40175177e-02 -1.09790093e-03 9.99420634e-01 9.20955880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.772557844 meters Centerline goodness : 0.137876 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 0.99940767 -0.00461314 -0.03410332 0.15116323] [ 0.0046629 0.99998818 0.00137973 0.05875118] [ 0.03409655 -0.00153793 0.99941736 0.92128452] [ 0. 0. 0. 1. ]] SLAMing on 103.802557844 meters Centerline goodness : 0.163419 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 0.9994005 -0.00457891 -0.03431717 0.15167579] [ 0.00464334 0.9999876 0.00179822 0.05630547] [ 0.03430851 -0.00195649 0.99940937 0.92143995] [ 0. 0. 0. 1. ]] SLAMing on 103.83255784400001 meters Centerline goodness : 0.114528 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:0.92 [[ 0.99939111 -0.00458405 -0.03458896 0.15240995] [ 0.00466376 0.99998665 0.00222426 0.05340924] [ 0.03457831 -0.00238422 0.99939915 0.92145624] [ 0. 0. 0. 1. ]] SLAMing on 103.86255784400001 meters Centerline goodness : 0.055851 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:0.92 [[ 0.99939703 -0.00444278 -0.03443613 0.15218312] [ 0.00455133 0.99998492 0.00307428 0.04830703] [ 0.03442195 -0.00322916 0.99940217 0.92142369] [ 0. 0. 0. 1. ]] SLAMing on 103.89255784400001 meters Centerline goodness : 0.091652 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:0.92 [[ 0.99941662 0.00337111 -0.03398608 0.13121667] [-0.00327578 0.99999054 0.00286024 0.04069715] [ 0.0339954 -0.00274724 0.99941821 0.92005758] [ 0. 0. 0. 1. ]] SLAMing on 103.922557844 meters Centerline goodness : 0.141511 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.92 [[ 0.99948264 0.00438103 -0.0318632 0.1734139 ] [-0.00428734 0.99998628 0.00300817 0.04149096] [ 0.03187594 -0.00287 0.99948771 0.92099658] [ 0. 0. 0. 1. ]] SLAMing on 103.952557844 meters Centerline goodness : 0.120697 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.92 [[ 0.99947567 0.00448107 -0.03206716 0.17388751] [-0.00438189 0.9999854 0.0031626 0.04065807] [ 0.03208087 -0.00302042 0.99948071 0.92118692] [ 0. 0. 0. 1. ]] SLAMing on 103.982557844 meters Centerline goodness : 0.116235 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:0.92 [[ 0.99946113 0.00466271 -0.03249166 0.17520867] [-0.00455259 0.99998364 0.00346225 0.03923243] [ 0.03250727 -0.00331247 0.99946601 0.92095246] [ 0. 0. 0. 1. ]] SLAMing on 104.012557844 meters Centerline goodness : 0.131437 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.92 [[ 0.99948164 -0.00287309 -0.03206553 0.19575338] [ 0.00303574 0.99998277 0.00502483 0.04268055] [ 0.03205054 -0.00511957 0.99947314 0.92177029] [ 0. 0. 0. 1. ]] SLAMing on 104.042557844 meters Centerline goodness : 0.155208 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.92 [[ 0.99948821 -0.0027007 -0.03187518 0.19519165] [ 0.00287424 0.99998129 0.00539979 0.04100921] [ 0.03186 -0.00548865 0.99947727 0.92191737] [ 0. 0. 0. 1. ]] SLAMing on 104.072557844 meters Centerline goodness : 0.144780 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:0.92 [[ 0.99949287 -0.00255234 -0.03174089 0.19486014] [ 0.00273784 0.99997942 0.00580197 0.03896428] [ 0.03172543 -0.00588593 0.99947929 0.92192764] [ 0. 0. 0. 1. ]] SLAMing on 104.102557844 meters Centerline goodness : 0.137918 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.92 [[ 0.99948098 -0.00233562 -0.03212952 0.19609179] [ 0.00254628 0.99997552 0.00651717 0.03507241] [ 0.03211351 -0.0065956 0.99946247 0.9216348 ] [ 0. 0. 0. 1. ]] SLAMing on 104.132557844 meters Centerline goodness : 0.150599 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.92 [[ 0.99947181 -0.00223338 -0.03242086 0.19714309] [ 0.00245377 0.99997414 0.00675938 0.03395317] [ 0.03240492 -0.00683537 0.99945145 0.92107975] [ 0. 0. 0. 1. ]] SLAMing on 104.162557844 meters Centerline goodness : 0.134872 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.92 [[ 0.99946245 -0.00212187 -0.03271552 0.19814932] [ 0.00235219 0.99997271 0.00700306 0.03283713] [ 0.03269977 -0.00707625 0.99944017 0.92070246] [ 0. 0. 0. 1. ]] SLAMing on 104.192557844 meters Centerline goodness : 0.151788 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.92 [[ 0.99945733 -0.00203377 -0.03287712 0.1987208 ] [ 0.00227389 0.999971 0.00726796 0.03138124] [ 0.03286138 -0.00733877 0.99943298 0.92048475] [ 0. 0. 0. 1. ]] SLAMing on 104.22255784400001 meters Centerline goodness : 0.165460 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.92 [[ 0.99945739 -0.00191833 -0.03288232 0.19847165] [ 0.0021691 0.99996883 0.00759221 0.0295592 ] [ 0.03286673 -0.00765941 0.99943039 0.92099136] [ 0. 0. 0. 1. ]] SLAMing on 104.25255784400001 meters Centerline goodness : 0.075685 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.92 [[ 0.99953516 0.00527238 -0.03002766 0.21800433] [-0.00513003 0.99997525 0.00481566 0.02584295] [ 0.0300523 -0.00465938 0.99953747 0.92177568] [ 0. 0. 0. 1. ]] SLAMing on 104.282557844 meters Centerline goodness : 0.159019 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.92 [[ 0.99945614 0.00471025 -0.03263801 0.17326214] [-0.00452595 0.99997341 0.00571832 0.02152285] [ 0.03266408 -0.0055675 0.99945088 0.9224308 ] [ 0. 0. 0. 1. ]] SLAMing on 104.312557844 meters Centerline goodness : 0.142130 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:0.92 [[ 0.99934207 0.01371999 -0.0335735 0.19307089] [-0.01352305 0.99989004 0.00608585 0.01421326] [ 0.0336533 -0.00562783 0.99941772 0.92317864] [ 0. 0. 0. 1. ]] SLAMing on 104.342557844 meters Centerline goodness : 0.160161 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.92 [[ 0.99923924 0.01278202 -0.03684499 0.15091017] [-0.01255309 0.99990048 0.00643806 0.01041396] [ 0.03692361 -0.00597064 0.99930025 0.92299985] [ 0. 0. 0. 1. ]] SLAMing on 104.372557844 meters Centerline goodness : 0.155547 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:0.92 [[ 0.99924552 0.01334228 -0.03647417 0.19225893] [-0.01313912 0.99989683 0.00580408 0.0121399 ] [ 0.03654785 -0.00532046 0.99931774 0.92478056] [ 0. 0. 0. 1. ]] SLAMing on 104.402557844 meters Centerline goodness : 0.113303 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.92 [[ 0.9993764 0.00462496 -0.03500602 0.17215268] [-0.00442539 0.99997352 0.00577647 0.0184453 ] [ 0.03503181 -0.00561795 0.99937041 0.92418119] [ 0. 0. 0. 1. ]] SLAMing on 104.432557844 meters Centerline goodness : 0.156901 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.92 [[ 0.9993834 0.00457109 -0.03481271 0.17114438] [-0.00437361 0.99997392 0.0057467 0.01838885] [ 0.03483807 -0.0055909 0.99937733 0.92495278] [ 0. 0. 0. 1. ]] SLAMing on 104.462557844 meters Centerline goodness : 0.155330 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.93 [[ 0.99938625 0.00460235 -0.03472665 0.17075162] [-0.00440241 0.9999733 0.00583199 0.01798405] [ 0.03475257 -0.00567553 0.99937983 0.92522283] [ 0. 0. 0. 1. ]] SLAMing on 104.492557844 meters Centerline goodness : 0.124337 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.92 [[ 0.99936767 0.00462632 -0.0352542 0.17240204] [-0.0044117 0.99997128 0.00616316 0.01569728] [ 0.0352817 -0.00600374 0.99935937 0.92483417] [ 0. 0. 0. 1. ]] SLAMing on 104.522557844 meters Centerline goodness : 0.113186 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.92 [[ 0.99927412 0.00276465 -0.03799458 0.12719056] [-0.00252009 0.99997581 0.00648314 0.0100854 ] [ 0.03801159 -0.00638268 0.99925691 0.92485637] [ 0. 0. 0. 1. ]] SLAMing on 104.552557844 meters Centerline goodness : 0.152271 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.92 [[ 0.99929964 0.01042856 -0.03593697 0.14806834] [-0.01028068 0.99993792 0.00429727 0.00786089] [ 0.03597956 -0.0039248 0.99934482 0.92496078] [ 0. 0. 0. 1. ]] SLAMing on 104.58255784400001 meters Centerline goodness : 0.173920 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.92 [[ 0.9993106 0.01048604 -0.03561408 0.14713375] [-0.01032708 0.99993589 0.0046443 0.00656587] [ 0.0356605 -0.00427331 0.99935483 0.92495772] [ 0. 0. 0. 1. ]] SLAMing on 104.61255784400001 meters Centerline goodness : 0.155287 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:0.92 [[ 0.99932032 0.01076599 -0.03525608 0.14660967] [-0.010578 0.99992885 0.0055144 0.00364853] [ 0.03531294 -0.00513772 0.9993631 0.92401212] [ 0. 0. 0. 1. ]] SLAMing on 104.64255784400001 meters Centerline goodness : 0.122624 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.92 [[ 9.99353087e-01 1.06954953e-03 -3.59480631e-02 1.26613219e-01] [-8.42585492e-04 9.99979622e-01 6.32822187e-03 7.11077112e-03] [ 3.59540989e-02 -6.29383875e-03 9.99333623e-01 9.22192237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.672557844 meters Centerline goodness : 0.133338 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.92 [[ 9.99346501e-01 1.10502072e-03 -3.61296306e-02 1.27237875e-01] [-8.70629340e-04 9.99978479e-01 6.50260064e-03 6.11128926e-03] [ 3.61360385e-02 -6.46689568e-03 9.99325956e-01 9.21929080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702557844 meters Centerline goodness : 0.076161 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.92 [[ 0.99935559 0.00820085 -0.03494505 0.1498471 ] [-0.00807588 0.99996049 0.00371582 0.00510078] [ 0.03497414 -0.00343122 0.99938233 0.92131325] [ 0. 0. 0. 1. ]] SLAMing on 104.732557844 meters Centerline goodness : 0.145877 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:0.92 [[ 0.99935448 0.00826762 -0.03496106 0.14983066] [-0.00813469 0.99995914 0.00394271 0.00406816] [ 0.03499223 -0.00365577 0.9993809 0.92137132] [ 0. 0. 0. 1. ]] SLAMing on 104.762557844 meters Centerline goodness : 0.158963 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:0.92 [[ 9.99394216e-01 4.36889232e-03 -3.45270140e-02 1.48981944e-01] [-4.36666293e-03 9.99990456e-01 1.39975905e-04 4.13176166e-03] [ 3.45272960e-02 1.08767223e-05 9.99403755e-01 9.20931567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.792557844 meters Centerline goodness : 0.110064 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.92 [[ 0.99941752 -0.00282551 -0.03400926 0.1680505 ] [ 0.00287318 0.99999496 0.00135308 0.00788664] [ 0.03400527 -0.00145001 0.9994206 0.92276872] [ 0. 0. 0. 1. ]] SLAMing on 104.822557844 meters Centerline goodness : 0.133175 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.92 [[ 0.99943648 -0.00295671 -0.03343623 0.16633628] [ 0.00301004 0.99999428 0.0015448 0.00709226] [ 0.03343148 -0.00164457 0.99943966 0.92290937] [ 0. 0. 0. 1. ]] SLAMing on 104.852557844 meters Centerline goodness : 0.167155 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.92 [[ 9.99496190e-01 4.53921339e-03 -3.14127724e-02 1.46942814e-01] [-4.53847166e-03 9.99989697e-01 9.49131821e-05 -4.96249497e-04] [ 3.14128795e-02 4.77006134e-05 9.99506493e-01 9.20850201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.882557844 meters Centerline goodness : 0.129492 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.92 [[ 9.99495001e-01 4.51734177e-03 -3.14537163e-02 1.47177019e-01] [-4.51409580e-03 9.99989796e-01 1.74208057e-04 -1.24046720e-03] [ 3.14541824e-02 -3.21349931e-05 9.99505194e-01 9.20634361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.912557844 meters Centerline goodness : 0.155697 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.92 [[ 9.99490015e-01 4.57450065e-03 -3.16035432e-02 1.47600204e-01] [-4.56987118e-03 9.99989534e-01 2.18714605e-04 -1.31338922e-03] [ 3.16042130e-02 -7.41789427e-05 9.99500459e-01 9.20573332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.942557844 meters Centerline goodness : 0.159758 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.92 [[ 9.99488927e-01 4.58683004e-03 -3.16361621e-02 1.47610076e-01] [-4.58188784e-03 9.99989477e-01 2.28713221e-04 -1.23127551e-03] [ 3.16368783e-02 -8.36429856e-05 9.99499425e-01 9.20709671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97255784400001 meters Centerline goodness : 0.106096 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.92 [[ 9.99486941e-01 4.62772393e-03 -3.16928722e-02 1.47567995e-01] [-4.61928977e-03 9.99989273e-01 3.39334416e-04 -1.71869177e-03] [ 3.16941026e-02 -1.92761757e-04 9.99497597e-01 9.21027947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00255784400001 meters Centerline goodness : 0.158970 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.92 [[ 9.99485770e-01 4.77032200e-03 -3.17086557e-02 1.47105091e-01] [-4.74233687e-03 9.99988296e-01 9.57718016e-04 -5.17490359e-03] [ 3.17128532e-02 -8.06852402e-04 9.99496695e-01 9.21903930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03255784400001 meters Centerline goodness : 0.123335 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.92 [[ 0.99948344 0.00491046 -0.03176053 0.14709197] [-0.00486973 0.99998722 0.00135954 -0.00719562] [ 0.0317668 -0.00120417 0.99949458 0.92217246] [ 0. 0. 0. 1. ]] SLAMing on 105.062557844 meters Centerline goodness : 0.133033 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.92 [[ 0.99947705 0.00497478 -0.03195108 0.14752428] [-0.0049231 0.99998644 0.00169587 -0.00917991] [ 0.03195909 -0.00153768 0.999488 0.92230263] [ 0. 0. 0. 1. ]] SLAMing on 105.092557844 meters Centerline goodness : 0.139842 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.92 [[ 0.99950008 -0.00301948 -0.03147173 0.16907285] [ 0.00308471 0.99999319 0.00202433 -0.00767318] [ 0.0314654 -0.0021204 0.99950259 0.92287422] [ 0. 0. 0. 1. ]] SLAMing on 105.122557844 meters Centerline goodness : 0.110604 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.92 [[ 0.9995013 -0.00297698 -0.03143711 0.16879983] [ 0.00304427 0.99999318 0.00209268 -0.00802442] [ 0.03143066 -0.00218734 0.99950354 0.92320803] [ 0. 0. 0. 1. ]] SLAMing on 105.152557844 meters Centerline goodness : 0.114932 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.92 [[ 0.99947707 0.0063747 -0.03170089 0.18788061] [-0.00630606 0.99997755 0.00226475 -0.01298018] [ 0.03171462 -0.00206366 0.99949483 0.92434748] [ 0. 0. 0. 1. ]] SLAMing on 105.182557844 meters Centerline goodness : 0.146188 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.92 [[ 0.99947379 0.00641718 -0.03179567 0.18819268] [-0.0063484 0.99997729 0.00226376 -0.01276809] [ 0.03180948 -0.00206072 0.99949183 0.92425728] [ 0. 0. 0. 1. ]] SLAMing on 105.212557844 meters Centerline goodness : 0.129358 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.92 [[ 0.99943134 -0.00263331 -0.03361653 0.16938276] [ 0.00275883 0.99998939 0.00368802 -0.00977975] [ 0.03360647 -0.00377867 0.999428 0.9228167 ] [ 0. 0. 0. 1. ]] SLAMing on 105.242557844 meters Centerline goodness : 0.157381 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.92 [[ 0.99939645 -0.00204583 -0.0346778 0.17278197] [ 0.00219404 0.99998862 0.00423624 -0.0115993 ] [ 0.03466874 -0.00430977 0.99938957 0.92197468] [ 0. 0. 0. 1. ]] SLAMing on 105.272557844 meters Centerline goodness : 0.055521 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.92 [[ 0.99939651 -0.00191899 -0.03468326 0.17273061] [ 0.00207689 0.99998764 0.00451724 -0.01292922] [ 0.03467416 -0.00458655 0.99938815 0.92207498] [ 0. 0. 0. 1. ]] SLAMing on 105.302557844 meters Centerline goodness : 0.169314 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.92 [[ 0.99940165 -0.0017574 -0.03454362 0.17224343] [ 0.00192652 0.99998632 0.00486312 -0.01439166] [ 0.0345346 -0.00492675 0.99939136 0.92230697] [ 0. 0. 0. 1. ]] SLAMing on 105.33255784400001 meters Centerline goodness : 0.163148 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.92 [[ 0.99942811 0.00727144 -0.03302403 0.19113074] [-0.00715139 0.99996739 0.00375203 -0.01897336] [ 0.03305024 -0.00351372 0.99944752 0.92391327] [ 0. 0. 0. 1. ]] SLAMing on 105.36255784400001 meters Centerline goodness : 0.070711 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.92 [[ 0.99944761 0.00433024 -0.03295024 0.19163395] [-0.00429314 0.99999007 0.00119665 -0.02250001] [ 0.03295509 -0.00105453 0.99945628 0.92293922] [ 0. 0. 0. 1. ]] SLAMing on 105.39255784400001 meters Centerline goodness : 0.110071 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.92 [[ 0.99944172 0.0044319 -0.03311497 0.19229329] [-0.00438998 0.99998947 0.00133824 -0.02299667] [ 0.03312055 -0.00119212 0.99945065 0.92259813] [ 0. 0. 0. 1. ]] SLAMing on 105.422557844 meters Centerline goodness : 0.085545 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.92 [[ 0.99943997 0.00457818 -0.0331478 0.19261127] [-0.00452976 0.99998856 0.00153566 -0.02340988] [ 0.03315445 -0.00138465 0.99944928 0.92225076] [ 0. 0. 0. 1. ]] SLAMing on 105.452557844 meters Centerline goodness : 0.161020 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.92 [[ 0.99943697 0.00477159 -0.03321112 0.19309732] [-0.00471755 0.99998742 0.00170547 -0.02360425] [ 0.03321884 -0.00154783 0.9994469 0.92179299] [ 0. 0. 0. 1. ]] SLAMing on 105.482557844 meters Centerline goodness : 0.161776 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:0.92 [[ 0.99941502 0.00510232 -0.03381689 0.19500029] [-0.00505107 0.99998596 0.00160066 -0.02297517] [ 0.03382458 -0.00142891 0.99942676 0.92166161] [ 0. 0. 0. 1. ]] SLAMing on 105.512557844 meters Centerline goodness : 0.161776 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:0.92 [[ 0.99941502 0.00510232 -0.03381689 0.19500029] [-0.00505107 0.99998596 0.00160066 -0.02297517] [ 0.03382458 -0.00142891 0.99942676 0.92166161] [ 0. 0. 0. 1. ]] SLAMing on 105.542557844 meters Centerline goodness : 0.178065 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:0.92 [[ 0.99939747 0.00522571 -0.03431308 0.19648926] [-0.0051772 0.99998547 0.00150253 -0.02263971] [ 0.03432043 -0.00132397 0.99941 0.92151775] [ 0. 0. 0. 1. ]] SLAMing on 105.572557844 meters Centerline goodness : 0.084287 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:0.92 [[ 0.99937891 0.00531588 -0.03483571 0.19820991] [-0.0052709 0.99998515 0.00138288 -0.0221804 ] [ 0.03484255 -0.00119841 0.9993921 0.92109172] [ 0. 0. 0. 1. ]] SLAMing on 105.602557844 meters Centerline goodness : 0.164840 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:0.92 [[ 9.99334542e-01 4.70744251e-03 -3.61706022e-02 1.60373869e-01] [-4.69042770e-03 9.99988846e-01 5.55246153e-04 -2.32987355e-02] [ 3.61728125e-02 -3.85221066e-04 9.99345475e-01 9.19744908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.632557844 meters Centerline goodness : 0.166856 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:0.92 [[ 9.99350444e-01 4.59925285e-03 -3.57426422e-02 1.59222095e-01] [-4.57860054e-03 9.99989301e-01 6.59636666e-04 -2.36872014e-02] [ 3.57452936e-02 -4.95556914e-04 9.99360810e-01 9.19648186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.662557844 meters Centerline goodness : 0.161117 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.92 [[ 9.99303742e-01 1.35969684e-02 -3.47441225e-02 1.76875246e-01] [-1.35926518e-02 9.99907551e-01 3.60451373e-04 -2.92128699e-02] [ 3.47458115e-02 1.12064355e-04 9.99396176e-01 9.20511720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.692557844 meters Centerline goodness : 0.158153 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.92 [[ 9.99324175e-01 1.34161559e-02 -3.42228093e-02 1.75303945e-01] [-1.34139585e-02 9.99909986e-01 2.93818157e-04 -2.89105814e-02] [ 3.42236707e-02 1.65443756e-04 9.99414185e-01 9.20705729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72255784400001 meters Centerline goodness : 0.160627 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:0.92 [[ 9.99357637e-01 1.30221014e-02 -3.33876847e-02 1.72490535e-01] [-1.30298569e-02 9.99915108e-01 -1.47083389e-05 -2.80473498e-02] [ 3.33846588e-02 4.49735645e-04 9.99442476e-01 9.21591715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75255784400001 meters Centerline goodness : 0.166883 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:0.92 [[ 9.99359416e-01 1.28716162e-02 -3.33928000e-02 1.72522079e-01] [-1.28882566e-02 9.99916903e-01 -2.83111966e-04 -2.71440393e-02] [ 3.33863811e-02 7.13305583e-04 9.99442265e-01 9.21557713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78255784400001 meters Centerline goodness : 0.118724 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99401251e-01 3.34155017e-03 -3.44379522e-02 1.54110871e-01] [-3.34879158e-03 9.99994381e-01 -1.52596014e-04 -2.03435843e-02] [ 3.44372488e-02 2.67830171e-04 9.99406826e-01 9.20348021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.812557844 meters Centerline goodness : 0.082843 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:0.92 [[ 9.99381279e-01 4.67704869e-03 -3.48595056e-02 1.96520726e-01] [-4.68408399e-03 9.99989022e-01 -1.20153789e-04 -1.55523192e-02] [ 3.48585609e-02 2.83364299e-04 9.99392216e-01 9.20717251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.842557844 meters Centerline goodness : 0.157493 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.92 [[ 9.99374736e-01 4.63387364e-03 -3.50523114e-02 1.97370540e-01] [-4.64863151e-03 9.99989137e-01 -3.39537798e-04 -1.42886671e-02] [ 3.50503573e-02 5.02270776e-04 9.99385421e-01 9.20069251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.872557844 meters Centerline goodness : 0.134725 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.92 [[ 9.99388203e-01 4.50450216e-03 -3.46832763e-02 1.96142883e-01] [-4.53559400e-03 9.99989380e-01 -8.17824124e-04 -1.18701600e-02] [ 3.46792240e-02 9.74633041e-04 9.99398020e-01 9.20452151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.902557844 meters Centerline goodness : 0.159590 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.92 [[ 0.99939569 0.0043365 -0.03448842 0.19540588] [-0.00437639 0.99998984 -0.0010812 -0.01089864] [ 0.03448338 0.00123148 0.99940451 0.92075873] [ 0. 0. 0. 1. ]] SLAMing on 105.932557844 meters Centerline goodness : 0.127074 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.92 [[ 0.99939835 0.00418225 -0.03443027 0.19502036] [-0.00422814 0.99999027 -0.00126002 -0.01040188] [ 0.03442467 0.00140484 0.99940631 0.92105033] [ 0. 0. 0. 1. ]] SLAMing on 105.962557844 meters Centerline goodness : 0.158950 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.92 [[ 0.99930694 0.00233083 -0.03715103 0.15002232] [-0.00237589 0.99999649 -0.00116876 -0.01398111] [ 0.03714817 0.00125621 0.99930898 0.92150115] [ 0. 0. 0. 1. ]] SLAMing on 105.992557844 meters Centerline goodness : 0.156953 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.92 [[ 0.99929755 0.00211315 -0.03741577 0.1507554 ] [-0.00216196 0.99999686 -0.00126415 -0.0140537 ] [ 0.03741298 0.00134416 0.99929899 0.92143618] [ 0. 0. 0. 1. ]] SLAMing on 106.022557844 meters Centerline goodness : 0.109894 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.92 [[ 0.99929967 0.00215028 -0.03735691 0.15031803] [-0.00219232 0.99999701 -0.00108436 -0.01494212] [ 0.03735447 0.0011655 0.9993014 0.92191354] [ 0. 0. 0. 1. ]] SLAMing on 106.052557844 meters Centerline goodness : 0.161373 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99298601e-01 2.16097938e-03 -3.73849636e-02 1.50140603e-01] [-2.19759754e-03 9.99997145e-01 -9.38423665e-04 -1.57503456e-02] [ 3.73828290e-02 1.01992256e-03 9.99300497e-01 9.22343152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08255784400001 meters Centerline goodness : 0.111208 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99292034e-01 2.18731440e-03 -3.75585675e-02 1.50528286e-01] [-2.21564444e-03 9.99997291e-01 -7.12683246e-04 -1.70349511e-02] [ 3.75569069e-02 7.95395122e-04 9.99294174e-01 9.22440776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11255784400001 meters Centerline goodness : 0.162210 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99266977e-01 2.18369247e-03 -3.82196210e-02 1.52520599e-01] [-2.19871586e-03 9.99997521e-01 -3.51052470e-04 -1.92246926e-02] [ 3.82187597e-02 4.34829227e-04 9.99269302e-01 9.21916845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14255784400001 meters Centerline goodness : 0.144511 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99253823e-01 2.43382669e-03 -3.85470368e-02 1.53558571e-01] [-2.43576075e-03 9.99997034e-01 -3.21097111e-06 -2.03807679e-02] [ 3.85469146e-02 9.70999345e-05 9.99256787e-01 9.21622100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.172557844 meters Centerline goodness : 0.157059 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99253027e-01 2.50936039e-03 -3.85628230e-02 1.53552978e-01] [-2.50639545e-03 9.99996851e-01 1.25230711e-04 -2.08993710e-02] [ 3.85630158e-02 -2.84834826e-05 9.99256170e-01 9.21716064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202557844 meters Centerline goodness : 0.116652 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99291451e-01 2.91323259e-03 -3.75247753e-02 1.50313433e-01] [-2.89813646e-03 9.99995696e-01 4.56686843e-04 -2.16260923e-02] [ 3.75259442e-02 -3.47611338e-04 9.99295593e-01 9.22823414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.232557844 meters Centerline goodness : 0.167070 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99306825e-01 2.99523809e-03 -3.71065706e-02 1.49193341e-01] [-2.98293057e-03 9.99995476e-01 3.87038426e-04 -2.09586603e-02] [ 3.71075620e-02 -2.76083817e-04 9.99311239e-01 9.22931196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.262557844 meters Centerline goodness : 0.123452 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99307288e-01 2.97491485e-03 -3.70957409e-02 1.49522241e-01] [-2.97341330e-03 9.99995575e-01 9.56471465e-05 -1.93754420e-02] [ 3.70958613e-02 1.47200788e-05 9.99311712e-01 9.22298095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.292557844 meters Centerline goodness : 0.135433 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.92 [[ 9.99192086e-01 1.25551952e-02 -3.81777674e-02 1.71032902e-01] [-1.25561932e-02 9.99921145e-01 2.13639700e-04 -2.26033704e-02] [ 3.81774392e-02 2.65900325e-04 9.99270940e-01 9.22507096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.322557844 meters Centerline goodness : 0.157786 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.92 [[ 9.99156149e-01 1.28638595e-02 -3.90065542e-02 1.73726412e-01] [-1.28756778e-02 9.99917104e-01 -5.17749028e-05 -2.11216664e-02] [ 3.90026547e-02 5.53967038e-04 9.99238953e-01 9.21967322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.352557844 meters Centerline goodness : 0.158644 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.92 [[ 9.99106323e-01 1.30914348e-02 -4.01891813e-02 1.77002766e-01] [-1.31331284e-02 9.99913458e-01 -7.73584719e-04 -1.83041621e-02] [ 4.01755758e-02 1.30070306e-03 9.99191789e-01 9.22113728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.382557844 meters Centerline goodness : 0.197714 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:0.92 [[ 9.99173357e-01 3.70101612e-03 -4.04833859e-02 1.57663987e-01] [-3.72994907e-03 9.99992839e-01 -6.39178738e-04 -1.20804596e-02] [ 4.04807304e-02 7.89651333e-04 9.99180007e-01 9.21387653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.412557844 meters Centerline goodness : 0.140535 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:0.92 [[ 9.99176484e-01 3.62927885e-03 -4.04126567e-02 1.57198108e-01] [-3.66107761e-03 9.99993044e-01 -7.12871731e-04 -1.18191380e-02] [ 4.04097884e-02 8.60238542e-04 9.99182821e-01 9.21747267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.442557844 meters Centerline goodness : 0.137473 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.92 [[ 0.99926128 0.00171244 -0.03839229 0.18781887] [-0.00166751 0.99999789 0.00120234 -0.01232388] [ 0.03839427 -0.00113743 0.99926202 0.92216871] [ 0. 0. 0. 1. ]] SLAMing on 106.47255784400001 meters Centerline goodness : 0.163923 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.92 [[ 0.9992668 0.00178136 -0.0382451 0.18721841] [-0.00172466 0.99999736 0.00151542 -0.01377501] [ 0.0382477 -0.00144834 0.99926724 0.92252857] [ 0. 0. 0. 1. ]] SLAMing on 106.50255784400001 meters Centerline goodness : 0.109236 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.92 [[ 0.99927242 0.00168424 -0.03810232 0.18653311] [-0.00161574 0.99999702 0.00182877 -0.01585929] [ 0.03810528 -0.00176588 0.99927217 0.92318261] [ 0. 0. 0. 1. ]] SLAMing on 106.53255784400001 meters Centerline goodness : 0.158080 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.92 [[ 9.99325910e-01 -8.74608587e-03 -3.56543244e-02 2.07127013e-01] [ 8.77138857e-03 9.99961378e-01 5.53307186e-04 -1.70001377e-02] [ 3.56481081e-02 -8.65672141e-04 9.99364029e-01 9.23665994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562557844 meters Centerline goodness : 0.121050 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.92 [[ 0.99933674 -0.0087848 -0.03533983 0.20621029] [ 0.0088351 0.99996017 0.00126722 -0.01953502] [ 0.03532729 -0.00157861 0.99937455 0.92318487] [ 0. 0. 0. 1. ]] SLAMing on 106.592557844 meters Centerline goodness : 0.118535 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.92 [[ 0.99931445 -0.0086805 -0.03599 0.2077019 ] [ 0.00876867 0.99995893 0.00229278 -0.02351303] [ 0.03596862 -0.0026068 0.99934952 0.92258309] [ 0. 0. 0. 1. ]] SLAMing on 106.622557844 meters Centerline goodness : 0.112865 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:0.92 [[ 0.99929433 -0.00858731 -0.03656634 0.2093221 ] [ 0.00869421 0.99995838 0.00276565 -0.02547843] [ 0.03654107 -0.00308162 0.9993274 0.92208473] [ 0. 0. 0. 1. ]] SLAMing on 106.652557844 meters Centerline goodness : 0.145560 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:0.92 [[ 9.99260718e-01 8.22362778e-04 -3.84361835e-02 1.92339938e-01] [-7.46195245e-04 9.99997730e-01 1.99596596e-03 -3.38828088e-02] [ 3.84377376e-02 -1.96580948e-03 9.99259063e-01 9.21974243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.682557844 meters Centerline goodness : 0.115911 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:0.92 [[ 9.99259796e-01 9.73453455e-04 -3.84566359e-02 1.92246520e-01] [-8.82153888e-04 9.99996752e-01 2.39098865e-03 -3.56877355e-02] [ 3.84588385e-02 -2.35529416e-03 9.99257409e-01 9.22242820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.712557844 meters Centerline goodness : 0.142007 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:0.92 [[ 0.99927006 0.00131676 -0.03817858 0.19099127] [-0.00119989 0.99999452 0.00308403 -0.03852586] [ 0.03818243 -0.00303597 0.99926617 0.9232011 ] [ 0. 0. 0. 1. ]] SLAMing on 106.742557844 meters Centerline goodness : 0.076641 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:0.92 [[ 9.99294161e-01 8.67484362e-03 -3.65503469e-02 2.12538118e-01] [-8.67050499e-03 9.99962372e-01 2.77212221e-04 -4.10485536e-02] [ 3.65513764e-02 3.98934112e-05 9.99331774e-01 9.22933429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.772557844 meters Centerline goodness : 0.090338 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:0.92 [[ 9.99285054e-01 8.72953108e-03 -3.67855522e-02 2.13275829e-01] [-8.71619241e-03 9.99961877e-01 5.22963154e-04 -4.26308381e-02] [ 3.67887151e-02 -2.01959313e-04 9.99323046e-01 9.22790421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.802557844 meters Centerline goodness : 0.129697 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:0.92 [[ 9.99276844e-01 1.99533077e-03 -3.79711437e-02 2.32453240e-01] [-1.95593303e-03 9.99997510e-01 1.07469011e-03 -3.91390877e-02] [ 3.79731935e-02 -9.99643932e-04 9.99278258e-01 9.24416628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83255784400001 meters Centerline goodness : 0.133413 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:0.92 [[ 0.99913068 0.00259078 -0.0416073 0.1898665 ] [-0.00243131 0.99998951 0.00388287 -0.04603484] [ 0.04161692 -0.00377833 0.9991265 0.9244133 ] [ 0. 0. 0. 1. ]] SLAMing on 106.86255784400001 meters Centerline goodness : 0.117426 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.93 [[ 0.99915746 0.00326074 -0.04091138 0.22976162] [-0.00308924 0.99998618 0.00425445 -0.04652455] [ 0.04092469 -0.00412448 0.99915372 0.92555081] [ 0. 0. 0. 1. ]] SLAMing on 106.89255784400001 meters Centerline goodness : 0.117324 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.93 [[ 0.99915418 0.00344472 -0.0409764 0.22957154] [-0.00325675 0.99998387 0.00465315 -0.04838431] [ 0.04099177 -0.00451576 0.99914928 0.92623165] [ 0. 0. 0. 1. ]] SLAMing on 106.922557844 meters Centerline goodness : 0.180825 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.93 [[ 0.99915587 0.00366521 -0.04091593 0.22910123] [-0.00345557 0.99998054 0.00519334 -0.05100048] [ 0.04093417 -0.00504757 0.9991491 0.92685689] [ 0. 0. 0. 1. ]] SLAMing on 106.952557844 meters Centerline goodness : 0.193315 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:0.93 [[ 0.99923748 0.0050898 -0.03871111 0.27125744] [-0.00491561 0.99997737 0.00459356 -0.05495797] [ 0.03873361 -0.00439977 0.99923989 0.92825041] [ 0. 0. 0. 1. ]] SLAMing on 106.982557844 meters Centerline goodness : 0.205730 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.93 [[ 0.99923647 0.00536935 -0.03869945 0.27114603] [-0.00516958 0.9999728 0.00526026 -0.0580143 ] [ 0.03872664 -0.00505619 0.99923705 0.92840601] [ 0. 0. 0. 1. ]] SLAMing on 107.012557844 meters Centerline goodness : 0.136443 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.93 [[ 0.99923476 0.00565021 -0.03870364 0.27103861] [-0.0054228 0.99996743 0.00597817 -0.06141406] [ 0.03873615 -0.00576371 0.99923285 0.92863243] [ 0. 0. 0. 1. ]] SLAMing on 107.042557844 meters Centerline goodness : 0.131036 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:0.93 [[ 0.99923035 0.0059339 -0.03877501 0.27097769] [-0.00567605 0.99996106 0.00675656 -0.06524494] [ 0.0388136 -0.00653127 0.99922512 0.92910948] [ 0. 0. 0. 1. ]] SLAMing on 107.072557844 meters Centerline goodness : 0.103612 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:0.93 [[ 0.9992701 0.00236521 -0.03812697 0.26956485] [-0.00223254 0.99999131 0.003522 -0.06750126] [ 0.03813497 -0.00343431 0.9992667 0.92882305] [ 0. 0. 0. 1. ]] SLAMing on 107.102557844 meters Centerline goodness : 0.130833 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:0.93 [[ 0.99925037 0.00293764 -0.03860129 0.27055633] [-0.00274982 0.99998413 0.00491779 -0.07432789] [ 0.03861512 -0.00480796 0.99924259 0.92928493] [ 0. 0. 0. 1. ]] SLAMing on 107.132557844 meters Centerline goodness : 0.374683 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.08, Z:0.93 [[ 0.99913268 0.00135761 -0.0416178 0.22780323] [-0.00109254 0.99997898 0.00639142 -0.08082751] [ 0.0416256 -0.0063404 0.99911316 0.92885585] [ 0. 0. 0. 1. ]] SLAMing on 107.162557844 meters Centerline goodness : 0.089387 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.93 [[ 0.99911649 0.00936766 -0.04096931 0.25038058] [-0.0092111 0.99994954 0.00400854 -0.08382993] [ 0.04100479 -0.00362762 0.99915236 0.92827763] [ 0. 0. 0. 1. ]] SLAMing on 107.192557844 meters Centerline goodness : 0.109876 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.93 [[ 0.99910522 0.00949611 -0.04121382 0.25137132] [-0.00932465 0.99994706 0.00435048 -0.08617731] [ 0.04125295 -0.00396228 0.99914088 0.92788965] [ 0. 0. 0. 1. ]] SLAMing on 107.22255784400001 meters Centerline goodness : 0.152620 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.93 [[ 0.99911005 0.0096061 -0.04107101 0.25116277] [-0.00942838 0.99994534 0.00451853 -0.08684987] [ 0.04111217 -0.00412728 0.99914601 0.92762328] [ 0. 0. 0. 1. ]] SLAMing on 107.25255784400001 meters Centerline goodness : 0.114717 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.93 [[ 0.99911703 0.00967685 -0.04088416 0.250854 ] [-0.009498 0.99994447 0.00456643 -0.08675655] [ 0.04092607 -0.00417408 0.99915346 0.92732877] [ 0. 0. 0. 1. ]] SLAMing on 107.28255784400001 meters Centerline goodness : 0.149725 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.93 [[ 0.99911942 0.00973331 -0.04081224 0.25082346] [-0.00955266 0.9999437 0.00461885 -0.08678632] [ 0.0408549 -0.00422492 0.99915616 0.92707153] [ 0. 0. 0. 1. ]] SLAMing on 107.312557844 meters Centerline goodness : 0.131708 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.93 [[ 9.99159056e-01 6.07004097e-03 -4.05504144e-02 2.50193028e-01] [-6.04088241e-03 9.99981400e-01 8.41562349e-04 -8.67460173e-02] [ 4.05547685e-02 -5.95894357e-04 9.99177139e-01 9.26809664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.342557844 meters Centerline goodness : 0.119204 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.93 [[ 9.99158144e-01 6.14209183e-03 -4.05620280e-02 2.49893773e-01] [-6.10348040e-03 9.99980795e-01 1.07567913e-03 -8.80076446e-02] [ 4.05678559e-02 -8.27204017e-04 9.99176443e-01 9.27359618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.372557844 meters Centerline goodness : 0.118581 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99176416e-01 -7.92746369e-04 -4.05692079e-02 2.68711799e-01] [ 8.70879393e-04 9.99997800e-01 1.90828291e-03 -8.38076319e-02] [ 4.05676059e-02 -1.94204216e-03 9.99174909e-01 9.29470206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.402557844 meters Centerline goodness : 0.181233 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99182682e-01 -8.00303859e-04 -4.04144417e-02 2.68245566e-01] [ 8.80800363e-04 9.99997664e-01 1.97400922e-03 -8.39266018e-02] [ 4.04127674e-02 -2.00799288e-03 9.99181053e-01 9.29455770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.432557844 meters Centerline goodness : 0.181233 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99182682e-01 -8.00303859e-04 -4.04144417e-02 2.68245566e-01] [ 8.80800363e-04 9.99997664e-01 1.97400922e-03 -8.39266018e-02] [ 4.04127674e-02 -2.00799288e-03 9.99181053e-01 9.29455770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.462557844 meters Centerline goodness : 0.136373 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99176477e-01 -6.89232224e-04 -4.05695996e-02 2.68546484e-01] [ 7.66821405e-04 9.99997907e-01 1.89696545e-03 -8.34440812e-02] [ 4.05682072e-02 -1.92651289e-03 9.99174914e-01 9.29728495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.492557844 meters Centerline goodness : 0.114013 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99166704e-01 -7.75915443e-04 -4.08080308e-02 2.69198027e-01] [ 8.47079129e-04 9.99998151e-01 1.72660262e-03 -8.28017956e-02] [ 4.08066157e-02 -1.75973149e-03 9.99165514e-01 9.29705528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.522557844 meters Centerline goodness : 0.113447 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99145225e-01 -6.55139125e-04 -4.13326721e-02 2.70828926e-01] [ 7.23168990e-04 9.99998408e-01 1.63097998e-03 -8.24371708e-02] [ 4.13315378e-02 -1.65947637e-03 9.99144109e-01 9.29374109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.552557844 meters Centerline goodness : 0.242447 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99126917e-01 -3.52918306e-04 -4.17765312e-02 2.72875420e-01] [ 4.38857578e-04 9.99997807e-01 2.04796531e-03 -8.30765201e-02] [ 4.17757168e-02 -2.06451121e-03 9.99124881e-01 9.27782115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58255784400001 meters Centerline goodness : 0.121635 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99142632e-01 -4.49124835e-04 -4.13980661e-02 2.71899887e-01] [ 5.40964630e-04 9.99997418e-01 2.20728062e-03 -8.35792598e-02] [ 4.13969679e-02 -2.22778306e-03 9.99140294e-01 9.27510666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61255784400001 meters Centerline goodness : 0.119956 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99171002e-01 -6.82796706e-04 -4.07043223e-02 2.69635605e-01] [ 7.79724468e-04 9.99996898e-01 2.36543651e-03 -8.44295479e-02] [ 4.07025809e-02 -2.39521372e-03 9.99168436e-01 9.27983414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64255784400001 meters Centerline goodness : 0.127087 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:0.93 [[ 0.99924996 0.00550454 -0.0383303 0.29043929] [-0.00556532 0.99998342 -0.00147905 -0.08571985] [ 0.03832152 0.00169126 0.99926403 0.92783351] [ 0. 0. 0. 1. ]] SLAMing on 107.672557844 meters Centerline goodness : 0.120690 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:0.93 [[ 0.99925009 0.00553162 -0.038323 0.28991754] [-0.00557706 0.99998387 -0.00107909 -0.08786549] [ 0.03831642 0.00129202 0.99926482 0.92869528] [ 0. 0. 0. 1. ]] SLAMing on 107.702557844 meters Centerline goodness : 0.157897 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.93 [[ 9.99306437e-01 -2.09889492e-03 -3.71784808e-02 3.10043659e-01] [ 2.10362391e-03 9.99997784e-01 8.80789203e-05 -8.73686299e-02] [ 3.71782135e-02 -1.66227373e-04 9.99308637e-01 9.30172255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.732557844 meters Centerline goodness : 0.118791 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.93 [[ 0.99934137 0.006309 -0.03573556 0.33072313] [-0.00638113 0.99997783 -0.00190475 -0.0904382 ] [ 0.03572275 0.00213153 0.99935947 0.92975999] [ 0. 0. 0. 1. ]] SLAMing on 107.762557844 meters Centerline goodness : 0.299124 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.93 [[ 0.9993363 0.00633185 -0.035873 0.33126905] [-0.00640178 0.99997782 -0.00183493 -0.09088092] [ 0.03586058 0.00206336 0.99935467 0.92945556] [ 0. 0. 0. 1. ]] SLAMing on 107.792557844 meters Centerline goodness : 0.360345 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.93 [[ 0.99932879 0.00622492 -0.0361001 0.33226055] [-0.00630375 0.99997799 -0.00207036 -0.08996795] [ 0.03608642 0.00229654 0.99934603 0.92884704] [ 0. 0. 0. 1. ]] SLAMing on 107.822557844 meters Centerline goodness : 0.105306 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.93 [[ 0.99932008 0.00623677 -0.03633853 0.33337469] [-0.00633562 0.99997654 -0.00260554 -0.08689709] [ 0.03632142 0.00283399 0.99933614 0.92790401] [ 0. 0. 0. 1. ]] SLAMing on 107.852557844 meters Centerline goodness : 0.120753 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.93 [[ 0.99932037 0.00613979 -0.03634705 0.33360805] [-0.00625117 0.99997611 -0.00295159 -0.08509086] [ 0.03632806 0.00317679 0.99933487 0.92753218] [ 0. 0. 0. 1. ]] SLAMing on 107.882557844 meters Centerline goodness : 0.259320 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.08, Z:0.93 [[ 0.9993227 0.00607936 -0.03629294 0.33352965] [-0.00620084 0.99997554 -0.00323546 -0.08350882] [ 0.03627238 0.00345832 0.99933596 0.92740599] [ 0. 0. 0. 1. ]] SLAMing on 107.912557844 meters Centerline goodness : 0.293122 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.08, Z:0.93 [[ 0.99933064 0.00598553 -0.03608929 0.33294934] [-0.00611675 0.99997507 -0.00352658 -0.08204966] [ 0.03606728 0.00374497 0.99934235 0.9275047 ] [ 0. 0. 0. 1. ]] SLAMing on 107.942557844 meters Centerline goodness : 0.124116 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.08, Z:0.93 [[ 0.99935807 0.0059347 -0.03533025 0.33046895] [-0.00607719 0.99997382 -0.00392707 -0.07983275] [ 0.03530601 0.00413926 0.99936798 0.92837781] [ 0. 0. 0. 1. ]] SLAMing on 107.97255784400001 meters Centerline goodness : 0.120082 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.08, Z:0.93 [[ 0.99936935 0.00581157 -0.03503025 0.32957983] [-0.00596706 0.9999728 -0.00433603 -0.07761347] [ 0.03500409 0.00454232 0.99937685 0.92855558] [ 0. 0. 0. 1. ]] SLAMing on 108.00255784400001 meters Centerline goodness : 0.122783 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.93 [[ 0.99938089 0.0057285 -0.03471349 0.32884568] [-0.00589681 0.99997134 -0.00474784 -0.07497875] [ 0.0346853 0.0049496 0.99938603 0.92836351] [ 0. 0. 0. 1. ]] SLAMing on 108.03255784400001 meters Centerline goodness : 0.361074 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.93 [[ 0.99938762 0.00552171 -0.03455285 0.32887468] [-0.00571145 0.99996914 -0.00539491 -0.07126645] [ 0.034522 0.00558895 0.99938831 0.92764249] [ 0. 0. 0. 1. ]] SLAMing on 108.062557844 meters Centerline goodness : 0.115951 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.93 [[ 0.9993826 0.00540675 -0.03471576 0.32915041] [-0.00560118 0.99996916 -0.0055058 -0.07110249] [ 0.03468492 0.00569685 0.99938206 0.92790553] [ 0. 0. 0. 1. ]] SLAMing on 108.092557844 meters Centerline goodness : 0.125182 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.93 [[ 0.99937932 0.00534691 -0.03481934 0.32908685] [-0.00553955 0.99996987 -0.00543847 -0.07185437] [ 0.03478921 0.00562797 0.99937883 0.92840673] [ 0. 0. 0. 1. ]] SLAMing on 108.122557844 meters Centerline goodness : 0.363157 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.93 [[ 0.99937977 0.00533413 -0.03480842 0.32881962] [-0.00552351 0.99997045 -0.00534654 -0.07234688] [ 0.03477887 0.00553548 0.9993797 0.92876407] [ 0. 0. 0. 1. ]] SLAMing on 108.152557844 meters Centerline goodness : 0.112038 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.93 [[ 0.99936916 0.00526211 -0.03512256 0.32991687] [-0.00545009 0.99997132 -0.00525876 -0.07274307] [ 0.03509388 0.00544687 0.99936918 0.92816152] [ 0. 0. 0. 1. ]] SLAMing on 108.182557844 meters Centerline goodness : 0.155473 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.07, Z:0.93 [[ 0.99937365 -0.00202006 -0.03533012 0.35031219] [ 0.0018565 0.99998741 -0.0046617 -0.06866423] [ 0.0353391 0.00459319 0.99936482 0.9295906 ] [ 0. 0. 0. 1. ]] SLAMing on 108.212557844 meters Centerline goodness : 0.219669 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.07, Z:0.93 [[ 0.99937236 -0.00194866 -0.03537066 0.35000229] [ 0.0017942 0.99998872 -0.00439814 -0.07004021] [ 0.03537883 0.00433192 0.99936458 0.93027491] [ 0. 0. 0. 1. ]] SLAMing on 108.242557844 meters SLAMing on 108.272557844 meters Centerline goodness : 0.186308 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:0.93 [[ 0.99948574 -0.00176195 -0.03201812 0.39007325] [ 0.00156263 0.99997925 -0.00624912 -0.0699167 ] [ 0.03202847 0.00619588 0.99946775 0.93224887] [ 0. 0. 0. 1. ]] SLAMing on 108.302557844 meters Centerline goodness : 0.219978 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:0.93 [[ 0.99947736 -0.00172363 -0.03228051 0.39109576] [ 0.00152836 0.99998039 -0.00607279 -0.070923 ] [ 0.03229034 0.00602028 0.9994604 0.93169994] [ 0. 0. 0. 1. ]] SLAMing on 108.33255784400001 meters Centerline goodness : 0.266922 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.08, Z:0.93 [[ 0.9993571 -0.00367594 -0.03566344 0.34862566] [ 0.0034958 0.99998082 -0.0051122 -0.07577756] [ 0.03568155 0.00498424 0.99935078 0.93148803] [ 0. 0. 0. 1. ]] SLAMing on 108.36255784400001 meters Centerline goodness : 0.301172 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:0.93 [[ 0.99934808 0.00330136 -0.0359516 0.37209507] [-0.00360566 0.9999582 -0.00840268 -0.07932288] [ 0.03592236 0.00852683 0.99931821 0.93139545] [ 0. 0. 0. 1. ]] SLAMing on 108.39255784400001 meters Centerline goodness : 0.250428 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:0.93 [[ 0.99934707 0.00339893 -0.03597063 0.37194594] [-0.00369442 0.99995995 -0.0081517 -0.08051735] [ 0.03594148 0.00827927 0.9993196 0.93172932] [ 0. 0. 0. 1. ]] SLAMing on 108.422557844 meters Centerline goodness : 0.361701 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:0.93 [[ 0.99935509 0.00352389 -0.03573492 0.37107379] [-0.00380941 0.99996134 -0.00792497 -0.08138101] [ 0.03570562 0.00805598 0.99932988 0.93215432] [ 0. 0. 0. 1. ]] SLAMing on 108.452557844 meters Centerline goodness : 0.291017 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:0.93 [[ 0.99936056 0.00361163 -0.03557281 0.3704857 ] [-0.0038899 0.99996235 -0.00775654 -0.08206591] [ 0.03554345 0.00788996 0.99933699 0.93243918] [ 0. 0. 0. 1. ]] SLAMing on 108.482557844 meters Centerline goodness : 0.267979 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:0.93 [[ 0.99936566 -0.00347651 -0.03544287 0.39053329] [ 0.00322952 0.99997012 -0.00702344 -0.07862109] [ 0.03546623 0.00690452 0.99934702 0.93346948] [ 0. 0. 0. 1. ]] SLAMing on 108.512557844 meters Centerline goodness : 0.115811 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:0.93 [[ 0.99936414 -0.00339023 -0.03549408 0.39068622] [ 0.00315013 0.99997179 -0.00681839 -0.07955962] [ 0.03551619 0.00670225 0.99934663 0.9334048 ] [ 0. 0. 0. 1. ]] SLAMing on 108.542557844 meters Centerline goodness : 0.210510 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:0.93 [[ 0.9994038 0.00488268 -0.03417911 0.41181383] [-0.00519047 0.99994672 -0.0089223 -0.08204957] [ 0.03413373 0.00909439 0.9993759 0.93300994] [ 0. 0. 0. 1. ]] SLAMing on 108.572557844 meters Centerline goodness : 0.366505 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:0.93 [[ 0.99940032 0.0049796 -0.03426657 0.41189981] [-0.00527929 0.99994856 -0.00866105 -0.08341906] [ 0.03422168 0.00883676 0.9993752 0.93323861] [ 0. 0. 0. 1. ]] SLAMing on 108.602557844 meters Centerline goodness : 0.117892 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:0.93 [[ 0.99940221 0.00517829 -0.03418205 0.41135354] [-0.00546025 0.99995179 -0.00816058 -0.08583783] [ 0.03413815 0.00834234 0.99938231 0.93375624] [ 0. 0. 0. 1. ]] SLAMing on 108.632557844 meters Centerline goodness : 0.312412 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:0.94 [[ 0.99943572 -0.00173025 -0.0335448 0.43065946] [ 0.00149813 0.99997477 -0.00694346 -0.08218096] [ 0.03355596 0.00688928 0.9994131 0.93545891] [ 0. 0. 0. 1. ]] SLAMing on 108.662557844 meters SLAMing on 108.692557844 meters SLAMing on 108.72255784400001 meters Centerline goodness : 0.239179 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:0.94 [[ 0.9993862 -0.00945129 -0.03373274 0.45349701] [ 0.00924348 0.99993736 -0.00631122 -0.08161533] [ 0.03379027 0.00599554 0.99941096 0.9358347 ] [ 0. 0. 0. 1. ]] SLAMing on 108.75255784400001 meters Centerline goodness : 0.358329 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:0.94 [[ 9.99347690e-01 5.39721087e-04 -3.61096017e-02 4.38611935e-01] [-8.11160449e-04 9.99971524e-01 -7.50286878e-03 -8.73307528e-02] [ 3.61045239e-02 7.52726526e-03 9.99319670e-01 9.36028770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78255784400001 meters Centerline goodness : 0.120932 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:0.94 [[ 9.99340303e-01 4.64294755e-04 -3.63145046e-02 4.39293785e-01] [-7.45588897e-04 9.99969823e-01 -7.73289611e-03 -8.61698587e-02] [ 3.63098184e-02 7.75487043e-03 9.99310492e-01 9.35737460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.812557844 meters Centerline goodness : 0.121713 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:0.94 [[ 9.99345595e-01 3.79490917e-04 -3.61695793e-02 4.39177766e-01] [-6.71765562e-04 9.99967221e-01 -8.06886570e-03 -8.43339479e-02] [ 3.61653316e-02 8.08788287e-03 9.99313092e-01 9.35323149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.842557844 meters Centerline goodness : 0.231843 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:0.94 [[ 9.99361197e-01 3.86166419e-04 -3.57358250e-02 4.38130681e-01] [-6.86100556e-04 9.99964642e-01 -8.38121152e-03 -8.23159636e-02] [ 3.57313249e-02 8.40037594e-03 9.99326126e-01 9.35250832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.872557844 meters Centerline goodness : 0.366156 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:0.94 [[ 9.99405040e-01 5.41947343e-04 -3.44858350e-02 4.34698688e-01] [-8.49426514e-04 9.99960015e-01 -8.90207432e-03 -7.85641659e-02] [ 3.44796316e-02 8.92607112e-03 9.99365539e-01 9.35663933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.902557844 meters Centerline goodness : 0.119495 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:0.94 [[ 9.99414658e-01 4.43140014e-04 -3.42073904e-02 4.33927194e-01] [-7.63933151e-04 9.99955852e-01 -9.36538961e-03 -7.61369735e-02] [ 3.42017301e-02 9.38603981e-03 9.99370874e-01 9.35760250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.932557844 meters Centerline goodness : 0.265983 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.94 [[ 9.99417112e-01 2.89863013e-04 -3.41372649e-02 4.33821344e-01] [-6.27620199e-04 9.99950957e-01 -9.88379036e-03 -7.34640859e-02] [ 3.41327257e-02 9.89945445e-03 9.99368279e-01 9.35583512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.962557844 meters Centerline goodness : 0.228345 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.93 [[ 9.99416173e-01 7.74381760e-05 -3.41658671e-02 4.34307478e-01] [-4.34820688e-04 9.99945272e-01 -1.04529146e-02 -7.06489902e-02] [ 3.41631879e-02 1.04616679e-02 9.99361511e-01 9.34898451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.992557844 meters Centerline goodness : 0.154243 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.93 [[ 9.99415856e-01 -1.60449014e-05 -3.41752291e-02 4.34365734e-01] [-3.45366815e-04 9.99944083e-01 -1.05693242e-02 -7.03857260e-02] [ 3.41734877e-02 1.05749532e-02 9.99359967e-01 9.34823687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.022557844 meters Centerline goodness : 0.119361 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.94 [[ 9.99415549e-01 -4.58677088e-05 -3.41841864e-02 4.34145446e-01] [-3.16279334e-04 9.99943890e-01 -1.05885106e-02 -7.04056726e-02] [ 3.41827540e-02 1.05931339e-02 9.99359457e-01 9.35208267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.052557844 meters SLAMing on 109.08255784400001 meters Centerline goodness : 0.323244 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.07, Z:0.93 [[ 9.99403902e-01 -2.39894488e-04 -3.45222194e-02 4.35089973e-01] [-1.35665411e-04 9.99940845e-01 -1.08760342e-02 -6.89640991e-02] [ 3.45227864e-02 1.08742345e-02 9.99344749e-01 9.34919558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11255784400001 meters SLAMing on 109.14255784400001 meters Centerline goodness : 0.215103 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:0.94 [[ 0.99931125 -0.00714406 -0.03641407 0.45545197] [ 0.00674833 0.99991696 -0.01097884 -0.06344311] [ 0.03648948 0.01072554 0.99927648 0.93644057] [ 0. 0. 0. 1. ]] SLAMing on 109.172557844 meters Centerline goodness : 0.373116 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.94 [[ 0.99941666 0.00169693 -0.03410956 0.43361518] [-0.0020703 0.9999383 -0.01091375 -0.07056234] [ 0.03408894 0.010978 0.99935851 0.93645843] [ 0. 0. 0. 1. ]] SLAMing on 109.202557844 meters SLAMing on 109.232557844 meters SLAMing on 109.262557844 meters Centerline goodness : 0.103482 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.94 [[ 0.99942837 0.00193188 -0.03375207 0.43191024] [-0.00227862 0.99994499 -0.01023796 -0.07350233] [ 0.03373043 0.01030902 0.9993778 0.93786735] [ 0. 0. 0. 1. ]] SLAMing on 109.292557844 meters Centerline goodness : 0.115693 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.94 [[ 0.99942629 0.00187015 -0.03381692 0.43265515] [-0.00222203 0.99994375 -0.01037077 -0.07331273] [ 0.03379563 0.01043996 0.99937424 0.9370308 ] [ 0. 0. 0. 1. ]] SLAMing on 109.322557844 meters Centerline goodness : 0.115693 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.94 [[ 0.99942629 0.00187015 -0.03381692 0.43265515] [-0.00222203 0.99994375 -0.01037077 -0.07331273] [ 0.03379563 0.01043996 0.99937424 0.9370308 ] [ 0. 0. 0. 1. ]] SLAMing on 109.352557844 meters Centerline goodness : 0.375872 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:0.94 [[ 0.99947702 0.00458792 -0.03200997 0.47526281] [-0.00494043 0.99992793 -0.01094201 -0.06930432] [ 0.03195746 0.01109443 0.99942765 0.9376164 ] [ 0. 0. 0. 1. ]] SLAMing on 109.382557844 meters SLAMing on 109.412557844 meters Centerline goodness : 0.090356 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:0.94 [[ 0.99949491 0.0049631 -0.0313893 0.47357073] [-0.00530747 0.99992654 -0.01089706 -0.06815127] [ 0.03133291 0.01105815 0.99944783 0.93775555] [ 0. 0. 0. 1. ]] SLAMing on 109.442557844 meters Centerline goodness : 0.157847 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:0.94 [[ 0.99946954 0.00513516 -0.03216003 0.47614191] [-0.00548588 0.99992634 -0.01082677 -0.06825221] [ 0.03210206 0.01099745 0.99942409 0.93655525] [ 0. 0. 0. 1. ]] SLAMing on 109.47255784400001 meters Centerline goodness : 0.118797 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:0.94 [[ 0.99946356 0.00518466 -0.03233732 0.47689347] [-0.00553198 0.99992788 -0.01066027 -0.06923221] [ 0.03227972 0.01083344 0.99942016 0.93608794] [ 0. 0. 0. 1. ]] SLAMing on 109.50255784400001 meters Centerline goodness : 0.154955 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:0.94 [[ 0.99945932 0.00525647 -0.03245674 0.47706475] [-0.00559654 0.9999303 -0.01039577 -0.07070109] [ 0.03239983 0.01057179 0.99941908 0.93633449] [ 0. 0. 0. 1. ]] SLAMing on 109.53255784400001 meters Centerline goodness : 0.119538 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:0.94 [[ 0.9994616 0.00534067 -0.03237267 0.47630841] [-0.00566996 0.99993303 -0.01008853 -0.07230256] [ 0.03231662 0.01026665 0.99942495 0.93717719] [ 0. 0. 0. 1. ]] SLAMing on 109.562557844 meters Centerline goodness : 0.317698 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:0.94 [[ 0.99948206 -0.00140426 -0.03215026 0.495304 ] [ 0.00111577 0.99995897 -0.00898931 -0.06676418] [ 0.03216156 0.00894878 0.99944262 0.9390646 ] [ 0. 0. 0. 1. ]] SLAMing on 109.592557844 meters Centerline goodness : 0.260259 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:0.94 [[ 0.99948791 -0.00139354 -0.03196844 0.49495272] [ 0.0011056 0.99995868 -0.00902288 -0.06634798] [ 0.03197969 0.00898291 0.99944815 0.93884941] [ 0. 0. 0. 1. ]] SLAMing on 109.622557844 meters Centerline goodness : 0.217688 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:0.94 [[ 0.99949707 -0.00140833 -0.03167992 0.49423389] [ 0.00111948 0.99995766 -0.00913342 -0.06555233] [ 0.03169145 0.00909336 0.99945633 0.93877393] [ 0. 0. 0. 1. ]] SLAMing on 109.652557844 meters Centerline goodness : 0.251842 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.94 [[ 0.99949546 -0.0016455 -0.03171927 0.49443624] [ 0.00133949 0.99995238 -0.00966629 -0.0632021 ] [ 0.03173367 0.00961892 0.99945007 0.93859816] [ 0. 0. 0. 1. ]] SLAMing on 109.682557844 meters Centerline goodness : 0.210510 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.94 [[ 0.99948766 -0.00176628 -0.0319576 0.4951893 ] [ 0.00145127 0.99995016 -0.00987784 -0.06233616] [ 0.03197346 0.0098264 0.99944041 0.93832167] [ 0. 0. 0. 1. ]] SLAMing on 109.712557844 meters Centerline goodness : 0.193859 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.94 [[ 0.99948053 -0.00186927 -0.03217423 0.49601107] [ 0.00154684 0.99994837 -0.01004339 -0.06163232] [ 0.03219135 0.0099884 0.99943181 0.93782246] [ 0. 0. 0. 1. ]] SLAMing on 109.742557844 meters Centerline goodness : 0.379155 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.94 [[ 0.99947304 -0.00193744 -0.03240194 0.49682409] [ 0.00161069 0.99994762 -0.01010733 -0.06135107] [ 0.03241982 0.01004981 0.99942381 0.93733321] [ 0. 0. 0. 1. ]] SLAMing on 109.772557844 meters Centerline goodness : 0.123006 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.94 [[ 0.99943901 -0.00253739 -0.03339489 0.49952709] [ 0.00218997 0.99994315 -0.01043586 -0.06143314] [ 0.03341947 0.01035687 0.99938775 0.93707016] [ 0. 0. 0. 1. ]] SLAMing on 109.802557844 meters Centerline goodness : 0.167090 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.94 [[ 0.999433 -0.0026313 -0.03356708 0.49947102] [ 0.00228896 0.99994502 -0.01023297 -0.06295686] [ 0.03359216 0.01015034 0.99938408 0.93788895] [ 0. 0. 0. 1. ]] SLAMing on 109.83255784400001 meters Centerline goodness : 0.112621 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.94 [[ 0.99943985 -0.00266213 -0.03336001 0.49839703] [ 0.00233299 0.99994826 -0.00990128 -0.06483117] [ 0.03338464 0.0098179 0.99939435 0.93879723] [ 0. 0. 0. 1. ]] SLAMing on 109.86255784400001 meters Centerline goodness : 0.128662 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:0.94 [[ 0.99945296 -0.00253404 -0.03297518 0.49674971] [ 0.00222528 0.99995337 -0.00939688 -0.06714767] [ 0.03299745 0.00931836 0.999412 0.93985358] [ 0. 0. 0. 1. ]] SLAMing on 109.89255784400001 meters Centerline goodness : 0.160443 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:0.94 [[ 0.99948976 -0.00267402 -0.03182872 0.49304655] [ 0.00239691 0.99995892 -0.00874116 -0.07147265] [ 0.03185078 0.00866041 0.99945511 0.94138437] [ 0. 0. 0. 1. ]] SLAMing on 109.922557844 meters Centerline goodness : 0.123502 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:0.94 [[ 0.99948083 -0.002545 -0.03211846 0.49366483] [ 0.00227956 0.99996297 -0.00829842 -0.07390564] [ 0.03213839 0.0082209 0.99944962 0.94158579] [ 0. 0. 0. 1. ]] SLAMing on 109.952557844 meters Centerline goodness : 0.144866 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:0.94 [[ 0.99946946 -0.00240999 -0.03248075 0.49464775] [ 0.00215421 0.99996642 -0.00790739 -0.0759476 ] [ 0.03249872 0.00783323 0.99944108 0.94149725] [ 0. 0. 0. 1. ]] SLAMing on 109.982557844 meters Centerline goodness : 0.131189 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:0.94 [[ 0.99946146 -0.00224198 -0.0327377 0.49550367] [ 0.00199704 0.99996979 -0.00751259 -0.07781726] [ 0.03275355 0.00744317 0.99943574 0.94114444] [ 0. 0. 0. 1. ]] SLAMing on 110.012557844 meters Centerline goodness : 0.372591 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:0.94 [[ 0.9994745 -0.00178403 -0.03236572 0.4944953 ] [ 0.00156513 0.99997574 -0.00678746 -0.08075447] [ 0.03237705 0.00673324 0.99945305 0.94137105] [ 0. 0. 0. 1. ]] SLAMing on 110.042557844 meters Centerline goodness : 0.364714 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:0.94 [[ 0.99948817 -0.00154088 -0.03195334 0.49311074] [ 0.00133203 0.99997762 -0.00655634 -0.08145816] [ 0.03196273 0.00651042 0.99946786 0.9420027 ] [ 0. 0. 0. 1. ]] SLAMing on 110.072557844 meters Centerline goodness : 0.129338 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:0.94 [[ 9.99511323e-01 -1.18822737e-03 -3.12362529e-02 4.91188381e-01] [ 9.88610026e-04 9.99978998e-01 -6.40523371e-03 -8.12934689e-02] [ 3.12432078e-02 6.37122314e-03 9.99491505e-01 9.42321530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.102557844 meters Centerline goodness : 0.119067 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.08, Z:0.94 [[ 0.99946127 0.01144213 -0.03076105 0.51336492] [-0.01161346 0.999918 -0.00539675 -0.07999746] [ 0.03069678 0.00575109 0.9995122 0.94227415] [ 0. 0. 0. 1. ]] SLAMing on 110.132557844 meters Centerline goodness : 0.116987 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.08, Z:0.94 [[ 0.99945633 0.01181689 -0.03078 0.51375156] [-0.01199743 0.99991185 -0.00568732 -0.07734705] [ 0.03071008 0.00605351 0.99951 0.94159207] [ 0. 0. 0. 1. ]] SLAMing on 110.162557844 meters Centerline goodness : 0.119142 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.07, Z:0.94 [[ 0.99946373 0.01212517 -0.03041763 0.51308445] [-0.01231465 0.99990587 -0.00604975 -0.0744642 ] [ 0.03034142 0.00642109 0.99951897 0.94108018] [ 0. 0. 0. 1. ]] SLAMing on 110.192557844 meters Centerline goodness : 0.118774 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.07, Z:0.94 [[ 0.99948107 0.01224247 -0.02979449 0.51175232] [-0.01244331 0.99990103 -0.00656485 -0.07117523] [ 0.02971118 0.00693219 0.99953449 0.94059148] [ 0. 0. 0. 1. ]] SLAMing on 110.22255784400001 meters Centerline goodness : 0.147194 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.94 [[ 0.99948354 0.01260375 -0.02956024 0.51140047] [-0.0128187 0.99989268 -0.00709319 -0.06468454] [ 0.02946767 0.00746845 0.99953783 0.93999554] [ 0. 0. 0. 1. ]] SLAMing on 110.25255784400001 meters Centerline goodness : 0.116975 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.94 [[ 0.99948074 0.01233492 -0.02976742 0.51211646] [-0.01256782 0.99989176 -0.0076496 -0.06221802] [ 0.02966985 0.00801974 0.99952758 0.93969934] [ 0. 0. 0. 1. ]] SLAMing on 110.28255784400001 meters Centerline goodness : 0.117806 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.94 [[ 0.99951669 0.00254776 -0.03098217 0.49305948] [-0.00275515 0.99997407 -0.0066529 -0.05688102] [ 0.03096441 0.00673504 0.9994978 0.93838365] [ 0. 0. 0. 1. ]] SLAMing on 110.312557844 meters Centerline goodness : 0.095922 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.94 [[ 0.9995158 0.00237999 -0.03102432 0.49305411] [-0.00259609 0.99997264 -0.00692711 -0.05564234] [ 0.03100698 0.0070043 0.99949463 0.93850143] [ 0. 0. 0. 1. ]] SLAMing on 110.342557844 meters Centerline goodness : 0.365424 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.94 [[ 0.99953121 0.0019819 -0.03055214 0.49127371] [-0.00220693 0.99997067 -0.0073335 -0.05363275] [ 0.03053671 0.00739748 0.99950627 0.93921659] [ 0. 0. 0. 1. ]] SLAMing on 110.372557844 meters Centerline goodness : 0.123830 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:0.94 [[ 9.99448001e-01 -5.03453082e-04 -3.32180797e-02 4.45973892e-01] [ 2.73081418e-04 9.99975885e-01 -6.93930131e-03 -5.51226334e-02] [ 3.32207722e-02 6.92639958e-03 9.99424037e-01 9.39795500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.402557844 meters Centerline goodness : 0.125859 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.05, Z:0.94 [[ 9.99442211e-01 -7.10112430e-04 -3.33880559e-02 4.46485281e-01] [ 4.67963290e-04 9.99973538e-01 -7.25982293e-03 -5.38283462e-02] [ 3.33923277e-02 7.24014910e-03 9.99416096e-01 9.39653965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.432557844 meters Centerline goodness : 0.131758 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.05, Z:0.94 [[ 9.99433086e-01 -1.05212206e-03 -3.36511515e-02 4.47242118e-01] [ 7.88951575e-04 9.99969011e-01 -7.83287163e-03 -5.14283177e-02] [ 3.36583499e-02 7.80188194e-03 9.99402945e-01 9.39384967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.462557844 meters Centerline goodness : 0.158345 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.94 [[ 9.99507893e-01 3.70491455e-04 -3.13661224e-02 4.88813064e-01] [-6.49580566e-04 9.99960289e-01 -8.88806583e-03 -4.71220617e-02] [ 3.13615838e-02 8.90406678e-03 9.99468443e-01 9.40346660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.492557844 meters Centerline goodness : 0.123938 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.94 [[ 9.99507667e-01 3.06090122e-04 -3.13740477e-02 4.88556809e-01] [-5.88110496e-04 9.99959505e-01 -8.98013623e-03 -4.66942484e-02] [ 3.13700285e-02 8.99416641e-03 9.99467371e-01 9.40751887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.522557844 meters Centerline goodness : 0.116896 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.94 [[ 9.99506265e-01 2.25786404e-04 -3.14193351e-02 4.88573790e-01] [-5.10416843e-04 9.99958905e-01 -9.05135983e-03 -4.64633699e-02] [ 3.14160003e-02 9.06292782e-03 9.99465306e-01 9.40899755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.552557844 meters Centerline goodness : 0.135874 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.94 [[ 9.99491531e-01 -1.80300392e-05 -3.18854000e-02 4.90018944e-01] [-2.78798444e-04 9.99956671e-01 -9.30475834e-03 -4.57201498e-02] [ 3.18841862e-02 9.30891676e-03 9.99448219e-01 9.40371113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58255784400001 meters Centerline goodness : 0.165189 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:0.94 [[ 0.99941686 -0.00659081 -0.03350378 0.50915599] [ 0.0062969 0.99994083 -0.00887067 -0.04030248] [ 0.03356026 0.00865452 0.99939922 0.94234381] [ 0. 0. 0. 1. ]] SLAMing on 110.61255784400001 meters Centerline goodness : 0.157873 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:0.94 [[ 0.99941468 -0.00660057 -0.03356681 0.50944183] [ 0.00630007 0.9999392 -0.00905019 -0.03954997] [ 0.03362451 0.00883342 0.9993955 0.94223319] [ 0. 0. 0. 1. ]] SLAMing on 110.64255784400001 meters Centerline goodness : 0.162362 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.04, Z:0.94 [[ 0.99948024 0.00286991 -0.03210939 0.52815304] [-0.00320171 0.99994196 -0.01028682 -0.04131111] [ 0.032078 0.01038428 0.99943142 0.94354929] [ 0. 0. 0. 1. ]] SLAMing on 110.672557844 meters Centerline goodness : 0.117126 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.04, Z:0.94 [[ 0.99949211 0.0028941 -0.03173558 0.52689967] [-0.00322808 0.9999399 -0.01047751 -0.03993153] [ 0.03170335 0.01057463 0.99944138 0.94405178] [ 0. 0. 0. 1. ]] SLAMing on 110.702557844 meters Centerline goodness : 0.144095 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.04, Z:0.94 [[ 0.99950699 0.00286707 -0.03126575 0.52529665] [-0.00321054 0.99993499 -0.01094082 -0.03725544] [ 0.03123235 0.0110358 0.99945123 0.94477206] [ 0. 0. 0. 1. ]] SLAMing on 110.732557844 meters Centerline goodness : 0.133857 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.04, Z:0.94 [[ 0.99950752 0.00272704 -0.03126164 0.52537208] [-0.00308279 0.99993098 -0.01133717 -0.03544996] [ 0.03122856 0.01142796 0.99944694 0.94467685] [ 0. 0. 0. 1. ]] SLAMing on 110.762557844 meters Centerline goodness : 0.153558 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.03, Z:0.94 [[ 0.99950705 0.00262778 -0.03128516 0.52559133] [-0.00299802 0.99992596 -0.01179357 -0.03317127] [ 0.03125186 0.01188155 0.99944092 0.94441329] [ 0. 0. 0. 1. ]] SLAMing on 110.792557844 meters Centerline goodness : 0.150439 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.03, Z:0.94 [[ 0.99951721 0.00255711 -0.03096467 0.5250012 ] [-0.00293635 0.99992117 -0.01220823 -0.03085403] [ 0.03093101 0.01229326 0.99944592 0.94403081] [ 0. 0. 0. 1. ]] SLAMing on 110.822557844 meters Centerline goodness : 0.144960 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.03, Z:0.94 [[ 0.99956667 -0.00136505 -0.02940426 0.54548432] [ 0.00111359 0.99996269 -0.0085665 -0.02529198] [ 0.02941486 0.00853004 0.99953089 0.94482683] [ 0. 0. 0. 1. ]] SLAMing on 110.852557844 meters Centerline goodness : 0.129647 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:0.95 [[ 0.9995731 -0.00138094 -0.02918405 0.54457525] [ 0.00112755 0.99996154 -0.00869711 -0.02447893] [ 0.02919493 0.0086605 0.99953622 0.94543179] [ 0. 0. 0. 1. ]] SLAMing on 110.882557844 meters SLAMing on 110.912557844 meters Centerline goodness : 0.148470 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:0.95 [[ 0.99957117 -0.00140374 -0.02924887 0.54415531] [ 0.00114966 0.99996148 -0.00870191 -0.02453998] [ 0.02925996 0.00866455 0.99953428 0.94639002] [ 0. 0. 0. 1. ]] SLAMing on 110.942557844 meters Centerline goodness : 0.117921 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:0.95 [[ 0.99956649 -0.001422 -0.02940769 0.54482263] [ 0.00116806 0.9999619 -0.00865047 -0.02493607] [ 0.02941887 0.00861237 0.99953007 0.94586073] [ 0. 0. 0. 1. ]] SLAMing on 110.97255784400001 meters Centerline goodness : 0.162204 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:0.95 [[ 0.99951933 -0.00865335 -0.02976974 0.56519544] [ 0.00841877 0.99993259 -0.0079962 -0.02013356] [ 0.02983693 0.00774174 0.9995248 0.94698402] [ 0. 0. 0. 1. ]] SLAMing on 111.00255784400001 meters Centerline goodness : 0.120994 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.03, Z:0.95 [[ 0.99952514 0.00117064 -0.03079156 0.54919506] [-0.00144157 0.99996043 -0.00877825 -0.0273141 ] [ 0.03078007 0.00881847 0.99948728 0.94605714] [ 0. 0. 0. 1. ]] SLAMing on 111.03255784400001 meters Centerline goodness : 0.126976 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.03, Z:0.95 [[ 0.99951719 0.00118555 -0.0310481 0.55000984] [-0.00145639 0.99996107 -0.00870221 -0.02781806] [ 0.03103657 0.00874323 0.99948001 0.94579326] [ 0. 0. 0. 1. ]] SLAMing on 111.062557844 meters Centerline goodness : 0.126923 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:0.95 [[ 0.99947562 -0.00480086 -0.03202241 0.56743999] [ 0.00456358 0.99996162 -0.00747861 -0.02228761] [ 0.03205709 0.00732856 0.99945917 0.94860092] [ 0. 0. 0. 1. ]] SLAMing on 111.092557844 meters Centerline goodness : 0.151046 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:0.95 [[ 0.99946128 -0.001476 -0.03278674 0.56903154] [ 0.00132069 0.99998781 -0.00475825 -0.01965071] [ 0.03279336 0.00471239 0.99945104 0.94935917] [ 0. 0. 0. 1. ]] SLAMing on 111.122557844 meters Centerline goodness : 0.158138 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:0.95 [[ 0.99945272 0.00813276 -0.03206444 0.5900649 ] [-0.00832585 0.99994797 -0.00589303 -0.02078518] [ 0.03201484 0.00615677 0.99946843 0.94987711] [ 0. 0. 0. 1. ]] SLAMing on 111.152557844 meters Centerline goodness : 0.154874 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:0.95 [[ 0.9994558 0.00820766 -0.03194887 0.59025068] [-0.00841813 0.99994371 -0.00645889 -0.01725064] [ 0.03189406 0.00672433 0.99946863 0.94897741] [ 0. 0. 0. 1. ]] SLAMing on 111.182557844 meters SLAMing on 111.212557844 meters Centerline goodness : 0.170851 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:0.95 [[ 0.9994601 0.00807839 -0.03184741 0.59029663] [-0.00831873 0.99993786 -0.00742134 -0.01310348] [ 0.03178548 0.00768226 0.99946519 0.9488937 ] [ 0. 0. 0. 1. ]] SLAMing on 111.242557844 meters Centerline goodness : 0.146026 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:0.95 [[ 0.99946233 0.00782173 -0.03184145 0.59057606] [-0.00808291 0.99993467 -0.00808209 -0.00999282] [ 0.03177616 0.00833512 0.99946026 0.94837612] [ 0. 0. 0. 1. ]] SLAMing on 111.272557844 meters Centerline goodness : 0.146026 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:0.95 [[ 0.99946233 0.00782173 -0.03184145 0.59057606] [-0.00808291 0.99993467 -0.00808209 -0.00999282] [ 0.03177616 0.00833512 0.99946026 0.94837612] [ 0. 0. 0. 1. ]] SLAMing on 111.302557844 meters Centerline goodness : 0.123441 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.00, Z:0.95 [[ 0.99945108 -0.00194487 -0.03307213 0.5707671 ] [ 0.00168841 0.9999683 -0.00778089 -0.00158664] [ 0.03308621 0.00772078 0.99942268 0.94739341] [ 0. 0. 0. 1. ]] SLAMing on 111.33255784400001 meters Centerline goodness : 0.140848 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:0.95 [[ 0.99942624 0.00643481 -0.03325336 0.58715423] [-0.00670818 0.99994456 -0.00811591 -0.00633983] [ 0.03319929 0.00833432 0.999414 0.94847979] [ 0. 0. 0. 1. ]] SLAMing on 111.36255784400001 meters Centerline goodness : 0.148300 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99422876e-01 -4.76127898e-04 -3.39659882e-02 6.05994265e-01] [ 2.34944582e-04 9.99974736e-01 -7.10436800e-03 -5.60349748e-04] [ 3.39685127e-02 7.09228777e-03 9.99397738e-01 9.51401811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39255784400001 meters Centerline goodness : 0.152224 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99421256e-01 -5.17594761e-04 -3.40130065e-02 6.06021982e-01] [ 2.76298871e-04 9.99974767e-01 -7.09854141e-03 -4.97074190e-04] [ 3.40158225e-02 7.08503542e-03 9.99396181e-01 9.51452596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422557844 meters Centerline goodness : 0.156199 Centerline is valid? [False, False] Translation: X:0.63, Y:0.00, Z:0.95 [[ 0.99939954 -0.00836703 -0.03362365 0.62745204] [ 0.0081613 0.99994716 -0.00625128 0.00421729] [ 0.03367418 0.00597312 0.99941501 0.95285413] [ 0. 0. 0. 1. ]] SLAMing on 111.452557844 meters Centerline goodness : 0.124831 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99495212e-01 -6.11525123e-04 -3.17639180e-02 6.10403561e-01] [ 3.66967496e-04 9.99970253e-01 -7.70448649e-03 -2.66002378e-03] [ 3.17676846e-02 7.68894103e-03 9.99465704e-01 9.50252768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.482557844 meters Centerline goodness : 0.115225 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99494298e-01 -5.88495395e-04 -3.17931113e-02 6.10326702e-01] [ 3.48441365e-04 9.99971396e-01 -7.55551736e-03 -3.52037313e-03] [ 3.17966482e-02 7.54061848e-03 9.99465913e-01 9.50514859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.512557844 meters Centerline goodness : 0.150291 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99494163e-01 -5.25122067e-04 -3.17984659e-02 6.10047512e-01] [ 2.88887871e-04 9.99972331e-01 -7.43324530e-03 -3.98147317e-03] [ 3.18014894e-02 7.42029909e-03 9.99466660e-01 9.51023377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.542557844 meters Centerline goodness : 0.150302 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99496718e-01 -4.98049001e-04 -3.17185047e-02 6.09618125e-01] [ 2.61966092e-04 9.99972238e-01 -7.44678629e-03 -3.71128923e-03] [ 3.17213330e-02 7.43472928e-03 9.99469100e-01 9.51427905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.572557844 meters Centerline goodness : 0.145782 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99499734e-01 -4.73229702e-04 -3.16236834e-02 6.09291731e-01] [ 2.37496442e-04 9.99972163e-01 -7.45766693e-03 -3.56383950e-03] [ 3.16263323e-02 7.44642560e-03 9.99472024e-01 9.51578469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.602557844 meters Centerline goodness : 0.149194 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99496718e-01 -3.90888304e-04 -3.17199892e-02 6.09547516e-01] [ 1.59249171e-04 9.99973307e-01 -7.30482110e-03 -4.40276120e-03] [ 3.17219979e-02 7.29609334e-03 9.99470101e-01 9.51596859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.632557844 meters Centerline goodness : 0.089981 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99495359e-01 -3.38426887e-04 -3.17633759e-02 6.09675520e-01] [ 1.09736744e-04 9.99974064e-01 -7.20127306e-03 -4.90238665e-03] [ 3.17649892e-02 7.19415339e-03 9.99469474e-01 9.51573704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.662557844 meters Centerline goodness : 0.150739 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:0.95 [[ 9.99493361e-01 -7.23747158e-03 -3.09941957e-02 6.28307570e-01] [ 7.05592122e-03 9.99957328e-01 -5.96293330e-03 -2.89264151e-04] [ 3.10360296e-02 5.74121964e-03 9.99501778e-01 9.53430290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.692557844 meters Centerline goodness : 0.133660 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:0.95 [[ 9.99495383e-01 -7.23405969e-03 -3.09297245e-02 6.27843657e-01] [ 7.05014343e-03 9.99956838e-01 -6.05119014e-03 -1.89424779e-04] [ 3.09721642e-02 5.83007761e-03 9.99503244e-01 9.54104007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72255784400001 meters Centerline goodness : 0.132424 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:0.95 [[ 9.99495257e-01 -7.22989030e-03 -3.09347527e-02 6.27577774e-01] [ 7.04500862e-03 9.99956692e-01 -6.08133146e-03 -4.06841029e-04] [ 3.09773803e-02 5.86032635e-03 9.99502906e-01 9.54694569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75255784400001 meters Centerline goodness : 0.121138 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:0.96 [[ 0.99953745 0.00173218 -0.03036264 0.64516203] [-0.00192424 0.99997832 -0.00629752 -0.00826441] [ 0.03035107 0.00635303 0.99951911 0.95586549] [ 0. 0. 0. 1. ]] SLAMing on 111.78255784400001 meters Centerline goodness : 0.129873 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.96 [[ 0.99954329 0.00188093 -0.03016091 0.64435054] [-0.00206248 0.99997994 -0.00598953 -0.00955489] [ 0.03014904 0.006049 0.99952711 0.95634901] [ 0. 0. 0. 1. ]] SLAMing on 111.812557844 meters Centerline goodness : 0.127133 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.96 [[ 0.99954754 0.00198809 -0.03001258 0.64374243] [-0.0021612 0.99998121 -0.00573657 -0.01069005] [ 0.03000061 0.00579884 0.99953306 0.95675707] [ 0. 0. 0. 1. ]] SLAMing on 111.842557844 meters Centerline goodness : 0.146800 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.96 [[ 0.9995468 0.00206862 -0.030032 0.64365911] [-0.00223545 0.99998225 -0.00552263 -0.01174053] [ 0.03002005 0.00558726 0.99953368 0.9569833 ] [ 0. 0. 0. 1. ]] SLAMing on 111.872557844 meters Centerline goodness : 0.130799 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.96 [[ 0.99954298 0.0021078 -0.03015618 0.64402953] [-0.00227199 0.99998278 -0.00541124 -0.01235142] [ 0.03014426 0.00547728 0.99953055 0.95687107] [ 0. 0. 0. 1. ]] SLAMing on 111.902557844 meters Centerline goodness : 0.092864 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.96 [[ 0.99954077 0.00217425 -0.03022445 0.64428136] [-0.00233345 0.99998359 -0.00523279 -0.0133272 ] [ 0.03021258 0.00530092 0.99952944 0.95675048] [ 0. 0. 0. 1. ]] SLAMing on 111.932557844 meters Centerline goodness : 0.144037 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:0.96 [[ 0.99952767 -0.0047497 -0.03036256 0.66337258] [ 0.00462032 0.99997995 -0.0043298 -0.00842908] [ 0.03038251 0.00418747 0.99952957 0.95857707] [ 0. 0. 0. 1. ]] SLAMing on 111.962557844 meters Centerline goodness : 0.142460 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:0.96 [[ 0.99952114 -0.00455482 -0.03060632 0.66431416] [ 0.00443217 0.99998188 -0.00407375 -0.00900521] [ 0.03062432 0.00393615 0.99952322 0.95802096] [ 0. 0. 0. 1. ]] SLAMing on 111.992557844 meters Centerline goodness : 0.123264 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:0.96 [[ 0.99950697 -0.00426546 -0.03110648 0.66624557] [ 0.00414997 0.99998426 -0.00377641 -0.00961617] [ 0.03112209 0.00364545 0.99950894 0.95694489] [ 0. 0. 0. 1. ]] SLAMing on 112.022557844 meters SLAMing on 112.052557844 meters Centerline goodness : 0.132158 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:0.95 [[ 0.99946443 -0.00380282 -0.03250205 0.67130453] [ 0.00367857 0.9999857 -0.00388168 -0.00813792] [ 0.03251635 0.00376004 0.99946413 0.9547757 ] [ 0. 0. 0. 1. ]] SLAMing on 112.08255784400001 meters Centerline goodness : 0.145244 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:0.96 [[ 0.99946971 0.00522609 -0.03214023 0.68835078] [-0.00536972 0.99997597 -0.00438401 -0.01089272] [ 0.03211654 0.00455427 0.99947375 0.95606693] [ 0. 0. 0. 1. ]] SLAMing on 112.11255784400001 meters Centerline goodness : 0.144941 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:0.96 [[ 0.99947166 0.00513964 -0.03209333 0.68814912] [-0.00528944 0.9999755 -0.00458468 -0.00991426] [ 0.03206899 0.00475201 0.99947436 0.95619957] [ 0. 0. 0. 1. ]] SLAMing on 112.14255784400001 meters Centerline goodness : 0.145527 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:0.96 [[ 0.99946897 0.0049693 -0.03220379 0.68861662] [-0.00512946 0.99997488 -0.00489248 -0.0086667 ] [ 0.03217867 0.00505507 0.99946935 0.9558788 ] [ 0. 0. 0. 1. ]] SLAMing on 112.17255784400001 meters Centerline goodness : 0.151647 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.95 [[ 0.99941377 -0.00436456 -0.03395697 0.66988873] [ 0.00424268 0.9999843 -0.00366053 -0.0043927 ] [ 0.03397241 0.00351432 0.99941659 0.95415643] [ 0. 0. 0. 1. ]] SLAMing on 112.202557844 meters Centerline goodness : 0.150151 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.95 [[ 0.99939731 -0.00419772 -0.03445849 0.67171953] [ 0.00407853 0.99998546 -0.00352863 -0.00440722] [ 0.0344728 0.00338596 0.9993999 0.95315394] [ 0. 0. 0. 1. ]] SLAMing on 112.232557844 meters Centerline goodness : 0.144803 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.95 [[ 0.9993925 -0.00413244 -0.03460581 0.67235407] [ 0.00401289 0.99998574 -0.00352322 -0.00411635] [ 0.03461987 0.00338221 0.99939483 0.95271463] [ 0. 0. 0. 1. ]] SLAMing on 112.262557844 meters Centerline goodness : 0.154059 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:0.95 [[ 0.99939482 0.00519907 -0.03439432 0.6540355 ] [-0.00535719 0.99997549 -0.00450667 -0.00944757] [ 0.03437004 0.0046882 0.99939818 0.95261233] [ 0. 0. 0. 1. ]] SLAMing on 112.292557844 meters Centerline goodness : 0.151945 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:0.95 [[ 0.99939673 0.00512514 -0.03434985 0.65385291] [-0.00528895 0.99997506 -0.00467985 -0.00862237] [ 0.034325 0.0048587 0.99939891 0.95270684] [ 0. 0. 0. 1. ]] SLAMing on 112.322557844 meters Centerline goodness : 0.126567 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.95 [[ 0.99941195 -0.0016783 -0.03424827 0.67280543] [ 0.001551 0.99999179 -0.00374324 -0.00197957] [ 0.03425427 0.00368792 0.99940635 0.95462125] [ 0. 0. 0. 1. ]] SLAMing on 112.352557844 meters Centerline goodness : 0.114437 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.95 [[ 9.99412316e-01 -1.82816066e-03 -3.42298100e-02 6.73051351e-01] [ 1.68738063e-03 9.99990001e-01 -4.14122654e-03 -6.61259767e-05] [ 3.42370386e-02 4.08103409e-03 9.99405408e-01 9.54143219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.382557844 meters Centerline goodness : 0.151142 Centerline is valid? [False, False] Translation: X:0.67, Y:0.00, Z:0.95 [[ 0.99940909 -0.00201436 -0.03431344 0.67364781] [ 0.0018558 0.99998746 -0.0046521 0.00231252] [ 0.03432238 0.00458567 0.99940029 0.95350402] [ 0. 0. 0. 1. ]] SLAMing on 112.412557844 meters Centerline goodness : 0.145604 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:0.95 [[ 9.99381968e-01 6.64935519e-04 -3.51459669e-02 6.77561847e-01] [-7.64628881e-04 9.99995722e-01 -2.82318714e-03 8.11358621e-03] [ 3.51439393e-02 2.84831595e-03 9.99378202e-01 9.51287275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.442557844 meters Centerline goodness : 0.146757 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:0.95 [[ 9.99388361e-01 5.51465688e-04 -3.49656882e-02 6.77095324e-01] [-6.71991840e-04 9.99993873e-01 -3.43532533e-03 1.14173820e-02] [ 3.49635795e-02 3.45672081e-03 9.99382609e-01 9.51255370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47255784400001 meters Centerline goodness : 0.143742 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.95 [[ 0.99938255 0.01021182 -0.03361896 0.69665364] [-0.01035745 0.9999377 -0.00416059 0.01072672] [ 0.03357438 0.00450623 0.99942606 0.95220083] [ 0. 0. 0. 1. ]] SLAMing on 112.50255784400001 meters Centerline goodness : 0.146872 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.95 [[ 0.9994493 0.00996363 -0.03165174 0.69085227] [-0.01011814 0.99993765 -0.00472525 0.01409764] [ 0.03160268 0.0050429 0.99948779 0.95329279] [ 0. 0. 0. 1. ]] SLAMing on 112.53255784400001 meters Centerline goodness : 0.150535 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:0.95 [[ 0.99946443 0.00961303 -0.03128008 0.68962621] [-0.00978108 0.99993852 -0.0052241 0.01568669] [ 0.03122794 0.00552725 0.99949701 0.95366657] [ 0. 0. 0. 1. ]] SLAMing on 112.562557844 meters Centerline goodness : 0.187365 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:0.96 [[ 0.99949071 0.00185193 -0.03185724 0.70711381] [-0.00199532 0.99998802 -0.00446982 0.02467366] [ 0.03184858 0.0045311 0.99948243 0.95534514] [ 0. 0. 0. 1. ]] SLAMing on 112.592557844 meters Centerline goodness : 0.120849 Centerline is valid? [False, False] Translation: X:0.71, Y:0.03, Z:0.96 [[ 0.99948942 0.00161987 -0.0319104 0.70714088] [-0.00177561 0.99998665 -0.00485291 0.02628428] [ 0.03190211 0.00490709 0.99947895 0.95546239] [ 0. 0. 0. 1. ]] SLAMing on 112.622557844 meters Centerline goodness : 0.140906 Centerline is valid? [False, False] Translation: X:0.71, Y:0.03, Z:0.96 [[ 0.99949628 0.00162013 -0.03169483 0.70629648] [-0.00177485 0.99998664 -0.00485417 0.02643938] [ 0.03168654 0.00490798 0.99948581 0.95590299] [ 0. 0. 0. 1. ]] SLAMing on 112.652557844 meters Centerline goodness : 0.150968 Centerline is valid? [False, False] Translation: X:0.71, Y:0.03, Z:0.96 [[ 0.99950302 0.00164427 -0.0314802 0.70539992] [-0.00179705 0.99998674 -0.00482533 0.02652464] [ 0.03147184 0.00487951 0.99949273 0.95650918] [ 0. 0. 0. 1. ]] SLAMing on 112.682557844 meters Centerline goodness : 0.151767 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:0.96 [[ 0.99950846 0.00162074 -0.03130829 0.70476315] [-0.0017739 0.99998659 -0.00486509 0.02675484] [ 0.03129999 0.00491824 0.99949793 0.9568551 ] [ 0. 0. 0. 1. ]] SLAMing on 112.712557844 meters Centerline goodness : 0.112348 Centerline is valid? [False, False] Translation: X:0.72, Y:0.03, Z:0.96 [[ 0.99947921 -0.00547703 -0.03180115 0.72424731] [ 0.0053367 0.99997565 -0.00449618 0.03367221] [ 0.031825 0.00432412 0.9994841 0.95833636] [ 0. 0. 0. 1. ]] SLAMing on 112.742557844 meters Centerline goodness : 0.143435 Centerline is valid? [False, False] Translation: X:0.73, Y:0.03, Z:0.96 [[ 0.99946896 -0.00542363 -0.03213066 0.72532163] [ 0.00527936 0.99997561 -0.00457328 0.03400058] [ 0.03215468 0.00440123 0.99947321 0.9580395 ] [ 0. 0. 0. 1. ]] SLAMing on 112.772557844 meters Centerline goodness : 0.113055 Centerline is valid? [False, False] Translation: X:0.73, Y:0.03, Z:0.96 [[ 0.99946458 -0.00538143 -0.03227368 0.72560165] [ 0.00523733 0.99997594 -0.00454791 0.03381085] [ 0.03229738 0.00437644 0.99946872 0.9581881 ] [ 0. 0. 0. 1. ]] SLAMing on 112.802557844 meters Centerline goodness : 0.154996 Centerline is valid? [False, False] Translation: X:0.72, Y:0.03, Z:0.96 [[ 0.99947001 -0.00537703 -0.03210592 0.72497664] [ 0.0052366 0.99997636 -0.00445631 0.03349699] [ 0.03212912 0.00428583 0.99947454 0.95844373] [ 0. 0. 0. 1. ]] SLAMing on 112.83255784400001 meters Centerline goodness : 0.114830 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:0.96 [[ 0.99946749 0.00330144 -0.0324629 0.74153965] [-0.00344264 0.99998485 -0.00429458 0.02788554] [ 0.03244823 0.00440405 0.99946371 0.95978247] [ 0. 0. 0. 1. ]] SLAMing on 112.86255784400001 meters Centerline goodness : 0.152124 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:0.96 [[ 0.99946731 0.00332286 -0.03246622 0.74155507] [-0.00346218 0.99998504 -0.00423578 0.0275864 ] [ 0.03245166 0.00434593 0.99946386 0.95980415] [ 0. 0. 0. 1. ]] SLAMing on 112.89255784400001 meters Centerline goodness : 0.153077 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:0.96 [[ 0.99945207 0.0033209 -0.03293224 0.74299324] [-0.00346612 0.99998452 -0.00435328 0.02757831] [ 0.03291727 0.00446504 0.99944811 0.95956676] [ 0. 0. 0. 1. ]] SLAMing on 112.92255784400001 meters Centerline goodness : 0.152463 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:0.96 [[ 0.999449 0.00333053 -0.0330243 0.74340831] [-0.00347657 0.99998443 -0.00436583 0.02767681] [ 0.03300924 0.00447824 0.99944501 0.95922874] [ 0. 0. 0. 1. ]] SLAMing on 112.952557844 meters Centerline goodness : 0.114727 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:0.96 [[ 0.99943751 0.00344919 -0.0333582 0.74463399] [-0.00360025 0.99998353 -0.0044692 0.02851671] [ 0.03334224 0.00458678 0.99943347 0.95876815] [ 0. 0. 0. 1. ]] SLAMing on 112.982557844 meters Centerline goodness : 0.114810 Centerline is valid? [False, False] Translation: X:0.75, Y:0.03, Z:0.96 [[ 0.99939821 0.00395449 -0.03446119 0.74836995] [-0.0041151 0.999981 -0.00459077 0.03017395] [ 0.03444239 0.00472981 0.99939549 0.95753816] [ 0. 0. 0. 1. ]] SLAMing on 113.012557844 meters Centerline goodness : 0.115685 Centerline is valid? [False, False] Translation: X:0.75, Y:0.03, Z:0.96 [[ 0.99939996 0.0038596 -0.03442121 0.74831531] [-0.00402978 0.99997999 -0.00487614 0.03145537] [ 0.0344017 0.00501192 0.99939552 0.95747188] [ 0. 0. 0. 1. ]] SLAMing on 113.042557844 meters Centerline goodness : 0.149778 Centerline is valid? [False, False] Translation: X:0.79, Y:0.03, Z:0.96 [[ 0.99942826 0.00434069 -0.03353089 0.78653994] [-0.00449837 0.99997917 -0.00462856 0.03404837] [ 0.0335101 0.00477675 0.99942696 0.95921788] [ 0. 0. 0. 1. ]] SLAMing on 113.072557844 meters Centerline goodness : 0.149121 Centerline is valid? [False, False] Translation: X:0.79, Y:0.04, Z:0.96 [[ 0.99943237 0.00416809 -0.03343013 0.78599255] [-0.00433511 0.99997848 -0.00492505 0.0350164 ] [ 0.03340888 0.00506718 0.99942892 0.95967224] [ 0. 0. 0. 1. ]] SLAMing on 113.102557844 meters Centerline goodness : 0.119622 Centerline is valid? [False, False] Translation: X:0.79, Y:0.04, Z:0.96 [[ 0.99943203 0.00399429 -0.03346143 0.78631519] [-0.00417403 0.99997723 -0.00530326 0.03665363] [ 0.03343949 0.00543992 0.99942594 0.95918511] [ 0. 0. 0. 1. ]] SLAMing on 113.132557844 meters Centerline goodness : 0.146981 Centerline is valid? [False, False] Translation: X:0.79, Y:0.04, Z:0.96 [[ 0.99942901 0.00391088 -0.03356118 0.78685257] [-0.00409662 0.99997666 -0.00546722 0.03743753] [ 0.03353901 0.00560159 0.99942171 0.95866034] [ 0. 0. 0. 1. ]] SLAMing on 113.162557844 meters Centerline goodness : 0.146981 Centerline is valid? [False, False] Translation: X:0.79, Y:0.04, Z:0.96 [[ 0.99942901 0.00391088 -0.03356118 0.78685257] [-0.00409662 0.99997666 -0.00546722 0.03743753] [ 0.03353901 0.00560159 0.99942171 0.95866034] [ 0. 0. 0. 1. ]] SLAMing on 113.192557844 meters Centerline goodness : 0.155062 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 0.99944747 0.00458609 -0.03291987 0.82730709] [-0.0047383 0.99997844 -0.00454712 0.03932307] [ 0.03289831 0.00470059 0.99944765 0.95897786] [ 0. 0. 0. 1. ]] SLAMing on 113.22255784400001 meters Centerline goodness : 0.158796 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 0.99944609 0.00450725 -0.03297274 0.82743886] [-0.00466213 0.99997845 -0.00462188 0.03952922] [ 0.0329512 0.00477304 0.99944556 0.95896487] [ 0. 0. 0. 1. ]] SLAMing on 113.25255784400001 meters Centerline goodness : 0.114517 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 9.99467914e-01 3.91502988e-04 -3.26149523e-02 8.26063069e-01] [-6.73442113e-04 9.99962500e-01 -8.63393805e-03 3.98261273e-02] [ 3.26103490e-02 8.65130834e-03 9.99430698e-01 9.59353999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28255784400001 meters Centerline goodness : 0.114661 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 9.99466100e-01 3.80857986e-04 -3.26706393e-02 8.26162270e-01] [-6.62861986e-04 9.99962616e-01 -8.62132919e-03 3.98149849e-02] [ 3.26661344e-02 8.63838239e-03 9.99428988e-01 9.59329255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.312557844 meters Centerline goodness : 0.137631 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 9.99462939e-01 3.60914485e-04 -3.27674271e-02 8.26571252e-01] [-6.45485201e-04 9.99962168e-01 -8.67439803e-03 4.02174253e-02] [ 3.27630568e-02 8.69089024e-03 9.99425360e-01 9.58996809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.342557844 meters Centerline goodness : 0.138555 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 9.99462166e-01 3.31342131e-04 -3.27913049e-02 8.26756787e-01] [-6.19489752e-04 9.99961285e-01 -8.77754842e-03 4.08638056e-02] [ 3.27871270e-02 8.79314143e-03 9.99423676e-01 9.58776041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.372557844 meters Centerline goodness : 0.151953 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 9.99467333e-01 2.35209884e-04 -3.26342628e-02 8.25928182e-01] [-5.28259894e-04 9.99959616e-01 -8.97149489e-03 4.16166157e-02] [ 3.26308347e-02 8.98395544e-03 9.99427094e-01 9.59535002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.402557844 meters Centerline goodness : 0.112660 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 9.99473406e-01 2.08296020e-04 -3.24479217e-02 8.25131927e-01] [-5.02433821e-04 9.99958858e-01 -9.05702973e-03 4.19906331e-02] [ 3.24447002e-02 9.06856329e-03 9.99432390e-01 9.60081358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.432557844 meters Centerline goodness : 0.133952 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:0.96 [[ 9.99483984e-01 2.06214874e-04 -3.21204382e-02 8.23939758e-01] [-5.00087643e-04 9.99958092e-01 -9.14132478e-03 4.24692440e-02] [ 3.21172070e-02 9.15267075e-03 9.99442201e-01 9.60619809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.462557844 meters Centerline goodness : 0.127528 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:0.96 [[ 9.99494647e-01 2.00068729e-04 -3.17869411e-02 8.22904291e-01] [-4.93898728e-04 9.99957224e-01 -9.23615024e-03 4.30735060e-02] [ 3.17837336e-02 9.24718226e-03 9.99451992e-01 9.60953333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.492557844 meters Centerline goodness : 0.112637 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:0.96 [[ 0.99955731 -0.00441064 -0.02942319 0.84510786] [ 0.00423979 0.9999738 -0.00586637 0.04552376] [ 0.02944829 0.00573902 0.99954983 0.9608391 ] [ 0. 0. 0. 1. ]] SLAMing on 113.522557844 meters Centerline goodness : 0.128801 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:0.96 [[ 0.99955418 -0.00436458 -0.02953622 0.84538276] [ 0.00419011 0.99997342 -0.00596642 0.04590626] [ 0.02956148 0.00584 0.9995459 0.96099661] [ 0. 0. 0. 1. ]] SLAMing on 113.552557844 meters Centerline goodness : 0.130539 Centerline is valid? [False, False] Translation: X:0.86, Y:0.04, Z:0.96 [[ 0.9995412 0.00484356 -0.02989856 0.86493337] [-0.00502507 0.99996938 -0.00599881 0.04139608] [ 0.02986858 0.0061463 0.99953494 0.96184179] [ 0. 0. 0. 1. ]] SLAMing on 113.58255784400001 meters Centerline goodness : 0.115895 Centerline is valid? [False, False] Translation: X:0.86, Y:0.04, Z:0.96 [[ 0.99954195 0.00481809 -0.0298777 0.86499085] [-0.0050038 0.99996861 -0.00614384 0.04218715] [ 0.02984716 0.00629053 0.99953468 0.96167235] [ 0. 0. 0. 1. ]] SLAMing on 113.61255784400001 meters Centerline goodness : 0.114255 Centerline is valid? [False, False] Translation: X:0.87, Y:0.05, Z:0.96 [[ 0.99949416 0.00708965 -0.03100255 0.86871774] [-0.00723977 0.99996259 -0.0047326 0.04708237] [ 0.03096784 0.00495466 0.9995081 0.96136514] [ 0. 0. 0. 1. ]] SLAMing on 113.64255784400001 meters Centerline goodness : 0.150963 Centerline is valid? [False, False] Translation: X:0.87, Y:0.05, Z:0.96 [[ 0.99948001 0.00704349 -0.03146591 0.87001161] [-0.00721188 0.99996026 -0.00524121 0.04922389] [ 0.03142774 0.00546542 0.99949108 0.9613982 ] [ 0. 0. 0. 1. ]] SLAMing on 113.67255784400001 meters Centerline goodness : 0.156186 Centerline is valid? [False, False] Translation: X:0.87, Y:0.05, Z:0.96 [[ 0.99947937 0.00691147 -0.03151546 0.87026566] [-0.00709904 0.99995773 -0.00584372 0.05212059] [ 0.03147373 0.00606441 0.99948618 0.96124633] [ 0. 0. 0. 1. ]] SLAMing on 113.702557844 meters Centerline goodness : 0.152421 Centerline is valid? [False, False] Translation: X:0.89, Y:0.06, Z:0.96 [[ 0.99946399 0.00119989 -0.03271529 0.88750821] [-0.00132954 0.99999135 -0.00394173 0.06274955] [ 0.03271028 0.00398311 0.99945694 0.96355997] [ 0. 0. 0. 1. ]] SLAMing on 113.732557844 meters Centerline goodness : 0.156228 Centerline is valid? [False, False] Translation: X:0.89, Y:0.07, Z:0.96 [[ 0.99947897 0.00109875 -0.03225815 0.88663156] [-0.00125605 0.99998742 -0.00485647 0.06818991] [ 0.03225241 0.00489446 0.99946777 0.9629958 ] [ 0. 0. 0. 1. ]] SLAMing on 113.762557844 meters Centerline goodness : 0.156372 Centerline is valid? [False, False] Translation: X:0.89, Y:0.07, Z:0.96 [[ 9.99480352e-01 8.99117784e-04 -3.22213816e-02 8.86660274e-01] [-1.07194205e-03 9.99985131e-01 -5.34677885e-03 7.03959605e-02] [ 3.22160952e-02 5.37853986e-03 9.99466455e-01 9.62760401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.792557844 meters Centerline goodness : 0.109149 Centerline is valid? [False, False] Translation: X:0.89, Y:0.07, Z:0.96 [[ 9.99475150e-01 6.85077896e-04 -3.23875921e-02 8.87283565e-01] [-8.72678765e-04 9.99982923e-01 -5.77858770e-03 7.21851443e-02] [ 3.23830803e-02 5.80381877e-03 9.99458679e-01 9.62425129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.822557844 meters Centerline goodness : 0.156421 Centerline is valid? [False, False] Translation: X:0.89, Y:0.07, Z:0.96 [[ 9.99466722e-01 5.09719950e-04 -3.26498305e-02 8.88285506e-01] [-7.09100068e-04 9.99981172e-01 -6.09533233e-03 7.34128722e-02] [ 3.26461089e-02 6.11523382e-03 9.99448266e-01 9.61826666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.852557844 meters Centerline goodness : 0.157664 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99433647e-01 1.11247089e-04 -3.36507553e-02 8.91119414e-01] [-3.31668224e-04 9.99978528e-01 -6.54474709e-03 7.51093154e-02] [ 3.36493046e-02 6.55220134e-03 9.99412224e-01 9.61286757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.882557844 meters Centerline goodness : 0.112993 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99430840e-01 4.19934630e-05 -3.37341637e-02 8.91307604e-01] [-2.66492107e-04 9.99977850e-01 -6.65046566e-03 7.56375817e-02] [ 3.37331372e-02 6.65567037e-03 9.99408714e-01 9.61278263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.912557844 meters Centerline goodness : 0.159780 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99431355e-01 -1.61578429e-04 -3.37185391e-02 8.91199593e-01] [-6.85690300e-05 9.99976712e-01 -6.82427861e-03 7.61082634e-02] [ 3.37188565e-02 6.82271006e-03 9.99408069e-01 9.61422412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.942557844 meters Centerline goodness : 0.132916 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99433129e-01 -2.20148972e-04 -3.36656048e-02 8.91070033e-01] [-1.25267487e-05 9.99976119e-01 -6.91101091e-03 7.64400561e-02] [ 3.36663223e-02 6.90751498e-03 9.99409258e-01 9.61410576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97255784400001 meters Centerline goodness : 0.131541 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99432534e-01 -3.10973070e-04 -3.36825334e-02 8.91086592e-01] [ 7.10005371e-05 9.99974611e-01 -7.12550108e-03 7.74108329e-02] [ 3.36838941e-02 7.11906613e-03 9.99407181e-01 9.61483392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00255784400001 meters Centerline goodness : 0.159580 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99432253e-01 -4.41037982e-04 -3.36894113e-02 8.91080434e-01] [ 1.88970104e-04 9.99971970e-01 -7.48492754e-03 7.91154891e-02] [ 3.36917681e-02 7.47431171e-03 9.99404322e-01 9.61516844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03255784400001 meters Centerline goodness : 0.159878 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99450276e-01 -5.16787720e-04 -3.31493257e-02 8.89602688e-01] [ 2.42635946e-04 9.99965743e-01 -8.27369629e-03 8.36196342e-02] [ 3.31524658e-02 8.26110482e-03 9.99416164e-01 9.61650353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062557844 meters Centerline goodness : 0.136844 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:0.96 [[ 0.99946463 -0.00535139 -0.03227708 0.91216442] [ 0.00518257 0.99997246 -0.00531158 0.08961545] [ 0.03230462 0.00514146 0.99946485 0.96193236] [ 0. 0. 0. 1. ]] SLAMing on 114.092557844 meters Centerline goodness : 0.135180 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:0.96 [[ 0.99948326 -0.00543524 -0.03168081 0.91031572] [ 0.00525334 0.99996925 -0.00582196 0.09258096] [ 0.03171148 0.00565252 0.99948108 0.96239304] [ 0. 0. 0. 1. ]] SLAMing on 114.122557844 meters Centerline goodness : 0.133978 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:0.96 [[ 0.99949411 -0.0055946 -0.0313087 0.90915181] [ 0.00539888 0.99996538 -0.00633252 0.0952292 ] [ 0.03134304 0.00616028 0.9994897 0.96271208] [ 0. 0. 0. 1. ]] SLAMing on 114.152557844 meters Centerline goodness : 0.162791 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:0.96 [[ 0.99949475 -0.00581635 -0.03124754 0.9090752 ] [ 0.00560362 0.99996055 -0.0068913 0.09781366] [ 0.03128639 0.00671272 0.99948792 0.96250962] [ 0. 0. 0. 1. ]] SLAMing on 114.182557844 meters Centerline goodness : 0.164755 Centerline is valid? [False, False] Translation: X:0.89, Y:0.10, Z:0.96 [[ 0.99944516 0.00130658 -0.03328162 0.89003312] [-0.00159506 0.99996138 -0.00864279 0.09509624] [ 0.03326905 0.00869108 0.99940864 0.96133531] [ 0. 0. 0. 1. ]] SLAMing on 114.212557844 meters Centerline goodness : 0.150713 Centerline is valid? [False, False] Translation: X:0.89, Y:0.10, Z:0.96 [[ 0.99943901 0.00118893 -0.03347028 0.89049681] [-0.00148261 0.99996061 -0.00875092 0.0953963 ] [ 0.03345855 0.00879564 0.9994014 0.96136935] [ 0. 0. 0. 1. ]] SLAMing on 114.242557844 meters Centerline goodness : 0.113866 Centerline is valid? [False, False] Translation: X:0.89, Y:0.10, Z:0.96 [[ 0.99943813 0.00112478 -0.03349874 0.89044152] [-0.00142004 0.99996034 -0.0087916 0.09551319] [ 0.03348752 0.00883423 0.99940009 0.96157848] [ 0. 0. 0. 1. ]] SLAMing on 114.272557844 meters Centerline goodness : 0.131464 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99949681 0.00173185 -0.0316721 0.93284444] [-0.00200958 0.99995979 -0.00873901 0.09868651] [ 0.03165569 0.00879826 0.99946011 0.96235944] [ 0. 0. 0. 1. ]] SLAMing on 114.302557844 meters Centerline goodness : 0.118294 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99949895 0.00166338 -0.03160811 0.93257645] [-0.00194408 0.99995893 -0.00885182 0.09925873] [ 0.03159209 0.00890883 0.99946114 0.96245305] [ 0. 0. 0. 1. ]] SLAMing on 114.33255784400001 meters Centerline goodness : 0.139139 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99949895 0.00152369 -0.0316154 0.93225618] [-0.00181518 0.9999561 -0.00919306 0.10095306] [ 0.0316 0.00924584 0.99945783 0.96304749] [ 0. 0. 0. 1. ]] SLAMing on 114.36255784400001 meters Centerline goodness : 0.140764 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99950094 0.00147103 -0.03155491 0.93198305] [-0.00176624 0.99995492 -0.00932965 0.10159429] [ 0.03153976 0.00938072 0.99945848 0.96325661] [ 0. 0. 0. 1. ]] SLAMing on 114.39255784400001 meters Centerline goodness : 0.127883 Centerline is valid? [False, False] Translation: X:0.95, Y:0.11, Z:0.97 [[ 0.99949173 -0.00589024 -0.03133038 0.95143978] [ 0.00563125 0.9999493 -0.00834812 0.10712112] [ 0.03137797 0.00816745 0.99947422 0.96504651] [ 0. 0. 0. 1. ]] SLAMing on 114.42255784400001 meters Centerline goodness : 0.117948 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99950493 0.00211428 -0.03139134 0.930702 ] [-0.00238988 0.99995891 -0.0087447 0.10153475] [ 0.03137156 0.00881539 0.99946892 0.9636519 ] [ 0. 0. 0. 1. ]] SLAMing on 114.452557844 meters Centerline goodness : 0.130284 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99950438 0.00210485 -0.03140974 0.93070966] [-0.00238065 0.99995892 -0.00874589 0.10150797] [ 0.03139004 0.00881633 0.99946833 0.96374376] [ 0. 0. 0. 1. ]] SLAMing on 114.482557844 meters Centerline goodness : 0.154894 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99950593 0.00206429 -0.03136309 0.93056806] [-0.00234348 0.99995794 -0.00886755 0.10206641] [ 0.03134347 0.00893666 0.99946872 0.96378573] [ 0. 0. 0. 1. ]] SLAMing on 114.512557844 meters Centerline goodness : 0.119595 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99950498 0.00197514 -0.03139888 0.93079618] [-0.00226356 0.99995555 -0.00915274 0.10339173] [ 0.03137941 0.00921929 0.99946503 0.96356171] [ 0. 0. 0. 1. ]] SLAMing on 114.542557844 meters Centerline goodness : 0.157258 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:0.96 [[ 0.99949969 0.00187776 -0.03157295 0.93152063] [-0.0021801 0.99995208 -0.00954415 0.10536045] [ 0.03155351 0.00960821 0.99945588 0.96304827] [ 0. 0. 0. 1. ]] SLAMing on 114.572557844 meters Centerline goodness : 0.148352 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:0.96 [[ 0.99950016 0.0018061 -0.03156203 0.93175017] [-0.0021222 0.9999479 -0.00998474 0.10770653] [ 0.03154236 0.01004673 0.99945192 0.96261032] [ 0. 0. 0. 1. ]] SLAMing on 114.602557844 meters Centerline goodness : 0.146017 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:0.96 [[ 0.99948737 0.00569978 -0.0315042 0.93154923] [-0.00591308 0.9999602 -0.00668143 0.11081503] [ 0.03146486 0.00686429 0.99948129 0.96274218] [ 0. 0. 0. 1. ]] SLAMing on 114.632557844 meters Centerline goodness : 0.143560 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:0.96 [[ 0.99949207 0.00552862 -0.03138522 0.93139266] [-0.00575909 0.99995708 -0.0072577 0.11366495] [ 0.03134374 0.00743476 0.99948101 0.96247007] [ 0. 0. 0. 1. ]] SLAMing on 114.662557844 meters SLAMing on 114.692557844 meters Centerline goodness : 0.142021 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.96 [[ 9.99344078e-01 4.97949055e-04 -3.62100135e-02 9.09414430e-01] [-6.63368125e-04 9.99989399e-01 -4.55645319e-03 1.20163003e-01] [ 3.62073607e-02 4.57748508e-03 9.99333815e-01 9.63646929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72255784400001 meters Centerline goodness : 0.159462 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.96 [[ 9.99336946e-01 3.04491205e-04 -3.64084529e-02 9.09994189e-01] [-4.86867319e-04 9.99987379e-01 -5.00040852e-03 1.22174494e-01] [ 3.64064708e-02 5.01481906e-03 9.99324482e-01 9.63484156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75255784400001 meters Centerline goodness : 0.140261 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.96 [[ 9.99334738e-01 1.37732943e-04 -3.64700172e-02 9.10066010e-01] [-3.34483450e-04 9.99985424e-01 -5.38881008e-03 1.24042742e-01] [ 3.64687434e-02 5.39742373e-03 9.99320218e-01 9.63566294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78255784400001 meters Centerline goodness : 0.160708 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.96 [[ 9.99337722e-01 6.09310184e-06 -3.63884304e-02 9.09683529e-01] [-2.14295084e-04 9.99983631e-01 -5.71775579e-03 1.25721676e-01] [ 3.63877999e-02 5.72176691e-03 9.99321364e-01 9.63817394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.812557844 meters Centerline goodness : 0.144165 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:0.97 [[ 0.99933467 -0.00750299 -0.0356921 0.92869032] [ 0.00733445 0.99996134 -0.00485084 0.13484515] [ 0.03572711 0.00458584 0.99935106 0.96589839] [ 0. 0. 0. 1. ]] SLAMing on 114.842557844 meters Centerline goodness : 0.135880 Centerline is valid? [False, False] Translation: X:0.93, Y:0.14, Z:0.97 [[ 0.99933832 -0.00758922 -0.03557132 0.92825622] [ 0.00741569 0.99995996 -0.00500799 0.13557595] [ 0.0356079 0.00474089 0.99935459 0.96606777] [ 0. 0. 0. 1. ]] SLAMing on 114.872557844 meters Centerline goodness : 0.141508 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.96 [[ 9.99362163e-01 8.14577014e-05 -3.57107985e-02 9.07948971e-01] [-2.90575421e-04 9.99982842e-01 -5.85071706e-03 1.29969402e-01] [ 3.57097091e-02 5.85736193e-03 9.99345040e-01 9.64872822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.902557844 meters Centerline goodness : 0.139773 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.97 [[ 9.99361141e-01 4.01809237e-05 -3.57394462e-02 9.07832226e-01] [-2.49076518e-04 9.99982913e-01 -5.84052576e-03 1.29866320e-01] [ 3.57386009e-02 5.84569634e-03 9.99344075e-01 9.65192687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.932557844 meters Centerline goodness : 0.136530 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:0.97 [[ 0.99934562 -0.00762808 -0.03535741 0.92747942] [ 0.00746652 0.99996108 -0.00469894 0.13474487] [ 0.03539188 0.00443187 0.99936368 0.96725383] [ 0. 0. 0. 1. ]] SLAMing on 114.962557844 meters Centerline goodness : 0.138644 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:0.97 [[ 0.99934515 -0.00762672 -0.03537098 0.92735749] [ 0.00746781 0.99996143 -0.00462245 0.13434379] [ 0.03540487 0.00435528 0.99936356 0.96753955] [ 0. 0. 0. 1. ]] SLAMing on 114.992557844 meters Centerline goodness : 0.147669 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 9.99511113e-01 4.56402134e-04 -3.12622240e-02 9.43925246e-01] [-6.40175303e-04 9.99982574e-01 -5.86868513e-03 1.31644988e-01] [ 3.12590007e-02 5.88582931e-03 9.99493988e-01 9.68902498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.022557844 meters Centerline goodness : 0.153598 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 9.99524152e-01 4.83857917e-04 -3.08421088e-02 9.42250536e-01] [-6.64487745e-04 9.99982688e-01 -5.84661738e-03 1.31694989e-01] [ 3.08387459e-02 5.86432948e-03 9.99507169e-01 9.69920540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.052557844 meters Centerline goodness : 0.134157 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 9.99533127e-01 4.91241480e-04 -3.05497405e-02 9.41213055e-01] [-6.72080900e-04 9.99982313e-01 -5.90952097e-03 1.32052958e-01] [ 3.05462972e-02 5.92729387e-03 9.99515778e-01 9.70414775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08255784400001 meters Centerline goodness : 0.134157 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 9.99533127e-01 4.91241480e-04 -3.05497405e-02 9.41213055e-01] [-6.72080900e-04 9.99982313e-01 -5.90952097e-03 1.32052958e-01] [ 3.05462972e-02 5.92729387e-03 9.99515778e-01 9.70414775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11255784400001 meters Centerline goodness : 0.154740 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 9.99521706e-01 6.28610323e-04 -3.09186537e-02 9.42645988e-01] [-8.20823125e-04 9.99980415e-01 -6.20442665e-03 1.34007399e-01] [ 3.09141480e-02 6.22683785e-03 9.99502647e-01 9.69445789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14255784400001 meters Centerline goodness : 0.146138 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:0.97 [[ 9.99511330e-01 6.18056040e-04 -3.12525051e-02 9.43983222e-01] [-8.20019935e-04 9.99978863e-01 -6.44992262e-03 1.35487466e-01] [ 3.12478581e-02 6.47239841e-03 9.99490710e-01 9.68510590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17255784400001 meters Centerline goodness : 0.157088 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:0.97 [[ 9.99505899e-01 5.77087307e-04 -3.14265050e-02 9.44769742e-01] [-7.88432312e-04 9.99977156e-01 -6.71307939e-03 1.36916457e-01] [ 3.14219131e-02 6.73454012e-03 9.99483521e-01 9.67872418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.202557844 meters Centerline goodness : 0.147208 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:0.97 [[ 9.99504425e-01 5.36119250e-04 -3.14740609e-02 9.44867386e-01] [-7.55436378e-04 9.99975516e-01 -6.95670886e-03 1.38164834e-01] [ 3.14695607e-02 6.97703794e-03 9.99480359e-01 9.67853916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.232557844 meters Centerline goodness : 0.145466 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:0.97 [[ 9.99514665e-01 4.65049894e-04 -3.11483097e-02 9.43738322e-01] [-6.94007720e-04 9.99972820e-01 -7.34016205e-03 1.40104884e-01] [ 3.11440495e-02 7.35821678e-03 9.99487821e-01 9.68316579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.262557844 meters Centerline goodness : 0.153015 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:0.97 [[ 9.99517008e-01 3.86517829e-04 -3.10741360e-02 9.43640070e-01] [-6.21628783e-04 9.99971254e-01 -7.55682550e-03 1.41176834e-01] [ 3.10703219e-02 7.57249219e-03 9.99488515e-01 9.68099252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.292557844 meters Centerline goodness : 0.144539 Centerline is valid? [False, False] Translation: X:0.97, Y:0.15, Z:0.97 [[ 0.99950964 -0.00486207 -0.03093293 0.96651651] [ 0.00472399 0.99997856 -0.00453524 0.14510203] [ 0.03095432 0.00438689 0.99951117 0.96811469] [ 0. 0. 0. 1. ]] SLAMing on 115.322557844 meters Centerline goodness : 0.124338 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.9994897 0.00318919 -0.03178314 0.94632091] [-0.00335949 0.99998028 -0.0053062 0.13989542] [ 0.03176559 0.00541027 0.9994807 0.96663876] [ 0. 0. 0. 1. ]] SLAMing on 115.352557844 meters Centerline goodness : 0.155474 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99948295 0.00304876 -0.03200835 0.94698857] [-0.00322437 0.99998002 -0.00543633 0.13998028] [ 0.03199114 0.00553673 0.99947282 0.96652353] [ 0. 0. 0. 1. ]] SLAMing on 115.382557844 meters Centerline goodness : 0.151204 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99948027 0.00301709 -0.03209506 0.94722352] [-0.00319394 0.99997999 -0.00546025 0.13995467] [ 0.03207794 0.00555993 0.99946991 0.96652219] [ 0. 0. 0. 1. ]] SLAMing on 115.412557844 meters Centerline goodness : 0.149850 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99948285 0.00300229 -0.03201577 0.94695033] [-0.00317919 0.99997995 -0.00547596 0.14001853] [ 0.03199868 0.00557492 0.99947236 0.96663242] [ 0. 0. 0. 1. ]] SLAMing on 115.442557844 meters Centerline goodness : 0.145631 Centerline is valid? [False, False] Translation: X:0.97, Y:0.15, Z:0.97 [[ 0.99950031 -0.00470578 -0.03125663 0.96646537] [ 0.00456664 0.99997935 -0.00452141 0.14558528] [ 0.03127726 0.00437642 0.99950117 0.96824717] [ 0. 0. 0. 1. ]] SLAMing on 115.47255784400001 meters Centerline goodness : 0.139620 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99949718 0.00276574 -0.03158685 0.94735123] [-0.00294826 0.99997922 -0.00573316 0.13921545] [ 0.03157034 0.00582341 0.99948457 0.96623791] [ 0. 0. 0. 1. ]] SLAMing on 115.50255784400001 meters Centerline goodness : 0.146706 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99948203 0.0026745 -0.03207057 0.94881567] [-0.00285877 0.99997966 -0.00570133 0.13850039] [ 0.03205467 0.00579006 0.99946935 0.9658591 ] [ 0. 0. 0. 1. ]] SLAMing on 115.53255784400001 meters Centerline goodness : 0.147251 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99947298 0.00264947 -0.03235325 0.94985941] [-0.00283585 0.99997964 -0.00571617 0.13852969] [ 0.03233745 0.0058049 0.99946015 0.96532376] [ 0. 0. 0. 1. ]] SLAMing on 115.562557844 meters Centerline goodness : 0.144534 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.96 [[ 0.99946534 0.00264534 -0.03258896 0.95066665] [-0.00283297 0.99997967 -0.00571248 0.13857115] [ 0.03257319 0.00580174 0.99945251 0.96493783] [ 0. 0. 0. 1. ]] SLAMing on 115.592557844 meters Centerline goodness : 0.150641 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.96 [[ 0.99946374 0.00264885 -0.03263751 0.95090552] [-0.00283299 0.99998032 -0.00559702 0.13791655] [ 0.03262204 0.00568648 0.99945158 0.96478042] [ 0. 0. 0. 1. ]] SLAMing on 115.622557844 meters Centerline goodness : 0.151984 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99946651 0.00268339 -0.03254989 0.9503008 ] [-0.00286225 0.99998106 -0.00544938 0.13715831] [ 0.03253465 0.00553964 0.99945526 0.96545406] [ 0. 0. 0. 1. ]] SLAMing on 115.652557844 meters Centerline goodness : 0.155895 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99947148 0.00271152 -0.03239444 0.9495811 ] [-0.00288453 0.99998182 -0.00529547 0.13633423] [ 0.03237949 0.00538611 0.99946113 0.96602927] [ 0. 0. 0. 1. ]] SLAMing on 115.682557844 meters Centerline goodness : 0.135634 Centerline is valid? [False, False] Translation: X:0.97, Y:0.14, Z:0.97 [[ 0.99945881 -0.00493572 -0.03252262 0.96911772] [ 0.00480195 0.99997969 -0.00418988 0.140247 ] [ 0.03254264 0.00403144 0.99946222 0.96813762] [ 0. 0. 0. 1. ]] SLAMing on 115.712557844 meters Centerline goodness : 0.138420 Centerline is valid? [False, False] Translation: X:0.97, Y:0.14, Z:0.97 [[ 0.99944823 -0.00486087 -0.03285744 0.9702749 ] [ 0.0047382 0.99998152 -0.00381025 0.13828463] [ 0.03287535 0.00365246 0.99945279 0.96763563] [ 0. 0. 0. 1. ]] SLAMing on 115.742557844 meters Centerline goodness : 0.143909 Centerline is valid? [False, False] Translation: X:0.97, Y:0.14, Z:0.97 [[ 0.99944447 -0.0047924 -0.03298145 0.97057843] [ 0.00467479 0.99998244 -0.00364227 0.13747778] [ 0.03299833 0.00348607 0.99944933 0.96768287] [ 0. 0. 0. 1. ]] SLAMing on 115.772557844 meters Centerline goodness : 0.148251 Centerline is valid? [False, False] Translation: X:0.97, Y:0.14, Z:0.97 [[ 0.99944561 -0.00475424 -0.03295248 0.97042611] [ 0.00463865 0.99998282 -0.0035833 0.13725859] [ 0.03296895 0.00342846 0.9994505 0.9677994 ] [ 0. 0. 0. 1. ]] SLAMing on 115.802557844 meters Centerline goodness : 0.122299 Centerline is valid? [False, False] Translation: X:0.97, Y:0.14, Z:0.97 [[ 0.99944632 -0.00473346 -0.03293386 0.97018455] [ 0.00461642 0.99998276 -0.00362885 0.1376228 ] [ 0.03295047 0.0034748 0.99945095 0.96810435] [ 0. 0. 0. 1. ]] SLAMing on 115.83255784400001 meters Centerline goodness : 0.153714 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 0.99935123 -0.00481592 -0.03569206 0.92409382] [ 0.00472316 0.99998525 -0.00268252 0.13475462] [ 0.03570445 0.0025122 0.99935924 0.96876411] [ 0. 0. 0. 1. ]] SLAMing on 115.86255784400001 meters Centerline goodness : 0.147944 Centerline is valid? [False, False] Translation: X:0.95, Y:0.13, Z:0.97 [[ 0.99936821 0.00535292 -0.03513588 0.94640219] [-0.00546052 0.99998069 -0.00296725 0.13451619] [ 0.03511932 0.00315724 0.99937814 0.96933377] [ 0. 0. 0. 1. ]] SLAMing on 115.89255784400001 meters Centerline goodness : 0.151156 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99371904e-01 -1.95474097e-03 -3.53832806e-02 9.23456576e-01] [ 1.93153165e-03 9.99997896e-01 -6.90111298e-04 1.37900879e-01] [ 3.53845552e-02 6.21333916e-04 9.99373577e-01 9.68689352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92255784400001 meters Centerline goodness : 0.149139 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:0.97 [[ 0.99939826 0.0074257 -0.03388187 0.94466916] [-0.00747853 0.99997101 -0.0014327 0.13764893] [ 0.03387025 0.00168522 0.99942482 0.96948757] [ 0. 0. 0. 1. ]] SLAMing on 115.952557844 meters Centerline goodness : 0.142218 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99450085e-01 -5.69449279e-04 -3.31542433e-02 9.22471637e-01] [ 5.76299165e-04 9.99999815e-01 1.97050982e-04 1.42149124e-01] [ 3.31541249e-02 -2.16049383e-04 9.99450228e-01 9.67857837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.982557844 meters Centerline goodness : 0.138640 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99466450e-01 -5.96804501e-04 -3.26566781e-02 9.20822459e-01] [ 5.94764831e-04 9.99999821e-01 -7.21720726e-05 1.43630952e-01] [ 3.26567153e-02 5.27105216e-05 9.99466626e-01 9.68472898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.012557844 meters Centerline goodness : 0.148493 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99468877e-01 -6.40976843e-04 -3.25814965e-02 9.20428278e-01] [ 6.35325338e-04 9.99999781e-01 -1.83809884e-04 1.44172283e-01] [ 3.25816072e-02 1.63012408e-04 9.99469065e-01 9.68776736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.042557844 meters Centerline goodness : 0.148859 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99474789e-01 -6.60375813e-04 -3.23992333e-02 9.19912995e-01] [ 6.53174813e-04 9.99999760e-01 -2.32841797e-04 1.44492782e-01] [ 3.23993793e-02 2.11557142e-04 9.99474980e-01 9.68834447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.072557844 meters Centerline goodness : 0.132116 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:0.97 [[ 9.99482985e-01 -6.82315637e-04 -3.21449284e-02 9.19135569e-01] [ 6.72759667e-04 9.99999726e-01 -3.08092440e-04 1.45075140e-01] [ 3.21451298e-02 2.86307341e-04 9.99483171e-01 9.69015856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.102557844 meters Centerline goodness : 0.148355 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:0.97 [[ 9.99486999e-01 -7.02803009e-04 -3.20194388e-02 9.18764206e-01] [ 6.92330315e-04 9.99999703e-01 -3.38158684e-04 1.45259935e-01] [ 3.20196670e-02 3.15817180e-04 9.99487189e-01 9.69098395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.132557844 meters Centerline goodness : 0.144807 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99486068e-01 -8.07427996e-04 -3.20460330e-02 9.18792624e-01] [ 7.97523693e-04 9.99999630e-01 -3.21845684e-04 1.44733666e-01] [ 3.20462810e-02 2.96122807e-04 9.99486342e-01 9.69221853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.162557844 meters Centerline goodness : 0.153674 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99483550e-01 -7.80551478e-04 -3.21251332e-02 9.18790076e-01] [ 7.76332382e-04 9.99999688e-01 -1.43806102e-04 1.43761435e-01] [ 3.21252354e-02 1.18792052e-04 9.99483844e-01 9.69568217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.192557844 meters Centerline goodness : 0.160080 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99488836e-01 -1.05433575e-03 -3.19523974e-02 9.18010086e-01] [ 1.06047995e-03 9.99999422e-01 1.75346363e-04 1.41144410e-01] [ 3.19521940e-02 -2.09141609e-04 9.99489376e-01 9.70353533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22255784400001 meters Centerline goodness : 0.150686 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99487387e-01 -9.71707198e-04 -3.20003076e-02 9.17993489e-01] [ 9.91999850e-04 9.99999317e-01 6.18269173e-04 1.38846637e-01] [ 3.19996849e-02 -6.49696541e-04 9.99487668e-01 9.70668978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25255784400001 meters Centerline goodness : 0.135181 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99481366e-01 -8.84257488e-04 -3.21903129e-02 9.18519758e-01] [ 9.18007490e-04 9.99999044e-01 1.03368793e-03 1.36638495e-01] [ 3.21893681e-02 -1.06270277e-03 9.99481223e-01 9.70669276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28255784400001 meters Centerline goodness : 0.156330 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99476019e-01 -8.07768451e-04 -3.23579050e-02 9.19209609e-01] [ 8.51669445e-04 9.99998736e-01 1.34297190e-03 1.34917828e-01] [ 3.23567793e-02 -1.36982645e-03 9.99475444e-01 9.70297307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.312557844 meters Centerline goodness : 0.148662 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99468571e-01 -7.60376785e-04 -3.25883162e-02 9.20184264e-01] [ 8.10007878e-04 9.99998532e-01 1.50979715e-03 1.33972811e-01] [ 3.25871204e-02 -1.53539159e-03 9.99467719e-01 9.69692170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.342557844 meters Centerline goodness : 0.146541 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:0.97 [[ 0.99936242 -0.00154985 -0.03567016 0.87567835] [ 0.0016263 0.99999644 0.00211437 0.13018207] [ 0.03566676 -0.00217104 0.99936138 0.96925172] [ 0. 0. 0. 1. ]] SLAMing on 116.372557844 meters Centerline goodness : 0.161030 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:0.97 [[ 0.99933234 0.00796238 -0.03565771 0.89831867] [-0.00790602 0.99996727 0.00172116 0.12824817] [ 0.03567024 -0.0014381 0.99936258 0.96988955] [ 0. 0. 0. 1. ]] SLAMing on 116.402557844 meters Centerline goodness : 0.152753 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:0.97 [[ 0.99932733 0.00789142 -0.0358136 0.89904575] [-0.00784435 0.99996817 0.00145457 0.12959767] [ 0.03582394 -0.00117265 0.99935743 0.96937114] [ 0. 0. 0. 1. ]] SLAMing on 116.432557844 meters Centerline goodness : 0.161079 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:0.97 [[ 9.99324854e-01 7.76539165e-03 -3.59101009e-02 8.99489364e-01] [-7.73167656e-03 9.99969529e-01 1.07764916e-03 1.31372228e-01] [ 3.59173750e-02 -7.99276307e-04 9.99354443e-01 9.69010736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.462557844 meters Centerline goodness : 0.126617 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:0.97 [[ 9.99332178e-01 7.70874734e-03 -3.57179711e-02 8.98930129e-01] [-7.68370203e-03 9.99970128e-01 8.38412425e-04 1.32581948e-01] [ 3.57233673e-02 -5.63406268e-04 9.99361558e-01 9.69113456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.492557844 meters Centerline goodness : 0.141876 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:0.97 [[ 9.99347052e-01 7.60072270e-03 -3.53227806e-02 8.97650233e-01] [-7.59232190e-03 9.99971109e-01 3.71958065e-04 1.34936130e-01] [ 3.53245872e-02 -1.03533275e-04 9.99375887e-01 9.69566126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.522557844 meters Centerline goodness : 0.149784 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:0.97 [[ 9.99343343e-01 7.49657647e-03 -3.54497375e-02 8.98319901e-01] [-7.49656069e-03 9.99971892e-01 1.33364420e-04 1.35949245e-01] [ 3.54497408e-02 1.32474263e-04 9.99371452e-01 9.68958799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.552557844 meters Centerline goodness : 0.146582 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:0.97 [[ 9.99337425e-01 7.39303131e-03 -3.56378265e-02 8.99208529e-01] [-7.40229118e-03 9.99972594e-01 -1.27895056e-04 1.37137776e-01] [ 3.56359043e-02 3.91611884e-04 9.99364763e-01 9.68211919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58255784400001 meters Centerline goodness : 0.124104 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:0.97 [[ 9.99336020e-01 7.33568719e-03 -3.56890263e-02 8.99521058e-01] [-7.35028948e-03 9.99972948e-01 -2.77965035e-04 1.37844971e-01] [ 3.56860218e-02 5.40105147e-04 9.99362905e-01 9.67889458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61255784400001 meters Centerline goodness : 0.144428 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99424479e-01 2.04371509e-05 -3.39221257e-02 9.16626213e-01] [ 2.16354090e-05 9.99999231e-01 1.23990144e-03 1.43018929e-01] [ 3.39221250e-02 -1.23992177e-03 9.99423710e-01 9.70693761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64255784400001 meters Centerline goodness : 0.149750 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99433188e-01 1.04700035e-04 -3.36644023e-02 9.15437484e-01] [-5.66470921e-05 9.99998978e-01 1.42836174e-03 1.42308155e-01] [ 3.36645175e-02 -1.42564514e-03 9.99432173e-01 9.71630014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67255784400001 meters Centerline goodness : 0.145958 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.97 [[ 9.99441391e-01 1.69825220e-04 -3.34196968e-02 9.14458464e-01] [-1.15198878e-04 9.99998654e-01 1.63647397e-03 1.41343124e-01] [ 3.34199298e-02 -1.63170991e-03 9.99440066e-01 9.72287596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.702557844 meters Centerline goodness : 0.147921 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.97 [[ 9.99443234e-01 2.61462827e-04 -3.33639565e-02 9.14091865e-01] [-1.90018405e-04 9.99997682e-01 2.14451819e-03 1.38409245e-01] [ 3.33644399e-02 -2.13698443e-03 9.99440967e-01 9.72767952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.732557844 meters Centerline goodness : 0.137233 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99433534e-01 3.50629455e-04 -3.36524714e-02 9.15054204e-01] [-2.66210842e-04 9.99996807e-01 2.51298910e-03 1.36296207e-01] [ 3.36532450e-02 -2.50260692e-03 9.99430436e-01 9.72429134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.762557844 meters Centerline goodness : 0.161760 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99418114e-01 4.27238605e-04 -3.41064707e-02 9.16578151e-01] [-3.30327599e-04 9.99995893e-01 2.84701005e-03 1.34424898e-01] [ 3.41075470e-02 -2.83408711e-03 9.99414150e-01 9.71853081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.792557844 meters Centerline goodness : 0.156111 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99408522e-01 5.29403420e-04 -3.43849746e-02 9.17695245e-01] [-4.23051871e-04 9.99995105e-01 3.10016757e-03 1.33243478e-01] [ 3.43864476e-02 -3.08378726e-03 9.99403854e-01 9.71206009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.822557844 meters Centerline goodness : 0.160508 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99411225e-01 7.15538757e-04 -3.43029439e-02 9.17494597e-01] [-6.00241163e-04 9.99994137e-01 3.37133762e-03 1.32442721e-01] [ 3.43051551e-02 -3.34876262e-03 9.99405795e-01 9.71213239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.852557844 meters Centerline goodness : 0.139212 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99416119e-01 7.42717103e-04 -3.41594731e-02 9.16873424e-01] [-6.27129538e-04 9.99994043e-01 3.39435297e-03 1.32322162e-01] [ 3.41617906e-02 -3.37094865e-03 9.99410631e-01 9.71621840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.882557844 meters Centerline goodness : 0.140351 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99422303e-01 7.64396183e-04 -3.39775711e-02 9.16165646e-01] [-6.48032332e-04 9.99993888e-01 3.43560596e-03 1.32135228e-01] [ 3.39799896e-02 -3.41160266e-03 9.99416691e-01 9.72038112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.912557844 meters Centerline goodness : 0.143550 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.9994278 0.00954142 -0.03245033 0.93589592] [-0.00947285 0.99995256 0.00226604 0.12994535] [ 0.03247042 -0.00195734 0.99947078 0.97313101] [ 0. 0. 0. 1. ]] SLAMing on 116.942557844 meters Centerline goodness : 0.158661 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99943296 0.00953931 -0.03229189 0.93601128] [-0.00947341 0.99995272 0.00219332 0.13045645] [ 0.03231128 -0.00188617 0.99947607 0.97229496] [ 0. 0. 0. 1. ]] SLAMing on 116.97255784400001 meters Centerline goodness : 0.158661 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99943296 0.00953931 -0.03229189 0.93601128] [-0.00947341 0.99995272 0.00219332 0.13045645] [ 0.03231128 -0.00188617 0.99947607 0.97229496] [ 0. 0. 0. 1. ]] SLAMing on 117.00255784400001 meters Centerline goodness : 0.142277 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99432215e-01 3.06939813e-04 -3.36920354e-02 9.16430733e-01] [-2.09739365e-04 9.99995806e-01 2.88846445e-03 1.34690466e-01] [ 3.36927807e-02 -2.87975788e-03 9.99428088e-01 9.70792864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03255784400001 meters Centerline goodness : 0.129402 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.9994165 0.00879789 -0.03300392 0.93666528] [-0.00875196 0.99996052 0.00153587 0.13217818] [ 0.03301613 -0.00124613 0.99945404 0.97210747] [ 0. 0. 0. 1. ]] SLAMing on 117.062557844 meters Centerline goodness : 0.138667 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99941425 0.00879641 -0.03307249 0.93679025] [-0.00874907 0.99996048 0.00157571 0.1319462 ] [ 0.03308504 -0.00128543 0.99945171 0.97216795] [ 0. 0. 0. 1. ]] SLAMing on 117.092557844 meters Centerline goodness : 0.146703 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99941846 0.00884632 -0.03293143 0.93641555] [-0.00879345 0.99995981 0.00174989 0.13121106] [ 0.03294559 -0.00145929 0.99945608 0.97211778] [ 0. 0. 0. 1. ]] SLAMing on 117.122557844 meters Centerline goodness : 0.148887 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99945084 0.00479305 -0.03278799 0.93617517] [-0.00486549 0.9999859 -0.00212987 0.13125961] [ 0.03277732 0.00228823 0.99946006 0.97185947] [ 0. 0. 0. 1. ]] SLAMing on 117.152557844 meters Centerline goodness : 0.160926 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.9994378 0.00476248 -0.03318731 0.93718571] [-0.0048265 0.99998664 -0.00184913 0.1293559 ] [ 0.03317806 0.00200827 0.99944744 0.97188662] [ 0. 0. 0. 1. ]] SLAMing on 117.182557844 meters Centerline goodness : 0.138157 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99942617 0.00480867 -0.03352916 0.93813673] [-0.00486167 0.99998706 -0.00149943 0.12734841] [ 0.03352152 0.00166157 0.99943661 0.97180097] [ 0. 0. 0. 1. ]] SLAMing on 117.212557844 meters Centerline goodness : 0.154974 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99942096 0.00492708 -0.0336669 0.93842836] [-0.00496693 0.99998706 -0.00110019 0.12535654] [ 0.03366104 0.00126677 0.9994325 0.97189532] [ 0. 0. 0. 1. ]] SLAMing on 117.242557844 meters Centerline goodness : 0.153097 Centerline is valid? [False, False] Translation: X:0.96, Y:0.13, Z:0.97 [[ 9.99494151e-01 -3.49538722e-03 -3.16104975e-02 9.59272450e-01] [ 3.48575110e-03 9.99993860e-01 -3.59941164e-04 1.25397134e-01] [ 3.16115616e-02 2.49572761e-04 9.99500199e-01 9.72579088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.272557844 meters Centerline goodness : 0.142128 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:0.97 [[ 9.99497168e-01 -3.32148379e-03 -3.15337645e-02 9.58909656e-01] [ 3.32719673e-03 9.99994457e-01 1.28697759e-04 1.23053769e-01] [ 3.15331623e-02 -2.33552084e-04 9.99502679e-01 9.72904456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.302557844 meters Centerline goodness : 0.137976 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:0.97 [[ 9.99494944e-01 -3.12744242e-03 -3.16239666e-02 9.59226000e-01] [ 3.14972729e-03 9.99994825e-01 6.54891625e-04 1.20459211e-01] [ 3.16217548e-02 -7.54167739e-04 9.99499623e-01 9.72836229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33255784400001 meters Centerline goodness : 0.212568 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:0.97 [[ 0.99948629 -0.00298758 -0.03190987 0.96021421] [ 0.00302227 0.99999489 0.00103912 0.11839136] [ 0.03190661 -0.00113503 0.99949021 0.97243459] [ 0. 0. 0. 1. ]] SLAMing on 117.36255784400001 meters Centerline goodness : 0.144992 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:0.97 [[ 0.99947191 -0.00270351 -0.03238209 0.96164601] [ 0.00276036 0.99999473 0.00171092 0.11502557] [ 0.03237729 -0.0017994 0.9994741 0.9721498 ] [ 0. 0. 0. 1. ]] SLAMing on 117.39255784400001 meters Centerline goodness : 0.148990 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:0.97 [[ 0.99947539 -0.00248541 -0.03229202 0.96103513] [ 0.00255681 0.99999438 0.00217007 0.1130742 ] [ 0.03228645 -0.0022515 0.99947612 0.97279861] [ 0. 0. 0. 1. ]] SLAMing on 117.42255784400001 meters Centerline goodness : 0.150540 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:0.97 [[ 0.99948167 -0.00226146 -0.03211358 0.96010967] [ 0.0023479 0.99999372 0.00265424 0.11100363] [ 0.03210737 -0.00272827 0.9994807 0.97359459] [ 0. 0. 0. 1. ]] SLAMing on 117.452557844 meters Centerline goodness : 0.142829 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:0.97 [[ 0.99948638 -0.00208632 -0.03197861 0.95956716] [ 0.00218463 0.99999299 0.00303944 0.10932233] [ 0.03197204 -0.00310774 0.99948393 0.97395127] [ 0. 0. 0. 1. ]] SLAMing on 117.482557844 meters Centerline goodness : 0.140005 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:0.97 [[ 0.9994841 -0.00195734 -0.03205784 0.95988438] [ 0.00206562 0.99999227 0.003345 0.10788845] [ 0.03205105 -0.0034095 0.99948042 0.97377778] [ 0. 0. 0. 1. ]] SLAMing on 117.512557844 meters Centerline goodness : 0.161383 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:0.98 [[ 0.99944523 0.00676564 -0.03261082 0.98131774] [-0.00668915 0.99997462 0.00245395 0.1013606 ] [ 0.03262659 -0.00223445 0.99946511 0.97528772] [ 0. 0. 0. 1. ]] SLAMing on 117.542557844 meters Centerline goodness : 0.196502 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:0.98 [[ 0.99943996 0.00684862 -0.03275463 0.98143124] [-0.00676673 0.9999737 0.00261041 0.10045641] [ 0.03277164 -0.00238731 0.99946001 0.97581782] [ 0. 0. 0. 1. ]] SLAMing on 117.572557844 meters Centerline goodness : 0.080226 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:0.98 [[ 0.99944011 0.0069083 -0.03273737 0.98108552] [-0.00682287 0.99997302 0.0027208 0.09989404] [ 0.03275528 -0.00249592 0.99946029 0.97639665] [ 0. 0. 0. 1. ]] SLAMing on 117.602557844 meters Centerline goodness : 0.166333 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:0.98 [[ 0.99943942 0.00698843 -0.0327414 0.98087926] [-0.00689939 0.99997219 0.00283173 0.09942758] [ 0.03276028 -0.00260425 0.99945985 0.97678644] [ 0. 0. 0. 1. ]] SLAMing on 117.632557844 meters Centerline goodness : 0.123680 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:0.98 [[ 0.99943856 0.00715368 -0.03273196 0.98096258] [-0.00705765 0.99997045 0.00304839 0.09872131] [ 0.0327528 -0.00281567 0.99945952 0.97668677] [ 0. 0. 0. 1. ]] SLAMing on 117.662557844 meters SLAMing on 117.692557844 meters Centerline goodness : 0.123456 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:0.98 [[ 9.99464372e-01 3.70791341e-03 -3.25149118e-02 9.81034062e-01] [-3.71675450e-03 9.99993070e-01 -2.11471661e-04 9.69383121e-02] [ 3.25139023e-02 3.32208335e-04 9.99471228e-01 9.75843726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72255784400001 meters Centerline goodness : 0.157511 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:0.98 [[ 9.99462346e-01 3.87037327e-03 -3.25582397e-02 9.81190994e-01] [-3.86423256e-03 9.99992502e-01 2.51527914e-04 9.46866900e-02] [ 3.25589691e-02 -1.25580068e-04 9.99469808e-01 9.75784367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75255784400001 meters Centerline goodness : 0.141155 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:0.98 [[ 0.99949819 -0.00413594 -0.03140493 1.0012017 ] [ 0.00418584 0.99999008 0.00152335 0.09842079] [ 0.03139832 -0.00165404 0.99950558 0.97624754] [ 0. 0. 0. 1. ]] SLAMing on 117.78255784400001 meters Centerline goodness : 0.154645 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:0.98 [[ 0.99950126 -0.00396194 -0.03132955 1.00081666] [ 0.00402727 0.99998985 0.00202245 0.09598216] [ 0.03132122 -0.00214761 0.99950706 0.9766425 ] [ 0. 0. 0. 1. ]] SLAMing on 117.812557844 meters Centerline goodness : 0.151442 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:0.98 [[ 0.99949521 -0.00377833 -0.03154429 1.0011898 ] [ 0.00386659 0.99998878 0.00273753 0.09185238] [ 0.0315336 -0.00285812 0.99949861 0.97703196] [ 0. 0. 0. 1. ]] SLAMing on 117.842557844 meters Centerline goodness : 0.219632 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:0.98 [[ 0.99949182 -0.00364757 -0.03166698 1.00163016] [ 0.00374592 0.99998834 0.00304688 0.09041523] [ 0.03165549 -0.00316396 0.99949383 0.9768267 ] [ 0. 0. 0. 1. ]] SLAMing on 117.872557844 meters Centerline goodness : 0.111732 Centerline is valid? [False, False] Translation: X:0.96, Y:0.09, Z:0.98 [[ 0.99940104 -0.0040884 -0.03436354 0.95708858] [ 0.00424781 0.99998055 0.00456728 0.08541144] [ 0.0343442 -0.00471051 0.99939896 0.97657753] [ 0. 0. 0. 1. ]] SLAMing on 117.902557844 meters Centerline goodness : 0.116620 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:0.98 [[ 0.99948117 -0.00223397 -0.03213086 1.00072714] [ 0.0023837 0.99998647 0.00462264 0.08654889] [ 0.0321201 -0.00469683 0.99947298 0.9771547 ] [ 0. 0. 0. 1. ]] SLAMing on 117.932557844 meters Centerline goodness : 0.161065 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:0.97 [[ 0.99948174 0.00489321 -0.03181693 0.98165904] [-0.00478308 0.99998231 0.00353662 0.0794978 ] [ 0.03183367 -0.0033826 0.99948746 0.97498853] [ 0. 0. 0. 1. ]] SLAMing on 117.962557844 meters Centerline goodness : 0.160786 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:0.98 [[ 0.99947285 0.00502418 -0.03207474 0.98234825] [-0.00490666 0.99998096 0.00374141 0.07846434] [ 0.03209293 -0.00358206 0.99947847 0.97505681] [ 0. 0. 0. 1. ]] SLAMing on 117.992557844 meters Centerline goodness : 0.082118 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:0.97 [[ 0.99946223 0.00521308 -0.03237405 0.98344013] [-0.00508472 0.99997889 0.00404603 0.07719683] [ 0.03239446 -0.00387924 0.99946763 0.97462819] [ 0. 0. 0. 1. ]] SLAMing on 118.022557844 meters Centerline goodness : 0.157448 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:0.97 [[ 0.99945148 0.00538953 -0.03267558 0.98460598] [-0.00525092 0.99997685 0.0043264 0.07604668] [ 0.03269814 -0.00415245 0.99945665 0.97410058] [ 0. 0. 0. 1. ]] SLAMing on 118.052557844 meters Centerline goodness : 0.056596 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 0.99943781 0.00562023 -0.03305271 0.985991 ] [-0.00546565 0.99997371 0.00476549 0.07393606] [ 0.03307863 -0.00458216 0.99944225 0.97364884] [ 0. 0. 0. 1. ]] SLAMing on 118.08255784400001 meters Centerline goodness : 0.159163 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 0.99943597 0.00568325 -0.03309755 0.98587371] [-0.0055256 0.99997296 0.00485265 0.07352535] [ 0.03312423 -0.00466703 0.99944035 0.97408282] [ 0. 0. 0. 1. ]] SLAMing on 118.11255784400001 meters Centerline goodness : 0.160407 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 0.99943667 0.00572953 -0.03306838 0.98549893] [-0.00557057 0.99997249 0.00489701 0.07335156] [ 0.03309553 -0.00471004 0.99944109 0.9746317 ] [ 0. 0. 0. 1. ]] SLAMing on 118.14255784400001 meters Centerline goodness : 0.088916 Centerline is valid? [False, False] Translation: X:1.00, Y:0.07, Z:0.98 [[ 0.99935998 0.01446404 -0.03271735 1.00424996] [-0.01434156 0.99988925 0.00397504 0.06771656] [ 0.03277122 -0.00350328 0.99945674 0.97639526] [ 0. 0. 0. 1. ]] SLAMing on 118.17255784400001 meters Centerline goodness : 0.160635 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.98 [[ 0.99935083 0.014222 -0.03310064 1.00514055] [-0.01411997 0.99989482 0.00331411 0.06995845] [ 0.03314429 -0.00284457 0.99944653 0.9767478 ] [ 0. 0. 0. 1. ]] SLAMing on 118.202557844 meters Centerline goodness : 0.157018 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.98 [[ 0.9993506 0.01412805 -0.03314781 1.00515143] [-0.01403498 0.99989689 0.00303887 0.07106612] [ 0.03318732 -0.00257167 0.99944584 0.97693953] [ 0. 0. 0. 1. ]] SLAMing on 118.232557844 meters Centerline goodness : 0.139819 Centerline is valid? [False, False] Translation: X:1.00, Y:0.07, Z:0.98 [[ 0.99935886 0.01406023 -0.03292699 1.00453162] [-0.01397335 0.99989826 0.00286707 0.0720722 ] [ 0.03296395 -0.00240513 0.99945365 0.9769659 ] [ 0. 0. 0. 1. ]] SLAMing on 118.262557844 meters Centerline goodness : 0.142344 Centerline is valid? [False, False] Translation: X:1.00, Y:0.07, Z:0.98 [[ 0.99936966 0.0140259 -0.03261233 1.00377488] [-0.0139411 0.99989882 0.00282631 0.07269851] [ 0.03264867 -0.00236988 0.99946408 0.97673181] [ 0. 0. 0. 1. ]] SLAMing on 118.292557844 meters Centerline goodness : 0.159389 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.97 [[ 0.99948227 0.00586661 -0.03163515 0.98596203] [-0.00575799 0.99997721 0.00352354 0.08019525] [ 0.03165511 -0.00333956 0.99949327 0.97451162] [ 0. 0. 0. 1. ]] SLAMing on 118.322557844 meters Centerline goodness : 0.107933 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.97 [[ 0.99948309 0.00574641 -0.03163128 0.98599495] [-0.00564501 0.99997864 0.0032941 0.08116134] [ 0.03164953 -0.00311384 0.99949418 0.97437037] [ 0. 0. 0. 1. ]] SLAMing on 118.352557844 meters Centerline goodness : 0.154480 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:0.98 [[ 0.9994762 -0.00173849 -0.03231577 1.00498533] [ 0.00186905 0.99999021 0.00401023 0.0906194 ] [ 0.03230848 -0.00406853 0.99946966 0.97579143] [ 0. 0. 0. 1. ]] SLAMing on 118.382557844 meters Centerline goodness : 0.157212 Centerline is valid? [False, False] Translation: X:1.01, Y:0.09, Z:0.98 [[ 0.99947486 -0.00184528 -0.03235104 1.00501472] [ 0.00196932 0.99999083 0.00380297 0.09163037] [ 0.03234373 -0.00386469 0.99946933 0.97578816] [ 0. 0. 0. 1. ]] SLAMing on 118.412557844 meters Centerline goodness : 0.147141 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:0.98 [[ 0.99947677 -0.00182744 -0.03229307 1.00463907] [ 0.00195412 0.99999052 0.00389165 0.0912798 ] [ 0.03228565 -0.00395271 0.99947087 0.97614513] [ 0. 0. 0. 1. ]] SLAMing on 118.442557844 meters Centerline goodness : 0.134161 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99532340e-01 4.83531582e-03 -3.01947249e-02 1.02657722e+00] [-4.80790921e-03 9.99987962e-01 9.80199856e-04 9.12379210e-02] [ 3.01991010e-02 -8.34567960e-04 9.99543555e-01 9.75573286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47255784400001 meters Centerline goodness : 0.157066 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99554367e-01 6.68959047e-04 -2.98432437e-02 1.02572869e+00] [-7.59121378e-04 9.99995182e-01 -3.00996989e-03 9.11942245e-02] [ 2.98410864e-02 3.03128319e-03 9.99550059e-01 9.75435250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50255784400001 meters Centerline goodness : 0.159203 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99555122e-01 6.97865578e-04 -2.98172893e-02 1.02547448e+00] [-7.81733622e-04 9.99995771e-01 -2.80116740e-03 9.00749559e-02] [ 2.98152084e-02 2.82323040e-03 9.99551441e-01 9.75762238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53255784400001 meters Centerline goodness : 0.153127 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99555872e-01 7.32252079e-04 -2.97913009e-02 1.02527548e+00] [-8.11283048e-04 9.99996184e-01 -2.64081957e-03 8.93370413e-02] [ 2.97892534e-02 2.66381589e-03 9.99552652e-01 9.75975829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562557844 meters Centerline goodness : 0.123858 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99555496e-01 7.72243520e-04 -2.98029086e-02 1.02516342e+00] [-8.48471257e-04 9.99996401e-01 -2.54516662e-03 8.89979829e-02] [ 2.98008358e-02 2.56932220e-03 9.99552554e-01 9.76191546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.592557844 meters Centerline goodness : 0.157450 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99553867e-01 7.99224259e-04 -2.98567971e-02 1.02533875e+00] [-8.72664357e-04 9.99996626e-01 -2.44679529e-03 8.84399252e-02] [ 2.98547408e-02 2.47175865e-03 9.99551192e-01 9.76138449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.622557844 meters Centerline goodness : 0.074795 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99552615e-01 8.28313314e-04 -2.98978975e-02 1.02543754e+00] [-8.98273739e-04 9.99996890e-01 -2.32662269e-03 8.77044201e-02] [ 2.98958773e-02 2.35243829e-03 9.99550250e-01 9.76175637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.652557844 meters Centerline goodness : 0.157123 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99553168e-01 8.63712062e-04 -2.98783939e-02 1.02582776e+00] [-9.32479387e-04 9.99996948e-01 -2.28771666e-03 8.75089455e-02] [ 2.98763268e-02 2.31455542e-03 9.99550923e-01 9.75439092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.682557844 meters Centerline goodness : 0.153408 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.97 [[ 9.99549788e-01 8.56936883e-04 -2.99914469e-02 1.02656267e+00] [-9.27362920e-04 9.99996845e-01 -2.33437322e-03 8.76643143e-02] [ 2.99893518e-02 2.36113522e-03 9.99547429e-01 9.74688047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.712557844 meters Centerline goodness : 0.159489 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:0.97 [[ 9.99436582e-01 -5.52483002e-04 -3.35591158e-02 9.83780610e-01] [ 4.82834984e-04 9.99997713e-01 -2.08345157e-03 8.44358081e-02] [ 3.35601902e-02 2.06607420e-03 9.99434563e-01 9.74070902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.742557844 meters Centerline goodness : 0.133277 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.97 [[ 9.99418529e-01 -5.14732050e-04 -3.40931061e-02 9.85504965e-01] [ 4.49667306e-04 9.99998063e-01 -1.91608285e-03 8.33826618e-02] [ 3.40940263e-02 1.89963815e-03 9.99416824e-01 9.73360634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.772557844 meters Centerline goodness : 0.161517 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.97 [[ 9.99413384e-01 -4.12173273e-04 -3.42449789e-02 9.85893578e-01] [ 3.55660634e-04 9.99998565e-01 -1.65632119e-03 8.22730084e-02] [ 3.42456125e-02 1.64316997e-03 9.99412096e-01 9.73304445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.802557844 meters Centerline goodness : 0.159902 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.97 [[ 9.99413322e-01 -2.58325372e-04 -3.42482738e-02 9.85685713e-01] [ 2.13824077e-04 9.99999128e-01 -1.30302963e-03 8.07285617e-02] [ 3.42485806e-02 1.29494207e-03 9.99412506e-01 9.73678622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83255784400001 meters Centerline goodness : 0.158058 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:0.97 [[ 9.99417954e-01 -1.18174483e-04 -3.41136266e-02 9.84918272e-01] [ 8.89857112e-05 9.99999629e-01 -8.57150774e-04 7.85462673e-02] [ 3.41137153e-02 8.53616247e-04 9.99417593e-01 9.74423400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86255784400001 meters Centerline goodness : 0.150687 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.97 [[ 0.99947047 0.0062577 -0.03193158 1.00665771] [-0.00639256 0.99997107 -0.00412324 0.07635356] [ 0.03190486 0.00432518 0.99948155 0.97399699] [ 0. 0. 0. 1. ]] SLAMing on 118.89255784400001 meters Centerline goodness : 0.150687 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.97 [[ 0.99947047 0.0062577 -0.03193158 1.00665771] [-0.00639256 0.99997107 -0.00412324 0.07635356] [ 0.03190486 0.00432518 0.99948155 0.97399699] [ 0. 0. 0. 1. ]] SLAMing on 118.92255784400001 meters Centerline goodness : 0.159498 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.97 [[ 0.99946812 0.00642535 -0.0319717 1.0068427 ] [-0.0065448 0.99997198 -0.00363281 0.07421561] [ 0.03194746 0.00384013 0.99948217 0.97380766] [ 0. 0. 0. 1. ]] SLAMing on 118.952557844 meters Centerline goodness : 0.200419 Centerline is valid? [False, False] Translation: X:0.97, Y:0.07, Z:0.97 [[ 0.9994117 0.006335 -0.03370633 0.97013828] [-0.00642859 0.99997577 -0.00266916 0.06808558] [ 0.0336886 0.00288428 0.99942822 0.97083319] [ 0. 0. 0. 1. ]] SLAMing on 118.982557844 meters Centerline goodness : 0.161495 Centerline is valid? [False, False] Translation: X:0.97, Y:0.07, Z:0.97 [[ 0.99940583 0.00658257 -0.03383264 0.97057854] [-0.00665876 0.99997554 -0.00213995 0.06597064] [ 0.03381772 0.00236397 0.99942522 0.97066747] [ 0. 0. 0. 1. ]] SLAMing on 119.012557844 meters Centerline goodness : 0.157199 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 0.99945509 -0.00178002 -0.03296 0.99040965] [ 0.0017319 0.99999739 -0.00148844 0.07057307] [ 0.03296256 0.00143055 0.99945556 0.9715949 ] [ 0. 0. 0. 1. ]] SLAMing on 119.042557844 meters Centerline goodness : 0.161522 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 9.99450682e-01 -1.58563745e-03 -3.31031574e-02 9.90559643e-01] [ 1.55318986e-03 9.99998288e-01 -1.00588780e-03 6.82066107e-02] [ 3.31046957e-02 9.53919765e-04 9.99451434e-01 9.71990828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.072557844 meters Centerline goodness : 0.163159 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 9.99439296e-01 -1.30161077e-03 -3.34574344e-02 9.91595817e-01] [ 1.28963779e-03 9.99999096e-01 -3.79434621e-04 6.50361478e-02] [ 3.34578980e-02 3.36073899e-04 9.99440071e-01 9.71900398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.102557844 meters Centerline goodness : 0.156714 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99946665 0.00791675 -0.03168187 1.0111576 ] [-0.007964 0.99996735 -0.00136543 0.06151504] [ 0.03167002 0.00161702 0.99949707 0.97305562] [ 0. 0. 0. 1. ]] SLAMing on 119.132557844 meters Centerline goodness : 0.154522 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99947507 0.00796519 -0.03140287 1.00992627] [-0.00801673 0.99996672 -0.0015157 0.0621839 ] [ 0.03138975 0.00176665 0.99950566 0.97406254] [ 0. 0. 0. 1. ]] SLAMing on 119.162557844 meters Centerline goodness : 0.112536 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.9994814 0.00798267 -0.03119618 1.00916006] [-0.0080364 0.99996643 -0.00159738 0.06258354] [ 0.03118239 0.00184725 0.999512 0.97452323] [ 0. 0. 0. 1. ]] SLAMing on 119.192557844 meters Centerline goodness : 0.134548 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99947555 0.00804845 -0.03136642 1.00975455] [-0.00810446 0.99996578 -0.00165913 0.06288451] [ 0.031352 0.00191247 0.99950658 0.97439331] [ 0. 0. 0. 1. ]] SLAMing on 119.22255784400001 meters Centerline goodness : 0.126143 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99946327 0.0081473 -0.03173011 1.0110535 ] [-0.00820539 0.99996489 -0.00170119 0.06315951] [ 0.03171514 0.00196063 0.99949503 0.97393433] [ 0. 0. 0. 1. ]] SLAMing on 119.25255784400001 meters Centerline goodness : 0.153508 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99944057 0.00840167 -0.03237215 1.01299329] [-0.00845778 0.99996296 -0.00159688 0.06282393] [ 0.03235753 0.00186978 0.99947461 0.97363462] [ 0. 0. 0. 1. ]] SLAMing on 119.28255784400001 meters Centerline goodness : 0.158783 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99943676 0.00849689 -0.03246473 1.01320817] [-0.00854774 0.99996245 -0.00142805 0.0622832 ] [ 0.03245138 0.00170475 0.99947186 0.9736031 ] [ 0. 0. 0. 1. ]] SLAMing on 119.31255784400001 meters Centerline goodness : 0.158853 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99943757 0.00857201 -0.03242009 1.01303335] [-0.00861516 0.99996218 -0.00119125 0.06127668] [ 0.03240866 0.00146989 0.99947362 0.97366194] [ 0. 0. 0. 1. ]] SLAMing on 119.342557844 meters Centerline goodness : 0.158092 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 9.99440984e-01 8.49072699e-03 -3.23361465e-02 1.01270503e+00] [-8.52596126e-03 9.99963200e-01 -9.51893842e-04 5.98319414e-02] [ 3.23268742e-02 1.22705845e-03 9.99476597e-01 9.73771358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.372557844 meters Centerline goodness : 0.117950 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 9.99442977e-01 8.51246036e-03 -3.22687718e-02 1.01252505e+00] [-8.54435039e-03 9.99963135e-01 -8.50495590e-04 5.94566097e-02] [ 3.22603424e-02 1.12573754e-03 9.99478866e-01 9.73739274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.402557844 meters Centerline goodness : 0.156648 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 9.99447959e-01 8.51523208e-03 -3.21133590e-02 1.01202776e+00] [-8.54604497e-03 9.99963144e-01 -8.22367059e-04 5.95211716e-02] [ 3.21051728e-02 1.09635529e-03 9.99483895e-01 9.73855311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.432557844 meters Centerline goodness : 0.157034 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 9.99454958e-01 8.44416974e-03 -3.19136660e-02 1.01129222e+00] [-8.47523774e-03 9.99963733e-01 -8.38352085e-04 5.96570957e-02] [ 3.19054294e-02 1.10837106e-03 9.99490278e-01 9.74112808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.462557844 meters Centerline goodness : 0.161615 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99945714 0.00830229 -0.03188241 1.01101186] [-0.00834211 0.99996458 -0.00111594 0.06058497] [ 0.03187202 0.0013813 0.999491 0.97446136] [ 0. 0. 0. 1. ]] SLAMing on 119.492557844 meters Centerline goodness : 0.155478 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.999458 0.00811689 -0.03190317 1.01083924] [-0.00816936 0.99996548 -0.00151461 0.0619535 ] [ 0.03188978 0.00177441 0.99948982 0.97488079] [ 0. 0. 0. 1. ]] SLAMing on 119.522557844 meters Centerline goodness : 0.153160 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.9994568 0.00805536 -0.0319566 1.01133554] [-0.00811506 0.99996556 -0.00173893 0.06315999] [ 0.03194149 0.00199732 0.99948774 0.97427365] [ 0. 0. 0. 1. ]] SLAMing on 119.552557844 meters Centerline goodness : 0.115673 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99945422 0.00808213 -0.03203033 1.01174632] [-0.00813956 0.99996549 -0.00166324 0.06303103] [ 0.03201578 0.00192304 0.99948551 0.97378925] [ 0. 0. 0. 1. ]] SLAMing on 119.58255784400001 meters Centerline goodness : 0.155343 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99945408 0.00804483 -0.03204397 1.01178349] [-0.00810229 0.99996579 -0.0016638 0.06295121] [ 0.03202949 0.00192252 0.99948508 0.9737538 ] [ 0. 0. 0. 1. ]] SLAMing on 119.61255784400001 meters Centerline goodness : 0.134088 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.97 [[ 9.99554392e-01 4.56168792e-03 -2.94992913e-02 1.04155478e+00] [-4.59273675e-03 9.99988968e-01 -9.84857496e-04 6.37216613e-02] [ 2.94944732e-02 1.11990111e-03 9.99564316e-01 9.74073282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64255784400001 meters Centerline goodness : 0.106691 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.97 [[ 9.99555121e-01 4.55254355e-03 -2.94760056e-02 1.04129620e+00] [-4.58217628e-03 9.99989062e-01 -9.37847899e-04 6.34663206e-02] [ 2.94714136e-02 1.07249492e-03 9.99565048e-01 9.74389944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67255784400001 meters Centerline goodness : 0.158191 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.97 [[ 9.99516225e-01 -4.88119856e-03 -3.07162904e-02 1.02081420e+00] [ 4.88860399e-03 9.99988037e-01 1.65997707e-04 6.64341335e-02] [ 3.07151127e-02 -3.16077181e-04 9.99528130e-01 9.73412029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.702557844 meters Centerline goodness : 0.156038 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.97 [[ 9.99511151e-01 -4.87958885e-03 -3.08812101e-02 1.02141345e+00] [ 4.88799374e-03 9.99988034e-01 1.96682150e-04 6.62681148e-02] [ 3.08798808e-02 -3.47533163e-04 9.99523042e-01 9.73082958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.732557844 meters Centerline goodness : 0.150422 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.97 [[ 9.99503969e-01 -4.88509653e-03 -3.11119314e-02 1.02228613e+00] [ 4.89498329e-03 9.99987990e-01 2.41623266e-04 6.59789236e-02] [ 3.11103774e-02 -3.93795798e-04 9.99515877e-01 9.72578389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.762557844 meters Centerline goodness : 0.155515 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.97 [[ 9.99498300e-01 -4.85241393e-03 -3.12986061e-02 1.02288550e+00] [ 4.86527277e-03 9.99988108e-01 3.34699615e-04 6.55007927e-02] [ 3.12966098e-02 -4.86807952e-04 9.99510023e-01 9.72358750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.792557844 meters Centerline goodness : 0.156671 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.97 [[ 0.99950847 0.00365742 -0.03113572 1.04223695] [-0.00370617 0.999992 -0.00150801 0.06220294] [ 0.03112996 0.00162266 0.99951403 0.97471353] [ 0. 0. 0. 1. ]] SLAMing on 119.822557844 meters Centerline goodness : 0.158334 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:0.98 [[ 9.99414233e-01 2.43553270e-03 -3.41358783e-02 9.96349037e-01] [-2.46179198e-03 9.99996705e-01 -7.27248718e-04 5.87646692e-02] [ 3.41339945e-02 8.10858152e-04 9.99416936e-01 9.76050976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.852557844 meters Centerline goodness : 0.158348 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:0.98 [[ 9.99418857e-01 2.45434400e-03 -3.39988827e-02 9.95842686e-01] [-2.48216885e-03 9.99996618e-01 -7.76221416e-04 5.92240297e-02] [ 3.39968626e-02 8.60161288e-04 9.99421569e-01 9.76291545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.882557844 meters Centerline goodness : 0.158398 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:0.98 [[ 9.99425178e-01 2.50732042e-03 -3.38086923e-02 9.95275032e-01] [-2.53518777e-03 9.99996481e-01 -7.81422942e-04 5.95128982e-02] [ 3.38066141e-02 8.66685146e-04 9.99428017e-01 9.76415193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.912557844 meters Centerline goodness : 0.128083 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99431497e-01 2.46984973e-03 -3.36241300e-02 9.94872552e-01] [-2.50094938e-03 9.99996483e-01 -8.82893955e-04 5.98233849e-02] [ 3.36218311e-02 9.66484275e-04 9.99434159e-01 9.76322922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.942557844 meters Centerline goodness : 0.153624 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99436147e-01 2.46820967e-03 -3.34857603e-02 9.94337091e-01] [-2.49966935e-03 9.99996473e-01 -8.97663236e-04 5.99086343e-02] [ 3.34834266e-02 9.80860414e-04 9.99438792e-01 9.76587056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97255784400001 meters Centerline goodness : 0.133117 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99441732e-01 2.49552098e-03 -3.33166214e-02 9.93559139e-01] [-2.52581233e-03 9.99996434e-01 -8.67139884e-04 5.99125465e-02] [ 3.33143386e-02 9.50807320e-04 9.99444471e-01 9.77088481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00255784400001 meters Centerline goodness : 0.131963 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99446093e-01 2.56624906e-03 -3.31801234e-02 9.92878088e-01] [-2.59131247e-03 9.99996389e-01 -7.12394258e-04 5.93593980e-02] [ 3.31781754e-02 7.97979725e-04 9.99449134e-01 9.77589737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03255784400001 meters Centerline goodness : 0.152449 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.98 [[ 9.99434043e-01 -4.58171725e-03 -3.33256884e-02 1.01194922e+00] [ 4.59966191e-03 9.99989315e-01 4.61818185e-04 6.35327534e-02] [ 3.33232164e-02 -6.14843715e-04 9.99444438e-01 9.80066597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06255784400001 meters Centerline goodness : 0.157286 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99382877e-01 -3.61221227e-04 -3.51245702e-02 9.90160321e-01] [ 2.56720302e-04 9.99995528e-01 -2.97961617e-03 5.70028954e-02] [ 3.51254894e-02 2.96876019e-03 9.99378500e-01 9.79515251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.092557844 meters Centerline goodness : 0.114148 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99377483e-01 -2.60268496e-04 -3.52785952e-02 9.90709954e-01] [ 1.67073912e-04 9.99996489e-01 -2.64459727e-03 5.52730672e-02] [ 3.52791597e-02 2.63705683e-03 9.99374017e-01 9.79262163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.122557844 meters Centerline goodness : 0.109681 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99384286e-01 -1.57279583e-04 -3.50859619e-02 9.90252570e-01] [ 7.69455636e-05 9.99997373e-01 -2.29097275e-03 5.40771968e-02] [ 3.50862301e-02 2.28686245e-03 9.99381672e-01 9.79108871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.152557844 meters Centerline goodness : 0.126504 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99389733e-01 -4.61494554e-05 -3.49307893e-02 9.89712836e-01] [-2.68427592e-05 9.99997817e-01 -2.08915212e-03 5.33116847e-02] [ 3.49308095e-02 2.08881482e-03 9.99387550e-01 9.79373930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.182557844 meters Centerline goodness : 0.155142 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99388082e-01 1.13402495e-04 -3.49778284e-02 9.89990615e-01] [-1.78757913e-04 9.99998244e-01 -1.86535971e-03 5.23337729e-02] [ 3.49775555e-02 1.87047082e-03 9.99386348e-01 9.79118100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.212557844 meters Centerline goodness : 0.112686 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99386198e-01 1.53520633e-04 -3.50314649e-02 9.90048012e-01] [-2.17724793e-04 9.99998304e-01 -1.82894950e-03 5.21380722e-02] [ 3.50311247e-02 1.83545411e-03 9.99384536e-01 9.79250303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.242557844 meters Centerline goodness : 0.154874 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99387217e-01 1.83410258e-04 -3.50022455e-02 9.90017112e-01] [-2.47385097e-04 9.99998307e-01 -1.82341317e-03 5.21807652e-02] [ 3.50018518e-02 1.83095484e-03 9.99385570e-01 9.79179045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.272557844 meters Centerline goodness : 0.150952 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99388288e-01 2.06159673e-04 -3.49715295e-02 9.90161714e-01] [-2.71770863e-04 9.99998212e-01 -1.87138835e-03 5.25414294e-02] [ 3.49710811e-02 1.87974784e-03 9.99386557e-01 9.78761641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.302557844 meters Centerline goodness : 0.156012 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99387959e-01 2.01169092e-04 -3.49809417e-02 9.90423432e-01] [-2.71276428e-04 9.99997964e-01 -1.99942340e-03 5.32843850e-02] [ 3.49804683e-02 2.00768917e-03 9.99385980e-01 9.78340525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33255784400001 meters Centerline goodness : 0.153968 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99387840e-01 1.67710599e-04 -3.49845365e-02 9.90643177e-01] [-2.43927699e-04 9.99997606e-01 -2.17433717e-03 5.41751063e-02] [ 3.49840881e-02 2.18153983e-03 9.99385488e-01 9.77969935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36255784400001 meters Centerline goodness : 0.157468 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99387909e-01 4.19297118e-05 -3.49829228e-02 9.91038556e-01] [-1.39100689e-04 9.99996139e-01 -2.77523973e-03 5.70876546e-02] [ 3.49826714e-02 2.77840718e-03 9.99384057e-01 9.77255016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39255784400001 meters Centerline goodness : 0.145286 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99389567e-01 -9.24000401e-05 -3.49354320e-02 9.91149564e-01] [-2.19787530e-05 9.99994641e-01 -3.27360719e-03 5.95775350e-02] [ 3.49355473e-02 3.27237671e-03 9.99384210e-01 9.76790449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42255784400001 meters Centerline goodness : 0.127113 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99392282e-01 -1.68780216e-04 -3.48573946e-02 9.91223403e-01] [ 3.88543759e-05 9.99993050e-01 -3.72799750e-03 6.20745714e-02] [ 3.48577816e-02 3.72437757e-03 9.99385343e-01 9.76222943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.452557844 meters Centerline goodness : 0.124252 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99387841e-01 -2.86297900e-04 -3.49837300e-02 9.91769757e-01] [ 1.37787661e-04 9.99990970e-01 -4.24746023e-03 6.48062816e-02] [ 3.49846301e-02 4.24003978e-03 9.99378856e-01 9.75752884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.482557844 meters Centerline goodness : 0.148473 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 9.99384763e-01 -4.78931898e-04 -3.50694435e-02 9.92145125e-01] [ 3.11449621e-04 9.99988522e-01 -4.78103954e-03 6.73216701e-02] [ 3.50713308e-02 4.76717570e-03 9.99373442e-01 9.75474945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.512557844 meters Centerline goodness : 0.156606 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 9.99383208e-01 -6.83653759e-04 -3.51103567e-02 9.92352835e-01] [ 4.98182596e-04 9.99985878e-01 -5.29099675e-03 6.96599725e-02] [ 3.51134781e-02 5.27024194e-03 9.99369435e-01 9.75252353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.542557844 meters Centerline goodness : 0.148293 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 9.99384568e-01 -1.00152817e-03 -3.50639649e-02 9.92322176e-01] [ 7.88610577e-04 9.99981172e-01 -6.08556596e-03 7.35264344e-02] [ 3.50693996e-02 6.05416889e-03 9.99366541e-01 9.74926732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.572557844 meters Centerline goodness : 0.134162 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.97 [[ 9.99389715e-01 -1.14583501e-03 -3.49125418e-02 9.91956513e-01] [ 9.22205378e-04 9.99978961e-01 -6.42085389e-03 7.51563468e-02] [ 3.49191645e-02 6.38473880e-03 9.99369745e-01 9.74832401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.602557844 meters Centerline goodness : 0.150953 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99939688 -0.00126661 -0.03470271 0.99124193] [ 0.00103636 0.99997734 -0.00665217 0.07621454] [ 0.03471035 0.00661219 0.99937554 0.97509433] [ 0. 0. 0. 1. ]] SLAMing on 120.632557844 meters Centerline goodness : 0.106617 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99940521 -0.00136033 -0.03445836 0.99031998] [ 0.00112747 0.9999764 -0.00677639 0.07670992] [ 0.03446677 0.00673351 0.99938316 0.97557583] [ 0. 0. 0. 1. ]] SLAMing on 120.662557844 meters Centerline goodness : 0.153363 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99941093 -0.00140812 -0.03429006 0.98950765] [ 0.00117538 0.99997614 -0.00680651 0.07684938] [ 0.03429882 0.0067622 0.99938874 0.97618124] [ 0. 0. 0. 1. ]] SLAMing on 120.692557844 meters Centerline goodness : 0.129235 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99940881 -0.00145578 -0.03434975 0.98922044] [ 0.00122379 0.99997631 -0.00677397 0.07703928] [ 0.0343588 0.00672793 0.99938692 0.97675222] [ 0. 0. 0. 1. ]] SLAMing on 120.72255784400001 meters Centerline goodness : 0.129639 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99940379 -0.00145774 -0.03449558 0.98956463] [ 0.00122603 0.99997655 -0.00673733 0.07694287] [ 0.0345046 0.00669102 0.99938214 0.97678177] [ 0. 0. 0. 1. ]] SLAMing on 120.75255784400001 meters Centerline goodness : 0.155184 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99940112 -0.00143945 -0.03457344 0.98964991] [ 0.00121157 0.99997741 -0.00661107 0.07629157] [ 0.03458217 0.00656522 0.99938029 0.9769714 ] [ 0. 0. 0. 1. ]] SLAMing on 120.78255784400001 meters Centerline goodness : 0.155184 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99940112 -0.00143945 -0.03457344 0.98964991] [ 0.00121157 0.99997741 -0.00661107 0.07629157] [ 0.03458217 0.00656522 0.99938029 0.9769714 ] [ 0. 0. 0. 1. ]] SLAMing on 120.81255784400001 meters Centerline goodness : 0.154330 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 0.99940239 -0.0014541 -0.03453616 0.98912078] [ 0.00123402 0.9999788 -0.00639287 0.0748989 ] [ 0.03454473 0.00634643 0.999383 0.97773031] [ 0. 0. 0. 1. ]] SLAMing on 120.842557844 meters Centerline goodness : 0.134222 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 0.99941079 -0.00144294 -0.0342926 0.98790518] [ 0.00123499 0.99998073 -0.00608462 0.0730354 ] [ 0.03430072 0.00603868 0.99939331 0.97878897] [ 0. 0. 0. 1. ]] SLAMing on 120.872557844 meters Centerline goodness : 0.153551 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 0.99941618 -0.00132065 -0.03414032 0.98700661] [ 0.00112768 0.99998328 -0.00567105 0.07104811] [ 0.03414724 0.00562924 0.99940096 0.97966459] [ 0. 0. 0. 1. ]] SLAMing on 120.902557844 meters Centerline goodness : 0.155738 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 0.99941393 -0.00118901 -0.03421081 0.98719927] [ 0.00101077 0.99998583 -0.00522701 0.06887769] [ 0.03421654 0.00518937 0.99940097 0.97964096] [ 0. 0. 0. 1. ]] SLAMing on 120.932557844 meters Centerline goodness : 0.152985 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 9.99411214e-01 -1.13434119e-03 -3.42919482e-02 9.87640662e-01] [ 9.61046823e-04 9.99986688e-01 -5.06956087e-03 6.81380117e-02] [ 3.42972423e-02 5.03361982e-03 9.99399000e-01 9.79239032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.962557844 meters Centerline goodness : 0.156800 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 9.99410215e-01 -1.07405944e-03 -3.43229930e-02 9.87808839e-01] [ 9.04903607e-04 9.99987371e-01 -4.94350731e-03 6.75910664e-02] [ 3.43278692e-02 4.90953271e-03 9.99398566e-01 9.79092666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.992557844 meters Centerline goodness : 0.152813 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 9.99410230e-01 -1.02950780e-03 -3.43239448e-02 9.87835590e-01] [ 8.63223298e-04 9.99987822e-01 -4.85902963e-03 6.72164584e-02] [ 3.43285292e-02 4.82653469e-03 9.99398948e-01 9.79070228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.022557844 meters Centerline goodness : 0.162124 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 9.99408229e-01 -1.01768505e-03 -3.43824857e-02 9.88051046e-01] [ 8.52008123e-04 9.99987958e-01 -4.83295084e-03 6.70467876e-02] [ 3.43869901e-02 4.80079669e-03 9.99397062e-01 9.78970517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.052557844 meters Centerline goodness : 0.136977 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99450184e-01 7.15675159e-04 -3.31484180e-02 1.03329573e+00] [-8.96617479e-04 9.99984779e-01 -5.44400757e-03 7.04876300e-02] [ 3.31440173e-02 5.47073582e-03 9.99435613e-01 9.79124305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08255784400001 meters Centerline goodness : 0.154571 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99456824e-01 7.29473487e-04 -3.29472958e-02 1.03287001e+00] [-9.14170725e-04 9.99983952e-01 -5.59112318e-03 7.14932815e-02] [ 3.29426885e-02 5.61820567e-03 9.99441452e-01 9.78946639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11255784400001 meters Centerline goodness : 0.156519 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99463947e-01 7.00772089e-04 -3.27311512e-02 1.03230279e+00] [-8.89250216e-04 9.99983107e-01 -5.74416951e-03 7.23602248e-02] [ 3.27265729e-02 5.77019651e-03 9.99447686e-01 9.78941180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14255784400001 meters Centerline goodness : 0.117782 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99468222e-01 6.47658057e-04 -3.26014427e-02 1.03199893e+00] [-8.40724545e-04 9.99982190e-01 -5.90866318e-03 7.31576715e-02] [ 3.25970353e-02 5.93292992e-03 9.99450966e-01 9.78880076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17255784400001 meters Centerline goodness : 0.155221 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99467131e-01 5.49743963e-04 -3.26366599e-02 1.03232634e+00] [-7.49782988e-04 9.99981008e-01 -6.11735177e-03 7.39737477e-02] [ 3.26326771e-02 6.13856243e-03 9.99448561e-01 9.78495344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.202557844 meters Centerline goodness : 0.152426 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99463604e-01 4.68324335e-04 -3.27457710e-02 1.03295702e+00] [-6.73513427e-04 9.99980208e-01 -6.25537543e-03 7.44453751e-02] [ 3.27421934e-02 6.27407479e-03 9.99444138e-01 9.77891158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.232557844 meters Centerline goodness : 0.157816 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99459950e-01 4.30502040e-04 -3.28576042e-02 1.03364024e+00] [-6.38019213e-04 9.99979917e-01 -6.30542799e-03 7.45646824e-02] [ 3.28542298e-02 6.32298653e-03 9.99440153e-01 9.77192162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.262557844 meters Centerline goodness : 0.154450 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:0.98 [[ 9.99453852e-01 3.50682295e-04 -3.30435348e-02 1.03432162e+00] [-5.63046735e-04 9.99979248e-01 -6.41772169e-03 7.51207603e-02] [ 3.30405985e-02 6.43282171e-03 9.99433308e-01 9.76792461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.292557844 meters Centerline goodness : 0.154654 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:0.98 [[ 9.99448395e-01 3.53279044e-04 -3.32081491e-02 1.03460547e+00] [-5.65933166e-04 9.99979395e-01 -6.39449159e-03 7.50813249e-02] [ 3.32052058e-02 6.40975795e-03 9.99428001e-01 9.77002102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.322557844 meters Centerline goodness : 0.157545 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:0.98 [[ 9.99439121e-01 3.16774543e-04 -3.34864569e-02 1.03531020e+00] [-5.32460205e-04 9.99979171e-01 -6.43226051e-03 7.51970646e-02] [ 3.34837218e-02 6.44648300e-03 9.99418473e-01 9.77027481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.352557844 meters Centerline goodness : 0.155174 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:0.98 [[ 9.99434513e-01 2.59988874e-04 -3.36241969e-02 1.03588548e+00] [-4.79567146e-04 9.99978614e-01 -6.52246489e-03 7.54759702e-02] [ 3.36217821e-02 6.53490158e-03 9.99413263e-01 9.76642083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.382557844 meters Centerline goodness : 0.157434 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:0.98 [[ 9.99449389e-01 2.81307791e-04 -3.31789068e-02 1.03451089e+00] [-4.97404119e-04 9.99978719e-01 -6.50498945e-03 7.54758213e-02] [ 3.31763708e-02 6.51791106e-03 9.99428259e-01 9.77050781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.412557844 meters Centerline goodness : 0.152921 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:0.98 [[ 0.99947508 -0.00713448 -0.03160153 1.05332584] [ 0.00696285 0.99996042 -0.00553784 0.08078429] [ 0.03163979 0.00531489 0.99948521 0.97859844] [ 0. 0. 0. 1. ]] SLAMing on 121.442557844 meters Centerline goodness : 0.154733 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:0.98 [[ 0.9994775 -0.00712249 -0.03152759 1.05292174] [ 0.00695152 0.99996055 -0.00552918 0.08078686] [ 0.03156573 0.00530712 0.99948759 0.97895324] [ 0. 0. 0. 1. ]] SLAMing on 121.47255784400001 meters Centerline goodness : 0.136850 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:0.98 [[ 0.99947256 -0.00714081 -0.0316798 1.05342707] [ 0.00696755 0.99996018 -0.00557601 0.08101724] [ 0.03171835 0.00535234 0.99948252 0.97874833] [ 0. 0. 0. 1. ]] SLAMing on 121.50255784400001 meters Centerline goodness : 0.155223 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:0.98 [[ 0.99946856 -0.00717085 -0.03179913 1.05384269] [ 0.00699473 0.9999596 -0.00564613 0.08133968] [ 0.03183834 0.0054207 0.99947833 0.97854415] [ 0. 0. 0. 1. ]] SLAMing on 121.53255784400001 meters Centerline goodness : 0.131103 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:0.98 [[ 0.99947018 -0.00708368 -0.03176772 1.05330848] [ 0.00691194 0.99996092 -0.00551274 0.08098991] [ 0.03180553 0.00529024 0.99948008 0.97928598] [ 0. 0. 0. 1. ]] SLAMing on 121.56255784400001 meters Centerline goodness : 0.156933 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:0.98 [[ 0.99946858 -0.00704985 -0.03182549 1.05338134] [ 0.00688081 0.99996165 -0.00541772 0.08050025] [ 0.03186246 0.00519586 0.99947876 0.97943338] [ 0. 0. 0. 1. ]] SLAMing on 121.592557844 meters Centerline goodness : 0.154472 Centerline is valid? [False, False] Translation: X:1.07, Y:0.08, Z:0.98 [[ 0.99950854 0.00140889 -0.03131612 1.07337061] [-0.00162869 0.99997421 -0.00699438 0.07669478] [ 0.03130545 0.00704194 0.99948506 0.98069003] [ 0. 0. 0. 1. ]] SLAMing on 121.622557844 meters Centerline goodness : 0.132159 Centerline is valid? [False, False] Translation: X:1.07, Y:0.08, Z:0.98 [[ 0.99950467 0.0015 -0.03143512 1.0739322 ] [-0.00171298 0.99997576 -0.00674934 0.07549792] [ 0.03142424 0.00679985 0.99948301 0.98024173] [ 0. 0. 0. 1. ]] SLAMing on 121.652557844 meters Centerline goodness : 0.152782 Centerline is valid? [False, False] Translation: X:1.07, Y:0.07, Z:0.98 [[ 0.99950549 0.00158707 -0.03140482 1.07400869] [-0.00179275 0.99997712 -0.00652226 0.07447537] [ 0.03139375 0.00657534 0.99948547 0.97996742] [ 0. 0. 0. 1. ]] SLAMing on 121.682557844 meters Centerline goodness : 0.160772 Centerline is valid? [False, False] Translation: X:1.07, Y:0.07, Z:0.98 [[ 0.99950728 0.00169092 -0.03134223 1.07384441] [-0.00188955 0.99997831 -0.00630871 0.07357193] [ 0.03133088 0.00636483 0.9994888 0.9799597 ] [ 0. 0. 0. 1. ]] SLAMing on 121.712557844 meters Centerline goodness : 0.128101 Centerline is valid? [False, False] Translation: X:1.07, Y:0.07, Z:0.98 [[ 0.99950758 0.00172685 -0.03133067 1.07372577] [-0.00192305 0.99997873 -0.00623299 0.07311989] [ 0.03131924 0.00629017 0.99948964 0.98016907] [ 0. 0. 0. 1. ]] SLAMing on 121.742557844 meters Centerline goodness : 0.167951 Centerline is valid? [False, False] Translation: X:1.07, Y:0.07, Z:0.98 [[ 0.99950671 0.00166697 -0.03136169 1.07362502] [-0.00187094 0.99997728 -0.0064756 0.07406746] [ 0.03135018 0.00653108 0.99948712 0.98051936] [ 0. 0. 0. 1. ]] SLAMing on 121.772557844 meters Centerline goodness : 0.157784 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.98 [[ 0.99950881 -0.0047378 -0.03097881 1.09145003] [ 0.00458873 0.99997756 -0.00488125 0.08050204] [ 0.03100124 0.0047367 0.99950812 0.98306368] [ 0. 0. 0. 1. ]] SLAMing on 121.802557844 meters Centerline goodness : 0.154389 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.98 [[ 0.99951433 -0.00470875 -0.03080467 1.09094041] [ 0.00455492 0.99997682 -0.00506182 0.0818059 ] [ 0.03082779 0.00491905 0.99951261 0.9830924 ] [ 0. 0. 0. 1. ]] SLAMing on 121.83255784400001 meters Centerline goodness : 0.153130 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.98 [[ 0.99951684 -0.00475693 -0.03071566 1.09073959] [ 0.00459573 0.99997531 -0.00531658 0.08316367] [ 0.03074019 0.00517285 0.99951402 0.9830181 ] [ 0. 0. 0. 1. ]] SLAMing on 121.86255784400001 meters Centerline goodness : 0.119917 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.98 [[ 0.99951419 -0.00493194 -0.0307744 1.09097902] [ 0.00475597 0.99997194 -0.00578854 0.08513592] [ 0.03080208 0.00563937 0.99950959 0.98285821] [ 0. 0. 0. 1. ]] SLAMing on 121.89255784400001 meters Centerline goodness : 0.152353 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.98 [[ 0.99951566 -0.004995 -0.03071627 1.09089048] [ 0.00481392 0.99997061 -0.00596627 0.08594592] [ 0.03074517 0.00581551 0.99951034 0.98270768] [ 0. 0. 0. 1. ]] SLAMing on 121.92255784400001 meters Centerline goodness : 0.131039 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.98 [[ 0.99951845 -0.00504857 -0.03061679 1.09067578] [ 0.00486252 0.99996928 -0.00614816 0.08693149] [ 0.03064688 0.00599632 0.99951229 0.98256635] [ 0. 0. 0. 1. ]] SLAMing on 121.952557844 meters Centerline goodness : 0.159002 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.98 [[ 0.99952317 -0.00510479 -0.03045288 1.09032169] [ 0.00491339 0.99996772 -0.00635672 0.0881151 ] [ 0.03048435 0.00620406 0.99951599 0.98240291] [ 0. 0. 0. 1. ]] SLAMing on 121.982557844 meters Centerline goodness : 0.161509 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.98 [[ 0.99952415 -0.00520773 -0.03040317 1.09028757] [ 0.00500797 0.9999654 -0.00664285 0.08956248] [ 0.03043671 0.00648743 0.99951564 0.98220491] [ 0. 0. 0. 1. ]] SLAMing on 122.012557844 meters Centerline goodness : 0.160472 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.98 [[ 0.99952452 -0.00531398 -0.03037274 1.09022673] [ 0.00510547 0.99996289 -0.0069387 0.09105899] [ 0.03040849 0.00678034 0.99951456 0.9820842 ] [ 0. 0. 0. 1. ]] SLAMing on 122.042557844 meters Centerline goodness : 0.151508 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 0.99960428 0.00169878 -0.02807851 1.11150512] [-0.00197224 0.99995087 -0.00971413 0.09316244] [ 0.02806063 0.00976566 0.99955852 0.98160075] [ 0. 0. 0. 1. ]] SLAMing on 122.072557844 meters Centerline goodness : 0.157339 Centerline is valid? [False, False] Translation: X:1.09, Y:0.10, Z:0.98 [[ 0.99955641 -0.00781325 -0.02873911 1.09058638] [ 0.00756508 0.99993324 -0.00873394 0.09585767] [ 0.02880544 0.00851265 0.99954879 0.98062386] [ 0. 0. 0. 1. ]] SLAMing on 122.102557844 meters Centerline goodness : 0.129890 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99630584e-01 7.16449660e-04 -2.71694957e-02 1.10876274e+00] [-9.91936347e-04 9.99948224e-01 -1.01274366e-02 9.25969552e-02] [ 2.71608332e-02 1.01506458e-02 9.99579538e-01 9.81881928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.132557844 meters Centerline goodness : 0.128008 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99632257e-01 7.26916166e-04 -2.71076108e-02 1.10846128e+00] [-9.99466527e-04 9.99949076e-01 -1.00421920e-02 9.22000615e-02] [ 2.70989306e-02 1.00655922e-02 9.99582079e-01 9.82100088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.162557844 meters Centerline goodness : 0.164760 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99628595e-01 6.81600603e-04 -2.72434824e-02 1.10871449e+00] [-9.48414985e-04 9.99951706e-01 -9.78197464e-03 9.07612682e-02] [ 2.72354993e-02 9.80417970e-03 9.99580965e-01 9.82274132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.192557844 meters Centerline goodness : 0.128173 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99622564e-01 7.10937528e-04 -2.74631269e-02 1.10916146e+00] [-9.72854920e-04 9.99954164e-01 -9.52487274e-03 8.92742827e-02] [ 2.74550965e-02 9.54799535e-03 9.99577437e-01 9.82471086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22255784400001 meters Centerline goodness : 0.154615 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99614602e-01 7.07567584e-04 -2.77515108e-02 1.10979713e+00] [-9.65529956e-04 9.99956445e-01 -9.28313701e-03 8.76750051e-02] [ 2.77437336e-02 9.30635423e-03 9.99571747e-01 9.82674504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25255784400001 meters Centerline goodness : 0.132759 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99613434e-01 8.13595128e-04 -2.77906435e-02 1.10976382e+00] [-1.06388755e-03 9.99958998e-01 -8.99275750e-03 8.62422168e-02] [ 2.77821875e-02 9.01884732e-03 9.99573314e-01 9.82910228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28255784400001 meters Centerline goodness : 0.132822 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99620877e-01 8.46039205e-04 -2.75206496e-02 1.10892099e+00] [-1.08693448e-03 9.99961219e-01 -8.73947389e-03 8.53261520e-02] [ 2.75121884e-02 8.76607370e-03 9.99583031e-01 9.83032759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31255784400001 meters Centerline goodness : 0.133565 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.98 [[ 9.99624022e-01 9.30451941e-04 -2.74034628e-02 1.10850498e+00] [-1.16694008e-03 9.99962208e-01 -8.61513581e-03 8.49761554e-02] [ 2.73944112e-02 8.64387491e-03 9.99587330e-01 9.83217056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.342557844 meters Centerline goodness : 0.133993 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 0.99964092 0.0012019 -0.02676901 1.10672441] [-0.00143349 0.9999617 -0.0086342 0.08597776] [ 0.02675761 0.00866947 0.99960436 0.98355536] [ 0. 0. 0. 1. ]] SLAMing on 122.372557844 meters Centerline goodness : 0.125958 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 0.99962656 0.00121453 -0.02729949 1.1080436 ] [-0.0014682 0.99995592 -0.00927414 0.08848512] [ 0.02728702 0.00931076 0.99958428 0.98400088] [ 0. 0. 0. 1. ]] SLAMing on 122.402557844 meters Centerline goodness : 0.154220 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 0.99962971 0.00129996 -0.02718002 1.10793295] [-0.00156241 0.99995234 -0.00963709 0.09070612] [ 0.0271662 0.00967599 0.9995841 0.98363671] [ 0. 0. 0. 1. ]] SLAMing on 122.432557844 meters Centerline goodness : 0.157689 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 0.99964194 0.0016586 -0.02670668 1.10688229] [-0.00192031 0.99995036 -0.00977675 0.09269088] [ 0.02668914 0.00982454 0.9995955 0.98324624] [ 0. 0. 0. 1. ]] SLAMing on 122.462557844 meters Centerline goodness : 0.158662 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 0.99965781 0.00190458 -0.026089 1.1053312 ] [-0.00216601 0.99994769 -0.00999615 0.09483378] [ 0.0260686 0.01004924 0.99960964 0.98310082] [ 0. 0. 0. 1. ]] SLAMing on 122.492557844 meters Centerline goodness : 0.128874 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.99 [[ 0.99964234 0.00555841 -0.02615907 1.1457571 ] [-0.00583679 0.99992702 -0.01057757 0.10338164] [ 0.02609836 0.01072647 0.99960183 0.98550455] [ 0. 0. 0. 1. ]] SLAMing on 122.522557844 meters Centerline goodness : 0.136248 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.99 [[ 0.99963843 0.00535878 -0.02634955 1.14638536] [-0.00565217 0.99992272 -0.01107257 0.10554862] [ 0.02628818 0.0112175 0.99959147 0.98526893] [ 0. 0. 0. 1. ]] SLAMing on 122.552557844 meters Centerline goodness : 0.123629 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.98 [[ 0.99963496 0.0051811 -0.02651608 1.14700922] [-0.00548797 0.99991866 -0.0115133 0.10753925] [ 0.02645427 0.01165462 0.99958208 0.98490633] [ 0. 0. 0. 1. ]] SLAMing on 122.58255784400001 meters Centerline goodness : 0.127383 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.98 [[ 0.99963707 0.00499492 -0.02647226 1.14718633] [-0.00531317 0.9999143 -0.01196545 0.10963054] [ 0.02641022 0.01210176 0.99957793 0.9843758 ] [ 0. 0. 0. 1. ]] SLAMing on 122.61255784400001 meters Centerline goodness : 0.117498 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:0.98 [[ 0.9996022 -0.00248131 -0.02809426 1.12513162] [ 0.00221927 0.99995378 -0.00935461 0.11245294] [ 0.02811617 0.00928854 0.99956151 0.98446428] [ 0. 0. 0. 1. ]] SLAMing on 122.64255784400001 meters Centerline goodness : 0.115771 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:0.98 [[ 9.99658228e-01 -7.19281905e-04 -2.61325385e-02 1.16874819e+00] [ 4.63039061e-04 9.99951771e-01 -9.81023746e-03 1.19488113e-01] [ 2.61383345e-02 9.79478421e-03 9.99610349e-01 9.84825970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67255784400001 meters Centerline goodness : 0.155416 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:0.98 [[ 9.99649191e-01 -1.12905890e-03 -2.64616804e-02 1.16972880e+00] [ 8.46207263e-04 9.99942418e-01 -1.06978647e-02 1.23544493e-01] [ 2.64722352e-02 1.06717197e-02 9.99592585e-01 9.84544665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.702557844 meters Centerline goodness : 0.155416 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:0.98 [[ 9.99649191e-01 -1.12905890e-03 -2.64616804e-02 1.16972880e+00] [ 8.46207263e-04 9.99942418e-01 -1.06978647e-02 1.23544493e-01] [ 2.64722352e-02 1.06717197e-02 9.99592585e-01 9.84544665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.732557844 meters Centerline goodness : 0.155416 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:0.98 [[ 9.99649191e-01 -1.12905890e-03 -2.64616804e-02 1.16972880e+00] [ 8.46207263e-04 9.99942418e-01 -1.06978647e-02 1.23544493e-01] [ 2.64722352e-02 1.06717197e-02 9.99592585e-01 9.84544665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.762557844 meters Centerline goodness : 0.157087 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:0.98 [[ 9.99643460e-01 -1.27478128e-03 -2.66707353e-02 1.17045504e+00] [ 9.82460937e-04 9.99939339e-01 -1.09705749e-02 1.24705430e-01] [ 2.66831025e-02 1.09404605e-02 9.99584073e-01 9.84228815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.792557844 meters Centerline goodness : 0.125508 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.98 [[ 0.99964222 -0.00150606 -0.02670515 1.17043859] [ 0.00120144 0.99993408 -0.01141899 0.12669778] [ 0.02672058 0.01138282 0.99957813 0.98435902] [ 0. 0. 0. 1. ]] SLAMing on 122.822557844 meters Centerline goodness : 0.141905 Centerline is valid? [False, False] Translation: X:1.19, Y:0.13, Z:0.99 [[ 0.99963437 -0.00895364 -0.02551383 1.18922697] [ 0.00869296 0.99990906 -0.01031001 0.13314049] [ 0.02560382 0.01008445 0.9996213 0.98643903] [ 0. 0. 0. 1. ]] SLAMing on 122.852557844 meters Centerline goodness : 0.161062 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.99 [[ 0.99970171 -0.00151106 -0.02437631 1.16872124] [ 0.00125052 0.99994197 -0.01069998 0.1279096 ] [ 0.02439106 0.0106663 0.99964559 0.98538781] [ 0. 0. 0. 1. ]] SLAMing on 122.882557844 meters Centerline goodness : 0.162666 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.99 [[ 0.99970545 -0.00154421 -0.02422056 1.16802627] [ 0.00128523 0.99994188 -0.01070449 0.12794029] [ 0.02423569 0.0106702 0.99964933 0.98586493] [ 0. 0. 0. 1. ]] SLAMing on 122.912557844 meters Centerline goodness : 0.135746 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.99 [[ 0.99970447 -0.00157272 -0.02425884 1.16803565] [ 0.00131541 0.99994275 -0.01061943 0.12745165] [ 0.02427415 0.01058438 0.99964931 0.98600687] [ 0. 0. 0. 1. ]] SLAMing on 122.942557844 meters Centerline goodness : 0.118946 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:0.99 [[ 0.99963199 -0.00312229 -0.02694676 1.12307193] [ 0.00284884 0.99994412 -0.01018015 0.12286016] [ 0.02697704 0.01009963 0.99958503 0.98638502] [ 0. 0. 0. 1. ]] SLAMing on 122.97255784400001 meters Centerline goodness : 0.160247 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:0.99 [[ 0.99956917 -0.01167137 -0.02693037 1.14565456] [ 0.01140975 0.99988641 -0.00984812 0.12550685] [ 0.02704226 0.00953661 0.9995888 0.98707273] [ 0. 0. 0. 1. ]] SLAMing on 123.00255784400001 meters Centerline goodness : 0.162141 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:0.99 [[ 0.99962335 -0.00435275 -0.02709626 1.12713293] [ 0.0040687 0.99993629 -0.01052908 0.11785264] [ 0.02714037 0.01041487 0.99957738 0.98528056] [ 0. 0. 0. 1. ]] SLAMing on 123.03255784400001 meters Centerline goodness : 0.163027 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:0.99 [[ 0.99962163 -0.00424743 -0.02717649 1.12723053] [ 0.0039738 0.99994095 -0.01011475 0.11581547] [ 0.02721784 0.01000292 0.99957948 0.98547604] [ 0. 0. 0. 1. ]] SLAMing on 123.06255784400001 meters Centerline goodness : 0.159783 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:0.99 [[ 0.99961991 -0.00416702 -0.02725217 1.12723942] [ 0.00390291 0.99994497 -0.00973732 0.11386104] [ 0.02729124 0.00962726 0.99958116 0.98583246] [ 0. 0. 0. 1. ]] SLAMing on 123.092557844 meters Centerline goodness : 0.145829 Centerline is valid? [False, False] Translation: X:1.08, Y:0.11, Z:0.99 [[ 0.99953329 -0.00591021 -0.02997125 1.0815834 ] [ 0.00562971 0.99993964 -0.00943473 0.10885612] [ 0.0300252 0.0092616 0.99950623 0.98653509] [ 0. 0. 0. 1. ]] SLAMing on 123.122557844 meters Centerline goodness : 0.135495 Centerline is valid? [False, False] Translation: X:1.08, Y:0.11, Z:0.99 [[ 0.99952874 -0.00581454 -0.0301413 1.08199574] [ 0.00554084 0.99994273 -0.0091562 0.10750836] [ 0.03019281 0.00898488 0.99950371 0.9865718 ] [ 0. 0. 0. 1. ]] SLAMing on 123.152557844 meters Centerline goodness : 0.147081 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:0.99 [[ 0.99959643 -0.00457141 -0.02803713 1.12686587] [ 0.0043199 0.99994994 -0.00902484 0.10657791] [ 0.02807698 0.00890008 0.99956614 0.98667017] [ 0. 0. 0. 1. ]] SLAMing on 123.182557844 meters Centerline goodness : 0.159093 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:0.99 [[ 0.99960457 -0.00452876 -0.02775235 1.12573054] [ 0.00428658 0.99995227 -0.00877986 0.10547228] [ 0.02779078 0.00865742 0.99957627 0.98728199] [ 0. 0. 0. 1. ]] SLAMing on 123.212557844 meters Centerline goodness : 0.128568 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.99 [[ 0.999609 -0.00456015 -0.027587 1.12469021] [ 0.00432052 0.99995248 -0.00873956 0.10486033] [ 0.02762554 0.00861696 0.9995812 0.98830034] [ 0. 0. 0. 1. ]] SLAMing on 123.242557844 meters SLAMing on 123.272557844 meters Centerline goodness : 0.156456 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:0.99 [[ 0.99960001 -0.00444681 -0.02792947 1.12511097] [ 0.00421075 0.99995496 -0.0085054 0.10301543] [ 0.02796603 0.00838439 0.99957371 0.98925481] [ 0. 0. 0. 1. ]] SLAMing on 123.302557844 meters Centerline goodness : 0.154931 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:0.99 [[ 0.99959055 -0.00412307 -0.02831503 1.12680556] [ 0.00390474 0.99996225 -0.00776161 0.09970444] [ 0.02834596 0.00764787 0.99956892 0.98799254] [ 0. 0. 0. 1. ]] SLAMing on 123.33255784400001 meters Centerline goodness : 0.127699 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:0.99 [[ 0.99958748 -0.00384469 -0.02846214 1.12749116] [ 0.00364005 0.99996718 -0.00723803 0.09792129] [ 0.02848904 0.00713144 0.99956867 0.98748442] [ 0. 0. 0. 1. ]] SLAMing on 123.36255784400001 meters Centerline goodness : 0.150256 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:0.99 [[ 0.99958653 -0.00371937 -0.02851202 1.12745118] [ 0.00352322 0.9999698 -0.00692664 0.09627054] [ 0.02853693 0.00682333 0.99956945 0.98782426] [ 0. 0. 0. 1. ]] SLAMing on 123.39255784400001 meters Centerline goodness : 0.177532 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99957848 0.00184176 -0.02897345 1.10359875] [-0.00212563 0.99995001 -0.00977 0.09177025] [ 0.02895401 0.00982747 0.99953243 0.98822433] [ 0. 0. 0. 1. ]] SLAMing on 123.42255784400001 meters Centerline goodness : 0.151153 Centerline is valid? [False, False] Translation: X:1.14, Y:0.09, Z:0.99 [[ 0.99957608 0.00265854 -0.02899296 1.142888 ] [-0.00292546 0.99995369 -0.00916811 0.09249768] [ 0.02896725 0.00924904 0.99953757 0.99058545] [ 0. 0. 0. 1. ]] SLAMing on 123.452557844 meters Centerline goodness : 0.164053 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99949014 0.00299834 -0.03178783 1.09938849] [-0.00325181 0.99996331 -0.00792516 0.08944542] [ 0.0317629 0.00802449 0.99946322 0.99102287] [ 0. 0. 0. 1. ]] SLAMing on 123.482557844 meters Centerline goodness : 0.136588 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99948314 0.00360196 -0.03194485 1.10032269] [-0.00384924 0.99996308 -0.00768272 0.089523 ] [ 0.031916 0.00780172 0.99946011 0.99050716] [ 0. 0. 0. 1. ]] SLAMing on 123.512557844 meters Centerline goodness : 0.156650 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.99 [[ 0.99950561 -0.00420219 -0.03115906 1.11979409] [ 0.00398517 0.99996739 -0.00702378 0.09771406] [ 0.03118756 0.00689614 0.99948976 0.99119371] [ 0. 0. 0. 1. ]] SLAMing on 123.542557844 meters Centerline goodness : 0.155907 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.99 [[ 0.99950591 -0.00419438 -0.03115046 1.11969997] [ 0.00397621 0.99996716 -0.00706242 0.09787197] [ 0.03117906 0.00693507 0.99948976 0.99129155] [ 0. 0. 0. 1. ]] SLAMing on 123.572557844 meters Centerline goodness : 0.158604 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99949165 0.00354243 -0.03168418 1.09976428] [-0.0037956 0.99996132 -0.00793383 0.09252161] [ 0.03165485 0.00805006 0.99946644 0.98936483] [ 0. 0. 0. 1. ]] SLAMing on 123.602557844 meters Centerline goodness : 0.155519 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99948474 0.00350599 -0.03190539 1.1007522 ] [-0.00376626 0.99996009 -0.00810107 0.09332352] [ 0.03187572 0.00821706 0.99945806 0.98860814] [ 0. 0. 0. 1. ]] SLAMing on 123.632557844 meters Centerline goodness : 0.152829 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99947704 0.00345744 -0.03215124 1.10172624] [-0.0037244 0.99995906 -0.00824698 0.09395372] [ 0.03212141 0.00836241 0.99944899 0.98805351] [ 0. 0. 0. 1. ]] SLAMing on 123.662557844 meters Centerline goodness : 0.147205 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99946704 0.00338035 -0.03246853 1.10277137] [-0.00365393 0.99995829 -0.00837012 0.09432048] [ 0.03243888 0.00848429 0.99943771 0.9876365 ] [ 0. 0. 0. 1. ]] SLAMing on 123.692557844 meters Centerline goodness : 0.156006 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99945869 0.00335051 -0.03272775 1.10343211] [-0.00362488 0.99995876 -0.00832752 0.09396978] [ 0.0326985 0.00844165 0.99942961 0.98763159] [ 0. 0. 0. 1. ]] SLAMing on 123.72255784400001 meters Centerline goodness : 0.123482 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99945777 0.00341442 -0.03274919 1.10347084] [-0.00368206 0.99996029 -0.00811578 0.09306396] [ 0.03272018 0.00823197 0.99943065 0.98758605] [ 0. 0. 0. 1. ]] SLAMing on 123.75255784400001 meters Centerline goodness : 0.163044 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99946187 0.0034893 -0.03261599 1.10301403] [-0.00374963 0.99996157 -0.00792395 0.09224857] [ 0.03258708 0.00804199 0.99943655 0.98776548] [ 0. 0. 0. 1. ]] SLAMing on 123.78255784400001 meters Centerline goodness : 0.152747 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.99 [[ 0.99950559 -0.00394194 -0.03119347 1.12235566] [ 0.00373269 0.99997016 -0.00676347 0.09656634] [ 0.0312192 0.00664369 0.99949048 0.98924196] [ 0. 0. 0. 1. ]] SLAMing on 123.81255784400001 meters Centerline goodness : 0.151860 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.99 [[ 0.9995131 -0.00382639 -0.03096658 1.12149867] [ 0.00362867 0.99997269 -0.00643848 0.09507423] [ 0.03099037 0.00632298 0.99949968 0.98969449] [ 0. 0. 0. 1. ]] SLAMing on 123.842557844 meters Centerline goodness : 0.157019 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.99 [[ 0.99950027 -0.00377935 -0.03138357 1.12276151] [ 0.00359572 0.9999761 -0.00590558 0.09204414] [ 0.03140514 0.00578978 0.99948997 0.98939399] [ 0. 0. 0. 1. ]] SLAMing on 123.872557844 meters Centerline goodness : 0.158008 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.99 [[ 0.99949059 -0.00366625 -0.03170366 1.12388725] [ 0.0034927 0.99997862 -0.00552762 0.09010871] [ 0.03172324 0.00541407 0.99948203 0.98885707] [ 0. 0. 0. 1. ]] SLAMing on 123.902557844 meters Centerline goodness : 0.158131 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.99 [[ 0.9994835 -0.00355371 -0.03193895 1.12462357] [ 0.00339135 0.99998106 -0.00513611 0.08809337] [ 0.0319566 0.00502514 0.99947662 0.98865746] [ 0. 0. 0. 1. ]] SLAMing on 123.932557844 meters Centerline goodness : 0.150643 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.99 [[ 0.99948086 -0.00340493 -0.03203771 1.12478967] [ 0.00325738 0.99998385 -0.00465646 0.08567033] [ 0.03205305 0.00454969 0.99947581 0.98882771] [ 0. 0. 0. 1. ]] SLAMing on 123.962557844 meters Centerline goodness : 0.124762 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99948896 0.00511077 -0.0315546 1.10548391] [-0.00527631 0.99997274 -0.00516511 0.07576987] [ 0.03152734 0.00532896 0.99948868 0.98791277] [ 0. 0. 0. 1. ]] SLAMing on 123.992557844 meters Centerline goodness : 0.157906 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:0.99 [[ 0.99949232 0.00515719 -0.03144054 1.10487894] [-0.00531585 0.99997355 -0.00496475 0.07482018] [ 0.03141411 0.00512936 0.99949329 0.98843328] [ 0. 0. 0. 1. ]] SLAMing on 124.022557844 meters Centerline goodness : 0.154848 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:0.99 [[ 0.99950512 0.00522206 -0.03102021 1.1031908 ] [-0.00537938 0.99997308 -0.00499039 0.07497759] [ 0.03099332 0.00515479 0.9995063 0.98956281] [ 0. 0. 0. 1. ]] SLAMing on 124.052557844 meters Centerline goodness : 0.158053 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:0.99 [[ 0.99950661 0.00516612 -0.03098133 1.10275698] [-0.00533176 0.99997192 -0.00526614 0.07591191] [ 0.03095326 0.00542873 0.99950609 0.99026977] [ 0. 0. 0. 1. ]] SLAMing on 124.08255784400001 meters Centerline goodness : 0.094323 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:0.99 [[ 0.99950154 0.0052414 -0.03113197 1.10308337] [-0.00541304 0.9999706 -0.00543137 0.07677409] [ 0.03110258 0.00559718 0.99950053 0.99053014] [ 0. 0. 0. 1. ]] SLAMing on 124.11255784400001 meters Centerline goodness : 0.149262 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:0.99 [[ 0.9994909 0.0053976 -0.0314453 1.10414887] [-0.00557475 0.99996907 -0.00554838 0.07767298] [ 0.03141438 0.00572085 0.99949007 0.99024921] [ 0. 0. 0. 1. ]] SLAMing on 124.14255784400001 meters Centerline goodness : 0.155674 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99947211 0.00561328 -0.03199991 1.10589668] [-0.00579783 0.99996708 -0.0056772 0.07851879] [ 0.03196699 0.00585973 0.99947175 0.98994286] [ 0. 0. 0. 1. ]] SLAMing on 124.17255784400001 meters Centerline goodness : 0.111702 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99945773 0.00561943 -0.03244489 1.10714583] [-0.00581884 0.99996474 -0.00605501 0.07999757] [ 0.03240972 0.00624052 0.99945518 0.98999143] [ 0. 0. 0. 1. ]] SLAMing on 124.202557844 meters Centerline goodness : 0.112227 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99945747 0.00561333 -0.03245386 1.10717248] [-0.00582324 0.99996271 -0.00637703 0.08143607] [ 0.03241686 0.00656255 0.99945289 0.98997537] [ 0. 0. 0. 1. ]] SLAMing on 124.232557844 meters Centerline goodness : 0.150844 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99946074 0.0056016 -0.03235517 1.10685498] [-0.00581437 0.99996206 -0.00648573 0.08201315] [ 0.03231761 0.00667035 0.99945539 0.99001608] [ 0. 0. 0. 1. ]] SLAMing on 124.262557844 meters Centerline goodness : 0.110331 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99947061 0.0056232 -0.03204497 1.10597402] [-0.00583576 0.99996156 -0.00654337 0.08254546] [ 0.03200694 0.00672691 0.99946501 0.99009427] [ 0. 0. 0. 1. ]] SLAMing on 124.292557844 meters Centerline goodness : 0.154311 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99948019 0.00563342 -0.03174296 1.10500019] [-0.00584434 0.99996143 -0.0065557 0.08273302] [ 0.03170481 0.00673781 0.99947457 0.990416 ] [ 0. 0. 0. 1. ]] SLAMing on 124.322557844 meters Centerline goodness : 0.154150 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:0.99 [[ 0.99948777 0.00563462 -0.03150323 1.10398618] [-0.00584361 0.9999615 -0.00654596 0.08268293] [ 0.03146513 0.0067267 0.99948221 0.99107918] [ 0. 0. 0. 1. ]] SLAMing on 124.352557844 meters Centerline goodness : 0.107719 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:0.99 [[ 0.99948955 0.00562125 -0.03144906 1.10355521] [-0.00582906 0.99996175 -0.00652002 0.08246892] [ 0.03141121 0.00670001 0.99948409 0.99156726] [ 0. 0. 0. 1. ]] SLAMing on 124.382557844 meters Centerline goodness : 0.153148 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:0.99 [[ 0.99948158 0.00559786 -0.03170537 1.10406509] [-0.00580541 0.9999623 -0.00645798 0.0821655 ] [ 0.03166803 0.00663869 0.99947639 0.9917421 ] [ 0. 0. 0. 1. ]] SLAMing on 124.412557844 meters Centerline goodness : 0.158293 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:0.99 [[ 0.99940783 0.01312311 -0.03180842 1.08735125] [-0.01336171 0.99988408 -0.00730028 0.0729993 ] [ 0.03170893 0.00772097 0.99946732 0.98849034] [ 0. 0. 0. 1. ]] SLAMing on 124.442557844 meters Centerline goodness : 0.157473 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:0.99 [[ 0.9994017 0.01316336 -0.03198379 1.08840306] [-0.01339793 0.99988482 -0.00713079 0.07235967] [ 0.03188624 0.00755504 0.99946295 0.98745749] [ 0. 0. 0. 1. ]] SLAMing on 124.47255784400001 meters Centerline goodness : 0.115204 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:0.99 [[ 0.99945326 0.01004052 -0.03150203 1.08798317] [-0.01036643 0.99989425 -0.01019961 0.07096318] [ 0.03139629 0.01052059 0.99945164 0.98619415] [ 0. 0. 0. 1. ]] SLAMing on 124.50255784400001 meters Centerline goodness : 0.152960 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.9995066 0.00129237 -0.03138286 1.10614192] [-0.00160585 0.99994905 -0.00996589 0.07794963] [ 0.03136838 0.01001137 0.99945775 0.98783033] [ 0. 0. 0. 1. ]] SLAMing on 124.53255784400001 meters Centerline goodness : 0.156455 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99950777 0.00133575 -0.03134364 1.10579985] [-0.00164427 0.99995044 -0.00981934 0.07724084] [ 0.03132897 0.00986604 0.99946043 0.98820922] [ 0. 0. 0. 1. ]] SLAMing on 124.56255784400001 meters Centerline goodness : 0.155325 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99950248 0.00147505 -0.03150567 1.10601397] [-0.0017757 0.99995313 -0.00951712 0.07633577] [ 0.03149015 0.00956833 0.99945826 0.98842735] [ 0. 0. 0. 1. ]] SLAMing on 124.592557844 meters Centerline goodness : 0.155325 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99950248 0.00147505 -0.03150567 1.10601397] [-0.0017757 0.99995313 -0.00951712 0.07633577] [ 0.03149015 0.00956833 0.99945826 0.98842735] [ 0. 0. 0. 1. ]] SLAMing on 124.622557844 meters Centerline goodness : 0.109548 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99949508 0.00148853 -0.03173899 1.10679169] [-0.00178899 0.99995384 -0.00944018 0.07593795] [ 0.03172348 0.00949219 0.99945161 0.988118 ] [ 0. 0. 0. 1. ]] SLAMing on 124.652557844 meters Centerline goodness : 0.153375 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99948742 0.00149084 -0.03197933 1.10748769] [-0.00178988 0.99995493 -0.00932431 0.07515846] [ 0.03196399 0.00937677 0.99944504 0.98801551] [ 0. 0. 0. 1. ]] SLAMing on 124.682557844 meters Centerline goodness : 0.152185 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:0.99 [[ 0.99948959 0.00156378 -0.03190779 1.10708124] [-0.00185546 0.99995675 -0.00911375 0.07410796] [ 0.03189216 0.0091683 0.99944926 0.98838271] [ 0. 0. 0. 1. ]] SLAMing on 124.712557844 meters Centerline goodness : 0.156151 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:0.99 [[ 0.99949878 0.00162788 -0.03161538 1.1059212 ] [-0.00191357 0.99995759 -0.00900817 0.07376113] [ 0.03159938 0.00906415 0.99945951 0.98903111] [ 0. 0. 0. 1. ]] SLAMing on 124.742557844 meters Centerline goodness : 0.159060 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99950832 0.00152083 -0.03131781 1.10521894] [-0.00181596 0.99995419 -0.00939743 0.07587739] [ 0.03130208 0.00944968 0.9994653 0.98892049] [ 0. 0. 0. 1. ]] SLAMing on 124.772557844 meters Centerline goodness : 0.156683 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99950078 0.00135752 -0.03156496 1.10632956] [-0.00166972 0.99994993 -0.00986644 0.07806494] [ 0.03154998 0.00991422 0.999453 0.98808866] [ 0. 0. 0. 1. ]] SLAMing on 124.802557844 meters Centerline goodness : 0.157891 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99949418 0.00118929 -0.03178007 1.10716267] [-0.00151721 0.99994584 -0.01029618 0.0800015 ] [ 0.03176611 0.01033918 0.99944185 0.98761202] [ 0. 0. 0. 1. ]] SLAMing on 124.83255784400001 meters Centerline goodness : 0.122772 Centerline is valid? [False, False] Translation: X:1.06, Y:0.08, Z:0.99 [[ 9.99378830e-01 1.65435958e-04 -3.52409747e-02 1.06278959e+00] [-5.03521666e-04 9.99953937e-01 -9.58488119e-03 7.83465249e-02] [ 3.52377658e-02 9.59667195e-03 9.99332879e-01 9.88004275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86255784400001 meters Centerline goodness : 0.155630 Centerline is valid? [False, False] Translation: X:1.08, Y:0.09, Z:0.99 [[ 0.9993332 -0.006504 -0.03592845 1.081466 ] [ 0.00620062 0.99994423 -0.00854899 0.08551909] [ 0.03598205 0.00832052 0.9993178 0.99054472] [ 0. 0. 0. 1. ]] SLAMing on 124.89255784400001 meters Centerline goodness : 0.164414 Centerline is valid? [False, False] Translation: X:1.06, Y:0.08, Z:0.99 [[ 0.999336 0.00146663 -0.03640627 1.06028824] [-0.00179402 0.99995823 -0.00896171 0.08117584] [ 0.03639161 0.00902107 0.99929689 0.9900638 ] [ 0. 0. 0. 1. ]] SLAMing on 124.92255784400001 meters Centerline goodness : 0.156239 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99411017e-01 -4.88698318e-04 -3.43129860e-02 1.09422738e+00] [ 1.68279687e-04 9.99956364e-01 -9.34038268e-03 8.21400685e-02] [ 3.43160533e-02 9.32910717e-03 9.99367488e-01 9.92114067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.952557844 meters Centerline goodness : 0.161665 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99416777e-01 -5.57882900e-04 -3.41437218e-02 1.09367239e+00] [ 2.39611150e-04 9.99956493e-01 -9.32491271e-03 8.18222523e-02] [ 3.41474385e-02 9.31129299e-03 9.99373430e-01 9.92326870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.982557844 meters Centerline goodness : 0.156158 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99418164e-01 -6.01857715e-04 -3.41023510e-02 1.09349161e+00] [ 2.83990274e-04 9.99956480e-01 -9.32506044e-03 8.16945874e-02] [ 3.41064792e-02 9.30995005e-03 9.99374841e-01 9.92464845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.012557844 meters Centerline goodness : 0.163126 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99427251e-01 -7.27398613e-04 -3.38325299e-02 1.09256067e+00] [ 4.09562787e-04 9.99955732e-01 -9.40036712e-03 8.18917259e-02] [ 3.38378700e-02 9.38112653e-03 9.99383306e-01 9.92740853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.042557844 meters Centerline goodness : 0.157440 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99427778e-01 -7.47568329e-04 -3.38165354e-02 1.09217255e+00] [ 4.28827246e-04 9.99955427e-01 -9.43186939e-03 8.20996458e-02] [ 3.38220791e-02 9.41197081e-03 9.99383551e-01 9.93316478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.072557844 meters Centerline goodness : 0.083299 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99430768e-01 -8.95982010e-04 -3.37244302e-02 1.09143287e+00] [ 5.72723565e-04 9.99953815e-01 -9.59372996e-03 8.23729929e-02] [ 3.37314684e-02 9.56895413e-03 9.99385123e-01 9.94058563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.102557844 meters Centerline goodness : 0.164414 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99434221e-01 -1.07907008e-03 -3.36165549e-02 1.09073061e+00] [ 7.49827447e-04 9.99951647e-01 -9.80513021e-03 8.27029335e-02] [ 3.36255099e-02 9.77437606e-03 9.99386705e-01 9.94753276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.132557844 meters Centerline goodness : 0.133128 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:1.00 [[ 0.99941963 0.00725822 -0.03328231 1.10823505] [-0.00760954 0.99991653 -0.01044121 0.07609527] [ 0.03320375 0.01068841 0.99939145 0.99603875] [ 0. 0. 0. 1. ]] SLAMing on 125.162557844 meters Centerline goodness : 0.133232 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:1.00 [[ 0.99942554 0.00733371 -0.03308779 1.10751621] [-0.00767717 0.99991784 -0.01026544 0.07534764] [ 0.03300979 0.01051356 0.99939973 0.99636969] [ 0. 0. 0. 1. ]] SLAMing on 125.192557844 meters Centerline goodness : 0.163599 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:1.00 [[ 0.99943077 0.00746141 -0.03290089 1.10666249] [-0.00779287 0.99992006 -0.00995764 0.07402599] [ 0.03282396 0.01020837 0.99940901 0.99699549] [ 0. 0. 0. 1. ]] SLAMing on 125.22255784400001 meters Centerline goodness : 0.142610 Centerline is valid? [False, False] Translation: X:1.13, Y:0.08, Z:1.00 [[ 9.99492417e-01 1.03303040e-04 -3.18574736e-02 1.12552801e+00] [-3.78087997e-04 9.99962780e-01 -8.61954388e-03 7.67166173e-02] [ 3.18553974e-02 8.62721367e-03 9.99455254e-01 9.99295092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25255784400001 meters Centerline goodness : 0.158450 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:1.00 [[ 9.99492711e-01 3.67247871e-04 -3.18462764e-02 1.12522697e+00] [-6.18726616e-04 9.99968705e-01 -7.88715022e-03 7.31592930e-02] [ 3.18423832e-02 7.90285330e-03 9.99461659e-01 9.99780116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28255784400001 meters Centerline goodness : 0.158450 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:1.00 [[ 9.99492711e-01 3.67247871e-04 -3.18462764e-02 1.12522697e+00] [-6.18726616e-04 9.99968705e-01 -7.88715022e-03 7.31592930e-02] [ 3.18423832e-02 7.90285330e-03 9.99461659e-01 9.99780116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31255784400001 meters Centerline goodness : 0.137319 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:1.00 [[ 9.99489459e-01 5.24601736e-04 -3.19459786e-02 1.12558016e+00] [-7.65288062e-04 9.99971413e-01 -7.52240568e-03 7.14589244e-02] [ 3.19411191e-02 7.54301307e-03 9.99461289e-01 9.99631360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.342557844 meters Centerline goodness : 0.161145 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:1.00 [[ 9.99490172e-01 7.26315460e-04 -3.19197218e-02 1.12555516e+00] [-9.55138523e-04 9.99973953e-01 -7.15404181e-03 6.97646744e-02] [ 3.19136943e-02 7.18088223e-03 9.99464832e-01 9.99597734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.372557844 meters Centerline goodness : 0.108412 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:1.00 [[ 9.99491008e-01 7.89339538e-04 -3.18920341e-02 1.12547610e+00] [-1.01910075e-03 9.99973641e-01 -7.18873247e-03 7.01542366e-02] [ 3.18855191e-02 7.21757466e-03 9.99465467e-01 9.99620338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.402557844 meters Centerline goodness : 0.111192 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:1.00 [[ 9.99484857e-01 7.94276191e-04 -3.20840985e-02 1.12620987e+00] [-1.03017480e-03 9.99972556e-01 -7.33664745e-03 7.09830909e-02] [ 3.20773906e-02 7.36592026e-03 9.99458245e-01 9.99174801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.432557844 meters Centerline goodness : 0.157341 Centerline is valid? [False, False] Translation: X:1.15, Y:0.07, Z:1.00 [[ 0.99932591 0.00945562 -0.03547267 1.153952 ] [-0.0097497 0.99991945 -0.00812648 0.06910137] [ 0.03539298 0.00846685 0.99933761 0.99784752] [ 0. 0. 0. 1. ]] SLAMing on 125.462557844 meters Centerline goodness : 0.142302 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:1.00 [[ 0.99928842 0.00970435 -0.03644839 1.15724174] [-0.01001402 0.99991522 -0.00832333 0.07016927] [ 0.03636453 0.00868241 0.99930087 0.99690299] [ 0. 0. 0. 1. ]] SLAMing on 125.492557844 meters Centerline goodness : 0.134664 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:1.00 [[ 0.99928151 0.00972613 -0.03663136 1.15781198] [-0.01004773 0.99991249 -0.0086055 0.0715146 ] [ 0.03654446 0.00896738 0.99929179 0.99694319] [ 0. 0. 0. 1. ]] SLAMing on 125.522557844 meters Centerline goodness : 0.161039 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.99934946 0.00308291 -0.03593257 1.17212792] [-0.00331369 0.99997425 -0.00636493 0.07961681] [ 0.03591202 0.00647986 0.99933395 0.99979615] [ 0. 0. 0. 1. ]] SLAMing on 125.552557844 meters Centerline goodness : 0.137307 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.9993633 0.00312035 -0.03554222 1.17071606] [-0.00335251 0.99997342 -0.00647429 0.0805291 ] [ 0.03552108 0.00658932 0.9993472 1.0004469 ] [ 0. 0. 0. 1. ]] SLAMing on 125.58255784400001 meters Centerline goodness : 0.156500 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.99936642 0.00310401 -0.03545596 1.17039561] [-0.00333851 0.99997293 -0.00655653 0.08099237] [ 0.03543465 0.00667074 0.99934973 1.00059847] [ 0. 0. 0. 1. ]] SLAMing on 125.61255784400001 meters Centerline goodness : 0.117634 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.99935145 0.00302435 -0.03588212 1.17193285] [-0.00326077 0.99997335 -0.00653207 0.08038768] [ 0.03586141 0.00664484 0.99933468 0.99982491] [ 0. 0. 0. 1. ]] SLAMing on 125.64255784400001 meters Centerline goodness : 0.115547 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.99934616 0.00305602 -0.03602644 1.17251745] [-0.00328739 0.99997434 -0.00636458 0.07945225] [ 0.03600606 0.00647885 0.99933057 0.99942928] [ 0. 0. 0. 1. ]] SLAMing on 125.67255784400001 meters Centerline goodness : 0.154991 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.99933684 0.0030865 -0.0362817 1.17317333] [-0.00330868 0.99997613 -0.00606543 0.07782525] [ 0.03626211 0.00618145 0.9993232 0.99940654] [ 0. 0. 0. 1. ]] SLAMing on 125.702557844 meters Centerline goodness : 0.108071 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.99934265 0.00315725 -0.03611518 1.17270463] [-0.00336083 0.9999788 -0.00557766 0.0757219 ] [ 0.0360968 0.00569538 0.99933207 0.99932176] [ 0. 0. 0. 1. ]] SLAMing on 125.732557844 meters Centerline goodness : 0.052464 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:1.00 [[ 0.99933888 0.00324599 -0.03621143 1.17256167] [-0.00343542 0.99998073 -0.00517025 0.07356997] [ 0.03619395 0.00529124 0.99933078 0.999984 ] [ 0. 0. 0. 1. ]] SLAMing on 125.762557844 meters Centerline goodness : 0.076510 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:1.00 [[ 0.99935845 0.00307641 -0.03568213 1.1704944 ] [-0.00325576 0.99998235 -0.0049691 0.0721292 ] [ 0.03566621 0.00508208 0.99935084 1.000948 ] [ 0. 0. 0. 1. ]] SLAMing on 125.792557844 meters Centerline goodness : 0.112724 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:1.00 [[ 0.99941302 0.00130428 -0.03423335 1.16558464] [-0.00150421 0.99998196 -0.00581501 0.06643325] [ 0.03422514 0.00586309 0.99939695 1.00170161] [ 0. 0. 0. 1. ]] SLAMing on 125.822557844 meters Centerline goodness : 0.158680 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99941273 0.00156409 -0.03423087 1.16588556] [-0.00174548 0.99998459 -0.0052696 0.06467632] [ 0.0342221 0.00532626 0.99940006 1.00114404] [ 0. 0. 0. 1. ]] SLAMing on 125.852557844 meters Centerline goodness : 0.158804 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99940825 0.00169348 -0.03435509 1.1664816 ] [-0.00186581 0.99998583 -0.00498483 0.06337486] [ 0.03434616 0.00504598 0.99939726 1.00066937] [ 0. 0. 0. 1. ]] SLAMing on 125.882557844 meters Centerline goodness : 0.152477 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99940248 0.00181472 -0.03451661 1.16702411] [-0.00197739 0.9999871 -0.00467917 0.06190277] [ 0.03450768 0.00474463 0.99939317 1.00045451] [ 0. 0. 0. 1. ]] SLAMing on 125.912557844 meters Centerline goodness : 0.148551 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99939163 0.00196438 -0.03482099 1.16778744] [-0.00212232 0.99998763 -0.00449946 0.06104057] [ 0.03481172 0.00457062 0.99938344 1.00061327] [ 0. 0. 0. 1. ]] SLAMing on 125.942557844 meters Centerline goodness : 0.140446 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99939339 0.00207831 -0.03476406 1.16743092] [-0.00222811 0.9999884 -0.00427085 0.06005441] [ 0.03475478 0.00434572 0.99938642 1.00099153] [ 0. 0. 0. 1. ]] SLAMing on 125.97255784400001 meters Centerline goodness : 0.151224 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:1.00 [[ 0.99939578 0.01132253 -0.03286158 1.18583719] [-0.01149347 0.99992136 -0.00501766 0.05370631] [ 0.03280218 0.00539232 0.99944732 1.00293766] [ 0. 0. 0. 1. ]] SLAMing on 126.00255784400001 meters Centerline goodness : 0.128386 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:1.00 [[ 0.99939678 0.01128237 -0.03284474 1.18561032] [-0.01145588 0.99992138 -0.00509931 0.05375689] [ 0.03278463 0.0054725 0.99944746 1.00334215] [ 0. 0. 0. 1. ]] SLAMing on 126.03255784400001 meters Centerline goodness : 0.121324 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:1.00 [[ 0.99939156 0.01133027 -0.03298675 1.18601522] [-0.01150535 0.99992069 -0.00512254 0.05382696] [ 0.0329261 0.00549895 0.99944266 1.00333487] [ 0. 0. 0. 1. ]] SLAMing on 126.06255784400001 meters Centerline goodness : 0.157300 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:1.00 [[ 0.99938334 0.01142169 -0.03320369 1.18685754] [-0.0115994 0.99991939 -0.00516414 0.05432793] [ 0.03314203 0.0055461 0.99943526 1.00295968] [ 0. 0. 0. 1. ]] SLAMing on 126.092557844 meters Centerline goodness : 0.173466 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:1.00 [[ 0.99937772 0.01155153 -0.03332762 1.18756329] [-0.01172953 0.99991794 -0.00515048 0.05475279] [ 0.03326539 0.00553819 0.99943121 1.00237303] [ 0. 0. 0. 1. ]] SLAMing on 126.122557844 meters Centerline goodness : 0.143733 Centerline is valid? [False, False] Translation: X:1.19, Y:0.06, Z:1.00 [[ 0.999367 0.01166329 -0.03360911 1.18899196] [-0.01184335 0.99991653 -0.00516331 0.05525758] [ 0.03354608 0.00555808 0.99942172 1.00132809] [ 0. 0. 0. 1. ]] SLAMing on 126.152557844 meters Centerline goodness : 0.155439 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99932418 0.00266601 -0.03666157 1.17252682] [-0.00282823 0.99998644 -0.00437366 0.06230224] [ 0.03664941 0.00447439 0.99931817 0.99956354] [ 0. 0. 0. 1. ]] SLAMing on 126.182557844 meters Centerline goodness : 0.159831 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99931877 0.00260135 -0.03681336 1.17306803] [-0.00276838 0.9999861 -0.00448712 0.06269754] [ 0.03680117 0.00458597 0.99931208 0.99928834] [ 0. 0. 0. 1. ]] SLAMing on 126.212557844 meters Centerline goodness : 0.116561 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99931922 0.00260673 -0.03680093 1.17277851] [-0.0027726 0.99998622 -0.00445705 0.06256449] [ 0.0367888 0.00455605 0.99931268 0.99971599] [ 0. 0. 0. 1. ]] SLAMing on 126.242557844 meters Centerline goodness : 0.169067 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99936193 -0.00483519 -0.03538872 1.19193168] [ 0.00471284 0.99998263 -0.00353982 0.06715869] [ 0.03540522 0.00337078 0.99936735 1.00171889] [ 0. 0. 0. 1. ]] SLAMing on 126.272557844 meters Centerline goodness : 0.146039 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937321 -0.00479848 -0.0350738 1.19051821] [ 0.00468113 0.99998317 -0.00342717 0.06674664] [ 0.03508965 0.00326084 0.99937885 1.00271135] [ 0. 0. 0. 1. ]] SLAMing on 126.302557844 meters Centerline goodness : 0.147058 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99938216 -0.00474406 -0.03482521 1.18952389] [ 0.00463077 0.99998372 -0.00333314 0.06651079] [ 0.03484045 0.00316982 0.99938786 1.0032833 ] [ 0. 0. 0. 1. ]] SLAMing on 126.33255784400001 meters Centerline goodness : 0.155705 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99939383 -0.00472747 -0.03449096 1.1889968 ] [ 0.00461569 0.99998384 -0.00331968 0.06664241] [ 0.0345061 0.00315847 0.9993995 1.00268547] [ 0. 0. 0. 1. ]] SLAMing on 126.36255784400001 meters Centerline goodness : 0.139900 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99938729 -0.00478865 -0.0346716 1.18980883] [ 0.00467261 0.99998321 -0.00342687 0.06706447] [ 0.03468743 0.00326276 0.99939288 1.00206036] [ 0. 0. 0. 1. ]] SLAMing on 126.39255784400001 meters Centerline goodness : 0.154942 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937766 -0.00483659 -0.0349414 1.19073812] [ 0.00471789 0.99998282 -0.00347878 0.06714635] [ 0.03495762 0.00331177 0.99938331 1.00165924] [ 0. 0. 0. 1. ]] SLAMing on 126.42255784400001 meters Centerline goodness : 0.158673 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.999372 -0.00489128 -0.0350954 1.19110687] [ 0.00476958 0.99998232 -0.00355079 0.06734671] [ 0.03511215 0.00338117 0.99937766 1.00166685] [ 0. 0. 0. 1. ]] SLAMing on 126.452557844 meters Centerline goodness : 0.156717 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937061 -0.00488102 -0.03513633 1.19103491] [ 0.00476098 0.99998254 -0.00349946 0.06712145] [ 0.0351528 0.00332997 0.9993764 1.00194589] [ 0. 0. 0. 1. ]] SLAMing on 126.482557844 meters Centerline goodness : 0.156717 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937061 -0.00488102 -0.03513633 1.19103491] [ 0.00476098 0.99998254 -0.00349946 0.06712145] [ 0.0351528 0.00332997 0.9993764 1.00194589] [ 0. 0. 0. 1. ]] SLAMing on 126.512557844 meters Centerline goodness : 0.157260 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937269 -0.00485188 -0.0350812 1.1906115 ] [ 0.00473562 0.99998302 -0.00339639 0.06665936] [ 0.03509708 0.00322813 0.99937869 1.00242353] [ 0. 0. 0. 1. ]] SLAMing on 126.542557844 meters Centerline goodness : 0.159572 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937253 -0.00480823 -0.03509182 1.19035675] [ 0.00469977 0.99998392 -0.00317264 0.06552546] [ 0.03510651 0.00300572 0.99937906 1.00290047] [ 0. 0. 0. 1. ]] SLAMing on 126.572557844 meters Centerline goodness : 0.156942 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99936664 -0.00480606 -0.03525942 1.19093512] [ 0.00469752 0.99998397 -0.00316047 0.06548055] [ 0.03527405 0.00299284 0.9993732 1.00263976] [ 0. 0. 0. 1. ]] SLAMing on 126.602557844 meters Centerline goodness : 0.160004 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99936467 -0.00486683 -0.03530687 1.1913546 ] [ 0.00475199 0.99998314 -0.00333605 0.06632559] [ 0.03532251 0.00316616 0.99937095 1.00212028] [ 0. 0. 0. 1. ]] SLAMing on 126.632557844 meters Centerline goodness : 0.159158 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99936598 -0.00493572 -0.03526026 1.19141312] [ 0.00481111 0.99998188 -0.00361791 0.06773479] [ 0.03527748 0.00344597 0.99937162 1.00180003] [ 0. 0. 0. 1. ]] SLAMing on 126.662557844 meters Centerline goodness : 0.158147 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937276 -0.00502799 -0.03505432 1.19096179] [ 0.0048908 0.99998005 -0.00399829 0.06962641] [ 0.03507372 0.00382433 0.99937741 1.00168106] [ 0. 0. 0. 1. ]] SLAMing on 126.692557844 meters Centerline goodness : 0.155194 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99942461 -0.00443069 -0.03362772 1.18672587] [ 0.00430139 0.99998308 -0.00391629 0.07171686] [ 0.0336445 0.00376939 0.99942676 1.00239963] [ 0. 0. 0. 1. ]] SLAMing on 126.72255784400001 meters Centerline goodness : 0.117547 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99943044 -0.00451284 -0.03344294 1.18648734] [ 0.00437272 0.99998136 -0.00426194 0.07359701] [ 0.03346155 0.00411327 0.99943154 1.00195131] [ 0. 0. 0. 1. ]] SLAMing on 126.75255784400001 meters Centerline goodness : 0.152364 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:1.00 [[ 0.9994589 0.00469053 -0.03255619 1.20741428] [-0.00486831 0.99997366 -0.00538359 0.07352659] [ 0.03253008 0.00553917 0.99945541 1.00238187] [ 0. 0. 0. 1. ]] SLAMing on 126.78255784400001 meters Centerline goodness : 0.153997 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:1.00 [[ 0.99945733 0.00451064 -0.03262981 1.20791854] [-0.00470257 0.99997208 -0.00580743 0.07543394] [ 0.0326027 0.00595773 0.99945063 1.00184262] [ 0. 0. 0. 1. ]] SLAMing on 126.81255784400001 meters Centerline goodness : 0.154271 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:1.00 [[ 0.99945199 0.00433973 -0.03281591 1.20849653] [-0.00454786 0.99997 -0.00627046 0.07731924] [ 0.03278772 0.00641627 0.99944174 1.00170082] [ 0. 0. 0. 1. ]] SLAMing on 126.842557844 meters Centerline goodness : 0.115742 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 9.99512344e-01 -1.16721764e-03 -3.12043656e-02 1.17346092e+00] [ 9.95607543e-04 9.99984299e-01 -5.51452610e-03 7.92163838e-02] [ 3.12103123e-02 5.48076961e-03 9.99497813e-01 1.00008449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.872557844 meters Centerline goodness : 0.161831 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 9.99540513e-01 -1.15670704e-03 -3.02890139e-02 1.17012009e+00] [ 9.75937819e-04 9.99981630e-01 -5.98224843e-03 8.25110576e-02] [ 3.02953772e-02 5.94993947e-03 9.99523281e-01 1.00166429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.902557844 meters Centerline goodness : 0.183248 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 9.99555100e-01 -1.24986299e-03 -2.97999937e-02 1.16857026e+00] [ 1.06067139e-03 9.99979189e-01 -6.36367551e-03 8.46689470e-02] [ 2.98073273e-02 6.32923631e-03 9.99535624e-01 1.00216438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.932557844 meters Centerline goodness : 0.144300 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:1.00 [[ 0.99956257 -0.00140726 -0.02954121 1.16773978] [ 0.00120706 0.99997619 -0.00679391 0.08684522] [ 0.02955006 0.00675528 0.99954047 1.0024121 ] [ 0. 0. 0. 1. ]] SLAMing on 126.962557844 meters Centerline goodness : 0.155021 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:1.00 [[ 0.99956466 -0.00153585 -0.02946411 1.16758137] [ 0.00132752 0.99997399 -0.00708878 0.08818373] [ 0.02947423 0.00704658 0.9995407 1.00230244] [ 0. 0. 0. 1. ]] SLAMing on 126.992557844 meters Centerline goodness : 0.155055 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:1.00 [[ 0.9995633 -0.0016304 -0.02950524 1.16789513] [ 0.00141658 0.9999726 -0.00726638 0.08891215] [ 0.02951628 0.00722141 0.99953821 1.0019074 ] [ 0. 0. 0. 1. ]] SLAMing on 127.022557844 meters Centerline goodness : 0.171488 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:1.00 [[ 0.99955343 -0.00168771 -0.02983432 1.16874666] [ 0.00147417 0.99997315 -0.00717818 0.08830149] [ 0.02984563 0.007131 0.99952908 1.00185386] [ 0. 0. 0. 1. ]] SLAMing on 127.052557844 meters Centerline goodness : 0.151947 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:1.00 [[ 0.99955229 -0.00164471 -0.02987514 1.16871203] [ 0.00143615 0.99997446 -0.0070013 0.0874405 ] [ 0.02988589 0.00695526 0.99952912 1.00208728] [ 0. 0. 0. 1. ]] SLAMing on 127.08255784400001 meters Centerline goodness : 0.114852 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99947154 -0.00382537 -0.03228003 1.12307247] [ 0.0036019 0.99996917 -0.00697804 0.08277897] [ 0.03230573 0.00685809 0.9994545 1.00244599] [ 0. 0. 0. 1. ]] SLAMing on 127.11255784400001 meters Centerline goodness : 0.110375 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99947127 -0.00380006 -0.03229145 1.12295164] [ 0.0035825 0.99997051 -0.00679259 0.08163117] [ 0.03231631 0.00667331 0.99945541 1.00273702] [ 0. 0. 0. 1. ]] SLAMing on 127.14255784400001 meters Centerline goodness : 0.164536 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99947181 -0.0037556 -0.03228009 1.12290805] [ 0.0035427 0.99997161 -0.00664999 0.08086084] [ 0.03230414 0.00653212 0.99945674 1.00274972] [ 0. 0. 0. 1. ]] SLAMing on 127.17255784400001 meters Centerline goodness : 0.161040 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99946988 -0.0037722 -0.03233778 1.12391966] [ 0.00355356 0.99997046 -0.00681586 0.08180724] [ 0.03236254 0.00669733 0.99945376 1.00124569] [ 0. 0. 0. 1. ]] SLAMing on 127.20255784400001 meters Centerline goodness : 0.160335 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99946956 -0.0038393 -0.03233967 1.12431741] [ 0.00361308 0.99996862 -0.00705069 0.0829945 ] [ 0.03236573 0.00693011 0.99945207 1.00055367] [ 0. 0. 0. 1. ]] SLAMing on 127.232557844 meters Centerline goodness : 0.158584 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99946617 -0.00388263 -0.03243905 1.12471046] [ 0.00364751 0.99996667 -0.0073041 0.08431981] [ 0.03246632 0.00718188 0.99944703 1.0002625 ] [ 0. 0. 0. 1. ]] SLAMing on 127.262557844 meters Centerline goodness : 0.152250 Centerline is valid? [False, False] Translation: X:1.14, Y:0.08, Z:1.00 [[ 0.9994761 0.00486271 -0.0319982 1.14489208] [-0.00515112 0.9999468 -0.00893701 0.08276616] [ 0.03195304 0.00909715 0.99944797 1.0017949 ] [ 0. 0. 0. 1. ]] SLAMing on 127.292557844 meters Centerline goodness : 0.156243 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:1.00 [[ 0.99947161 0.0048107 -0.03214584 1.14535634] [-0.00510291 0.99994635 -0.00901428 0.08292404] [ 0.03210075 0.00917356 0.99944254 1.0016242 ] [ 0. 0. 0. 1. ]] SLAMing on 127.322557844 meters Centerline goodness : 0.154084 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:1.00 [[ 0.99946356 0.00472662 -0.03240761 1.1457708 ] [-0.00501469 0.99994859 -0.00881337 0.08143787] [ 0.03236428 0.00897115 0.99943588 1.00198314] [ 0. 0. 0. 1. ]] SLAMing on 127.352557844 meters Centerline goodness : 0.160374 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:1.00 [[ 0.99940825 0.00297091 -0.03426849 1.09862565] [-0.00324479 0.99996322 -0.00793954 0.0753438 ] [ 0.03424364 0.00804603 0.99938113 1.00219176] [ 0. 0. 0. 1. ]] SLAMing on 127.382557844 meters Centerline goodness : 0.158537 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:1.00 [[ 0.99941346 0.00304248 -0.03410972 1.0980595 ] [-0.00330298 0.99996579 -0.00758335 0.07364862] [ 0.03408548 0.00769157 0.99938932 1.00245896] [ 0. 0. 0. 1. ]] SLAMing on 127.412557844 meters Centerline goodness : 0.153853 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99945686 -0.00530222 -0.03252483 1.117076 ] [ 0.00509903 0.99996698 -0.00632704 0.07808604] [ 0.0325573 0.00615776 0.9994509 1.00294012] [ 0. 0. 0. 1. ]] SLAMing on 127.442557844 meters Centerline goodness : 0.162804 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:1.00 [[ 0.99945853 0.00271962 -0.032791 1.09651179] [-0.00294991 0.99997131 -0.0069766 0.06791169] [ 0.03277108 0.00706955 0.99943788 1.00217682] [ 0. 0. 0. 1. ]] SLAMing on 127.47255784400001 meters Centerline goodness : 0.157254 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99944728 -0.00510407 -0.03284949 1.11763072] [ 0.0048962 0.9999675 -0.00640535 0.0714157 ] [ 0.03288112 0.00624098 0.99943978 1.00343007] [ 0. 0. 0. 1. ]] SLAMing on 127.50255784400001 meters Centerline goodness : 0.165500 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99941141 -0.00530939 -0.0338918 1.12078375] [ 0.0050965 0.99996676 -0.00636466 0.06996087] [ 0.03392446 0.00618818 0.99940524 1.00262546] [ 0. 0. 0. 1. ]] SLAMing on 127.53255784400001 meters Centerline goodness : 0.091466 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99940287 -0.00529009 -0.03414563 1.1216858 ] [ 0.00507702 0.99996712 -0.00632376 0.06973239] [ 0.03417796 0.00614663 0.99939686 1.00218241] [ 0. 0. 0. 1. ]] SLAMing on 127.56255784400001 meters Centerline goodness : 0.156453 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99939975 -0.00523251 -0.03424569 1.12213323] [ 0.00502119 0.99996784 -0.00625389 0.06962196] [ 0.03427731 0.00607818 0.99939388 1.00183387] [ 0. 0. 0. 1. ]] SLAMing on 127.592557844 meters Centerline goodness : 0.158212 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99940241 -0.00512276 -0.03418462 1.12190596] [ 0.0049181 0.99996949 -0.00606817 0.06899033] [ 0.03421466 0.00589642 0.99939711 1.00190626] [ 0. 0. 0. 1. ]] SLAMing on 127.622557844 meters Centerline goodness : 0.156891 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99940832 -0.00491916 -0.03404126 1.1211518 ] [ 0.00472954 0.99997286 -0.00564861 0.06722365] [ 0.03406812 0.00548427 0.99940447 1.00256917] [ 0. 0. 0. 1. ]] SLAMing on 127.652557844 meters Centerline goodness : 0.158156 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99941097 -0.00473373 -0.0339898 1.12058278] [ 0.00455946 0.99997607 -0.00520304 0.06500042] [ 0.03401361 0.005045 0.99940864 1.00332273] [ 0. 0. 0. 1. ]] SLAMing on 127.682557844 meters Centerline goodness : 0.119837 Centerline is valid? [False, False] Translation: X:1.12, Y:0.06, Z:1.00 [[ 0.99941345 -0.00482316 -0.03390418 1.12032139] [ 0.00465977 0.99997716 -0.00489652 0.06263077] [ 0.03392702 0.00473566 0.99941309 1.00355028] [ 0. 0. 0. 1. ]] SLAMing on 127.712557844 meters Centerline goodness : 0.158448 Centerline is valid? [False, False] Translation: X:1.12, Y:0.06, Z:1.00 [[ 0.99942287 -0.00473048 -0.03363862 1.11982481] [ 0.00458301 0.99997955 -0.00445994 0.06115153] [ 0.03365903 0.0043032 0.99942411 1.00307026] [ 0. 0. 0. 1. ]] SLAMing on 127.742557844 meters Centerline goodness : 0.131640 Centerline is valid? [False, False] Translation: X:1.12, Y:0.06, Z:1.00 [[ 0.99942932 -0.00456923 -0.03346861 1.11968172] [ 0.00443981 0.99998238 -0.0039403 0.05952367] [ 0.03348603 0.00378946 0.999432 1.00244321] [ 0. 0. 0. 1. ]] SLAMing on 127.772557844 meters Centerline goodness : 0.156767 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.99945516 0.00427689 -0.03272747 1.13978031] [-0.00444519 0.99997726 -0.00507137 0.05496296] [ 0.03270504 0.00521408 0.99945145 1.00331758] [ 0. 0. 0. 1. ]] SLAMing on 127.802557844 meters Centerline goodness : 0.114288 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.99944993 0.00439224 -0.03287168 1.14023867] [-0.0045513 0.99997829 -0.00476537 0.05341073] [ 0.03285003 0.00491236 0.99944822 1.00320069] [ 0. 0. 0. 1. ]] SLAMing on 127.83255784400001 meters Centerline goodness : 0.157914 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.99944512 0.00452086 -0.03300021 1.14014419] [-0.0046752 0.99997849 -0.00460129 0.05250798] [ 0.0329787 0.00475302 0.99944475 1.00403454] [ 0. 0. 0. 1. ]] SLAMing on 127.86255784400001 meters Centerline goodness : 0.157503 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:1.01 [[ 0.99947759 -0.00307048 -0.03217336 1.15847933] [ 0.00296806 0.99999038 -0.00323052 0.05983833] [ 0.03218297 0.00313334 0.99947708 1.00558078] [ 0. 0. 0. 1. ]] SLAMing on 127.89255784400001 meters Centerline goodness : 0.154091 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:1.01 [[ 0.99947434 -0.00305411 -0.03227554 1.15861739] [ 0.00294631 0.99998992 -0.00338712 0.06037741] [ 0.03228556 0.00329025 0.99947327 1.00592128] [ 0. 0. 0. 1. ]] SLAMing on 127.92255784400001 meters Centerline goodness : 0.155107 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:1.00 [[ 0.99949217 0.0042487 -0.03158079 1.13897392] [-0.00438658 0.99998114 -0.00429805 0.05558094] [ 0.03156193 0.0044344 0.99949196 1.00363442] [ 0. 0. 0. 1. ]] SLAMing on 127.95255784400001 meters Centerline goodness : 0.159024 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:1.00 [[ 0.99949222 0.00412032 -0.03159621 1.13917067] [-0.00427028 0.99997993 -0.00467999 0.05713748] [ 0.03157629 0.00481254 0.99948976 1.0034265 ] [ 0. 0. 0. 1. ]] SLAMing on 127.982557844 meters Centerline goodness : 0.155773 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:1.00 [[ 0.99949461 0.00410405 -0.0315226 1.13920551] [-0.00425405 0.99997994 -0.00469285 0.057388 ] [ 0.0315027 0.00482458 0.99949202 1.00297692] [ 0. 0. 0. 1. ]] SLAMing on 128.012557844 meters Centerline goodness : 0.118312 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:1.00 [[ 0.99949763 0.00415171 -0.03142043 1.13910225] [-0.00429533 0.99998063 -0.00450508 0.05685844] [ 0.03140112 0.00463778 0.9994961 1.00258588] [ 0. 0. 0. 1. ]] SLAMing on 128.04255784400002 meters Centerline goodness : 0.168019 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:1.00 [[ 0.99949926 0.00422432 -0.03135897 1.13896328] [-0.00435787 0.99998172 -0.00419185 0.05575527] [ 0.03134068 0.00432641 0.9994994 1.00237817] [ 0. 0. 0. 1. ]] SLAMing on 128.07255784400002 meters Centerline goodness : 0.156865 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.9994969 0.00426158 -0.03142897 1.13909292] [-0.00438725 0.99998265 -0.00393056 0.0546644 ] [ 0.03141168 0.00406647 0.99949826 1.00230043] [ 0. 0. 0. 1. ]] SLAMing on 128.10255784400002 meters Centerline goodness : 0.158647 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.99949264 0.00430155 -0.03155883 1.1394318 ] [-0.00441814 0.99998367 -0.0036258 0.05330174] [ 0.03154272 0.00376339 0.99949532 1.00211653] [ 0. 0. 0. 1. ]] SLAMing on 128.13255784400002 meters Centerline goodness : 0.160903 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.99948452 0.00411784 -0.03183935 1.14008929] [-0.00422629 0.99998549 -0.00333942 0.05092334] [ 0.03182514 0.00347226 0.99948742 1.00224772] [ 0. 0. 0. 1. ]] SLAMing on 128.162557844 meters Centerline goodness : 0.124475 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.9994878 0.00422487 -0.03172219 1.1395839 ] [-0.00432171 0.99998621 -0.00298498 0.04922316] [ 0.03170914 0.00312054 0.99949227 1.00257968] [ 0. 0. 0. 1. ]] SLAMing on 128.192557844 meters Centerline goodness : 0.135539 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:1.00 [[ 0.99952367 -0.00312795 -0.03070247 1.15881551] [ 0.00307808 0.99999387 -0.00167159 0.05238708] [ 0.03070751 0.00157629 0.99952717 1.00428224] [ 0. 0. 0. 1. ]] SLAMing on 128.222557844 meters Centerline goodness : 0.160536 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:1.00 [[ 9.99535541e-01 -3.08865294e-03 -3.03176918e-02 1.15780909e+00] [ 3.05390706e-03 9.99994626e-01 -1.19229716e-03 5.07804222e-02] [ 3.03212115e-02 1.09915597e-03 9.99539602e-01 1.00401543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.252557844 meters Centerline goodness : 0.138534 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:1.00 [[ 9.99530799e-01 -2.90495855e-03 -3.04916978e-02 1.15836301e+00] [ 2.88558924e-03 9.99995606e-01 -6.79216500e-04 4.90092826e-02] [ 3.04935369e-02 5.90911296e-04 9.99534789e-01 1.00363250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.282557844 meters Centerline goodness : 0.157220 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:1.00 [[ 9.99521413e-01 -2.67452806e-03 -3.08187052e-02 1.15940199e+00] [ 2.66766683e-03 9.99996407e-01 -2.63746671e-04 4.76135603e-02] [ 3.08192999e-02 1.81406408e-04 9.99524956e-01 1.00317717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.312557844 meters Centerline goodness : 0.154469 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:1.00 [[ 9.99500767e-01 -2.27667071e-03 -3.15124378e-02 1.16162529e+00] [ 2.28977717e-03 9.99997306e-01 3.79832716e-04 4.55103670e-02] [ 3.15114881e-02 -4.51799552e-04 9.99503288e-01 1.00234395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.342557844 meters Centerline goodness : 0.155703 Centerline is valid? [False, False] Translation: X:1.16, Y:0.04, Z:1.00 [[ 9.99502200e-01 -2.15036600e-03 -3.14758466e-02 1.16178928e+00] [ 2.17197861e-03 9.99997428e-01 6.52466241e-04 4.48124767e-02] [ 3.14743626e-02 -7.20506308e-04 9.99504300e-01 1.00182488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.372557844 meters Centerline goodness : 0.155703 Centerline is valid? [False, False] Translation: X:1.16, Y:0.04, Z:1.00 [[ 9.99502200e-01 -2.15036600e-03 -3.14758466e-02 1.16178928e+00] [ 2.17197861e-03 9.99997428e-01 6.52466241e-04 4.48124767e-02] [ 3.14743626e-02 -7.20506308e-04 9.99504300e-01 1.00182488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.402557844 meters Centerline goodness : 0.154699 Centerline is valid? [False, False] Translation: X:1.16, Y:0.04, Z:1.00 [[ 9.99511986e-01 -2.06360541e-03 -3.11693853e-02 1.16084432e+00] [ 2.08900695e-03 9.99997512e-01 7.82409108e-04 4.44480467e-02] [ 3.11676931e-02 -8.47140345e-04 9.99513810e-01 1.00206549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.432557844 meters Centerline goodness : 0.119866 Centerline is valid? [False, False] Translation: X:1.16, Y:0.04, Z:1.00 [[ 9.99531223e-01 -2.25122789e-03 -3.05330389e-02 1.15880358e+00] [ 2.27463480e-03 9.99997145e-01 7.31897195e-04 4.45224999e-02] [ 3.05313041e-02 -8.01005611e-04 9.99533490e-01 1.00266075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.462557844 meters Centerline goodness : 0.143264 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:1.00 [[ 9.99586909e-01 6.53560568e-03 -2.79874440e-02 1.17732894e+00] [-6.55010480e-03 9.99978457e-01 -4.26410355e-04 4.08118856e-02] [ 2.79840542e-02 6.09554900e-04 9.99608184e-01 1.00361834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.492557844 meters Centerline goodness : 0.168313 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:1.00 [[ 9.99586131e-01 6.50115675e-03 -2.80232439e-02 1.17706134e+00] [-6.50361168e-03 9.99978851e-01 3.54074156e-06 3.80340118e-02] [ 2.80226742e-02 1.78713020e-04 9.99607272e-01 1.00427064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.522557844 meters Centerline goodness : 0.159754 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:1.00 [[ 9.99572374e-01 6.39467675e-03 -2.85337924e-02 1.17834509e+00] [-6.39152289e-03 9.99979554e-01 2.01736318e-04 3.63223596e-02] [ 2.85344991e-02 -1.92756630e-05 9.99592808e-01 1.00428679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.552557844 meters Centerline goodness : 0.162616 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:1.00 [[ 9.99555107e-01 6.26306114e-03 -2.91609623e-02 1.18009466e+00] [-6.25403919e-03 9.99980363e-01 4.00581359e-04 3.46292918e-02] [ 2.91628986e-02 -2.18029342e-04 9.99574648e-01 1.00400169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.582557844 meters Centerline goodness : 0.160419 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:1.00 [[ 9.99537460e-01 6.20295758e-03 -2.97723071e-02 1.18175335e+00] [-6.18606478e-03 9.99980649e-01 6.59474133e-04 3.29112013e-02] [ 2.97758216e-02 -4.74995679e-04 9.99556489e-01 1.00378051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.612557844 meters Centerline goodness : 0.123065 Centerline is valid? [False, False] Translation: X:1.16, Y:0.03, Z:1.00 [[ 0.99952093 -0.00369369 -0.03072898 1.16127768] [ 0.00375489 0.99999108 0.00193436 0.03297042] [ 0.03072156 -0.00204882 0.99952588 1.00298695] [ 0. 0. 0. 1. ]] SLAMing on 128.642557844 meters Centerline goodness : 0.088356 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:1.00 [[ 0.99960741 -0.00277748 -0.02788015 1.20272392] [ 0.0028182 0.99999502 0.0014215 0.03282422] [ 0.02787606 -0.00149951 0.99961026 1.00418063] [ 0. 0. 0. 1. ]] SLAMing on 128.672557844 meters Centerline goodness : 0.130954 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:1.00 [[ 0.99961301 -0.00268455 -0.02768789 1.20198216] [ 0.00273457 0.9999947 0.00176884 0.03116668] [ 0.02768299 -0.00184387 0.99961505 1.00458493] [ 0. 0. 0. 1. ]] SLAMing on 128.702557844 meters Centerline goodness : 0.138739 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:1.00 [[ 9.99653271e-01 4.12120705e-03 -2.60068105e-02 1.22411622e+00] [-4.15006261e-03 9.99990831e-01 -1.05566181e-03 2.85293680e-02] [ 2.60022214e-02 1.16322567e-03 9.99661208e-01 1.00338700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.732557844 meters Centerline goodness : 0.120846 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:1.00 [[ 9.99654296e-01 4.19220402e-03 -2.59560020e-02 1.22399064e+00] [-4.21332057e-03 9.99990836e-01 -7.58915094e-04 2.69600322e-02] [ 2.59525826e-02 8.68013691e-04 9.99662798e-01 1.00334434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.762557844 meters SLAMing on 128.79255784400002 meters Centerline goodness : 0.131057 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:1.00 [[ 0.99959318 0.00125981 -0.02849348 1.17861026] [-0.00129504 0.99999842 -0.00121807 0.02276203] [ 0.02849191 0.00125448 0.99959324 1.00408288] [ 0. 0. 0. 1. ]] SLAMing on 128.82255784400002 meters Centerline goodness : 0.162634 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:1.00 [[ 0.99963483 0.00236281 -0.0269188 1.22349249] [-0.00241503 0.99999526 -0.0019074 0.02263788] [ 0.02691416 0.00197171 0.9996358 1.00406164] [ 0. 0. 0. 1. ]] SLAMing on 128.85255784400002 meters Centerline goodness : 0.087583 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:1.00 [[ 0.99962898 0.00238806 -0.02713285 1.22428124] [-0.00243232 0.99999576 -0.00159841 0.02088092] [ 0.02712891 0.00166381 0.99963056 1.00356561] [ 0. 0. 0. 1. ]] SLAMing on 128.88255784400002 meters SLAMing on 128.912557844 meters SLAMing on 128.942557844 meters Centerline goodness : 0.159212 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:1.00 [[ 9.99604251e-01 -5.28995289e-04 -2.81257988e-02 1.22942780e+00] [ 4.34539376e-04 9.99994246e-01 -3.36434311e-03 1.42525535e-02] [ 2.81274167e-02 3.35078991e-03 9.99598730e-01 1.00036616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.972557844 meters SLAMing on 129.002557844 meters Centerline goodness : 0.144810 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:1.00 [[ 0.99958818 -0.00348947 -0.02848328 1.23166266] [ 0.00334433 0.99998119 -0.00514168 0.00697072] [ 0.02850068 0.00504431 0.99958105 0.99879441] [ 0. 0. 0. 1. ]] SLAMing on 129.032557844 meters Centerline goodness : 0.135441 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:1.00 [[ 0.99966035 -0.00285825 -0.02590398 1.27238038] [ 0.00270194 0.99997795 -0.00606698 0.00541955] [ 0.02592075 0.00599493 0.99964603 1.00031913] [ 0. 0. 0. 1. ]] SLAMing on 129.062557844 meters Centerline goodness : 0.148929 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:1.00 [[ 0.99966645 -0.00276176 -0.02567815 1.27148084] [ 0.00261373 0.99997978 -0.00579656 0.00422023] [ 0.02569364 0.00572751 0.99965346 1.00081252] [ 0. 0. 0. 1. ]] SLAMing on 129.092557844 meters Centerline goodness : 0.164370 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:1.00 [[ 0.99966906 -0.00267528 -0.02558548 1.27110539] [ 0.0025333 0.99998122 -0.00558019 0.003311 ] [ 0.02559993 0.00551352 0.99965706 1.000994 ] [ 0. 0. 0. 1. ]] SLAMing on 129.122557844 meters Centerline goodness : 0.155645 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:1.00 [[ 0.9996686 -0.00260554 -0.02561062 1.27136451] [ 0.00246883 0.99998254 -0.00536834 0.00233285] [ 0.02562416 0.00530333 0.99965758 1.0005852 ] [ 0. 0. 0. 1. ]] SLAMing on 129.152557844 meters Centerline goodness : 0.130511 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:1.00 [[ 0.99966829 -0.0025957 -0.02562366 1.27143748] [ 0.00246018 0.99998283 -0.00531914 0.00202501] [ 0.02563703 0.00525434 0.99965751 1.00050023] [ 0. 0. 0. 1. ]] SLAMing on 129.182557844 meters Centerline goodness : 0.133965 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:1.00 [[ 0.99966663 -0.00261047 -0.02568704 1.27158014] [ 0.00247357 0.99998258 -0.0053599 0.00220316] [ 0.02570058 0.00529457 0.99965566 1.00051965] [ 0. 0. 0. 1. ]] SLAMing on 129.212557844 meters Centerline goodness : 0.131611 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:1.00 [[ 9.99703124e-01 -1.03706852e-03 -2.43431397e-02 1.31550019e+00] [ 8.89858169e-04 9.99981258e-01 -6.05735700e-03 2.77022275e-03] [ 2.43489653e-02 6.03389678e-03 9.99685310e-01 1.00070417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242557844 meters Centerline goodness : 0.125681 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:1.00 [[ 9.99702060e-01 -1.05133473e-03 -2.43861847e-02 1.31589778e+00] [ 9.02497471e-04 9.99980905e-01 -6.11354652e-03 3.11736041e-03] [ 2.43921464e-02 6.08971658e-03 9.99683919e-01 1.00017329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.272557844 meters Centerline goodness : 0.147431 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:1.00 [[ 9.99697076e-01 -1.08482021e-03 -2.45882061e-02 1.31671095e+00] [ 9.32518907e-04 9.99980316e-01 -6.20469954e-03 3.64961056e-03] [ 2.45944531e-02 6.17989102e-03 9.99678409e-01 9.99625515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.302557844 meters Centerline goodness : 0.157211 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:1.00 [[ 9.99688571e-01 -1.10267981e-03 -2.49308158e-02 1.31778782e+00] [ 9.47719029e-04 9.99980165e-01 -6.22659352e-03 3.70780001e-03] [ 2.49371873e-02 6.20102697e-03 9.99669787e-01 9.99283441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.332557844 meters Centerline goodness : 0.157719 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:1.00 [[ 9.99683650e-01 -1.15134223e-03 -2.51251896e-02 1.31798548e+00] [ 9.93222235e-04 9.99979631e-01 -6.30485784e-03 3.84218182e-03] [ 2.51319368e-02 6.27790839e-03 9.99664431e-01 9.99844241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.362557844 meters Centerline goodness : 0.151404 Centerline is valid? [False, False] Translation: X:1.36, Y:0.00, Z:1.00 [[ 9.99739473e-01 1.31946858e-04 -2.28247574e-02 1.35863514e+00] [-3.01475496e-04 9.99972395e-01 -7.42412002e-03 4.80141895e-03] [ 2.28231477e-02 7.42906693e-03 9.99711915e-01 1.00176939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.392557844 meters Centerline goodness : 0.159916 Centerline is valid? [False, False] Translation: X:1.36, Y:0.01, Z:1.00 [[ 9.99753564e-01 2.11536863e-04 -2.21983603e-02 1.35638620e+00] [-3.80042197e-04 9.99971146e-01 -7.58694697e-03 5.97193477e-03] [ 2.21961149e-02 7.59351358e-03 9.99724798e-01 1.00297349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.422557844 meters Centerline goodness : 0.168720 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:1.01 [[ 0.99977831 0.00245552 -0.02091162 1.35115514] [-0.00258519 0.99997759 -0.00617612 0.0124393 ] [ 0.02089598 0.00622881 0.99976225 1.00544469] [ 0. 0. 0. 1. ]] SLAMing on 129.452557844 meters Centerline goodness : 0.122072 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:1.00 [[ 0.99977937 0.00249179 -0.02085665 1.35155618] [-0.00263287 0.99997382 -0.00673983 0.01580095] [ 0.02083931 0.00679326 0.99975976 1.00460449] [ 0. 0. 0. 1. ]] SLAMing on 129.482557844 meters Centerline goodness : 0.116509 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:1.00 [[ 0.99977142 0.00252116 -0.02123103 1.3531364 ] [-0.00267699 0.99996966 -0.00731474 0.01924516] [ 0.02121195 0.0073699 0.99974784 1.0035569 ] [ 0. 0. 0. 1. ]] SLAMing on 129.512557844 meters Centerline goodness : 0.164925 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:1.00 [[ 0.9997665 0.00240075 -0.02147502 1.35425111] [-0.00257258 0.99996487 -0.00797756 0.02262785] [ 0.02145511 0.00803095 0.99973756 1.00275892] [ 0. 0. 0. 1. ]] SLAMing on 129.54255784400002 meters Centerline goodness : 0.116718 Centerline is valid? [False, False] Translation: X:1.35, Y:0.03, Z:1.00 [[ 0.99976463 0.00222175 -0.02158104 1.35463259] [-0.00240779 0.99996013 -0.00859833 0.02562376] [ 0.02156107 0.00864827 0.99973013 1.00266095] [ 0. 0. 0. 1. ]] SLAMing on 129.57255784400002 meters Centerline goodness : 0.114118 Centerline is valid? [False, False] Translation: X:1.35, Y:0.03, Z:1.00 [[ 0.99976408 0.00206856 -0.02162189 1.35461798] [-0.00226761 0.99995524 -0.00918561 0.02857222] [ 0.02160192 0.00923248 0.99972402 1.00291503] [ 0. 0. 0. 1. ]] SLAMing on 129.60255784400002 meters Centerline goodness : 0.115715 Centerline is valid? [False, False] Translation: X:1.35, Y:0.03, Z:1.01 [[ 0.99977165 0.00416937 -0.0209588 1.3506497 ] [-0.00433302 0.99996044 -0.0077686 0.03472281] [ 0.02092558 0.00785764 0.99975016 1.00543173] [ 0. 0. 0. 1. ]] SLAMing on 129.63255784400002 meters Centerline goodness : 0.135642 Centerline is valid? [False, False] Translation: X:1.35, Y:0.04, Z:1.01 [[ 0.99977249 0.00398535 -0.02095413 1.3508224 ] [-0.00415869 0.99995744 -0.00823526 0.03689334] [ 0.02092042 0.00832053 0.99974652 1.00510857] [ 0. 0. 0. 1. ]] SLAMing on 129.662557844 meters Centerline goodness : 0.131921 Centerline is valid? [False, False] Translation: X:1.35, Y:0.04, Z:1.00 [[ 0.99977208 0.00381376 -0.02100586 1.35126143] [-0.0039955 0.99995489 -0.00861695 0.03851544] [ 0.02097205 0.00869891 0.99974222 1.00460431] [ 0. 0. 0. 1. ]] SLAMing on 129.692557844 meters Centerline goodness : 0.167519 Centerline is valid? [False, False] Translation: X:1.37, Y:0.05, Z:1.01 [[ 0.99974298 -0.00253918 -0.02252848 1.36958217] [ 0.00236283 0.99996639 -0.00785101 0.04509701] [ 0.02254766 0.00779577 0.99971537 1.00695378] [ 0. 0. 0. 1. ]] SLAMing on 129.722557844 meters Centerline goodness : 0.129457 Centerline is valid? [False, False] Translation: X:1.37, Y:0.05, Z:1.01 [[ 0.9997443 -0.00267687 -0.02245357 1.36946517] [ 0.00249185 0.99996275 -0.00826422 0.04712185] [ 0.02247486 0.00820616 0.99971373 1.00681945] [ 0. 0. 0. 1. ]] SLAMing on 129.752557844 meters Centerline goodness : 0.129539 Centerline is valid? [False, False] Translation: X:1.36, Y:0.05, Z:1.01 [[ 9.99771625e-01 -3.79435488e-04 -2.13671127e-02 1.36450365e+00] [ 2.37861578e-04 9.99978007e-01 -6.62793741e-03 5.35768787e-02] [ 2.13691577e-02 6.62134134e-03 9.99749727e-01 1.00955537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782557844 meters Centerline goodness : 0.128888 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:1.01 [[ 9.99777135e-01 -5.60754387e-04 -2.11036836e-02 1.36396648e+00] [ 4.06251554e-04 9.99973091e-01 -7.32470629e-03 5.71374331e-02] [ 2.11072231e-02 7.31450047e-03 9.99750460e-01 1.00938805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.812557844 meters Centerline goodness : 0.153709 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:1.01 [[ 9.99774913e-01 -7.24635476e-04 -2.12037293e-02 1.36458971e+00] [ 5.54733012e-04 9.99967704e-01 -8.01764268e-03 6.07128682e-02] [ 2.12088544e-02 8.00407561e-03 9.99743027e-01 1.00874761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842557844 meters Centerline goodness : 0.162872 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:1.01 [[ 0.99974155 -0.00532601 -0.0221015 1.38747731] [ 0.00521145 0.9999727 -0.00523786 0.06625955] [ 0.02212879 0.00512132 0.99974201 1.00889177] [ 0. 0. 0. 1. ]] SLAMing on 129.872557844 meters Centerline goodness : 0.128944 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:1.01 [[ 0.99974001 -0.00552535 -0.02212198 1.38780702] [ 0.00539783 0.9999685 -0.00581998 0.06901219] [ 0.02215344 0.00569906 0.99973834 1.00846142] [ 0. 0. 0. 1. ]] SLAMing on 129.902557844 meters Centerline goodness : 0.114609 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:1.01 [[ 0.99974023 -0.00567477 -0.02207432 1.3878037 ] [ 0.00553662 0.99996474 -0.00631442 0.07134809] [ 0.02210938 0.00619056 0.99973639 1.00829184] [ 0. 0. 0. 1. ]] SLAMing on 129.932557844 meters Centerline goodness : 0.113271 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:1.01 [[ 0.99974118 -0.00585166 -0.02198498 1.38758941] [ 0.00569942 0.99995939 -0.00698107 0.07446874] [ 0.02202494 0.00685396 0.99973393 1.00834406] [ 0. 0. 0. 1. ]] SLAMing on 129.962557844 meters Centerline goodness : 0.153417 Centerline is valid? [False, False] Translation: X:1.39, Y:0.08, Z:1.01 [[ 0.99974011 -0.00590679 -0.02201846 1.38767481] [ 0.00575085 0.99995798 -0.00713852 0.07519505] [ 0.0220597 0.00701003 0.99973208 1.00833644] [ 0. 0. 0. 1. ]] SLAMing on 129.992557844 meters Centerline goodness : 0.119205 Centerline is valid? [False, False] Translation: X:1.39, Y:0.08, Z:1.01 [[ 0.9997382 -0.00593282 -0.02209828 1.38777878] [ 0.00577472 0.99995732 -0.00721131 0.07556757] [ 0.02214012 0.00708181 0.9997298 1.00850379] [ 0. 0. 0. 1. ]] SLAMing on 130.022557844 meters Centerline goodness : 0.125781 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.9997879 -0.00440762 -0.02011774 1.43141895] [ 0.00425512 0.99996194 -0.00761674 0.07792457] [ 0.02015055 0.00752952 0.9997686 1.00886827] [ 0. 0. 0. 1. ]] SLAMing on 130.052557844 meters Centerline goodness : 0.148381 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99979008 -0.00442265 -0.02000604 1.43110963] [ 0.00426909 0.99996115 -0.00771215 0.07843534] [ 0.02003937 0.00762512 0.99977011 1.00894889] [ 0. 0. 0. 1. ]] SLAMing on 130.082557844 meters Centerline goodness : 0.134475 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99979356 -0.00443357 -0.01982863 1.43057995] [ 0.00427937 0.99996033 -0.00781224 0.07899616] [ 0.01986248 0.00772578 0.99977287 1.00908178] [ 0. 0. 0. 1. ]] SLAMing on 130.112557844 meters Centerline goodness : 0.159855 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99980149 -0.00441722 -0.01942851 1.4295536 ] [ 0.00426018 0.99995798 -0.00811685 0.08087597] [ 0.01946355 0.00803247 0.9997783 1.00909506] [ 0. 0. 0. 1. ]] SLAMing on 130.142557844 meters Centerline goodness : 0.145066 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 9.99794742e-01 -1.40156436e-03 -2.02116323e-02 1.43176451e+00] [ 1.29812910e-03 9.99986000e-01 -5.12982295e-03 8.13558838e-02] [ 2.02185391e-02 5.10253271e-03 9.99782564e-01 1.00879580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.172557844 meters Centerline goodness : 0.140861 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 9.99787542e-01 -1.51887749e-03 -2.05563368e-02 1.43277041e+00] [ 1.40657613e-03 9.99984015e-01 -5.47645836e-03 8.29776991e-02] [ 2.05643263e-02 5.44638079e-03 9.99773697e-01 1.00861329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.202557844 meters Centerline goodness : 0.159336 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99978341 -0.00162252 -0.02074867 1.43344115] [ 0.00150084 0.99998159 -0.00587895 0.08491005] [ 0.02075782 0.00584653 0.99976744 1.0083234 ] [ 0. 0. 0. 1. ]] SLAMing on 130.232557844 meters Centerline goodness : 0.160436 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.99977323 -0.00157307 -0.02123706 1.43477196] [ 0.00143739 0.99997847 -0.00640275 0.08691651] [ 0.02124668 0.00637077 0.99975397 1.00856129] [ 0. 0. 0. 1. ]] SLAMing on 130.262557844 meters Centerline goodness : 0.131181 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:1.01 [[ 9.99770515e-01 -1.54653622e-03 -2.13664370e-02 1.43527069e+00] [ 1.40027996e-03 9.99975500e-01 -6.85840667e-03 8.88186624e-02] [ 2.13765203e-02 6.82691377e-03 9.99748187e-01 1.00863011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29255784400002 meters Centerline goodness : 0.159718 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 9.99784303e-01 -1.51716583e-03 -2.07134327e-02 1.43360121e+00] [ 1.36591149e-03 9.99972316e-01 -7.31443067e-03 9.15068319e-02] [ 2.07239565e-02 7.28456025e-03 9.99758697e-01 1.00868034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32255784400002 meters Centerline goodness : 0.159718 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 9.99784303e-01 -1.51716583e-03 -2.07134327e-02 1.43360121e+00] [ 1.36591149e-03 9.99972316e-01 -7.31443067e-03 9.15068319e-02] [ 2.07239565e-02 7.28456025e-03 9.99758697e-01 1.00868034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35255784400002 meters Centerline goodness : 0.159712 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 9.99783522e-01 -1.57396773e-03 -2.07468604e-02 1.43378814e+00] [ 1.41846015e-03 9.99970808e-01 -7.50806101e-03 9.24294161e-02] [ 2.07580722e-02 7.47700708e-03 9.99756569e-01 1.00849439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38255784400002 meters Centerline goodness : 0.162722 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.99978065 -0.00162036 -0.02088123 1.4344218 ] [ 0.0014608 0.99996964 -0.00765407 0.09309422] [ 0.02089299 0.00762189 0.99975266 1.00793536] [ 0. 0. 0. 1. ]] SLAMing on 130.412557844 meters Centerline goodness : 0.156397 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:1.01 [[ 0.99977702 -0.00165613 -0.02105156 1.43508899] [ 0.00149241 0.99996854 -0.00779082 0.09376833] [ 0.0210638 0.00775767 0.99974804 1.00750672] [ 0. 0. 0. 1. ]] SLAMing on 130.442557844 meters Centerline goodness : 0.155942 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.99977913 -0.00164604 -0.02095175 1.43495337] [ 0.00148204 0.99996816 -0.00784052 0.09409441] [ 0.02096399 0.00780774 0.99974974 1.00729636] [ 0. 0. 0. 1. ]] SLAMing on 130.472557844 meters Centerline goodness : 0.148503 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 9.99797097e-01 -1.53653712e-03 -2.00849000e-02 1.43232765e+00] [ 1.37821036e-03 9.99967889e-01 -7.89434130e-03 9.47722592e-02] [ 2.00963851e-02 7.86505830e-03 9.99767111e-01 1.00805417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.502557844 meters Centerline goodness : 0.126878 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:1.01 [[ 9.99804182e-01 -1.51405119e-03 -1.97308241e-02 1.43121938e+00] [ 1.35765876e-03 9.99967578e-01 -7.93728604e-03 9.50708793e-02] [ 1.97422019e-02 7.90894405e-03 9.99773821e-01 1.00841998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.532557844 meters Centerline goodness : 0.154841 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:1.01 [[ 9.99805375e-01 -1.52678089e-03 -1.96693109e-02 1.43104204e+00] [ 1.36908237e-03 9.99966834e-01 -8.02846296e-03 9.55798156e-02] [ 1.96809162e-02 7.99997151e-03 9.99774306e-01 1.00843389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.562557844 meters Centerline goodness : 0.114497 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:1.01 [[ 0.99973367 -0.00174378 -0.02301189 1.38688952] [ 0.00159568 0.99997791 -0.0064526 0.09168701] [ 0.02302264 0.00641417 0.99971437 1.00869594] [ 0. 0. 0. 1. ]] SLAMing on 130.592557844 meters Centerline goodness : 0.159104 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:1.01 [[ 0.999695 -0.00647105 -0.02383351 1.41167902] [ 0.00639597 0.99997435 -0.00322502 0.09421177] [ 0.02385377 0.0030716 0.99971074 1.00758706] [ 0. 0. 0. 1. ]] SLAMing on 130.622557844 meters Centerline goodness : 0.159784 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:1.01 [[ 0.99969464 -0.00641706 -0.02386308 1.41185806] [ 0.00634571 0.99997517 -0.00306461 0.09330762] [ 0.02388216 0.00291224 0.99971054 1.00741543] [ 0. 0. 0. 1. ]] SLAMing on 130.652557844 meters Centerline goodness : 0.157214 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:1.01 [[ 0.99969167 -0.00635141 -0.02400456 1.41223559] [ 0.00628534 0.99997625 -0.00282652 0.09189481] [ 0.02402194 0.00267477 0.99970785 1.00743995] [ 0. 0. 0. 1. ]] SLAMing on 130.682557844 meters Centerline goodness : 0.125349 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:1.01 [[ 0.99968575 -0.00632238 -0.02425762 1.4128896 ] [ 0.00625922 0.99997682 -0.00267899 0.09093653] [ 0.02427399 0.00252631 0.99970215 1.00743402] [ 0. 0. 0. 1. ]] SLAMing on 130.712557844 meters Centerline goodness : 0.153869 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.99970371 0.00262067 -0.02419975 1.43334997] [-0.0027108 0.99998951 -0.00369253 0.08710322] [ 0.02418981 0.00375703 0.99970032 1.00873581] [ 0. 0. 0. 1. ]] SLAMing on 130.742557844 meters Centerline goodness : 0.155021 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.99970193 0.00269195 -0.02426533 1.43379904] [-0.00278136 0.99998946 -0.00365189 0.08730078] [ 0.02425524 0.00371829 0.99969888 1.00820631] [ 0. 0. 0. 1. ]] SLAMing on 130.772557844 meters Centerline goodness : 0.156984 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.99970704 0.00284638 -0.02403614 1.43337588] [-0.00293125 0.99998959 -0.00349635 0.0869999 ] [ 0.02402594 0.00356578 0.99970498 1.00800564] [ 0. 0. 0. 1. ]] SLAMing on 130.802557844 meters Centerline goodness : 0.155628 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.9997065 0.00289024 -0.02405323 1.43318421] [-0.00297034 0.99999016 -0.00329511 0.08565351] [ 0.02404347 0.00336559 0.99970525 1.00844447] [ 0. 0. 0. 1. ]] SLAMing on 130.832557844 meters Centerline goodness : 0.151959 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99970197 0.00292064 -0.02423713 1.4335731 ] [-0.00299579 0.99999081 -0.00306523 0.08407483] [ 0.02422795 0.00313693 0.99970154 1.0086133 ] [ 0. 0. 0. 1. ]] SLAMing on 130.862557844 meters Centerline goodness : 0.153975 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99969663 0.00302429 -0.02444398 1.43417341] [-0.00309322 0.99999134 -0.00278264 0.08267233] [ 0.02443535 0.00285741 0.99969733 1.00847906] [ 0. 0. 0. 1. ]] SLAMing on 130.892557844 meters Centerline goodness : 0.156475 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.9996932 0.00316156 -0.02456635 1.43472954] [-0.00322357 0.99999172 -0.00248506 0.08144771] [ 0.02455829 0.00256348 0.99969511 1.00801224] [ 0. 0. 0. 1. ]] SLAMing on 130.922557844 meters Centerline goodness : 0.156002 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99969307 0.00335789 -0.0245456 1.43496804] [-0.00340849 0.99999215 -0.00201998 0.07942018] [ 0.02453863 0.00210303 0.99969667 1.0075523 ] [ 0. 0. 0. 1. ]] SLAMing on 130.952557844 meters Centerline goodness : 0.156806 Centerline is valid? [False, False] Translation: X:1.44, Y:0.08, Z:1.01 [[ 0.99969108 0.00328817 -0.02463617 1.4351352 ] [-0.00333943 0.99999234 -0.00203957 0.0790223 ] [ 0.02462927 0.00212121 0.9996944 1.00771268] [ 0. 0. 0. 1. ]] SLAMing on 130.982557844 meters Centerline goodness : 0.155927 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 9.99705603e-01 3.52516678e-04 -2.42607459e-02 1.43456425e+00] [-4.73100533e-04 9.99987564e-01 -4.96476736e-03 7.70973618e-02] [ 2.42586940e-02 4.97478352e-03 9.99693337e-01 1.00715428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.012557844 meters Centerline goodness : 0.118934 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 9.99703968e-01 4.17264307e-04 -2.43269783e-02 1.43471374e+00] [-5.34229047e-04 9.99988329e-01 -4.80172505e-03 7.62880663e-02] [ 2.43246908e-02 4.81329977e-03 9.99692524e-01 1.00721864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04255784400002 meters Centerline goodness : 0.152820 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.99969056 -0.00645035 -0.02402467 1.45351493] [ 0.0063679 0.99997358 -0.00350659 0.08144766] [ 0.02404665 0.00335252 0.99970522 1.00885905] [ 0. 0. 0. 1. ]] SLAMing on 131.07255784400002 meters Centerline goodness : 0.152818 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.99969107 -0.00639752 -0.02401734 1.45353891] [ 0.00631735 0.99997422 -0.00341246 0.08113365] [ 0.02403855 0.00325968 0.99970572 1.00875769] [ 0. 0. 0. 1. ]] SLAMing on 131.10255784400002 meters Centerline goodness : 0.153247 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.99968989 -0.00623172 -0.02410979 1.45400611] [ 0.00616108 0.99997651 -0.00300317 0.07924268] [ 0.02412794 0.0028537 0.99970481 1.00836645] [ 0. 0. 0. 1. ]] SLAMing on 131.13255784400002 meters Centerline goodness : 0.151846 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.99968997 -0.00614446 -0.02412896 1.45400968] [ 0.006079 0.99997764 -0.00278542 0.07817912] [ 0.02414554 0.00263787 0.99970497 1.00846085] [ 0. 0. 0. 1. ]] SLAMing on 131.162557844 meters Centerline goodness : 0.154028 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.9996908 -0.00610917 -0.02410352 1.45398117] [ 0.00604604 0.9999781 -0.00269135 0.07769581] [ 0.02411943 0.00254478 0.99970585 1.00840715] [ 0. 0. 0. 1. ]] SLAMing on 131.192557844 meters Centerline goodness : 0.116881 Centerline is valid? [False, False] Translation: X:1.43, Y:0.07, Z:1.01 [[ 0.99969721 0.00161828 -0.02455334 1.43339052] [-0.0017006 0.999993 -0.00333187 0.07149528] [ 0.02454777 0.00337262 0.99969297 1.00733552] [ 0. 0. 0. 1. ]] SLAMing on 131.222557844 meters Centerline goodness : 0.105817 Centerline is valid? [False, False] Translation: X:1.43, Y:0.07, Z:1.01 [[ 0.99969335 0.00163599 -0.02470883 1.43353436] [-0.00172006 0.9999928 -0.00338161 0.07142481] [ 0.02470312 0.00342307 0.99968897 1.00781282] [ 0. 0. 0. 1. ]] SLAMing on 131.252557844 meters Centerline goodness : 0.116828 Centerline is valid? [False, False] Translation: X:1.43, Y:0.07, Z:1.01 [[ 0.99970194 0.00176343 -0.02435014 1.43207037] [-0.00184118 0.99999328 -0.00317102 0.07053608] [ 0.02434438 0.0032149 0.99969846 1.00880804] [ 0. 0. 0. 1. ]] SLAMing on 131.282557844 meters Centerline goodness : 0.155913 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.99971021 -0.00521398 -0.02350125 1.45047167] [ 0.0051718 0.99998491 -0.00185507 0.07549032] [ 0.02351057 0.00173299 0.99972209 1.01061523] [ 0. 0. 0. 1. ]] SLAMing on 131.312557844 meters Centerline goodness : 0.117598 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.99971372 -0.00515137 -0.02336552 1.45033468] [ 0.00511065 0.99998532 -0.00180214 0.0754693 ] [ 0.02337446 0.00168221 0.99972536 1.01022981] [ 0. 0. 0. 1. ]] SLAMing on 131.342557844 meters Centerline goodness : 0.157916 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:1.01 [[ 0.99973912 0.00410861 -0.0224681 1.470895 ] [-0.00417047 0.99998764 -0.00270726 0.07274442] [ 0.0224567 0.00280026 0.99974389 1.01057152] [ 0. 0. 0. 1. ]] SLAMing on 131.372557844 meters Centerline goodness : 0.158138 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:1.01 [[ 0.99973949 0.00413578 -0.02244653 1.47107553] [-0.004196 0.99998772 -0.00263671 0.07229408] [ 0.02243535 0.00273021 0.99974457 1.01017231] [ 0. 0. 0. 1. ]] SLAMing on 131.402557844 meters Centerline goodness : 0.150324 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:1.01 [[ 0.99970521 -0.00533262 -0.02368667 1.45086281] [ 0.00529515 0.99998463 -0.00164436 0.07432078] [ 0.02369508 0.00151845 0.99971808 1.00960472] [ 0. 0. 0. 1. ]] SLAMing on 131.432557844 meters Centerline goodness : 0.161183 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:1.01 [[ 9.99703891e-01 -5.22276267e-03 -2.37666207e-02 1.45055394e+00] [ 5.19307686e-03 9.99985657e-01 -1.31060315e-03 7.24780444e-02] [ 2.37731248e-02 1.18679318e-03 9.99716675e-01 1.01050701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462557844 meters Centerline goodness : 0.161368 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:1.01 [[ 0.99973037 0.00378233 -0.02291017 1.46974505] [-0.00384249 0.99998928 -0.00258252 0.06953257] [ 0.02290015 0.00266985 0.99973419 1.0117787 ] [ 0. 0. 0. 1. ]] SLAMing on 131.492557844 meters Centerline goodness : 0.159059 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:1.01 [[ 9.99689769e-01 -4.43244894e-03 -2.45095870e-02 1.44905030e+00] [ 4.42578204e-03 9.99990153e-01 -3.26250759e-04 7.11558191e-02] [ 2.45107917e-02 2.17675456e-04 9.99699542e-01 1.01163051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.522557844 meters Centerline goodness : 0.182954 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:1.01 [[ 9.99691334e-01 -4.38951795e-03 -2.44533864e-02 1.44903905e+00] [ 4.38411313e-03 9.99990352e-01 -2.74632438e-04 7.10202741e-02] [ 2.44543560e-02 1.67341256e-04 9.99700934e-01 1.01137275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.552557844 meters Centerline goodness : 0.162039 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:1.01 [[ 9.99692116e-01 -4.36767482e-03 -2.44253463e-02 1.44901611e+00] [ 4.36370669e-03 9.99990456e-01 -2.15757564e-04 7.07784222e-02] [ 2.44260555e-02 1.09106088e-04 9.99701633e-01 1.01127995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.582557844 meters Centerline goodness : 0.165758 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:1.01 [[ 9.99687803e-01 -4.27621732e-03 -2.46172897e-02 1.44937226e+00] [ 4.27916832e-03 9.99990842e-01 6.71973297e-05 6.94187790e-02] [ 2.46167770e-02 -1.72517877e-04 9.99696946e-01 1.01151810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.612557844 meters Centerline goodness : 0.165256 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:1.01 [[ 9.99685799e-01 4.37520965e-03 -2.46811937e-02 1.46846103e+00] [-4.41021576e-03 9.99989345e-01 -1.36407653e-03 6.53095086e-02] [ 2.46749626e-02 1.47249732e-03 9.99694442e-01 1.01359693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.642557844 meters Centerline goodness : 0.161427 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.01 [[ 9.99679323e-01 4.50373390e-03 -2.49192154e-02 1.46919690e+00] [-4.53090667e-03 9.99989201e-01 -1.03407927e-03 6.39150851e-02] [ 2.49142891e-02 1.14665430e-03 9.99688933e-01 1.01336720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.672557844 meters Centerline goodness : 0.159942 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.01 [[ 9.99677144e-01 4.62457952e-03 -2.49844221e-02 1.46948239e+00] [-4.64359024e-03 9.99988971e-01 -7.02938583e-04 6.25855232e-02] [ 2.49808958e-02 8.18729054e-04 9.99687593e-01 1.01313312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.702557844 meters Centerline goodness : 0.164857 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.01 [[ 9.99678836e-01 4.58070839e-03 -2.49247134e-02 1.46921169e+00] [-4.59413544e-03 9.99989331e-01 -4.81467788e-04 6.14305528e-02] [ 2.49222420e-02 5.95820667e-04 9.99689215e-01 1.01318246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.732557844 meters Centerline goodness : 0.157573 Centerline is valid? [False, False] Translation: X:1.42, Y:0.06, Z:1.01 [[ 9.99619112e-01 2.78915596e-03 -2.74563702e-02 1.42294962e+00] [-2.78610851e-03 9.99996108e-01 1.49247388e-04 5.56064546e-02] [ 2.74566796e-02 -7.26941145e-05 9.99622992e-01 1.01451885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.762557844 meters Centerline goodness : 0.160867 Centerline is valid? [False, False] Translation: X:1.42, Y:0.05, Z:1.02 [[ 9.99616632e-01 2.91908694e-03 -2.75330424e-02 1.42288155e+00] [-2.90387479e-03 9.99995608e-01 5.92472929e-04 5.36062737e-02] [ 2.75346510e-02 -5.12293286e-04 9.99620718e-01 1.01501914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79255784400002 meters Centerline goodness : 0.155058 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.01 [[ 9.99672588e-01 3.65514377e-03 -2.53250315e-02 1.46646643e+00] [-3.65525812e-03 9.99993319e-01 4.17766989e-05 5.63771801e-02] [ 2.53250150e-02 5.08065063e-05 9.99679269e-01 1.01450830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82255784400002 meters Centerline goodness : 0.155482 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.01 [[ 9.99671281e-01 3.60933697e-03 -2.53831264e-02 1.46655689e+00] [-3.61254082e-03 9.99993472e-01 -8.03644492e-05 5.67184846e-02] [ 2.53826706e-02 1.72035612e-04 9.99677793e-01 1.01469418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85255784400002 meters Centerline goodness : 0.157655 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.01 [[ 9.99670271e-01 3.52337509e-03 -2.54349185e-02 1.46652322e+00] [-3.52619811e-03 9.99993781e-01 -6.61391493e-05 5.67172924e-02] [ 2.54345273e-02 1.55805903e-04 9.99676478e-01 1.01475967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88255784400002 meters Centerline goodness : 0.160373 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.02 [[ 9.99670607e-01 3.50223224e-03 -2.54246302e-02 1.46640751e+00] [-3.50940005e-03 9.99993814e-01 -2.37309557e-04 5.74654760e-02] [ 2.54236418e-02 3.26456587e-04 9.99676714e-01 1.01500745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.912557844 meters Centerline goodness : 0.134759 Centerline is valid? [False, False] Translation: X:1.46, Y:0.06, Z:1.02 [[ 9.99696100e-01 4.07210921e-03 -2.43130824e-02 1.46338202e+00] [-4.06839351e-03 9.99991704e-01 2.02290212e-04 5.76818200e-02] [ 2.43137044e-02 -1.03313549e-04 9.99704373e-01 1.01536172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942557844 meters Centerline goodness : 0.109196 Centerline is valid? [False, False] Translation: X:1.46, Y:0.06, Z:1.02 [[ 9.99699661e-01 3.92554678e-03 -2.41904591e-02 1.46264221e+00] [-3.93132288e-03 9.99992254e-01 -1.91223385e-04 5.90478630e-02] [ 2.41895210e-02 2.86266458e-04 9.99707350e-01 1.01619788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.972557844 meters Centerline goodness : 0.148648 Centerline is valid? [False, False] Translation: X:1.46, Y:0.06, Z:1.02 [[ 9.99698287e-01 3.70530151e-03 -2.42817877e-02 1.46254540e+00] [-3.72337634e-03 9.99992824e-01 -6.99208180e-04 6.05479363e-02] [ 2.42790227e-02 7.89407454e-04 9.99704909e-01 1.01688222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.002557844 meters Centerline goodness : 0.176226 Centerline is valid? [False, False] Translation: X:1.46, Y:0.06, Z:1.02 [[ 0.99970605 0.00156515 -0.02419419 1.46195537] [-0.00163777 0.99999421 -0.00298205 0.0582814 ] [ 0.02418938 0.0030208 0.99970283 1.0171894 ] [ 0. 0. 0. 1. ]] SLAMing on 132.032557844 meters Centerline goodness : 0.149025 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:1.02 [[ 9.99652583e-01 -3.00725122e-03 -2.61852976e-02 1.48650585e+00] [ 3.00256098e-03 9.99995468e-01 -2.18433793e-04 6.25128981e-02] [ 2.61858358e-02 1.39734952e-04 9.99657082e-01 1.01677958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.062557844 meters Centerline goodness : 0.127311 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:1.02 [[ 9.99652316e-01 -3.02888272e-03 -2.61930011e-02 1.48672880e+00] [ 3.02204865e-03 9.99995388e-01 -3.00493423e-04 6.29681570e-02] [ 2.61937905e-02 2.21232422e-04 9.99656859e-01 1.01642510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.092557844 meters Centerline goodness : 0.163313 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:1.02 [[ 9.99650624e-01 -3.08717470e-03 -2.62507183e-02 1.48686751e+00] [ 3.07652765e-03 9.99995168e-01 -4.45968607e-04 6.35888524e-02] [ 2.62519683e-02 3.65051735e-04 9.99655291e-01 1.01643208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122557844 meters Centerline goodness : 0.157563 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 0.99966077 0.00540005 -0.02547925 1.50640638] [-0.00546701 0.99998178 -0.00255915 0.06206475] [ 0.02546497 0.00269757 0.99967208 1.01798739] [ 0. 0. 0. 1. ]] SLAMing on 132.152557844 meters Centerline goodness : 0.161781 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 0.9996534 0.00525388 -0.02579684 1.50728078] [-0.00533427 0.99998113 -0.00304839 0.06388548] [ 0.02578034 0.00318494 0.99966256 1.01799845] [ 0. 0. 0. 1. ]] SLAMing on 132.182557844 meters Centerline goodness : 0.161781 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 0.9996534 0.00525388 -0.02579684 1.50728078] [-0.00533427 0.99998113 -0.00304839 0.06388548] [ 0.02578034 0.00318494 0.99966256 1.01799845] [ 0. 0. 0. 1. ]] SLAMing on 132.212557844 meters Centerline goodness : 0.154370 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99964888 0.00519435 -0.02598337 1.50805908] [-0.005285 0.99998018 -0.00342125 0.06577501] [ 0.02596508 0.00355737 0.99965652 1.01749443] [ 0. 0. 0. 1. ]] SLAMing on 132.242557844 meters Centerline goodness : 0.155382 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99965818 0.00537825 -0.02558501 1.50753578] [-0.00547525 0.99997808 -0.00372273 0.06949688] [ 0.02556443 0.00386154 0.99966572 1.01673055] [ 0. 0. 0. 1. ]] SLAMing on 132.272557844 meters Centerline goodness : 0.125191 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99966185 0.00530381 -0.02545707 1.50712546] [-0.00540283 0.9999781 -0.00382221 0.06991456] [ 0.02543624 0.00395845 0.99966861 1.01679647] [ 0. 0. 0. 1. ]] SLAMing on 132.302557844 meters Centerline goodness : 0.162081 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99965842 0.00519699 -0.02561332 1.50739498] [-0.0052981 0.99997843 -0.00388126 0.06980912] [ 0.0255926 0.00401564 0.99966439 1.01706756] [ 0. 0. 0. 1. ]] SLAMing on 132.332557844 meters Centerline goodness : 0.112808 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99966653 0.0016276 -0.02577154 1.50786031] [-0.00181927 0.99997085 -0.00741549 0.06885742] [ 0.02575872 0.00745991 0.99964035 1.01676401] [ 0. 0. 0. 1. ]] SLAMing on 132.362557844 meters Centerline goodness : 0.156351 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99965351 0.00152489 -0.0262781 1.50916097] [-0.00171732 0.99997187 -0.00730183 0.06783293] [ 0.02626622 0.00734443 0.999628 1.01673891] [ 0. 0. 0. 1. ]] SLAMing on 132.392557844 meters Centerline goodness : 0.077192 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99964921 0.00154524 -0.0264399 1.50950649] [-0.00173153 0.99997383 -0.00702444 0.06643046] [ 0.02642836 0.00706775 0.99962572 1.01681373] [ 0. 0. 0. 1. ]] SLAMing on 132.422557844 meters Centerline goodness : 0.100313 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 9.99659120e-01 1.33475245e-03 -2.60741492e-02 1.50823248e+00] [-1.50734226e-03 9.99977079e-01 -6.60065977e-03 6.36974196e-02] [ 2.60647413e-02 6.63771241e-03 9.99638220e-01 1.01753026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.452557844 meters Centerline goodness : 0.112453 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 9.99657908e-01 1.41829223e-03 -2.61161983e-02 1.50798693e+00] [-1.58022564e-03 9.99979649e-01 -6.18090322e-03 6.15263309e-02] [ 2.61069005e-02 6.22005827e-03 9.99639805e-01 1.01815684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.482557844 meters Centerline goodness : 0.156511 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 9.99661313e-01 1.42355236e-03 -2.59852599e-02 1.50735127e+00] [-1.57621792e-03 9.99981614e-01 -5.85554639e-03 5.99600916e-02] [ 2.59764464e-02 5.89452162e-03 9.99645176e-01 1.01851240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.512557844 meters Centerline goodness : 0.111121 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 0.99964801 0.00165179 -0.02647885 1.50876215] [-0.00178979 0.99998494 -0.00518893 0.05678311] [ 0.02646988 0.0052345 0.99963591 1.01826073] [ 0. 0. 0. 1. ]] SLAMing on 132.54255784400002 meters Centerline goodness : 0.159941 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 0.99964269 0.00178506 -0.02667029 1.50946984] [-0.00191494 0.99998643 -0.00484521 0.05516284] [ 0.02666128 0.00489455 0.99963254 1.01786857] [ 0. 0. 0. 1. ]] SLAMing on 132.57255784400002 meters Centerline goodness : 0.157496 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99963898 0.00189573 -0.02680158 1.50990064] [-0.00201702 0.99998784 -0.00449918 0.05343537] [ 0.02679272 0.00455162 0.99963065 1.01769318] [ 0. 0. 0. 1. ]] SLAMing on 132.60255784400002 meters Centerline goodness : 0.159790 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99963708 0.00199348 -0.02686507 1.50989491] [-0.00210711 0.99998895 -0.004202 0.05196758] [ 0.0268564 0.00425708 0.99963024 1.01800723] [ 0. 0. 0. 1. ]] SLAMing on 132.63255784400002 meters Centerline goodness : 0.110502 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99963811 0.002083 -0.02681987 1.50943697] [-0.0021901 0.99998974 -0.00396436 0.05083003] [ 0.02681133 0.00402166 0.99963242 1.01861615] [ 0. 0. 0. 1. ]] SLAMing on 132.662557844 meters Centerline goodness : 0.125246 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99964095 0.00219986 -0.02670445 1.50867226] [-0.00229908 0.99999057 -0.0036853 0.0496366 ] [ 0.0266961 0.00374538 0.99963658 1.01946427] [ 0. 0. 0. 1. ]] SLAMing on 132.692557844 meters Centerline goodness : 0.161530 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99965409 0.00247512 -0.02618364 1.50666886] [-0.00256012 0.99999156 -0.00321344 0.04796875] [ 0.02617547 0.00327936 0.99965198 1.02068251] [ 0. 0. 0. 1. ]] SLAMing on 132.722557844 meters Centerline goodness : 0.113981 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99965735 0.00257959 -0.02604869 1.5062314 ] [-0.00265851 0.99999198 -0.00299572 0.04701874] [ 0.02604075 0.00306395 0.99965619 1.02086313] [ 0. 0. 0. 1. ]] SLAMing on 132.752557844 meters Centerline goodness : 0.160796 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99965604 0.00264648 -0.02609228 1.50632142] [-0.00272149 0.99999226 -0.0028398 0.04622066] [ 0.02608457 0.00290984 0.9996555 1.02092713] [ 0. 0. 0. 1. ]] SLAMing on 132.782557844 meters Centerline goodness : 0.163462 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.9996492 0.00271494 -0.02634599 1.50701673] [-0.00279145 0.99999199 -0.00286761 0.04620795] [ 0.026338 0.00294015 0.99964877 1.02098816] [ 0. 0. 0. 1. ]] SLAMing on 132.812557844 meters Centerline goodness : 0.158606 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99964778 0.00273292 -0.02639777 1.5072003 ] [-0.00280923 0.99999198 -0.00285409 0.04618581] [ 0.02638975 0.00292724 0.99964744 1.02090733] [ 0. 0. 0. 1. ]] SLAMing on 132.842557844 meters Centerline goodness : 0.153925 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99962778 0.00302351 -0.02711365 1.50944326] [-0.00310074 0.99999125 -0.00280671 0.04626182] [ 0.02710493 0.00288974 0.99962842 1.02043046] [ 0. 0. 0. 1. ]] SLAMing on 132.872557844 meters Centerline goodness : 0.157869 Centerline is valid? [False, False] Translation: X:1.55, Y:0.05, Z:1.02 [[ 0.99962195 0.00298316 -0.02733222 1.54683402] [-0.00305267 0.99999221 -0.00250171 0.04734836] [ 0.02732454 0.0025842 0.99962327 1.0212438 ] [ 0. 0. 0. 1. ]] SLAMing on 132.902557844 meters Centerline goodness : 0.160139 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:1.02 [[ 9.99542389e-01 1.31421539e-03 -3.02205995e-02 1.50084462e+00] [-1.37614633e-03 9.99996996e-01 -2.02858823e-03 4.41430972e-02] [ 3.02178427e-02 2.06924790e-03 9.99541195e-01 1.02274290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.932557844 meters Centerline goodness : 0.160527 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99552109e-01 1.12859250e-03 -2.99049679e-02 1.49955876e+00] [-1.19913607e-03 9.99996541e-01 -2.34109570e-03 4.50022532e-02] [ 2.99022223e-02 2.37590727e-03 9.99550005e-01 1.02361294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962557844 meters Centerline goodness : 0.166440 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99559042e-01 1.02988740e-03 -2.96759235e-02 1.49859920e+00] [-1.10400189e-03 9.99996312e-01 -2.48118542e-03 4.54747865e-02] [ 2.96732587e-02 2.51285360e-03 9.99556493e-01 1.02422131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.992557844 meters Centerline goodness : 0.107446 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99561426e-01 9.91325228e-04 -2.95968240e-02 1.49839497e+00] [-1.06852812e-03 9.99996068e-01 -2.59278355e-03 4.61135461e-02] [ 2.95941374e-02 2.62327147e-03 9.99558555e-01 1.02420160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.022557844 meters Centerline goodness : 0.123066 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99558434e-01 8.64753056e-04 -2.97016871e-02 1.49895837e+00] [-9.49802913e-04 9.99995489e-01 -2.84947977e-03 4.72159387e-02] [ 2.96990890e-02 2.87643229e-03 9.99554746e-01 1.02367384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.052557844 meters Centerline goodness : 0.153072 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99557821e-01 7.91088714e-04 -2.97243381e-02 1.49892858e+00] [-8.79450769e-04 9.99995233e-01 -2.95976151e-03 4.75691534e-02] [ 2.97218550e-02 2.98459386e-03 9.99553752e-01 1.02379042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.082557844 meters Centerline goodness : 0.124716 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99561762e-01 6.67903918e-04 -2.95945675e-02 1.49832562e+00] [-7.61726963e-04 9.99994720e-01 -3.15911877e-03 4.81187451e-02] [ 2.95923013e-02 3.18027731e-03 9.99556993e-01 1.02427585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.112557844 meters Centerline goodness : 0.121307 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99560315e-01 6.56795380e-04 -2.96436398e-02 1.49833537e+00] [-7.51139737e-04 9.99994688e-01 -3.17159369e-03 4.81915822e-02] [ 2.96413992e-02 3.19246570e-03 9.99555499e-01 1.02445530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.142557844 meters Centerline goodness : 0.156134 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99550824e-01 7.09856736e-04 -2.99607353e-02 1.49943327e+00] [-8.02125463e-04 9.99994973e-01 -3.06774849e-03 4.78201568e-02] [ 2.99584071e-02 3.09040280e-03 9.99546369e-01 1.02391914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.172557844 meters Centerline goodness : 0.171661 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99535508e-01 8.66309370e-04 -3.04633833e-02 1.50110385e+00] [-9.53412059e-04 9.99995499e-01 -2.84484933e-03 4.70611760e-02] [ 3.04607816e-02 2.87257208e-03 9.99531835e-01 1.02320998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.202557844 meters Centerline goodness : 0.133988 Centerline is valid? [False, False] Translation: X:1.46, Y:0.04, Z:1.02 [[ 9.99428410e-01 -1.07016422e-03 -3.37891564e-02 1.45860341e+00] [ 9.85974471e-04 9.99996368e-01 -2.50818442e-03 4.34038617e-02] [ 3.37917178e-02 2.47343552e-03 9.99425836e-01 1.02251467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.232557844 meters Centerline goodness : 0.156054 Centerline is valid? [False, False] Translation: X:1.46, Y:0.04, Z:1.02 [[ 9.99423508e-01 -9.29705461e-04 -3.39379979e-02 1.45904243e+00] [ 8.49917357e-04 9.99996841e-01 -2.36534692e-03 4.30504029e-02] [ 3.39400898e-02 2.33513883e-03 9.99421141e-01 1.02243317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.262557844 meters Centerline goodness : 0.163178 Centerline is valid? [False, False] Translation: X:1.46, Y:0.04, Z:1.02 [[ 9.99419588e-01 -8.30949737e-04 -3.40557918e-02 1.45938428e+00] [ 7.54744828e-04 9.99997183e-01 -2.25044339e-03 4.27091373e-02] [ 3.40575659e-02 2.22343377e-03 9.99417400e-01 1.02237105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29255784400002 meters Centerline goodness : 0.075557 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:1.02 [[ 9.99434026e-01 -4.43591601e-04 -3.36367383e-02 1.49767440e+00] [ 3.91301257e-04 9.99998705e-01 -1.56112745e-03 4.30909477e-02] [ 3.36373872e-02 1.54708180e-03 9.99432906e-01 1.02356062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32255784400002 meters Centerline goodness : 0.126314 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:1.02 [[ 9.99434103e-01 -4.51535322e-04 -3.36343591e-02 1.49765006e+00] [ 3.97149882e-04 9.99998603e-01 -1.62362405e-03 4.34719489e-02] [ 3.36350453e-02 1.60934737e-03 9.99432886e-01 1.02358728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35255784400002 meters Centerline goodness : 0.163420 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:1.02 [[ 9.99437510e-01 -4.49517474e-04 -3.35329908e-02 1.49744664e+00] [ 3.91048495e-04 9.99998392e-01 -1.75016352e-03 4.42500502e-02] [ 3.35337236e-02 1.73606605e-03 9.99436079e-01 1.02345913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38255784400002 meters Centerline goodness : 0.115484 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99454615e-01 -3.83049304e-04 -3.30200803e-02 1.49625497e+00] [ 3.14384757e-04 9.99997778e-01 -2.08464534e-03 4.65689487e-02] [ 3.30208054e-02 2.07312740e-03 9.99452514e-01 1.02320027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.412557844 meters Centerline goodness : 0.126616 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99460385e-01 -4.51225869e-04 -3.28441054e-02 1.49574483e+00] [ 3.74360186e-04 9.99997177e-01 -2.34643079e-03 4.79931553e-02] [ 3.28450714e-02 2.33286909e-03 9.99457732e-01 1.02324916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442557844 meters Centerline goodness : 0.140263 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:1.02 [[ 0.99946732 0.00862082 -0.03147624 1.515992 ] [-0.00874022 0.99995511 -0.00365773 0.04724445] [ 0.0314433 0.0039309 0.99949781 1.02384882] [ 0. 0. 0. 1. ]] SLAMing on 133.472557844 meters Centerline goodness : 0.124337 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:1.02 [[ 0.99947053 0.0084085 -0.03143181 1.5158383 ] [-0.0085437 0.99995481 -0.00416964 0.04913907] [ 0.03139533 0.00443598 0.9994972 1.02397626] [ 0. 0. 0. 1. ]] SLAMing on 133.502557844 meters Centerline goodness : 0.154946 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:1.02 [[ 0.99947473 0.00810798 -0.031377 1.51549802] [-0.00826415 0.99995409 -0.00485078 0.05152753] [ 0.03133623 0.00510753 0.99949585 1.02441965] [ 0. 0. 0. 1. ]] SLAMing on 133.532557844 meters Centerline goodness : 0.135654 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:1.02 [[ 0.99947695 0.00781965 -0.03137957 1.51534541] [-0.00799809 0.99995253 -0.0055652 0.05412318] [ 0.03133457 0.00581326 0.99949205 1.024763 ] [ 0. 0. 0. 1. ]] SLAMing on 133.562557844 meters Centerline goodness : 0.137444 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:1.02 [[ 0.99944842 0.00936746 -0.03186065 1.51727706] [-0.00951798 0.99994423 -0.00457604 0.06037967] [ 0.03181601 0.00487676 0.99948185 1.02432985] [ 0. 0. 0. 1. ]] SLAMing on 133.592557844 meters Centerline goodness : 0.156856 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:1.02 [[ 0.99943253 0.00937795 -0.03235227 1.51918283] [-0.00955243 0.99994063 -0.00524281 0.06406968] [ 0.03230118 0.00554888 0.99946278 1.02338234] [ 0. 0. 0. 1. ]] SLAMing on 133.622557844 meters Centerline goodness : 0.153121 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:1.02 [[ 0.99943396 0.00914304 -0.03237523 1.51903806] [-0.00933517 0.99993967 -0.00578821 0.0660885 ] [ 0.03232035 0.00608716 0.99945902 1.02371649] [ 0. 0. 0. 1. ]] SLAMing on 133.652557844 meters Centerline goodness : 0.156512 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:1.03 [[ 0.99944733 0.0084697 -0.03214484 1.51726566] [-0.00869959 0.99993753 -0.00701874 0.06999582] [ 0.03208339 0.00729451 0.99945858 1.02561355] [ 0. 0. 0. 1. ]] SLAMing on 133.682557844 meters Centerline goodness : 0.157053 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:1.03 [[ 0.9994458 0.00836851 -0.03221891 1.51757236] [-0.00860822 0.99993624 -0.00730831 0.07123598] [ 0.0321557 0.0075816 0.99945412 1.02544419] [ 0. 0. 0. 1. ]] SLAMing on 133.712557844 meters Centerline goodness : 0.152893 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:1.02 [[ 0.99943894 0.00834488 -0.03243725 1.51852534] [-0.00859209 0.99993504 -0.00748925 0.0722028 ] [ 0.03237265 0.00776376 0.99944571 1.02484523] [ 0. 0. 0. 1. ]] SLAMing on 133.742557844 meters Centerline goodness : 0.157691 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:1.02 [[ 0.99943747 0.0083053 -0.03249263 1.51882185] [-0.00855858 0.99993401 -0.00766374 0.07304654] [ 0.03242684 0.00793752 0.99944259 1.02462876] [ 0. 0. 0. 1. ]] SLAMing on 133.772557844 meters Centerline goodness : 0.157273 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:1.03 [[ 0.99944543 0.00815918 -0.03228417 1.51805578] [-0.00841887 0.99993323 -0.00791602 0.07400413] [ 0.03221742 0.00818343 0.99944738 1.0250177 ] [ 0. 0. 0. 1. ]] SLAMing on 133.802557844 meters Centerline goodness : 0.154317 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:1.03 [[ 9.99532726e-01 4.63226940e-04 -3.05632881e-02 1.53490775e+00] [-6.61040068e-04 9.99978900e-01 -6.46245965e-03 8.14380944e-02] [ 3.05596496e-02 6.47964347e-03 9.99511942e-01 1.02665038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.832557844 meters Centerline goodness : 0.160826 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:1.03 [[ 9.99608631e-01 -2.73966974e-04 -2.79733928e-02 1.48865732e+00] [ 1.41804677e-04 9.99988820e-01 -4.72644604e-03 7.89279449e-02] [ 2.79743750e-02 4.72062949e-03 9.99597494e-01 1.02593713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.862557844 meters Centerline goodness : 0.156344 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99960559 -0.00741516 -0.02708669 1.50737005] [ 0.00731738 0.99996636 -0.00370715 0.08522272] [ 0.02711326 0.00350749 0.99962621 1.02747083] [ 0. 0. 0. 1. ]] SLAMing on 133.892557844 meters Centerline goodness : 0.112860 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99960731 -0.00742371 -0.0270207 1.50727085] [ 0.00732475 0.99996611 -0.00375965 0.08551013] [ 0.02704769 0.00356025 0.9996278 1.02732422] [ 0. 0. 0. 1. ]] SLAMing on 133.922557844 meters Centerline goodness : 0.153719 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99960346 -0.00746118 -0.02715238 1.50791679] [ 0.0073597 0.99996556 -0.0038353 0.08580677] [ 0.02718006 0.00363395 0.99962395 1.02681445] [ 0. 0. 0. 1. ]] SLAMing on 133.952557844 meters Centerline goodness : 0.128676 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99959409 -0.00748722 -0.02748806 1.50916745] [ 0.00738209 0.99996505 -0.00392385 0.08619419] [ 0.02751648 0.00371934 0.99961443 1.02613867] [ 0. 0. 0. 1. ]] SLAMing on 133.982557844 meters Centerline goodness : 0.156972 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:1.02 [[ 9.99559867e-01 2.75706485e-04 -2.96647289e-02 1.48967192e+00] [-4.15882585e-04 9.99988778e-01 -4.71927963e-03 8.13641307e-02] [ 2.96630948e-02 4.72953956e-03 9.99548764e-01 1.02469788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.012557844 meters Centerline goodness : 0.132388 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:1.02 [[ 9.99545514e-01 2.26373997e-04 -3.01448792e-02 1.49106826e+00] [-3.69765982e-04 9.99988644e-01 -4.75127137e-03 8.11805975e-02] [ 3.01434614e-02 4.76025853e-03 9.99534247e-01 1.02439251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04255784400002 meters Centerline goodness : 0.136943 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99953361 -0.00710955 -0.02969866 1.51030714] [ 0.00699488 0.99996768 -0.00396318 0.08662819] [ 0.02972587 0.00375359 0.99955104 1.02632967] [ 0. 0. 0. 1. ]] SLAMing on 134.07255784400002 meters Centerline goodness : 0.138541 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99953713 -0.00711012 -0.02958005 1.50966556] [ 0.00699519 0.99996759 -0.00398698 0.08682304] [ 0.02960744 0.00377822 0.99955446 1.02686098] [ 0. 0. 0. 1. ]] SLAMing on 134.10255784400002 meters Centerline goodness : 0.150225 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99954135 -0.00709456 -0.02944058 1.50903866] [ 0.00698003 0.99996767 -0.00399121 0.08701181] [ 0.02946795 0.00378388 0.99955856 1.02726522] [ 0. 0. 0. 1. ]] SLAMing on 134.13255784400002 meters Centerline goodness : 0.150225 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99954135 -0.00709456 -0.02944058 1.50903866] [ 0.00698003 0.99996767 -0.00399121 0.08701181] [ 0.02946795 0.00378388 0.99955856 1.02726522] [ 0. 0. 0. 1. ]] SLAMing on 134.162557844 meters Centerline goodness : 0.157887 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99954901 -0.00713925 -0.02916845 1.50834212] [ 0.00702061 0.99996667 -0.0041675 0.08811019] [ 0.02919723 0.00396084 0.99956582 1.02724303] [ 0. 0. 0. 1. ]] SLAMing on 134.192557844 meters Centerline goodness : 0.133910 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99954895 -0.00717716 -0.02916124 1.50840585] [ 0.00705639 0.9999661 -0.00424228 0.08842857] [ 0.0291907 0.00403459 0.99956572 1.02709878] [ 0. 0. 0. 1. ]] SLAMing on 134.222557844 meters Centerline goodness : 0.137700 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:1.03 [[ 9.99573691e-01 1.28729341e-03 -2.91681293e-02 1.52708397e+00] [-1.45730809e-03 9.99982070e-01 -5.80827437e-03 8.49281407e-02] [ 2.91601294e-02 5.84830520e-03 9.99557644e-01 1.02927361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.252557844 meters Centerline goodness : 0.148305 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:1.03 [[ 9.99570310e-01 1.33165622e-03 -2.92817696e-02 1.52723365e+00] [-1.49715293e-03 9.99983027e-01 -5.63067086e-03 8.40472157e-02] [ 2.92737745e-02 5.67209071e-03 9.99555338e-01 1.02948012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282557844 meters Centerline goodness : 0.157658 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:1.03 [[ 9.99560866e-01 1.37338765e-03 -2.96004950e-02 1.52784055e+00] [-1.53244061e-03 9.99984507e-01 -5.35130542e-03 8.26390816e-02] [ 2.95926870e-02 5.39431648e-03 9.99547485e-01 1.02981546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.312557844 meters Centerline goodness : 0.142982 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:1.03 [[ 9.99554218e-01 1.43853830e-03 -2.98210665e-02 1.52840737e+00] [-1.59086044e-03 9.99985807e-01 -5.08477381e-03 8.13111922e-02] [ 2.98133286e-02 5.12994826e-03 9.99542320e-01 1.02981323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342557844 meters Centerline goodness : 0.152771 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:1.03 [[ 0.99954675 0.00153334 -0.03006572 1.52930307] [-0.00166987 0.99998841 -0.00451637 0.07877545] [ 0.03005845 0.00456453 0.99953772 1.02922614] [ 0. 0. 0. 1. ]] SLAMing on 134.372557844 meters Centerline goodness : 0.155579 Centerline is valid? [False, False] Translation: X:1.55, Y:0.08, Z:1.03 [[ 0.99955572 -0.00581535 -0.02923244 1.54804974] [ 0.00572063 0.99997812 -0.00332294 0.08213516] [ 0.02925113 0.00315424 0.99956712 1.03115128] [ 0. 0. 0. 1. ]] SLAMing on 134.402557844 meters Centerline goodness : 0.118078 Centerline is valid? [False, False] Translation: X:1.55, Y:0.08, Z:1.03 [[ 0.99956728 -0.00567965 -0.02886152 1.54669274] [ 0.00559475 0.99997978 -0.00302171 0.08083503] [ 0.0288781 0.00285893 0.99957885 1.03189024] [ 0. 0. 0. 1. ]] SLAMing on 134.432557844 meters Centerline goodness : 0.124811 Centerline is valid? [False, False] Translation: X:1.55, Y:0.08, Z:1.03 [[ 0.99957591 -0.00555614 -0.02858536 1.54565887] [ 0.00548008 0.99998123 -0.00273831 0.07957782] [ 0.02860004 0.0025805 0.9995876 1.03249276] [ 0. 0. 0. 1. ]] SLAMing on 134.462557844 meters Centerline goodness : 0.138315 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:1.03 [[ 0.99962017 0.00320052 -0.02737271 1.56425683] [-0.00331768 0.99998552 -0.00423597 0.07553988] [ 0.02735875 0.00432518 0.99961632 1.03414982] [ 0. 0. 0. 1. ]] SLAMing on 134.492557844 meters Centerline goodness : 0.140894 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:1.03 [[ 0.99962108 0.00330441 -0.0273272 1.56420039] [-0.0034162 0.99998598 -0.0040454 0.07488396] [ 0.02731345 0.00413722 0.99961836 1.03408567] [ 0. 0. 0. 1. ]] SLAMing on 134.522557844 meters Centerline goodness : 0.133876 Centerline is valid? [False, False] Translation: X:1.57, Y:0.07, Z:1.03 [[ 0.99960521 0.00359583 -0.02786561 1.56591494] [-0.00370521 0.99998563 -0.00387467 0.07442354] [ 0.02785127 0.00397639 0.99960417 1.03375468] [ 0. 0. 0. 1. ]] SLAMing on 134.552557844 meters Centerline goodness : 0.118976 Centerline is valid? [False, False] Translation: X:1.57, Y:0.07, Z:1.03 [[ 0.9995925 0.00370379 -0.02830387 1.56717416] [-0.00381846 0.99998472 -0.00399843 0.07497146] [ 0.02828863 0.00410488 0.99959137 1.03371943] [ 0. 0. 0. 1. ]] SLAMing on 134.582557844 meters Centerline goodness : 0.147806 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:1.03 [[ 0.99958669 0.00369939 -0.02850903 1.56763254] [-0.003822 0.99998368 -0.00424757 0.07592078] [ 0.02849285 0.00435478 0.99958451 1.03400459] [ 0. 0. 0. 1. ]] SLAMing on 134.612557844 meters Centerline goodness : 0.157760 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:1.03 [[ 0.99958191 0.00361578 -0.02868678 1.5679824 ] [-0.0037503 0.99998222 -0.00463682 0.07737595] [ 0.02866951 0.00474247 0.9995777 1.034366 ] [ 0. 0. 0. 1. ]] SLAMing on 134.642557844 meters Centerline goodness : 0.156051 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:1.03 [[ 0.99958441 0.00349269 -0.02861492 1.56776115] [-0.00363468 0.99998133 -0.00491154 0.078721 ] [ 0.02859723 0.0050135 0.99957844 1.03434473] [ 0. 0. 0. 1. ]] SLAMing on 134.672557844 meters Centerline goodness : 0.152543 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:1.03 [[ 0.99958969 0.00340799 -0.02844021 1.56737199] [-0.00355679 0.99998024 -0.0051832 0.08008982] [ 0.02842199 0.00528223 0.99958206 1.03421488] [ 0. 0. 0. 1. ]] SLAMing on 134.702557844 meters Centerline goodness : 0.136689 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:1.03 [[ 0.99959145 0.00320981 -0.02840109 1.56810871] [-0.00337706 0.99997723 -0.00584261 0.0835951 ] [ 0.02838169 0.00593613 0.99957953 1.03281522] [ 0. 0. 0. 1. ]] SLAMing on 134.732557844 meters Centerline goodness : 0.153389 Centerline is valid? [False, False] Translation: X:1.57, Y:0.09, Z:1.03 [[ 0.99958499 0.00298617 -0.02865177 1.56917656] [-0.00316923 0.99997484 -0.00634586 0.08577005] [ 0.0286321 0.00643403 0.99956931 1.03206208] [ 0. 0. 0. 1. ]] SLAMing on 134.762557844 meters Centerline goodness : 0.117066 Centerline is valid? [False, False] Translation: X:1.57, Y:0.09, Z:1.03 [[ 0.99957718 0.00259181 -0.02896097 1.57028016] [-0.0028021 0.99996999 -0.00722311 0.08961402] [ 0.02894138 0.00730121 0.99955445 1.03149803] [ 0. 0. 0. 1. ]] SLAMing on 134.79255784400002 meters Centerline goodness : 0.159651 Centerline is valid? [False, False] Translation: X:1.57, Y:0.09, Z:1.03 [[ 0.99957852 0.00245673 -0.02892652 1.57008309] [-0.00267617 0.99996792 -0.00754986 0.0911737 ] [ 0.02890704 0.00762409 0.99955303 1.03165381] [ 0. 0. 0. 1. ]] SLAMing on 134.82255784400002 meters Centerline goodness : 0.080664 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:1.03 [[ 0.99957883 -0.0048723 -0.02860814 1.58936856] [ 0.0046791 0.99996582 -0.00681607 0.09815035] [ 0.02864037 0.00667933 0.99956746 1.03339435] [ 0. 0. 0. 1. ]] SLAMing on 134.85255784400002 meters Centerline goodness : 0.053532 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:1.03 [[ 0.9995754 -0.0050254 -0.02870147 1.58973139] [ 0.00482428 0.99996335 -0.00707251 0.09918535] [ 0.02873596 0.00693104 0.99956301 1.03313224] [ 0. 0. 0. 1. ]] SLAMing on 134.88255784400002 meters Centerline goodness : 0.135285 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:1.03 [[ 0.99957258 -0.00517019 -0.02877355 1.59009566] [ 0.0049615 0.9999609 -0.00731939 0.1002252 ] [ 0.02881027 0.00717351 0.99955916 1.0327595 ] [ 0. 0. 0. 1. ]] SLAMing on 134.912557844 meters Centerline goodness : 0.134011 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:1.03 [[ 0.99957368 -0.00530787 -0.02871037 1.58995907] [ 0.00509198 0.99995825 -0.00758764 0.10150209] [ 0.02874944 0.00743822 0.99955897 1.03264413] [ 0. 0. 0. 1. ]] SLAMing on 134.942557844 meters Centerline goodness : 0.144182 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:1.03 [[ 0.99957765 -0.00540348 -0.02855383 1.58941052] [ 0.00518218 0.99995601 -0.00781835 0.10276536] [ 0.02859482 0.00766708 0.99956168 1.03283336] [ 0. 0. 0. 1. ]] SLAMing on 134.972557844 meters Centerline goodness : 0.223914 Centerline is valid? [False, False] Translation: X:1.61, Y:0.10, Z:1.03 [[ 0.99966064 0.00283483 -0.02589542 1.60795931] [-0.00307576 0.99995232 -0.00926855 0.10440653] [ 0.02586791 0.00934505 0.99962169 1.03308457] [ 0. 0. 0. 1. ]] SLAMing on 135.002557844 meters Centerline goodness : 0.153424 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:1.03 [[ 0.99965991 0.002663 -0.02594176 1.60807898] [-0.00291246 0.99994984 -0.00958283 0.10572283] [ 0.02591494 0.00965513 0.99961752 1.033082 ] [ 0. 0. 0. 1. ]] SLAMing on 135.032557844 meters Centerline goodness : 0.103356 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:1.03 [[ 0.99966682 0.00248315 -0.02569206 1.60740435] [-0.0027339 0.99994893 -0.00972933 0.10623587] [ 0.02566658 0.00979633 0.99962256 1.0329515 ] [ 0. 0. 0. 1. ]] SLAMing on 135.062557844 meters Centerline goodness : 0.071027 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:1.03 [[ 0.99967752 0.00233252 -0.02528681 1.60619384] [-0.00257825 0.99994973 -0.00968968 0.10602811] [ 0.02526294 0.00975175 0.99963328 1.03297211] [ 0. 0. 0. 1. ]] SLAMing on 135.092557844 meters Centerline goodness : 0.154071 Centerline is valid? [False, False] Translation: X:1.60, Y:0.10, Z:1.03 [[ 0.99969012 0.00221282 -0.02479435 1.60488524] [-0.00244397 0.9999538 -0.00929631 0.10449292] [ 0.02477263 0.00935402 0.99964935 1.03267342] [ 0. 0. 0. 1. ]] SLAMing on 135.122557844 meters Centerline goodness : 0.057990 Centerline is valid? [False, False] Translation: X:1.63, Y:0.11, Z:1.03 [[ 0.99969701 -0.00571704 -0.02394146 1.62540585] [ 0.00552105 0.99995077 -0.00824438 0.10726159] [ 0.02398742 0.0081097 0.99967937 1.03417136] [ 0. 0. 0. 1. ]] SLAMing on 135.152557844 meters Centerline goodness : 0.063854 Centerline is valid? [False, False] Translation: X:1.62, Y:0.10, Z:1.04 [[ 0.99971434 -0.00649096 -0.02300244 1.62160541] [ 0.00631108 0.999949 -0.00788401 0.10410814] [ 0.02305244 0.00773659 0.99970432 1.03540814] [ 0. 0. 0. 1. ]] SLAMing on 135.182557844 meters Centerline goodness : 0.129323 Centerline is valid? [False, False] Translation: X:1.60, Y:0.10, Z:1.04 [[ 0.99972749 0.00183702 -0.02327148 1.60217556] [-0.00205492 0.99995424 -0.0093428 0.0960162 ] [ 0.02325325 0.00938807 0.99968553 1.03517761] [ 0. 0. 0. 1. ]] SLAMing on 135.212557844 meters Centerline goodness : 0.070141 Centerline is valid? [False, False] Translation: X:1.62, Y:0.10, Z:1.04 [[ 0.99970518 -0.00602765 -0.0235206 1.62357569] [ 0.00582226 0.99994441 -0.00879101 0.0988719 ] [ 0.02357228 0.00865147 0.9996847 1.03597083] [ 0. 0. 0. 1. ]] SLAMing on 135.242557844 meters Centerline goodness : 0.076923 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.03 [[ 0.99969098 -0.00551117 -0.02423989 1.62616525] [ 0.00531369 0.99995223 -0.00820366 0.09740229] [ 0.02428394 0.00807232 0.99967251 1.03481918] [ 0. 0. 0. 1. ]] SLAMing on 135.272557844 meters Centerline goodness : 0.095152 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.03 [[ 0.99968068 -0.00334753 -0.02504652 1.628666 ] [ 0.00318255 0.999973 -0.00662398 0.10161576] [ 0.02506802 0.00654215 0.99966434 1.03486592] [ 0. 0. 0. 1. ]] SLAMing on 135.302557844 meters Centerline goodness : 0.145800 Centerline is valid? [False, False] Translation: X:1.61, Y:0.10, Z:1.03 [[ 0.9996586 0.00641564 -0.02532824 1.6115464 ] [-0.00661505 0.99994772 -0.00779727 0.09648916] [ 0.02527689 0.00796215 0.99964878 1.03470341] [ 0. 0. 0. 1. ]] SLAMing on 135.332557844 meters SLAMing on 135.362557844 meters SLAMing on 135.392557844 meters Centerline goodness : 0.138629 Centerline is valid? [False, False] Translation: X:1.61, Y:0.10, Z:1.04 [[ 0.99966173 0.00705806 -0.02503215 1.61010322] [-0.00724752 0.99994572 -0.0074858 0.09633217] [ 0.02497796 0.00766469 0.99965862 1.03584886] [ 0. 0. 0. 1. ]] SLAMing on 135.422557844 meters SLAMing on 135.452557844 meters Centerline goodness : 0.081453 Centerline is valid? [False, False] Translation: X:1.61, Y:0.10, Z:1.04 [[ 0.99966248 0.00715609 -0.02497425 1.61025833] [-0.00733935 0.99994676 -0.00725398 0.09524868] [ 0.02492101 0.00743483 0.99966178 1.03527404] [ 0. 0. 0. 1. ]] SLAMing on 135.482557844 meters Centerline goodness : 0.152527 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.04 [[ 9.99710990e-01 -4.90063299e-04 -2.40352944e-02 1.63030086e+00] [ 3.34499614e-04 9.99978975e-01 -6.47589553e-03 9.90974824e-02] [ 2.40379627e-02 6.46598414e-03 9.99690136e-01 1.03623904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.512557844 meters Centerline goodness : 0.076555 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.04 [[ 9.99717516e-01 -5.86687625e-04 -2.37601392e-02 1.62923274e+00] [ 4.33596702e-04 9.99979119e-01 -6.44782236e-03 9.86720389e-02] [ 2.37634259e-02 6.43569863e-03 9.99696895e-01 1.03677341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54255784400002 meters SLAMing on 135.57255784400002 meters Centerline goodness : 0.071204 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.04 [[ 0.99971901 0.00280608 -0.02353758 1.62744473] [-0.0028758 0.99999158 -0.00292876 0.09886901] [ 0.02352916 0.00299563 0.99971866 1.03833641] [ 0. 0. 0. 1. ]] SLAMing on 135.60255784400002 meters SLAMing on 135.63255784400002 meters Centerline goodness : 0.090795 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.04 [[ 0.99973096 0.00276351 -0.02302962 1.62583185] [-0.00283747 0.99999092 -0.0031793 0.1001736 ] [ 0.02302062 0.00324379 0.99972973 1.03894215] [ 0. 0. 0. 1. ]] SLAMing on 135.662557844 meters Centerline goodness : 0.099346 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.04 [[ 0.99973255 0.0027176 -0.02296616 1.6257547 ] [-0.00279531 0.99999047 -0.0033522 0.10100292] [ 0.02295683 0.0034155 0.99973062 1.03880975] [ 0. 0. 0. 1. ]] SLAMing on 135.692557844 meters Centerline goodness : 0.116031 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.04 [[ 0.99970506 0.00301722 -0.0240975 1.62937759] [-0.00310777 0.99998825 -0.00372114 0.10303057] [ 0.02408599 0.00379493 0.99970269 1.03783653] [ 0. 0. 0. 1. ]] SLAMing on 135.722557844 meters Centerline goodness : 0.078232 Centerline is valid? [False, False] Translation: X:1.65, Y:0.11, Z:1.04 [[ 0.99964991 -0.00297707 -0.02629054 1.65089191] [ 0.00292005 0.9999933 -0.00220712 0.1119672 ] [ 0.02629694 0.00212958 0.99965191 1.03898442] [ 0. 0. 0. 1. ]] SLAMing on 135.752557844 meters Centerline goodness : 0.138825 Centerline is valid? [False, False] Translation: X:1.65, Y:0.11, Z:1.04 [[ 0.99964727 -0.00307807 -0.02637927 1.65135151] [ 0.00301316 0.99999234 -0.00249997 0.11345466] [ 0.02638676 0.0024196 0.99964888 1.03856741] [ 0. 0. 0. 1. ]] SLAMing on 135.782557844 meters Centerline goodness : 0.054405 Centerline is valid? [False, False] Translation: X:1.65, Y:0.11, Z:1.04 [[ 0.99964515 -0.00318117 -0.02644706 1.65161665] [ 0.00310934 0.99999137 -0.00275672 0.1146979 ] [ 0.0264556 0.00267351 0.99964641 1.0383904 ] [ 0. 0. 0. 1. ]] SLAMing on 135.812557844 meters Centerline goodness : 0.136894 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 0.99964009 -0.00327216 -0.02662679 1.65215123] [ 0.0031948 0.99999055 -0.00294723 0.11554655] [ 0.02663619 0.0028611 0.9996411 1.03825342] [ 0. 0. 0. 1. ]] SLAMing on 135.842557844 meters Centerline goodness : 0.100739 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 0.99963531 -0.0033246 -0.02679921 1.65262786] [ 0.00324309 0.99998998 -0.00308452 0.11620728] [ 0.0268092 0.00299648 0.99963608 1.03815331] [ 0. 0. 0. 1. ]] SLAMing on 135.872557844 meters Centerline goodness : 0.153950 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 0.99963563 -0.00335395 -0.02678343 1.65254582] [ 0.00327046 0.99998966 -0.00316045 0.11659909] [ 0.02679375 0.0030717 0.99963626 1.03822393] [ 0. 0. 0. 1. ]] SLAMing on 135.902557844 meters SLAMing on 135.932557844 meters Centerline goodness : 0.060167 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 0.99964044 -0.00346493 -0.0265893 1.65187577] [ 0.00337627 0.99998859 -0.00337852 0.11740343] [ 0.0266007 0.00328753 0.99964073 1.03854656] [ 0. 0. 0. 1. ]] SLAMing on 135.962557844 meters Centerline goodness : 0.140668 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 0.99964303 -0.00351941 -0.02648462 1.65171002] [ 0.00342598 0.99998775 -0.0035723 0.11832231] [ 0.02649686 0.00348029 0.99964284 1.03837401] [ 0. 0. 0. 1. ]] SLAMing on 135.992557844 meters Centerline goodness : 0.140668 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 0.99964303 -0.00351941 -0.02648462 1.65171002] [ 0.00342598 0.99998775 -0.0035723 0.11832231] [ 0.02649686 0.00348029 0.99964284 1.03837401] [ 0. 0. 0. 1. ]] SLAMing on 136.022557844 meters SLAMing on 136.052557844 meters Centerline goodness : 0.119186 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 9.99655368e-01 6.80220498e-04 -2.62427768e-02 1.65073473e+00] [-6.75184503e-04 9.99999752e-01 2.00760628e-04 1.20254323e-01] [ 2.62429069e-02 -1.82972723e-04 9.99655579e-01 1.03891715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.082557844 meters Centerline goodness : 0.158173 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 9.99659907e-01 7.05770482e-04 -2.60686229e-02 1.65033236e+00] [-7.06816990e-04 9.99999750e-01 -3.09299589e-05 1.21659407e-01] [ 2.60685946e-02 4.93451855e-05 9.99660155e-01 1.03883511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.112557844 meters Centerline goodness : 0.160304 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 9.99658216e-01 7.01703106e-04 -2.61334746e-02 1.65057158e+00] [-7.09950631e-04 9.99999701e-01 -3.06315381e-04 1.23162834e-01] [ 2.61332519e-02 3.24764164e-04 9.99658415e-01 1.03866828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.142557844 meters Centerline goodness : 0.144880 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 9.99653608e-01 6.49482493e-04 -2.63105107e-02 1.65131408e+00] [-6.66037697e-04 9.99999586e-01 -6.20465466e-04 1.24646852e-01] [ 2.63100968e-02 6.37774333e-04 9.99653626e-01 1.03813392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.172557844 meters Centerline goodness : 0.160898 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:1.04 [[ 9.99559432e-01 1.00407480e-03 -2.96636731e-02 1.60684824e+00] [-9.84094319e-04 9.99999279e-01 6.88158754e-04 1.22625417e-01] [ 2.96643427e-02 -6.58663721e-04 9.99559700e-01 1.03869709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.202557844 meters Centerline goodness : 0.209934 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:1.04 [[ 9.99625763e-01 3.06687886e-03 -2.71832284e-02 1.64962715e+00] [-3.05518750e-03 9.99995222e-01 4.71616931e-04 1.28142383e-01] [ 2.71845449e-02 -3.88390575e-04 9.99630357e-01 1.03928729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.232557844 meters Centerline goodness : 0.147336 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:1.04 [[ 9.99637611e-01 3.04145130e-03 -2.67468820e-02 1.64848244e+00] [-3.03832668e-03 9.99995372e-01 1.57461150e-04 1.29966691e-01] [ 2.67472371e-02 -7.61383226e-05 9.99642226e-01 1.03930510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.262557844 meters Centerline goodness : 0.159509 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:1.04 [[ 9.99644126e-01 2.92576772e-03 -2.65152877e-02 1.64800680e+00] [-2.93410758e-03 9.99995658e-01 -2.75629294e-04 1.32098053e-01] [ 2.65143661e-02 3.53329911e-04 9.99648370e-01 1.03903633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29255784400002 meters Centerline goodness : 0.114604 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:1.04 [[ 9.99648035e-01 2.80895172e-03 -2.63802203e-02 1.64770709e+00] [-2.82704508e-03 9.99995794e-01 -6.48597872e-04 1.33909788e-01] [ 2.63782874e-02 7.22947660e-04 9.99651771e-01 1.03891699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32255784400002 meters Centerline goodness : 0.147717 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:1.04 [[ 9.99652548e-01 2.71349273e-03 -2.62187164e-02 1.64709463e+00] [-2.73893066e-03 9.99995813e-01 -9.34356830e-04 1.35343991e-01] [ 2.62160713e-02 1.00584343e-03 9.99655794e-01 1.03919777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35255784400002 meters Centerline goodness : 0.213957 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:1.04 [[ 9.99663737e-01 2.66671589e-03 -2.57934438e-02 1.64520871e+00] [-2.69653964e-03 9.99995735e-01 -1.12154025e-03 1.36712533e-01] [ 2.57903429e-02 1.19071617e-03 9.99666665e-01 1.04044653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38255784400002 meters Centerline goodness : 0.145714 Centerline is valid? [False, False] Translation: X:1.64, Y:0.14, Z:1.04 [[ 9.99666193e-01 2.61615850e-03 -2.57032733e-02 1.64482146e+00] [-2.64710088e-03 9.99995812e-01 -1.16987876e-03 1.36877765e-01] [ 2.57001050e-02 1.23752740e-03 9.99668932e-01 1.04071141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.412557844 meters Centerline goodness : 0.144242 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:1.04 [[ 9.99661778e-01 2.51940636e-03 -2.58840111e-02 1.64539209e+00] [-2.55254237e-03 9.99995964e-01 -1.24721216e-03 1.36905610e-01] [ 2.58807644e-02 1.31286036e-03 9.99664175e-01 1.04051281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442557844 meters Centerline goodness : 0.140216 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:1.04 [[ 9.99653847e-01 2.36913817e-03 -2.62025334e-02 1.64649977e+00] [-2.40754157e-03 9.99996073e-01 -1.43418651e-03 1.37407333e-01] [ 2.61990328e-02 1.49677375e-03 9.99655626e-01 1.03997840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.472557844 meters Centerline goodness : 0.148957 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:1.04 [[ 0.9996413 0.00223132 -0.02668894 1.64857561] [-0.00228721 0.99999525 -0.00206378 0.14114371] [ 0.02668421 0.00212408 0.99964166 1.03855676] [ 0. 0. 0. 1. ]] SLAMing on 136.502557844 meters Centerline goodness : 0.127894 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:1.04 [[ 0.99963933 0.00205646 -0.02677662 1.64906855] [-0.00212787 0.99999425 -0.00263871 0.14397256] [ 0.02677104 0.00269474 0.99963796 1.03809431] [ 0. 0. 0. 1. ]] SLAMing on 136.532557844 meters Centerline goodness : 0.150066 Centerline is valid? [False, False] Translation: X:1.60, Y:0.14, Z:1.04 [[ 9.99555881e-01 1.20084384e-03 -2.97758168e-02 1.60305900e+00] [-1.27192510e-03 9.99996386e-01 -2.36838879e-03 1.42907561e-01] [ 2.97728651e-02 2.40520955e-03 9.99553796e-01 1.03878195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.562557844 meters Centerline goodness : 0.208663 Centerline is valid? [False, False] Translation: X:1.62, Y:0.14, Z:1.04 [[ 0.99953861 0.00995861 -0.02869496 1.62343464] [-0.01008064 0.99994074 -0.00411104 0.14397332] [ 0.02865232 0.00439841 0.99957976 1.03972941] [ 0. 0. 0. 1. ]] SLAMing on 136.592557844 meters Centerline goodness : 0.117377 Centerline is valid? [False, False] Translation: X:1.62, Y:0.15, Z:1.04 [[ 0.99954434 0.0097696 -0.02856 1.62318838] [-0.00990555 0.99994025 -0.00462256 0.14641796] [ 0.02851313 0.00490335 0.99958139 1.03950898] [ 0. 0. 0. 1. ]] SLAMing on 136.622557844 meters Centerline goodness : 0.129429 Centerline is valid? [False, False] Translation: X:1.62, Y:0.15, Z:1.04 [[ 0.99955758 0.0095933 -0.02815325 1.62211784] [-0.00974241 0.99993921 -0.00516379 0.14944528] [ 0.028102 0.00543579 0.99959028 1.03945294] [ 0. 0. 0. 1. ]] SLAMing on 136.652557844 meters Centerline goodness : 0.141638 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 0.999597 0.00219598 -0.02830213 1.64085155] [-0.00231739 0.99998825 -0.00425778 0.15560739] [ 0.02829244 0.00432165 0.99959035 1.04184931] [ 0. 0. 0. 1. ]] SLAMing on 136.682557844 meters Centerline goodness : 0.141507 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 0.99959738 0.00210468 -0.02829562 1.64076486] [-0.002229 0.999988 -0.00436252 0.15592034] [ 0.0282861 0.00442384 0.99959008 1.04196304] [ 0. 0. 0. 1. ]] SLAMing on 136.712557844 meters Centerline goodness : 0.123421 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 0.99959948 0.00203409 -0.02822646 1.64049609] [-0.00215913 0.99998799 -0.0044001 0.15597256] [ 0.02821717 0.00445928 0.99959187 1.04211258] [ 0. 0. 0. 1. ]] SLAMing on 136.742557844 meters Centerline goodness : 0.140126 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 0.99959409 0.00180899 -0.02843206 1.64120456] [-0.00193831 0.9999879 -0.00452151 0.15636978] [ 0.02842354 0.00457478 0.9995855 1.04179015] [ 0. 0. 0. 1. ]] SLAMing on 136.772557844 meters Centerline goodness : 0.120576 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 0.99958741 0.00172169 -0.02867143 1.64194818] [-0.00185378 0.99998779 -0.00458112 0.15647708] [ 0.0286632 0.00463238 0.99957839 1.04155675] [ 0. 0. 0. 1. ]] SLAMing on 136.802557844 meters Centerline goodness : 0.122834 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 0.99958095 0.00164595 -0.02890007 1.64250937] [-0.00177923 0.9999879 -0.00458664 0.15622709] [ 0.02889217 0.00463613 0.99957178 1.04159196] [ 0. 0. 0. 1. ]] SLAMing on 136.832557844 meters Centerline goodness : 0.121630 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99575313e-01 1.53218806e-03 -2.91006363e-02 1.64282532e+00] [-1.66821457e-03 9.99987794e-01 -4.65064527e-03 1.56144848e-01] [ 2.90931554e-02 4.69721630e-03 9.99565668e-01 1.04195413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.862557844 meters Centerline goodness : 0.142191 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99575637e-01 1.45923080e-03 -2.90932401e-02 1.64269671e+00] [-1.59762273e-03 9.99987518e-01 -4.73416420e-03 1.56382650e-01] [ 2.90859687e-02 4.77863522e-03 9.99565491e-01 1.04214823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.892557844 meters Centerline goodness : 0.151122 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99574725e-01 1.37615171e-03 -2.91286022e-02 1.64282931e+00] [-1.52027511e-03 9.99986710e-01 -4.92626279e-03 1.57277509e-01] [ 2.91214358e-02 4.96845126e-03 9.99563533e-01 1.04204722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.922557844 meters Centerline goodness : 0.120346 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99578238e-01 1.13958986e-03 -2.90180495e-02 1.64313754e+00] [-1.30285038e-03 9.99983427e-01 -5.60788612e-03 1.60832810e-01] [ 2.90111779e-02 5.64332710e-03 9.99563157e-01 1.04105546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.952557844 meters Centerline goodness : 0.144319 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99578470e-01 9.78689575e-04 -2.90159430e-02 1.64328117e+00] [-1.15397030e-03 9.99981185e-01 -6.02471217e-03 1.62810997e-01] [ 2.90095008e-02 6.05565611e-03 9.99560792e-01 1.04078472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.982557844 meters Centerline goodness : 0.143389 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99581694e-01 8.17427468e-04 -2.89096612e-02 1.64289420e+00] [-1.00308368e-03 9.99978965e-01 -6.40802421e-03 1.64549531e-01] [ 2.89038150e-02 6.43434251e-03 9.99561488e-01 1.04095646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.012557844 meters Centerline goodness : 0.148509 Centerline is valid? [False, False] Translation: X:1.59, Y:0.16, Z:1.04 [[ 9.99520357e-01 -3.42748042e-05 -3.09686117e-02 1.59487109e+00] [-1.48262654e-04 9.99982631e-01 -5.89195768e-03 1.62799192e-01] [ 3.09682757e-02 5.89372314e-03 9.99502991e-01 1.04235364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04255784400002 meters Centerline goodness : 0.138805 Centerline is valid? [False, False] Translation: X:1.61, Y:0.17, Z:1.04 [[ 0.99961653 -0.00525625 -0.02718767 1.61435813] [ 0.0051779 0.99998224 -0.00295128 0.16839541] [ 0.0272027 0.00280937 0.99962599 1.04292133] [ 0. 0. 0. 1. ]] SLAMing on 137.07255784400002 meters Centerline goodness : 0.132208 Centerline is valid? [False, False] Translation: X:1.61, Y:0.17, Z:1.04 [[ 0.99961991 -0.00534003 -0.02704662 1.61382659] [ 0.00525744 0.9999813 -0.00312377 0.16920253] [ 0.0270628 0.00298039 0.99962929 1.04319278] [ 0. 0. 0. 1. ]] SLAMing on 137.10255784400002 meters Centerline goodness : 0.144870 Centerline is valid? [False, False] Translation: X:1.61, Y:0.17, Z:1.04 [[ 0.99961524 -0.00546532 -0.02719362 1.61420229] [ 0.00537779 0.99998012 -0.0032908 0.16971094] [ 0.02721107 0.00314329 0.99962477 1.04315191] [ 0. 0. 0. 1. ]] SLAMing on 137.13255784400002 meters Centerline goodness : 0.146420 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99643578e-01 7.24687187e-04 -2.66869315e-02 1.63769531e+00] [-9.03792530e-04 9.99977147e-01 -6.69990001e-03 1.70026247e-01] [ 2.66814663e-02 6.72163146e-03 9.99621388e-01 1.04248874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162557844 meters Centerline goodness : 0.146036 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99641445e-01 6.84748201e-04 -2.67677688e-02 1.63794084e+00] [-8.64848869e-04 9.99977065e-01 -6.71726795e-03 1.70020687e-01] [ 2.67625553e-02 6.73800952e-03 9.99619110e-01 1.04239792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.192557844 meters Centerline goodness : 0.146841 Centerline is valid? [False, False] Translation: X:1.66, Y:0.18, Z:1.04 [[ 0.99966882 -0.00667523 -0.02485322 1.65603462] [ 0.0065479 0.99996504 -0.00520095 0.17634672] [ 0.02488707 0.0050365 0.99967758 1.04498241] [ 0. 0. 0. 1. ]] SLAMing on 137.222557844 meters Centerline goodness : 0.152971 Centerline is valid? [False, False] Translation: X:1.63, Y:0.17, Z:1.04 [[ 9.99701034e-01 1.16936334e-03 -2.44228409e-02 1.63474296e+00] [-1.31362192e-03 9.99981782e-01 -5.89149952e-03 1.70851658e-01] [ 2.44155067e-02 5.92182055e-03 9.99684358e-01 1.04405941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.252557844 meters Centerline goodness : 0.145890 Centerline is valid? [False, False] Translation: X:1.63, Y:0.17, Z:1.04 [[ 9.99701077e-01 1.10134400e-03 -2.44242457e-02 1.63471525e+00] [-1.24796768e-03 9.99981288e-01 -5.98877217e-03 1.71056755e-01] [ 2.44171929e-02 6.01746266e-03 9.99683745e-01 1.04413184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282557844 meters Centerline goodness : 0.122950 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:1.04 [[ 9.99608323e-01 -1.49825688e-07 -2.79857143e-02 1.59308378e+00] [-1.73493894e-04 9.99980751e-01 -6.20229883e-03 1.70853552e-01] [ 2.79851766e-02 6.20472488e-03 9.99589081e-01 1.04226862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.312557844 meters Centerline goodness : 0.148063 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:1.04 [[ 9.99607083e-01 -3.90085100e-05 -2.80299490e-02 1.59345119e+00] [-1.39895247e-04 9.99979634e-01 -6.38060367e-03 1.71809829e-01] [ 2.80296271e-02 6.38201788e-03 9.99586720e-01 1.04174726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.342557844 meters Centerline goodness : 0.126691 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:1.04 [[ 9.99607277e-01 -6.58535496e-05 -2.80229665e-02 1.59348130e+00] [-1.17394945e-04 9.99978623e-01 -6.53752996e-03 1.72697546e-01] [ 2.80227980e-02 6.53825228e-03 9.99585901e-01 1.04163285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.372557844 meters Centerline goodness : 0.142715 Centerline is valid? [False, False] Translation: X:1.64, Y:0.18, Z:1.04 [[ 9.99662287e-01 1.33068048e-03 -2.59526870e-02 1.63766767e+00] [-1.49997578e-03 9.99977718e-01 -6.50485196e-03 1.75742191e-01] [ 2.59434529e-02 6.54158359e-03 9.99642008e-01 1.04218493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402557844 meters Centerline goodness : 0.147417 Centerline is valid? [False, False] Translation: X:1.64, Y:0.18, Z:1.04 [[ 9.99660323e-01 1.30707395e-03 -2.60294157e-02 1.63792425e+00] [-1.47954395e-03 9.99977074e-01 -6.60780858e-03 1.76252469e-01] [ 2.60201821e-02 6.64407573e-03 9.99639338e-01 1.04207168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.432557844 meters Centerline goodness : 0.144406 Centerline is valid? [False, False] Translation: X:1.64, Y:0.18, Z:1.04 [[ 9.99657550e-01 1.29819759e-03 -2.61361389e-02 1.63838801e+00] [-1.47177303e-03 9.99976984e-01 -6.62306351e-03 1.76223603e-01] [ 2.61269393e-02 6.65926190e-03 9.99636453e-01 1.04174521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462557844 meters Centerline goodness : 0.145594 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99645519e-01 1.22847583e-03 -2.65956271e-02 1.64003434e+00] [-1.40276146e-03 9.99977659e-01 -6.53550396e-03 1.74866292e-01] [ 2.65870042e-02 6.57049456e-03 9.99624910e-01 1.04098754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.492557844 meters Centerline goodness : 0.145249 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99648092e-01 1.30922891e-03 -2.64948509e-02 1.63979856e+00] [-1.47845083e-03 9.99978629e-01 -6.36839308e-03 1.74117685e-01] [ 2.64859470e-02 6.40532333e-03 9.99628664e-01 1.04087675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.522557844 meters Centerline goodness : 0.147954 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99654936e-01 1.41237090e-03 -2.62300204e-02 1.63900602e+00] [-1.57545857e-03 9.99979551e-01 -6.19797120e-03 1.73594316e-01] [ 2.62207302e-02 6.23715681e-03 9.99636720e-01 1.04104629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.552557844 meters Centerline goodness : 0.145228 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99662924e-01 1.51545271e-03 -2.59179911e-02 1.63816487e+00] [-1.67201670e-03 9.99980481e-01 -6.02014152e-03 1.72997672e-01] [ 2.59083620e-02 6.06144759e-03 9.99645945e-01 1.04110860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.582557844 meters Centerline goodness : 0.145180 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99664936e-01 1.54213767e-03 -2.58386758e-02 1.63807600e+00] [-1.69487835e-03 9.99981215e-01 -5.89046306e-03 1.72313817e-01] [ 2.58291065e-02 5.93228279e-03 9.99648771e-01 1.04090268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.612557844 meters Centerline goodness : 0.162872 Centerline is valid? [False, False] Translation: X:1.60, Y:0.17, Z:1.04 [[ 9.99552651e-01 -8.99744695e-04 -2.98946126e-02 1.59703957e+00] [ 6.93148462e-04 9.99975813e-01 -6.92046264e-03 1.68250728e-01] [ 2.99001162e-02 6.89664537e-03 9.99529099e-01 1.03974457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.642557844 meters Centerline goodness : 0.146772 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99531477e-01 2.20525868e-04 -3.06068308e-02 1.64104699e+00] [-4.35620463e-04 9.99975256e-01 -7.02117625e-03 1.69288458e-01] [ 3.06045251e-02 7.03121962e-03 9.99506841e-01 1.04153237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.672557844 meters Centerline goodness : 0.143581 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99524820e-01 2.88925796e-04 -3.08228924e-02 1.64181474e+00] [-5.00337869e-04 9.99976403e-01 -6.85143815e-03 1.68477177e-01] [ 3.08201855e-02 6.86360434e-03 9.99501379e-01 1.04116994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.702557844 meters Centerline goodness : 0.160621 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99523773e-01 3.85671441e-04 -3.08557802e-02 1.64199151e+00] [-5.90441706e-04 9.99977863e-01 -6.62753030e-03 1.67448468e-01] [ 3.08525411e-02 6.64259263e-03 9.99501874e-01 1.04100550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.732557844 meters Centerline goodness : 0.143994 Centerline is valid? [False, False] Translation: X:1.66, Y:0.17, Z:1.04 [[ 0.99952852 -0.00731272 -0.02982056 1.66154856] [ 0.00714868 0.99995875 -0.00560374 0.17164223] [ 0.02986031 0.00538792 0.99953956 1.04237762] [ 0. 0. 0. 1. ]] SLAMing on 137.762557844 meters Centerline goodness : 0.151425 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99608157e-01 1.85388009e-04 -2.79910212e-02 1.63983509e+00] [-3.45549794e-04 9.99983597e-01 -5.71716992e-03 1.63612365e-01] [ 2.79895022e-02 5.72460198e-03 9.99591825e-01 1.04124847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79255784400002 meters Centerline goodness : 0.144323 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99609620e-01 2.80561869e-04 -2.79379491e-02 1.63962820e+00] [-4.33865369e-04 9.99984883e-01 -5.48137474e-03 1.62579249e-01] [ 2.79359889e-02 5.49135623e-03 9.99594631e-01 1.04136558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82255784400002 meters Centerline goodness : 0.137757 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99606650e-01 4.13312094e-04 -2.80423577e-02 1.63992796e+00] [-5.57218242e-04 9.99986716e-01 -5.12412182e-03 1.60938062e-01] [ 2.80398673e-02 5.13773196e-03 9.99593602e-01 1.04128923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85255784400002 meters Centerline goodness : 0.152187 Centerline is valid? [False, False] Translation: X:1.60, Y:0.16, Z:1.04 [[ 9.99518853e-01 -9.01324579e-04 -3.10040328e-02 1.59558090e+00] [ 7.59057582e-04 9.99989131e-01 -4.60012478e-03 1.55670743e-01] [ 3.10078420e-02 4.57437760e-03 9.99508674e-01 1.04121012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88255784400002 meters Centerline goodness : 0.122805 Centerline is valid? [False, False] Translation: X:1.60, Y:0.15, Z:1.04 [[ 9.99522462e-01 -7.15549834e-04 -3.08923226e-02 1.59505173e+00] [ 6.04064912e-04 9.99993273e-01 -3.61800482e-03 1.50562559e-01] [ 3.08947037e-02 3.59761612e-03 9.99516170e-01 1.04176467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91255784400002 meters Centerline goodness : 0.138145 Centerline is valid? [False, False] Translation: X:1.59, Y:0.15, Z:1.04 [[ 9.99526283e-01 -5.45611162e-04 -3.07719385e-02 1.59449092e+00] [ 4.51338654e-04 9.99995184e-01 -3.07044962e-03 1.47815437e-01] [ 3.07734655e-02 3.05510653e-03 9.99521716e-01 1.04224261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942557844 meters Centerline goodness : 0.138145 Centerline is valid? [False, False] Translation: X:1.59, Y:0.15, Z:1.04 [[ 9.99526283e-01 -5.45611162e-04 -3.07719385e-02 1.59449092e+00] [ 4.51338654e-04 9.99995184e-01 -3.07044962e-03 1.47815437e-01] [ 3.07734655e-02 3.05510653e-03 9.99521716e-01 1.04224261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.972557844 meters Centerline goodness : 0.132306 Centerline is valid? [False, False] Translation: X:1.64, Y:0.15, Z:1.04 [[ 9.99604998e-01 -8.64894529e-04 -2.80909080e-02 1.63702549e+00] [ 7.40310411e-04 9.99989846e-01 -4.44513079e-03 1.47777725e-01] [ 2.80944673e-02 4.42257896e-03 9.99595489e-01 1.04326144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002557844 meters Centerline goodness : 0.134407 Centerline is valid? [False, False] Translation: X:1.64, Y:0.15, Z:1.04 [[ 9.99606098e-01 -7.25075123e-04 -2.80557248e-02 1.63677700e+00] [ 6.12603270e-04 9.99991743e-01 -4.01726109e-03 1.45669935e-01] [ 2.80584060e-02 3.99849165e-03 9.99598288e-01 1.04353861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.032557844 meters Centerline goodness : 0.120996 Centerline is valid? [False, False] Translation: X:1.64, Y:0.14, Z:1.04 [[ 9.99602134e-01 -4.98868450e-04 -2.82015088e-02 1.63750495e+00] [ 4.03020351e-04 9.99994124e-01 -3.40426880e-03 1.42928665e-01] [ 2.82030414e-02 3.39154857e-03 9.99596462e-01 1.04288095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062557844 meters Centerline goodness : 0.117831 Centerline is valid? [False, False] Translation: X:1.64, Y:0.14, Z:1.04 [[ 9.99601499e-01 -3.92784845e-04 -2.82256829e-02 1.63760175e+00] [ 3.04655438e-04 9.99995066e-01 -3.12654523e-03 1.41657858e-01] [ 2.82267717e-02 3.11670019e-03 9.99596686e-01 1.04280725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.092557844 meters Centerline goodness : 0.134838 Centerline is valid? [False, False] Translation: X:1.64, Y:0.14, Z:1.04 [[ 9.99602409e-01 -3.20893350e-04 -2.81943409e-02 1.63724271e+00] [ 2.41073260e-04 9.99995954e-01 -2.83442127e-03 1.40211479e-01] [ 2.81951364e-02 2.82649743e-03 9.99598442e-01 1.04324881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122557844 meters Centerline goodness : 0.159519 Centerline is valid? [False, False] Translation: X:1.68, Y:0.14, Z:1.04 [[ 9.99665075e-01 -2.42208148e-04 -2.58781718e-02 1.68011622e+00] [ 1.41439067e-04 9.99992402e-01 -3.89573934e-03 1.40204672e-01] [ 2.58789187e-02 3.89077438e-03 9.99657513e-01 1.04443810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.152557844 meters Centerline goodness : 0.130054 Centerline is valid? [False, False] Translation: X:1.68, Y:0.14, Z:1.04 [[ 9.99660107e-01 -1.15399905e-04 -2.60702186e-02 1.68048225e+00] [ 2.58933472e-05 9.99994105e-01 -3.43359906e-03 1.38082683e-01] [ 2.60704611e-02 3.43175696e-03 9.99654217e-01 1.04451353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.182557844 meters Centerline goodness : 0.128918 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:1.04 [[ 9.99615408e-01 -1.52445191e-04 -2.77310814e-02 1.68528145e+00] [ 7.18348757e-05 9.99995770e-01 -2.90783099e-03 1.34811595e-01] [ 2.77314074e-02 2.90472060e-03 9.99611190e-01 1.04330884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.212557844 meters Centerline goodness : 0.139899 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:1.04 [[ 9.99606663e-01 -6.07787277e-05 -2.80448783e-02 1.68622871e+00] [-6.64980694e-06 9.99997110e-01 -2.40420880e-03 1.32120955e-01] [ 2.80449434e-02 2.40344963e-03 9.99603774e-01 1.04307532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.242557844 meters Centerline goodness : 0.114716 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:1.04 [[ 9.99604972e-01 1.54131766e-04 -2.81047299e-02 1.68623074e+00] [-2.03907112e-04 9.99998416e-01 -1.76820918e-03 1.29130311e-01] [ 2.81044129e-02 1.77324144e-03 9.99603420e-01 1.04332711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.272557844 meters Centerline goodness : 0.113467 Centerline is valid? [False, False] Translation: X:1.68, Y:0.12, Z:1.04 [[ 9.99615226e-01 3.74292921e-04 -2.77355516e-02 1.68440025e+00] [-3.96560258e-04 9.99999603e-01 -7.97348446e-04 1.23483068e-01] [ 2.77352422e-02 8.08040464e-04 9.99614978e-01 1.04489693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.302557844 meters Centerline goodness : 0.117535 Centerline is valid? [False, False] Translation: X:1.70, Y:0.12, Z:1.05 [[ 0.99963123 0.0078015 -0.02601039 1.7047058 ] [-0.0078889 0.99996357 -0.00325931 0.11983305] [ 0.02598401 0.0034633 0.99965636 1.04519084] [ 0. 0. 0. 1. ]] SLAMing on 138.332557844 meters Centerline goodness : 0.112486 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99962578 0.0078917 -0.02619214 1.70531867] [-0.00797492 0.99996347 -0.00307407 0.11894683] [ 0.02616692 0.0032818 0.9996522 1.04497658] [ 0. 0. 0. 1. ]] SLAMing on 138.362557844 meters Centerline goodness : 0.132328 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99961516 0.00798063 -0.02656755 1.70664564] [-0.00806387 0.9999629 -0.00302744 0.11886189] [ 0.02654241 0.00324051 0.99964244 1.04435341] [ 0. 0. 0. 1. ]] SLAMing on 138.392557844 meters Centerline goodness : 0.166432 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.9996041 0.00806253 -0.02695628 1.70814773] [-0.00814809 0.9999621 -0.00306572 0.11920504] [ 0.02693055 0.00328415 0.99963191 1.04348638] [ 0. 0. 0. 1. ]] SLAMing on 138.422557844 meters Centerline goodness : 0.124520 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99959557 0.00813928 -0.02724781 1.70925173] [-0.00822731 0.99996129 -0.00312011 0.11961012] [ 0.02722136 0.00334302 0.99962384 1.04283587] [ 0. 0. 0. 1. ]] SLAMing on 138.452557844 meters Centerline goodness : 0.167341 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99959459 0.00820349 -0.02726444 1.70947924] [-0.00829289 0.9999606 -0.00316722 0.11998584] [ 0.02723739 0.00339204 0.99962324 1.04253464] [ 0. 0. 0. 1. ]] SLAMing on 138.482557844 meters Centerline goodness : 0.128185 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99961738 0.00886611 -0.0262007 1.70655697] [-0.00894186 0.99995617 -0.00277523 0.11983255] [ 0.02617495 0.00300845 0.99965285 1.04296266] [ 0. 0. 0. 1. ]] SLAMing on 138.512557844 meters Centerline goodness : 0.158084 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99961775 0.00885487 -0.02619068 1.7064818 ] [-0.00893674 0.99995553 -0.00301056 0.1208707 ] [ 0.02616286 0.00324347 0.99965243 1.04318669] [ 0. 0. 0. 1. ]] SLAMing on 138.54255784400002 meters Centerline goodness : 0.158911 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99961533 0.00878254 -0.02630715 1.70663827] [-0.00887305 0.9999551 -0.00332552 0.1220328 ] [ 0.02627676 0.00355766 0.99964838 1.04354264] [ 0. 0. 0. 1. ]] SLAMing on 138.57255784400002 meters Centerline goodness : 0.156139 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.05 [[ 9.99672420e-01 2.04550332e-03 -2.55121380e-02 1.72312583e+00] [-2.08110625e-03 9.99996897e-01 -1.36905626e-03 1.31693736e-01] [ 2.55092585e-02 1.42170125e-03 9.99673575e-01 1.04525044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60255784400002 meters Centerline goodness : 0.147987 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.05 [[ 9.99680763e-01 2.04352240e-03 -2.51832675e-02 1.72227631e+00] [-2.08268473e-03 9.99996662e-01 -1.52896280e-03 1.32747288e-01] [ 2.51800589e-02 1.58092350e-03 9.99681682e-01 1.04528296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63255784400002 meters Centerline goodness : 0.154223 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.05 [[ 0.99968369 0.00199477 -0.02507083 1.72198213] [-0.00203895 0.99999641 -0.00173692 0.13384483] [ 0.02506727 0.00178749 0.99968417 1.04527348] [ 0. 0. 0. 1. ]] SLAMing on 138.66255784400002 meters Centerline goodness : 0.154364 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.04 [[ 0.99968334 0.00189481 -0.02509253 1.72219582] [-0.00194544 0.99999612 -0.00199357 0.13497814] [ 0.02508865 0.00204175 0.99968315 1.04495892] [ 0. 0. 0. 1. ]] SLAMing on 138.692557844 meters Centerline goodness : 0.155134 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:1.04 [[ 0.99967909 0.0017973 -0.02526843 1.72279867] [-0.00185349 0.99999586 -0.00220032 0.13581918] [ 0.02526437 0.00224644 0.99967828 1.04467288] [ 0. 0. 0. 1. ]] SLAMing on 138.722557844 meters Centerline goodness : 0.154875 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:1.04 [[ 9.99673977e-01 1.70076270e-03 -2.54763982e-02 1.72333145e+00] [-1.76362332e-03 9.99995455e-01 -2.44514054e-03 1.37096053e-01] [ 2.54721238e-02 2.48927414e-03 9.99672434e-01 1.04457428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.752557844 meters Centerline goodness : 0.159704 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:1.05 [[ 9.99678598e-01 1.71173929e-03 -2.52936716e-02 1.72256653e+00] [-1.77314191e-03 9.99995535e-01 -2.40535952e-03 1.37086483e-01] [ 2.52894413e-02 2.44943570e-03 9.99677170e-01 1.04505639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782557844 meters Centerline goodness : 0.164838 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:1.05 [[ 0.99968277 0.00173609 -0.02512654 1.72174411] [-0.00179313 0.99999587 -0.00224742 0.13638569] [ 0.02512253 0.00229176 0.99968175 1.04578903] [ 0. 0. 0. 1. ]] SLAMing on 138.812557844 meters Centerline goodness : 0.122258 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:1.05 [[ 0.99968456 0.00172151 -0.02505644 1.72130712] [-0.00177478 0.99999621 -0.002104 0.13551388] [ 0.02505272 0.00214781 0.99968382 1.04627178] [ 0. 0. 0. 1. ]] SLAMing on 138.842557844 meters Centerline goodness : 0.161113 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.05 [[ 9.99670336e-01 1.49683193e-03 -2.56315865e-02 1.72291176e+00] [-1.55073892e-03 9.99996627e-01 -2.08339889e-03 1.34677234e-01] [ 2.56283816e-02 2.12245996e-03 9.99669286e-01 1.04601065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.872557844 meters Centerline goodness : 0.161361 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.05 [[ 9.99664651e-01 1.49986299e-03 -2.58521775e-02 1.72363361e+00] [-1.55206454e-03 9.99996797e-01 -1.99928476e-03 1.34219474e-01] [ 2.58490960e-02 2.03873855e-03 9.99663777e-01 1.04572021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.902557844 meters Centerline goodness : 0.156760 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.05 [[ 9.99658110e-01 1.56094025e-03 -2.61003190e-02 1.72453291e+00] [-1.60924659e-03 9.99997031e-01 -1.82989310e-03 1.33452050e-01] [ 2.60973851e-02 1.87126932e-03 9.99657654e-01 1.04525241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.932557844 meters Centerline goodness : 0.149936 Centerline is valid? [False, False] Translation: X:1.73, Y:0.13, Z:1.05 [[ 9.99650486e-01 1.51462891e-03 -2.63934003e-02 1.72536538e+00] [-1.56398744e-03 9.99997067e-01 -1.84956627e-03 1.33322715e-01] [ 2.63905214e-02 1.89019876e-03 9.99649922e-01 1.04514182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.962557844 meters SLAMing on 138.992557844 meters Centerline goodness : 0.153152 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:1.05 [[ 9.99629323e-01 1.58980803e-03 -2.71788252e-02 1.72741399e+00] [-1.65728887e-03 9.99995600e-01 -2.46050071e-03 1.35981322e-01] [ 2.71747939e-02 2.50463182e-03 9.99627559e-01 1.04543610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.022557844 meters Centerline goodness : 0.121965 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:1.05 [[ 9.99630423e-01 1.55334566e-03 -2.71404443e-02 1.72736876e+00] [-1.62834502e-03 9.99994916e-01 -2.74149732e-03 1.37531834e-01] [ 2.71360479e-02 2.78467813e-03 9.99627871e-01 1.04535973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.052557844 meters Centerline goodness : 0.154268 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:1.04 [[ 9.99628420e-01 1.44878664e-03 -2.72199144e-02 1.72781528e+00] [-1.53326516e-03 9.99994072e-01 -3.08294069e-03 1.39047931e-01] [ 2.72152865e-02 3.12353047e-03 9.99624715e-01 1.04493005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.082557844 meters Centerline goodness : 0.149353 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:1.04 [[ 9.99623601e-01 1.32504997e-03 -2.74025826e-02 1.72854282e+00] [-1.42042709e-03 9.99993000e-01 -3.46141597e-03 1.40662081e-01] [ 2.73978042e-02 3.49903647e-03 9.99618486e-01 1.04448336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.112557844 meters Centerline goodness : 0.161018 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:1.04 [[ 9.99620737e-01 1.21888339e-03 -2.75117650e-02 1.72906693e+00] [-1.32486386e-03 9.99991771e-01 -3.83428785e-03 1.42352700e-01] [ 2.75068650e-02 3.86928299e-03 9.99614126e-01 1.04403706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.142557844 meters Centerline goodness : 0.152375 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:1.04 [[ 9.99646128e-01 1.62396427e-03 -2.65514959e-02 1.72655999e+00] [-1.73119111e-03 9.99990437e-01 -4.01595987e-03 1.44977662e-01] [ 2.65447203e-02 4.06050445e-03 9.99639380e-01 1.04399247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.172557844 meters Centerline goodness : 0.148891 Centerline is valid? [False, False] Translation: X:1.73, Y:0.15, Z:1.04 [[ 9.99651248e-01 1.59209339e-03 -2.63599502e-02 1.72608347e+00] [-1.70519779e-03 9.99989435e-01 -4.26884441e-03 1.46412398e-01] [ 2.63528753e-02 4.31230457e-03 9.99643401e-01 1.04394477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.202557844 meters Centerline goodness : 0.157458 Centerline is valid? [False, False] Translation: X:1.73, Y:0.15, Z:1.04 [[ 9.99653332e-01 1.55293985e-03 -2.62831674e-02 1.72604257e+00] [-1.67142644e-03 9.99988538e-01 -4.48671035e-03 1.47583325e-01] [ 2.62758985e-02 4.52908534e-03 9.99644469e-01 1.04363126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.232557844 meters Centerline goodness : 0.147710 Centerline is valid? [False, False] Translation: X:1.73, Y:0.15, Z:1.04 [[ 9.99654525e-01 1.51650107e-03 -2.62398702e-02 1.72605922e+00] [-1.63862552e-03 9.99987924e-01 -4.63327995e-03 1.48326757e-01] [ 2.62325270e-02 4.67467659e-03 9.99644938e-01 1.04337065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.262557844 meters Centerline goodness : 0.152004 Centerline is valid? [False, False] Translation: X:1.73, Y:0.15, Z:1.04 [[ 9.99657752e-01 1.47457195e-03 -2.61190270e-02 1.72549654e+00] [-1.59963796e-03 9.99987353e-01 -4.76806369e-03 1.48978941e-01] [ 2.61116658e-02 4.80821282e-03 9.99647469e-01 1.04380132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29255784400002 meters Centerline goodness : 0.153427 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:1.04 [[ 9.99662093e-01 1.48321763e-03 -2.59518860e-02 1.72482377e+00] [-1.60718388e-03 9.99987396e-01 -4.75656646e-03 1.48970332e-01] [ 2.59445039e-02 4.79666863e-03 9.99651877e-01 1.04420775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32255784400002 meters Centerline goodness : 0.162744 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:1.04 [[ 9.99666189e-01 1.52823971e-03 -2.57910024e-02 1.72421781e+00] [-1.64804058e-03 9.99987949e-01 -4.62444787e-03 1.48384365e-01] [ 2.57836243e-02 4.66540880e-03 9.99656660e-01 1.04453203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35255784400002 meters Centerline goodness : 0.152514 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:1.05 [[ 0.99967803 -0.00618784 -0.02460777 1.74407348] [ 0.00609944 0.99997468 -0.00366575 0.15293185] [ 0.02462983 0.00351447 0.99969046 1.04574078] [ 0. 0. 0. 1. ]] SLAMing on 139.38255784400002 meters Centerline goodness : 0.138554 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:1.05 [[ 0.99968196 -0.00607783 -0.02447534 1.74331743] [ 0.00599806 0.99997646 -0.00333119 0.1514334 ] [ 0.02449501 0.00318333 0.99969488 1.04646079] [ 0. 0. 0. 1. ]] SLAMing on 139.41255784400002 meters Centerline goodness : 0.106321 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:1.05 [[ 0.99969004 -0.0060712 -0.02414465 1.74196334] [ 0.00600705 0.99997823 -0.00272864 0.14825077] [ 0.02416069 0.00258276 0.99970475 1.04754527] [ 0. 0. 0. 1. ]] SLAMing on 139.442557844 meters Centerline goodness : 0.159134 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:1.05 [[ 0.9996832 -0.00600895 -0.02444154 1.74275899] [ 0.0059516 0.99997936 -0.00241852 0.14667228] [ 0.02445557 0.00227229 0.99969834 1.04748104] [ 0. 0. 0. 1. ]] SLAMing on 139.472557844 meters Centerline goodness : 0.152168 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:1.05 [[ 9.99703308e-01 1.41154407e-03 -2.43167285e-02 1.76552955e+00] [-1.52332183e-03 9.99988357e-01 -4.57883275e-03 1.43969679e-01] [ 2.43099822e-02 4.61451645e-03 9.99693819e-01 1.04696824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502557844 meters Centerline goodness : 0.154120 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:1.05 [[ 9.99697256e-01 1.54288635e-03 -2.45563815e-02 1.76635508e+00] [-1.64684569e-03 9.99989766e-01 -4.21383589e-03 1.42097995e-01] [ 2.45496287e-02 4.25300074e-03 9.99689566e-01 1.04673419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.532557844 meters Centerline goodness : 0.157651 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:1.05 [[ 9.99702236e-01 1.50256629e-03 -2.43553103e-02 1.76546424e+00] [-1.60470277e-03 9.99989999e-01 -4.17460061e-03 1.41728402e-01] [ 2.43487941e-02 4.21244060e-03 9.99694649e-01 1.04732345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562557844 meters Centerline goodness : 0.129583 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:1.05 [[ 0.99976536 0.0024341 -0.02152454 1.80700409] [-0.00252371 0.99998826 -0.00413723 0.14405965] [ 0.02151422 0.00419058 0.99975976 1.04808236] [ 0. 0. 0. 1. ]] SLAMing on 139.592557844 meters SLAMing on 139.622557844 meters Centerline goodness : 0.153968 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:1.05 [[ 9.99757473e-01 -8.87961624e-04 -2.20047085e-02 1.80832448e+00] [ 7.38785257e-04 9.99976699e-01 -6.78649534e-03 1.39067194e-01] [ 2.20102220e-02 6.76859268e-03 9.99734833e-01 1.04790015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.652557844 meters Centerline goodness : 0.130870 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:1.05 [[ 9.99746140e-01 -7.20198591e-04 -2.25197010e-02 1.80992301e+00] [ 5.81148790e-04 9.99980732e-01 -6.18051965e-03 1.35859783e-01] [ 2.25237182e-02 6.16586337e-03 9.99727295e-01 1.04746098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682557844 meters Centerline goodness : 0.159276 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:1.05 [[ 0.99973759 0.00638411 -0.02199978 1.79231432] [-0.00655336 0.99994942 -0.0076297 0.12417543] [ 0.02194996 0.00777187 0.99972886 1.04515284] [ 0. 0. 0. 1. ]] SLAMing on 139.712557844 meters Centerline goodness : 0.130723 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:1.05 [[ 9.99792815e-01 -1.85801078e-03 -2.02700245e-02 1.81329035e+00] [ 1.71571353e-03 9.99973781e-01 -7.03521641e-03 1.27480402e-01] [ 2.02825646e-02 6.99898127e-03 9.99769789e-01 1.04525741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.742557844 meters Centerline goodness : 0.154508 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:1.05 [[ 9.99795832e-01 -1.64660327e-03 -2.01390847e-02 1.81258630e+00] [ 1.51502427e-03 9.99977420e-01 -6.54702715e-03 1.25222207e-01] [ 2.01494103e-02 6.51517925e-03 9.99775752e-01 1.04589253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.772557844 meters Centerline goodness : 0.160079 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:1.05 [[ 0.99977366 0.00708874 -0.02005951 1.78935267] [-0.00720921 0.99995637 -0.00593959 0.11675705] [ 0.02001653 0.00608286 0.99978114 1.04605982] [ 0. 0. 0. 1. ]] SLAMing on 139.802557844 meters Centerline goodness : 0.152265 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:1.05 [[ 0.99975444 0.00744485 -0.02087197 1.79203207] [-0.00756729 0.99995458 -0.00579347 0.11647671] [ 0.02082789 0.00594999 0.99976537 1.04534955] [ 0. 0. 0. 1. ]] SLAMing on 139.832557844 meters Centerline goodness : 0.152265 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:1.05 [[ 0.99975444 0.00744485 -0.02087197 1.79203207] [-0.00756729 0.99995458 -0.00579347 0.11647671] [ 0.02082789 0.00594999 0.99976537 1.04534955] [ 0. 0. 0. 1. ]] SLAMing on 139.862557844 meters Centerline goodness : 0.128683 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:1.04 [[ 0.99973228 0.00780496 -0.02178171 1.79526497] [-0.00792877 0.99995287 -0.00560348 0.11604627] [ 0.02173695 0.00577468 0.99974705 1.04411074] [ 0. 0. 0. 1. ]] SLAMing on 139.892557844 meters Centerline goodness : 0.121523 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:1.04 [[ 0.99971729 0.00807501 -0.02236357 1.79743241] [-0.00819764 0.99995183 -0.00539727 0.11551459] [ 0.02231891 0.00557907 0.99973534 1.04315278] [ 0. 0. 0. 1. ]] SLAMing on 139.922557844 meters Centerline goodness : 0.150726 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:1.05 [[ 9.99737872e-01 1.27010104e-03 -2.28598933e-02 1.81477109e+00] [-1.34874543e-03 9.99993224e-01 -3.42518892e-03 1.22165035e-01] [ 2.28553880e-02 3.45512326e-03 9.99732811e-01 1.04565031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.952557844 meters Centerline goodness : 0.151383 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:1.05 [[ 9.99738585e-01 1.37316465e-03 -2.28226983e-02 1.81423845e+00] [-1.44625983e-03 9.99993877e-01 -3.18654306e-03 1.21118741e-01] [ 2.28181829e-02 3.21871760e-03 9.99734450e-01 1.04638943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.982557844 meters Centerline goodness : 0.150697 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:1.05 [[ 9.99738201e-01 1.45438804e-03 -2.28345018e-02 1.81389968e+00] [-1.52115208e-03 9.99994619e-01 -2.90672560e-03 1.19679589e-01] [ 2.28301514e-02 2.94069937e-03 9.99735033e-01 1.04702839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.012557844 meters Centerline goodness : 0.123466 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:1.05 [[ 9.99674698e-01 -6.77016480e-04 -2.54958978e-02 1.76701900e+00] [ 6.05889982e-04 9.99995904e-01 -2.79734500e-03 1.14136471e-01] [ 2.54976873e-02 2.78098731e-03 9.99671013e-01 1.04901983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04255784400002 meters Centerline goodness : 0.158290 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:1.05 [[ 9.99679563e-01 -7.50570478e-04 -2.53023323e-02 1.76614742e+00] [ 6.82561080e-04 9.99996132e-01 -2.69640013e-03 1.13400229e-01] [ 2.53042583e-02 2.67826572e-03 9.99676208e-01 1.04955111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07255784400002 meters Centerline goodness : 0.148725 Centerline is valid? [False, False] Translation: X:1.76, Y:0.11, Z:1.05 [[ 9.99686814e-01 1.94769898e-03 -2.49495423e-02 1.76453518e+00] [-1.94234101e-03 9.99998085e-01 2.38984604e-04 1.14691379e-01] [ 2.49499600e-02 -1.90449238e-04 9.99688683e-01 1.05033596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10255784400002 meters Centerline goodness : 0.155467 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:1.05 [[ 9.99706070e-01 2.48524113e-03 -2.41163394e-02 1.80245258e+00] [-2.45291079e-03 9.99996053e-01 1.37008807e-03 1.15249373e-01] [ 2.41196492e-02 -1.31053013e-03 9.99708220e-01 1.05137732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13255784400002 meters Centerline goodness : 0.150888 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:1.05 [[ 9.99708582e-01 2.49626312e-03 -2.40108360e-02 1.80201011e+00] [-2.46445249e-03 9.99996046e-01 1.35434477e-03 1.15451083e-01] [ 2.40141219e-02 -1.29477652e-03 9.99710781e-01 1.05166527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16255784400002 meters Centerline goodness : 0.143478 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:1.05 [[ 9.99707781e-01 2.49067409e-03 -2.40447344e-02 1.80193971e+00] [-2.45898831e-03 9.99996069e-01 1.34726176e-03 1.15324106e-01] [ 2.40479955e-02 -1.28774235e-03 9.99709976e-01 1.05195251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.192557844 meters Centerline goodness : 0.124058 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 9.99706022e-01 2.44480161e-03 -2.41224530e-02 1.80207381e+00] [-2.40815215e-03 9.99995902e-01 1.54824141e-03 1.14476313e-01] [ 2.41261393e-02 -1.48969573e-03 9.99707812e-01 1.05184089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222557844 meters Centerline goodness : 0.123949 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 9.99699680e-01 2.44280456e-03 -2.43840577e-02 1.80274336e+00] [-2.40062315e-03 9.99995571e-01 1.75899976e-03 1.13169860e-01] [ 2.43882466e-02 -1.69993457e-03 9.99701117e-01 1.05181133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.252557844 meters Centerline goodness : 0.155784 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 0.99970253 0.00254311 -0.02425673 1.80240161] [-0.00249396 0.99999478 0.00205646 0.11221254] [ 0.02426184 -0.00199535 0.99970365 1.05171061] [ 0. 0. 0. 1. ]] SLAMing on 140.282557844 meters Centerline goodness : 0.117421 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 0.99970356 0.00266016 -0.02420137 1.80224577] [-0.00260465 0.99999391 0.00232479 0.11128775] [ 0.02420741 -0.00226107 0.9997044 1.05170742] [ 0. 0. 0. 1. ]] SLAMing on 140.312557844 meters Centerline goodness : 0.155469 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 0.99969908 0.00275202 -0.02437575 1.80263007] [-0.00269322 0.99999338 0.00244481 0.11055832] [ 0.02438232 -0.00237843 0.99969988 1.05192857] [ 0. 0. 0. 1. ]] SLAMing on 140.342557844 meters Centerline goodness : 0.156099 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 0.99969617 0.002745 -0.02449566 1.80302616] [-0.00268573 0.99999339 0.00245206 0.11037746] [ 0.02450223 -0.00238553 0.99969693 1.05180007] [ 0. 0. 0. 1. ]] SLAMing on 140.372557844 meters Centerline goodness : 0.161668 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 0.99969302 0.00274109 -0.02462407 1.80364488] [-0.00268415 0.99999365 0.00234527 0.11095734] [ 0.02463034 -0.00227845 0.99969403 1.05134486] [ 0. 0. 0. 1. ]] SLAMing on 140.402557844 meters Centerline goodness : 0.152989 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:1.05 [[ 0.99967067 0.00340666 -0.02543516 1.84312459] [-0.00332885 0.99998965 0.00310113 0.11232351] [ 0.02544546 -0.00301543 0.99967166 1.05220076] [ 0. 0. 0. 1. ]] SLAMing on 140.432557844 meters Centerline goodness : 0.157065 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:1.05 [[ 0.99966938 0.00341179 -0.02548498 1.84360138] [-0.0033347 0.99998974 0.0030668 0.11267958] [ 0.02549518 -0.0029808 0.9996705 1.05162502] [ 0. 0. 0. 1. ]] SLAMing on 140.462557844 meters Centerline goodness : 0.112794 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:1.05 [[ 9.99701851e-01 1.00905763e-03 -2.43965345e-02 1.83947797e+00] [-9.81429387e-04 9.99998864e-01 1.14441307e-03 1.09393647e-01] [ 2.43976615e-02 -1.12012839e-03 9.99701705e-01 1.05261363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.492557844 meters Centerline goodness : 0.115397 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:1.05 [[ 9.99702680e-01 1.00199268e-03 -2.43628349e-02 1.83907481e+00] [-9.72628062e-04 9.99998786e-01 1.21712389e-03 1.08939191e-01] [ 2.43640248e-02 -1.19306603e-03 9.99702441e-01 1.05317379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.522557844 meters Centerline goodness : 0.147227 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:1.05 [[ 9.99704574e-01 1.04090892e-03 -2.42833417e-02 1.83870083e+00] [-1.00834040e-03 9.99998576e-01 1.35339400e-03 1.08299236e-01] [ 2.42847159e-02 -1.32850830e-03 9.99704200e-01 1.05341914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.552557844 meters Centerline goodness : 0.156047 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:1.05 [[ 9.99708950e-01 1.09496744e-03 -2.41001391e-02 1.83821000e+00] [-1.05483411e-03 9.99998036e-01 1.67792376e-03 1.07082204e-01] [ 2.41019291e-02 -1.65201375e-03 9.99708141e-01 1.05331123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.582557844 meters Centerline goodness : 0.115305 Centerline is valid? [False, False] Translation: X:1.82, Y:0.10, Z:1.05 [[ 9.99689094e-01 8.35471982e-03 -2.34928336e-02 1.82056892e+00] [-8.34125813e-03 9.99964986e-01 6.70949473e-04 9.73947386e-02] [ 2.34976166e-02 -4.74781082e-04 9.99723780e-01 1.05095025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.612557844 meters Centerline goodness : 0.158123 Centerline is valid? [False, False] Translation: X:1.82, Y:0.10, Z:1.05 [[ 9.99684278e-01 8.44956713e-03 -2.36632488e-02 1.82131448e+00] [-8.42797377e-03 9.99963972e-01 1.01211138e-03 9.61286727e-02] [ 2.36709482e-02 -8.12358592e-04 9.99719474e-01 1.05029996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.642557844 meters Centerline goodness : 0.162574 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:1.05 [[ 9.99676258e-01 8.42450026e-03 -2.40084656e-02 1.82193090e+00] [-8.39736411e-03 9.99963984e-01 1.23087058e-03 9.46083184e-02] [ 2.40179704e-02 -1.02886427e-03 9.99710998e-01 1.05074412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.672557844 meters Centerline goodness : 0.153940 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:1.05 [[ 9.99680417e-01 8.27338460e-03 -2.38875379e-02 1.82109235e+00] [-8.25036428e-03 9.99965401e-01 1.06209122e-03 9.48694970e-02] [ 2.38954985e-02 -8.64670907e-04 9.99714088e-01 1.05161638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.702557844 meters Centerline goodness : 0.114053 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:1.05 [[ 9.99687443e-01 8.52607309e-03 -2.35015420e-02 1.81937927e+00] [-8.49305344e-03 9.99962802e-01 1.50445714e-03 9.35008123e-02] [ 2.35134949e-02 -1.30438706e-03 9.99722669e-01 1.05281317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.732557844 meters Centerline goodness : 0.131890 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:1.05 [[ 9.99684091e-01 8.62249897e-03 -2.36087209e-02 1.81964499e+00] [-8.58248700e-03 9.99961558e-01 1.79559860e-03 9.20704467e-02] [ 2.36232959e-02 -1.59240982e-03 9.99719663e-01 1.05282383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.762557844 meters Centerline goodness : 0.162214 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:1.05 [[ 9.99704033e-01 5.11198852e-03 -2.37847228e-02 1.82061614e+00] [-5.15329083e-03 9.99985318e-01 -1.67553618e-03 9.12768647e-02] [ 2.37758083e-02 1.79760987e-03 9.99715699e-01 1.05198136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79255784400002 meters Centerline goodness : 0.112545 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:1.05 [[ 9.99693707e-01 5.25121218e-03 -2.41850716e-02 1.82159728e+00] [-5.27955931e-03 9.99985449e-01 -1.10838830e-03 8.82434019e-02] [ 2.41788993e-02 1.23573533e-03 9.99706884e-01 1.05206636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82255784400002 meters Centerline goodness : 0.156432 Centerline is valid? [False, False] Translation: X:1.84, Y:0.09, Z:1.05 [[ 9.99722526e-01 -2.58445898e-03 -2.34135015e-02 1.84272840e+00] [ 2.57952018e-03 9.99996644e-01 -2.41137753e-04 8.88968196e-02] [ 2.34140461e-02 1.80675244e-04 9.99725837e-01 1.05298209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85255784400002 meters Centerline goodness : 0.117818 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:1.05 [[ 9.99728341e-01 -2.18314364e-03 -2.32051386e-02 1.84155105e+00] [ 2.21134107e-03 9.99996847e-01 1.18954615e-03 8.18021885e-02] [ 2.32024684e-02 -1.24053748e-03 9.99730017e-01 1.05416806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88255784400002 meters Centerline goodness : 0.114859 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:1.05 [[ 0.99972651 -0.00189628 -0.02330889 1.84154791] [ 0.00194138 0.99999629 0.00191263 0.07846081] [ 0.02330518 -0.00195735 0.99972648 1.05471713] [ 0. 0. 0. 1. ]] SLAMing on 140.91255784400002 meters Centerline goodness : 0.116124 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:1.05 [[ 9.99722309e-01 -1.68208919e-03 -2.35048146e-02 1.84205579e+00] [ 1.74017528e-03 9.99995482e-01 2.45100690e-03 7.58474055e-02] [ 2.35005856e-02 -2.49122878e-03 9.99720719e-01 1.05480109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.942557844 meters Centerline goodness : 0.117435 Centerline is valid? [False, False] Translation: X:1.84, Y:0.07, Z:1.05 [[ 9.99716205e-01 -1.55334485e-03 -2.37717639e-02 1.84304156e+00] [ 1.61922338e-03 9.99994901e-01 2.75229564e-03 7.42567492e-02] [ 2.37673674e-02 -2.79000635e-03 9.99713623e-01 1.05441469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.972557844 meters Centerline goodness : 0.148070 Centerline is valid? [False, False] Translation: X:1.84, Y:0.07, Z:1.05 [[ 9.99713649e-01 -1.41316848e-03 -2.38877190e-02 1.84390520e+00] [ 1.48169463e-03 9.99994838e-01 2.85122072e-03 7.39106205e-02] [ 2.38835664e-02 -2.88579857e-03 9.99710582e-01 1.05343814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.002557844 meters Centerline goodness : 0.157520 Centerline is valid? [False, False] Translation: X:1.85, Y:0.07, Z:1.05 [[ 0.99970399 0.00288473 -0.02415818 1.84500758] [-0.00272463 0.99997413 0.00665725 0.07488948] [ 0.02417676 -0.00658946 0.99968598 1.05355049] [ 0. 0. 0. 1. ]] SLAMing on 141.032557844 meters Centerline goodness : 0.131977 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:1.05 [[ 0.99970631 0.00302033 -0.02404533 1.8444202 ] [-0.00286304 0.9999743 0.00657327 0.07512687] [ 0.02406456 -0.0065025 0.99968926 1.05438649] [ 0. 0. 0. 1. ]] SLAMing on 141.062557844 meters Centerline goodness : 0.380753 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:1.06 [[ 0.99970392 0.00287651 -0.02416201 1.84417226] [-0.00272794 0.99997719 0.00617952 0.07578711] [ 0.02417924 -0.00611178 0.99968896 1.05561746] [ 0. 0. 0. 1. ]] SLAMing on 141.092557844 meters Centerline goodness : 0.125307 Centerline is valid? [False, False] Translation: X:1.84, Y:0.07, Z:1.06 [[ 0.99969954 0.00293605 -0.02433533 1.84435117] [-0.00278094 0.99997562 0.00640527 0.07429453] [ 0.02435355 -0.00633567 0.99968333 1.05608621] [ 0. 0. 0. 1. ]] SLAMing on 141.122557844 meters Centerline goodness : 0.226027 Centerline is valid? [False, False] Translation: X:1.85, Y:0.07, Z:1.06 [[ 0.99968247 0.00301477 -0.02501757 1.84618629] [-0.00283859 0.99997095 0.00707454 0.07114894] [ 0.02503817 -0.00700128 0.99966198 1.05561019] [ 0. 0. 0. 1. ]] SLAMing on 141.152557844 meters SLAMing on 141.182557844 meters Centerline goodness : 0.115886 Centerline is valid? [False, False] Translation: X:1.84, Y:0.06, Z:1.06 [[ 9.99721038e-01 3.58770571e-04 -2.36160543e-02 1.84192049e+00] [-2.09242974e-04 9.99979920e-01 6.33377454e-03 6.23129235e-02] [ 2.36178525e-02 -6.32706616e-03 9.99701038e-01 1.05533060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.212557844 meters Centerline goodness : 0.144109 Centerline is valid? [False, False] Translation: X:1.84, Y:0.06, Z:1.06 [[ 9.99743491e-01 -1.36990156e-04 -2.26480363e-02 1.83850222e+00] [ 2.87108587e-04 9.99978012e-01 6.62520118e-03 6.02706725e-02] [ 2.26466307e-02 -6.63000420e-03 9.99721548e-01 1.05629289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.242557844 meters Centerline goodness : 0.129800 Centerline is valid? [False, False] Translation: X:1.84, Y:0.06, Z:1.06 [[ 0.99974097 -0.00380449 -0.02243938 1.83735525] [ 0.00388603 0.999986 0.00359131 0.05651679] [ 0.0224254 -0.00367758 0.99974176 1.05718447] [ 0. 0. 0. 1. ]] SLAMing on 141.272557844 meters Centerline goodness : 0.162402 Centerline is valid? [False, False] Translation: X:1.84, Y:0.05, Z:1.06 [[ 0.99973042 -0.00342335 -0.02296431 1.83894058] [ 0.00352765 0.99998364 0.00450285 0.05355125] [ 0.02294851 -0.00458264 0.99972615 1.05636143] [ 0. 0. 0. 1. ]] SLAMing on 141.302557844 meters Centerline goodness : 0.159860 Centerline is valid? [False, False] Translation: X:1.84, Y:0.05, Z:1.06 [[ 0.99972112 -0.00308153 -0.02341317 1.84049893] [ 0.00320737 0.9999806 0.00533891 0.05081455] [ 0.02339626 -0.00541251 0.99971162 1.05534355] [ 0. 0. 0. 1. ]] SLAMing on 141.332557844 meters SLAMing on 141.362557844 meters Centerline goodness : 0.154170 Centerline is valid? [False, False] Translation: X:1.83, Y:0.04, Z:1.05 [[ 0.99972243 0.00421411 -0.02317993 1.82514485] [-0.00415126 0.99998758 0.00275896 0.04100745] [ 0.02319127 -0.00266197 0.9997275 1.0542322 ] [ 0. 0. 0. 1. ]] SLAMing on 141.392557844 meters SLAMing on 141.422557844 meters SLAMing on 141.452557844 meters Centerline goodness : 0.237134 Centerline is valid? [False, False] Translation: X:1.82, Y:0.04, Z:1.05 [[ 0.9997238 0.00488048 -0.02298921 1.8248295 ] [-0.0047932 0.9999811 0.00385005 0.03639549] [ 0.02300757 -0.00373879 0.9997283 1.05406231] [ 0. 0. 0. 1. ]] SLAMing on 141.482557844 meters SLAMing on 141.512557844 meters Centerline goodness : 0.117384 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.9997179 0.00516582 -0.02318254 1.82545316] [-0.00506554 0.99997757 0.00438243 0.03393014] [ 0.02320465 -0.00426376 0.99972164 1.05392406] [ 0. 0. 0. 1. ]] SLAMing on 141.54255784400002 meters Centerline goodness : 0.118963 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99971346 0.00523352 -0.0233582 1.82599596] [-0.00512924 0.99997662 0.00452196 0.03326254] [ 0.02338131 -0.00440085 0.99971693 1.05381408] [ 0. 0. 0. 1. ]] SLAMing on 141.57255784400002 meters Centerline goodness : 0.118864 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99970759 0.00530438 -0.02359247 1.82680152] [-0.00519603 0.99997568 0.00465136 0.03261986] [ 0.02361657 -0.00452741 0.99971084 1.05349897] [ 0. 0. 0. 1. ]] SLAMing on 141.60255784400002 meters Centerline goodness : 0.118714 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99970031 0.00547255 -0.02386093 1.82792935] [-0.00535201 0.99997261 0.00511305 0.03014776] [ 0.02388826 -0.00498382 0.99970221 1.05282927] [ 0. 0. 0. 1. ]] SLAMing on 141.63255784400002 meters Centerline goodness : 0.266450 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99969735 0.00563617 -0.02394659 1.82821809] [-0.00550524 0.99996956 0.00553003 0.02818406] [ 0.02397703 -0.00539653 0.99969794 1.05273383] [ 0. 0. 0. 1. ]] SLAMing on 141.66255784400002 meters Centerline goodness : 0.121192 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99969499 0.00578478 -0.0240096 1.82839244] [-0.00564477 0.99996669 0.00589508 0.02647419] [ 0.0240429 -0.00575776 0.99969435 1.05274747] [ 0. 0. 0. 1. ]] SLAMing on 141.692557844 meters Centerline goodness : 0.154700 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99969205 0.00589782 -0.02410432 1.82858457] [-0.00575087 0.99996448 0.00616102 0.02537161] [ 0.0241398 -0.0060205 0.99969046 1.05281247] [ 0. 0. 0. 1. ]] SLAMing on 141.722557844 meters Centerline goodness : 0.154700 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99969205 0.00589782 -0.02410432 1.82858457] [-0.00575087 0.99996448 0.00616102 0.02537161] [ 0.0241398 -0.0060205 0.99969046 1.05281247] [ 0. 0. 0. 1. ]] SLAMing on 141.752557844 meters Centerline goodness : 0.149931 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 0.99969269 0.00592788 -0.02407058 1.82831709] [-0.00577539 0.99996284 0.00639953 0.02430769] [ 0.02410763 -0.00625855 0.99968978 1.05306683] [ 0. 0. 0. 1. ]] SLAMing on 141.782557844 meters Centerline goodness : 0.154483 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 0.9996937 0.00615163 -0.02397231 1.82777131] [-0.00598731 0.99995813 0.00692056 0.02202951] [ 0.02401388 -0.00677491 0.99968867 1.05359859] [ 0. 0. 0. 1. ]] SLAMing on 141.812557844 meters SLAMing on 141.842557844 meters Centerline goodness : 0.096737 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 0.99969612 0.00632229 -0.02382628 1.82715962] [-0.00614819 0.99995392 0.00737322 0.02003105] [ 0.02387179 -0.00722449 0.99968892 1.05401352] [ 0. 0. 0. 1. ]] SLAMing on 141.872557844 meters Centerline goodness : 0.151899 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:1.05 [[ 0.99974757 0.00743479 -0.0212021 1.86980248] [-0.00730883 0.99995522 0.00601231 0.02227988] [ 0.02124585 -0.00585583 0.99975713 1.05405278] [ 0. 0. 0. 1. ]] SLAMing on 141.902557844 meters Centerline goodness : 0.123005 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:1.05 [[ 0.99977491 0.00376386 -0.02087973 1.86895752] [-0.00371218 0.99998995 0.00251346 0.02172927] [ 0.02088898 -0.00243538 0.99977884 1.05404805] [ 0. 0. 0. 1. ]] SLAMing on 141.932557844 meters SLAMing on 141.962557844 meters Centerline goodness : 0.144296 Centerline is valid? [False, False] Translation: X:1.85, Y:0.02, Z:1.05 [[ 0.9997119 -0.00609593 -0.02321525 1.84855993] [ 0.00618262 0.99997417 0.00366445 0.01988748] [ 0.02319231 -0.00380693 0.99972377 1.05398187] [ 0. 0. 0. 1. ]] SLAMing on 141.992557844 meters Centerline goodness : 0.118490 Centerline is valid? [False, False] Translation: X:1.85, Y:0.02, Z:1.05 [[ 0.99972369 -0.00617156 -0.0226817 1.84688889] [ 0.00626386 0.99997238 0.00400071 0.01858626] [ 0.02265638 -0.00414168 0.99973473 1.05422546] [ 0. 0. 0. 1. ]] SLAMing on 142.022557844 meters SLAMing on 142.052557844 meters SLAMing on 142.082557844 meters Centerline goodness : 0.156878 Centerline is valid? [False, False] Translation: X:1.82, Y:0.01, Z:1.06 [[ 0.99982621 0.00188478 -0.01854704 1.82326053] [-0.00182758 0.99999352 0.0031007 0.01405768] [ 0.01855276 -0.00306627 0.99982318 1.05510942] [ 0. 0. 0. 1. ]] SLAMing on 142.112557844 meters Centerline goodness : 0.152552 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:1.05 [[ 9.99823117e-01 1.82593420e-03 -1.87190137e-02 1.82415677e+00] [-1.77415733e-03 9.99994556e-01 2.78223763e-03 1.56364505e-02] [ 1.87239920e-02 -2.74853502e-03 9.99820913e-01 1.05432590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.142557844 meters Centerline goodness : 0.125755 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:1.05 [[ 9.99823475e-01 1.76597653e-03 -1.87056120e-02 1.82454807e+00] [-1.72053036e-03 9.99995530e-01 2.44536173e-03 1.73080936e-02] [ 1.87098469e-02 -2.41274649e-03 9.99822044e-01 1.05356546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.172557844 meters Centerline goodness : 0.161216 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 9.99820316e-01 1.71283784e-03 -1.88786119e-02 1.82546652e+00] [-1.67521246e-03 9.99996579e-01 2.00865002e-03 1.93864066e-02] [ 1.88819878e-02 -1.97666341e-03 9.99819765e-01 1.05268893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.202557844 meters Centerline goodness : 0.146351 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 9.99812215e-01 1.82564441e-03 -1.92925171e-02 1.82678249e+00] [-1.78775560e-03 9.99996440e-01 1.98097660e-03 1.95872657e-02] [ 1.92960650e-02 -1.94611430e-03 9.99811920e-01 1.05232071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.232557844 meters Centerline goodness : 0.126433 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 9.99809699e-01 1.79738688e-03 -1.94251252e-02 1.82728938e+00] [-1.75967534e-03 9.99996534e-01 1.95829811e-03 1.95540978e-02] [ 1.94285777e-02 -1.92374353e-03 9.99809397e-01 1.05201548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.262557844 meters Centerline goodness : 0.159143 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 9.99808060e-01 1.79908768e-03 -1.95091237e-02 1.82749967e+00] [-1.76002938e-03 9.99996413e-01 2.01903827e-03 1.91807494e-02] [ 1.95126861e-02 -1.98431411e-03 9.99807640e-01 1.05198721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29255784400002 meters Centerline goodness : 0.134606 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 9.99808381e-01 1.83903306e-03 -1.94889528e-02 1.82737239e+00] [-1.79646952e-03 9.99995964e-01 2.20126512e-03 1.82556497e-02] [ 1.94929223e-02 -2.16583201e-03 9.99807649e-01 1.05211653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32255784400002 meters Centerline goodness : 0.145416 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:1.05 [[ 9.99853985e-01 1.86804623e-03 -1.69858549e-02 1.87183063e+00] [-1.87199403e-03 9.99998224e-01 -2.16520150e-04 2.10085273e-02] [ 1.69854203e-02 2.48285954e-04 9.99855707e-01 1.05093463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35255784400002 meters Centerline goodness : 0.155034 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:1.05 [[ 9.99855310e-01 1.84616934e-03 -1.69100708e-02 1.87170658e+00] [-1.84627269e-03 9.99998296e-01 9.49998887e-06 2.01507910e-02] [ 1.69100595e-02 2.17219875e-05 9.99857014e-01 1.05058336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38255784400002 meters Centerline goodness : 0.113357 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:1.05 [[ 9.99854111e-01 1.86729076e-03 -1.69784938e-02 1.87192388e+00] [-1.86554573e-03 9.99998253e-01 1.18616450e-04 1.95975687e-02] [ 1.69786856e-02 -8.69249885e-05 9.99855848e-01 1.05047352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41255784400002 meters Centerline goodness : 0.092971 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:1.05 [[ 9.99853537e-01 1.90224889e-03 -1.70083895e-02 1.87203811e+00] [-1.89847358e-03 9.99998170e-01 2.38110819e-04 1.91467236e-02] [ 1.70088113e-02 -2.05785967e-04 9.99855319e-01 1.05038504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442557844 meters Centerline goodness : 0.116792 Centerline is valid? [False, False] Translation: X:1.89, Y:0.02, Z:1.05 [[ 9.99845115e-01 -4.77357207e-03 -1.69398472e-02 1.89135989e+00] [ 4.79944850e-03 9.99987377e-01 1.48722297e-03 2.45296124e-02] [ 1.69325340e-02 -1.56829455e-03 9.99855404e-01 1.05181518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.472557844 meters Centerline goodness : 0.152049 Centerline is valid? [False, False] Translation: X:1.87, Y:0.01, Z:1.05 [[ 9.99878437e-01 3.74751256e-03 -1.51349624e-02 1.87123545e+00] [-3.72681806e-03 9.99992082e-01 1.39530376e-03 1.45562600e-02] [ 1.51400715e-02 -1.33872889e-03 9.99884486e-01 1.05125449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.502557844 meters Centerline goodness : 0.149588 Centerline is valid? [False, False] Translation: X:1.91, Y:0.02, Z:1.05 [[ 9.99911524e-01 4.75766651e-03 -1.24220761e-02 1.91268570e+00] [-4.76242739e-03 9.99988597e-01 -3.53707276e-04 1.73712933e-02] [ 1.24202516e-02 4.12835217e-04 9.99922780e-01 1.05143988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.532557844 meters Centerline goodness : 0.098407 Centerline is valid? [False, False] Translation: X:1.91, Y:0.02, Z:1.05 [[ 9.99911265e-01 4.81881081e-03 -1.24194026e-02 1.91241070e+00] [-4.82109614e-03 9.99988367e-01 -1.54080607e-04 1.64162350e-02] [ 1.24185157e-02 2.13942068e-04 9.99922864e-01 1.05190428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.562557844 meters Centerline goodness : 0.118737 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:1.05 [[ 9.99909032e-01 4.86986533e-03 -1.25782445e-02 1.91269245e+00] [-4.86528695e-03 9.99988087e-01 3.94566012e-04 1.35844004e-02] [ 1.25800162e-02 -3.33333350e-04 9.99920813e-01 1.05208204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.592557844 meters Centerline goodness : 0.092850 Centerline is valid? [False, False] Translation: X:1.87, Y:0.01, Z:1.05 [[ 9.99885132e-01 1.95222467e-03 -1.50303352e-02 1.86754980e+00] [-1.93939062e-03 9.99997742e-01 8.68404633e-04 7.50580356e-03] [ 1.50319966e-02 -8.39155190e-04 9.99886661e-01 1.05383963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.622557844 meters Centerline goodness : 0.113242 Centerline is valid? [False, False] Translation: X:1.89, Y:0.01, Z:1.05 [[ 9.99884454e-01 -6.05898227e-03 -1.39415695e-02 1.88921962e+00] [ 6.07566565e-03 9.99980876e-01 1.15462116e-03 9.03136077e-03] [ 1.39343071e-02 -1.23919206e-03 9.99902145e-01 1.05392374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.652557844 meters Centerline goodness : 0.114874 Centerline is valid? [False, False] Translation: X:1.89, Y:0.01, Z:1.05 [[ 9.99882895e-01 -5.90947156e-03 -1.41164327e-02 1.88947072e+00] [ 5.93397688e-03 9.99980958e-01 1.69468786e-03 6.33179343e-03] [ 1.41061492e-02 -1.77825599e-03 9.99898922e-01 1.05429299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.682557844 meters Centerline goodness : 0.114695 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99897061e-01 1.48032707e-03 -1.42715232e-02 1.86969152e+00] [-1.45584285e-03 9.99997451e-01 1.72583611e-03 -2.11312161e-03] [ 1.42740416e-02 -1.70488136e-03 9.99896667e-01 1.05334077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.712557844 meters SLAMing on 142.742557844 meters Centerline goodness : 0.041678 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99893921e-01 1.59660076e-03 -1.44775131e-02 1.87028837e+00] [-1.57031484e-03 9.99997098e-01 1.82682360e-03 -2.55562697e-03] [ 1.44803878e-02 -1.80389556e-03 9.99893526e-01 1.05323035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.772557844 meters Centerline goodness : 0.067787 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99893647e-01 1.58924866e-03 -1.44972383e-02 1.87051848e+00] [-1.56420331e-03 9.99997265e-01 1.73877006e-03 -2.14797045e-03] [ 1.44999620e-02 -1.71590850e-03 9.99893398e-01 1.05298481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.802557844 meters Centerline goodness : 0.087484 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99894293e-01 1.61626319e-03 -1.44495637e-02 1.87060857e+00] [-1.59298639e-03 9.99997415e-01 1.62226424e-03 -1.45535632e-03] [ 1.44521484e-02 -1.59907480e-03 9.99894284e-01 1.05262625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.832557844 meters Centerline goodness : 0.150054 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99898722e-01 1.74101753e-03 -1.41249715e-02 1.86979762e+00] [-1.71829253e-03 9.99997210e-01 1.62082935e-03 -1.04151026e-03] [ 1.41277540e-02 -1.59639436e-03 9.99898924e-01 1.05259192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.862557844 meters Centerline goodness : 0.094283 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99897122e-01 1.67619043e-03 -1.42455757e-02 1.87012369e+00] [-1.65451291e-03 9.99997456e-01 1.53335135e-03 -8.25282040e-04] [ 1.42481097e-02 -1.50962411e-03 9.99897351e-01 1.05257624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.892557844 meters Centerline goodness : 0.157777 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99893969e-01 1.58759296e-03 -1.44751672e-02 1.87083905e+00] [-1.56697775e-03 9.99997742e-01 1.43540860e-03 -6.69443325e-04] [ 1.44774133e-02 -1.41257413e-03 9.99894199e-01 1.05234453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.922557844 meters Centerline goodness : 0.120441 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99892525e-01 1.52403940e-03 -1.45813242e-02 1.87116777e+00] [-1.50373901e-03 9.99997885e-01 1.40308130e-03 -7.40241999e-04] [ 1.45834317e-02 -1.38100400e-03 9.99892702e-01 1.05226371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.952557844 meters Centerline goodness : 0.095176 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99894191e-01 1.49146484e-03 -1.44700461e-02 1.87098695e+00] [-1.47153628e-03 9.99997954e-01 1.38777846e-03 -7.68912774e-04] [ 1.44720864e-02 -1.36633843e-03 9.99894340e-01 1.05204184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.982557844 meters Centerline goodness : 0.118525 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99900265e-01 1.46562093e-03 -1.40467689e-02 1.86971533e+00] [-1.44648310e-03 9.99998012e-01 1.37249995e-03 -5.17407540e-04] [ 1.40487525e-02 -1.35204465e-03 9.99900397e-01 1.05226980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.012557844 meters Centerline goodness : 0.088820 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.00, Z:1.05 [[ 9.99860743e-01 -5.33234691e-04 -1.66796386e-02 1.82446543e+00] [ 5.73256950e-04 9.99996968e-01 2.39477885e-03 -2.93116798e-03] [ 1.66783111e-02 -2.40400708e-03 9.99858017e-01 1.05386002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04255784400002 meters Centerline goodness : 0.091151 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.00, Z:1.05 [[ 9.99857641e-01 -6.65483099e-04 -1.68598630e-02 1.82509033e+00] [ 7.01850639e-04 9.99997440e-01 2.15122323e-03 -1.91641791e-03] [ 1.68583882e-02 -2.16275008e-03 9.99855548e-01 1.05351232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07255784400002 meters Centerline goodness : 0.094685 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.00, Z:1.05 [[ 9.99852856e-01 -8.23122216e-04 -1.71344551e-02 1.82622302e+00] [ 8.54652731e-04 9.99997955e-01 1.83294075e-03 -3.75338471e-04] [ 1.71329113e-02 -1.84731505e-03 9.99851514e-01 1.05265157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10255784400002 meters SLAMing on 143.13255784400002 meters SLAMing on 143.16255784400002 meters Centerline goodness : 0.144366 Centerline is valid? [False, False] Translation: X:1.87, Y:0.00, Z:1.05 [[ 9.99892334e-01 4.11215462e-04 -1.46680183e-02 1.86737473e+00] [-3.99490577e-04 9.99999598e-01 8.02271338e-04 2.53682400e-03] [ 1.46683424e-02 -7.96325226e-04 9.99892097e-01 1.05348657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.192557844 meters SLAMing on 143.222557844 meters Centerline goodness : 0.129062 Centerline is valid? [False, False] Translation: X:1.87, Y:0.00, Z:1.05 [[ 9.99888726e-01 3.63635049e-04 -1.49131967e-02 1.86810962e+00] [-3.50364761e-04 9.99999540e-01 8.92438292e-04 1.73256525e-03] [ 1.49135144e-02 -8.87113928e-04 9.99888394e-01 1.05327448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.252557844 meters Centerline goodness : 0.360228 Centerline is valid? [False, False] Translation: X:1.91, Y:0.00, Z:1.05 [[ 9.99922020e-01 1.85544866e-03 -1.23495701e-02 1.91147792e+00] [-1.86055192e-03 9.99998188e-01 -4.01758209e-04 4.20237171e-03] [ 1.23488023e-02 4.24703896e-04 9.99923660e-01 1.05203910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282557844 meters Centerline goodness : 0.292994 Centerline is valid? [False, False] Translation: X:1.91, Y:0.00, Z:1.05 [[ 9.99924623e-01 1.91471460e-03 -1.21277327e-02 1.91075199e+00] [-1.91881450e-03 9.99998106e-01 -3.26432944e-04 4.00428704e-03] [ 1.21270847e-02 3.49679208e-04 9.99926403e-01 1.05229195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.312557844 meters SLAMing on 143.342557844 meters Centerline goodness : 0.130267 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:1.05 [[ 9.99934207e-01 2.42663047e-03 -1.12112841e-02 1.90804334e+00] [-2.42898372e-03 9.99997031e-01 -1.96288319e-04 5.37280782e-03] [ 1.12107745e-02 2.23507431e-04 9.99937132e-01 1.05291651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.372557844 meters Centerline goodness : 0.102320 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:1.05 [[ 9.99931946e-01 2.26884818e-03 -1.14435734e-02 1.90885882e+00] [-2.27618427e-03 9.99997212e-01 -6.28082332e-04 7.21729325e-03] [ 1.14421165e-02 6.54087270e-04 9.99934323e-01 1.05256974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402557844 meters SLAMing on 143.432557844 meters Centerline goodness : 0.360596 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:1.05 [[ 9.99933943e-01 2.20905809e-03 -1.12795762e-02 1.90853740e+00] [-2.22468221e-03 9.99996583e-01 -1.37281027e-03 1.11387502e-02] [ 1.12765050e-02 1.39781306e-03 9.99935441e-01 1.05236813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462557844 meters SLAMing on 143.492557844 meters SLAMing on 143.522557844 meters SLAMing on 143.552557844 meters SLAMing on 143.582557844 meters Centerline goodness : 0.133410 Centerline is valid? [False, False] Translation: X:1.91, Y:0.03, Z:1.05 [[ 9.99904230e-01 7.05421421e-03 -1.19066418e-02 1.90938347e+00] [-7.03938643e-03 9.99974395e-01 1.28678756e-03 2.83005844e-02] [ 1.19154142e-02 -1.20284888e-03 9.99928285e-01 1.05283367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.612557844 meters Centerline goodness : 0.098307 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:1.05 [[ 9.99915169e-01 -1.10360471e-03 -1.29783602e-02 1.88681982e+00] [ 1.15014493e-03 9.99992934e-01 3.57906882e-03 3.21908141e-02] [ 1.29743186e-02 -3.59369220e-03 9.99909372e-01 1.05388641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.642557844 meters Centerline goodness : 0.098307 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:1.05 [[ 9.99915169e-01 -1.10360471e-03 -1.29783602e-02 1.88681982e+00] [ 1.15014493e-03 9.99992934e-01 3.57906882e-03 3.21908141e-02] [ 1.29743186e-02 -3.59369220e-03 9.99909372e-01 1.05388641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.672557844 meters Centerline goodness : 0.366088 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:1.05 [[ 9.99947085e-01 4.67517368e-04 -1.02766337e-02 1.92917959e+00] [-4.44654201e-04 9.99997421e-01 2.22694431e-03 3.91450096e-02] [ 1.02776483e-02 -2.22225692e-03 9.99944714e-01 1.05298850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.702557844 meters Centerline goodness : 0.380562 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:1.05 [[ 9.99952757e-01 2.38028544e-04 -9.71738396e-03 1.92717237e+00] [-2.22074302e-04 9.99998626e-01 1.64287076e-03 4.20574635e-02] [ 9.71776165e-03 -1.64063516e-03 9.99951436e-01 1.05393458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.732557844 meters Centerline goodness : 0.380953 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:1.05 [[ 9.99953839e-01 1.39447593e-04 -9.60727514e-03 1.92674885e+00] [-1.25250930e-04 9.99998899e-01 1.47828512e-03 4.27856609e-02] [ 9.60747071e-03 -1.47701356e-03 9.99952756e-01 1.05416450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.762557844 meters Centerline goodness : 0.248225 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:1.05 [[ 9.99952408e-01 5.30599722e-05 -9.75593912e-03 1.92709656e+00] [-3.91996056e-05 9.99998990e-01 1.42089638e-03 4.29396884e-02] [ 9.75600465e-03 -1.42044633e-03 9.99951400e-01 1.05417150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79255784400002 meters Centerline goodness : 0.199874 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:1.05 [[ 9.99950960e-01 -1.25666184e-05 -9.90342078e-03 1.92760915e+00] [ 2.61148562e-05 9.99999064e-01 1.36790804e-03 4.30704657e-02] [ 9.90339432e-03 -1.36809958e-03 9.99950024e-01 1.05389647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82255784400002 meters Centerline goodness : 0.198993 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:1.05 [[ 9.99949548e-01 -5.41983304e-05 -1.00448075e-02 1.92804124e+00] [ 6.76096905e-05 9.99999107e-01 1.33481876e-03 4.31483632e-02] [ 1.00447262e-02 -1.33543054e-03 9.99948659e-01 1.05374058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85255784400002 meters SLAMing on 143.88255784400002 meters Centerline goodness : 0.192570 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99947525e-01 -4.27855406e-04 -1.02354673e-02 1.92902301e+00] [ 4.32678277e-04 9.99999796e-01 4.68982385e-04 4.69195488e-02] [ 1.02352646e-02 -4.73386439e-04 9.99947506e-01 1.05283924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91255784400002 meters Centerline goodness : 0.182875 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99946999e-01 -5.83685730e-04 -1.02790733e-02 1.92943636e+00] [ 5.83808986e-04 9.99999830e-01 8.99044856e-06 4.90980985e-02] [ 1.02790663e-02 -1.49909874e-05 9.99947169e-01 1.05227547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942557844 meters Centerline goodness : 0.174390 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99947814e-01 -6.69154131e-04 -1.01941649e-02 1.92922394e+00] [ 6.65709697e-04 9.99999720e-01 -3.41272458e-04 5.09690094e-02] [ 1.01943904e-02 3.34468294e-04 9.99947980e-01 1.05220582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.972557844 meters Centerline goodness : 0.130695 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99952604e-01 -6.76295498e-04 -9.71250294e-03 1.92716623e+00] [ 6.70762897e-04 9.99999611e-01 -5.72883197e-04 5.25314279e-02] [ 9.71288660e-03 5.66341258e-04 9.99952668e-01 1.05373048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002557844 meters Centerline goodness : 0.135560 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99952386e-01 -7.48217546e-04 -9.72963037e-03 1.92692942e+00] [ 7.41946994e-04 9.99999515e-01 -6.48073554e-04 5.27018512e-02] [ 9.73011055e-03 6.40823827e-04 9.99952456e-01 1.05425325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.032557844 meters Centerline goodness : 0.147047 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99951875e-01 -7.91180559e-04 -9.77863487e-03 1.92703462e+00] [ 7.84544547e-04 9.99999459e-01 -6.82440864e-04 5.27252553e-02] [ 9.77916952e-03 6.74736246e-04 9.99951955e-01 1.05429028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062557844 meters SLAMing on 144.092557844 meters SLAMing on 144.122557844 meters Centerline goodness : 0.117737 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:1.05 [[ 9.99950104e-01 -9.17336514e-04 -9.94721309e-03 1.92797432e+00] [ 9.06479798e-04 9.99998989e-01 -1.09588661e-03 5.50153646e-02] [ 9.94820833e-03 1.08681498e-03 9.99949925e-01 1.05332835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.152557844 meters Centerline goodness : 0.129391 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99948641e-01 -9.27160314e-04 -1.00923788e-02 1.92817734e+00] [ 9.16258468e-04 9.99998992e-01 -1.08477584e-03 5.48570071e-02] [ 1.00933743e-02 1.07547290e-03 9.99948482e-01 1.05366853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.182557844 meters Centerline goodness : 0.120764 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99948184e-01 -9.07514641e-04 -1.01392882e-02 1.92808748e+00] [ 8.96812615e-04 9.99999036e-01 -1.05999752e-03 5.47544909e-02] [ 1.01402403e-02 1.05084955e-03 9.99948034e-01 1.05405827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.212557844 meters SLAMing on 144.242557844 meters SLAMing on 144.272557844 meters SLAMing on 144.302557844 meters Centerline goodness : 0.218826 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:1.05 [[ 9.99952207e-01 -7.19138479e-04 -9.75019084e-03 1.92728176e+00] [ 7.03736889e-04 9.99998499e-01 -1.58295817e-03 5.83437944e-02] [ 9.75131457e-03 1.57602095e-03 9.99951213e-01 1.05365839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.332557844 meters Centerline goodness : 0.190902 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:1.05 [[ 9.99947354e-01 -7.25611290e-04 -1.02353986e-02 1.92875142e+00] [ 7.03675772e-04 9.99997449e-01 -2.14654196e-03 6.03647735e-02] [ 1.02369301e-02 2.13922655e-03 9.99945313e-01 1.05357356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.362557844 meters Centerline goodness : 0.190655 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:1.05 [[ 9.99944899e-01 -9.30057013e-04 -1.04562994e-02 1.92960103e+00] [ 8.95640316e-04 9.99994168e-01 -3.29568067e-03 6.47797130e-02] [ 1.04593036e-02 3.28613399e-03 9.99939900e-01 1.05355031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.392557844 meters Centerline goodness : 0.154189 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:1.05 [[ 9.99946044e-01 -1.05708795e-03 -1.03340430e-02 1.92899747e+00] [ 1.01922647e-03 9.99992752e-01 -3.66834258e-03 6.67404957e-02] [ 1.03378458e-02 3.65761192e-03 9.99939874e-01 1.05401198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.422557844 meters Centerline goodness : 0.155810 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:1.05 [[ 9.99947855e-01 -1.10546195e-03 -1.01521520e-02 1.92824259e+00] [ 1.06639862e-03 9.99992011e-01 -3.85239536e-03 6.79146271e-02] [ 1.01563295e-02 3.84136824e-03 9.99941045e-01 1.05442113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.452557844 meters Centerline goodness : 0.158033 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:1.05 [[ 9.99952329e-01 -1.32013604e-03 -9.67452987e-03 1.92679570e+00] [ 1.28104868e-03 9.99990997e-01 -4.04531776e-03 6.86817121e-02] [ 9.67978314e-03 4.03273137e-03 9.99945018e-01 1.05464481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.482557844 meters Centerline goodness : 0.154521 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:1.05 [[ 9.99956006e-01 -1.60215180e-03 -9.24220437e-03 1.92559025e+00] [ 1.56270818e-03 9.99989648e-01 -4.27341598e-03 6.95132563e-02] [ 9.24895535e-03 4.25878511e-03 9.99948158e-01 1.05452895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.512557844 meters Centerline goodness : 0.128518 Centerline is valid? [False, False] Translation: X:1.89, Y:0.07, Z:1.05 [[ 0.99993631 -0.00215844 -0.01107746 1.88848506] [ 0.00209929 0.9999835 -0.0053481 0.06899876] [ 0.01108882 0.00532451 0.99992434 1.05433885] [ 0. 0. 0. 1. ]] SLAMing on 144.54255784400002 meters SLAMing on 144.57255784400002 meters Centerline goodness : 0.154394 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:1.05 [[ 9.99957453e-01 -1.31279561e-03 -9.13059875e-03 1.93314157e+00] [ 1.25172071e-03 9.99976828e-01 -6.69153614e-03 7.33471078e-02] [ 9.13917180e-03 6.67982248e-03 9.99935926e-01 1.05306874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60255784400002 meters Centerline goodness : 0.154228 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:1.05 [[ 9.99957668e-01 -1.41192477e-03 -9.09223816e-03 1.93330158e+00] [ 1.34786379e-03 9.99974254e-01 -7.04795469e-03 7.50140288e-02] [ 9.10195525e-03 7.03540124e-03 9.99933827e-01 1.05261948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63255784400002 meters Centerline goodness : 0.153249 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:1.05 [[ 9.99956763e-01 -1.53714172e-03 -9.17109962e-03 1.93366099e+00] [ 1.46934632e-03 9.99971581e-01 -7.39445086e-03 7.66907166e-02] [ 9.18220530e-03 7.38065563e-03 9.99930604e-01 1.05230619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66255784400002 meters Centerline goodness : 0.155479 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:1.05 [[ 9.99956311e-01 -1.67919075e-03 -9.19543116e-03 1.93400289e+00] [ 1.60781797e-03 9.99968570e-01 -7.76366555e-03 7.84107289e-02] [ 9.20817882e-03 7.74854178e-03 9.99927582e-01 1.05179585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.692557844 meters Centerline goodness : 0.156810 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:1.05 [[ 9.99956196e-01 -1.83626594e-03 -9.17797017e-03 1.93408411e+00] [ 1.76129383e-03 9.99965073e-01 -8.17012029e-03 8.03031073e-02] [ 9.19265213e-03 8.15359730e-03 9.99924504e-01 1.05156906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.722557844 meters Centerline goodness : 0.115781 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:1.05 [[ 9.99956840e-01 -2.01033006e-03 -9.07065223e-03 1.93375483e+00] [ 1.93163818e-03 9.99960498e-01 -8.67587404e-03 8.21028080e-02] [ 9.08773529e-03 8.65797837e-03 9.99921223e-01 1.05184334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.752557844 meters Centerline goodness : 0.387826 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:1.05 [[ 0.99995933 -0.00214116 -0.00876142 1.93266282] [ 0.00206098 0.99995601 -0.00915065 0.08464337] [ 0.00878063 0.00913222 0.99991975 1.05237671] [ 0. 0. 0. 1. ]] SLAMing on 144.782557844 meters Centerline goodness : 0.153760 Centerline is valid? [False, False] Translation: X:1.95, Y:0.09, Z:1.05 [[ 0.99992521 -0.00918868 -0.00807082 1.95146618] [ 0.00912238 0.99992465 -0.0082139 0.09148166] [ 0.00814569 0.00813966 0.99993369 1.05389981] [ 0. 0. 0. 1. ]] SLAMing on 144.812557844 meters Centerline goodness : 0.152890 Centerline is valid? [False, False] Translation: X:1.95, Y:0.09, Z:1.05 [[ 0.99994412 -0.0065326 -0.00831132 1.95138345] [ 0.00648338 0.99996137 -0.00593527 0.09487788] [ 0.00834977 0.00588106 0.99994785 1.05476828] [ 0. 0. 0. 1. ]] SLAMing on 144.842557844 meters Centerline goodness : 0.169430 Centerline is valid? [False, False] Translation: X:1.95, Y:0.10, Z:1.05 [[ 0.99994452 -0.00663553 -0.00818134 1.95104064] [ 0.00658517 0.9999593 -0.00616691 0.09577142] [ 0.00822193 0.00611269 0.99994752 1.05482662] [ 0. 0. 0. 1. ]] SLAMing on 144.872557844 meters Centerline goodness : 0.153648 Centerline is valid? [False, False] Translation: X:1.95, Y:0.10, Z:1.06 [[ 0.99994436 -0.00672233 -0.00812905 1.95085124] [ 0.00667017 0.99995711 -0.00642583 0.09665446] [ 0.0081719 0.00637125 0.99994631 1.05504388] [ 0. 0. 0. 1. ]] SLAMing on 144.902557844 meters Centerline goodness : 0.128092 Centerline is valid? [False, False] Translation: X:1.95, Y:0.10, Z:1.06 [[ 0.99995747 -0.00347272 -0.00854411 1.95145972] [ 0.00344002 0.99998671 -0.00383913 0.10014839] [ 0.00855733 0.00380958 0.99995613 1.0558975 ] [ 0. 0. 0. 1. ]] SLAMing on 144.932557844 meters Centerline goodness : 0.154290 Centerline is valid? [False, False] Translation: X:1.95, Y:0.10, Z:1.06 [[ 0.99995216 -0.00334976 -0.0091899 1.9533066 ] [ 0.00331022 0.99998522 -0.00431362 0.10202899] [ 0.00920421 0.004283 0.99994847 1.0558649 ] [ 0. 0. 0. 1. ]] SLAMing on 144.962557844 meters Centerline goodness : 0.155080 Centerline is valid? [False, False] Translation: X:1.95, Y:0.10, Z:1.06 [[ 0.99995106 -0.00341481 -0.00928552 1.95379869] [ 0.00337086 0.99998306 -0.00474422 0.10434931] [ 0.00930156 0.00471269 0.99994563 1.05533865] [ 0. 0. 0. 1. ]] SLAMing on 144.992557844 meters Centerline goodness : 0.124419 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:1.05 [[ 0.99995146 -0.00350674 -0.00920774 1.95380508] [ 0.00345925 0.99998066 -0.00516845 0.10659987] [ 0.00922568 0.00513635 0.99994425 1.05494504] [ 0. 0. 0. 1. ]] SLAMing on 145.022557844 meters Centerline goodness : 0.144715 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:1.05 [[ 0.99995334 -0.00366004 -0.00894002 1.9532073 ] [ 0.00360802 0.99997651 -0.00582807 0.10981388] [ 0.00896114 0.00579555 0.99994305 1.05477357] [ 0. 0. 0. 1. ]] SLAMing on 145.052557844 meters Centerline goodness : 0.154260 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:1.05 [[ 0.99995375 -0.00374765 -0.00885694 1.9529724 ] [ 0.00369413 0.99997487 -0.00605096 0.11078247] [ 0.0088794 0.00601796 0.99994247 1.05478964] [ 0. 0. 0. 1. ]] SLAMing on 145.082557844 meters Centerline goodness : 0.154126 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:1.05 [[ 0.99995459 -0.00380699 -0.00873644 1.95263312] [ 0.00375269 0.99997359 -0.00622402 0.11163665] [ 0.00875991 0.00619095 0.99994247 1.05483231] [ 0. 0. 0. 1. ]] SLAMing on 145.112557844 meters Centerline goodness : 0.145713 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:1.06 [[ 0.99995663 -0.00383761 -0.00848561 1.95179356] [ 0.0037831 0.99997216 -0.00643121 0.1129189 ] [ 0.00851006 0.00639883 0.99994332 1.05514201] [ 0. 0. 0. 1. ]] SLAMing on 145.142557844 meters Centerline goodness : 0.144381 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:1.06 [[ 0.99996013 -0.0038827 -0.00804191 1.95048174] [ 0.00382868 0.99997008 -0.00672139 0.11462895] [ 0.00806777 0.00669033 0.99994507 1.05545552] [ 0. 0. 0. 1. ]] SLAMing on 145.172557844 meters Centerline goodness : 0.144541 Centerline is valid? [False, False] Translation: X:1.95, Y:0.12, Z:1.06 [[ 0.99996275 -0.00393522 -0.00768194 1.94938966] [ 0.00388069 0.99996725 -0.00710177 0.11676912] [ 0.00770964 0.0070717 0.99994527 1.0557552 ] [ 0. 0. 0. 1. ]] SLAMing on 145.202557844 meters Centerline goodness : 0.145821 Centerline is valid? [False, False] Translation: X:1.95, Y:0.12, Z:1.06 [[ 9.99968341e-01 -2.11698793e-04 -7.95433758e-03 1.94991297e+00] [ 1.80528225e-04 9.99992304e-01 -3.91920175e-03 1.20269708e-01] [ 7.95510605e-03 3.91764169e-03 9.99960683e-01 1.05575708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.232557844 meters Centerline goodness : 0.147026 Centerline is valid? [False, False] Translation: X:1.95, Y:0.12, Z:1.05 [[ 9.99968321e-01 -3.25336315e-04 -7.95307188e-03 1.95033266e+00] [ 2.89278960e-04 9.99989677e-01 -4.53449457e-03 1.23626144e-01] [ 7.95446502e-03 4.53205027e-03 9.99958093e-01 1.05489515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.262557844 meters Centerline goodness : 0.146230 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 9.99939484e-01 -6.26928091e-04 -1.09834416e-02 1.90574749e+00] [ 5.92252000e-04 9.99994832e-01 -3.16009252e-03 1.22697906e-01] [ 1.09853660e-02 3.15339632e-03 9.99934687e-01 1.05595518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29255784400002 meters Centerline goodness : 0.156256 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99939245e-01 -8.20961982e-04 -1.09923587e-02 1.90590144e+00] [ 7.80601438e-04 9.99992941e-01 -3.67547809e-03 1.25038762e-01] [ 1.09952985e-02 3.66667413e-03 9.99932827e-01 1.05566769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32255784400002 meters Centerline goodness : 0.110819 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99928955e-01 -1.30195108e-03 -1.18486105e-02 1.90823762e+00] [ 1.24984138e-03 9.99989520e-01 -4.40430147e-03 1.27281601e-01] [ 1.18542206e-02 4.38917968e-03 9.99920103e-01 1.05521104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35255784400002 meters Centerline goodness : 0.128793 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99927736e-01 -1.35803345e-03 -1.19448426e-02 1.90834421e+00] [ 1.30444363e-03 9.99989055e-01 -4.49308727e-03 1.27690124e-01] [ 1.19508137e-02 4.47718120e-03 9.99918563e-01 1.05537486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38255784400002 meters Centerline goodness : 0.139509 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99930639e-01 -1.32545996e-03 -1.17030225e-02 1.90742700e+00] [ 1.27369182e-03 9.99989377e-01 -4.42983040e-03 1.27790311e-01] [ 1.17087697e-02 4.41461709e-03 9.99921705e-01 1.05586556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41255784400002 meters Centerline goodness : 0.132774 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99934163e-01 -1.27137580e-03 -1.14040902e-02 1.90620783e+00] [ 1.22198325e-03 9.99989848e-01 -4.33704895e-03 1.27790430e-01] [ 1.14094885e-02 4.32282781e-03 9.99925566e-01 1.05658314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.442557844 meters Centerline goodness : 0.153244 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99936154e-01 -1.31004419e-03 -1.12236812e-02 1.90567130e+00] [ 1.26117006e-03 9.99989698e-01 -4.36052584e-03 1.27842537e-01] [ 1.12292781e-02 4.34609246e-03 9.99927505e-01 1.05668944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.472557844 meters Centerline goodness : 0.158429 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99936047e-01 -1.35901446e-03 -1.12274432e-02 1.90565002e+00] [ 1.30984018e-03 9.99989524e-01 -4.38602191e-03 1.27742676e-01] [ 1.12332863e-02 4.37103525e-03 9.99927351e-01 1.05675200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.502557844 meters Centerline goodness : 0.151358 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99934551e-01 -1.49595841e-03 -1.13426183e-02 1.90578582e+00] [ 1.44469230e-03 9.99988711e-01 -4.52662465e-03 1.28226255e-01] [ 1.13492619e-02 4.50994179e-03 9.99925425e-01 1.05696060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.532557844 meters Centerline goodness : 0.151358 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99934551e-01 -1.49595841e-03 -1.13426183e-02 1.90578582e+00] [ 1.44469230e-03 9.99988711e-01 -4.52662465e-03 1.28226255e-01] [ 1.13492619e-02 4.50994179e-03 9.99925425e-01 1.05696060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.562557844 meters Centerline goodness : 0.151385 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99934303e-01 -1.48662842e-03 -1.13656798e-02 1.90568194e+00] [ 1.43490903e-03 9.99988586e-01 -4.55728933e-03 1.28687324e-01] [ 1.13723251e-02 4.54068121e-03 9.99925023e-01 1.05717645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.592557844 meters Centerline goodness : 0.073649 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99932971e-01 -1.48779666e-03 -1.14821343e-02 1.90588459e+00] [ 1.43565181e-03 9.99988626e-01 -4.54829683e-03 1.28755565e-01] [ 1.14887706e-02 4.53150762e-03 9.99923734e-01 1.05731757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.622557844 meters Centerline goodness : 0.153033 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99929149e-01 -1.53780020e-03 -1.18038639e-02 1.90675687e+00] [ 1.48461438e-03 9.99988713e-01 -4.51323808e-03 1.28373077e-01] [ 1.18106712e-02 4.49539413e-03 9.99920147e-01 1.05721948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.652557844 meters Centerline goodness : 0.151804 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 0.99991643 -0.00200929 -0.01277124 1.90942209] [ 0.00195208 0.99998801 -0.00449074 0.12666338] [ 0.01278011 0.00446543 0.99990836 1.05685355] [ 0. 0. 0. 1. ]] SLAMing on 145.682557844 meters Centerline goodness : 0.157263 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 0.99992336 -0.00204115 -0.01221138 1.90794246] [ 0.00199393 0.99999049 -0.00387765 0.12448599] [ 0.01221917 0.00385301 0.99991792 1.0564817 ] [ 0. 0. 0. 1. ]] SLAMing on 145.712557844 meters Centerline goodness : 0.117011 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 0.99992997 -0.0021593 -0.01163602 1.90629083] [ 0.00212057 0.99999217 -0.00333984 0.12236348] [ 0.01164314 0.00331493 0.99992672 1.05627002] [ 0. 0. 0. 1. ]] SLAMing on 145.742557844 meters Centerline goodness : 0.156956 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 0.99992989 -0.00219008 -0.01163724 1.90617376] [ 0.0021563 0.99999343 -0.00291512 0.12053301] [ 0.01164354 0.00288983 0.99992804 1.05611539] [ 0. 0. 0. 1. ]] SLAMing on 145.772557844 meters Centerline goodness : 0.122631 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 0.99991273 -0.00548569 -0.012018 1.90765757] [ 0.00541532 0.99996805 -0.00588001 0.11761343] [ 0.01204987 0.00581441 0.99991049 1.05532363] [ 0. 0. 0. 1. ]] SLAMing on 145.802557844 meters Centerline goodness : 0.126777 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:1.06 [[ 0.99990783 -0.00526753 -0.01251348 1.90886895] [ 0.00520418 0.99997351 -0.00508924 0.11422952] [ 0.01253996 0.00502365 0.99990875 1.05509141] [ 0. 0. 0. 1. ]] SLAMing on 145.832557844 meters Centerline goodness : 0.153870 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:1.05 [[ 0.99990687 -0.00506087 -0.01267426 1.90936153] [ 0.00500104 0.99997622 -0.00474797 0.11317875] [ 0.01269798 0.00468415 0.99990841 1.05489683] [ 0. 0. 0. 1. ]] SLAMing on 145.862557844 meters Centerline goodness : 0.125558 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:1.05 [[ 0.99990615 -0.004868 -0.01280615 1.90984484] [ 0.00480987 0.99997801 -0.00456616 0.11273853] [ 0.0128281 0.00450414 0.99990757 1.05475451] [ 0. 0. 0. 1. ]] SLAMing on 145.892557844 meters Centerline goodness : 0.152835 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:1.05 [[ 0.99990447 -0.00467572 -0.01300762 1.91056757] [ 0.00461846 0.99997953 -0.00442815 0.11244028] [ 0.01302806 0.00436765 0.99990559 1.05455952] [ 0. 0. 0. 1. ]] SLAMing on 145.922557844 meters Centerline goodness : 0.153702 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:1.05 [[ 0.9999013 -0.00459603 -0.01327654 1.91135665] [ 0.00453575 0.99997928 -0.00456733 0.11278215] [ 0.01329726 0.00450666 0.99990143 1.05470086] [ 0. 0. 0. 1. ]] SLAMing on 145.952557844 meters Centerline goodness : 0.157854 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:1.06 [[ 0.99989666 -0.00459525 -0.01362143 1.91210283] [ 0.00452832 0.99997754 -0.00494023 0.11371478] [ 0.01364383 0.00487804 0.99989502 1.05535863] [ 0. 0. 0. 1. ]] SLAMing on 145.982557844 meters Centerline goodness : 0.156264 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 0.9998957 -0.0043284 -0.01377843 1.91238624] [ 0.00425388 0.99997619 -0.00543326 0.1156631 ] [ 0.01380162 0.00537408 0.99989031 1.05633628] [ 0. 0. 0. 1. ]] SLAMing on 146.012557844 meters Centerline goodness : 0.114219 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 0.99989225 -0.00419637 -0.01406687 1.91325899] [ 0.0041168 0.99997539 -0.00568072 0.11689151] [ 0.01409037 0.0056222 0.99988492 1.05634377] [ 0. 0. 0. 1. ]] SLAMing on 146.04255784400002 meters Centerline goodness : 0.132727 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 9.99904364e-01 -9.05779567e-04 -1.38001195e-02 1.91219362e+00] [ 8.69257790e-04 9.99996105e-01 -2.65225112e-03 1.19318090e-01] [ 1.38024681e-02 2.64000161e-03 9.99901256e-01 1.05704248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07255784400002 meters Centerline goodness : 0.154884 Centerline is valid? [False, False] Translation: X:1.93, Y:0.12, Z:1.06 [[ 0.99988963 0.0084673 -0.01220814 1.93175648] [-0.00850811 0.99995838 -0.0032945 0.11615934] [ 0.01217973 0.00339801 0.99992005 1.0574607 ] [ 0. 0. 0. 1. ]] SLAMing on 146.10255784400002 meters Centerline goodness : 0.154371 Centerline is valid? [False, False] Translation: X:1.93, Y:0.12, Z:1.06 [[ 0.99989755 0.00821944 -0.01171846 1.93003395] [-0.00826388 0.99995883 -0.00374874 0.11785463] [ 0.01168716 0.0038452 0.99992431 1.05826305] [ 0. 0. 0. 1. ]] SLAMing on 146.13255784400002 meters Centerline goodness : 0.156025 Centerline is valid? [False, False] Translation: X:1.93, Y:0.12, Z:1.06 [[ 0.99990403 0.00791981 -0.0113666 1.92866625] [-0.00797114 0.9999582 -0.00447788 0.12063517] [ 0.01133066 0.00456806 0.99992537 1.05914625] [ 0. 0. 0. 1. ]] SLAMing on 146.16255784400002 meters Centerline goodness : 0.110131 Centerline is valid? [False, False] Translation: X:1.93, Y:0.12, Z:1.06 [[ 0.99990158 0.00789896 -0.0115948 1.92950035] [-0.00795463 0.99995702 -0.00476274 0.12204551] [ 0.01155668 0.00485451 0.99992144 1.05875741] [ 0. 0. 0. 1. ]] SLAMing on 146.192557844 meters Centerline goodness : 0.110246 Centerline is valid? [False, False] Translation: X:1.93, Y:0.12, Z:1.06 [[ 0.99990151 0.007787 -0.01167595 1.93001618] [-0.00784825 0.99995563 -0.00520954 0.12412288] [ 0.01163486 0.00530066 0.99991826 1.05832175] [ 0. 0. 0. 1. ]] SLAMing on 146.222557844 meters Centerline goodness : 0.128470 Centerline is valid? [False, False] Translation: X:1.93, Y:0.13, Z:1.06 [[ 0.9999023 0.00760764 -0.01172686 1.93017818] [-0.00767533 0.99995408 -0.00573834 0.12634431] [ 0.01168267 0.00582779 0.99991477 1.05831728] [ 0. 0. 0. 1. ]] SLAMing on 146.252557844 meters Centerline goodness : 0.150908 Centerline is valid? [False, False] Translation: X:1.93, Y:0.13, Z:1.06 [[ 0.99989927 0.00752311 -0.0120356 1.93102027] [-0.00760254 0.99994953 -0.00656764 0.13028163] [ 0.01198558 0.00665848 0.999906 1.05832196] [ 0. 0. 0. 1. ]] SLAMing on 146.282557844 meters Centerline goodness : 0.153494 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99912383e-01 7.07581153e-04 -1.32184205e-02 1.95074640e+00] [-7.79136873e-04 9.99985068e-01 -5.40896851e-03 1.40359093e-01] [ 1.32143958e-02 5.41879355e-03 9.99898003e-01 1.05961684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.312557844 meters Centerline goodness : 0.110968 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99911174e-01 5.80726511e-04 -1.33156954e-02 1.95103741e+00] [-6.57244281e-04 9.99983294e-01 -5.74277864e-03 1.41929799e-01] [ 1.33121380e-02 5.75102020e-03 9.99894851e-01 1.05949084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342557844 meters Centerline goodness : 0.112376 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99911722e-01 5.29499237e-04 -1.32765817e-02 1.95080460e+00] [-6.07327483e-04 9.99982653e-01 -5.85872322e-03 1.42476532e-01] [ 1.32732492e-02 5.86626926e-03 9.99894698e-01 1.05968317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.372557844 meters Centerline goodness : 0.111118 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99913164e-01 5.05806994e-04 -1.31684547e-02 1.95028046e+00] [-5.83372509e-04 9.99982501e-01 -5.88707716e-03 1.42671731e-01] [ 1.31652465e-02 5.89424807e-03 9.99895962e-01 1.06013182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402557844 meters Centerline goodness : 0.155393 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99916320e-01 5.17361470e-04 -1.29261143e-02 1.94943689e+00] [-5.92993704e-04 9.99982725e-01 -5.84797168e-03 1.42640877e-01] [ 1.29228655e-02 5.85514743e-03 9.99899353e-01 1.06051870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.432557844 meters Centerline goodness : 0.150107 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:1.06 [[ 0.99990569 -0.0065926 -0.01204796 1.96765191] [ 0.00654052 0.99996912 -0.00435707 0.1485547 ] [ 0.01207631 0.00427786 0.99991793 1.06300401] [ 0. 0. 0. 1. ]] SLAMing on 146.462557844 meters Centerline goodness : 0.159766 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99917588e-01 1.43232106e-03 -1.27579411e-02 1.94677020e+00] [-1.49283589e-03 9.99987675e-01 -4.73504741e-03 1.42995034e-01] [ 1.27510017e-02 4.75370270e-03 9.99907403e-01 1.06262152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.492557844 meters Centerline goodness : 0.151886 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99916202e-01 1.44378565e-03 -1.28648635e-02 1.94725430e+00] [-1.50454550e-03 9.99987755e-01 -4.71450400e-03 1.42994755e-01] [ 1.28578993e-02 4.73346470e-03 9.99906130e-01 1.06224972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.522557844 meters Centerline goodness : 0.159281 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99910951e-01 1.44498319e-03 -1.32665583e-02 1.94882291e+00] [-1.50686528e-03 9.99988027e-01 -4.65570725e-03 1.42660869e-01] [ 1.32596720e-02 4.67528358e-03 9.99901157e-01 1.06123772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.552557844 meters Centerline goodness : 0.153948 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99908381e-01 1.46102005e-03 -1.34571671e-02 1.94964982e+00] [-1.52359987e-03 9.99988069e-01 -4.64121903e-03 1.42623731e-01] [ 1.34502257e-02 4.66129715e-03 9.99898677e-01 1.06059735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.582557844 meters Centerline goodness : 0.175499 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99906913e-01 1.44065133e-03 -1.35679958e-02 1.95012273e+00] [-1.50482460e-03 9.99987725e-01 -4.72073211e-03 1.43012746e-01] [ 1.35610283e-02 4.74071012e-03 9.99896807e-01 1.06025626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.612557844 meters Centerline goodness : 0.158953 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99905987e-01 1.41826317e-03 -1.36383860e-02 1.95010973e+00] [-1.48360759e-03 9.99987464e-01 -4.78229086e-03 1.43296851e-01] [ 1.36314325e-02 4.80207527e-03 9.99895557e-01 1.06062028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.642557844 meters Centerline goodness : 0.123868 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99908300e-01 1.45804264e-03 -1.34634755e-02 1.94920316e+00] [-1.52149431e-03 9.99987779e-01 -4.70383490e-03 1.42944839e-01] [ 1.34564526e-02 4.72388816e-03 9.99898299e-01 1.06142089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.672557844 meters Centerline goodness : 0.150836 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99912586e-01 1.37703324e-03 -1.31500837e-02 1.94786853e+00] [-1.43973843e-03 9.99987634e-01 -4.76014967e-03 1.42934592e-01] [ 1.31433662e-02 4.77866624e-03 9.99902203e-01 1.06224865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.702557844 meters Centerline goodness : 0.155025 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99918213e-01 1.55273660e-03 -1.26947138e-02 1.94641480e+00] [-1.60937307e-03 9.99988793e-01 -4.45242384e-03 1.41929842e-01] [ 1.26876580e-02 4.47249022e-03 9.99909506e-01 1.06276388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.732557844 meters Centerline goodness : 0.177472 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99918614e-01 1.67913416e-03 -1.26469625e-02 1.94666761e+00] [-1.73138164e-03 9.99990008e-01 -4.12141233e-03 1.40656050e-01] [ 1.26399158e-02 4.14297362e-03 9.99911530e-01 1.06214319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.762557844 meters Centerline goodness : 0.158924 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99914496e-01 1.72203586e-03 -1.29628436e-02 1.94768693e+00] [-1.77221494e-03 9.99990978e-01 -3.86050243e-03 1.39067028e-01] [ 1.29560787e-02 3.88314529e-03 9.99908526e-01 1.06174069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79255784400002 meters Centerline goodness : 0.157181 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99905688e-01 1.77651354e-03 -1.36183361e-02 1.94963421e+00] [-1.82537212e-03 9.99991940e-01 -3.57611586e-03 1.37300651e-01] [ 1.36118733e-02 3.60063712e-03 9.99900871e-01 1.06125023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82255784400002 meters Centerline goodness : 0.155948 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99896065e-01 1.75191868e-03 -1.43104567e-02 1.95165401e+00] [-1.79957795e-03 9.99992876e-01 -3.31818286e-03 1.35568099e-01] [ 1.43045415e-02 3.34359077e-03 9.99892094e-01 1.06071485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85255784400002 meters Centerline goodness : 0.157771 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 0.9998906 0.00199137 -0.01465697 1.9527996 ] [-0.00203218 0.9999941 -0.00277 0.13342815] [ 0.01465137 0.00279948 0.99988874 1.06022542] [ 0. 0. 0. 1. ]] SLAMing on 146.88255784400002 meters Centerline goodness : 0.161671 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 0.99989853 0.00215088 -0.01408173 1.95079189] [-0.00217989 0.99999553 -0.00204471 0.12992864] [ 0.01407727 0.0020752 0.99989876 1.0613978 ] [ 0. 0. 0. 1. ]] SLAMing on 146.91255784400002 meters Centerline goodness : 0.113227 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99903692e-01 2.27985747e-03 -1.36897372e-02 1.94915946e+00] [-2.30263349e-03 9.99995991e-01 -1.64819812e-03 1.28044107e-01] [ 1.36859246e-02 1.67956183e-03 9.99904933e-01 1.06260973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942557844 meters Centerline goodness : 0.144903 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99906669e-01 2.36102347e-03 -1.34565704e-02 1.94815060e+00] [-2.37986575e-03 9.99996210e-01 -1.38438753e-03 1.26701861e-01] [ 1.34532508e-02 1.41628315e-03 9.99908498e-01 1.06341938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.972557844 meters Centerline goodness : 0.133543 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99906171e-01 2.38843204e-03 -1.34886817e-02 1.94813105e+00] [-2.40596114e-03 9.99996282e-01 -1.28346357e-03 1.26094085e-01] [ 1.34855661e-02 1.31579639e-03 9.99908200e-01 1.06361597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002557844 meters Centerline goodness : 0.154941 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99904582e-01 2.36112519e-03 -1.36107434e-02 1.94870345e+00] [-2.37926118e-03 9.99996303e-01 -1.31643769e-03 1.26077762e-01] [ 1.36075848e-02 1.34869559e-03 9.99906503e-01 1.06314643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.032557844 meters Centerline goodness : 0.158878 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99902962e-01 2.35069054e-03 -1.37309948e-02 1.94925375e+00] [-2.36941042e-03 9.99996285e-01 -1.34722130e-03 1.26145834e-01] [ 1.37277769e-02 1.37962493e-03 9.99904818e-01 1.06272608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062557844 meters Centerline goodness : 0.134362 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99912946e-01 2.25328031e-03 -1.30008624e-02 1.94684214e+00] [-2.27685918e-03 9.99995790e-01 -1.79912310e-03 1.28290691e-01] [ 1.29967537e-02 1.82856761e-03 9.99913867e-01 1.06385144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.092557844 meters Centerline goodness : 0.094019 Centerline is valid? [False, False] Translation: X:1.94, Y:0.13, Z:1.06 [[ 9.99920425e-01 2.35408264e-03 -1.23936421e-02 1.94482875e+00] [-2.37744308e-03 9.99995425e-01 -1.87047713e-03 1.29225883e-01] [ 1.23891822e-02 1.89979346e-03 9.99921446e-01 1.06472365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122557844 meters Centerline goodness : 0.124112 Centerline is valid? [False, False] Translation: X:1.94, Y:0.13, Z:1.06 [[ 0.99992478 0.00237169 -0.01203408 1.94379201] [-0.00239638 0.99999505 -0.002038 0.13039376] [ 0.01202919 0.00206669 0.99992551 1.06491153] [ 0. 0. 0. 1. ]] SLAMing on 147.152557844 meters Centerline goodness : 0.194084 Centerline is valid? [False, False] Translation: X:1.98, Y:0.13, Z:1.07 [[ 9.99915182e-01 3.24254475e-03 -1.26140539e-02 1.98406007e+00] [-3.26647636e-03 9.99992903e-01 -1.87707815e-03 1.33407863e-01] [ 1.26078778e-02 1.91812245e-03 9.99918678e-01 1.06576843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182557844 meters Centerline goodness : 0.111305 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.07 [[ 9.99857666e-01 -6.23860794e-03 -1.56756743e-02 1.96538554e+00] [ 6.21272869e-03 9.99979257e-01 -1.69907353e-03 1.38094434e-01] [ 1.56859490e-02 1.60144298e-03 9.99875685e-01 1.06529841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.212557844 meters Centerline goodness : 0.126959 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 0.99985442 0.00227643 -0.01691019 1.94803587] [-0.00232875 0.99999256 -0.00307451 0.1308035 ] [ 0.01690306 0.00311344 0.99985229 1.06467699] [ 0. 0. 0. 1. ]] SLAMing on 147.242557844 meters Centerline goodness : 0.111419 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.07 [[ 9.99848513e-01 -4.57496885e-03 -1.67934532e-02 1.96690265e+00] [ 4.54659700e-03 9.99988172e-01 -1.72725010e-03 1.37164713e-01] [ 1.68011567e-02 1.65063538e-03 9.99857488e-01 1.06652229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.272557844 meters Centerline goodness : 0.149990 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.07 [[ 9.99850362e-01 -4.54343338e-03 -1.66916411e-02 1.96672134e+00] [ 4.51315546e-03 9.99988102e-01 -1.85117838e-03 1.38311419e-01] [ 1.66998532e-02 1.77556940e-03 9.99858971e-01 1.06635176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.302557844 meters Centerline goodness : 0.156686 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99898219e-01 1.57908142e-03 -1.41795017e-02 1.94937814e+00] [-1.61780852e-03 9.99994992e-01 -2.72014837e-03 1.34780565e-01] [ 1.41751353e-02 2.74281123e-03 9.99895766e-01 1.06304240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.332557844 meters Centerline goodness : 0.155536 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99895478e-01 1.49417458e-03 -1.43805360e-02 1.94995658e+00] [-1.53775771e-03 9.99994257e-01 -3.02012271e-03 1.35980439e-01] [ 1.43759408e-02 3.04192082e-03 9.99892034e-01 1.06300806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.362557844 meters Centerline goodness : 0.160070 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99890544e-01 1.42559765e-03 -1.47264424e-02 1.95126470e+00] [-1.47460472e-03 9.99993410e-01 -3.31750571e-03 1.37451126e-01] [ 1.47216160e-02 3.33885827e-03 9.99886057e-01 1.06215947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.392557844 meters Centerline goodness : 0.153327 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.06 [[ 9.99874611e-01 -3.44834574e-03 -1.54554870e-02 1.97398625e+00] [ 3.44572166e-03 9.99994044e-01 -1.96409332e-04 1.40726926e-01] [ 1.54560723e-02 1.43129398e-04 9.99880538e-01 1.06212257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.422557844 meters Centerline goodness : 0.158345 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.06 [[ 9.99873528e-01 -3.45661560e-03 -1.55235327e-02 1.97445457e+00] [ 3.45307947e-03 9.99994006e-01 -2.54589207e-04 1.41029062e-01] [ 1.55243197e-02 2.00953016e-04 9.99879470e-01 1.06157982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.452557844 meters Centerline goodness : 0.158345 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.06 [[ 9.99873528e-01 -3.45661560e-03 -1.55235327e-02 1.97445457e+00] [ 3.45307947e-03 9.99994006e-01 -2.54589207e-04 1.41029062e-01] [ 1.55243197e-02 2.00953016e-04 9.99879470e-01 1.06157982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.482557844 meters Centerline goodness : 0.155892 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.06 [[ 9.99875980e-01 -3.37341523e-03 -1.53832342e-02 1.97393769e+00] [ 3.37301760e-03 9.99994310e-01 -5.17936006e-05 1.40018936e-01] [ 1.53833214e-02 -1.00742717e-07 9.99881670e-01 1.06190600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.512557844 meters Centerline goodness : 0.152372 Centerline is valid? [False, False] Translation: X:1.99, Y:0.14, Z:1.06 [[ 9.99899106e-01 5.32576336e-03 -1.31687103e-02 1.99230014e+00] [-5.34704683e-03 9.99984454e-01 -1.58153481e-03 1.37941690e-01] [ 1.31600827e-02 1.65178896e-03 9.99912038e-01 1.06332742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54255784400002 meters Centerline goodness : 0.111932 Centerline is valid? [False, False] Translation: X:1.99, Y:0.14, Z:1.06 [[ 9.99903340e-01 5.23865083e-03 -1.28789266e-02 1.99111202e+00] [-5.26237316e-03 9.99984518e-01 -1.80875178e-03 1.38904730e-01] [ 1.28692518e-02 1.87635067e-03 9.99915427e-01 1.06410976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57255784400002 meters Centerline goodness : 0.150237 Centerline is valid? [False, False] Translation: X:2.03, Y:0.14, Z:1.06 [[ 0.99991799 0.00678897 -0.01085892 2.03436353] [-0.00681235 0.99997455 -0.00211737 0.14398784] [ 0.01084427 0.00219117 0.9999388 1.06369403] [ 0. 0. 0. 1. ]] SLAMing on 147.60255784400002 meters Centerline goodness : 0.153651 Centerline is valid? [False, False] Translation: X:2.04, Y:0.15, Z:1.06 [[ 0.99991543 0.00677228 -0.01110243 2.03543683] [-0.00679917 0.99997404 -0.00238592 0.14538596] [ 0.01108598 0.00246121 0.99993552 1.06297336] [ 0. 0. 0. 1. ]] SLAMing on 147.63255784400002 meters Centerline goodness : 0.128557 Centerline is valid? [False, False] Translation: X:2.04, Y:0.15, Z:1.06 [[ 0.99991268 0.0067608 -0.01135453 2.03674686] [-0.00679106 0.99997349 -0.00262836 0.14681441] [ 0.01133646 0.00270524 0.99993208 1.061869 ] [ 0. 0. 0. 1. ]] SLAMing on 147.66255784400002 meters Centerline goodness : 0.152044 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99894955e-01 2.12592246e-03 -1.43373366e-02 2.05875733e+00] [-2.13943828e-03 9.99997281e-01 -9.27429169e-04 1.57180655e-01] [ 1.43353260e-02 9.58005594e-04 9.99896785e-01 1.06214033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.692557844 meters Centerline goodness : 0.127722 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99893301e-01 2.05050466e-03 -1.44631245e-02 2.05917038e+00] [-2.06683359e-03 9.99997243e-01 -1.11414728e-03 1.58062902e-01] [ 1.44608000e-02 1.14392127e-03 9.99894783e-01 1.06193163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722557844 meters Centerline goodness : 0.111310 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99891773e-01 1.96671126e-03 -1.45799347e-02 2.05960221e+00] [-1.98523944e-03 9.99997240e-01 -1.25643560e-03 1.58582997e-01] [ 1.45774234e-02 1.28524428e-03 9.99892918e-01 1.06167333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.752557844 meters Centerline goodness : 0.154057 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99886874e-01 1.69636861e-03 -1.49453098e-02 2.06058184e+00] [-1.71854217e-03 9.99997441e-01 -1.47092898e-03 1.58958971e-01] [ 1.49427763e-02 1.49644672e-03 9.99887231e-01 1.06156254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782557844 meters Centerline goodness : 0.150731 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99889825e-01 1.64232155e-03 -1.47526216e-02 2.05977714e+00] [-1.66367557e-03 9.99997586e-01 -1.43531753e-03 1.58713659e-01] [ 1.47502287e-02 1.45970297e-03 9.99890144e-01 1.06213250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.812557844 meters Centerline goodness : 0.153468 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99894720e-01 1.58491713e-03 -1.44234942e-02 2.05854882e+00] [-1.60484902e-03 9.99997773e-01 -1.37043506e-03 1.58234876e-01] [ 1.44212901e-02 1.39343831e-03 9.99895037e-01 1.06284557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842557844 meters Centerline goodness : 0.160125 Centerline is valid? [False, False] Translation: X:2.04, Y:0.16, Z:1.06 [[ 9.99858441e-01 -8.10011111e-03 -1.47474439e-02 2.03622445e+00] [ 8.09187138e-03 9.99967069e-01 -6.18308795e-04 1.61030137e-01] [ 1.47519666e-02 4.98886849e-04 9.99891059e-01 1.06270741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.872557844 meters Centerline goodness : 0.171121 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99919217e-01 -1.47436778e-03 -1.26247923e-02 2.05847333e+00] [ 1.43045795e-03 9.99992899e-01 -3.48638806e-03 1.61651072e-01] [ 1.26298429e-02 3.46804719e-03 9.99914226e-01 1.06160129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902557844 meters Centerline goodness : 0.126635 Centerline is valid? [False, False] Translation: X:2.01, Y:0.16, Z:1.06 [[ 0.99987381 -0.00373646 -0.0154402 2.01341054] [ 0.00368466 0.99998749 -0.00338159 0.15677067] [ 0.01545264 0.00332428 0.99987507 1.06272716] [ 0. 0. 0. 1. ]] SLAMing on 147.932557844 meters Centerline goodness : 0.154256 Centerline is valid? [False, False] Translation: X:2.01, Y:0.16, Z:1.06 [[ 0.99987442 -0.00367232 -0.01541611 2.01328969] [ 0.00362391 0.99998842 -0.0031673 0.1557454 ] [ 0.01542757 0.00311104 0.99987615 1.06281943] [ 0. 0. 0. 1. ]] SLAMing on 147.962557844 meters Centerline goodness : 0.124618 Centerline is valid? [False, False] Translation: X:2.01, Y:0.16, Z:1.06 [[ 0.9998758 -0.00361817 -0.01533926 2.01292775] [ 0.00357204 0.99998902 -0.003034 0.15518929] [ 0.01535007 0.00297883 0.99987774 1.06311065] [ 0. 0. 0. 1. ]] SLAMing on 147.992557844 meters Centerline goodness : 0.151710 Centerline is valid? [False, False] Translation: X:2.03, Y:0.15, Z:1.06 [[ 0.99988034 0.00544314 -0.01448002 2.031607 ] [-0.00549567 0.99997845 -0.00359051 0.15048523] [ 0.01446017 0.00366966 0.99988871 1.06421261] [ 0. 0. 0. 1. ]] SLAMing on 148.022557844 meters Centerline goodness : 0.142274 Centerline is valid? [False, False] Translation: X:2.03, Y:0.15, Z:1.06 [[ 0.99988174 0.00538878 -0.01440385 2.03135181] [-0.00544392 0.99997799 -0.00379195 0.15157779] [ 0.0143831 0.00386992 0.99988907 1.06431569] [ 0. 0. 0. 1. ]] SLAMing on 148.052557844 meters Centerline goodness : 0.153932 Centerline is valid? [False, False] Translation: X:2.03, Y:0.15, Z:1.06 [[ 0.99987586 0.00580945 -0.01464611 2.03252321] [-0.00586833 0.99997486 -0.00398038 0.1538236 ] [ 0.01462262 0.00406584 0.99988482 1.06359734] [ 0. 0. 0. 1. ]] SLAMing on 148.082557844 meters Centerline goodness : 0.154227 Centerline is valid? [False, False] Translation: X:2.05, Y:0.16, Z:1.07 [[ 9.99884307e-01 -5.18282156e-04 -1.52020974e-02 2.04934915e+00] [ 4.81569484e-04 9.99996959e-01 -2.41853534e-03 1.63907357e-01] [ 1.52033047e-02 2.41093466e-03 9.99881516e-01 1.06537674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.112557844 meters Centerline goodness : 0.153051 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.07 [[ 9.99890873e-01 -4.99370931e-04 -1.47645856e-02 2.04822646e+00] [ 4.58652963e-04 9.99996083e-01 -2.76107068e-03 1.66002255e-01] [ 1.47659065e-02 2.75399755e-03 9.99887185e-01 1.06538255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.142557844 meters Centerline goodness : 0.154591 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.07 [[ 9.99894461e-01 -5.99934729e-04 -1.45157584e-02 2.04754508e+00] [ 5.54090440e-04 9.99994847e-01 -3.16205839e-03 1.67969384e-01] [ 1.45175806e-02 3.15368163e-03 9.99889641e-01 1.06540887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.172557844 meters Centerline goodness : 0.109308 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.07 [[ 9.99895295e-01 -7.18572312e-04 -1.44528033e-02 2.04733944e+00] [ 6.68030202e-04 9.99993646e-01 -3.50156921e-03 1.69485920e-01] [ 1.44552276e-02 3.49154767e-03 9.99889422e-01 1.06545347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.202557844 meters Centerline goodness : 0.115953 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.07 [[ 9.99894635e-01 -8.23170288e-04 -1.44927801e-02 2.04750583e+00] [ 7.68666008e-04 9.99992613e-01 -3.76595724e-03 1.70658060e-01] [ 1.44957731e-02 3.75442033e-03 9.99887882e-01 1.06527695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.232557844 meters Centerline goodness : 0.126525 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.06 [[ 9.99890916e-01 -9.90921759e-04 -1.47368247e-02 2.04888117e+00] [ 9.30239207e-04 9.99991063e-01 -4.12403437e-03 1.72516271e-01] [ 1.47407796e-02 4.10987573e-03 9.99882902e-01 1.06387717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.262557844 meters Centerline goodness : 0.157501 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.06 [[ 9.99889474e-01 -1.04471490e-03 -1.48306890e-02 2.04927215e+00] [ 9.83450686e-04 9.99990957e-01 -4.13760012e-03 1.72543539e-01] [ 1.48348775e-02 4.12255755e-03 9.99881458e-01 1.06354765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29255784400002 meters Centerline goodness : 0.121998 Centerline is valid? [False, False] Translation: X:2.00, Y:0.17, Z:1.06 [[ 0.99984377 -0.00326912 -0.01737098 2.00407142] [ 0.00319782 0.99998636 -0.00413073 0.16821515] [ 0.01738425 0.00407454 0.99984058 1.06437992] [ 0. 0. 0. 1. ]] SLAMing on 148.32255784400002 meters Centerline goodness : 0.116126 Centerline is valid? [False, False] Translation: X:2.00, Y:0.16, Z:1.06 [[ 0.99982677 -0.00709472 -0.01720723 2.00333499] [ 0.00697544 0.99995129 -0.0069822 0.16361795] [ 0.01725593 0.00686097 0.99982757 1.06420633] [ 0. 0. 0. 1. ]] SLAMing on 148.35255784400002 meters Centerline goodness : 0.154048 Centerline is valid? [False, False] Translation: X:2.00, Y:0.16, Z:1.06 [[ 0.99982576 -0.00729034 -0.01718425 2.00312633] [ 0.00717731 0.99995226 -0.00662998 0.16160791] [ 0.01723177 0.00650549 0.99983036 1.06412729] [ 0. 0. 0. 1. ]] SLAMing on 148.38255784400002 meters Centerline goodness : 0.175642 Centerline is valid? [False, False] Translation: X:2.00, Y:0.16, Z:1.06 [[ 0.99982762 -0.00730135 -0.01707105 2.0028197 ] [ 0.00719703 0.9999551 -0.00616413 0.15957059] [ 0.01711529 0.00604021 0.99983528 1.06389467] [ 0. 0. 0. 1. ]] SLAMing on 148.41255784400002 meters Centerline goodness : 0.109342 Centerline is valid? [False, False] Translation: X:2.00, Y:0.16, Z:1.06 [[ 0.99983068 -0.00729351 -0.01689456 2.00253349] [ 0.00719778 0.99995773 -0.00572022 0.15797598] [ 0.01693556 0.00559765 0.99984091 1.06334192] [ 0. 0. 0. 1. ]] SLAMing on 148.442557844 meters Centerline goodness : 0.155544 Centerline is valid? [False, False] Translation: X:2.00, Y:0.16, Z:1.06 [[ 0.99983552 -0.00726551 -0.01661753 2.0018257 ] [ 0.00717548 0.99995929 -0.00547111 0.15706291] [ 0.0166566 0.00535097 0.99984695 1.06323263] [ 0. 0. 0. 1. ]] SLAMing on 148.472557844 meters Centerline goodness : 0.134506 Centerline is valid? [False, False] Translation: X:2.00, Y:0.16, Z:1.06 [[ 0.9998411 -0.00726409 -0.01627901 2.00084794] [ 0.00717864 0.99996018 -0.00530168 0.15646383] [ 0.01631687 0.00518397 0.99985343 1.06340125] [ 0. 0. 0. 1. ]] SLAMing on 148.502557844 meters Centerline goodness : 0.159535 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:1.07 [[ 9.99894496e-01 1.79735977e-03 -1.44141241e-02 2.01955190e+00] [-1.88471313e-03 9.99979929e-01 -6.04896853e-03 1.51013892e-01] [ 1.44029626e-02 6.07549683e-03 9.99877814e-01 1.06513059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.532557844 meters Centerline goodness : 0.156173 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:1.07 [[ 9.99894320e-01 1.85245977e-03 -1.44193351e-02 2.01934155e+00] [-1.93845331e-03 9.99980407e-01 -5.95207608e-03 1.50670354e-01] [ 1.44080266e-02 5.97939828e-03 9.99878320e-01 1.06553992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562557844 meters Centerline goodness : 0.157329 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:1.07 [[ 9.99890392e-01 1.87720163e-03 -1.46860514e-02 2.02011255e+00] [-1.96444474e-03 9.99980497e-01 -5.92837354e-03 1.50540630e-01] [ 1.46746362e-02 5.95657368e-03 9.99874579e-01 1.06537299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.592557844 meters Centerline goodness : 0.153188 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:1.06 [[ 9.99879574e-01 1.77246354e-03 -1.54173650e-02 2.02296285e+00] [-1.86626080e-03 9.99979826e-01 -6.07161277e-03 1.50423525e-01] [ 1.54062923e-02 6.09965442e-03 9.99862711e-01 1.06365496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622557844 meters Centerline goodness : 0.157306 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:1.06 [[ 9.99878768e-01 1.80005607e-03 -1.54664024e-02 2.02334834e+00] [-1.89329086e-03 9.99980113e-01 -6.01568835e-03 1.50095151e-01] [ 1.54552663e-02 6.04424145e-03 9.99862291e-01 1.06317659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.652557844 meters Centerline goodness : 0.158217 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:1.06 [[ 9.99881730e-01 1.87406790e-03 -1.52648006e-02 2.02282465e+00] [-1.96356614e-03 9.99980960e-01 -5.85017128e-03 1.49617858e-01] [ 1.52535463e-02 5.87945282e-03 9.99866372e-01 1.06318929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682557844 meters Centerline goodness : 0.152449 Centerline is valid? [False, False] Translation: X:2.06, Y:0.15, Z:1.06 [[ 0.99989401 0.00298596 -0.01424948 2.06112421] [-0.00305071 0.99998511 -0.004524 0.14982703] [ 0.01423576 0.00456699 0.99988824 1.06469944] [ 0. 0. 0. 1. ]] SLAMing on 148.712557844 meters Centerline goodness : 0.122411 Centerline is valid? [False, False] Translation: X:2.06, Y:0.15, Z:1.06 [[ 0.99989677 0.00309399 -0.01403122 2.06050277] [-0.00315638 0.99998522 -0.00442712 0.14970633] [ 0.01401732 0.00447095 0.99989176 1.06485549] [ 0. 0. 0. 1. ]] SLAMing on 148.742557844 meters Centerline goodness : 0.179240 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:1.07 [[ 0.99989392 -0.00413105 -0.01396743 2.07990304] [ 0.00408607 0.99998638 -0.00324777 0.15789665] [ 0.01398066 0.00319036 0.99989718 1.06568541] [ 0. 0. 0. 1. ]] SLAMing on 148.772557844 meters Centerline goodness : 0.179617 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:1.07 [[ 0.99989517 -0.00379501 -0.01397289 2.08001869] [ 0.00374928 0.99998753 -0.00329791 0.15893654] [ 0.01398523 0.00324517 0.99989694 1.06539712] [ 0. 0. 0. 1. ]] SLAMing on 148.802557844 meters Centerline goodness : 0.154909 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:1.07 [[ 0.99989597 -0.00364812 -0.01395462 2.08010791] [ 0.0036005 0.99998762 -0.00343597 0.16026655] [ 0.01396698 0.00338537 0.99989673 1.06507146] [ 0. 0. 0. 1. ]] SLAMing on 148.832557844 meters Centerline goodness : 0.108938 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:1.06 [[ 0.99990091 -0.0034669 -0.01364393 2.07940836] [ 0.00341833 0.99998774 -0.00358144 0.16178784] [ 0.01365618 0.00353445 0.9999005 1.06481313] [ 0. 0. 0. 1. ]] SLAMing on 148.862557844 meters Centerline goodness : 0.139079 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:1.06 [[ 0.99990595 -0.00341364 -0.01328266 2.07847272] [ 0.00336355 0.99998715 -0.00379172 0.16324344] [ 0.01329544 0.00374668 0.99990459 1.06480074] [ 0. 0. 0. 1. ]] SLAMing on 148.892557844 meters Centerline goodness : 0.134245 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.07 [[ 0.99991558 -0.00335775 -0.01255221 2.0761997 ] [ 0.00330676 0.99998621 -0.00408041 0.16504638] [ 0.01256574 0.00403856 0.99991289 1.06552645] [ 0. 0. 0. 1. ]] SLAMing on 148.922557844 meters Centerline goodness : 0.191989 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.07 [[ 0.99991758 -0.00339736 -0.01238084 2.07557969] [ 0.00334523 0.99998546 -0.0042291 0.16584798] [ 0.01239503 0.00418734 0.99991441 1.06578645] [ 0. 0. 0. 1. ]] SLAMing on 148.952557844 meters Centerline goodness : 0.128966 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.07 [[ 0.99991728 -0.00346012 -0.01238802 2.07568082] [ 0.00340595 0.99998456 -0.00439147 0.16670093] [ 0.01240302 0.00434891 0.99991362 1.06560121] [ 0. 0. 0. 1. ]] SLAMing on 148.982557844 meters Centerline goodness : 0.132151 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.06 [[ 0.99990977 -0.00361782 -0.0129369 2.07781425] [ 0.00355687 0.99998248 -0.00473108 0.16828332] [ 0.01295379 0.00468464 0.99990512 1.06423262] [ 0. 0. 0. 1. ]] SLAMing on 149.012557844 meters Centerline goodness : 0.126783 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.06 [[ 0.99990593 -0.00372294 -0.01320097 2.07864566] [ 0.00365847 0.99998128 -0.00490443 0.16888348] [ 0.01321899 0.00485568 0.99990084 1.06392603] [ 0. 0. 0. 1. ]] SLAMing on 149.04255784400002 meters Centerline goodness : 0.161781 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.06 [[ 0.99990486 -0.00378417 -0.01326495 2.07872942] [ 0.00371782 0.99998047 -0.00502315 0.16936224] [ 0.01328369 0.00497336 0.9998994 1.06404104] [ 0. 0. 0. 1. ]] SLAMing on 149.07255784400002 meters Centerline goodness : 0.148776 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.06 [[ 0.99990474 -0.00385591 -0.01325275 2.07834581] [ 0.00378794 0.99997956 -0.00515013 0.16996637] [ 0.01327233 0.00509944 0.99989892 1.06460803] [ 0. 0. 0. 1. ]] SLAMing on 149.10255784400002 meters Centerline goodness : 0.148862 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.07 [[ 0.99990651 -0.00389093 -0.01310827 2.07763341] [ 0.00382229 0.99997887 -0.00525738 0.1706547 ] [ 0.01312845 0.00520678 0.99990026 1.06514052] [ 0. 0. 0. 1. ]] SLAMing on 149.13255784400002 meters Centerline goodness : 0.111352 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.07 [[ 0.99987477 -0.00424533 -0.01524523 2.03040873] [ 0.00418735 0.99998389 -0.00383322 0.16947646] [ 0.01526125 0.0037689 0.99987644 1.06662382] [ 0. 0. 0. 1. ]] SLAMing on 149.16255784400002 meters Centerline goodness : 0.156148 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.07 [[ 0.99987622 -0.00440661 -0.01510393 2.03009085] [ 0.00434208 0.99998132 -0.00430226 0.17175012] [ 0.01512261 0.00423615 0.99987667 1.0665199 ] [ 0. 0. 0. 1. ]] SLAMing on 149.192557844 meters Centerline goodness : 0.138579 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.07 [[ 0.99987742 -0.00459525 -0.01496781 2.02971416] [ 0.00452332 0.99997808 -0.00483614 0.17425071] [ 0.0149897 0.00476784 0.99987628 1.06652996] [ 0. 0. 0. 1. ]] SLAMing on 149.222557844 meters Centerline goodness : 0.154983 Centerline is valid? [False, False] Translation: X:2.03, Y:0.18, Z:1.07 [[ 0.99987763 -0.00483442 -0.01487784 2.02949334] [ 0.00475316 0.99997362 -0.00549267 0.17734146] [ 0.014904 0.00542128 0.99987423 1.06646594] [ 0. 0. 0. 1. ]] SLAMing on 149.252557844 meters Centerline goodness : 0.111277 Centerline is valid? [False, False] Translation: X:2.01, Y:0.18, Z:1.07 [[ 0.99984662 0.00389317 -0.01707599 2.00769335] [-0.00399647 0.9999739 -0.00601933 0.17903383] [ 0.01705211 0.00608665 0.99983608 1.06670333] [ 0. 0. 0. 1. ]] SLAMing on 149.282557844 meters Centerline goodness : 0.141199 Centerline is valid? [False, False] Translation: X:2.03, Y:0.19, Z:1.07 [[ 9.99827946e-01 -1.06336863e-03 -1.85188484e-02 2.03078512e+00] [ 9.96920569e-04 9.99993034e-01 -3.59699359e-03 1.85636000e-01] [ 1.85225443e-02 3.57791290e-03 9.99822041e-01 1.06684277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.312557844 meters Centerline goodness : 0.112440 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.07 [[ 0.99976314 -0.0022835 -0.02164381 1.98648123] [ 0.00220634 0.99999113 -0.00358814 0.18500867] [ 0.02165181 0.00353954 0.99975931 1.06686197] [ 0. 0. 0. 1. ]] SLAMing on 149.342557844 meters Centerline goodness : 0.112440 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.07 [[ 0.99976314 -0.0022835 -0.02164381 1.98648123] [ 0.00220634 0.99999113 -0.00358814 0.18500867] [ 0.02165181 0.00353954 0.99975931 1.06686197] [ 0. 0. 0. 1. ]] SLAMing on 149.372557844 meters Centerline goodness : 0.111383 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.07 [[ 0.99976008 -0.00252757 -0.02175755 1.98698862] [ 0.00243796 0.99998844 -0.00414429 0.18738476] [ 0.02176778 0.00409025 0.99975469 1.06640175] [ 0. 0. 0. 1. ]] SLAMing on 149.402557844 meters Centerline goodness : 0.111619 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.07 [[ 0.99975198 -0.00294205 -0.02207519 1.98800279] [ 0.00282803 0.99998251 -0.00519457 0.19237597] [ 0.02209008 0.00513085 0.99974282 1.06592997] [ 0. 0. 0. 1. ]] SLAMing on 149.432557844 meters Centerline goodness : 0.143223 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.07 [[ 0.99974989 -0.00311787 -0.02214584 1.98819069] [ 0.00299296 0.99997944 -0.0056709 0.19475265] [ 0.02216306 0.0056032 0.99973867 1.06585334] [ 0. 0. 0. 1. ]] SLAMing on 149.462557844 meters Centerline goodness : 0.129398 Centerline is valid? [False, False] Translation: X:1.97, Y:0.19, Z:1.07 [[ 0.99972309 0.00527986 -0.02293163 1.9663213 ] [-0.00541981 0.99996704 -0.00604509 0.19162787] [ 0.02289895 0.0061677 0.99971876 1.06589481] [ 0. 0. 0. 1. ]] SLAMing on 149.492557844 meters Centerline goodness : 0.117619 Centerline is valid? [False, False] Translation: X:1.99, Y:0.20, Z:1.07 [[ 9.99750520e-01 -2.06186421e-03 -2.22406557e-02 1.98514061e+00] [ 1.94949593e-03 9.99985233e-01 -5.07288052e-03 1.99595774e-01] [ 2.22507869e-02 5.02825687e-03 9.99739776e-01 1.06780463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.522557844 meters Centerline goodness : 0.118554 Centerline is valid? [False, False] Translation: X:1.96, Y:0.20, Z:1.07 [[ 0.99972543 0.00580144 -0.02270281 1.96444397] [-0.00593751 0.99996479 -0.00593052 0.19541758] [ 0.0226676 0.00606369 0.99972467 1.06690522] [ 0. 0. 0. 1. ]] SLAMing on 149.552557844 meters Centerline goodness : 0.135202 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:1.07 [[ 0.99976237 -0.00235905 -0.02167099 1.98440806] [ 0.00223635 0.99998134 -0.0056844 0.20241905] [ 0.02168399 0.00563458 0.999749 1.06829407] [ 0. 0. 0. 1. ]] SLAMing on 149.582557844 meters Centerline goodness : 0.119818 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:1.07 [[ 0.99976344 -0.00241215 -0.0216159 1.9841118 ] [ 0.00228725 0.99998056 -0.0058011 0.20301781] [ 0.02162947 0.00575029 0.99974952 1.06853881] [ 0. 0. 0. 1. ]] SLAMing on 149.612557844 meters Centerline goodness : 0.119035 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:1.07 [[ 0.99976217 -0.00245641 -0.0216697 1.98418556] [ 0.00232869 0.99997978 -0.00591715 0.20370487] [ 0.02168379 0.00586528 0.99974767 1.06861708] [ 0. 0. 0. 1. ]] SLAMing on 149.642557844 meters Centerline goodness : 0.117877 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:1.07 [[ 0.99976345 -0.00248591 -0.02160693 1.98399156] [ 0.00235585 0.99997897 -0.00604276 0.20452465] [ 0.0216215 0.00599043 0.99974828 1.06864764] [ 0. 0. 0. 1. ]] SLAMing on 149.672557844 meters Centerline goodness : 0.117460 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 0.99976684 -0.00253983 -0.02144337 1.98346324] [ 0.00240694 0.99997775 -0.00622082 0.20554118] [ 0.02145869 0.00616776 0.99975071 1.06881175] [ 0. 0. 0. 1. ]] SLAMing on 149.702557844 meters Centerline goodness : 0.116150 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 0.9997785 -0.0026486 -0.02087902 1.98158796] [ 0.00251153 0.99997514 -0.0065885 0.20749845] [ 0.02089595 0.0065346 0.9997603 1.06954846] [ 0. 0. 0. 1. ]] SLAMing on 149.732557844 meters Centerline goodness : 0.117071 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 0.9997798 -0.0027438 -0.02080445 1.98131301] [ 0.00260052 0.99997274 -0.00691081 0.20917472] [ 0.02082284 0.00685519 0.99975968 1.06965758] [ 0. 0. 0. 1. ]] SLAMing on 149.762557844 meters Centerline goodness : 0.159042 Centerline is valid? [False, False] Translation: X:1.96, Y:0.21, Z:1.07 [[ 0.99975719 0.00538396 -0.02136747 1.96034978] [-0.00555267 0.99995382 -0.00784419 0.20609531] [ 0.02132425 0.00796093 0.99974092 1.06860368] [ 0. 0. 0. 1. ]] SLAMing on 149.79255784400002 meters Centerline goodness : 0.118634 Centerline is valid? [False, False] Translation: X:1.96, Y:0.21, Z:1.07 [[ 0.99974964 0.00514323 -0.02177646 1.96151705] [-0.00533607 0.99994698 -0.00880672 0.21069994] [ 0.02173001 0.00892072 0.99972408 1.06823664] [ 0. 0. 0. 1. ]] SLAMing on 149.82255784400002 meters Centerline goodness : 0.158474 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99973134 -0.00360527 -0.02289637 1.94178374] [ 0.00342718 0.99996361 -0.00781273 0.21636678] [ 0.0229237 0.00773216 0.99970732 1.06688799] [ 0. 0. 0. 1. ]] SLAMing on 149.85255784400002 meters Centerline goodness : 0.120235 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99973094 -0.00368452 -0.02290137 1.94185919] [ 0.00349969 0.99996103 -0.00810533 0.21792743] [ 0.02293034 0.008023 0.99970487 1.06670079] [ 0. 0. 0. 1. ]] SLAMing on 149.88255784400002 meters Centerline goodness : 0.119440 Centerline is valid? [False, False] Translation: X:1.92, Y:0.21, Z:1.06 [[ 0.99974158 0.0039421 -0.02238829 1.92268282] [-0.00414534 0.99995056 -0.00903882 0.21356407] [ 0.02235155 0.00912929 0.99970849 1.06460815] [ 0. 0. 0. 1. ]] SLAMing on 149.91255784400002 meters Centerline goodness : 0.119552 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.9997543 -0.00368589 -0.02185776 1.94189217] [ 0.00351317 0.99996235 -0.00793482 0.21934791] [ 0.02188619 0.00785608 0.9997296 1.06637242] [ 0. 0. 0. 1. ]] SLAMing on 149.942557844 meters Centerline goodness : 0.122380 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99975726 -0.00395501 -0.02167445 1.94119373] [ 0.00378325 0.99996116 -0.00795967 0.2186827 ] [ 0.02170509 0.00787574 0.9997334 1.06683704] [ 0. 0. 0. 1. ]] SLAMing on 149.972557844 meters Centerline goodness : 0.122761 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99975633 -0.00396178 -0.02171588 1.9412684 ] [ 0.00379082 0.99996155 -0.00790778 0.21830626] [ 0.02174637 0.00782353 0.99973291 1.06689697] [ 0. 0. 0. 1. ]] SLAMing on 150.002557844 meters Centerline goodness : 0.122012 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99975539 -0.00396636 -0.02175846 1.94133792] [ 0.00379464 0.99996137 -0.00792781 0.21847164] [ 0.02178907 0.0078433 0.99973182 1.06694858] [ 0. 0. 0. 1. ]] SLAMing on 150.032557844 meters Centerline goodness : 0.160884 Centerline is valid? [False, False] Translation: X:1.92, Y:0.21, Z:1.07 [[ 0.99975287 0.00425857 -0.02181888 1.9211488 ] [-0.004444 0.99995436 -0.00845755 0.21436628] [ 0.02178187 0.00855242 0.99972617 1.06554208] [ 0. 0. 0. 1. ]] SLAMing on 150.062557844 meters Centerline goodness : 0.123368 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 9.99772236e-01 -1.13017213e-03 -2.13119398e-02 1.94285127e+00] [ 1.01469272e-03 9.99984750e-01 -5.42856665e-03 2.18182128e-01] [ 2.13177500e-02 5.40570515e-03 9.99758137e-01 1.06576024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.092557844 meters Centerline goodness : 0.151728 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 9.99776050e-01 -1.28796773e-03 -2.11232219e-02 1.94237341e+00] [ 1.16551559e-03 9.99982452e-01 -5.80832602e-03 2.19740909e-01] [ 2.11303322e-02 5.78240580e-03 9.99760008e-01 1.06572638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122557844 meters Centerline goodness : 0.148602 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 9.99776484e-01 -1.37342555e-03 -2.10973112e-02 1.94230532e+00] [ 1.24644367e-03 9.99981038e-01 -6.03083671e-03 2.20740730e-01] [ 2.11051940e-02 6.00319211e-03 9.99759237e-01 1.06568807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.152557844 meters Centerline goodness : 0.117456 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 9.99774587e-01 -1.45654370e-03 -2.11814359e-02 1.94272258e+00] [ 1.32390060e-03 9.99979436e-01 -6.27490847e-03 2.21982896e-01] [ 2.11901400e-02 6.24545191e-03 9.99755956e-01 1.06531379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182557844 meters Centerline goodness : 0.129972 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.06 [[ 9.99766312e-01 -1.45608016e-03 -2.15685324e-02 1.94425277e+00] [ 1.31875972e-03 9.99978781e-01 -6.37955924e-03 2.22861747e-01] [ 2.15773639e-02 6.34962470e-03 9.99747018e-01 1.06433104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.212557844 meters Centerline goodness : 0.132459 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.06 [[ 9.99763733e-01 -1.44648403e-03 -2.16883774e-02 1.94461722e+00] [ 1.31058572e-03 9.99979429e-01 -6.27885610e-03 2.22218663e-01] [ 2.16970135e-02 6.24894814e-03 9.99745063e-01 1.06424041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.242557844 meters Centerline goodness : 0.119404 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.06 [[ 9.99761973e-01 -1.44720215e-03 -2.17692988e-02 1.94469841e+00] [ 1.31595501e-03 9.99980880e-01 -6.04211972e-03 2.20700249e-01] [ 2.17776267e-02 6.01203412e-03 9.99744763e-01 1.06450331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.272557844 meters Centerline goodness : 0.118193 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.06 [[ 9.99761930e-01 -1.41804135e-03 -2.17732196e-02 1.94446931e+00] [ 1.29486526e-03 9.99983085e-01 -5.67028529e-03 2.18520542e-01] [ 2.17808920e-02 5.64074198e-03 9.99746855e-01 1.06496957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.302557844 meters Centerline goodness : 0.135278 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 9.99762253e-01 -1.34299800e-03 -2.17631373e-02 1.94426988e+00] [ 1.22946891e-03 9.99985572e-01 -5.22911836e-03 2.16224660e-01] [ 2.17698460e-02 5.20111806e-03 9.99749480e-01 1.06529763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.332557844 meters Centerline goodness : 0.119325 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:1.07 [[ 9.99761104e-01 -1.20968489e-03 -2.18236448e-02 1.94443284e+00] [ 1.10525238e-03 9.99987885e-01 -4.79671897e-03 2.14211260e-01] [ 2.18291830e-02 4.77145242e-03 9.99750329e-01 1.06525982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.362557844 meters Centerline goodness : 0.160386 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:1.06 [[ 9.99742917e-01 -1.23478683e-03 -2.26401043e-02 1.94723814e+00] [ 1.13812169e-03 9.99990184e-01 -4.28203016e-03 2.11092251e-01] [ 2.26451695e-02 4.25516213e-03 9.99734510e-01 1.06391213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.392557844 meters Centerline goodness : 0.114688 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:1.06 [[ 9.99738473e-01 -1.15446953e-03 -2.28397244e-02 1.94792706e+00] [ 1.06337317e-03 9.99991434e-01 -4.00024870e-03 2.09538993e-01] [ 2.28441469e-02 3.97491537e-03 9.99731136e-01 1.06362171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.422557844 meters Centerline goodness : 0.135388 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:1.06 [[ 9.99736654e-01 -1.10166313e-03 -2.29218201e-02 1.94794193e+00] [ 1.01372446e-03 9.99992084e-01 -3.84772739e-03 2.08721838e-01] [ 2.29258775e-02 3.82347769e-03 9.99729856e-01 1.06397968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.452557844 meters Centerline goodness : 0.115141 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.07 [[ 9.99783498e-01 1.94246833e-04 -2.08067273e-02 1.98974579e+00] [-2.76260035e-04 9.99992204e-01 -3.93886572e-03 2.10971647e-01] [ 2.08058000e-02 3.94376101e-03 9.99775758e-01 1.06576796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.482557844 meters Centerline goodness : 0.117560 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.07 [[ 9.99810276e-01 9.94346079e-04 -1.94531052e-02 1.98552641e+00] [-1.06309231e-03 9.99993226e-01 -3.52392464e-03 2.11827063e-01] [ 1.94494694e-02 3.54393651e-03 9.99804560e-01 1.06690041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.512557844 meters Centerline goodness : 0.118504 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99817613e-01 9.97831806e-04 -1.90721245e-02 1.98448641e+00] [-1.06933797e-03 9.99992437e-01 -3.73941947e-03 2.13103613e-01] [ 1.90682490e-02 3.75913199e-03 9.99811118e-01 1.06701983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54255784400002 meters Centerline goodness : 0.119470 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99821705e-01 9.90105396e-04 -1.88567768e-02 1.98391623e+00] [-1.06427392e-03 9.99991736e-01 -3.92362667e-03 2.14138318e-01] [ 1.88527362e-02 3.94299588e-03 9.99814496e-01 1.06699573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57255784400002 meters Centerline goodness : 0.138762 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99821401e-01 1.00918163e-03 -1.88718817e-02 1.98403453e+00] [-1.08410839e-03 9.99991570e-01 -3.96047706e-03 2.14416891e-01] [ 1.88677258e-02 3.98022889e-03 9.99814066e-01 1.06679400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60255784400002 meters Centerline goodness : 0.123379 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99819545e-01 1.06175956e-03 -1.89670614e-02 1.98433055e+00] [-1.13436598e-03 9.99992069e-01 -3.81767858e-03 2.13761164e-01] [ 1.89628575e-02 3.83850525e-03 9.99812820e-01 1.06667813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63255784400002 meters Centerline goodness : 0.150668 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99819652e-01 1.12236906e-03 -1.89579635e-02 1.98425407e+00] [-1.19115746e-03 9.99992747e-01 -3.61756766e-03 2.12830217e-01] [ 1.89537657e-02 3.63949716e-03 9.99813737e-01 1.06674875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66255784400002 meters Centerline goodness : 0.130901 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99823352e-01 1.08154590e-03 -1.87642191e-02 1.98340814e+00] [-1.14243811e-03 9.99994116e-01 -3.23470769e-03 2.10470990e-01] [ 1.87606102e-02 3.25557324e-03 9.99818704e-01 1.06749846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.692557844 meters Centerline goodness : 0.123066 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99826234e-01 1.16419093e-03 -1.86050202e-02 1.98270798e+00] [-1.21879545e-03 9.99994983e-01 -2.92386554e-03 2.08940413e-01] [ 1.86015229e-02 2.94603318e-03 9.99822636e-01 1.06803072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722557844 meters Centerline goodness : 0.126806 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.07 [[ 9.99820862e-01 -6.52344397e-03 -1.77676464e-02 2.00244025e+00] [ 6.49344438e-03 9.99977394e-01 -1.74560823e-03 2.12608078e-01] [ 1.77786321e-02 1.62992230e-03 9.99840619e-01 1.06938472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.752557844 meters Centerline goodness : 0.134614 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.07 [[ 9.99821964e-01 -6.41970047e-03 -1.77433599e-02 2.00249162e+00] [ 6.39359356e-03 9.99978394e-01 -1.52769804e-03 2.11718970e-01] [ 1.77527839e-02 1.41398222e-03 9.99841407e-01 1.06917235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782557844 meters Centerline goodness : 0.123452 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.07 [[ 9.99816208e-01 -6.30136283e-03 -1.81064473e-02 2.00437843e+00] [ 6.28040712e-03 9.99979541e-01 -1.21399221e-03 2.09925394e-01] [ 1.81137267e-02 1.10005323e-03 9.99835328e-01 1.06763511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.812557844 meters Centerline goodness : 0.121338 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:1.07 [[ 9.99810426e-01 -6.26107497e-03 -1.84366749e-02 2.00568333e+00] [ 6.24257778e-03 9.99979952e-01 -1.06066314e-03 2.08890835e-01] [ 1.84429462e-02 9.45369691e-04 9.99829467e-01 1.06688296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842557844 meters Centerline goodness : 0.152729 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:1.07 [[ 9.99806304e-01 -6.19799466e-03 -1.86798953e-02 2.00660667e+00] [ 6.18218098e-03 9.99980481e-01 -9.04189509e-04 2.07969171e-01] [ 1.86851349e-02 7.88531878e-04 9.99825107e-01 1.06635178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.872557844 meters Centerline goodness : 0.137100 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:1.07 [[ 9.99805811e-01 -6.12716624e-03 -1.87296007e-02 2.00688308e+00] [ 6.11383818e-03 9.99981015e-01 -7.68781591e-04 2.07397026e-01] [ 1.87339556e-02 6.54122554e-04 9.99824290e-01 1.06608286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902557844 meters Centerline goodness : 0.123591 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:1.07 [[ 9.99808357e-01 -5.99367495e-03 -1.86366518e-02 2.00664302e+00] [ 5.98430908e-03 9.99981938e-01 -5.58279140e-04 2.06734525e-01] [ 1.86396613e-02 4.46644666e-04 9.99826167e-01 1.06605470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.932557844 meters Centerline goodness : 0.116283 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:1.07 [[ 9.99814737e-01 -5.83668402e-03 -1.83418873e-02 2.00570195e+00] [ 5.83302976e-03 9.99982956e-01 -2.52723120e-04 2.05521631e-01] [ 1.83430497e-02 1.45687525e-04 9.99831741e-01 1.06639176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962557844 meters Centerline goodness : 0.123999 Centerline is valid? [False, False] Translation: X:2.01, Y:0.20, Z:1.07 [[ 9.99814912e-01 -5.77032174e-03 -1.83533511e-02 2.00582112e+00] [ 5.77029147e-03 9.99983350e-01 -5.46059387e-05 2.04476838e-01] [ 1.83533606e-02 -5.13083536e-05 9.99831562e-01 1.06621782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.992557844 meters Centerline goodness : 0.153065 Centerline is valid? [False, False] Translation: X:1.99, Y:0.20, Z:1.06 [[ 9.99823380e-01 1.58243457e-03 -1.87271272e-02 1.98737988e+00] [-1.60619143e-03 9.99997924e-01 -1.25360694e-03 1.97494735e-01] [ 1.87251046e-02 1.28346488e-03 9.99823846e-01 1.06394424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.022557844 meters Centerline goodness : 0.114775 Centerline is valid? [False, False] Translation: X:1.99, Y:0.20, Z:1.06 [[ 9.99819169e-01 1.65299971e-03 -1.89445546e-02 1.98805699e+00] [-1.67179112e-03 9.99998126e-01 -9.76122048e-04 1.96078639e-01] [ 1.89429056e-02 1.00761687e-03 9.99820059e-01 1.06370699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.052557844 meters Centerline goodness : 0.122477 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.06 [[ 9.99818943e-01 1.71150182e-03 -1.89513113e-02 1.98789422e+00] [-1.71836998e-03 9.99998464e-01 -3.46132630e-04 1.92827261e-01] [ 1.89506897e-02 3.78635325e-04 9.99820348e-01 1.06408168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.082557844 meters Centerline goodness : 0.122432 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.06 [[ 9.99818607e-01 1.79991402e-03 -1.89608141e-02 1.98764969e+00] [-1.79689680e-03 9.99998370e-01 1.76165164e-04 1.90077039e-01] [ 1.89611002e-02 -1.42062583e-04 9.99820212e-01 1.06459850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.112557844 meters Centerline goodness : 0.119443 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99769857e-01 -2.74115227e-04 -2.14512721e-02 1.94246569e+00] [ 2.65490270e-04 9.99999883e-01 -4.04918925e-04 1.84256295e-01] [ 2.14513805e-02 3.99130632e-04 9.99769813e-01 1.06540590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.142557844 meters Centerline goodness : 0.133195 Centerline is valid? [False, False] Translation: X:1.99, Y:0.18, Z:1.06 [[ 9.99809849e-01 -7.70082891e-04 -1.94852029e-02 1.98954923e+00] [ 7.35530474e-04 9.99998145e-01 -1.78036893e-03 1.84548612e-01] [ 1.94865378e-02 1.76569843e-03 9.99808560e-01 1.06427293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.172557844 meters Centerline goodness : 0.163341 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99728299e-01 -2.02189458e-03 -2.32215520e-02 1.94410269e+00] [ 1.99923362e-03 9.99997502e-01 -9.99033031e-04 1.77262296e-01] [ 2.32235139e-02 9.52336285e-04 9.99729844e-01 1.06505900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.202557844 meters Centerline goodness : 0.121522 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99720423e-01 6.90597366e-03 -2.26137922e-02 1.96463313e+00] [-6.94484182e-03 9.99974538e-01 -1.64069672e-03 1.73185455e-01] [ 2.26018858e-02 1.79728723e-03 9.99742929e-01 1.06583458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.232557844 meters Centerline goodness : 0.113110 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.06 [[ 9.99709106e-01 -2.08169496e-03 -2.40285400e-02 1.94495615e+00] [ 2.07150427e-03 9.99997754e-01 -4.48991332e-04 1.76272723e-01] [ 2.40294207e-02 3.99085500e-04 9.99711172e-01 1.06487568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.262557844 meters Centerline goodness : 0.113110 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.06 [[ 9.99709106e-01 -2.08169496e-03 -2.40285400e-02 1.94495615e+00] [ 2.07150427e-03 9.99997754e-01 -4.48991332e-04 1.76272723e-01] [ 2.40294207e-02 3.99085500e-04 9.99711172e-01 1.06487568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29255784400002 meters Centerline goodness : 0.119604 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99672884e-01 5.90979008e-03 -2.48837192e-02 1.96410992e+00] [-5.94190484e-03 9.99981606e-01 -1.21685064e-03 1.69433241e-01] [ 2.48760702e-02 1.36430928e-03 9.99689612e-01 1.06645124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32255784400002 meters Centerline goodness : 0.132380 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99668230e-01 5.97353750e-03 -2.50548735e-02 1.96446342e+00] [-6.00150420e-03 9.99981449e-01 -1.04117044e-03 1.68404664e-01] [ 2.50481893e-02 1.19119194e-03 9.99685535e-01 1.06660515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35255784400002 meters Centerline goodness : 0.133491 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99663411e-01 6.22702252e-03 -2.51851041e-02 1.96444254e+00] [-6.24354016e-03 9.99980342e-01 -5.77267651e-04 1.66204236e-01] [ 2.51810144e-02 7.34317558e-04 9.99682638e-01 1.06730464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38255784400002 meters Centerline goodness : 0.133504 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99663713e-01 6.33865882e-03 -2.51452279e-02 1.96431221e+00] [-6.34895075e-03 9.99979791e-01 -3.29484398e-04 1.65089758e-01] [ 2.51426313e-02 4.89019411e-04 9.99683754e-01 1.06735129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41255784400002 meters Centerline goodness : 0.110777 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:1.07 [[ 9.99661357e-01 6.44651536e-03 -2.52113865e-02 1.96433034e+00] [-6.45309613e-03 9.99979162e-01 -1.79672667e-04 1.64348989e-01] [ 2.52097029e-02 3.42303323e-04 9.99682126e-01 1.06773953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442557844 meters Centerline goodness : 0.114002 Centerline is valid? [False, False] Translation: X:1.95, Y:0.17, Z:1.07 [[ 9.99693111e-01 -2.15238645e-03 -2.46789505e-02 1.94505219e+00] [ 2.15945170e-03 9.99997635e-01 2.59639403e-04 1.69383578e-01] [ 2.46783333e-02 -3.12852724e-04 9.99695395e-01 1.06714165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.472557844 meters Centerline goodness : 0.113896 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99733308e-01 7.65322350e-03 -2.17885683e-02 1.96206508e+00] [-7.66064591e-03 9.99970624e-01 -2.57208029e-04 1.65610674e-01] [ 2.17859597e-02 4.24053940e-04 9.99762568e-01 1.06915864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502557844 meters Centerline goodness : 0.146950 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99735520e-01 7.81385722e-03 -2.16294583e-02 1.96167977e+00] [-7.82206241e-03 9.99969364e-01 -2.94773924e-04 1.66364105e-01] [ 2.16264924e-02 4.63882935e-04 9.99766012e-01 1.06921292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.532557844 meters Centerline goodness : 0.114281 Centerline is valid? [False, False] Translation: X:1.94, Y:0.17, Z:1.07 [[ 9.99738522e-01 -5.08872289e-04 -2.28610818e-02 1.94416361e+00] [ 5.31987947e-04 9.99999353e-01 1.00506545e-03 1.72268467e-01] [ 2.28605556e-02 -1.01696447e-03 9.99738146e-01 1.06747837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562557844 meters Centerline goodness : 0.115844 Centerline is valid? [False, False] Translation: X:1.95, Y:0.17, Z:1.07 [[ 9.99726395e-01 -3.27923925e-04 -2.33886406e-02 1.94580771e+00] [ 3.50694733e-04 9.99999469e-01 9.69489026e-04 1.72814591e-01] [ 2.33883103e-02 -9.77426041e-04 9.99725978e-01 1.06680962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.592557844 meters Centerline goodness : 0.143624 Centerline is valid? [False, False] Translation: X:1.95, Y:0.17, Z:1.07 [[ 9.99713064e-01 2.87377057e-04 -2.39521950e-02 1.94773114e+00] [-2.64621093e-04 9.99999511e-01 9.53221702e-04 1.74512206e-01] [ 2.39524572e-02 -9.46609932e-04 9.99712651e-01 1.06564879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622557844 meters Centerline goodness : 0.125008 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:1.07 [[ 9.99723075e-01 3.48839660e-04 -2.35298240e-02 1.94648055e+00] [-3.30691952e-04 9.99999645e-01 7.75150758e-04 1.75823155e-01] [ 2.35300861e-02 -7.67154976e-04 9.99722835e-01 1.06587588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.652557844 meters Centerline goodness : 0.157807 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99736907e-01 3.97068596e-04 -2.29337966e-02 1.94443566e+00] [-3.82053415e-04 9.99999710e-01 6.59096342e-04 1.76926018e-01] [ 2.29340516e-02 -6.50161003e-04 9.99736769e-01 1.06669234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682557844 meters Centerline goodness : 0.159405 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99751096e-01 4.48201043e-04 -2.23057306e-02 1.94227245e+00] [-4.34086020e-04 9.99999702e-01 6.37635939e-04 1.77509646e-01] [ 2.23060098e-02 -6.27794623e-04 9.99750993e-01 1.06757740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.712557844 meters Centerline goodness : 0.113095 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99758868e-01 3.84046801e-04 -2.19558131e-02 1.94144981e+00] [-3.71785555e-04 9.99999773e-01 5.62530212e-04 1.77783885e-01] [ 2.19560241e-02 -5.54231714e-04 9.99758784e-01 1.06744622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.742557844 meters Centerline goodness : 0.140876 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99751558e-01 2.46763369e-04 -2.22881237e-02 1.94281646e+00] [-2.36915863e-04 9.99999873e-01 4.44466944e-04 1.77934645e-01] [ 2.22882306e-02 -4.39076110e-04 9.99751490e-01 1.06654842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.772557844 meters Centerline goodness : 0.130039 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99742344e-01 1.80881086e-04 -2.26982889e-02 1.94424042e+00] [-1.70783466e-04 9.99999886e-01 4.46800294e-04 1.77610301e-01] [ 2.26983671e-02 -4.42808681e-04 9.99742261e-01 1.06589723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.802557844 meters Centerline goodness : 0.166293 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:1.07 [[ 9.99725290e-01 -2.58472333e-04 -2.34366757e-02 1.94601646e+00] [ 2.71047586e-04 9.99999821e-01 5.33387927e-04 1.75729125e-01] [ 2.34365337e-02 -5.39593854e-04 9.99725181e-01 1.06619538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.832557844 meters Centerline goodness : 0.144958 Centerline is valid? [False, False] Translation: X:1.95, Y:0.17, Z:1.07 [[ 9.99720785e-01 -2.17029911e-04 -2.36284893e-02 1.94617735e+00] [ 2.40129720e-04 9.99999496e-01 9.74792345e-04 1.73359234e-01] [ 2.36282658e-02 -9.80194071e-04 9.99720333e-01 1.06683363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.862557844 meters Centerline goodness : 0.113781 Centerline is valid? [False, False] Translation: X:1.95, Y:0.17, Z:1.07 [[ 9.99707884e-01 -1.80283546e-04 -2.41684334e-02 1.94739491e+00] [ 2.14707693e-04 9.99998966e-01 1.42175595e-03 1.70877125e-01] [ 2.41681521e-02 -1.42652978e-03 9.99706890e-01 1.06713623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.892557844 meters Centerline goodness : 0.112507 Centerline is valid? [False, False] Translation: X:1.95, Y:0.17, Z:1.07 [[ 9.99700979e-01 -6.71732201e-05 -2.44529747e-02 1.94813908e+00] [ 1.13049169e-04 9.99998236e-01 1.87471110e-03 1.68550673e-01] [ 2.44528057e-02 -1.87691491e-03 9.99699224e-01 1.06711971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.922557844 meters Centerline goodness : 0.147021 Centerline is valid? [False, False] Translation: X:1.97, Y:0.16, Z:1.07 [[ 9.99722017e-01 6.29035683e-03 -2.27226820e-02 1.97050459e+00] [-6.31918670e-03 9.99979317e-01 -1.19718934e-03 1.64833937e-01] [ 2.27146813e-02 1.34044541e-03 9.99741090e-01 1.06634989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.952557844 meters Centerline goodness : 0.112130 Centerline is valid? [False, False] Translation: X:1.97, Y:0.17, Z:1.07 [[ 9.99723839e-01 6.26541090e-03 -2.26492703e-02 1.97012827e+00] [-6.29571571e-03 9.99979379e-01 -1.26694494e-03 1.65045641e-01] [ 2.26408654e-02 1.40918842e-03 9.99742670e-01 1.06671009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.982557844 meters Centerline goodness : 0.136264 Centerline is valid? [False, False] Translation: X:2.01, Y:0.17, Z:1.07 [[ 9.99762868e-01 7.78845954e-03 -2.03358637e-02 2.01438065e+00] [-7.81916069e-03 9.99968407e-01 -1.43062768e-03 1.70177315e-01] [ 2.03240788e-02 1.58929782e-03 9.99792181e-01 1.06604586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.012557844 meters Centerline goodness : 0.093381 Centerline is valid? [False, False] Translation: X:2.02, Y:0.17, Z:1.07 [[ 9.99756315e-01 7.76126308e-03 -2.06657620e-02 2.01555348e+00] [-7.80187224e-03 9.99967788e-01 -1.88514541e-03 1.72586870e-01] [ 2.06504652e-02 2.04591766e-03 9.99784663e-01 1.06554901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04255784400002 meters Centerline goodness : 0.142987 Centerline is valid? [False, False] Translation: X:2.02, Y:0.18, Z:1.06 [[ 9.99714799e-01 1.03368970e-02 -2.15283412e-02 2.01943964e+00] [-1.03472021e-02 9.99946399e-01 -3.67339116e-04 1.79814991e-01] [ 2.15233901e-02 5.89992448e-04 9.99768171e-01 1.06380657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07255784400002 meters Centerline goodness : 0.143728 Centerline is valid? [False, False] Translation: X:2.02, Y:0.18, Z:1.06 [[ 9.99713011e-01 1.01284343e-02 -2.17096653e-02 2.02007287e+00] [-1.01532687e-02 9.99947920e-01 -1.03401309e-03 1.82945037e-01] [ 2.16980617e-02 1.25414040e-03 9.99763783e-01 1.06346075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10255784400002 meters Centerline goodness : 0.162473 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.06 [[ 9.99711841e-01 9.93159265e-03 -2.18540180e-02 2.02071724e+00] [-9.96894885e-03 9.99949027e-01 -1.60106935e-03 1.85703952e-01] [ 2.18370028e-02 1.81846957e-03 9.99759890e-01 1.06288894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13255784400002 meters Centerline goodness : 0.132616 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.06 [[ 0.99971276 0.00972677 -0.0219042 2.02115131] [-0.00977424 0.99995011 -0.00206089 0.18786336] [ 0.02188307 0.00227439 0.99975795 1.06229118] [ 0. 0. 0. 1. ]] SLAMing on 152.16255784400002 meters Centerline goodness : 0.129066 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99765361e-01 1.96205084e-03 -2.15724900e-02 2.04010783e+00] [-1.98833121e-03 9.99997307e-01 -1.19685391e-03 1.96175661e-01] [ 2.15700836e-02 1.23946633e-03 9.99766570e-01 1.06334656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19255784400002 meters Centerline goodness : 0.141104 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99779998e-01 1.75094650e-03 -2.09019236e-02 2.03759860e+00] [-1.77987493e-03 9.99997484e-01 -1.36548448e-03 1.96844542e-01] [ 2.08994801e-02 1.40238688e-03 9.99780598e-01 1.06474946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222557844 meters Centerline goodness : 0.128056 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.07 [[ 9.99785092e-01 1.73616146e-03 -2.06580533e-02 2.03653307e+00] [-1.76415970e-03 9.99997550e-01 -1.33717150e-03 1.96932421e-01] [ 2.06556812e-02 1.37332824e-03 9.99785705e-01 1.06545931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.252557844 meters Centerline goodness : 0.110947 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.07 [[ 9.99788560e-01 1.74222872e-03 -2.04890267e-02 2.03598574e+00] [-1.76919200e-03 9.99997593e-01 -1.29793369e-03 1.96941959e-01] [ 2.04867161e-02 1.33390828e-03 9.99789235e-01 1.06559964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282557844 meters Centerline goodness : 0.112055 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.07 [[ 9.99784886e-01 1.70659458e-03 -2.06705028e-02 2.03650325e+00] [-1.73330526e-03 9.99997686e-01 -1.27436526e-03 1.96707510e-01] [ 2.06682801e-02 1.30991942e-03 9.99785530e-01 1.06549221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.312557844 meters Centerline goodness : 0.111607 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99770289e-01 1.42052084e-03 -2.13857978e-02 2.03877399e+00] [-1.45298155e-03 9.99997816e-01 -1.50240100e-03 1.96809077e-01] [ 2.13836169e-02 1.53312905e-03 9.99770169e-01 1.06473615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342557844 meters Centerline goodness : 0.117656 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99768604e-01 1.35046503e-03 -2.14689323e-02 2.03916481e+00] [-1.38784184e-03 9.99997547e-01 -1.72616805e-03 1.97993243e-01] [ 2.14665485e-02 1.75556410e-03 9.99768026e-01 1.06436716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.372557844 meters Centerline goodness : 0.118968 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99775347e-01 1.27965456e-03 -2.11569762e-02 2.03870669e+00] [-1.32705673e-03 9.99996641e-01 -2.22661025e-03 2.01068030e-01] [ 2.11540558e-02 2.25418654e-03 9.99773687e-01 1.06374963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402557844 meters Centerline goodness : 0.116190 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99776752e-01 1.17220497e-03 -2.10967322e-02 2.03860139e+00] [-1.22479152e-03 9.99996175e-01 -2.47989092e-03 2.02131029e-01] [ 2.10937445e-02 2.50517639e-03 9.99774364e-01 1.06364730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.432557844 meters Centerline goodness : 0.134618 Centerline is valid? [False, False] Translation: X:2.08, Y:0.21, Z:1.06 [[ 9.99805901e-01 1.80696312e-03 -1.96187343e-02 2.08264308e+00] [-1.88158701e-03 9.99991063e-01 -3.78591307e-03 2.07080101e-01] [ 1.96117180e-02 3.82209259e-03 9.99800366e-01 1.06396124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462557844 meters Centerline goodness : 0.121632 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99738872e-01 6.59086693e-04 -2.28419115e-02 2.03768295e+00] [-7.41148361e-04 9.99993302e-01 -3.58431251e-03 2.05054028e-01] [ 2.28393961e-02 3.60030580e-03 9.99732664e-01 1.06477299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.492557844 meters Centerline goodness : 0.131055 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99736834e-01 6.11287209e-04 -2.29322771e-02 2.03802191e+00] [-6.98038606e-04 9.99992631e-01 -3.77512451e-03 2.06260547e-01] [ 2.29298004e-02 3.79013864e-03 9.99729893e-01 1.06450309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.522557844 meters Centerline goodness : 0.125477 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99743440e-01 5.87309948e-04 -2.26430876e-02 2.03720850e+00] [-6.75230900e-04 9.99992262e-01 -3.87545466e-03 2.07114808e-01] [ 2.26406363e-02 3.88974969e-03 9.99736101e-01 1.06460973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.552557844 meters Centerline goodness : 0.145839 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.07 [[ 9.99748460e-01 5.34097986e-04 -2.24216561e-02 2.03624505e+00] [-6.21184564e-04 9.99992290e-01 -3.87725343e-03 2.06862510e-01] [ 2.24194124e-02 3.89020613e-03 9.99741085e-01 1.06534616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.582557844 meters Centerline goodness : 0.139753 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.07 [[ 9.99751389e-01 4.93171884e-04 -2.22916180e-02 2.03550254e+00] [-5.78471307e-04 9.99992536e-01 -3.82023814e-03 2.06315527e-01] [ 2.22895676e-02 3.83218345e-03 9.99744212e-01 1.06607801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.612557844 meters Centerline goodness : 0.137695 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.07 [[ 9.99748241e-01 4.86108333e-04 -2.24325180e-02 2.03573005e+00] [-5.71246326e-04 9.99992658e-01 -3.78904166e-03 2.06139361e-01] [ 2.24305114e-02 3.80090223e-03 9.99741179e-01 1.06629230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.642557844 meters Centerline goodness : 0.144270 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.07 [[ 9.99741517e-01 4.43419435e-04 -2.27310973e-02 2.03678835e+00] [-5.31304518e-04 9.99992407e-01 -3.86039947e-03 2.06452425e-01] [ 2.27292129e-02 3.87147876e-03 9.99734162e-01 1.06578355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.672557844 meters Centerline goodness : 0.131954 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99728092e-01 2.18587187e-04 -2.33172600e-02 2.03904530e+00] [-3.18042415e-04 9.99990868e-01 -4.26168194e-03 2.07798463e-01] [ 2.33161155e-02 4.26793903e-03 9.99719032e-01 1.06445296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.702557844 meters Centerline goodness : 0.139102 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99722760e-01 1.04101792e-04 -2.35455347e-02 2.03990620e+00] [-2.11214191e-04 9.99989641e-01 -4.54671861e-03 2.08918014e-01] [ 2.35448175e-02 4.55043123e-03 9.99712426e-01 1.06392548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.732557844 meters Centerline goodness : 0.140694 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99724150e-01 2.26509704e-05 -2.34866840e-02 2.03988172e+00] [-1.36436211e-04 9.99988263e-01 -4.84307918e-03 2.10356169e-01] [ 2.34862987e-02 4.84494765e-03 9.99712419e-01 1.06365628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.762557844 meters Centerline goodness : 0.143001 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99732994e-01 9.82283660e-06 -2.31071516e-02 2.03861447e+00] [-1.26505421e-04 9.99987250e-01 -5.04817445e-03 2.11625317e-01] [ 2.31068074e-02 5.04974974e-03 9.99720249e-01 1.06414784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79255784400002 meters Centerline goodness : 0.143470 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.07 [[ 9.99744926e-01 2.89915947e-05 -2.25849840e-02 2.03666189e+00] [-1.49364178e-04 9.99985794e-01 -5.32809306e-03 2.13680784e-01] [ 2.25845087e-02 5.33010739e-03 9.99730729e-01 1.06516239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82255784400002 meters Centerline goodness : 0.144989 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99744559e-01 -4.64092023e-05 -2.26012140e-02 2.03681502e+00] [-7.78248840e-05 9.99984895e-01 -5.49587760e-03 2.14449794e-01] [ 2.26011276e-02 5.49623267e-03 9.99729454e-01 1.06492818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85255784400002 meters Centerline goodness : 0.142263 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99741579e-01 -1.00186799e-04 -2.27324547e-02 2.03735193e+00] [-2.65132961e-05 9.99984469e-01 -5.57316351e-03 2.14731585e-01] [ 2.27326601e-02 5.57232600e-03 9.99726050e-01 1.06458204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88255784400002 meters Centerline goodness : 0.141519 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99739928e-01 -1.02937492e-04 -2.28049592e-02 2.03768687e+00] [-2.33189485e-05 9.99984676e-01 -5.53602385e-03 2.14547899e-01] [ 2.28051796e-02 5.53511587e-03 9.99724605e-01 1.06427723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91255784400002 meters Centerline goodness : 0.144549 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99751097e-01 -1.43952328e-04 -2.23096917e-02 2.03608441e+00] [ 2.37833834e-05 9.99985492e-01 -5.38657271e-03 2.13798042e-01] [ 2.23101434e-02 5.38470138e-03 9.99736597e-01 1.06495551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94255784400002 meters Centerline goodness : 0.152670 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.07 [[ 9.99755428e-01 -1.30055766e-04 -2.21148475e-02 2.03513259e+00] [ 1.56725122e-05 9.99986623e-01 -5.17233259e-03 2.12567954e-01] [ 2.21152244e-02 5.17072099e-03 9.99742057e-01 1.06584473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.972557844 meters Centerline goodness : 0.121782 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:1.07 [[ 9.99756989e-01 -8.43395940e-05 -2.20443909e-02 2.03457586e+00] [-2.38358427e-05 9.99987961e-01 -4.90685496e-03 2.11131920e-01] [ 2.20445394e-02 4.90618799e-03 9.99744951e-01 1.06655700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002557844 meters Centerline goodness : 0.136579 Centerline is valid? [False, False] Translation: X:2.05, Y:0.21, Z:1.07 [[ 0.99974714 -0.00799798 -0.0210165 2.05426906] [ 0.00791703 0.99996093 -0.00393239 0.21476823] [ 0.02104713 0.00376501 0.9997714 1.06824226] [ 0. 0. 0. 1. ]] SLAMing on 153.032557844 meters Centerline goodness : 0.133543 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:1.07 [[ 9.99808695e-01 -5.48868699e-04 -1.95517891e-02 2.03431573e+00] [ 4.61539159e-04 9.99989899e-01 -4.47080776e-03 2.08699356e-01] [ 1.95540456e-02 4.46092856e-03 9.99798849e-01 1.06645121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.062557844 meters Centerline goodness : 0.135394 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99833055e-01 -5.61808614e-03 -1.73867332e-02 2.05525612e+00] [ 5.60612231e-03 9.99984014e-01 -7.36764713e-04 2.10109459e-01] [ 1.73905944e-02 6.39169562e-04 9.99848568e-01 1.06674531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.092557844 meters Centerline goodness : 0.138962 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99834071e-01 -5.55245903e-03 -1.73493521e-02 2.05516228e+00] [ 5.54233635e-03 9.99984442e-01 -6.31488860e-04 2.09688161e-01] [ 1.73525885e-02 5.35228133e-04 9.99849289e-01 1.06674872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122557844 meters Centerline goodness : 0.122961 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99832629e-01 -5.49835722e-03 -1.74494043e-02 2.05546633e+00] [ 5.48979802e-03 9.99984786e-01 -5.38378044e-04 2.09200459e-01] [ 1.74520990e-02 4.42494230e-04 9.99847603e-01 1.06671240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.152557844 meters Centerline goodness : 0.122961 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99832629e-01 -5.49835722e-03 -1.74494043e-02 2.05546633e+00] [ 5.48979802e-03 9.99984786e-01 -5.38378044e-04 2.09200459e-01] [ 1.74520990e-02 4.42494230e-04 9.99847603e-01 1.06671240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182557844 meters Centerline goodness : 0.148886 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99830496e-01 -5.40546446e-03 -1.75999934e-02 2.05602191e+00] [ 5.40007238e-03 9.99985357e-01 -3.53878616e-04 2.08243984e-01] [ 1.76016485e-02 2.58777394e-04 9.99845045e-01 1.06642660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.212557844 meters Centerline goodness : 0.120345 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99829852e-01 -5.13827714e-03 -1.77162474e-02 2.05672337e+00] [ 5.13826837e-03 9.99986798e-01 -4.60142571e-05 2.07100284e-01] [ 1.77162499e-02 -4.50244055e-05 9.99843054e-01 1.06567620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.242557844 meters Centerline goodness : 0.118472 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99829697e-01 -5.05806959e-03 -1.77480445e-02 2.05693217e+00] [ 5.05935671e-03 9.99987201e-01 2.76218247e-05 2.06745567e-01] [ 1.77476776e-02 -1.17410809e-04 9.99842491e-01 1.06546913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.272557844 meters Centerline goodness : 0.137272 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99826380e-01 2.68305341e-03 -1.84394121e-02 2.03685450e+00] [-2.70325281e-03 9.99995773e-01 -1.07060910e-03 2.00258356e-01] [ 1.84364616e-02 1.12026961e-03 9.99829406e-01 1.06380464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.302557844 meters Centerline goodness : 0.110790 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99823391e-01 2.67961469e-03 -1.86012717e-02 2.03756803e+00] [-2.70088457e-03 9.99995727e-01 -1.11843573e-03 2.00320234e-01] [ 1.85981952e-02 1.16847809e-03 9.99826356e-01 1.06323058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.332557844 meters Centerline goodness : 0.148425 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99807535e-01 3.02594490e-03 -1.93839039e-02 2.04013830e+00] [-3.04853900e-03 9.99994708e-01 -1.13616834e-03 2.01536773e-01] [ 1.93803633e-02 1.19504226e-03 9.99811469e-01 1.06191859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.362557844 meters Centerline goodness : 0.111546 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99808057e-01 3.07342456e-03 -1.93494813e-02 2.04024082e+00] [-3.09698936e-03 9.99994499e-01 -1.18800396e-03 2.02048375e-01] [ 1.93457236e-02 1.24770107e-03 9.99812075e-01 1.06150949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.392557844 meters Centerline goodness : 0.114182 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99810926e-01 3.10999236e-03 -1.91948131e-02 2.03988940e+00] [-3.13363707e-03 9.99994368e-01 -1.20187349e-03 2.02302686e-01] [ 1.91909672e-02 1.26179582e-03 9.99815040e-01 1.06141517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.422557844 meters Centerline goodness : 0.136242 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99813258e-01 3.13876912e-03 -1.90682003e-02 2.03958920e+00] [-3.16177090e-03 9.99994310e-01 -1.17626238e-03 2.02179681e-01] [ 1.90643998e-02 1.23633200e-03 9.99817493e-01 1.06136541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.452557844 meters Centerline goodness : 0.120393 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99813273e-01 3.11275976e-03 -1.90716772e-02 2.03966065e+00] [-3.13577731e-03 9.99994391e-01 -1.17711062e-03 2.01924283e-01] [ 1.90679061e-02 1.23669535e-03 9.99817426e-01 1.06128861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.482557844 meters Centerline goodness : 0.128844 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99817600e-01 3.12327730e-03 -1.88417646e-02 2.03873837e+00] [-3.14365703e-03 9.99994505e-01 -1.05210336e-03 2.01157534e-01] [ 1.88383751e-02 1.11114350e-03 9.99821925e-01 1.06189423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.512557844 meters Centerline goodness : 0.121831 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99821127e-01 3.10373619e-03 -1.86569330e-02 2.03815529e+00] [-3.12472716e-03 9.99994517e-01 -1.09605697e-03 2.01446734e-01] [ 1.86534288e-02 1.15415874e-03 9.99825344e-01 1.06206336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54255784400002 meters Centerline goodness : 0.122995 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.06 [[ 9.99824192e-01 -4.37149775e-03 -1.82339053e-02 2.05743199e+00] [ 4.36856605e-03 9.99990438e-01 -2.00611084e-04 2.07827775e-01] [ 1.82346079e-02 1.20919795e-04 9.99833728e-01 1.06359384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57255784400002 meters Centerline goodness : 0.126335 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 0.99981534 0.00254335 -0.0190475 2.03986123] [-0.00258637 0.99999416 -0.00223464 0.20293524] [ 0.01904171 0.00228349 0.99981608 1.06094631] [ 0. 0. 0. 1. ]] SLAMing on 153.60255784400002 meters Centerline goodness : 0.121894 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 0.99981322 0.00247437 -0.01916768 2.04036731] [-0.00252068 0.99999396 -0.00239222 0.20363568] [ 0.01916164 0.00244009 0.99981342 1.06057122] [ 0. 0. 0. 1. ]] SLAMing on 153.63255784400002 meters Centerline goodness : 0.110950 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.06 [[ 9.99755009e-01 1.60883669e-03 -2.20756446e-02 1.99595601e+00] [-1.64937371e-03 9.99996987e-01 -1.81819276e-03 2.01406930e-01] [ 2.20726529e-02 1.85415831e-03 9.99754650e-01 1.06067111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66255784400002 meters Centerline goodness : 0.124386 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.06 [[ 9.99753307e-01 1.51059402e-03 -2.21595118e-02 1.99631654e+00] [-1.55708738e-03 9.99996622e-01 -2.08101767e-03 2.02703770e-01] [ 2.21562934e-02 2.11500859e-03 9.99752282e-01 1.06038661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69255784400002 meters Centerline goodness : 0.121103 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.06 [[ 9.99753320e-01 1.39397843e-03 -2.21665512e-02 1.99653520e+00] [-1.44721405e-03 9.99996107e-01 -2.38575903e-03 2.04188507e-01] [ 2.21631392e-02 2.41725025e-03 9.99751445e-01 1.05996377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722557844 meters Centerline goodness : 0.131940 Centerline is valid? [False, False] Translation: X:1.95, Y:0.20, Z:1.06 [[ 9.99683217e-01 8.40971641e-04 -2.51546891e-02 1.95133703e+00] [-8.87750069e-04 9.99997897e-01 -1.84852103e-03 2.03857197e-01] [ 2.51530817e-02 1.87026653e-03 9.99681862e-01 1.06049140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.752557844 meters Centerline goodness : 0.137010 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:1.06 [[ 9.99660432e-01 -6.29932261e-03 -2.52851428e-02 1.97018781e+00] [ 6.27898033e-03 9.99979896e-01 -8.83830665e-04 2.11150920e-01] [ 2.52902020e-02 7.24765630e-04 9.99679889e-01 1.06236160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782557844 meters Centerline goodness : 0.123726 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:1.06 [[ 9.99659649e-01 -6.37858319e-03 -2.52962515e-02 1.97022945e+00] [ 6.35373476e-03 9.99979250e-01 -1.06255187e-03 2.11991437e-01] [ 2.53025042e-02 9.01464556e-04 9.99679434e-01 1.06229224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.812557844 meters Centerline goodness : 0.121690 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:1.06 [[ 9.99663501e-01 -6.39792811e-03 -2.51386530e-02 1.96960292e+00] [ 6.37234472e-03 9.99979094e-01 -1.09766932e-03 2.12272905e-01] [ 2.51451502e-02 9.37107790e-04 9.99683371e-01 1.06266156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842557844 meters Centerline goodness : 0.131138 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:1.06 [[ 9.99671586e-01 -6.38235729e-03 -2.48190420e-02 1.96833893e+00] [ 6.35945721e-03 9.99979277e-01 -1.00150323e-03 2.11885818e-01] [ 2.48249196e-02 8.43338687e-04 9.99691458e-01 1.06345078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.872557844 meters Centerline goodness : 0.118411 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99765936e-01 -9.38609118e-04 -2.16146233e-02 1.98892096e+00] [ 8.36006319e-04 9.99988343e-01 -4.75546279e-03 2.11965562e-01] [ 2.16188349e-02 4.73627975e-03 9.99755067e-01 1.06333195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.902557844 meters Centerline goodness : 0.136692 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99765832e-01 -9.47804099e-04 -2.16190334e-02 1.98891184e+00] [ 8.47006019e-04 9.99988731e-01 -4.67114967e-03 2.11412960e-01] [ 2.16232172e-02 4.65174439e-03 9.99755369e-01 1.06336614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.932557844 meters Centerline goodness : 0.140584 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99764721e-01 -9.09109604e-04 -2.16720287e-02 1.98910504e+00] [ 8.10114636e-04 9.99989201e-01 -4.57620994e-03 2.11029295e-01] [ 2.16759550e-02 4.55757642e-03 9.99754661e-01 1.06323414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.962557844 meters Centerline goodness : 0.138834 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99762521e-01 -8.89784587e-04 -2.17740821e-02 1.98952517e+00] [ 7.90802192e-04 9.99989317e-01 -4.55406978e-03 2.11048806e-01] [ 2.17779016e-02 4.53576930e-03 9.99752544e-01 1.06294570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.992557844 meters Centerline goodness : 0.140054 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99766498e-01 -9.67877264e-04 -2.15873093e-02 1.98910033e+00] [ 8.64200154e-04 9.99988051e-01 -4.81149994e-03 2.12359089e-01] [ 2.15917083e-02 4.79172069e-03 9.99755389e-01 1.06286313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.022557844 meters Centerline goodness : 0.138712 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99772815e-01 -1.00619164e-03 -2.12909655e-02 1.98808517e+00] [ 9.00140445e-04 9.99987145e-01 -4.99003966e-03 2.13295637e-01] [ 2.12957127e-02 4.96974114e-03 9.99760869e-01 1.06328376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.052557844 meters Centerline goodness : 0.135612 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99776758e-01 -1.09695806e-03 -2.11004777e-02 1.98745480e+00] [ 9.85850817e-04 9.99985600e-01 -5.27530837e-03 2.14705205e-01] [ 2.11059607e-02 5.25332878e-03 9.99763443e-01 1.06351094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.082557844 meters Centerline goodness : 0.137771 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.06 [[ 9.99773864e-01 -1.19179251e-03 -2.12320513e-02 1.98793790e+00] [ 1.07325885e-03 9.99983781e-01 -5.59329071e-03 2.16325355e-01] [ 2.12383730e-02 5.56923838e-03 9.99758928e-01 1.06318811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.112557844 meters Centerline goodness : 0.125246 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.06 [[ 9.99739368e-01 1.35127055e-03 -2.27896743e-02 1.99433456e+00] [-1.43020441e-03 9.99993034e-01 -3.44763680e-03 2.20373607e-01] [ 2.27848568e-02 3.47933213e-03 9.99734337e-01 1.06011472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.142557844 meters Centerline goodness : 0.137477 Centerline is valid? [False, False] Translation: X:2.01, Y:0.23, Z:1.06 [[ 0.99968639 -0.0056477 -0.02439714 2.01422823] [ 0.00557718 0.99998007 -0.0029573 0.22740571] [ 0.02441336 0.0028203 0.99969797 1.06151692] [ 0. 0. 0. 1. ]] SLAMing on 154.172557844 meters Centerline goodness : 0.143176 Centerline is valid? [False, False] Translation: X:1.97, Y:0.22, Z:1.06 [[ 0.99959455 -0.00761313 -0.02743679 1.96900186] [ 0.00751505 0.999965 -0.00367621 0.22383506] [ 0.02746382 0.00346853 0.99961678 1.06193189] [ 0. 0. 0. 1. ]] SLAMing on 154.202557844 meters Centerline goodness : 0.140811 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.06 [[ 9.99675630e-01 -2.98051431e-04 -2.54665682e-02 1.98681263e+00] [ 1.45743183e-04 9.99982095e-01 -5.98236025e-03 2.20222675e-01] [ 2.54678953e-02 5.97670817e-03 9.99657774e-01 1.06393655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.232557844 meters Centerline goodness : 0.142701 Centerline is valid? [False, False] Translation: X:1.98, Y:0.22, Z:1.07 [[ 9.99702162e-01 -7.60849355e-04 -2.43928060e-02 1.98350410e+00] [ 6.19475373e-04 9.99982972e-01 -5.80275718e-03 2.18288025e-01] [ 2.43968057e-02 5.78591815e-03 9.99685610e-01 1.06503567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.262557844 meters Centerline goodness : 0.140355 Centerline is valid? [False, False] Translation: X:1.98, Y:0.22, Z:1.06 [[ 9.99703276e-01 -7.43051404e-04 -2.43476335e-02 1.98344890e+00] [ 6.09422822e-04 9.99984715e-01 -5.49532071e-03 2.16895193e-01] [ 2.43513447e-02 5.47885211e-03 9.99688449e-01 1.06492712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29255784400002 meters Centerline goodness : 0.140561 Centerline is valid? [False, False] Translation: X:1.98, Y:0.22, Z:1.06 [[ 9.99703886e-01 -7.75910259e-04 -2.43215396e-02 1.98349327e+00] [ 6.48691239e-04 9.99986070e-01 -5.23816750e-03 2.15392527e-01] [ 2.43252651e-02 5.22083923e-03 9.99690464e-01 1.06480547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32255784400002 meters Centerline goodness : 0.143370 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.06 [[ 9.99700350e-01 -9.46620213e-04 -2.44604467e-02 1.98380659e+00] [ 8.22977032e-04 9.99986837e-01 -5.06439342e-03 2.13669298e-01] [ 2.44649188e-02 5.04274549e-03 9.99687971e-01 1.06495275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35255784400002 meters Centerline goodness : 0.133359 Centerline is valid? [False, False] Translation: X:1.96, Y:0.21, Z:1.06 [[ 0.99968858 0.00382523 -0.02465973 1.96072613] [-0.00403808 0.99995497 -0.00858735 0.2089936 ] [ 0.02462577 0.00868425 0.99965902 1.06499754] [ 0. 0. 0. 1. ]] SLAMing on 154.38255784400002 meters Centerline goodness : 0.136227 Centerline is valid? [False, False] Translation: X:1.96, Y:0.21, Z:1.07 [[ 0.99968824 0.00330651 -0.02474857 1.96080602] [-0.00351768 0.99995774 -0.00849403 0.20699019] [ 0.02471944 0.00857844 0.99965762 1.06533045] [ 0. 0. 0. 1. ]] SLAMing on 154.41255784400002 meters Centerline goodness : 0.139707 Centerline is valid? [False, False] Translation: X:1.96, Y:0.21, Z:1.07 [[ 0.99969108 0.00334976 -0.0246276 1.9605277 ] [-0.00355341 0.99995982 -0.00823016 0.20570278] [ 0.02459905 0.00831513 0.99966282 1.06524855] [ 0. 0. 0. 1. ]] SLAMing on 154.44255784400002 meters Centerline goodness : 0.125543 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 0.99970062 -0.00472849 -0.02400668 1.98138144] [ 0.00455116 0.999962 -0.00743592 0.20920565] [ 0.02404093 0.00732444 0.99968414 1.06616334] [ 0. 0. 0. 1. ]] SLAMing on 154.472557844 meters Centerline goodness : 0.133535 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 0.99969856 -0.0047166 -0.02409445 1.98192713] [ 0.00454401 0.99996366 -0.00721297 0.20827372] [ 0.0241276 0.00710131 0.99968367 1.06550583] [ 0. 0. 0. 1. ]] SLAMing on 154.502557844 meters Centerline goodness : 0.136308 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.06 [[ 0.99969115 -0.00459718 -0.02442257 1.98325786] [ 0.00442863 0.99996603 -0.00695106 0.20735291] [ 0.0244537 0.00684075 0.99967756 1.06462498] [ 0. 0. 0. 1. ]] SLAMing on 154.532557844 meters Centerline goodness : 0.145366 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.06 [[ 0.99968561 -0.00445183 -0.02467502 1.98422224] [ 0.00428799 0.99996844 -0.00668877 0.20655246] [ 0.02470402 0.00658086 0.99967315 1.06397571] [ 0. 0. 0. 1. ]] SLAMing on 154.562557844 meters Centerline goodness : 0.142813 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.06 [[ 0.99970044 -0.00445826 -0.02406551 1.98211265] [ 0.00430627 0.99997048 -0.00636387 0.20518812] [ 0.02409317 0.00625833 0.99969013 1.0646608 ] [ 0. 0. 0. 1. ]] SLAMing on 154.592557844 meters Centerline goodness : 0.136379 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:1.07 [[ 0.99971779 -0.00467021 -0.02329247 1.97957696] [ 0.00452491 0.99997 -0.00628692 0.20439914] [ 0.02332113 0.00617975 0.99970893 1.06540684] [ 0. 0. 0. 1. ]] SLAMing on 154.622557844 meters Centerline goodness : 0.129154 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.07 [[ 0.99973122 0.00268525 -0.02302781 1.99511773] [-0.00284429 0.99997231 -0.00687635 0.19619902] [ 0.02300871 0.00694 0.99971118 1.06677514] [ 0. 0. 0. 1. ]] SLAMing on 154.652557844 meters Centerline goodness : 0.141874 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:1.07 [[ 0.999712 0.00228675 -0.02388893 1.99773354] [-0.00244885 0.99997416 -0.00675851 0.19414622] [ 0.02387286 0.00681507 0.99969177 1.06601657] [ 0. 0. 0. 1. ]] SLAMing on 154.682557844 meters Centerline goodness : 0.148798 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:1.07 [[ 0.99970659 0.00231056 -0.02411196 1.99844874] [-0.00246935 0.99997545 -0.00655776 0.19301024] [ 0.02409621 0.00661538 0.99968776 1.06575269] [ 0. 0. 0. 1. ]] SLAMing on 154.712557844 meters Centerline goodness : 0.148035 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:1.07 [[ 0.99970557 0.00237634 -0.02414787 1.99848485] [-0.00253052 0.9999766 -0.00635629 0.19209206] [ 0.0241322 0.00641553 0.99968819 1.06578571] [ 0. 0. 0. 1. ]] SLAMing on 154.742557844 meters Centerline goodness : 0.147742 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:1.07 [[ 0.99971066 0.00242409 -0.0239317 1.99767254] [-0.00257479 0.99997704 -0.0062684 0.19183548] [ 0.02391595 0.00632821 0.99969394 1.06622651] [ 0. 0. 0. 1. ]] SLAMing on 154.772557844 meters Centerline goodness : 0.136199 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:1.07 [[ 0.99971231 0.00245104 -0.0238599 1.99734444] [-0.00260032 0.99997723 -0.0062276 0.19176263] [ 0.02384409 0.00628785 0.99969591 1.06644502] [ 0. 0. 0. 1. ]] SLAMing on 154.802557844 meters Centerline goodness : 0.142257 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:1.07 [[ 0.99971047 0.00245183 -0.02393664 1.99756825] [-0.0026005 0.99997751 -0.00618194 0.19149104] [ 0.02392094 0.0062424 0.99969436 1.06636603] [ 0. 0. 0. 1. ]] SLAMing on 154.832557844 meters Centerline goodness : 0.137765 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99966327 -0.00500088 -0.02546259 2.01801693] [ 0.00486484 0.99997358 -0.0054018 0.19499898] [ 0.02548893 0.00527611 0.99966118 1.06814552] [ 0. 0. 0. 1. ]] SLAMing on 154.862557844 meters Centerline goodness : 0.146950 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99965638 -0.00500932 -0.02572987 2.01896994] [ 0.00487534 0.99997424 -0.00526733 0.19414026] [ 0.02575559 0.00514008 0.99965506 1.06763384] [ 0. 0. 0. 1. ]] SLAMing on 154.892557844 meters Centerline goodness : 0.147557 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99965746 -0.00499813 -0.02569017 2.0189135 ] [ 0.00486781 0.99997498 -0.00513277 0.19344429] [ 0.02571518 0.00500596 0.99965678 1.06751292] [ 0. 0. 0. 1. ]] SLAMing on 154.922557844 meters Centerline goodness : 0.146525 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99967459 -0.00512162 -0.02498952 2.01670675] [ 0.00499912 0.99997519 -0.0049623 0.19246029] [ 0.02501432 0.00483576 0.9996754 1.06816651] [ 0. 0. 0. 1. ]] SLAMing on 154.952557844 meters Centerline goodness : 0.143252 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99967597 -0.00515059 -0.02492824 2.01642599] [ 0.00503077 0.9999755 -0.00486714 0.19192049] [ 0.0249527 0.00474015 0.99967739 1.06833921] [ 0. 0. 0. 1. ]] SLAMing on 154.982557844 meters Centerline goodness : 0.147529 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99967111 -0.00517378 -0.02511796 2.01681486] [ 0.00505533 0.99997581 -0.00477682 0.19148504] [ 0.02514207 0.00464827 0.99967308 1.06843697] [ 0. 0. 0. 1. ]] SLAMing on 155.012557844 meters Centerline goodness : 0.154517 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99966841 -0.00519511 -0.0252208 2.01703789] [ 0.0050781 0.99997606 -0.00470094 0.19105469] [ 0.02524462 0.00457131 0.99967085 1.06840323] [ 0. 0. 0. 1. ]] SLAMing on 155.04255784400002 meters Centerline goodness : 0.144349 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99967521 -0.00534258 -0.02491849 2.01601606] [ 0.00523182 0.99997615 -0.00450786 0.19006319] [ 0.02494198 0.00437602 0.99967932 1.06884236] [ 0. 0. 0. 1. ]] SLAMing on 155.07255784400002 meters Centerline goodness : 0.144349 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99967529 -0.00533824 -0.02491627 2.01599385] [ 0.00522795 0.99997626 -0.00448919 0.19009959] [ 0.02493964 0.00435747 0.99967946 1.06886125] [ 0. 0. 0. 1. ]] SLAMing on 155.10255784400002 meters Centerline goodness : 0.148027 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99968172 -0.00533409 -0.02465767 2.01502247] [ 0.00522838 0.99997687 -0.00434969 0.18955851] [ 0.0246803 0.00421938 0.99968649 1.06932602] [ 0. 0. 0. 1. ]] SLAMing on 155.13255784400002 meters Centerline goodness : 0.129320 Centerline is valid? [False, False] Translation: X:2.01, Y:0.19, Z:1.07 [[ 0.99968457 -0.00534118 -0.02454026 2.0145059 ] [ 0.00523725 0.99997705 -0.00429753 0.18948835] [ 0.02456265 0.00416765 0.99968961 1.06960424] [ 0. 0. 0. 1. ]] SLAMing on 155.16255784400002 meters Centerline goodness : 0.129937 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99968049 -0.00547179 -0.02467763 2.01522629] [ 0.00536692 0.99997629 -0.00431396 0.18972684] [ 0.02470065 0.00418014 0.99968615 1.06890088] [ 0. 0. 0. 1. ]] SLAMing on 155.19255784400002 meters Centerline goodness : 0.145553 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99966899 -0.00556218 -0.0251191 2.01702584] [ 0.00545259 0.99997533 -0.00442895 0.19012669] [ 0.02514312 0.00429052 0.99967465 1.06778207] [ 0. 0. 0. 1. ]] SLAMing on 155.222557844 meters Centerline goodness : 0.135460 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:1.07 [[ 0.99955818 -0.00668935 -0.02896042 1.97539304] [ 0.00655262 0.99996695 -0.00481353 0.19208331] [ 0.02899166 0.00462164 0.99956897 1.06639387] [ 0. 0. 0. 1. ]] SLAMing on 155.252557844 meters Centerline goodness : 0.138678 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:1.07 [[ 0.99954979 -0.00684288 -0.02921296 1.97631256] [ 0.00669818 0.99996482 -0.00504852 0.19300696] [ 0.02924648 0.00485058 0.99956046 1.06595416] [ 0. 0. 0. 1. ]] SLAMing on 155.282557844 meters Centerline goodness : 0.152251 Centerline is valid? [False, False] Translation: X:1.93, Y:0.19, Z:1.07 [[ 0.99946196 -0.00730639 -0.03197514 1.92995645] [ 0.0071622 0.99996367 -0.00462162 0.1945896 ] [ 0.03200774 0.00439012 0.99947798 1.06675497] [ 0. 0. 0. 1. ]] SLAMing on 155.312557844 meters Centerline goodness : 0.128320 Centerline is valid? [False, False] Translation: X:1.95, Y:0.19, Z:1.07 [[ 9.99542492e-01 1.50219755e-03 -3.02084555e-02 1.94986654e+00] [-1.66103310e-03 9.99984925e-01 -5.23357639e-03 1.93066081e-01] [ 3.02001382e-02 5.28135923e-03 9.99529919e-01 1.06767680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342557844 meters Centerline goodness : 0.135280 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99455507e-01 5.72253254e-04 -3.29903267e-02 1.90420682e+00] [-7.52011240e-04 9.99984938e-01 -5.43665851e-03 1.95471028e-01] [ 3.29867187e-02 5.45850739e-03 9.99440884e-01 1.06799989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.372557844 meters Centerline goodness : 0.148712 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99456580e-01 4.38565150e-04 -3.29598596e-02 1.90428435e+00] [-6.25406222e-04 9.99983794e-01 -5.65865038e-03 1.96213483e-01] [ 3.29568438e-02 5.67618866e-03 9.99440657e-01 1.06773595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402557844 meters Centerline goodness : 0.150220 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99459514e-01 3.43097966e-04 -3.28719077e-02 1.90408505e+00] [-5.34811060e-04 9.99982900e-01 -5.82351060e-03 1.96862146e-01] [ 3.28693476e-02 5.83794333e-03 9.99442607e-01 1.06764618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.432557844 meters Centerline goodness : 0.140730 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99465278e-01 3.68982985e-04 -3.26958877e-02 1.90342970e+00] [-5.59109538e-04 9.99982988e-01 -5.80604703e-03 1.97309351e-01] [ 3.26931892e-02 5.82122299e-03 9.99448482e-01 1.06784910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462557844 meters Centerline goodness : 0.121476 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99459802e-01 3.87311762e-04 -3.28626699e-02 1.90404861e+00] [-5.75718098e-04 9.99983453e-01 -5.72387281e-03 1.97074014e-01] [ 3.28599092e-02 5.73970042e-03 9.99443486e-01 1.06746346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.492557844 meters Centerline goodness : 0.141568 Centerline is valid? [False, False] Translation: X:1.91, Y:0.20, Z:1.07 [[ 9.99449923e-01 3.83425053e-04 -3.31618057e-02 1.90503553e+00] [-5.70776610e-04 9.99983930e-01 -5.64033663e-03 1.96589395e-01] [ 3.31591102e-02 5.65616199e-03 9.99434080e-01 1.06704893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.522557844 meters Centerline goodness : 0.137969 Centerline is valid? [False, False] Translation: X:1.91, Y:0.20, Z:1.07 [[ 9.99441568e-01 3.62910010e-04 -3.34128858e-02 1.90592888e+00] [-5.52281930e-04 9.99983838e-01 -5.65857658e-03 1.96560592e-01] [ 3.34102922e-02 5.67386998e-03 9.99425615e-01 1.06659983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.552557844 meters Centerline goodness : 0.136165 Centerline is valid? [False, False] Translation: X:1.91, Y:0.20, Z:1.07 [[ 9.99442439e-01 1.95817896e-04 -3.33882024e-02 1.90580601e+00] [-4.01004922e-04 9.99981076e-01 -6.13890934e-03 1.98875771e-01] [ 3.33863684e-02 6.14887536e-03 9.99423605e-01 1.06680120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.582557844 meters Centerline goodness : 0.138455 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99457322e-01 1.18897625e-04 -3.29400496e-02 1.90424046e+00] [-3.33416759e-04 9.99978774e-01 -6.50699446e-03 2.00849126e-01] [ 3.29385768e-02 6.51444602e-03 9.99436147e-01 1.06756558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.612557844 meters Centerline goodness : 0.142078 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99469235e-01 -3.46016100e-06 -3.25768013e-02 1.90293831e+00] [-2.23016897e-04 9.99975834e-01 -6.94846014e-03 2.03088931e-01] [ 3.25760381e-02 6.95203732e-03 9.99445081e-01 1.06820997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.642557844 meters Centerline goodness : 0.111420 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:1.07 [[ 9.99474158e-01 -1.40952286e-04 -3.24251006e-02 1.90238638e+00] [-9.70257990e-05 9.99973075e-01 -7.33762625e-03 2.05007050e-01] [ 3.24252618e-02 7.33691389e-03 9.99447233e-01 1.06852010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.672557844 meters Centerline goodness : 0.133224 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:1.07 [[ 9.99468769e-01 -4.10552646e-04 -3.25885133e-02 1.90331566e+00] [ 1.49138073e-04 9.99967798e-01 -8.02370383e-03 2.08471379e-01] [ 3.25907580e-02 8.01458120e-03 9.99436646e-01 1.06772398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.702557844 meters Centerline goodness : 0.114402 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:1.07 [[ 9.99470318e-01 -5.20580688e-04 -3.25393935e-02 1.90326666e+00] [ 2.51629412e-04 9.99965780e-01 -8.26895390e-03 2.09690792e-01] [ 3.25425847e-02 8.25638612e-03 9.99436247e-01 1.06757271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.732557844 meters Centerline goodness : 0.154399 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:1.07 [[ 9.99401718e-01 -8.90241789e-04 -3.45747654e-02 1.85560160e+00] [ 6.21022795e-04 9.99969414e-01 -7.79653335e-03 2.12127975e-01] [ 3.45806487e-02 7.77039710e-03 9.99371702e-01 1.06821333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.762557844 meters Centerline goodness : 0.107339 Centerline is valid? [False, False] Translation: X:1.88, Y:0.22, Z:1.07 [[ 0.9994071 -0.00900338 -0.03323244 1.87547374] [ 0.0087792 0.99993776 -0.00688558 0.21605743] [ 0.03329236 0.00658974 0.99942393 1.06995574] [ 0. 0. 0. 1. ]] SLAMing on 155.79255784400002 meters Centerline goodness : 0.121371 Centerline is valid? [False, False] Translation: X:1.88, Y:0.22, Z:1.07 [[ 0.999406 -0.00908026 -0.03324447 1.87538315] [ 0.00885546 0.99993696 -0.00690306 0.21604989] [ 0.03330506 0.00660457 0.99942341 1.07005356] [ 0. 0. 0. 1. ]] SLAMing on 155.82255784400002 meters Centerline goodness : 0.149314 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:1.07 [[ 9.99389993e-01 -1.08740401e-03 -3.49064392e-02 1.85623823e+00] [ 8.15735520e-04 9.99969278e-01 -7.79605971e-03 2.12176090e-01] [ 3.49138442e-02 7.76282964e-03 9.99360176e-01 1.06853359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85255784400002 meters Centerline goodness : 0.108747 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:1.07 [[ 9.99353079e-01 -1.63204978e-03 -3.59271344e-02 1.85945610e+00] [ 1.33973343e-03 9.99965818e-01 -8.15893800e-03 2.12793380e-01] [ 3.59392222e-02 8.10552703e-03 9.99321106e-01 1.06725498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88255784400002 meters Centerline goodness : 0.115774 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:1.07 [[ 9.99353581e-01 -1.72697262e-03 -3.59087478e-02 1.85942442e+00] [ 1.43038979e-03 9.99964669e-01 -8.28339786e-03 2.13233602e-01] [ 3.59217844e-02 8.22667981e-03 9.99320743e-01 1.06719299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91255784400002 meters Centerline goodness : 0.134333 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:1.07 [[ 9.99362238e-01 -1.94886806e-03 -3.56555649e-02 1.85869067e+00] [ 1.63829304e-03 9.99960485e-01 -8.73756598e-03 2.15448320e-01] [ 3.56711843e-02 8.67357923e-03 9.99325941e-01 1.06731239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94255784400002 meters Centerline goodness : 0.146577 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:1.07 [[ 9.99358930e-01 -2.09060011e-03 -3.57401390e-02 1.85895011e+00] [ 1.76597729e-03 9.99956925e-01 -9.11202037e-03 2.17374327e-01] [ 3.57576491e-02 9.04306266e-03 9.99319575e-01 1.06728982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.972557844 meters Centerline goodness : 0.138955 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:1.07 [[ 9.99368529e-01 6.00659844e-04 -3.55272003e-02 1.85818383e+00] [-8.33425111e-04 9.99978284e-01 -6.53730171e-03 2.19099717e-01] [ 3.55225021e-02 6.56278286e-03 9.99347328e-01 1.06756219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002557844 meters Centerline goodness : 0.124967 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:1.07 [[ 9.99368576e-01 4.71021012e-04 -3.55278325e-02 1.85815534e+00] [-7.15458502e-04 9.99976161e-01 -6.86776943e-03 2.20589853e-01] [ 3.55237507e-02 6.88885165e-03 9.99345089e-01 1.06768364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.032557844 meters Centerline goodness : 0.127857 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:1.07 [[ 9.99370998e-01 3.40693299e-04 -3.54611323e-02 1.85796942e+00] [-5.96005838e-04 9.99973978e-01 -7.18946350e-03 2.21953530e-01] [ 3.54577601e-02 7.20607636e-03 9.99345195e-01 1.06774820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062557844 meters Centerline goodness : 0.116100 Centerline is valid? [False, False] Translation: X:1.88, Y:0.22, Z:1.07 [[ 0.99939223 -0.00523535 -0.03446388 1.88154552] [ 0.00508039 0.9999766 -0.00458232 0.22490957] [ 0.03448706 0.00440444 0.99939544 1.06716946] [ 0. 0. 0. 1. ]] SLAMing on 156.092557844 meters Centerline goodness : 0.153082 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:1.07 [[ 0.99934672 0.00337444 -0.03598253 1.8604382 ] [-0.00356874 0.99997939 -0.00533703 0.22379155] [ 0.03596378 0.00546196 0.99933817 1.06564846] [ 0. 0. 0. 1. ]] SLAMing on 156.122557844 meters Centerline goodness : 0.106118 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:1.07 [[ 0.99930773 -0.00242556 -0.03712373 1.88450934] [ 0.00232279 0.99999335 -0.00281129 0.22630799] [ 0.0371303 0.00272311 0.99930672 1.06594141] [ 0. 0. 0. 1. ]] SLAMing on 156.152557844 meters Centerline goodness : 0.111742 Centerline is valid? [False, False] Translation: X:1.89, Y:0.23, Z:1.07 [[ 0.99929784 -0.00252328 -0.03738269 1.88541905] [ 0.00241011 0.99999238 -0.003072 0.22759 ] [ 0.03739015 0.00297974 0.9992963 1.06557013] [ 0. 0. 0. 1. ]] SLAMing on 156.182557844 meters Centerline goodness : 0.223111 Centerline is valid? [False, False] Translation: X:1.89, Y:0.23, Z:1.07 [[ 0.99929239 -0.0026215 -0.0375214 1.88581742] [ 0.00249793 0.9999913 -0.00333994 0.22889347] [ 0.03752983 0.00324385 0.99929024 1.06553161] [ 0. 0. 0. 1. ]] SLAMing on 156.212557844 meters Centerline goodness : 0.137486 Centerline is valid? [False, False] Translation: X:1.89, Y:0.23, Z:1.07 [[ 0.99929799 -0.00274228 -0.03736312 1.88501215] [ 0.0026001 0.9999892 -0.00385342 0.23163448] [ 0.03737329 0.00375357 0.99929433 1.06624926] [ 0. 0. 0. 1. ]] SLAMing on 156.242557844 meters Centerline goodness : 0.131942 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:1.07 [[ 0.9993021 -0.00279912 -0.03724887 1.88452177] [ 0.00264966 0.99998824 -0.00406139 0.23269913] [ 0.0372598 0.00395986 0.99929777 1.06660869] [ 0. 0. 0. 1. ]] SLAMing on 156.272557844 meters Centerline goodness : 0.206630 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:1.07 [[ 0.99930189 -0.00287706 -0.03724856 1.88442124] [ 0.00271947 0.99998714 -0.00428074 0.23371344] [ 0.0372604 0.00417646 0.99929686 1.06680563] [ 0. 0. 0. 1. ]] SLAMing on 156.302557844 meters Centerline goodness : 0.112769 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:1.07 [[ 0.99929783 -0.0029266 -0.03735358 1.88463782] [ 0.00276103 0.99998614 -0.00448337 0.23470338] [ 0.03736619 0.00437709 0.99929205 1.06693248] [ 0. 0. 0. 1. ]] SLAMing on 156.332557844 meters Centerline goodness : 0.100924 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:1.07 [[ 9.99279658e-01 1.03365591e-03 -3.79354323e-02 1.88637757e+00] [-1.06159304e-03 9.99999180e-01 -7.16303051e-04 2.35147705e-01] [ 3.79346608e-02 7.56059058e-04 9.99279936e-01 1.06640537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.362557844 meters Centerline goodness : 0.201160 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:1.07 [[ 9.99272696e-01 9.91658361e-04 -3.81194910e-02 1.88715847e+00] [-1.02760048e-03 9.99999046e-01 -9.23298922e-04 2.36325005e-01] [ 3.81185390e-02 9.61799010e-04 9.99272762e-01 1.06591051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.392557844 meters Centerline goodness : 0.205032 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:1.07 [[ 9.99269150e-01 9.14679190e-04 -3.82142635e-02 1.88748038e+00] [-9.58108036e-04 9.99998916e-01 -1.11815852e-03 2.37183421e-01] [ 3.82131993e-02 1.15395471e-03 9.99268943e-01 1.06579025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.422557844 meters Centerline goodness : 0.206937 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:1.07 [[ 9.99272671e-01 9.06947748e-04 -3.81222621e-02 1.88708569e+00] [-9.51082855e-04 9.99998898e-01 -1.13960592e-03 2.37215320e-01] [ 3.81211866e-02 1.17503449e-03 9.99272433e-01 1.06606007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.452557844 meters Centerline goodness : 0.104751 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:1.07 [[ 9.99275099e-01 9.01429597e-04 -3.80587014e-02 1.88651839e+00] [-9.46708425e-04 9.99998865e-01 -1.17170525e-03 2.37456872e-01] [ 3.80576020e-02 1.20688637e-03 9.99274818e-01 1.06668075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.482557844 meters Centerline goodness : 0.113770 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:1.07 [[ 9.99174560e-01 1.18376515e-03 -4.06053963e-02 1.83959649e+00] [-1.20297781e-03 9.99999176e-01 -4.48724824e-04 2.38935087e-01] [ 4.06048316e-02 4.97201820e-04 9.99175160e-01 1.06744827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.512557844 meters Centerline goodness : 0.266170 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:1.07 [[ 9.99165946e-01 1.15184466e-03 -4.08177222e-02 1.84023095e+00] [-1.17640700e-03 9.99999141e-01 -5.77742638e-04 2.39578814e-01] [ 4.08170217e-02 6.25279023e-04 9.99166442e-01 1.06731202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54255784400002 meters Centerline goodness : 0.148472 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:1.07 [[ 9.99165822e-01 1.13577565e-03 -4.08211907e-02 1.84038103e+00] [-1.15861958e-03 9.99999185e-01 -5.35955951e-04 2.39057734e-01] [ 4.08205487e-02 5.82805100e-04 9.99166324e-01 1.06704152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57255784400002 meters Centerline goodness : 0.100293 Centerline is valid? [False, False] Translation: X:1.86, Y:0.24, Z:1.07 [[ 9.99183270e-01 -6.94301606e-03 -3.98068715e-02 1.86053355e+00] [ 6.96024560e-03 9.99975734e-01 2.94255286e-04 2.41694674e-01] [ 3.98038625e-02 -5.71080561e-04 9.99207349e-01 1.06820833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60255784400002 meters Centerline goodness : 0.209564 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:1.07 [[ 9.99255990e-01 8.07485936e-04 -3.85592374e-02 1.84034188e+00] [-8.26289882e-04 9.99999547e-01 -4.71729857e-04 2.36547625e-01] [ 3.85588390e-02 5.03239993e-04 9.99256205e-01 1.06570580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63255784400002 meters Centerline goodness : 0.209650 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99262942e-01 9.17079680e-04 -3.83761845e-02 1.83983318e+00] [-9.19956253e-04 9.99999575e-01 -5.72986025e-05 2.34474356e-01] [ 3.83761157e-02 9.25607810e-05 9.99263361e-01 1.06570333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66255784400002 meters Centerline goodness : 0.313843 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99259665e-01 9.57514102e-04 -3.84604350e-02 1.84000397e+00] [-9.52652809e-04 9.99999536e-01 1.44723542e-04 2.33307344e-01] [ 3.84605558e-02 -1.07976956e-04 9.99260113e-01 1.06571857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69255784400002 meters Centerline goodness : 0.211500 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99259613e-01 9.88099791e-04 -3.84610237e-02 1.83980890e+00] [-9.77637355e-04 9.99999480e-01 2.90833449e-04 2.32521143e-01] [ 3.84612911e-02 -2.53017186e-04 9.99260059e-01 1.06602198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722557844 meters Centerline goodness : 0.120585 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99268884e-01 1.09681043e-03 -3.82164285e-02 1.83854850e+00] [-1.08105793e-03 9.99999322e-01 4.32854163e-04 2.32326477e-01] [ 3.82168774e-02 -3.91223523e-04 9.99269392e-01 1.06693458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.752557844 meters Centerline goodness : 0.119720 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99270866e-01 1.13178139e-03 -3.81635316e-02 1.83842568e+00] [-1.11365159e-03 9.99999257e-01 4.96310675e-04 2.32131849e-01] [ 3.81640650e-02 -4.53447920e-04 9.99271384e-01 1.06690853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782557844 meters Centerline goodness : 0.206740 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99271612e-01 1.15202959e-03 -3.81433989e-02 1.83849155e+00] [-1.12982654e-03 9.99999180e-01 6.03644620e-04 2.31474597e-01] [ 3.81440631e-02 -5.60109508e-04 9.99272093e-01 1.06668424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.812557844 meters Centerline goodness : 0.102909 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99272239e-01 1.18833322e-03 -3.81258398e-02 1.83851570e+00] [-1.15998799e-03 9.99999034e-01 7.65577266e-04 2.30525730e-01] [ 3.81267128e-02 -7.20794592e-04 9.99272653e-01 1.06653329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842557844 meters Centerline goodness : 0.095395 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99273175e-01 1.24803540e-03 -3.80994013e-02 1.83829812e+00] [-1.21319674e-03 9.99998825e-01 9.37520633e-04 2.29702850e-01] [ 3.81005265e-02 -8.90617150e-04 9.99273514e-01 1.06671185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.872557844 meters Centerline goodness : 0.092014 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99277510e-01 1.29498841e-03 -3.79839698e-02 1.83744211e+00] [-1.24913423e-03 9.99998462e-01 1.23090551e-03 2.28193587e-01] [ 3.79855054e-02 -1.18256911e-03 9.99277591e-01 1.06751397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902557844 meters Centerline goodness : 0.161199 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99280208e-01 1.35225401e-03 -3.79109049e-02 1.83698057e+00] [-1.29876396e-03 9.99998126e-01 1.43553287e-03 2.27155111e-01] [ 3.79127751e-02 -1.38526227e-03 9.99280092e-01 1.06789533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.932557844 meters Centerline goodness : 0.086740 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99280642e-01 1.34540871e-03 -3.78997268e-02 1.83684609e+00] [-1.28819570e-03 9.99997994e-01 1.53396863e-03 2.26481659e-01] [ 3.79017146e-02 -1.48404289e-03 9.99280370e-01 1.06802622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962557844 meters Centerline goodness : 0.086740 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99280642e-01 1.34540871e-03 -3.78997268e-02 1.83684609e+00] [-1.28819570e-03 9.99997994e-01 1.53396863e-03 2.26481659e-01] [ 3.79017146e-02 -1.48404289e-03 9.99280370e-01 1.06802622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.992557844 meters Centerline goodness : 0.205639 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99276687e-01 1.35846295e-03 -3.80033893e-02 1.83719152e+00] [-1.29656439e-03 9.99997793e-01 1.65336267e-03 2.25850899e-01] [ 3.80055515e-02 -1.60289293e-03 9.99276242e-01 1.06785365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.022557844 meters Centerline goodness : 0.146123 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99255037e-01 1.23647473e-03 -3.85725653e-02 1.83911763e+00] [-1.17100176e-03 9.99997835e-01 1.71994382e-03 2.25393663e-01] [ 3.85746085e-02 -1.67349399e-03 9.99254321e-01 1.06695437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.052557844 meters Centerline goodness : 0.116994 Centerline is valid? [False, False] Translation: X:1.84, Y:0.22, Z:1.07 [[ 9.99250800e-01 1.24940555e-03 -3.86817511e-02 1.83955421e+00] [-1.17921323e-03 9.99997617e-01 1.83737312e-03 2.24766347e-01] [ 3.86839545e-02 -1.79038253e-03 9.99249892e-01 1.06662941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.082557844 meters Centerline goodness : 0.170005 Centerline is valid? [False, False] Translation: X:1.84, Y:0.22, Z:1.07 [[ 9.99252994e-01 1.24326546e-03 -3.86252257e-02 1.83940866e+00] [-1.17005973e-03 9.99997476e-01 1.91783066e-03 2.24247014e-01] [ 3.86275126e-02 -1.87120421e-03 9.99251927e-01 1.06661617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.112557844 meters Centerline goodness : 0.139075 Centerline is valid? [False, False] Translation: X:1.84, Y:0.22, Z:1.07 [[ 9.99255846e-01 1.24579457e-03 -3.85512999e-02 1.83913734e+00] [-1.17137871e-03 9.99997407e-01 1.95283465e-03 2.23941332e-01] [ 3.85536327e-02 -1.90622327e-03 9.99254714e-01 1.06675150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.142557844 meters Centerline goodness : 0.130925 Centerline is valid? [False, False] Translation: X:1.84, Y:0.22, Z:1.07 [[ 9.99255424e-01 1.18817622e-03 -3.85640539e-02 1.83933049e+00] [-1.11855483e-03 9.99997706e-01 1.82686994e-03 2.24484439e-01] [ 3.85661360e-02 -1.78237369e-03 9.99254460e-01 1.06649616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.172557844 meters Centerline goodness : 0.100147 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99246772e-01 1.16591257e-03 -3.87882508e-02 1.84022205e+00] [-1.10046813e-03 9.99997935e-01 1.70853101e-03 2.25250560e-01] [ 3.87901627e-02 -1.66455886e-03 9.99245992e-01 1.06594663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.202557844 meters Centerline goodness : 0.099820 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99234003e-01 1.13662460e-03 -3.91166885e-02 1.84135034e+00] [-1.07581203e-03 9.99998180e-01 1.57565917e-03 2.26110115e-01] [ 3.91184083e-02 -1.53237002e-03 9.99233407e-01 1.06548133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.232557844 meters Centerline goodness : 0.107115 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99234185e-01 1.05605174e-03 -3.91143033e-02 1.84146564e+00] [-1.00257408e-03 9.99998536e-01 1.38680487e-03 2.26938824e-01] [ 3.91157106e-02 -1.34652784e-03 9.99233780e-01 1.06530508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.262557844 meters Centerline goodness : 0.128630 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99237589e-01 9.72645437e-04 -3.90294182e-02 1.84114932e+00] [-9.25753887e-04 9.99998828e-01 1.21949589e-03 2.27527439e-01] [ 3.90305586e-02 -1.18243450e-03 9.99237318e-01 1.06551340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29255784400002 meters Centerline goodness : 0.097687 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99238614e-01 7.94735144e-04 -3.90071776e-02 1.84103808e+00] [-7.63070810e-04 9.99999367e-01 8.26638190e-04 2.29192096e-01] [ 3.90078099e-02 -7.96243561e-04 9.99238589e-01 1.06562838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32255784400002 meters Centerline goodness : 0.111226 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99233014e-01 7.52181407e-04 -3.91512116e-02 1.84153708e+00] [-7.26947848e-04 9.99999519e-01 6.58747329e-04 2.30193268e-01] [ 3.91516883e-02 -6.29781191e-04 9.99233080e-01 1.06540348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35255784400002 meters Centerline goodness : 0.096009 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99225334e-01 6.80203658e-04 -3.93480447e-02 1.84213728e+00] [-6.62609502e-04 9.99999675e-01 4.60181346e-04 2.31251710e-01] [ 3.93483449e-02 -4.33752471e-04 9.99225460e-01 1.06524518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38255784400002 meters Centerline goodness : 0.100651 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99224225e-01 5.95974440e-04 -3.93775635e-02 1.84214498e+00] [-5.86006911e-04 9.99999793e-01 2.64668877e-04 2.32118337e-01] [ 3.93777131e-02 -2.41388029e-04 9.99224368e-01 1.06536951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41255784400002 meters Centerline goodness : 0.124472 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99225383e-01 4.20518583e-04 -3.93504377e-02 1.84168811e+00] [-4.19013256e-04 9.99999911e-01 4.65017529e-05 2.32843325e-01] [ 3.93504538e-02 -2.99773769e-05 9.99225470e-01 1.06593259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44255784400002 meters Centerline goodness : 0.180329 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99222876e-01 4.29088948e-04 -3.94139583e-02 1.84199593e+00] [-4.25685382e-04 9.99999905e-01 9.47465176e-05 2.32755370e-01] [ 3.94139952e-02 -7.78949419e-05 9.99222964e-01 1.06565400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.472557844 meters Centerline goodness : 0.108104 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:1.06 [[ 9.99110165e-01 1.00737812e-04 -4.21766182e-02 1.79784547e+00] [-9.01961586e-05 9.99999964e-01 2.51843550e-04 2.34939879e-01] [ 4.21766421e-02 -2.47815282e-04 9.99110139e-01 1.06467720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502557844 meters Centerline goodness : 0.131300 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:1.06 [[ 9.99102800e-01 7.50302961e-05 -4.23507967e-02 1.79858120e+00] [-6.15554135e-05 9.99999947e-01 3.19477016e-04 2.34408968e-01] [ 4.23508184e-02 -3.16583460e-04 9.99102751e-01 1.06415841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.532557844 meters Centerline goodness : 0.134541 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:1.06 [[ 9.99099213e-01 4.05893030e-05 -4.24353780e-02 1.79882611e+00] [-2.64310735e-05 9.99999944e-01 3.34203128e-04 2.34097260e-01] [ 4.24353892e-02 -3.32780469e-04 9.99099158e-01 1.06409459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562557844 meters Centerline goodness : 0.107835 Centerline is valid? [False, False] Translation: X:1.80, Y:0.24, Z:1.06 [[ 9.99116353e-01 3.15408682e-05 -4.20298990e-02 1.79737095e+00] [-3.03579898e-05 9.99999999e-01 2.87819902e-05 2.36055591e-01] [ 4.20298999e-02 -2.74806138e-05 9.99116353e-01 1.06484471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.592557844 meters Centerline goodness : 0.122308 Centerline is valid? [False, False] Translation: X:1.80, Y:0.24, Z:1.07 [[ 9.99129316e-01 -3.51428722e-05 -4.17206044e-02 1.79637036e+00] [ 2.01534001e-05 9.99999935e-01 -3.59702771e-04 2.38204884e-01] [ 4.17206144e-02 3.58548772e-04 9.99129252e-01 1.06529948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622557844 meters Centerline goodness : 0.163820 Centerline is valid? [False, False] Translation: X:1.82, Y:0.24, Z:1.07 [[ 9.99166201e-01 8.30637926e-03 -3.99738394e-02 1.81614122e+00] [-8.38362324e-03 9.99963299e-01 -1.76511856e-03 2.36653046e-01] [ 3.99577106e-02 2.09877241e-03 9.99199168e-01 1.06655954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.652557844 meters Centerline goodness : 0.159608 Centerline is valid? [False, False] Translation: X:1.82, Y:0.24, Z:1.07 [[ 0.99917153 0.00803652 -0.03989582 1.81576886] [-0.00814188 0.99996378 -0.00247919 0.23996528] [ 0.03987445 0.00280196 0.99920077 1.06696132] [ 0. 0. 0. 1. ]] SLAMing on 157.682557844 meters Centerline goodness : 0.182091 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:1.06 [[ 9.99309294e-01 3.16751966e-03 -3.70256960e-02 1.79565489e+00] [-3.18793702e-03 9.99994797e-01 -4.92412312e-04 2.52019928e-01] [ 3.70239436e-02 6.10107786e-04 9.99314193e-01 1.06475887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.712557844 meters Centerline goodness : 0.161333 Centerline is valid? [False, False] Translation: X:1.81, Y:0.26, Z:1.07 [[ 9.99322174e-01 -4.41291397e-03 -3.65474954e-02 1.81489471e+00] [ 4.43729519e-03 9.99989983e-01 5.86023743e-04 2.59158781e-01] [ 3.65445432e-02 -7.47798546e-04 9.99331745e-01 1.06713138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.742557844 meters Centerline goodness : 0.145475 Centerline is valid? [False, False] Translation: X:1.81, Y:0.26, Z:1.07 [[ 9.99326333e-01 -4.65233210e-03 -3.64037943e-02 1.81442364e+00] [ 4.65702851e-03 9.99989155e-01 4.42146284e-05 2.61711940e-01] [ 3.64031938e-02 -2.13718350e-04 9.99337161e-01 1.06728874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.772557844 meters Centerline goodness : 0.176207 Centerline is valid? [False, False] Translation: X:1.81, Y:0.27, Z:1.07 [[ 9.99332413e-01 -5.05837162e-03 -3.61820574e-02 1.81388522e+00] [ 5.03292741e-03 9.99987019e-01 -7.94274095e-04 2.65570258e-01] [ 3.61856055e-02 6.11642179e-04 9.99344899e-01 1.06721753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.802557844 meters Centerline goodness : 0.178236 Centerline is valid? [False, False] Translation: X:1.81, Y:0.27, Z:1.07 [[ 9.99331019e-01 -5.19254709e-03 -3.62015595e-02 1.81396214e+00] [ 5.15939837e-03 9.99986181e-01 -1.00903113e-03 2.66524274e-01] [ 3.62062986e-02 8.21577841e-04 9.99343999e-01 1.06711853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.832557844 meters Centerline goodness : 0.180777 Centerline is valid? [False, False] Translation: X:1.81, Y:0.27, Z:1.07 [[ 9.99318473e-01 -5.35669338e-03 -3.65225292e-02 1.81497787e+00] [ 5.31858591e-03 9.99985206e-01 -1.14047353e-03 2.66949256e-01] [ 3.65280980e-02 9.45448054e-04 9.99332179e-01 1.06671307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.862557844 meters Centerline goodness : 0.107024 Centerline is valid? [False, False] Translation: X:1.82, Y:0.27, Z:1.07 [[ 9.99298653e-01 -5.50542226e-03 -3.70390675e-02 1.81666757e+00] [ 5.46319925e-03 9.99984306e-01 -1.24107369e-03 2.67227520e-01] [ 3.70453189e-02 1.03785146e-03 9.99313048e-01 1.06600441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.892557844 meters Centerline goodness : 0.110949 Centerline is valid? [False, False] Translation: X:1.82, Y:0.27, Z:1.06 [[ 9.99255188e-01 -5.94093747e-03 -3.81283893e-02 1.82007038e+00] [ 5.88840138e-03 9.99981553e-01 -1.49002479e-03 2.67574002e-01] [ 3.81365381e-02 1.26439974e-03 9.99271738e-01 1.06480499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.922557844 meters Centerline goodness : 0.159084 Centerline is valid? [False, False] Translation: X:1.82, Y:0.27, Z:1.06 [[ 9.99258603e-01 -5.99746098e-03 -3.80299186e-02 1.81973275e+00] [ 5.94349925e-03 9.99981164e-01 -1.53182700e-03 2.67629389e-01] [ 3.80383893e-02 1.30466051e-03 9.99275427e-01 1.06492310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.952557844 meters Centerline goodness : 0.178641 Centerline is valid? [False, False] Translation: X:1.82, Y:0.27, Z:1.07 [[ 9.99262512e-01 -6.02925832e-03 -3.79220250e-02 1.81916764e+00] [ 5.97232977e-03 9.99980862e-01 -1.61430420e-03 2.68029053e-01] [ 3.79310324e-02 1.38663083e-03 9.99279397e-01 1.06541934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.982557844 meters Centerline goodness : 0.178347 Centerline is valid? [False, False] Translation: X:1.82, Y:0.27, Z:1.07 [[ 9.99265147e-01 -6.06248718e-03 -3.78472335e-02 1.81898235e+00] [ 6.00098432e-03 9.99980483e-01 -1.73841983e-03 2.68731500e-01] [ 3.78570340e-02 1.51002169e-03 9.99282025e-01 1.06542386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.012557844 meters Centerline goodness : 0.131872 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 0.9992898 0.00212054 -0.03762187 1.83894717] [-0.00224425 0.99999221 -0.0032462 0.26604203] [ 0.03761469 0.00332833 0.99928677 1.06735772] [ 0. 0. 0. 1. ]] SLAMing on 158.04255784400002 meters Centerline goodness : 0.190404 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 0.99928575 0.00198023 -0.03773687 1.83910673] [-0.0021203 0.99999101 -0.00367212 0.26811657] [ 0.03772926 0.00374951 0.99928096 1.0676531 ] [ 0. 0. 0. 1. ]] SLAMing on 158.07255784400002 meters Centerline goodness : 0.099075 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 0.99928274 0.00186337 -0.03782245 1.8392588 ] [-0.00202058 0.99998948 -0.00411874 0.27047416] [ 0.03781438 0.00419221 0.99927599 1.06786002] [ 0. 0. 0. 1. ]] SLAMing on 158.10255784400002 meters Centerline goodness : 0.101633 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 9.99279730e-01 1.78526746e-03 -3.79055902e-02 1.83951728e+00] [-1.95957619e-03 9.99987675e-01 -4.56184202e-03 2.72990677e-01] [ 3.78969789e-02 4.63283516e-03 9.99270912e-01 1.06787741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13255784400002 meters Centerline goodness : 0.140334 Centerline is valid? [False, False] Translation: X:1.84, Y:0.28, Z:1.07 [[ 9.99268429e-01 1.62684206e-03 -3.82094327e-02 1.84043179e+00] [-1.82635917e-03 9.99984878e-01 -5.18734723e-03 2.76207369e-01] [ 3.82004159e-02 5.25333646e-03 9.99256289e-01 1.06771030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16255784400002 meters Centerline goodness : 0.175220 Centerline is valid? [False, False] Translation: X:1.84, Y:0.28, Z:1.07 [[ 9.99267123e-01 1.53391389e-03 -3.82474071e-02 1.84054353e+00] [-1.73803602e-03 9.99984422e-01 -5.30420927e-03 2.76505920e-01] [ 3.82386751e-02 5.36679731e-03 9.99254223e-01 1.06766476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19255784400002 meters Centerline goodness : 0.102387 Centerline is valid? [False, False] Translation: X:1.82, Y:0.28, Z:1.07 [[ 0.99922718 -0.00723233 -0.03863584 1.81933721] [ 0.00705874 0.99996438 -0.00462759 0.28182088] [ 0.03866793 0.00435129 0.99924264 1.06669707] [ 0. 0. 0. 1. ]] SLAMing on 158.222557844 meters Centerline goodness : 0.099366 Centerline is valid? [False, False] Translation: X:1.84, Y:0.28, Z:1.07 [[ 9.99306275e-01 3.46277978e-04 -3.72404239e-02 1.83648480e+00] [-5.66297866e-04 9.99982448e-01 -5.89770705e-03 2.75695475e-01] [ 3.72377280e-02 5.91470483e-03 9.99288931e-01 1.06874399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.252557844 meters Centerline goodness : 0.172990 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 9.99312888e-01 3.33268710e-04 -3.70626550e-02 1.83579140e+00] [-5.44609707e-04 9.99983650e-01 -5.69231314e-03 2.74468066e-01] [ 3.70601520e-02 5.70858657e-03 9.99296731e-01 1.06904998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282557844 meters Centerline goodness : 0.104776 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 9.99306486e-01 3.59880619e-04 -3.72346178e-02 1.83632084e+00] [-5.61657708e-04 9.99985215e-01 -5.40875412e-03 2.72974479e-01] [ 3.72321208e-02 5.42591618e-03 9.99291914e-01 1.06880003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.312557844 meters Centerline goodness : 0.103099 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 9.99273623e-01 2.85561974e-04 -3.81070207e-02 1.83934936e+00] [-4.81623411e-04 9.99986695e-01 -5.13594064e-03 2.71477838e-01] [ 3.81050470e-02 5.15056324e-03 9.99260465e-01 1.06726207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342557844 meters Centerline goodness : 0.099820 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 9.99267894e-01 2.77314477e-04 -3.82570264e-02 1.83992701e+00] [-4.74007766e-04 9.99986717e-01 -5.13238919e-03 2.71586408e-01] [ 3.82550949e-02 5.14676586e-03 9.99254752e-01 1.06688043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.372557844 meters Centerline goodness : 0.102765 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 9.99266408e-01 2.71664859e-04 -3.82958407e-02 1.83997179e+00] [-4.69901569e-04 9.99986538e-01 -5.16754949e-03 2.71819051e-01] [ 3.82939213e-02 5.18175390e-03 9.99253084e-01 1.06699477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402557844 meters Centerline goodness : 0.171204 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 0.99927711 -0.00793432 -0.0371793 1.86025204] [ 0.00777896 0.99996041 -0.00432142 0.27477192] [ 0.03721212 0.00402908 0.99929927 1.06870672] [ 0. 0. 0. 1. ]] SLAMing on 158.432557844 meters Centerline goodness : 0.116593 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 0.9992863 -0.00811424 -0.0368925 1.85899912] [ 0.00793959 0.99995658 -0.00487793 0.27740152] [ 0.03693048 0.00458153 0.99930733 1.06965406] [ 0. 0. 0. 1. ]] SLAMing on 158.462557844 meters Centerline goodness : 0.118210 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99332693e-01 -4.62600606e-03 -3.62321486e-02 1.85697852e+00] [ 4.57633595e-03 9.99988472e-01 -1.45369810e-03 2.77844470e-01] [ 3.62384557e-02 1.28691756e-03 9.99342343e-01 1.06996738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.492557844 meters Centerline goodness : 0.101661 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99337990e-01 -4.76011138e-03 -3.60683222e-02 1.85661098e+00] [ 4.69459298e-03 9.99987173e-01 -1.90098158e-03 2.80234757e-01] [ 3.60769084e-02 1.73039701e-03 9.99347518e-01 1.06994231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.522557844 meters Centerline goodness : 0.105318 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 0.99934185 -0.0049475 -0.03593592 1.85622394] [ 0.00486359 0.99998524 -0.00242208 0.28271212] [ 0.03594737 0.00224571 0.99935116 1.07011648] [ 0. 0. 0. 1. ]] SLAMing on 158.552557844 meters Centerline goodness : 0.099612 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99933298 -0.00528687 -0.03613361 1.85679243] [ 0.0051699 0.99998109 -0.00332982 0.28701879] [ 0.03615054 0.0031408 0.99934142 1.07007717] [ 0. 0. 0. 1. ]] SLAMing on 158.582557844 meters Centerline goodness : 0.126985 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99933071 -0.00541183 -0.03617796 1.85693496] [ 0.00528385 0.99997944 -0.00363203 0.28852012] [ 0.03619687 0.00343844 0.99933876 1.07001204] [ 0. 0. 0. 1. ]] SLAMing on 158.612557844 meters Centerline goodness : 0.124739 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99932931 -0.00548277 -0.03620599 1.85699224] [ 0.00535027 0.99997864 -0.0037554 0.28913479] [ 0.0362258 0.00355917 0.99933729 1.07001026] [ 0. 0. 0. 1. ]] SLAMing on 158.642557844 meters Centerline goodness : 0.104210 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99933412 -0.00552891 -0.03606594 1.85665139] [ 0.00539564 0.99997826 -0.00379137 0.28924282] [ 0.03608612 0.00359424 0.99934222 1.06996219] [ 0. 0. 0. 1. ]] SLAMing on 158.672557844 meters Centerline goodness : 0.115224 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99932475 -0.00582917 -0.03627765 1.85733159] [ 0.00569448 0.99997651 -0.00381506 0.28875361] [ 0.03629904 0.0036059 0.99933447 1.06957322] [ 0. 0. 0. 1. ]] SLAMing on 158.702557844 meters Centerline goodness : 0.103956 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99932135 -0.00581973 -0.03637258 1.85772287] [ 0.00568574 0.99997667 -0.00378607 0.28875646] [ 0.03639377 0.0035767 0.99933113 1.06932115] [ 0. 0. 0. 1. ]] SLAMing on 158.732557844 meters Centerline goodness : 0.102713 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99932325 -0.00585846 -0.03631424 1.85736179] [ 0.00572099 0.99997607 -0.00388841 0.28932424] [ 0.03633615 0.00367803 0.99933286 1.069679 ] [ 0. 0. 0. 1. ]] SLAMing on 158.762557844 meters Centerline goodness : 0.100043 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.9993294 -0.00594676 -0.03613022 1.85643154] [ 0.00580176 0.99997469 -0.00411695 0.29032357] [ 0.03615379 0.00390457 0.99933861 1.07051549] [ 0. 0. 0. 1. ]] SLAMing on 158.79255784400002 meters Centerline goodness : 0.109338 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99933612 -0.00606339 -0.03592425 1.85541382] [ 0.00590948 0.99997291 -0.00438875 0.29141565] [ 0.03594989 0.00417354 0.99934488 1.07134875] [ 0. 0. 0. 1. ]] SLAMing on 158.82255784400002 meters Centerline goodness : 0.106080 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.9993365 -0.00617087 -0.03589537 1.85523411] [ 0.0060063 0.99997096 -0.00469072 0.29282123] [ 0.03592327 0.00447201 0.99934455 1.07158284] [ 0. 0. 0. 1. ]] SLAMing on 158.85255784400002 meters Centerline goodness : 0.109896 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99347752e-01 -2.53135108e-03 -3.60230998e-02 1.85572459e+00] [ 2.49716484e-03 9.99996388e-01 -9.93969584e-04 2.92314345e-01] [ 3.60254857e-02 9.03365650e-04 9.99350463e-01 1.07121215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88255784400002 meters Centerline goodness : 0.109896 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99347752e-01 -2.53135108e-03 -3.60230998e-02 1.85572459e+00] [ 2.49716484e-03 9.99996388e-01 -9.93969584e-04 2.92314345e-01] [ 3.60254857e-02 9.03365650e-04 9.99350463e-01 1.07121215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91255784400002 meters Centerline goodness : 0.097232 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99342478e-01 -2.58278256e-03 -3.61654575e-02 1.85647212e+00] [ 2.53903280e-03 9.99995988e-01 -1.25558683e-03 2.93985331e-01] [ 3.61685553e-02 1.16293597e-03 9.99345027e-01 1.07065328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94255784400002 meters Centerline goodness : 0.096563 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99339045e-01 -2.60454372e-03 -3.62586364e-02 1.85668264e+00] [ 2.56076834e-03 9.99995935e-01 -1.25369699e-03 2.93844466e-01] [ 3.62617544e-02 1.16001839e-03 9.99341653e-01 1.07068447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.972557844 meters Centerline goodness : 0.105702 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99334688e-01 -2.56345179e-03 -3.63814543e-02 1.85698841e+00] [ 2.52564115e-03 9.99996222e-01 -1.08520380e-03 2.92895117e-01] [ 3.63840987e-02 9.92595305e-04 9.99337387e-01 1.07064553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002557844 meters Centerline goodness : 0.105970 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99296657e-01 -2.78962027e-03 -3.73953125e-02 1.85991881e+00] [ 2.76623110e-03 9.99995945e-01 -6.77182938e-04 2.89768448e-01] [ 3.73970499e-02 5.73262570e-04 9.99300321e-01 1.06977640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.032557844 meters Centerline goodness : 0.172546 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99293317e-01 -2.62749649e-03 -3.74961662e-02 1.86040163e+00] [ 2.62689148e-03 9.99996548e-01 -6.54019061e-05 2.86708226e-01] [ 3.74962086e-02 -3.31426716e-05 9.99296769e-01 1.06926995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062557844 meters Centerline goodness : 0.171810 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99294455e-01 -2.46791636e-03 -3.74766768e-02 1.86036238e+00] [ 2.49054610e-03 9.99996743e-01 5.57162218e-04 2.83547989e-01] [ 3.74751798e-02 -6.50106506e-04 9.99297347e-01 1.06909762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.092557844 meters Centerline goodness : 0.168283 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99300005e-01 -2.25164039e-03 -3.73420704e-02 1.85974699e+00] [ 2.29811508e-03 9.99996637e-01 1.20169004e-03 2.80379015e-01] [ 3.73392391e-02 -1.28666524e-03 9.99301819e-01 1.06941419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122557844 meters Centerline goodness : 0.172564 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99308139e-01 -2.01355054e-03 -3.71374378e-02 1.85892198e+00] [ 2.08104691e-03 9.99996252e-01 1.77890913e-03 2.77695253e-01] [ 3.71337167e-02 -1.85496312e-03 9.99308584e-01 1.06986178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.152557844 meters Centerline goodness : 0.099547 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99316876e-01 -1.72334843e-03 -3.69162846e-02 1.85795607e+00] [ 1.81388551e-03 9.99995429e-01 2.41914505e-03 2.74594182e-01] [ 3.69119469e-02 -2.48445439e-03 9.99315434e-01 1.07053706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182557844 meters Centerline goodness : 0.106390 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99311570e-01 -1.62665771e-03 -3.70640092e-02 1.85843254e+00] [ 1.72079986e-03 9.99995374e-01 2.50822905e-03 2.74261934e-01] [ 3.70597577e-02 -2.57028205e-03 9.99309746e-01 1.07043995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.212557844 meters Centerline goodness : 0.104711 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99302359e-01 -1.50043736e-03 -3.73168074e-02 1.85908399e+00] [ 1.59301149e-03 9.99995727e-01 2.45115282e-03 2.74853296e-01] [ 3.73129701e-02 -2.50888889e-03 9.99300479e-01 1.07048869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.242557844 meters Centerline goodness : 0.105761 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99292352e-01 -1.37888208e-03 -3.75884938e-02 1.85976744e+00] [ 1.46657966e-03 9.99996267e-01 2.30562327e-03 2.76033371e-01] [ 3.75851743e-02 -2.35911822e-03 9.99290643e-01 1.07059260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.272557844 meters Centerline goodness : 0.125107 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99279017e-01 -5.96339020e-04 -3.79616905e-02 1.86073894e+00] [ 6.89074569e-04 9.99996811e-01 2.42983490e-03 2.77877443e-01] [ 3.79601204e-02 -2.45424147e-03 9.99276241e-01 1.07065534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.302557844 meters Centerline goodness : 0.107444 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99282829e-01 -6.38586970e-04 -3.78605354e-02 1.86035012e+00] [ 7.19524634e-04 9.99997485e-01 2.12419731e-03 2.79514863e-01] [ 3.78590837e-02 -2.14991549e-03 9.99280775e-01 1.07092420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.332557844 meters Centerline goodness : 0.108109 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99292310e-01 -6.92783655e-04 -3.76084998e-02 1.85949578e+00] [ 7.66009284e-04 9.99997839e-01 1.93267558e-03 2.80511443e-01] [ 3.76070796e-02 -1.96011630e-03 9.99290681e-01 1.07129175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.362557844 meters Centerline goodness : 0.104895 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99304364e-01 -7.40403786e-04 -3.72859310e-02 1.85848916e+00] [ 8.10254454e-04 9.99997945e-01 1.85830274e-03 2.80766578e-01] [ 3.72844785e-02 -1.88722113e-03 9.99302910e-01 1.07158850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.392557844 meters Centerline goodness : 0.177804 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99314742e-01 -7.66840592e-04 -3.70062034e-02 1.85754838e+00] [ 8.43904202e-04 9.99997508e-01 2.06687587e-03 2.79412460e-01] [ 3.70045262e-02 -2.09668922e-03 9.99312898e-01 1.07187599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.422557844 meters Centerline goodness : 0.180496 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99321243e-01 -8.07606945e-04 -3.68293513e-02 1.85704495e+00] [ 8.95529473e-04 9.99996789e-01 2.37086107e-03 2.77471572e-01] [ 3.68273183e-02 -2.40223360e-03 9.99318757e-01 1.07184072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.452557844 meters Centerline goodness : 0.103484 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99309317e-01 -1.37926051e-03 -3.71347098e-02 1.85802880e+00] [ 1.47725182e-03 9.99995499e-01 2.61149773e-03 2.74465707e-01] [ 3.71309407e-02 -2.66455133e-03 9.99306856e-01 1.07120081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.482557844 meters Centerline goodness : 0.178147 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99300989e-01 -1.29483006e-03 -3.73611712e-02 1.85885800e+00] [ 1.40683831e-03 9.99994594e-01 2.97185133e-03 2.72822390e-01] [ 3.73571212e-02 -3.02233510e-03 9.99297409e-01 1.07061458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.512557844 meters Centerline goodness : 0.111631 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99291964e-01 -1.22838633e-03 -3.76040051e-02 1.85980453e+00] [ 1.35512260e-03 9.99993487e-01 3.34498375e-03 2.71015395e-01] [ 3.75996512e-02 -3.39357342e-03 9.99287121e-01 1.06997544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54255784400002 meters Centerline goodness : 0.283051 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99290212e-01 -1.06194217e-03 -3.76555941e-02 1.86014814e+00] [ 1.20782083e-03 9.99991854e-01 3.85148651e-03 2.68551847e-01] [ 3.76511973e-02 -3.89423399e-03 9.99283354e-01 1.06952960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57255784400002 meters Centerline goodness : 0.143060 Centerline is valid? [False, False] Translation: X:1.86, Y:0.26, Z:1.07 [[ 9.99297413e-01 -1.11175111e-03 -3.74625672e-02 1.85960236e+00] [ 1.28030132e-03 9.99989165e-01 4.47547386e-03 2.63952130e-01] [ 3.74571857e-02 -4.52029283e-03 9.99288010e-01 1.06945921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60255784400002 meters Centerline goodness : 0.171797 Centerline is valid? [False, False] Translation: X:1.88, Y:0.26, Z:1.07 [[ 0.99927551 0.00566033 -0.03763526 1.87540526] [-0.00555746 0.99998053 0.00283724 0.25592941] [ 0.03765059 -0.00262603 0.99928751 1.07261174] [ 0. 0. 0. 1. ]] SLAMing on 159.63255784400002 meters Centerline goodness : 0.171664 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.99928243 0.00580032 -0.0374298 1.87474715] [-0.00568433 0.99997871 0.00320456 0.2541318 ] [ 0.03744759 -0.0029895 0.99929412 1.07274552] [ 0. 0. 0. 1. ]] SLAMing on 159.66255784400002 meters Centerline goodness : 0.102976 Centerline is valid? [False, False] Translation: X:1.83, Y:0.25, Z:1.07 [[ 0.99921571 0.00603213 -0.03913529 1.82755086] [-0.00588305 0.999975 0.00392346 0.25480064] [ 0.03915798 -0.00369014 0.99922622 1.0723326 ] [ 0. 0. 0. 1. ]] SLAMing on 159.69255784400002 meters Centerline goodness : 0.086814 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.99929408 0.00541713 -0.03717533 1.87215672] [-0.00528564 0.99997943 0.00363446 0.2494719 ] [ 0.03719425 -0.0034354 0.99930215 1.07309876] [ 0. 0. 0. 1. ]] SLAMing on 159.722557844 meters Centerline goodness : 0.094730 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.99929237 0.00552021 -0.03720602 1.87235345] [-0.00538027 0.99997808 0.00386027 0.24838397] [ 0.03722652 -0.00365736 0.99930016 1.07288141] [ 0. 0. 0. 1. ]] SLAMing on 159.752557844 meters Centerline goodness : 0.153722 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.99928715 0.00562871 -0.03732977 1.87273422] [-0.00548039 0.99997668 0.00407422 0.24740899] [ 0.03735183 -0.00386673 0.9992947 1.07277379] [ 0. 0. 0. 1. ]] SLAMing on 159.782557844 meters Centerline goodness : 0.175785 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.99928048 0.00573824 -0.03749126 1.87314824] [-0.00558285 0.99997539 0.00424812 0.24673415] [ 0.03751471 -0.00403576 0.99928793 1.07276828] [ 0. 0. 0. 1. ]] SLAMing on 159.812557844 meters Centerline goodness : 0.101036 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.99927764 0.00582687 -0.03755326 1.87332868] [-0.00566699 0.99997443 0.00436261 0.24631462] [ 0.03757772 -0.00414664 0.9992851 1.07274593] [ 0. 0. 0. 1. ]] SLAMing on 159.842557844 meters Centerline goodness : 0.176737 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.9992731 0.00592484 -0.03765851 1.87339766] [-0.00576132 0.9999735 0.00444936 0.2458478 ] [ 0.03768388 -0.00422917 0.99928076 1.07313731] [ 0. 0. 0. 1. ]] SLAMing on 159.872557844 meters Centerline goodness : 0.270751 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:1.07 [[ 0.99932489 -0.00245868 -0.03665684 1.89395528] [ 0.00264204 0.99998424 0.00495453 0.24727952] [ 0.03664408 -0.00504803 0.99931563 1.07417773] [ 0. 0. 0. 1. ]] SLAMing on 159.902557844 meters Centerline goodness : 0.172490 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:1.07 [[ 0.99932229 -0.00243181 -0.03672934 1.89414681] [ 0.00261732 0.99998406 0.00500361 0.24693107] [ 0.03671659 -0.00509635 0.99931272 1.07418523] [ 0. 0. 0. 1. ]] SLAMing on 159.932557844 meters Centerline goodness : 0.174181 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:1.07 [[ 0.99930973 -0.00230275 -0.03707781 1.8951082 ] [ 0.00249427 0.99998378 0.0051199 0.24678667] [ 0.03706542 -0.00520885 0.99929927 1.0740535 ] [ 0. 0. 0. 1. ]] SLAMing on 159.962557844 meters Centerline goodness : 0.141747 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:1.07 [[ 0.99930734 -0.00223866 -0.03714617 1.895234 ] [ 0.00243402 0.99998344 0.00521479 0.2464868 ] [ 0.03713388 -0.00530159 0.99929624 1.07414413] [ 0. 0. 0. 1. ]] SLAMing on 159.992557844 meters Centerline goodness : 0.109811 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:1.07 [[ 0.99930908 -0.00215845 -0.03710388 1.89498294] [ 0.0023605 0.99998262 0.00540243 0.24553334] [ 0.03709158 -0.00548628 0.99929681 1.07438078] [ 0. 0. 0. 1. ]] SLAMing on 160.022557844 meters Centerline goodness : 0.159136 Centerline is valid? [False, False] Translation: X:1.94, Y:0.24, Z:1.08 [[ 0.99939596 -0.00284452 -0.03463552 1.93838157] [ 0.0030125 0.99998395 0.00479881 0.24119846] [ 0.03462131 -0.00490025 0.99938849 1.07572324] [ 0. 0. 0. 1. ]] SLAMing on 160.052557844 meters Centerline goodness : 0.175930 Centerline is valid? [False, False] Translation: X:1.94, Y:0.24, Z:1.08 [[ 0.99940654 -0.0027373 -0.03433752 1.93720616] [ 0.0029127 0.99998296 0.00505922 0.23989619] [ 0.03432309 -0.00515623 0.99939749 1.0763421 ] [ 0. 0. 0. 1. ]] SLAMing on 160.082557844 meters Centerline goodness : 0.170002 Centerline is valid? [False, False] Translation: X:1.94, Y:0.24, Z:1.08 [[ 0.99941418 -0.00261941 -0.03412371 1.93634322] [ 0.00280227 0.99998196 0.00531222 0.23879451] [ 0.03410918 -0.00540473 0.9994035 1.07679406] [ 0. 0. 0. 1. ]] SLAMing on 160.112557844 meters Centerline goodness : 0.176883 Centerline is valid? [False, False] Translation: X:1.94, Y:0.24, Z:1.08 [[ 0.99941334 -0.00240804 -0.03416387 1.93660751] [ 0.00261024 0.99997934 0.00587503 0.2361595 ] [ 0.03414901 -0.00596076 0.99939898 1.07641724] [ 0. 0. 0. 1. ]] SLAMing on 160.142557844 meters Centerline goodness : 0.174349 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.08 [[ 0.99940716 -0.00230428 -0.0343514 1.9373192 ] [ 0.00251919 0.99997752 0.00621421 0.23439485] [ 0.03433631 -0.00629706 0.9993905 1.07597339] [ 0. 0. 0. 1. ]] SLAMing on 160.172557844 meters Centerline goodness : 0.171414 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.08 [[ 0.99940191 -0.00217214 -0.03451236 1.93786081] [ 0.00239907 0.99997577 0.00653518 0.23284013] [ 0.03449732 -0.00661407 0.9993829 1.07575001] [ 0. 0. 0. 1. ]] SLAMing on 160.202557844 meters Centerline goodness : 0.102795 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.08 [[ 0.99940262 -0.00209336 -0.03449673 1.93762465] [ 0.00232627 0.99997476 0.00671283 0.231987 ] [ 0.03448181 -0.00678907 0.99938227 1.07607534] [ 0. 0. 0. 1. ]] SLAMing on 160.232557844 meters Centerline goodness : 0.172746 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:1.08 [[ 9.99432622e-01 -1.81545419e-03 -3.36323888e-02 1.93447013e+00] [ 2.05041343e-03 9.99973726e-01 6.95292807e-03 2.31556138e-01] [ 3.36188824e-02 -7.01794344e-03 9.99410086e-01 1.07771158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.262557844 meters Centerline goodness : 0.174456 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:1.08 [[ 9.99441781e-01 -1.74968816e-03 -3.33626399e-02 1.93328485e+00] [ 1.98543237e-03 9.99973288e-01 7.03429480e-03 2.31398804e-01] [ 3.33494409e-02 -7.09660738e-03 9.99418557e-01 1.07848338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29255784400002 meters Centerline goodness : 0.175051 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:1.08 [[ 9.99449964e-01 -1.66264182e-03 -3.31210564e-02 1.93251661e+00] [ 1.90298348e-03 9.99972080e-01 7.22626021e-03 2.30604592e-01] [ 3.31081170e-02 -7.28531433e-03 9.99425223e-01 1.07868475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32255784400002 meters Centerline goodness : 0.174291 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:1.08 [[ 9.99450244e-01 -1.55405611e-03 -3.31179022e-02 1.93257768e+00] [ 1.80405443e-03 9.99970096e-01 7.52019268e-03 2.29226556e-01] [ 3.31052250e-02 -7.57580491e-03 9.99423159e-01 1.07850917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35255784400002 meters Centerline goodness : 0.171935 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:1.08 [[ 9.99441684e-01 -1.50389286e-03 -3.33775169e-02 1.93360808e+00] [ 1.76729048e-03 9.99967522e-01 7.86336954e-03 2.27285065e-01] [ 3.33646072e-02 -7.91796706e-03 9.99411881e-01 1.07780388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38255784400002 meters Centerline goodness : 0.175745 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99938728 -0.00365272 -0.0348098 1.94033595] [ 0.00387465 0.99997258 0.00631021 0.22290313] [ 0.0347858 -0.00644122 0.99937403 1.07419787] [ 0. 0. 0. 1. ]] SLAMing on 160.41255784400002 meters Centerline goodness : 0.178420 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99938727 -0.00354253 -0.03482133 1.9402847 ] [ 0.00377443 0.99997112 0.00659622 0.22159278] [ 0.03479696 -0.00672361 0.99937179 1.0742616 ] [ 0. 0. 0. 1. ]] SLAMing on 160.44255784400002 meters Centerline goodness : 0.175015 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99942008 0.00456147 -0.03374446 1.95812648] [-0.00437978 0.99997552 0.00545626 0.21529427] [ 0.03376853 -0.0053053 0.9994156 1.07647032] [ 0. 0. 0. 1. ]] SLAMing on 160.472557844 meters Centerline goodness : 0.173947 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99942129 0.00456896 -0.03370777 1.95779298] [-0.00438779 0.99997554 0.00544671 0.21537796] [ 0.03373183 -0.00529566 0.99941689 1.07687349] [ 0. 0. 0. 1. ]] SLAMing on 160.502557844 meters Centerline goodness : 0.172732 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99940281 0.00453608 -0.03425549 1.95970385] [-0.00435691 0.99997645 0.0053033 0.21609542] [ 0.03427874 -0.00515089 0.99939904 1.07608684] [ 0. 0. 0. 1. ]] SLAMing on 160.532557844 meters Centerline goodness : 0.171586 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99939904 0.0045137 -0.03436829 1.96029462] [-0.00433778 0.99997712 0.00519156 0.21671574] [ 0.03439093 -0.00503936 0.99939575 1.07562586] [ 0. 0. 0. 1. ]] SLAMing on 160.562557844 meters Centerline goodness : 0.175099 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99940673 0.00449329 -0.0341466 1.9596084 ] [-0.0043247 0.9999781 0.00500948 0.21771734] [ 0.03416836 -0.00485883 0.99940428 1.07587469] [ 0. 0. 0. 1. ]] SLAMing on 160.592557844 meters Centerline goodness : 0.104798 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99943798 0.00459262 -0.03320591 1.95642457] [-0.00443586 0.99997868 0.00479278 0.21886666] [ 0.03322721 -0.00464279 0.99943704 1.0774352 ] [ 0. 0. 0. 1. ]] SLAMing on 160.622557844 meters Centerline goodness : 0.178528 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99943715 0.00456074 -0.03323526 1.95622757] [-0.00440641 0.99997917 0.00471526 0.21909354] [ 0.03325607 -0.00456616 0.99943643 1.07794391] [ 0. 0. 0. 1. ]] SLAMing on 160.652557844 meters Centerline goodness : 0.174485 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99943109 0.00453615 -0.03342022 1.95673725] [-0.00438213 0.99997945 0.00468043 0.21913033] [ 0.03344076 -0.00453131 0.99943043 1.07786874] [ 0. 0. 0. 1. ]] SLAMing on 160.682557844 meters Centerline goodness : 0.170804 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99942133 0.00452174 -0.03371295 1.95792423] [-0.00436504 0.99997933 0.00472036 0.21880116] [ 0.03373359 -0.00457047 0.99942041 1.07711689] [ 0. 0. 0. 1. ]] SLAMing on 160.712557844 meters Centerline goodness : 0.175940 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.08 [[ 0.99934772 -0.00385182 -0.03590677 1.93881907] [ 0.00406656 0.99997427 0.00590929 0.22374736] [ 0.03588309 -0.00605145 0.99933767 1.07579191] [ 0. 0. 0. 1. ]] SLAMing on 160.742557844 meters Centerline goodness : 0.173238 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99933174 -0.00375943 -0.0363584 1.94067357] [ 0.00398594 0.99997309 0.00615939 0.22269915] [ 0.03633427 -0.0063002 0.99931983 1.07454557] [ 0. 0. 0. 1. ]] SLAMing on 160.772557844 meters Centerline goodness : 0.178510 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.9993306 -0.00374219 -0.03639164 1.94071755] [ 0.0039693 0.99997308 0.00617049 0.22274318] [ 0.03636757 -0.00631081 0.99931855 1.07462551] [ 0. 0. 0. 1. ]] SLAMing on 160.802557844 meters Centerline goodness : 0.178510 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.9993306 -0.00374219 -0.03639164 1.94071755] [ 0.0039693 0.99997308 0.00617049 0.22274318] [ 0.03636757 -0.00631081 0.99931855 1.07462551] [ 0. 0. 0. 1. ]] SLAMing on 160.832557844 meters Centerline goodness : 0.175218 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.08 [[ 0.99933072 -0.00381092 -0.03638119 1.94042454] [ 0.00402888 0.99997436 0.00591953 0.22403706] [ 0.0363577 -0.00606214 0.99932045 1.07512755] [ 0. 0. 0. 1. ]] SLAMing on 160.862557844 meters Centerline goodness : 0.171321 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.08 [[ 0.99931245 -0.00388924 -0.03687142 1.94179491] [ 0.00408924 0.99997733 0.00535028 0.22730765] [ 0.03684977 -0.00549738 0.9993057 1.07500258] [ 0. 0. 0. 1. ]] SLAMing on 160.892557844 meters Centerline goodness : 0.174296 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.07 [[ 0.99930697 -0.00399253 -0.03700877 1.94246862] [ 0.00418344 0.99997833 0.0050825 0.22854463] [ 0.03698767 -0.0052338 0.99930202 1.07450548] [ 0. 0. 0. 1. ]] SLAMing on 160.922557844 meters Centerline goodness : 0.172230 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.07 [[ 0.99931055 -0.00406146 -0.03690429 1.94237349] [ 0.00424591 0.99997888 0.00492118 0.22922774] [ 0.03688352 -0.00507448 0.99930669 1.0742309 ] [ 0. 0. 0. 1. ]] SLAMing on 160.952557844 meters Centerline goodness : 0.174179 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.07 [[ 0.99932122 -0.00411782 -0.03660802 1.94144266] [ 0.0042968 0.99997919 0.00481169 0.22961946] [ 0.03658745 -0.00496572 0.99931812 1.0745007 ] [ 0. 0. 0. 1. ]] SLAMing on 160.982557844 meters Centerline goodness : 0.177169 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.08 [[ 0.99932876 -0.00420074 -0.03639214 1.94054474] [ 0.00437218 0.99997971 0.00463278 0.23042447] [ 0.03637194 -0.00478878 0.99932685 1.0750744 ] [ 0. 0. 0. 1. ]] SLAMing on 161.012557844 meters Centerline goodness : 0.176084 Centerline is valid? [False, False] Translation: X:1.96, Y:0.23, Z:1.08 [[ 0.99940814 0.00403242 -0.03416298 1.95888498] [-0.0039191 0.9999866 0.00338329 0.22860924] [ 0.03417616 -0.0032474 0.99941055 1.07650325] [ 0. 0. 0. 1. ]] SLAMing on 161.04255784400002 meters Centerline goodness : 0.174328 Centerline is valid? [False, False] Translation: X:1.96, Y:0.23, Z:1.08 [[ 0.99940881 0.00386659 -0.03416249 1.95890441] [-0.00376702 0.99998847 0.0029785 0.23064739] [ 0.03417361 -0.00284805 0.99941185 1.07652507] [ 0. 0. 0. 1. ]] SLAMing on 161.07255784400002 meters Centerline goodness : 0.175472 Centerline is valid? [False, False] Translation: X:1.96, Y:0.23, Z:1.08 [[ 0.99940833 0.00367874 -0.03419742 1.95901206] [-0.00359519 0.9999904 0.00250442 0.23293815] [ 0.03420631 -0.00237999 0.99941196 1.07656366] [ 0. 0. 0. 1. ]] SLAMing on 161.10255784400002 meters Centerline goodness : 0.167230 Centerline is valid? [False, False] Translation: X:1.96, Y:0.24, Z:1.08 [[ 9.99405588e-01 3.47387541e-03 -3.42987393e-02 1.95918854e+00] [-3.40805099e-03 9.99992237e-01 1.97742670e-03 2.35472076e-01] [ 3.43053424e-02 -1.85935944e-03 9.99409669e-01 1.07681957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13255784400002 meters Centerline goodness : 0.105490 Centerline is valid? [False, False] Translation: X:1.95, Y:0.24, Z:1.08 [[ 0.99942408 0.00574028 -0.03344496 1.95492944] [-0.00562836 0.99997825 0.00343954 0.24185158] [ 0.03346398 -0.00324932 0.99943464 1.07917777] [ 0. 0. 0. 1. ]] SLAMing on 161.16255784400002 meters Centerline goodness : 0.172635 Centerline is valid? [False, False] Translation: X:1.95, Y:0.24, Z:1.08 [[ 0.99943351 0.00554799 -0.03319446 1.9541289 ] [-0.00545619 0.99998104 0.00285546 0.24476397] [ 0.03320967 -0.00267273 0.99944483 1.0795752 ] [ 0. 0. 0. 1. ]] SLAMing on 161.19255784400002 meters Centerline goodness : 0.174918 Centerline is valid? [False, False] Translation: X:1.95, Y:0.25, Z:1.08 [[ 0.99943914 0.00533421 -0.03305985 1.9536533 ] [-0.00526171 0.99998356 0.00227973 0.24752625] [ 0.03307146 -0.0021045 0.99945077 1.07988534] [ 0. 0. 0. 1. ]] SLAMing on 161.222557844 meters Centerline goodness : 0.173046 Centerline is valid? [False, False] Translation: X:1.95, Y:0.25, Z:1.08 [[ 9.99441229e-01 5.11984903e-03 -3.30305350e-02 1.95361321e+00] [-5.06385325e-03 9.99985597e-01 1.77870488e-03 2.49820322e-01] [ 3.30391660e-02 -1.61044921e-03 9.99452760e-01 1.07989264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.252557844 meters Centerline goodness : 0.127639 Centerline is valid? [False, False] Translation: X:1.96, Y:0.25, Z:1.08 [[ 9.99423959e-01 4.69794322e-03 -3.36107077e-02 1.95582608e+00] [-4.66978035e-03 9.99988677e-01 9.16364425e-04 2.53447553e-01] [ 3.36146322e-02 -7.58881938e-04 9.99434580e-01 1.07874859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282557844 meters Centerline goodness : 0.106716 Centerline is valid? [False, False] Translation: X:1.96, Y:0.26, Z:1.08 [[ 9.99415497e-01 4.55385725e-03 -3.38810636e-02 1.95686440e+00] [-4.53666059e-03 9.99989539e-01 5.84418079e-04 2.55027772e-01] [ 3.38833705e-02 -4.30369599e-04 9.99425701e-01 1.07820591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.312557844 meters Centerline goodness : 0.118639 Centerline is valid? [False, False] Translation: X:1.96, Y:0.26, Z:1.08 [[ 9.99409206e-01 4.40979697e-03 -3.40850742e-02 1.95759731e+00] [-4.40438266e-03 9.99990273e-01 2.33929343e-04 2.56857397e-01] [ 3.40857742e-02 -8.36674295e-05 9.99418908e-01 1.07787389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342557844 meters Centerline goodness : 0.172432 Centerline is valid? [False, False] Translation: X:1.96, Y:0.26, Z:1.08 [[ 9.99409632e-01 4.17184018e-03 -3.41025387e-02 1.95785115e+00] [-4.19094154e-03 9.99991099e-01 -4.88652661e-04 2.60789748e-01] [ 3.41001966e-02 6.31285923e-04 9.99418220e-01 1.07771137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.372557844 meters Centerline goodness : 0.106821 Centerline is valid? [False, False] Translation: X:1.98, Y:0.27, Z:1.08 [[ 9.99452030e-01 -3.96136373e-03 -3.28625497e-02 1.97726548e+00] [ 3.97546960e-03 9.99992032e-01 3.63909820e-04 2.65415622e-01] [ 3.28608463e-02 -4.94354476e-04 9.99459814e-01 1.07946715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402557844 meters Centerline goodness : 0.175253 Centerline is valid? [False, False] Translation: X:1.98, Y:0.27, Z:1.08 [[ 9.99458236e-01 -4.11263397e-03 -3.26545755e-02 1.97664166e+00] [ 4.11542142e-03 9.99991531e-01 1.81502644e-05 2.66959217e-01] [ 3.26542243e-02 -1.52527771e-04 9.99466697e-01 1.07964174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.432557844 meters Centerline goodness : 0.169455 Centerline is valid? [False, False] Translation: X:2.00, Y:0.26, Z:1.08 [[ 9.99500079e-01 3.87563488e-03 -3.13778778e-02 1.99591542e+00] [-3.91758652e-03 9.99991513e-01 -1.27561362e-03 2.63303374e-01] [ 3.13726676e-02 1.39790146e-03 9.99506779e-01 1.08084679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462557844 meters Centerline goodness : 0.105766 Centerline is valid? [False, False] Translation: X:2.00, Y:0.27, Z:1.08 [[ 9.99499642e-01 3.71992166e-03 -3.14106225e-02 1.99604219e+00] [-3.77357573e-03 9.99991520e-01 -1.64904329e-03 2.65181572e-01] [ 3.14042218e-02 1.76674854e-03 9.99505204e-01 1.08081329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.492557844 meters Centerline goodness : 0.171926 Centerline is valid? [False, False] Translation: X:2.00, Y:0.27, Z:1.08 [[ 0.99949589 0.00357427 -0.03154663 1.99658157] [-0.0036407 0.99999127 -0.00204849 0.26725688] [ 0.03153903 0.00216231 0.99950018 1.08056599] [ 0. 0. 0. 1. ]] SLAMing on 161.522557844 meters Centerline goodness : 0.103111 Centerline is valid? [False, False] Translation: X:2.00, Y:0.27, Z:1.08 [[ 0.99948311 0.00321556 -0.03198704 1.99784083] [-0.00331357 0.99998998 -0.00301158 0.27180795] [ 0.03197703 0.00311601 0.99948375 1.08051379] [ 0. 0. 0. 1. ]] SLAMing on 161.552557844 meters Centerline goodness : 0.171671 Centerline is valid? [False, False] Translation: X:2.00, Y:0.27, Z:1.08 [[ 0.99948185 0.00302531 -0.03204486 1.99792895] [-0.0031428 0.99998852 -0.00361683 0.27490971] [ 0.03203355 0.00371567 0.99947989 1.08075641] [ 0. 0. 0. 1. ]] SLAMing on 161.582557844 meters Centerline goodness : 0.101338 Centerline is valid? [False, False] Translation: X:2.00, Y:0.28, Z:1.08 [[ 0.99948488 0.0028835 -0.03196353 1.99753551] [-0.00301953 0.99998659 -0.00420812 0.27822001] [ 0.03195097 0.00430247 0.99948018 1.08115028] [ 0. 0. 0. 1. ]] SLAMing on 161.612557844 meters Centerline goodness : 0.102686 Centerline is valid? [False, False] Translation: X:2.00, Y:0.28, Z:1.08 [[ 0.9994846 0.00276408 -0.03198282 1.99777332] [-0.00292885 0.99998267 -0.0051062 0.28348432] [ 0.03196816 0.00519724 0.99947538 1.08115542] [ 0. 0. 0. 1. ]] SLAMing on 161.642557844 meters Centerline goodness : 0.103981 Centerline is valid? [False, False] Translation: X:2.00, Y:0.29, Z:1.08 [[ 0.9994781 0.0025559 -0.03220237 1.99862057] [-0.00273999 0.99998015 -0.00567364 0.28610131] [ 0.03218723 0.00575892 0.99946527 1.08078977] [ 0. 0. 0. 1. ]] SLAMing on 161.672557844 meters Centerline goodness : 0.174121 Centerline is valid? [False, False] Translation: X:2.00, Y:0.29, Z:1.08 [[ 0.99947124 0.0023754 -0.0324284 1.99939155] [-0.00257894 0.99997723 -0.00623598 0.28878747] [ 0.03241285 0.00631632 0.99945461 1.08057615] [ 0. 0. 0. 1. ]] SLAMing on 161.702557844 meters Centerline goodness : 0.120167 Centerline is valid? [False, False] Translation: X:2.00, Y:0.29, Z:1.08 [[ 0.99946802 0.00225191 -0.03253608 1.9997142 ] [-0.00247441 0.99997382 -0.00679991 0.29182613] [ 0.03251991 0.00687681 0.99944743 1.08064169] [ 0. 0. 0. 1. ]] SLAMing on 161.732557844 meters Centerline goodness : 0.104074 Centerline is valid? [False, False] Translation: X:2.00, Y:0.29, Z:1.08 [[ 0.99947185 0.00225627 -0.03241807 1.99920475] [-0.0024938 0.99997033 -0.00728859 0.29488732] [ 0.03240066 0.00736558 0.99944782 1.08114393] [ 0. 0. 0. 1. ]] SLAMing on 161.762557844 meters Centerline goodness : 0.183355 Centerline is valid? [False, False] Translation: X:1.99, Y:0.30, Z:1.08 [[ 0.99949731 0.00424874 -0.03141777 1.99489046] [-0.00444184 0.99997166 -0.00607906 0.30039569] [ 0.03139105 0.00621556 0.99948785 1.08329373] [ 0. 0. 0. 1. ]] SLAMing on 161.79255784400002 meters Centerline goodness : 0.101604 Centerline is valid? [False, False] Translation: X:1.99, Y:0.30, Z:1.08 [[ 0.99949985 0.00412963 -0.03135289 1.99469147] [-0.00433507 0.99996956 -0.00648762 0.30238992] [ 0.03132515 0.00662029 0.99948732 1.08340956] [ 0. 0. 0. 1. ]] SLAMing on 161.82255784400002 meters Centerline goodness : 0.178990 Centerline is valid? [False, False] Translation: X:2.01, Y:0.31, Z:1.09 [[ 0.99949486 -0.00229913 -0.03169757 2.01028316] [ 0.0021571 0.99998748 -0.0045144 0.30773626] [ 0.03170755 0.00444375 0.99948731 1.08717413] [ 0. 0. 0. 1. ]] SLAMing on 161.85255784400002 meters Centerline goodness : 0.108781 Centerline is valid? [False, False] Translation: X:2.01, Y:0.31, Z:1.09 [[ 0.9995019 -0.00238288 -0.0314686 2.0096323 ] [ 0.00223007 0.99998556 -0.00489022 0.3097756 ] [ 0.0314798 0.00481761 0.99949278 1.08736152] [ 0. 0. 0. 1. ]] SLAMing on 161.88255784400002 meters Centerline goodness : 0.182694 Centerline is valid? [False, False] Translation: X:2.01, Y:0.31, Z:1.09 [[ 0.99950694 -0.00244095 -0.03130354 2.00910917] [ 0.0022789 0.99998382 -0.00521137 0.31154319] [ 0.03131575 0.00513746 0.99949634 1.08758924] [ 0. 0. 0. 1. ]] SLAMing on 161.91255784400002 meters Centerline goodness : 0.178090 Centerline is valid? [False, False] Translation: X:2.01, Y:0.31, Z:1.09 [[ 0.99950802 -0.0025352 -0.03126157 2.00917201] [ 0.00235543 0.99998049 -0.00578604 0.31449455] [ 0.03127563 0.00570956 0.99949449 1.087356 ] [ 0. 0. 0. 1. ]] SLAMing on 161.94255784400002 meters Centerline goodness : 0.173310 Centerline is valid? [False, False] Translation: X:2.01, Y:0.32, Z:1.09 [[ 0.99950576 -0.00261077 -0.03132758 2.00934017] [ 0.00242262 0.99997881 -0.00604261 0.31576318] [ 0.03134269 0.00596373 0.99949091 1.08739874] [ 0. 0. 0. 1. ]] SLAMing on 161.972557844 meters Centerline goodness : 0.184153 Centerline is valid? [False, False] Translation: X:2.01, Y:0.32, Z:1.09 [[ 0.99949782 -0.00262873 -0.03157837 2.01014657] [ 0.00243292 0.99997759 -0.00623779 0.31695008] [ 0.03159406 0.00615783 0.99948181 1.08715173] [ 0. 0. 0. 1. ]] SLAMing on 162.002557844 meters Centerline goodness : 0.188072 Centerline is valid? [False, False] Translation: X:2.01, Y:0.32, Z:1.09 [[ 0.99949284 -0.00265313 -0.03173376 2.01055333] [ 0.0024478 0.99997583 -0.00650751 0.31855012] [ 0.03175026 0.00642653 0.99947517 1.0871592 ] [ 0. 0. 0. 1. ]] SLAMing on 162.032557844 meters Centerline goodness : 0.270175 Centerline is valid? [False, False] Translation: X:2.03, Y:0.32, Z:1.09 [[ 0.9995247 0.00704166 -0.03001303 2.0312192 ] [-0.00724492 0.99995152 -0.00666893 0.31830113] [ 0.02996461 0.0068832 0.99952726 1.08794204] [ 0. 0. 0. 1. ]] SLAMing on 162.062557844 meters Centerline goodness : 0.181381 Centerline is valid? [False, False] Translation: X:2.03, Y:0.32, Z:1.09 [[ 0.99954167 0.00703735 -0.02944368 2.02958886] [-0.00725033 0.99994828 -0.00713292 0.32089896] [ 0.02939196 0.00734313 0.99954099 1.08835709] [ 0. 0. 0. 1. ]] SLAMing on 162.092557844 meters Centerline goodness : 0.106689 Centerline is valid? [False, False] Translation: X:1.98, Y:0.33, Z:1.09 [[ 0.99944867 0.00961451 -0.03177917 1.98325674] [-0.00982316 0.99993117 -0.00641595 0.32784281] [ 0.0317153 0.00672459 0.99947432 1.08923652] [ 0. 0. 0. 1. ]] SLAMing on 162.122557844 meters Centerline goodness : 0.183316 Centerline is valid? [False, False] Translation: X:1.98, Y:0.33, Z:1.09 [[ 0.99943246 0.00958847 -0.03229262 1.98468271] [-0.00981541 0.99992819 -0.0068762 0.33051705] [ 0.03222437 0.00718927 0.9994548 1.08899456] [ 0. 0. 0. 1. ]] SLAMing on 162.152557844 meters Centerline goodness : 0.100519 Centerline is valid? [False, False] Translation: X:1.99, Y:0.33, Z:1.09 [[ 0.99942178 0.00950872 -0.03264503 1.98591338] [-0.00975393 0.99992534 -0.00736017 0.33320924] [ 0.0325726 0.00767434 0.99943991 1.08845439] [ 0. 0. 0. 1. ]] SLAMing on 162.182557844 meters SLAMing on 162.212557844 meters Centerline goodness : 0.169254 Centerline is valid? [False, False] Translation: X:1.99, Y:0.34, Z:1.09 [[ 0.99940574 0.00945276 -0.03314831 1.98765111] [-0.00972041 0.99992137 -0.0079225 0.33651334] [ 0.03307082 0.00824001 0.99941904 1.08768169] [ 0. 0. 0. 1. ]] SLAMing on 162.242557844 meters Centerline goodness : 0.185275 Centerline is valid? [False, False] Translation: X:1.99, Y:0.34, Z:1.09 [[ 0.99941352 0.00927519 -0.0329634 1.98701523] [-0.00954916 0.99992108 -0.00816363 0.33716755] [ 0.03288508 0.00847361 0.99942322 1.08789304] [ 0. 0. 0. 1. ]] SLAMing on 162.272557844 meters Centerline goodness : 0.171675 Centerline is valid? [False, False] Translation: X:2.00, Y:0.34, Z:1.09 [[ 0.99938897 0.0026349 -0.0348532 2.00321558] [-0.0028664 0.99997415 -0.00659362 0.34013542] [ 0.03483492 0.00668949 0.99937069 1.09216441] [ 0. 0. 0. 1. ]] SLAMing on 162.302557844 meters Centerline goodness : 0.184242 Centerline is valid? [False, False] Translation: X:2.00, Y:0.34, Z:1.09 [[ 0.99938377 0.00264643 -0.03500102 2.00333656] [-0.00287698 0.99997449 -0.00653815 0.33997943] [ 0.03498283 0.00663482 0.99936589 1.09260562] [ 0. 0. 0. 1. ]] SLAMing on 162.332557844 meters Centerline goodness : 0.136149 Centerline is valid? [False, False] Translation: X:2.00, Y:0.34, Z:1.09 [[ 0.99937722 0.00264242 -0.0351879 2.00370949] [-0.00287612 0.99997413 -0.00659231 0.34055504] [ 0.03516957 0.00668941 0.99935897 1.092748 ] [ 0. 0. 0. 1. ]] SLAMing on 162.362557844 meters Centerline goodness : 0.182802 Centerline is valid? [False, False] Translation: X:2.00, Y:0.34, Z:1.09 [[ 0.9993746 0.00254195 -0.03526968 2.0038239 ] [-0.00278861 0.99997199 -0.00694602 0.34266002] [ 0.03525104 0.00704003 0.99935369 1.09298376] [ 0. 0. 0. 1. ]] SLAMing on 162.392557844 meters Centerline goodness : 0.169355 Centerline is valid? [False, False] Translation: X:2.00, Y:0.34, Z:1.09 [[ 0.9993836 0.00245921 -0.03501956 2.00294515] [-0.00271221 0.99997055 -0.00717886 0.34368029] [ 0.03500087 0.00726942 0.99936084 1.09338509] [ 0. 0. 0. 1. ]] SLAMing on 162.422557844 meters Centerline goodness : 0.121737 Centerline is valid? [False, False] Translation: X:2.02, Y:0.35, Z:1.10 [[ 0.99940785 -0.00531264 -0.03399608 2.01949202] [ 0.00510875 0.99996846 -0.0060816 0.34940056] [ 0.03402731 0.00590432 0.99940346 1.09586953] [ 0. 0. 0. 1. ]] SLAMing on 162.452557844 meters Centerline goodness : 0.143485 Centerline is valid? [False, False] Translation: X:2.04, Y:0.35, Z:1.10 [[ 0.99947163 0.00290058 -0.03237346 2.03902735] [-0.00313597 0.999969 -0.00722259 0.34684876] [ 0.03235151 0.0073203 0.99944975 1.09756171] [ 0. 0. 0. 1. ]] SLAMing on 162.482557844 meters Centerline goodness : 0.102089 Centerline is valid? [False, False] Translation: X:1.99, Y:0.35, Z:1.10 [[ 0.99937137 0.00431306 -0.03518905 1.99248443] [-0.00455387 0.99996674 -0.00676579 0.34823412] [ 0.0351587 0.00692179 0.99935777 1.09840062] [ 0. 0. 0. 1. ]] SLAMing on 162.512557844 meters Centerline goodness : 0.110139 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 0.99935743 -0.00347065 -0.0356747 2.01183083] [ 0.00325926 0.9999768 -0.00598182 0.35260127] [ 0.03569463 0.00586171 0.99934555 1.09987756] [ 0. 0. 0. 1. ]] SLAMing on 162.54255784400002 meters Centerline goodness : 0.162966 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 0.99935511 -0.00338242 -0.03574801 2.01201857] [ 0.00317482 0.99997777 -0.0058626 0.35212279] [ 0.03576705 0.00574533 0.99934364 1.09984955] [ 0. 0. 0. 1. ]] SLAMing on 162.57255784400002 meters Centerline goodness : 0.184376 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 0.9993543 -0.00323039 -0.03578481 2.01180691] [ 0.00302786 0.9999791 -0.00571261 0.35177492] [ 0.03580251 0.00560057 0.99934319 1.10030747] [ 0. 0. 0. 1. ]] SLAMing on 162.60255784400002 meters Centerline goodness : 0.164444 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 0.9993576 -0.00307389 -0.03570627 2.0113531 ] [ 0.00287733 0.99998043 -0.00555514 0.35120588] [ 0.03572265 0.00544884 0.99934689 1.10068792] [ 0. 0. 0. 1. ]] SLAMing on 162.63255784400002 meters Centerline goodness : 0.137501 Centerline is valid? [False, False] Translation: X:1.99, Y:0.34, Z:1.10 [[ 0.9993909 0.00586829 -0.03440053 1.98846696] [-0.0060698 0.99996501 -0.00575618 0.34362021] [ 0.03436555 0.00596147 0.99939155 1.09942521] [ 0. 0. 0. 1. ]] SLAMing on 162.66255784400002 meters Centerline goodness : 0.109174 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 9.99456504e-01 -1.98944702e-03 -3.29049981e-02 2.00664219e+00] [ 1.83638530e-03 9.99987357e-01 -4.68119276e-03 3.46589007e-01] [ 3.29138950e-02 4.61822230e-03 9.99447521e-01 1.10059783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69255784400002 meters Centerline goodness : 0.109174 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 9.99456504e-01 -1.98944702e-03 -3.29049981e-02 2.00664219e+00] [ 1.83638530e-03 9.99987357e-01 -4.68119276e-03 3.46589007e-01] [ 3.29138950e-02 4.61822230e-03 9.99447521e-01 1.10059783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722557844 meters Centerline goodness : 0.149383 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 9.99464189e-01 -1.80204640e-03 -3.26815959e-02 2.00600040e+00] [ 1.66044056e-03 9.99989119e-01 -4.35951534e-03 3.45190643e-01] [ 3.26890963e-02 4.30291362e-03 9.99456306e-01 1.10067217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.752557844 meters Centerline goodness : 0.156505 Centerline is valid? [False, False] Translation: X:2.01, Y:0.34, Z:1.10 [[ 9.99451529e-01 -1.36131688e-03 -3.30875912e-02 2.00756054e+00] [ 1.24381982e-03 9.99992849e-01 -3.57141512e-03 3.41794038e-01] [ 3.30922164e-02 3.52830130e-03 9.99446075e-01 1.09972101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782557844 meters Centerline goodness : 0.133743 Centerline is valid? [False, False] Translation: X:1.99, Y:0.33, Z:1.10 [[ 0.99936693 0.00693659 -0.0348946 1.98846344] [-0.00709968 0.99996444 -0.0045521 0.33485606] [ 0.03486178 0.00479696 0.99938063 1.09791268] [ 0. 0. 0. 1. ]] SLAMing on 162.812557844 meters Centerline goodness : 0.101614 Centerline is valid? [False, False] Translation: X:1.99, Y:0.33, Z:1.10 [[ 0.99935829 0.0070962 -0.03510928 1.98927912] [-0.00724634 0.99996513 -0.00415104 0.33288487] [ 0.0350786 0.00440279 0.99937486 1.09743312] [ 0. 0. 0. 1. ]] SLAMing on 162.842557844 meters Centerline goodness : 0.105139 Centerline is valid? [False, False] Translation: X:1.99, Y:0.33, Z:1.10 [[ 0.99934745 0.0074541 -0.03534278 1.98977914] [-0.00757146 0.99996625 -0.0031881 0.32825046] [ 0.03531783 0.00345362 0.99937016 1.09750865] [ 0. 0. 0. 1. ]] SLAMing on 162.872557844 meters Centerline goodness : 0.141678 Centerline is valid? [False, False] Translation: X:1.97, Y:0.33, Z:1.10 [[ 9.99343149e-01 -1.25000383e-03 -3.62175223e-02 1.96807357e+00] [ 1.17623572e-03 9.99997190e-01 -2.05804272e-03 3.28873421e-01] [ 3.62199931e-02 2.01409055e-03 9.99341811e-01 1.09655399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902557844 meters Centerline goodness : 0.107415 Centerline is valid? [False, False] Translation: X:1.97, Y:0.33, Z:1.10 [[ 9.99342538e-01 -9.91511498e-04 -3.62423510e-02 1.96823901e+00] [ 9.43114445e-04 9.99998641e-01 -1.35244445e-03 3.25478597e-01] [ 3.62436427e-02 1.31737459e-03 9.99342115e-01 1.09641537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.932557844 meters Centerline goodness : 0.187423 Centerline is valid? [False, False] Translation: X:1.97, Y:0.32, Z:1.10 [[ 9.99340437e-01 -7.41681796e-04 -3.63062002e-02 1.96860173e+00] [ 7.20595854e-04 9.99999564e-01 -5.93862654e-04 3.21680793e-01] [ 3.63066248e-02 5.67308867e-04 9.99340536e-01 1.09610287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962557844 meters Centerline goodness : 0.099920 Centerline is valid? [False, False] Translation: X:1.97, Y:0.32, Z:1.10 [[ 9.99335369e-01 -5.53717044e-04 -3.64487704e-02 1.96916313e+00] [ 5.57529929e-04 9.99999840e-01 9.44454821e-05 3.17979152e-01] [ 3.64487123e-02 -1.14703991e-04 9.99335518e-01 1.09576530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.992557844 meters SLAMing on 163.022557844 meters SLAMing on 163.052557844 meters Centerline goodness : 0.100392 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.10 [[ 9.99326094e-01 7.07950362e-06 -3.67063678e-02 1.96999415e+00] [ 4.92568089e-05 9.99998822e-01 1.53387854e-03 3.06776562e-01] [ 3.67063354e-02 -1.53465289e-03 9.99324917e-01 1.09562934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.082557844 meters Centerline goodness : 0.195211 Centerline is valid? [False, False] Translation: X:1.95, Y:0.30, Z:1.09 [[ 9.99289802e-01 8.40113795e-03 -3.67330011e-02 1.94968286e+00] [-8.37991447e-03 9.99964620e-01 7.31703149e-04 3.00922244e-01] [ 3.67378487e-02 -4.23364086e-04 9.99324848e-01 1.09380034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.112557844 meters Centerline goodness : 0.095354 Centerline is valid? [False, False] Translation: X:1.95, Y:0.30, Z:1.09 [[ 9.99292152e-01 8.49998007e-03 -3.66462284e-02 1.94944138e+00] [-8.47378036e-03 9.99963718e-01 8.70197602e-04 3.00395508e-01] [ 3.66522955e-02 -5.59049543e-04 9.99327923e-01 1.09380551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.142557844 meters Centerline goodness : 0.174291 Centerline is valid? [False, False] Translation: X:1.95, Y:0.30, Z:1.09 [[ 9.99294676e-01 8.73270337e-03 -3.65224717e-02 1.94902128e+00] [-8.69674461e-03 9.99961529e-01 1.14331881e-03 2.99354622e-01] [ 3.65310509e-02 -8.24885787e-04 9.99332178e-01 1.09396243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.172557844 meters Centerline goodness : 0.172450 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 9.99335307e-01 9.88252990e-04 -3.64412849e-02 1.96739978e+00] [-9.07064083e-04 9.99997070e-01 2.24440304e-03 3.02204316e-01] [ 3.64433962e-02 -2.20985662e-03 9.99333275e-01 1.09600400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.202557844 meters Centerline goodness : 0.175090 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 9.99334158e-01 1.10139326e-03 -3.64695348e-02 1.96746140e+00] [-1.01152175e-03 9.99996407e-01 2.48264906e-03 3.01066096e-01] [ 3.64721382e-02 -2.44410628e-03 9.99331681e-01 1.09601920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.232557844 meters Centerline goodness : 0.171551 Centerline is valid? [False, False] Translation: X:1.93, Y:0.30, Z:1.09 [[ 9.99181917e-01 1.51366131e-03 -4.04129263e-02 1.92579568e+00] [-1.38553235e-03 9.99993926e-01 3.19831429e-03 2.95822090e-01] [ 4.04175220e-02 -3.13970438e-03 9.99177945e-01 1.09473028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.262557844 meters Centerline goodness : 0.103608 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 0.99923069 0.00225122 -0.03915312 1.97152319] [-0.00211235 0.99999133 0.00358776 0.29549489] [ 0.03916085 -0.00350229 0.99922678 1.09533801] [ 0. 0. 0. 1. ]] SLAMing on 163.29255784400002 meters Centerline goodness : 0.168518 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.10 [[ 0.99922669 0.00238742 -0.03924682 1.97181971] [-0.00223745 0.99999003 0.0038645 0.29420781] [ 0.03925565 -0.0037737 0.99922207 1.095258 ] [ 0. 0. 0. 1. ]] SLAMing on 163.32255784400002 meters Centerline goodness : 0.166116 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.10 [[ 0.99922805 0.00252094 -0.03920392 1.97171201] [-0.00236046 0.99998865 0.0041391 0.29290809] [ 0.03921391 -0.00404336 0.99922266 1.09526859] [ 0. 0. 0. 1. ]] SLAMing on 163.35255784400002 meters Centerline goodness : 0.180121 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.10 [[ 0.99923174 0.00260666 -0.03910415 1.97134984] [-0.00244101 0.99998785 0.00428331 0.29225391] [ 0.03911484 -0.00418457 0.99922596 1.09544342] [ 0. 0. 0. 1. ]] SLAMing on 163.38255784400002 meters Centerline goodness : 0.110644 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.10 [[ 0.99923835 0.00266572 -0.03893079 1.97079157] [-0.0024993 0.99998753 0.00432279 0.29212716] [ 0.03894183 -0.00422219 0.99923256 1.09561466] [ 0. 0. 0. 1. ]] SLAMing on 163.41255784400002 meters Centerline goodness : 0.174997 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.10 [[ 0.99924662 0.00286543 -0.03870389 1.97045527] [-0.00270045 0.99998705 0.00431419 0.29251241] [ 0.03871575 -0.00420642 0.99924141 1.09514941] [ 0. 0. 0. 1. ]] SLAMing on 163.44255784400002 meters Centerline goodness : 0.112029 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.09 [[ 0.9992467 0.00287244 -0.03870116 1.97061344] [-0.00271128 0.99998744 0.00421606 0.29309488] [ 0.03871279 -0.00410795 0.99924194 1.09483131] [ 0. 0. 0. 1. ]] SLAMing on 163.472557844 meters Centerline goodness : 0.149611 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.09 [[ 0.99925106 0.00293003 -0.03858411 1.97030129] [-0.0027691 0.99998725 0.00422367 0.29332686] [ 0.03859599 -0.00411366 0.99924643 1.0948223 ] [ 0. 0. 0. 1. ]] SLAMing on 163.502557844 meters Centerline goodness : 0.170493 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.09 [[ 0.99926234 0.00299146 -0.03828617 1.96941367] [-0.00283151 0.99998704 0.00423139 0.29359812] [ 0.03829833 -0.00411986 0.99925786 1.09497837] [ 0. 0. 0. 1. ]] SLAMing on 163.532557844 meters Centerline goodness : 0.149752 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:1.10 [[ 0.99917806 0.00315681 -0.04041335 1.92204462] [-0.00296519 0.99998408 0.00480068 0.29069068] [ 0.04042786 -0.0046769 0.99917151 1.09525343] [ 0. 0. 0. 1. ]] SLAMing on 163.562557844 meters Centerline goodness : 0.104962 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:1.09 [[ 0.9991778 0.00307027 -0.0404264 1.92239485] [-0.00288137 0.99998466 0.00473004 0.29038691] [ 0.0404403 -0.00460967 0.99917132 1.09476433] [ 0. 0. 0. 1. ]] SLAMing on 163.592557844 meters Centerline goodness : 0.169847 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:1.09 [[ 0.99917066 0.00304211 -0.04060459 1.92311269] [-0.00285441 0.99998498 0.00467969 0.29053838] [ 0.04061822 -0.00455991 0.99916433 1.09429379] [ 0. 0. 0. 1. ]] SLAMing on 163.622557844 meters Centerline goodness : 0.151224 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:1.09 [[ 0.99915478 0.00308887 -0.04099015 1.92415304] [-0.00291312 0.99998631 0.00434656 0.2934929 ] [ 0.04100302 -0.00422348 0.9991501 1.09403231] [ 0. 0. 0. 1. ]] SLAMing on 163.652557844 meters Centerline goodness : 0.171047 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:1.09 [[ 0.99915713 0.00298164 -0.04094064 1.92389263] [-0.00281925 0.99998793 0.00402379 0.29521201] [ 0.04095214 -0.00390498 0.99915348 1.09422496] [ 0. 0. 0. 1. ]] SLAMing on 163.682557844 meters Centerline goodness : 0.138527 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:1.09 [[ 0.99916003 0.00285808 -0.04087876 1.92356777] [-0.00270705 0.99998931 0.00374932 0.29641737] [ 0.04088904 -0.00363551 0.99915708 1.09445565] [ 0. 0. 0. 1. ]] SLAMing on 163.712557844 meters Centerline goodness : 0.167566 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:1.09 [[ 0.99915691 0.00275363 -0.04096212 1.92366947] [-0.00261104 0.99999035 0.00353431 0.29732751] [ 0.04097146 -0.00342438 0.99915445 1.09460661] [ 0. 0. 0. 1. ]] SLAMing on 163.742557844 meters Centerline goodness : 0.108520 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:1.09 [[ 0.99915329 0.00268911 -0.04105455 1.92397716] [-0.0025492 0.99999076 0.00346007 0.2976536 ] [ 0.04106347 -0.00335248 0.99915092 1.09446054] [ 0. 0. 0. 1. ]] SLAMing on 163.772557844 meters Centerline goodness : 0.154435 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:1.09 [[ 0.99915743 0.00270624 -0.04095253 1.92362124] [-0.00256127 0.99999027 0.00359205 0.29694021] [ 0.04096185 -0.00348414 0.99915464 1.09463441] [ 0. 0. 0. 1. ]] SLAMing on 163.802557844 meters Centerline goodness : 0.172278 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:1.10 [[ 0.99916323 0.00273578 -0.04080878 1.92304885] [-0.00258182 0.99998935 0.00382487 0.29561082] [ 0.04081881 -0.00371631 0.99915965 1.09504132] [ 0. 0. 0. 1. ]] SLAMing on 163.832557844 meters Centerline goodness : 0.172459 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 0.99926709 0.00217411 -0.03821719 1.96621454] [-0.00205732 0.99999309 0.00309506 0.29700188] [ 0.03822365 -0.00301417 0.99926466 1.0965195 ] [ 0. 0. 0. 1. ]] SLAMing on 163.862557844 meters Centerline goodness : 0.170693 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 0.99926514 0.00229921 -0.03826091 1.96633388] [-0.00217239 0.99999201 0.00335566 0.29606609] [ 0.03826832 -0.00327008 0.99926215 1.09655897] [ 0. 0. 0. 1. ]] SLAMing on 163.892557844 meters Centerline goodness : 0.152168 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 0.99925578 0.00228883 -0.03850516 1.96725678] [-0.00216705 0.99999252 0.00320402 0.2968815 ] [ 0.0385122 -0.00311819 0.99925326 1.09603591] [ 0. 0. 0. 1. ]] SLAMing on 163.922557844 meters Centerline goodness : 0.170669 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 0.99924259 0.00222385 -0.03884984 1.96844813] [-0.00211484 0.99999371 0.00284679 0.29857649] [ 0.03885592 -0.00276247 0.999241 1.09546736] [ 0. 0. 0. 1. ]] SLAMing on 163.952557844 meters Centerline goodness : 0.110363 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.09 [[ 0.99921714 0.00291931 -0.03945368 1.97061816] [-0.00282095 0.99999277 0.00254866 0.30239616] [ 0.03946084 -0.00243537 0.99921815 1.09412428] [ 0. 0. 0. 1. ]] SLAMing on 163.982557844 meters Centerline goodness : 0.163802 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.09 [[ 0.99921939 0.003243 -0.03937111 1.97045602] [-0.00315549 0.99999241 0.00228457 0.30490795] [ 0.03937822 -0.00215855 0.99922205 1.0938334 ] [ 0. 0. 0. 1. ]] SLAMing on 164.012557844 meters Centerline goodness : 0.120414 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99227980e-01 3.38299432e-03 -3.91407716e-02 1.96982286e+00] [-3.31047292e-03 9.99992682e-01 1.91749921e-03 3.07473467e-01] [ 3.91469721e-02 -1.78644440e-03 9.99231867e-01 1.09371745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04255784400002 meters Centerline goodness : 0.161813 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99237852e-01 3.32677749e-03 -3.88927798e-02 1.96899147e+00] [-3.27030317e-03 9.99993504e-01 1.51558120e-03 3.09667893e-01] [ 3.88975692e-02 -1.38723492e-03 9.99242240e-01 1.09393907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07255784400002 meters Centerline goodness : 0.171973 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99246109e-01 3.21194072e-03 -3.86897508e-02 1.96828103e+00] [-3.16889799e-03 9.99994290e-01 1.17378367e-03 3.11287875e-01] [ 3.86933000e-02 -1.05029489e-03 9.99250582e-01 1.09419076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10255784400002 meters Centerline goodness : 0.197053 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99258401e-01 3.04739072e-03 -3.83843838e-02 1.96730875e+00] [-3.01954250e-03 9.99995134e-01 7.83461325e-04 3.13126537e-01] [ 3.83865845e-02 -6.66977033e-04 9.99262741e-01 1.09443135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13255784400002 meters Centerline goodness : 0.168425 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99258277e-01 3.02121129e-03 -3.83896773e-02 1.96733231e+00] [-2.99417279e-03 9.99995227e-01 7.61791322e-04 3.13194618e-01] [ 3.83917956e-02 -6.46280957e-04 9.99262554e-01 1.09440717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16255784400002 meters Centerline goodness : 0.104393 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99253323e-01 2.96819934e-03 -3.85225366e-02 1.96763621e+00] [-2.94090912e-03 9.99995383e-01 7.65069816e-04 3.13032936e-01] [ 3.85246296e-02 -6.51207277e-04 9.99257439e-01 1.09448479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19255784400002 meters Centerline goodness : 0.144660 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99247723e-01 2.91966736e-03 -3.86712122e-02 1.96796422e+00] [-2.89036795e-03 9.99995492e-01 8.13540538e-04 3.12548049e-01] [ 3.86734131e-02 -7.01154498e-04 9.99251658e-01 1.09460649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222557844 meters Centerline goodness : 0.106401 Centerline is valid? [False, False] Translation: X:1.99, Y:0.32, Z:1.10 [[ 9.99241316e-01 -5.88858618e-03 -3.84982702e-02 1.98961741e+00] [ 5.95541950e-03 9.99980952e-01 1.62155876e-03 3.15056891e-01] [ 3.84879882e-02 -1.84960185e-03 9.99257351e-01 1.09643612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.252557844 meters Centerline goodness : 0.174384 Centerline is valid? [False, False] Translation: X:1.99, Y:0.31, Z:1.10 [[ 0.99924222 -0.00580096 -0.03848798 1.9894874 ] [ 0.00588427 0.99998058 0.0020517 0.31298854] [ 0.03847533 -0.00227662 0.99925696 1.09670063] [ 0. 0. 0. 1. ]] SLAMing on 164.282557844 meters Centerline goodness : 0.170574 Centerline is valid? [False, False] Translation: X:1.99, Y:0.31, Z:1.10 [[ 0.9992455 -0.00576484 -0.0384083 1.98918308] [ 0.00586355 0.99997979 0.00245796 0.31077495] [ 0.03839335 -0.00268132 0.99925911 1.09700067] [ 0. 0. 0. 1. ]] SLAMing on 164.312557844 meters Centerline goodness : 0.175462 Centerline is valid? [False, False] Translation: X:1.99, Y:0.31, Z:1.10 [[ 0.99924206 -0.00578964 -0.03849384 1.98928741] [ 0.00590366 0.99997851 0.00284909 0.30825467] [ 0.03847652 -0.00307418 0.99925478 1.09729018] [ 0. 0. 0. 1. ]] SLAMing on 164.342557844 meters Centerline goodness : 0.148597 Centerline is valid? [False, False] Translation: X:1.99, Y:0.30, Z:1.10 [[ 9.99212416e-01 -9.64019713e-03 -3.84917307e-02 1.98895153e+00] [ 9.63585767e-03 9.99953530e-01 -2.98259289e-04 3.04400344e-01] [ 3.84928172e-02 -7.28764534e-05 9.99258874e-01 1.09790153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.372557844 meters Centerline goodness : 0.174127 Centerline is valid? [False, False] Translation: X:2.01, Y:0.30, Z:1.10 [[ 9.99305798e-01 -1.79875953e-03 -3.72113812e-02 2.00688443e+00] [ 1.75261584e-03 9.99997654e-01 -1.27262518e-03 2.98613667e-01] [ 3.72135830e-02 1.20652447e-03 9.99306606e-01 1.09992448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402557844 meters Centerline goodness : 0.168455 Centerline is valid? [False, False] Translation: X:2.01, Y:0.30, Z:1.10 [[ 9.99314576e-01 -1.63166495e-03 -3.69826545e-02 2.00595968e+00] [ 1.60400314e-03 9.99998411e-01 -7.77625215e-04 2.96290700e-01] [ 3.69838646e-02 7.17771918e-04 9.99315605e-01 1.10054479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.432557844 meters Centerline goodness : 0.172424 Centerline is valid? [False, False] Translation: X:2.01, Y:0.29, Z:1.10 [[ 9.99321871e-01 -1.50849407e-03 -3.67902487e-02 2.00518856e+00] [ 1.49541422e-03 9.99998809e-01 -3.83039892e-04 2.94321076e-01] [ 3.67907827e-02 3.27763481e-04 9.99322936e-01 1.10108748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462557844 meters Centerline goodness : 0.175796 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.9993982 0.00443111 -0.03440355 2.02580902] [-0.00455367 0.99998356 -0.00348479 0.29100325] [ 0.03438754 0.00363936 0.99940195 1.10165315] [ 0. 0. 0. 1. ]] SLAMing on 164.492557844 meters Centerline goodness : 0.169745 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99939475 0.00449011 -0.03449585 2.02628595] [-0.00460971 0.99998364 -0.00338822 0.29069056] [ 0.03448007 0.00354518 0.9993991 1.10121921] [ 0. 0. 0. 1. ]] SLAMing on 164.522557844 meters Centerline goodness : 0.173999 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99939061 0.00451849 -0.03461211 2.02690801] [-0.00463837 0.99998352 -0.00338404 0.2908585 ] [ 0.03459625 0.00354252 0.99939509 1.10064205] [ 0. 0. 0. 1. ]] SLAMing on 164.552557844 meters Centerline goodness : 0.173725 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99938375 0.00451487 -0.03481014 2.02768799] [-0.00463744 0.99998333 -0.00344117 0.29119067] [ 0.03479403 0.00360048 0.99938802 1.10016359] [ 0. 0. 0. 1. ]] SLAMing on 164.582557844 meters Centerline goodness : 0.169021 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99937239 0.00442713 -0.0351459 2.02878932] [-0.00455538 0.99998325 -0.00356971 0.29125372] [ 0.03512951 0.00372757 0.99937582 1.09971883] [ 0. 0. 0. 1. ]] SLAMing on 164.612557844 meters Centerline goodness : 0.169021 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99937239 0.00442713 -0.0351459 2.02878932] [-0.00455538 0.99998325 -0.00356971 0.29125372] [ 0.03512951 0.00372757 0.99937582 1.09971883] [ 0. 0. 0. 1. ]] SLAMing on 164.642557844 meters Centerline goodness : 0.107249 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99936777 0.00438647 -0.03528189 2.02904412] [-0.00451645 0.9999833 -0.0036052 0.29122015] [ 0.03526549 0.00376227 0.9993709 1.09985142] [ 0. 0. 0. 1. ]] SLAMing on 164.672557844 meters Centerline goodness : 0.169485 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99936215 0.00434581 -0.03544595 2.02963112] [-0.00447959 0.99998314 -0.0036956 0.29169402] [ 0.03542929 0.00385203 0.99936476 1.09954864] [ 0. 0. 0. 1. ]] SLAMing on 164.702557844 meters Centerline goodness : 0.175974 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99935872 0.00434454 -0.03554253 2.0302712 ] [-0.00448044 0.99998295 -0.00374489 0.29215687] [ 0.03552565 0.00390174 0.99936115 1.09890194] [ 0. 0. 0. 1. ]] SLAMing on 164.732557844 meters Centerline goodness : 0.304634 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99936936 0.00428274 -0.0352496 2.02949397] [-0.00441244 0.99998378 -0.00360236 0.29124887] [ 0.0352336 0.00375563 0.99937205 1.09902028] [ 0. 0. 0. 1. ]] SLAMing on 164.762557844 meters Centerline goodness : 0.165624 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99938203 0.0041714 -0.03490207 2.02817416] [-0.00429534 0.99998473 -0.00347663 0.29012685] [ 0.03488703 0.0036244 0.99938469 1.09979711] [ 0. 0. 0. 1. ]] SLAMing on 164.79255784400002 meters Centerline goodness : 0.176565 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99939178 0.00412212 -0.03462758 2.0270319 ] [-0.0042384 0.99998562 -0.00328542 0.28891698] [ 0.03461354 0.00343019 0.99939489 1.1006214 ] [ 0. 0. 0. 1. ]] SLAMing on 164.82255784400002 meters Centerline goodness : 0.121961 Centerline is valid? [False, False] Translation: X:2.05, Y:0.29, Z:1.10 [[ 9.99420967e-01 -3.90379816e-03 -3.38007487e-02 2.04689599e+00] [ 3.83767215e-03 9.99990594e-01 -2.02100332e-03 2.92639245e-01] [ 3.38083204e-02 1.89011690e-03 9.99426548e-01 1.10257984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85255784400002 meters Centerline goodness : 0.181095 Centerline is valid? [False, False] Translation: X:2.05, Y:0.29, Z:1.10 [[ 9.99429793e-01 -3.95174230e-03 -3.35331436e-02 2.04646564e+00] [ 3.89339747e-03 9.99990792e-01 -1.80503443e-03 2.91433379e-01] [ 3.35399678e-02 1.67344733e-03 9.99435976e-01 1.10226003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88255784400002 meters Centerline goodness : 0.175221 Centerline is valid? [False, False] Translation: X:2.05, Y:0.29, Z:1.10 [[ 9.99437137e-01 -3.99257576e-03 -3.33086886e-02 2.04571993e+00] [ 3.93496172e-03 9.99990647e-01 -1.79507347e-03 2.91139525e-01] [ 3.33155440e-02 1.66299468e-03 9.99443500e-01 1.10252318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91255784400002 meters Centerline goodness : 0.179849 Centerline is valid? [False, False] Translation: X:2.06, Y:0.29, Z:1.10 [[ 0.99948434 0.0038655 -0.03187646 2.06369492] [-0.00397843 0.99998603 -0.00348019 0.28797777] [ 0.03186256 0.00360521 0.99948576 1.10485274] [ 0. 0. 0. 1. ]] SLAMing on 164.94255784400002 meters Centerline goodness : 0.170187 Centerline is valid? [False, False] Translation: X:2.06, Y:0.29, Z:1.11 [[ 0.99948735 0.00379844 -0.03178998 2.06317151] [-0.00391655 0.99998565 -0.00365398 0.28889565] [ 0.03177565 0.00377661 0.99948789 1.10532612] [ 0. 0. 0. 1. ]] SLAMing on 164.972557844 meters Centerline goodness : 0.181876 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 9.99413864e-01 -4.20328007e-03 -3.39744027e-02 2.04542527e+00] [ 4.13144288e-03 9.99989080e-01 -2.18437592e-03 2.95442758e-01] [ 3.39832133e-02 2.04273228e-03 9.99420316e-01 1.10319324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002557844 meters Centerline goodness : 0.110003 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99940605 -0.00423843 -0.03419928 2.04612724] [ 0.00416257 0.99998872 -0.00228908 0.29592531] [ 0.0342086 0.00214537 0.99941241 1.10292438] [ 0. 0. 0. 1. ]] SLAMing on 165.032557844 meters Centerline goodness : 0.184952 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99940936 -0.00425419 -0.03410045 2.04570334] [ 0.00417794 0.99998861 -0.00230682 0.29596789] [ 0.03410987 0.00216299 0.99941575 1.1031898 ] [ 0. 0. 0. 1. ]] SLAMing on 165.062557844 meters Centerline goodness : 0.177296 Centerline is valid? [False, False] Translation: X:2.04, Y:0.30, Z:1.10 [[ 0.99942033 -0.00432565 -0.03376815 2.04456133] [ 0.00424875 0.99998822 -0.0023488 0.29610974] [ 0.03377791 0.00220397 0.99942693 1.1036797 ] [ 0. 0. 0. 1. ]] SLAMing on 165.092557844 meters Centerline goodness : 0.179218 Centerline is valid? [False, False] Translation: X:2.04, Y:0.30, Z:1.10 [[ 0.99942301 -0.00439821 -0.03367939 2.04445139] [ 0.00431668 0.99998758 -0.00249299 0.29680828] [ 0.03368994 0.00234617 0.99942958 1.10345686] [ 0. 0. 0. 1. ]] SLAMing on 165.122557844 meters Centerline goodness : 0.178248 Centerline is valid? [False, False] Translation: X:2.04, Y:0.30, Z:1.10 [[ 0.99941971 -0.00450129 -0.03376348 2.04484718] [ 0.00441296 0.99998664 -0.00269029 0.29768032] [ 0.03377514 0.00253973 0.99942623 1.10312716] [ 0. 0. 0. 1. ]] SLAMing on 165.152557844 meters Centerline goodness : 0.105845 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99941487 -0.00461683 -0.03389118 2.04550845] [ 0.00452098 0.99998556 -0.00290436 0.29862376] [ 0.0339041 0.00274944 0.99942131 1.10252692] [ 0. 0. 0. 1. ]] SLAMing on 165.182557844 meters Centerline goodness : 0.181124 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99941387 -0.00469826 -0.03390927 2.04578342] [ 0.00459716 0.99998475 -0.00305875 0.29937307] [ 0.03392312 0.00290107 0.99942023 1.10210287] [ 0. 0. 0. 1. ]] SLAMing on 165.212557844 meters Centerline goodness : 0.098310 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99941991 -0.00495504 -0.03369395 2.0454198 ] [ 0.00484954 0.99998308 -0.0032119 0.29977724] [ 0.03370929 0.00304664 0.99942704 1.10180189] [ 0. 0. 0. 1. ]] SLAMing on 165.242557844 meters SLAMing on 165.272557844 meters Centerline goodness : 0.188319 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99939551 -0.00549555 -0.03432804 2.04706054] [ 0.00538122 0.99997967 -0.0034222 0.29918439] [ 0.03434615 0.0032354 0.99940476 1.10166262] [ 0. 0. 0. 1. ]] SLAMing on 165.302557844 meters Centerline goodness : 0.102523 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99937319 -0.00569902 -0.03493925 2.04899275] [ 0.00557896 0.9999782 -0.00353257 0.29943016] [ 0.03495862 0.00333543 0.99938319 1.10094514] [ 0. 0. 0. 1. ]] SLAMing on 165.332557844 meters Centerline goodness : 0.095655 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99936688 -0.00581078 -0.035101 2.0495102 ] [ 0.00568198 0.99997676 -0.00376799 0.300555 ] [ 0.03512208 0.00356617 0.99937667 1.10074185] [ 0. 0. 0. 1. ]] SLAMing on 165.362557844 meters SLAMing on 165.392557844 meters Centerline goodness : 0.094835 Centerline is valid? [False, False] Translation: X:2.05, Y:0.31, Z:1.10 [[ 0.9993724 -0.00625037 -0.03486746 2.04851332] [ 0.00608732 0.99997005 -0.00478042 0.30517067] [ 0.0348963 0.00456517 0.99938051 1.1013716 ] [ 0. 0. 0. 1. ]] SLAMing on 165.422557844 meters Centerline goodness : 0.181137 Centerline is valid? [False, False] Translation: X:2.05, Y:0.31, Z:1.10 [[ 0.99938972 -0.0066547 -0.03429136 2.04659315] [ 0.00645203 0.99996108 -0.00601749 0.31156492] [ 0.03433007 0.00579257 0.99939376 1.10210453] [ 0. 0. 0. 1. ]] SLAMing on 165.452557844 meters Centerline goodness : 0.136929 Centerline is valid? [False, False] Translation: X:2.05, Y:0.31, Z:1.10 [[ 0.99938674 -0.00693724 -0.03432221 2.04674069] [ 0.00671063 0.99995495 -0.00671328 0.31483069] [ 0.03436724 0.00647884 0.99938827 1.10191804] [ 0. 0. 0. 1. ]] SLAMing on 165.482557844 meters Centerline goodness : 0.198938 Centerline is valid? [False, False] Translation: X:2.05, Y:0.32, Z:1.10 [[ 0.99938382 -0.00723052 -0.03434682 2.04690022] [ 0.00698162 0.99994853 -0.00736109 0.317825 ] [ 0.03439827 0.00711676 0.99938286 1.10169659] [ 0. 0. 0. 1. ]] SLAMing on 165.512557844 meters Centerline goodness : 0.235195 Centerline is valid? [False, False] Translation: X:2.05, Y:0.32, Z:1.10 [[ 0.99938446 -0.00747512 -0.03427581 2.04675443] [ 0.00720875 0.9999429 -0.00788843 0.32026549] [ 0.03433282 0.00763649 0.99938128 1.10162721] [ 0. 0. 0. 1. ]] SLAMing on 165.54255784400002 meters Centerline goodness : 0.106812 Centerline is valid? [False, False] Translation: X:2.05, Y:0.32, Z:1.10 [[ 0.99938554 -0.0076511 -0.03420518 2.04654327] [ 0.00737405 0.99993904 -0.00821852 0.32171673] [ 0.03426598 0.00796124 0.99938104 1.10166311] [ 0. 0. 0. 1. ]] SLAMing on 165.57255784400002 meters Centerline goodness : 0.191721 Centerline is valid? [False, False] Translation: X:2.05, Y:0.32, Z:1.10 [[ 0.99939321 -0.0083831 -0.03380722 2.04500329] [ 0.00809223 0.99992914 -0.00873131 0.32259045] [ 0.03387802 0.00845244 0.99939023 1.10254361] [ 0. 0. 0. 1. ]] SLAMing on 165.60255784400002 meters Centerline goodness : 0.244177 Centerline is valid? [False, False] Translation: X:2.04, Y:0.32, Z:1.10 [[ 0.99939244 -0.0084563 -0.03381197 2.04497032] [ 0.00816948 0.99992954 -0.00861193 0.32176285] [ 0.03388241 0.00833047 0.99939111 1.10259176] [ 0. 0. 0. 1. ]] SLAMing on 165.63255784400002 meters Centerline goodness : 0.113184 Centerline is valid? [False, False] Translation: X:2.04, Y:0.32, Z:1.10 [[ 0.99939614 -0.00839627 -0.0337174 2.04461171] [ 0.00811773 0.99993186 -0.0083894 0.32076225] [ 0.03378555 0.00811062 0.9993962 1.10274502] [ 0. 0. 0. 1. ]] SLAMing on 165.66255784400002 meters Centerline goodness : 0.186520 Centerline is valid? [False, False] Translation: X:2.04, Y:0.32, Z:1.10 [[ 0.99940424 -0.00835502 -0.03348657 2.04386852] [ 0.00808345 0.9999334 -0.00823695 0.32003934] [ 0.03355316 0.00796135 0.99940522 1.10301879] [ 0. 0. 0. 1. ]] SLAMing on 165.69255784400002 meters Centerline goodness : 0.143074 Centerline is valid? [False, False] Translation: X:2.04, Y:0.32, Z:1.10 [[ 0.99941311 -0.00836648 -0.03321789 2.04296826] [ 0.00809448 0.99993267 -0.0083146 0.32043125] [ 0.03328522 0.00804084 0.99941355 1.1034505 ] [ 0. 0. 0. 1. ]] SLAMing on 165.722557844 meters Centerline goodness : 0.174140 Centerline is valid? [False, False] Translation: X:2.04, Y:0.32, Z:1.10 [[ 0.99941097 -0.00841017 -0.03327142 2.04311771] [ 0.00812969 0.99993035 -0.00855635 0.32157337] [ 0.03334106 0.00828083 0.99940973 1.1034932 ] [ 0. 0. 0. 1. ]] SLAMing on 165.752557844 meters Centerline goodness : 0.183711 Centerline is valid? [False, False] Translation: X:2.04, Y:0.32, Z:1.10 [[ 0.99940769 -0.00836569 -0.03338092 2.04339897] [ 0.00807576 0.99992857 -0.00881071 0.32305179] [ 0.03345225 0.00853591 0.99940387 1.10347721] [ 0. 0. 0. 1. ]] SLAMing on 165.782557844 meters Centerline goodness : 0.112756 Centerline is valid? [False, False] Translation: X:2.05, Y:0.33, Z:1.10 [[ 0.99941376 -0.00389415 -0.03401435 2.0451721 ] [ 0.00372713 0.99998069 -0.0049725 0.32502116] [ 0.03403306 0.00484281 0.99940897 1.10303812] [ 0. 0. 0. 1. ]] SLAMing on 165.812557844 meters Centerline goodness : 0.186395 Centerline is valid? [False, False] Translation: X:2.05, Y:0.33, Z:1.10 [[ 0.99939794 -0.00326097 -0.03454153 2.04668262] [ 0.00309139 0.99998291 -0.00496169 0.32650538] [ 0.03455712 0.00485192 0.99939095 1.10277408] [ 0. 0. 0. 1. ]] SLAMing on 165.842557844 meters SLAMing on 165.872557844 meters Centerline goodness : 0.125314 Centerline is valid? [False, False] Translation: X:2.05, Y:0.33, Z:1.10 [[ 0.99941587 -0.00226116 -0.03410002 2.04536808] [ 0.00208823 0.99998478 -0.00510591 0.33010908] [ 0.03411105 0.00503172 0.99940538 1.10288679] [ 0. 0. 0. 1. ]] SLAMing on 165.902557844 meters SLAMing on 165.932557844 meters Centerline goodness : 0.110203 Centerline is valid? [False, False] Translation: X:2.02, Y:0.33, Z:1.10 [[ 0.99937977 0.00965544 -0.03386525 2.01993781] [-0.00979168 0.99994461 -0.00385934 0.33186437] [ 0.03382611 0.00418854 0.99941896 1.10362274] [ 0. 0. 0. 1. ]] SLAMing on 165.962557844 meters Centerline goodness : 0.225639 Centerline is valid? [False, False] Translation: X:2.02, Y:0.33, Z:1.10 [[ 0.99937559 0.00966059 -0.03398683 2.02059186] [-0.00980368 0.99994376 -0.00404604 0.33292181] [ 0.03394583 0.00437671 0.99941409 1.1029321 ] [ 0. 0. 0. 1. ]] SLAMing on 165.992557844 meters Centerline goodness : 0.184503 Centerline is valid? [False, False] Translation: X:2.02, Y:0.33, Z:1.10 [[ 0.99936644 0.00966163 -0.03425463 2.02199256] [-0.00980713 0.99994358 -0.00408218 0.33302011] [ 0.03421326 0.00441554 0.9994048 1.10165188] [ 0. 0. 0. 1. ]] SLAMing on 166.022557844 meters Centerline goodness : 0.188050 Centerline is valid? [False, False] Translation: X:2.02, Y:0.33, Z:1.10 [[ 0.99935794 0.00967661 -0.03449745 2.02324426] [-0.00982072 0.99994373 -0.00401036 0.33248947] [ 0.0344567 0.00434658 0.99939674 1.10053309] [ 0. 0. 0. 1. ]] SLAMing on 166.052557844 meters Centerline goodness : 0.187835 Centerline is valid? [False, False] Translation: X:2.02, Y:0.33, Z:1.10 [[ 0.99933974 0.00969998 -0.03501431 2.02494075] [-0.0098409 0.99994415 -0.00385459 0.33159558] [ 0.03497497 0.00419662 0.99937938 1.09988544] [ 0. 0. 0. 1. ]] SLAMing on 166.082557844 meters Centerline goodness : 0.099279 Centerline is valid? [False, False] Translation: X:2.03, Y:0.33, Z:1.10 [[ 0.99933605 0.00970625 -0.03511777 2.02516729] [-0.00984802 0.99994403 -0.00386636 0.33173999] [ 0.03507828 0.00420963 0.9993757 1.09992209] [ 0. 0. 0. 1. ]] SLAMing on 166.112557844 meters Centerline goodness : 0.183668 Centerline is valid? [False, False] Translation: X:2.04, Y:0.34, Z:1.10 [[ 9.99392151e-01 1.97614502e-03 -3.48055169e-02 2.04349987e+00] [-2.06291174e-03 9.99994853e-01 -2.45716667e-03 3.36415575e-01] [ 3.48004821e-02 2.52747379e-03 9.99391084e-01 1.10235453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.142557844 meters Centerline goodness : 0.255583 Centerline is valid? [False, False] Translation: X:2.04, Y:0.34, Z:1.10 [[ 9.99401227e-01 1.95268450e-03 -3.45452418e-02 2.04266873e+00] [-2.04128327e-03 9.99994717e-01 -2.52963394e-03 3.36753145e-01] [ 3.45401197e-02 2.59863588e-03 9.99399934e-01 1.10263237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.172557844 meters Centerline goodness : 0.183242 Centerline is valid? [False, False] Translation: X:2.06, Y:0.34, Z:1.10 [[ 9.99475082e-01 -6.08387132e-03 -3.18205317e-02 2.06107322e+00] [ 6.03806084e-03 9.99980592e-01 -1.53554608e-03 3.42380891e-01] [ 3.18292561e-02 1.34260573e-03 9.99492419e-01 1.10361314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.202557844 meters Centerline goodness : 0.184186 Centerline is valid? [False, False] Translation: X:2.06, Y:0.34, Z:1.10 [[ 9.99475349e-01 -6.11432822e-03 -3.18063302e-02 2.06112981e+00] [ 6.06669669e-03 9.99980327e-01 -1.59383827e-03 3.42658020e-01] [ 3.18154498e-02 1.40004270e-03 9.99492780e-01 1.10343976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.232557844 meters Centerline goodness : 0.097775 Centerline is valid? [False, False] Translation: X:2.06, Y:0.34, Z:1.10 [[ 9.99472060e-01 -6.09504587e-03 -3.19131977e-02 2.06165731e+00] [ 6.04959474e-03 9.99980545e-01 -1.52057418e-03 3.42266972e-01] [ 3.19218448e-02 1.32670949e-03 9.99489488e-01 1.10300954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.262557844 meters SLAMing on 166.29255784400002 meters Centerline goodness : 0.270104 Centerline is valid? [False, False] Translation: X:2.06, Y:0.34, Z:1.10 [[ 9.99455208e-01 -6.23805036e-03 -3.24094651e-02 2.06321553e+00] [ 6.19301484e-03 9.99979713e-01 -1.48977710e-03 3.41347080e-01] [ 3.24181009e-02 1.28825318e-03 9.99473565e-01 1.10253245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32255784400002 meters Centerline goodness : 0.099278 Centerline is valid? [False, False] Translation: X:2.06, Y:0.34, Z:1.10 [[ 9.99452327e-01 -6.27643109e-03 -3.24908193e-02 2.06358924e+00] [ 6.22847604e-03 9.99979359e-01 -1.57695842e-03 3.41696575e-01] [ 3.25000463e-02 1.37372647e-03 9.99470790e-01 1.10221930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35255784400002 meters Centerline goodness : 0.285406 Centerline is valid? [False, False] Translation: X:2.06, Y:0.34, Z:1.10 [[ 9.99454185e-01 -6.38839692e-03 -3.24117396e-02 2.06324815e+00] [ 6.33169534e-03 9.99978240e-01 -1.85175195e-03 3.42977369e-01] [ 3.24228640e-02 1.64551998e-03 9.99472886e-01 1.10241457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38255784400002 meters Centerline goodness : 0.186186 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.10 [[ 9.99508951e-01 1.80742330e-03 -3.12824373e-02 2.08210978e+00] [-1.90368283e-03 9.99993544e-01 -3.04760146e-03 3.41026243e-01] [ 3.12767270e-02 3.10565677e-03 9.99505939e-01 1.10456425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41255784400002 meters Centerline goodness : 0.093330 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.11 [[ 9.99512528e-01 1.78031364e-03 -3.11694986e-02 2.08151583e+00] [-1.87937656e-03 9.99993275e-01 -3.14919219e-03 3.41647472e-01] [ 3.11636825e-02 3.20623627e-03 9.99509152e-01 1.10508999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44255784400002 meters Centerline goodness : 0.193122 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.11 [[ 9.99517787e-01 1.75368593e-03 -3.10018884e-02 2.08081753e+00] [-1.85589781e-03 9.99992936e-01 -3.26848914e-03 3.42328564e-01] [ 3.09959375e-02 3.32444937e-03 9.99513982e-01 1.10552702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47255784400002 meters Centerline goodness : 0.179491 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.11 [[ 9.99520566e-01 1.74224671e-03 -3.09128089e-02 2.08041036e+00] [-1.84569868e-03 9.99992791e-01 -3.31835380e-03 3.42544618e-01] [ 3.09068047e-02 3.37381860e-03 9.99516577e-01 1.10582245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502557844 meters Centerline goodness : 0.179491 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.11 [[ 9.99520566e-01 1.74224671e-03 -3.09128089e-02 2.08041036e+00] [-1.84569868e-03 9.99992791e-01 -3.31835380e-03 3.42544618e-01] [ 3.09068047e-02 3.37381860e-03 9.99516577e-01 1.10582245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.532557844 meters Centerline goodness : 0.098025 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.11 [[ 9.99542635e-01 1.86975423e-03 -3.01831880e-02 2.07820830e+00] [-1.97081703e-03 9.99992550e-01 -3.31891201e-03 3.42973204e-01] [ 3.01767576e-02 3.37687960e-03 9.99538874e-01 1.10642171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562557844 meters SLAMing on 166.592557844 meters Centerline goodness : 0.132195 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.11 [[ 9.99546281e-01 1.93073872e-03 -3.00583660e-02 2.07779085e+00] [-2.03361499e-03 9.99992178e-01 -3.39235592e-03 3.43807194e-01] [ 3.00515812e-02 3.45194388e-03 9.99542389e-01 1.10652755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622557844 meters Centerline goodness : 0.107838 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.10 [[ 9.99531792e-01 1.76511312e-03 -3.05463867e-02 2.08018834e+00] [-1.87696919e-03 9.99991637e-01 -3.63355663e-03 3.43893979e-01] [ 3.05397176e-02 3.68919000e-03 9.99526746e-01 1.10466811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.652557844 meters Centerline goodness : 0.310446 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.11 [[ 0.99948807 -0.00592221 -0.03144091 2.10028365] [ 0.00583195 0.99997861 -0.00296191 0.34942637] [ 0.03145777 0.00277703 0.99950122 1.10591795] [ 0. 0. 0. 1. ]] SLAMing on 166.682557844 meters Centerline goodness : 0.156289 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.11 [[ 0.99948606 -0.0059098 -0.03150688 2.10031192] [ 0.00581601 0.99997838 -0.00306779 0.35009424] [ 0.03152433 0.00288297 0.99949883 1.10609102] [ 0. 0. 0. 1. ]] SLAMing on 166.712557844 meters Centerline goodness : 0.181808 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.11 [[ 0.99948982 -0.00588089 -0.03139288 2.09970603] [ 0.00578171 0.99997801 -0.00324923 0.351322 ] [ 0.0314113 0.00306607 0.99950184 1.10656222] [ 0. 0. 0. 1. ]] SLAMing on 166.742557844 meters Centerline goodness : 0.105433 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99465947e-01 -3.70051978e-03 -3.24673253e-02 2.10471903e+00] [ 3.65383491e-03 9.99992204e-01 -1.49711654e-03 3.52617146e-01] [ 3.24726123e-02 1.37768675e-03 9.99471676e-01 1.10402073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.772557844 meters Centerline goodness : 0.179593 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.10 [[ 9.99456651e-01 -3.72921112e-03 -3.27489923e-02 2.10610171e+00] [ 3.67297441e-03 9.99991675e-01 -1.77719604e-03 3.53959413e-01] [ 3.27553472e-02 1.65594419e-03 9.99462028e-01 1.10281789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.802557844 meters Centerline goodness : 0.263573 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.10 [[ 9.99453168e-01 -3.73898697e-03 -3.28540046e-02 2.10675361e+00] [ 3.67639080e-03 9.99991310e-01 -1.96548480e-03 3.54822773e-01] [ 3.28610680e-02 1.84362585e-03 9.99458229e-01 1.10206952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.832557844 meters Centerline goodness : 0.176983 Centerline is valid? [False, False] Translation: X:2.11, Y:0.36, Z:1.10 [[ 9.99456993e-01 -3.75101327e-03 -3.27360456e-02 2.10655604e+00] [ 3.68520303e-03 9.99991066e-01 -2.07043371e-03 3.55369229e-01] [ 3.27435194e-02 1.94867048e-03 9.99461888e-01 1.10182360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.862557844 meters Centerline goodness : 0.279410 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99468970e-01 -3.64119907e-03 -3.23808474e-02 2.10492931e+00] [ 3.58132719e-03 9.99991769e-01 -1.90679695e-03 3.54872806e-01] [ 3.23875239e-02 1.78981798e-03 9.99473784e-01 1.10298651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.892557844 meters Centerline goodness : 0.266264 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99467183e-01 -3.58419983e-03 -3.24423265e-02 2.10474890e+00] [ 3.52858358e-03 9.99992206e-01 -1.77140208e-03 3.54300336e-01] [ 3.24484227e-02 1.65598278e-03 9.99472039e-01 1.10354091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.922557844 meters Centerline goodness : 0.173927 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99465141e-01 -3.52807489e-03 -3.25112850e-02 2.10491075e+00] [ 3.47725323e-03 9.99992643e-01 -1.61960824e-03 3.53626282e-01] [ 3.25167599e-02 1.50569201e-03 9.99470056e-01 1.10359474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.952557844 meters Centerline goodness : 0.138992 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99466483e-01 -3.47205726e-03 -3.24760500e-02 2.10493625e+00] [ 3.42692239e-03 9.99993084e-01 -1.44534750e-03 3.52812858e-01] [ 3.24808437e-02 1.33328349e-03 9.99471469e-01 1.10343493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.982557844 meters Centerline goodness : 0.178202 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99468826e-01 -3.41870629e-03 -3.24095383e-02 2.10482800e+00] [ 3.37988571e-03 9.99993504e-01 -1.25252242e-03 3.51826247e-01] [ 3.24136098e-02 1.14231658e-03 9.99473888e-01 1.10336443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.012557844 meters Centerline goodness : 0.176305 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99486468e-01 -3.51997415e-03 -3.18498007e-02 2.10335071e+00] [ 3.49202523e-03 9.99993468e-01 -9.33104517e-04 3.49556048e-01] [ 3.18528771e-02 8.21405031e-04 9.99492231e-01 1.10362114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04255784400002 meters Centerline goodness : 0.179016 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99491112e-01 -3.46971102e-03 -3.17092865e-02 2.10265323e+00] [ 3.44840939e-03 9.99993790e-01 -7.26441552e-04 3.48485370e-01] [ 3.17116101e-02 6.16725273e-04 9.99496870e-01 1.10424785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07255784400002 meters Centerline goodness : 0.256086 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:1.11 [[ 9.99520869e-01 4.61378425e-03 -3.06063134e-02 2.12174239e+00] [-4.67288801e-03 9.99987352e-01 -1.85985108e-03 3.45071124e-01] [ 3.05973454e-02 2.00197984e-03 9.99529787e-01 1.10618966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10255784400002 meters Centerline goodness : 0.157310 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:1.11 [[ 9.99522530e-01 4.57330591e-03 -3.05580809e-02 2.12157620e+00] [-4.63583465e-03 9.99987303e-01 -1.97569127e-03 3.45643134e-01] [ 3.05486574e-02 2.11641015e-03 9.99531040e-01 1.10628196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13255784400002 meters Centerline goodness : 0.168548 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:1.11 [[ 9.99525981e-01 4.52626862e-03 -3.04520152e-02 2.12130809e+00] [-4.59233992e-03 9.99987250e-01 -2.10009599e-03 3.46260554e-01] [ 3.04421213e-02 2.23894651e-03 9.99534024e-01 1.10623767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16255784400002 meters Centerline goodness : 0.153383 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:1.11 [[ 0.99953075 0.00448409 -0.03030129 2.12089086] [-0.0045538 0.99998714 -0.00223186 0.34688881] [ 0.03029089 0.0023688 0.99953832 1.10628821] [ 0. 0. 0. 1. ]] SLAMing on 167.19255784400002 meters Centerline goodness : 0.150382 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:1.11 [[ 0.99953473 0.00442012 -0.03017934 2.12060019] [-0.00449418 0.99998705 -0.00238665 0.34755717] [ 0.0301684 0.00252118 0.99954165 1.10622557] [ 0. 0. 0. 1. ]] SLAMing on 167.22255784400002 meters Centerline goodness : 0.171629 Centerline is valid? [False, False] Translation: X:2.14, Y:0.35, Z:1.11 [[ 9.99552887e-01 -3.62745921e-03 -2.96794023e-02 2.13971135e+00] [ 3.57604879e-03 9.99992013e-01 -1.78508785e-03 3.54104689e-01] [ 2.96856406e-02 1.67815473e-03 9.99557876e-01 1.10757753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.252557844 meters Centerline goodness : 0.154756 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.11 [[ 9.99578134e-01 -3.80031382e-04 -2.90415172e-02 2.10518891e+00] [ 2.85131456e-04 9.99994607e-01 -3.27180438e-03 3.51686639e-01] [ 2.90426040e-02 3.26214346e-03 9.99572852e-01 1.10539910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282557844 meters Centerline goodness : 0.273889 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.11 [[ 9.99572453e-01 -3.85385806e-04 -2.92363225e-02 2.10575839e+00] [ 2.89499511e-04 9.99994566e-01 -3.28385948e-03 3.51737612e-01] [ 2.92374292e-02 3.27399158e-03 9.99567133e-01 1.10524282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.312557844 meters Centerline goodness : 0.153735 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.11 [[ 9.99568889e-01 -3.60061354e-04 -2.93582340e-02 2.10610462e+00] [ 2.64514851e-04 9.99994657e-01 -3.25832317e-03 3.51748042e-01] [ 2.93592503e-02 3.24915278e-03 9.99563644e-01 1.10514449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342557844 meters Centerline goodness : 0.154252 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.11 [[ 9.99562519e-01 -2.63660774e-04 -2.95753474e-02 2.10672271e+00] [ 1.74565653e-04 9.99995440e-01 -3.01502081e-03 3.50706321e-01] [ 2.95760074e-02 3.00853895e-03 9.99558007e-01 1.10505232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.372557844 meters Centerline goodness : 0.114853 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.10 [[ 9.99555397e-01 -1.35100837e-04 -2.98159277e-02 2.10743937e+00] [ 5.70482902e-05 9.99996570e-01 -2.61864893e-03 3.48789346e-01] [ 2.98161792e-02 2.61578373e-03 9.99551976e-01 1.10492922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402557844 meters Centerline goodness : 0.151989 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.10 [[ 0.99955191 -0.00411228 -0.02964901 2.1072015 ] [ 0.00393678 0.9999744 -0.00597526 0.34508408] [ 0.02967282 0.00585586 0.99954251 1.1047676 ] [ 0. 0. 0. 1. ]] SLAMing on 167.432557844 meters Centerline goodness : 0.175163 Centerline is valid? [False, False] Translation: X:2.11, Y:0.34, Z:1.11 [[ 0.99955763 -0.00399503 -0.02947175 2.1065755 ] [ 0.00384122 0.99997872 -0.00527387 0.34117236] [ 0.02949219 0.00515833 0.9995517 1.10514987] [ 0. 0. 0. 1. ]] SLAMing on 167.462557844 meters Centerline goodness : 0.153351 Centerline is valid? [False, False] Translation: X:2.11, Y:0.34, Z:1.11 [[ 0.99957134 -0.00382247 -0.0290263 2.10519148] [ 0.00369178 0.99998281 -0.00455475 0.33752646] [ 0.02904321 0.00444564 0.99956827 1.10574769] [ 0. 0. 0. 1. ]] SLAMing on 167.492557844 meters Centerline goodness : 0.175629 Centerline is valid? [False, False] Translation: X:2.10, Y:0.33, Z:1.11 [[ 0.99957382 -0.00351147 -0.02898014 2.10486744] [ 0.00340328 0.99998706 -0.00378153 0.33405779] [ 0.02899305 0.00368129 0.99957283 1.10615361] [ 0. 0. 0. 1. ]] SLAMing on 167.522557844 meters Centerline goodness : 0.154292 Centerline is valid? [False, False] Translation: X:2.11, Y:0.33, Z:1.11 [[ 0.99956989 -0.0030213 -0.02917047 2.10563344] [ 0.00294381 0.99999203 -0.00269881 0.32933567] [ 0.02917839 0.00261177 0.99957081 1.10578713] [ 0. 0. 0. 1. ]] SLAMing on 167.552557844 meters Centerline goodness : 0.128507 Centerline is valid? [False, False] Translation: X:2.11, Y:0.33, Z:1.11 [[ 0.99956417 -0.00282216 -0.02938534 2.10661161] [ 0.00275519 0.99999351 -0.00231931 0.32755792] [ 0.0293917 0.00223734 0.99956547 1.10506632] [ 0. 0. 0. 1. ]] SLAMing on 167.582557844 meters Centerline goodness : 0.174799 Centerline is valid? [False, False] Translation: X:2.11, Y:0.33, Z:1.10 [[ 9.99562786e-01 -2.63565523e-03 -2.94498051e-02 2.10707799e+00] [ 2.58040493e-03 9.99994839e-01 -1.91393072e-03 3.25585245e-01] [ 2.94546975e-02 1.83710150e-03 9.99564428e-01 1.10456377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.612557844 meters Centerline goodness : 0.167832 Centerline is valid? [False, False] Translation: X:2.11, Y:0.32, Z:1.10 [[ 9.99570732e-01 -2.20657794e-03 -2.92144223e-02 2.10631230e+00] [ 2.17687451e-03 9.99997081e-01 -1.04850441e-03 3.21521043e-01] [ 2.92166506e-02 9.84458185e-04 9.99572618e-01 1.10489886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.642557844 meters Centerline goodness : 0.167392 Centerline is valid? [False, False] Translation: X:2.11, Y:0.32, Z:1.11 [[ 9.99574731e-01 -1.97190807e-03 -2.90941520e-02 2.10579720e+00] [ 1.95672356e-03 9.99997934e-01 -5.50370888e-04 3.19275937e-01] [ 2.90951771e-02 4.93207619e-04 9.99576524e-01 1.10528286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.672557844 meters Centerline goodness : 0.169615 Centerline is valid? [False, False] Translation: X:2.13, Y:0.31, Z:1.11 [[ 9.99566300e-01 6.39637101e-03 -2.87454095e-02 2.12587675e+00] [-6.43944956e-03 9.99978278e-01 -1.40630136e-03 3.13379262e-01] [ 2.87357899e-02 1.59079606e-03 9.99585776e-01 1.10727850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.702557844 meters Centerline goodness : 0.176205 Centerline is valid? [False, False] Translation: X:2.13, Y:0.31, Z:1.11 [[ 9.99550367e-01 6.68456409e-03 -2.92297973e-02 2.12788666e+00] [-6.70797480e-03 9.99977254e-01 -7.02934321e-04 3.09479522e-01] [ 2.92244336e-02 8.98691002e-04 9.99572471e-01 1.10603860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.732557844 meters Centerline goodness : 0.109605 Centerline is valid? [False, False] Translation: X:2.15, Y:0.31, Z:1.11 [[ 9.99572893e-01 -1.15097572e-03 -2.92011549e-02 2.14774907e+00] [ 1.16114534e-03 9.99999271e-01 3.31306294e-04 3.12292117e-01] [ 2.92007523e-02 -3.65071576e-04 9.99573500e-01 1.10693607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.762557844 meters Centerline goodness : 0.175770 Centerline is valid? [False, False] Translation: X:2.13, Y:0.30, Z:1.10 [[ 9.99570064e-01 6.48876628e-03 -2.85934099e-02 2.12922809e+00] [-6.50852507e-03 9.99978641e-01 -5.98009492e-04 3.04270521e-01] [ 2.85889188e-02 7.83853311e-04 9.99590946e-01 1.10416715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79255784400002 meters Centerline goodness : 0.153705 Centerline is valid? [False, False] Translation: X:2.15, Y:0.31, Z:1.11 [[ 9.99611365e-01 -1.42033138e-03 -2.78406377e-02 2.14833393e+00] [ 1.44486859e-03 9.99998585e-01 8.61248007e-04 3.06396017e-01] [ 2.78393751e-02 -9.01139359e-04 9.99612003e-01 1.10581422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82255784400002 meters Centerline goodness : 0.124759 Centerline is valid? [False, False] Translation: X:2.15, Y:0.30, Z:1.11 [[ 9.99609234e-01 -1.14957352e-03 -2.79295236e-02 2.14811030e+00] [ 1.20295600e-03 9.99997482e-01 1.89460095e-03 3.00748763e-01] [ 2.79272753e-02 -1.92745859e-03 9.99608099e-01 1.10666381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85255784400002 meters Centerline goodness : 0.169939 Centerline is valid? [False, False] Translation: X:2.15, Y:0.30, Z:1.11 [[ 9.99602577e-01 -9.09290510e-04 -2.81755495e-02 2.14860020e+00] [ 9.81298570e-04 9.99996288e-01 2.54197153e-03 2.97522604e-01] [ 2.81731335e-02 -2.56860992e-03 9.99599758e-01 1.10697714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88255784400002 meters Centerline goodness : 0.159358 Centerline is valid? [False, False] Translation: X:2.13, Y:0.29, Z:1.10 [[ 9.99567115e-01 6.48819226e-03 -2.86964555e-02 2.13098754e+00] [-6.45291053e-03 9.99978306e-01 1.32191746e-03 2.88216414e-01] [ 2.87044099e-02 -1.13616957e-03 9.99587298e-01 1.10454795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91255784400002 meters Centerline goodness : 0.158437 Centerline is valid? [False, False] Translation: X:2.15, Y:0.29, Z:1.11 [[ 9.99591363e-01 -1.65060514e-03 -2.85373792e-02 2.15117387e+00] [ 1.72221391e-03 9.99995430e-01 2.48490062e-03 2.89158451e-01] [ 2.85331472e-02 -2.53303267e-03 9.99589637e-01 1.10577806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94255784400002 meters Centerline goodness : 0.134645 Centerline is valid? [False, False] Translation: X:2.15, Y:0.28, Z:1.11 [[ 0.99963905 -0.0022875 -0.02676805 2.14563701] [ 0.00235894 0.99999374 0.00263775 0.28260613] [ 0.02676184 -0.00269994 0.99963819 1.10736872] [ 0. 0. 0. 1. ]] SLAMing on 167.97255784400002 meters Centerline goodness : 0.111295 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:1.11 [[ 0.99965382 -0.00216062 -0.02622158 2.14366439] [ 0.0022421 0.99999275 0.00307821 0.28042756] [ 0.02621474 -0.00313594 0.99965142 1.10838221] [ 0. 0. 0. 1. ]] SLAMing on 168.002557844 meters Centerline goodness : 0.159463 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:1.11 [[ 9.99659228e-01 -2.00675603e-03 -2.60269066e-02 2.14271893e+00] [ 2.09779718e-03 9.99991775e-01 3.47113046e-03 2.78587919e-01] [ 2.60197268e-02 -3.52454677e-03 9.99655216e-01 1.10916973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.032557844 meters Centerline goodness : 0.134202 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:1.11 [[ 9.99649138e-01 -1.76257045e-03 -2.64290445e-02 2.14405115e+00] [ 1.86967967e-03 9.99990138e-01 4.02854553e-03 2.75950773e-01] [ 2.64216833e-02 -4.07654591e-03 9.99642574e-01 1.10876050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062557844 meters Centerline goodness : 0.147685 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99545516e-01 -1.89404553e-03 -3.00860939e-02 2.10098966e+00] [ 2.03114089e-03 9.99987691e-01 4.52686083e-03 2.71255336e-01] [ 3.00771495e-02 -4.58591254e-03 9.99537060e-01 1.10810987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.092557844 meters Centerline goodness : 0.128985 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99536472e-01 -1.74502254e-03 -3.03940292e-02 2.10215794e+00] [ 1.89152968e-03 9.99986728e-01 4.79217548e-03 2.70117880e-01] [ 3.03852634e-02 -4.84744538e-03 9.99526507e-01 1.10742270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122557844 meters Centerline goodness : 0.157308 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99528199e-01 -1.59305820e-03 -3.06731418e-02 2.10318573e+00] [ 1.74914574e-03 9.99985655e-01 5.06257714e-03 2.68902216e-01] [ 3.06646368e-02 -5.11384041e-03 9.99516648e-01 1.10689910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.152557844 meters Centerline goodness : 0.166063 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99521399e-01 -1.45742693e-03 -3.09006329e-02 2.10419622e+00] [ 1.62139927e-03 9.99984735e-01 5.28204658e-03 2.67751216e-01] [ 3.08924631e-02 -5.32962085e-03 9.99508505e-01 1.10617773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182557844 meters Centerline goodness : 0.154017 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99521862e-01 -1.40025778e-03 -3.08882866e-02 2.10423505e+00] [ 1.56651836e-03 9.99984413e-01 5.35909938e-03 2.67406628e-01] [ 3.08803010e-02 -5.40492406e-03 9.99508476e-01 1.10604183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.212557844 meters Centerline goodness : 0.126280 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99520011e-01 -1.36798848e-03 -3.09495750e-02 2.10445820e+00] [ 1.53483571e-03 9.99984415e-01 5.36782323e-03 2.67418239e-01] [ 3.09417495e-02 -5.41274925e-03 9.99506533e-01 1.10592382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.242557844 meters Centerline goodness : 0.162049 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99518955e-01 -1.35530194e-03 -3.09842144e-02 2.10485667e+00] [ 1.52111047e-03 9.99984647e-01 5.32844282e-03 2.67568185e-01] [ 3.09765170e-02 -5.37301002e-03 9.99505671e-01 1.10535848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.272557844 meters Centerline goodness : 0.154772 Centerline is valid? [False, False] Translation: X:2.11, Y:0.27, Z:1.11 [[ 9.99517276e-01 -1.36008223e-03 -3.10381321e-02 2.10513445e+00] [ 1.52172620e-03 9.99985401e-01 5.18488850e-03 2.68255302e-01] [ 3.10306271e-02 -5.22961717e-03 9.99504753e-01 1.10503325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.302557844 meters Centerline goodness : 0.153906 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.11 [[ 0.99952606 0.00844723 -0.02960236 2.12663688] [-0.00830295 0.99995306 0.00499364 0.2675139 ] [ 0.02964316 -0.00474548 0.99954928 1.10557948] [ 0. 0. 0. 1. ]] SLAMing on 168.332557844 meters Centerline goodness : 0.129064 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.11 [[ 0.99952802 0.00845118 -0.02953493 2.12652248] [-0.0083107 0.99995358 0.00487591 0.26835748] [ 0.02957476 -0.00462816 0.99955186 1.10541615] [ 0. 0. 0. 1. ]] SLAMing on 168.362557844 meters Centerline goodness : 0.129197 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.11 [[ 0.99952755 0.00841496 -0.02956127 2.12671645] [-0.00827836 0.9999545 0.00474028 0.26910971] [ 0.02959982 -0.00449332 0.99955173 1.10515584] [ 0. 0. 0. 1. ]] SLAMing on 168.392557844 meters Centerline goodness : 0.156329 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.10 [[ 0.99952789 0.00832413 -0.02957543 2.12688901] [-0.00819276 0.99995604 0.0045602 0.26978764] [ 0.02961209 -0.00431574 0.99955215 1.10488826] [ 0. 0. 0. 1. ]] SLAMing on 168.422557844 meters Centerline goodness : 0.156329 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.10 [[ 0.99952789 0.00832413 -0.02957543 2.12688901] [-0.00819276 0.99995604 0.0045602 0.26978764] [ 0.02961209 -0.00431574 0.99955215 1.10488826] [ 0. 0. 0. 1. ]] SLAMing on 168.452557844 meters Centerline goodness : 0.126939 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.10 [[ 0.99952752 0.00815901 -0.02963383 2.12719045] [-0.00803728 0.99995878 0.00422454 0.27102004] [ 0.02966708 -0.00398437 0.99955189 1.10459009] [ 0. 0. 0. 1. ]] SLAMing on 168.482557844 meters Centerline goodness : 0.128370 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.10 [[ 0.99952875 0.0080729 -0.02961612 2.12726339] [-0.0079576 0.9999603 0.00400906 0.27207738] [ 0.02964731 -0.0037715 0.99955331 1.10434224] [ 0. 0. 0. 1. ]] SLAMing on 168.512557844 meters Centerline goodness : 0.158988 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.10 [[ 0.99952989 0.00802168 -0.02959141 2.12729347] [-0.00791101 0.99996128 0.0038553 0.27294304] [ 0.02962119 -0.00361939 0.99955464 1.10414572] [ 0. 0. 0. 1. ]] SLAMing on 168.54255784400002 meters Centerline goodness : 0.129324 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.10 [[ 0.99953244 0.00796169 -0.02952142 2.12710316] [-0.0078562 0.99996234 0.00368743 0.2738032 ] [ 0.02954966 -0.00345378 0.99955735 1.10410674] [ 0. 0. 0. 1. ]] SLAMing on 168.57255784400002 meters Centerline goodness : 0.161436 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.11 [[ 0.99954318 0.00783977 -0.02918858 2.12557948] [-0.00773961 0.99996377 0.00354273 0.27410208] [ 0.02921529 -0.00331521 0.99956764 1.10529566] [ 0. 0. 0. 1. ]] SLAMing on 168.60255784400002 meters Centerline goodness : 0.152636 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:1.11 [[ 9.99618435e-01 -1.48127572e-04 -2.76217763e-02 2.14460182e+00] [ 2.68176955e-04 9.99990535e-01 4.34253237e-03 2.79686691e-01] [ 2.76208716e-02 -4.34828294e-03 9.99609014e-01 1.10671054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63255784400002 meters Centerline goodness : 0.155322 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:1.11 [[ 9.99622800e-01 -1.50668514e-04 -2.74633281e-02 2.14406605e+00] [ 2.69001269e-04 9.99990697e-01 4.30511146e-03 2.80040866e-01] [ 2.74624239e-02 -4.31087525e-03 9.99613541e-01 1.10690352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66255784400002 meters Centerline goodness : 0.154948 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:1.11 [[ 9.99621345e-01 -2.14552063e-04 -2.75158136e-02 2.14448307e+00] [ 3.27840369e-04 9.99991489e-01 4.11276205e-03 2.81032913e-01] [ 2.75146970e-02 -4.12022552e-03 9.99612908e-01 1.10639177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69255784400002 meters Centerline goodness : 0.156332 Centerline is valid? [False, False] Translation: X:2.15, Y:0.28, Z:1.11 [[ 9.99611649e-01 -4.76217541e-04 -2.78625894e-02 2.14574449e+00] [ 5.72309379e-04 9.99993916e-01 3.44090338e-03 2.83888433e-01] [ 2.78607813e-02 -3.45551313e-03 9.99605840e-01 1.10561697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72255784400002 meters Centerline goodness : 0.153402 Centerline is valid? [False, False] Translation: X:2.17, Y:0.28, Z:1.11 [[ 9.99610553e-01 7.80791265e-03 -2.67914054e-02 2.16604030e+00] [-7.76644957e-03 9.99968477e-01 1.65133467e-03 2.83846724e-01] [ 2.68034543e-02 -1.44261747e-03 9.99639682e-01 1.10716195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.752557844 meters Centerline goodness : 0.144954 Centerline is valid? [False, False] Translation: X:2.17, Y:0.29, Z:1.11 [[ 9.99614072e-01 7.68076622e-03 -2.66966688e-02 2.16572618e+00] [-7.65290244e-03 9.99970060e-01 1.14573423e-03 2.86397851e-01] [ 2.67046696e-02 -9.40985057e-04 9.99642924e-01 1.10716907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782557844 meters Centerline goodness : 0.154323 Centerline is valid? [False, False] Translation: X:2.16, Y:0.29, Z:1.11 [[ 9.99628412e-01 8.17456172e-03 -2.60041353e-02 2.16359019e+00] [-8.15365168e-03 9.99966344e-01 9.10036790e-04 2.90497569e-01] [ 2.60106992e-02 -6.97669970e-04 9.99661421e-01 1.10745598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.812557844 meters Centerline goodness : 0.158930 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.11 [[ 9.99672591e-01 7.31428105e-04 -2.55768695e-02 2.18125020e+00] [-6.83329485e-04 9.99997982e-01 1.88924109e-03 2.98775635e-01] [ 2.55781997e-02 -1.87114510e-03 9.99671073e-01 1.10950498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.842557844 meters Centerline goodness : 0.156110 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.11 [[ 9.99676270e-01 6.38352839e-04 -2.54351675e-02 2.18064412e+00] [-5.95085393e-04 9.99998363e-01 1.70862048e-03 2.99589380e-01] [ 2.54362166e-02 -1.69293125e-03 9.99675014e-01 1.10988808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.872557844 meters Centerline goodness : 0.155953 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.11 [[ 9.99678548e-01 6.12015725e-04 -2.53461197e-02 2.18015496e+00] [-5.67065051e-04 9.99998254e-01 1.78062321e-03 2.99091102e-01] [ 2.53471652e-02 -1.76567792e-03 9.99677150e-01 1.11036632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902557844 meters Centerline goodness : 0.156056 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.11 [[ 9.99683427e-01 5.94476464e-04 -2.51533846e-02 2.17936607e+00] [-5.43162341e-04 9.99997758e-01 2.04683153e-03 2.97587275e-01] [ 2.51545450e-02 -2.03252119e-03 9.99681508e-01 1.11096186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.932557844 meters Centerline goodness : 0.111169 Centerline is valid? [False, False] Translation: X:2.18, Y:0.29, Z:1.11 [[ 9.99695173e-01 -2.76889945e-04 -2.46877221e-02 2.17781919e+00] [ 3.27656288e-04 9.99997840e-01 2.05231826e-03 2.94220039e-01] [ 2.46871005e-02 -2.05978175e-03 9.99693105e-01 1.11184676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.962557844 meters Centerline goodness : 0.155649 Centerline is valid? [False, False] Translation: X:2.18, Y:0.29, Z:1.11 [[ 9.99687721e-01 -2.86235882e-04 -2.49875766e-02 2.17869755e+00] [ 3.48558375e-04 9.99996840e-01 2.48981930e-03 2.91620855e-01] [ 2.49867850e-02 -2.49775142e-03 9.99684661e-01 1.11175879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.992557844 meters Centerline goodness : 0.158105 Centerline is valid? [False, False] Translation: X:2.18, Y:0.29, Z:1.11 [[ 9.99679082e-01 -1.68821164e-04 -2.53318707e-02 2.17969382e+00] [ 2.44052062e-04 9.99995569e-01 2.96674994e-03 2.89211575e-01] [ 2.53312576e-02 -2.97198015e-03 9.99674694e-01 1.11163504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.022557844 meters Centerline goodness : 0.106805 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99639977e-01 8.00672279e-03 -2.56087462e-02 2.19990991e+00] [-7.95225531e-03 9.99965898e-01 2.22804467e-03 2.83671461e-01] [ 2.56257123e-02 -2.02359524e-03 9.99669559e-01 1.11333963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.052557844 meters Centerline goodness : 0.101535 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 0.99963442 0.00829438 -0.0257339 2.20037749] [-0.00822489 0.99996224 0.00280506 0.28141381] [ 0.02575619 -0.00259238 0.99966489 1.11313851] [ 0. 0. 0. 1. ]] SLAMing on 169.082557844 meters Centerline goodness : 0.106784 Centerline is valid? [False, False] Translation: X:2.16, Y:0.28, Z:1.11 [[ 0.99955807 0.00807926 -0.02860764 2.15519923] [-0.00798477 0.99996229 0.00341557 0.27736556] [ 0.02863415 -0.00318564 0.99958488 1.11323813] [ 0. 0. 0. 1. ]] SLAMing on 169.112557844 meters Centerline goodness : 0.159426 Centerline is valid? [False, False] Translation: X:2.17, Y:0.28, Z:1.11 [[ 9.99588851e-01 3.91369414e-04 -2.86701166e-02 2.17497041e+00] [-2.70875132e-04 9.99991116e-01 4.20654638e-03 2.82371168e-01] [ 2.86715082e-02 -4.19705084e-03 9.99580077e-01 1.11418746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.142557844 meters Centerline goodness : 0.154683 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.11 [[ 9.99583672e-01 4.09525573e-04 -2.88498747e-02 2.17578328e+00] [-2.88253604e-04 9.99991107e-01 4.20758621e-03 2.82313675e-01] [ 2.88513412e-02 -4.19751840e-03 9.99574900e-01 1.11356867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.172557844 meters Centerline goodness : 0.165164 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.11 [[ 9.99571043e-01 5.12182421e-04 -2.92825520e-02 2.17768414e+00] [-3.87895571e-04 9.99990894e-01 4.24992249e-03 2.82027392e-01] [ 2.92844621e-02 -4.23674088e-03 9.99562139e-01 1.11216275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.202557844 meters Centerline goodness : 0.146180 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99559198e-01 7.67089564e-03 -2.86804377e-02 2.19979406e+00] [-7.62364008e-03 9.99969397e-01 1.75664427e-03 2.80152980e-01] [ 2.86930351e-02 -1.53722060e-03 9.99587088e-01 1.11226063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.232557844 meters Centerline goodness : 0.135745 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99556801e-01 7.73656717e-03 -2.87462490e-02 2.19999072e+00] [-7.68296726e-03 9.99968536e-01 1.97457315e-03 2.78893582e-01] [ 2.87606209e-02 -1.75284153e-03 9.99584791e-01 1.11221058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.262557844 meters Centerline goodness : 0.153763 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99554406e-01 7.86431527e-03 -2.87948374e-02 2.19980471e+00] [-7.80102844e-03 9.99966904e-01 2.30953400e-03 2.77322351e-01] [ 2.88120473e-02 -2.08387554e-03 9.99582675e-01 1.11273700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29255784400002 meters Centerline goodness : 0.155117 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 0.99955681 0.00793953 -0.02869048 2.19927239] [-0.00787137 0.99996593 0.00248787 0.27672849] [ 0.02870926 -0.00226093 0.99958525 1.11314506] [ 0. 0. 0. 1. ]] SLAMing on 169.32255784400002 meters Centerline goodness : 0.125446 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 0.99955859 0.00800439 -0.02861049 2.19894349] [-0.00793133 0.99996499 0.00266612 0.2759992 ] [ 0.02863083 -0.00243803 0.99958708 1.11340308] [ 0. 0. 0. 1. ]] SLAMing on 169.35255784400002 meters Centerline goodness : 0.159781 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99600422e-01 5.16046434e-03 -2.77914646e-02 2.19605154e+00] [-5.16559766e-03 9.99986652e-01 -1.12917468e-04 2.75156187e-01] [ 2.77905109e-02 2.56431873e-04 9.99613736e-01 1.11423781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38255784400002 meters Centerline goodness : 0.156559 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99616571e-01 9.16559499e-04 -2.76743665e-02 2.19581613e+00] [-1.03076710e-03 9.99991011e-01 -4.11285356e-03 2.74205190e-01] [ 2.76703481e-02 4.13980240e-03 9.99608530e-01 1.11407691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41255784400002 meters Centerline goodness : 0.127531 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99616306e-01 9.92577588e-04 -2.76813104e-02 2.19574428e+00] [-1.09979678e-03 9.99991952e-01 -3.85838669e-03 2.73001255e-01] [ 2.76772579e-02 3.88735007e-03 9.99609353e-01 1.11424649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44255784400002 meters Centerline goodness : 0.158304 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99618376e-01 1.08907559e-03 -2.76028186e-02 2.19545595e+00] [-1.18876255e-03 9.99992830e-01 -3.59532513e-03 2.71873975e-01] [ 2.75987052e-02 3.62676626e-03 9.99612504e-01 1.11441614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47255784400002 meters Centerline goodness : 0.135001 Centerline is valid? [False, False] Translation: X:2.22, Y:0.27, Z:1.11 [[ 0.99962631 -0.00878488 -0.02588559 2.21690658] [ 0.00868115 0.99995384 -0.00411691 0.27287138] [ 0.02592056 0.00389065 0.99965643 1.11442487] [ 0. 0. 0. 1. ]] SLAMing on 169.502557844 meters Centerline goodness : 0.137775 Centerline is valid? [False, False] Translation: X:2.22, Y:0.27, Z:1.11 [[ 0.99963285 -0.0087462 -0.02564519 2.21606549] [ 0.00865508 0.99995584 -0.00366174 0.27028309] [ 0.02567608 0.00343843 0.9996644 1.11492196] [ 0. 0. 0. 1. ]] SLAMing on 169.532557844 meters Centerline goodness : 0.136492 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:1.12 [[ 0.9996421 -0.00854699 -0.02534988 2.21499353] [ 0.0084704 0.99995923 -0.00312746 0.26796393] [ 0.02537558 0.00291162 0.99967375 1.11549894] [ 0. 0. 0. 1. ]] SLAMing on 169.562557844 meters Centerline goodness : 0.134247 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:1.12 [[ 0.99964534 -0.00833354 -0.02529315 2.21470803] [ 0.0082683 0.99996222 -0.0026829 0.26624558] [ 0.02531455 0.00247281 0.99967648 1.11575521] [ 0. 0. 0. 1. ]] SLAMing on 169.592557844 meters Centerline goodness : 0.125076 Centerline is valid? [False, False] Translation: X:2.19, Y:0.26, Z:1.11 [[ 9.99662820e-01 1.16445844e-05 -2.59662441e-02 2.19480174e+00] [-9.07269760e-05 9.99995362e-01 -3.04440849e-03 2.59381069e-01] [ 2.59660883e-02 3.04573782e-03 9.99658184e-01 1.11433660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.622557844 meters Centerline goodness : 0.128351 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99653087e-01 1.58186167e-05 -2.63382925e-02 2.19624585e+00] [-9.06181114e-05 9.99995967e-01 -2.83876117e-03 2.57583153e-01] [ 2.63381413e-02 2.84016309e-03 9.99649056e-01 1.11361874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.652557844 meters Centerline goodness : 0.168425 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99655634e-01 9.29237220e-05 -2.62412963e-02 2.19583788e+00] [-1.61703616e-04 9.99996557e-01 -2.61894563e-03 2.56350922e-01] [ 2.62409626e-02 2.62228707e-03 9.99652207e-01 1.11388598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682557844 meters Centerline goodness : 0.135387 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:1.12 [[ 9.99686278e-01 -7.20895537e-03 -2.39870061e-02 2.21409557e+00] [ 7.18710899e-03 9.99973676e-01 -9.96846318e-04 2.59941516e-01] [ 2.39935608e-02 8.24136359e-04 9.99711773e-01 1.11564756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.712557844 meters Centerline goodness : 0.123175 Centerline is valid? [False, False] Translation: X:2.19, Y:0.25, Z:1.11 [[ 9.99707513e-01 8.66837650e-04 -2.41689250e-02 2.19437662e+00] [-9.08939657e-04 9.99998089e-01 -1.73105800e-03 2.54028818e-01] [ 2.41673782e-02 1.75251979e-03 9.99706390e-01 1.11392915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.742557844 meters Centerline goodness : 0.138610 Centerline is valid? [False, False] Translation: X:2.20, Y:0.25, Z:1.11 [[ 9.99700882e-01 8.81786458e-04 -2.44411263e-02 2.19537129e+00] [-9.23913107e-04 9.99998107e-01 -1.71235801e-03 2.53945260e-01] [ 2.44395701e-02 1.73442729e-03 9.99699805e-01 1.11335337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.772557844 meters Centerline goodness : 0.136666 Centerline is valid? [False, False] Translation: X:2.20, Y:0.25, Z:1.11 [[ 9.99693209e-01 8.64030481e-04 -2.47536091e-02 2.19658704e+00] [-9.08553870e-04 9.99997990e-01 -1.78747226e-03 2.54247276e-01] [ 2.47520149e-02 1.80941387e-03 9.99691984e-01 1.11262613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.802557844 meters Centerline goodness : 0.137208 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99684266e-01 8.64652015e-04 -2.51121629e-02 2.19764564e+00] [-9.16016415e-04 9.99997512e-01 -2.03396794e-03 2.55583067e-01] [ 2.51103418e-02 2.05632890e-03 9.99682571e-01 1.11230553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.832557844 meters Centerline goodness : 0.129051 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99687788e-01 8.30259453e-04 -2.49727451e-02 2.19715178e+00] [-8.85221164e-04 9.99997210e-01 -2.18989341e-03 2.56396628e-01] [ 2.49708573e-02 2.21131610e-03 9.99685734e-01 1.11254559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.862557844 meters Centerline goodness : 0.125452 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99689989e-01 7.92568244e-04 -2.48857049e-02 2.19683677e+00] [-8.51937589e-04 9.99996816e-01 -2.37516912e-03 2.57338235e-01] [ 2.48837432e-02 2.39563386e-03 9.99687481e-01 1.11267486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.892557844 meters Centerline goodness : 0.121152 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99690793e-01 7.25716741e-04 -2.48554288e-02 2.19692647e+00] [-7.90787021e-04 9.99996286e-01 -2.60822131e-03 2.58498471e-01] [ 2.48534436e-02 2.62707018e-03 9.99687654e-01 1.11232416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.922557844 meters Centerline goodness : 0.137887 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99689779e-01 7.83063332e-04 -2.48944384e-02 2.19753820e+00] [-8.57415662e-04 9.99995204e-01 -2.97617069e-03 2.61242721e-01] [ 2.48919884e-02 2.99659230e-03 9.99685655e-01 1.11136381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.952557844 meters Centerline goodness : 0.123196 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99690879e-01 6.90876511e-04 -2.48529632e-02 2.19752419e+00] [-7.73147613e-04 9.99994253e-01 -3.30085694e-03 2.62955434e-01] [ 2.48505399e-02 3.31905158e-03 9.99685668e-01 1.11114844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.982557844 meters Centerline goodness : 0.148640 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99692998e-01 5.38574705e-04 -2.47713592e-02 2.19726145e+00] [-6.30778469e-04 9.99992902e-01 -3.71452915e-03 2.64967162e-01] [ 2.47691828e-02 3.72901402e-03 9.99686242e-01 1.11120308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.012557844 meters Centerline goodness : 0.155223 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99695263e-01 3.71039264e-04 -2.46828680e-02 2.19685146e+00] [-4.73471203e-04 9.99991301e-01 -4.14420571e-03 2.66978531e-01] [ 2.46811157e-02 4.15462944e-03 9.99686742e-01 1.11148554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04255784400002 meters Centerline goodness : 0.126460 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99702667e-01 7.51309352e-05 -2.43838480e-02 2.19575821e+00] [-1.95262403e-04 9.99987856e-01 -4.92433855e-03 2.70867574e-01] [ 2.43831819e-02 4.92763563e-03 9.99690542e-01 1.11200756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07255784400002 meters Centerline goodness : 0.151049 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99704068e-01 -1.05186930e-04 -2.43262347e-02 2.19560465e+00] [-2.52745602e-05 9.99985621e-01 -5.36262599e-03 2.72887397e-01] [ 2.43264489e-02 5.36165386e-03 9.99689690e-01 1.11198394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10255784400002 meters Centerline goodness : 0.156802 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99703642e-01 -2.52101290e-04 -2.43426324e-02 2.19559011e+00] [ 1.14258082e-04 9.99983954e-01 -5.66385023e-03 2.74190808e-01] [ 2.43436697e-02 5.65939036e-03 9.99687630e-01 1.11206754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13255784400002 meters Centerline goodness : 0.134711 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99702447e-01 -3.84663181e-04 -2.43899392e-02 2.19555682e+00] [ 2.40688287e-04 9.99982532e-01 -5.90570523e-03 2.75198012e-01] [ 2.43917849e-02 5.89807760e-03 9.99685077e-01 1.11229583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16255784400002 meters Centerline goodness : 0.136959 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99702499e-01 -4.19792648e-04 -2.43872424e-02 2.19540072e+00] [ 2.75164715e-04 9.99982359e-01 -5.93352816e-03 2.75395072e-01] [ 2.43893030e-02 5.92505242e-03 9.99684978e-01 1.11255847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19255784400002 meters Centerline goodness : 0.108981 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99710838e-01 -4.36191086e-04 -2.40426742e-02 2.19396912e+00] [ 2.99486532e-04 9.99983771e-01 -5.68922050e-03 2.74395462e-01] [ 2.40447656e-02 5.68037494e-03 9.99694745e-01 1.11355845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22255784400002 meters Centerline goodness : 0.170874 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99710807e-01 -4.17155818e-04 -2.40443202e-02 2.19374702e+00] [ 2.84440819e-04 9.99984709e-01 -5.52275455e-03 2.73481352e-01] [ 2.40462564e-02 5.51431821e-03 9.99695639e-01 1.11401354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.252557844 meters Centerline goodness : 0.175491 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99705972e-01 -4.49061453e-04 -2.42439218e-02 2.19419653e+00] [ 3.18761563e-04 9.99985487e-01 -5.37813555e-03 2.72404757e-01] [ 2.42459850e-02 5.36882620e-03 9.99691606e-01 1.11415180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.282557844 meters Centerline goodness : 0.175491 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99705972e-01 -4.49061453e-04 -2.42439218e-02 2.19419653e+00] [ 3.18761563e-04 9.99985487e-01 -5.37813555e-03 2.72404757e-01] [ 2.42459850e-02 5.36882620e-03 9.99691606e-01 1.11415180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.312557844 meters Centerline goodness : 0.150135 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99690290e-01 -7.15233435e-04 -2.48759547e-02 2.19576286e+00] [ 5.84395826e-04 9.99985961e-01 -5.26647370e-03 2.70511258e-01] [ 2.48793722e-02 5.25030522e-03 9.99676673e-01 1.11425573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342557844 meters Centerline goodness : 0.136682 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99693196e-01 -6.37203581e-04 -2.47609990e-02 2.19523135e+00] [ 5.12190248e-04 9.99987093e-01 -5.05481426e-03 2.69550763e-01] [ 2.47639004e-02 5.04058108e-03 9.99680620e-01 1.11467436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.372557844 meters Centerline goodness : 0.128818 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:1.12 [[ 0.9996916 -0.00822897 -0.02343031 2.21383925] [ 0.00814585 0.99996019 -0.00364083 0.27432312] [ 0.02345934 0.00344884 0.99971884 1.11634375] [ 0. 0. 0. 1. ]] SLAMing on 170.402557844 meters Centerline goodness : 0.133287 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:1.12 [[ 0.99969822 -0.00814483 -0.02317611 2.21298409] [ 0.00806633 0.99996142 -0.00347835 0.2736828 ] [ 0.02320354 0.00329035 0.99972535 1.11671074] [ 0. 0. 0. 1. ]] SLAMing on 170.432557844 meters Centerline goodness : 0.161096 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.12 [[ 9.99729076e-01 3.33907462e-04 -2.32736755e-02 2.19151657e+00] [-4.28913303e-04 9.99991596e-01 -4.07724360e-03 2.68400336e-01] [ 2.32721185e-02 4.08612137e-03 9.99720817e-01 1.11564507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.462557844 meters Centerline goodness : 0.134979 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.12 [[ 9.99724317e-01 3.43613427e-04 -2.34770502e-02 2.19230177e+00] [-4.42785420e-04 9.99991001e-01 -4.21914231e-03 2.69317810e-01] [ 2.34753892e-02 4.22837446e-03 9.99715473e-01 1.11514268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.492557844 meters Centerline goodness : 0.161978 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99718912e-01 3.34437004e-04 -2.37062222e-02 2.19307420e+00] [-4.38985579e-04 9.99990201e-01 -4.40510757e-03 2.70390827e-01] [ 2.37045167e-02 4.41427604e-03 9.99709263e-01 1.11475126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.522557844 meters Centerline goodness : 0.157544 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99713981e-01 3.49164523e-04 -2.39130646e-02 2.19383938e+00] [-4.59214775e-04 9.99989329e-01 -4.59676060e-03 2.71444416e-01] [ 2.39112044e-02 4.60642707e-03 9.99703474e-01 1.11424571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.552557844 meters Centerline goodness : 0.131688 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99712576e-01 4.86177595e-04 -2.39693413e-02 2.19399473e+00] [-6.01257476e-04 9.99988327e-01 -4.79415514e-03 2.72625462e-01] [ 2.39667307e-02 4.80718893e-03 9.99701199e-01 1.11409709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.582557844 meters Centerline goodness : 0.131706 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99715010e-01 4.40513119e-04 -2.38684742e-02 2.19374572e+00] [-5.60555805e-04 9.99987228e-01 -5.02288328e-03 2.73801469e-01] [ 2.38659567e-02 5.03483142e-03 9.99702489e-01 1.11402127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.612557844 meters Centerline goodness : 0.133090 Centerline is valid? [False, False] Translation: X:2.19, Y:0.28, Z:1.11 [[ 9.99715311e-01 4.63565040e-04 -2.38554418e-02 2.19394732e+00] [-5.88569923e-04 9.99986133e-01 -5.23334480e-03 2.75265028e-01] [ 2.38526850e-02 5.24589552e-03 9.99701721e-01 1.11349609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.642557844 meters Centerline goodness : 0.141831 Centerline is valid? [False, False] Translation: X:2.19, Y:0.28, Z:1.11 [[ 9.99715617e-01 5.01279983e-04 -2.38418322e-02 2.19390416e+00] [-6.24548579e-04 9.99986476e-01 -5.16310001e-03 2.75018094e-01] [ 2.38389216e-02 5.17652210e-03 9.99702410e-01 1.11348733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.672557844 meters Centerline goodness : 0.125271 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99713067e-01 5.62572447e-04 -2.39471616e-02 2.19407929e+00] [-6.81377639e-04 9.99987500e-01 -4.95326821e-03 2.73982639e-01] [ 2.39440757e-02 4.96816402e-03 9.99700955e-01 1.11369323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.702557844 meters Centerline goodness : 0.168991 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99710848e-01 6.30806984e-04 -2.40379502e-02 2.19410161e+00] [-7.43964439e-04 9.99988684e-01 -4.69879808e-03 2.72665778e-01] [ 2.40347141e-02 4.71532279e-03 9.99700004e-01 1.11406903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.732557844 meters Centerline goodness : 0.126597 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99705374e-01 6.59690284e-04 -2.42637785e-02 2.19468365e+00] [-7.61027307e-04 9.99991026e-01 -4.16747637e-03 2.69531941e-01] [ 2.42608115e-02 4.18471392e-03 9.99696905e-01 1.11413318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.762557844 meters Centerline goodness : 0.135139 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99701894e-01 7.28990184e-04 -2.44047609e-02 2.19527346e+00] [-8.24120772e-04 9.99992101e-01 -3.88820327e-03 2.68072697e-01] [ 2.44017336e-02 3.90715664e-03 9.99694598e-01 1.11376232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79255784400002 meters Centerline goodness : 0.135484 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:1.11 [[ 9.99623373e-01 -1.61421686e-04 -2.74424192e-02 2.15094041e+00] [ 6.48410659e-05 9.99993802e-01 -3.52024505e-03 2.62929580e-01] [ 2.74428173e-02 3.51713984e-03 9.99617187e-01 1.11380390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82255784400002 meters Centerline goodness : 0.135578 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:1.11 [[ 9.99618292e-01 -4.80297711e-05 -2.76273042e-02 2.15143755e+00] [-4.01164186e-05 9.99994911e-01 -3.18998306e-03 2.61286665e-01] [ 2.76273169e-02 3.18987373e-03 9.99613203e-01 1.11378534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85255784400002 meters Centerline goodness : 0.136110 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:1.11 [[ 9.99609533e-01 1.05103794e-04 -2.79422857e-02 2.15214924e+00] [-1.72741483e-04 9.99997061e-01 -2.41821836e-03 2.57040933e-01] [ 2.79419494e-02 2.42210092e-03 9.99606613e-01 1.11400348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88255784400002 meters Centerline goodness : 0.135081 Centerline is valid? [False, False] Translation: X:2.15, Y:0.25, Z:1.11 [[ 9.99611659e-01 2.87431520e-04 -2.78648159e-02 2.15180646e+00] [-3.40796258e-04 9.99998117e-01 -1.91039962e-03 2.54598867e-01] [ 2.78642143e-02 1.91915396e-03 9.99609875e-01 1.11431922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91255784400002 meters Centerline goodness : 0.141272 Centerline is valid? [False, False] Translation: X:2.15, Y:0.25, Z:1.11 [[ 9.99615962e-01 4.87743494e-04 -2.77072219e-02 2.15124799e+00] [-5.25501145e-04 9.99998943e-01 -1.35547168e-03 2.51923939e-01] [ 2.77065315e-02 1.36951131e-03 9.99615162e-01 1.11460599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94255784400002 meters Centerline goodness : 0.134652 Centerline is valid? [False, False] Translation: X:2.15, Y:0.25, Z:1.11 [[ 9.99620601e-01 6.98431654e-04 -2.75348026e-02 2.15068983e+00] [-7.20742356e-04 9.99999420e-01 -8.00356521e-04 2.49361253e-01] [ 2.75342276e-02 8.19898365e-04 9.99620525e-01 1.11486753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97255784400002 meters Centerline goodness : 0.133928 Centerline is valid? [False, False] Translation: X:2.15, Y:0.25, Z:1.12 [[ 9.99618556e-01 9.84671051e-04 -2.76002380e-02 2.15068191e+00] [-9.84636554e-04 9.99999515e-01 1.48405834e-05 2.45326469e-01] [ 2.76002392e-02 1.23412807e-05 9.99619041e-01 1.11525278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002557844 meters Centerline goodness : 0.139212 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.12 [[ 9.99614835e-01 1.11912001e-03 -2.77295584e-02 2.15111561e+00] [-1.10958164e-03 9.99999320e-01 3.59363361e-04 2.43624615e-01] [ 2.77299418e-02 -3.28456738e-04 9.99615397e-01 1.11508959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.032557844 meters Centerline goodness : 0.134558 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.12 [[ 9.99611445e-01 1.24794889e-03 -2.78460281e-02 2.15146691e+00] [-1.23045480e-03 9.99999035e-01 6.45369802e-04 2.42241091e-01] [ 2.78468066e-02 -6.10855761e-04 9.99612016e-01 1.11501601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062557844 meters Centerline goodness : 0.138348 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.12 [[ 9.99612738e-01 1.33898038e-03 -2.77953447e-02 2.15128934e+00] [-1.31721545e-03 9.99998811e-01 8.01337291e-04 2.41583657e-01] [ 2.77963846e-02 -7.64414506e-04 9.99613314e-01 1.11508808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.092557844 meters Centerline goodness : 0.150028 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.11 [[ 9.99621674e-01 1.60075577e-03 -2.74580994e-02 2.15059843e+00] [-1.57647333e-03 9.99998347e-01 9.05970091e-04 2.41807011e-01] [ 2.74595043e-02 -8.62340377e-04 9.99622545e-01 1.11481636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122557844 meters Centerline goodness : 0.131156 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.11 [[ 9.99624194e-01 1.63069321e-03 -2.73644344e-02 2.15038319e+00] [-1.60659660e-03 9.99998302e-01 9.02544090e-04 2.41941003e-01] [ 2.73658597e-02 -8.58241301e-04 9.99625116e-01 1.11473062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.152557844 meters Centerline goodness : 0.132157 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.11 [[ 9.99625815e-01 1.69409081e-03 -2.73012741e-02 2.15017548e+00] [-1.66624875e-03 9.99998068e-01 1.04252519e-03 2.41280209e-01] [ 2.73029875e-02 -9.96644381e-04 9.99626707e-01 1.11479399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182557844 meters Centerline goodness : 0.139643 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.12 [[ 9.99629040e-01 1.80348177e-03 -2.71759201e-02 2.14947213e+00] [-1.75900014e-03 9.99997074e-01 1.66061982e-03 2.37663890e-01] [ 2.71788355e-02 -1.61220135e-03 9.99629287e-01 1.11546851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.212557844 meters Centerline goodness : 0.135630 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.12 [[ 9.99627766e-01 1.94755990e-03 -2.72127830e-02 2.14941846e+00] [-1.88937893e-03 9.99995875e-01 2.16355046e-03 2.35149830e-01] [ 2.72168844e-02 -2.11132986e-03 9.99627322e-01 1.11576424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.242557844 meters Centerline goodness : 0.135585 Centerline is valid? [False, False] Translation: X:2.15, Y:0.23, Z:1.12 [[ 9.99621014e-01 2.04941492e-03 -2.74523024e-02 2.14998449e+00] [-1.97630015e-03 9.99994428e-01 2.69020579e-03 2.32430558e-01] [ 2.74576628e-02 -2.63493225e-03 9.99619495e-01 1.11586091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.272557844 meters Centerline goodness : 0.144307 Centerline is valid? [False, False] Translation: X:2.15, Y:0.23, Z:1.11 [[ 9.99620806e-01 -6.89701601e-04 -2.75276101e-02 2.15141246e+00] [ 7.13274683e-04 9.99999387e-01 8.46533150e-04 2.26473451e-01] [ 2.75270094e-02 -8.65846897e-04 9.99620685e-01 1.11476664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.302557844 meters Centerline goodness : 0.138176 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:1.11 [[ 9.99611386e-01 -6.04970731e-04 -2.78695423e-02 2.15237929e+00] [ 6.41733429e-04 9.99998936e-01 1.31017419e-03 2.24020149e-01] [ 2.78687200e-02 -1.32754985e-03 9.99610710e-01 1.11464582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.332557844 meters Centerline goodness : 0.141231 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:1.11 [[ 9.99606930e-01 -4.81753212e-04 -2.80313015e-02 2.15285844e+00] [ 5.29448869e-04 9.99998425e-01 1.69411702e-03 2.22190207e-01] [ 2.80304412e-02 -1.70829225e-03 9.99605610e-01 1.11454582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.362557844 meters Centerline goodness : 0.143717 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:1.11 [[ 9.99603957e-01 -3.97882628e-04 -2.81384108e-02 2.15310735e+00] [ 4.52089215e-04 9.99998054e-01 1.92009119e-03 2.21170683e-01] [ 2.81375921e-02 -1.93205182e-03 9.99602192e-01 1.11461116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.392557844 meters Centerline goodness : 0.146293 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:1.11 [[ 9.99604890e-01 -3.24617255e-04 -2.81062074e-02 2.15293024e+00] [ 3.83965673e-04 9.99997708e-01 2.10620564e-03 2.20297700e-01] [ 2.81054593e-02 -2.11616527e-03 9.99602724e-01 1.11476720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.422557844 meters Centerline goodness : 0.137674 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.12 [[ 9.99694671e-01 -9.70745637e-04 -2.46905199e-02 2.19362985e+00] [ 9.86012446e-04 9.99999330e-01 6.06159809e-04 2.22009617e-01] [ 2.46899149e-02 -6.30319891e-04 9.99694959e-01 1.11634527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.452557844 meters Centerline goodness : 0.139651 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.12 [[ 9.99694497e-01 -9.64481036e-04 -2.46978414e-02 2.19366554e+00] [ 9.82587406e-04 9.99999257e-01 7.20990231e-04 2.21281529e-01] [ 2.46971277e-02 -7.45037754e-04 9.99694702e-01 1.11631004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.482557844 meters Centerline goodness : 0.142360 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.12 [[ 9.99687102e-01 -9.87678833e-04 -2.49944470e-02 2.19457585e+00] [ 1.00828377e-03 9.99999162e-01 8.11791119e-04 2.20543928e-01] [ 2.49936242e-02 -8.36738606e-04 9.99687260e-01 1.11601075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.512557844 meters Centerline goodness : 0.139008 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:1.12 [[ 9.99672138e-01 -1.27066438e-03 -2.55734477e-02 2.19623740e+00] [ 1.29518442e-03 9.99998717e-01 9.42267283e-04 2.19016524e-01] [ 2.55722176e-02 -9.75080681e-04 9.99672502e-01 1.11562241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54255784400002 meters Centerline goodness : 0.143952 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:1.12 [[ 9.99671282e-01 -1.21029467e-03 -2.56098379e-02 2.19616890e+00] [ 1.24324956e-03 9.99998420e-01 1.27092255e-03 2.17458760e-01] [ 2.56082592e-02 -1.30234419e-03 9.99671206e-01 1.11588657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57255784400002 meters Centerline goodness : 0.141731 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:1.12 [[ 9.99670355e-01 -1.21155233e-03 -2.56459195e-02 2.19599097e+00] [ 1.25246336e-03 9.99997969e-01 1.57922282e-03 2.15763395e-01] [ 2.56439541e-02 -1.61082281e-03 9.99669842e-01 1.11635010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60255784400002 meters Centerline goodness : 0.136172 Centerline is valid? [False, False] Translation: X:2.20, Y:0.21, Z:1.12 [[ 9.99676167e-01 -1.34031601e-03 -2.54119000e-02 2.19514359e+00] [ 1.38702850e-03 9.99997381e-01 1.82067602e-03 2.14038663e-01] [ 2.54093932e-02 -1.85533345e-03 9.99675408e-01 1.11687041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63255784400002 meters Centerline goodness : 0.144792 Centerline is valid? [False, False] Translation: X:2.19, Y:0.21, Z:1.12 [[ 9.99694879e-01 -4.03996370e-03 -2.43685732e-02 2.19132580e+00] [ 4.03537346e-03 9.99991830e-01 -2.37539719e-04 2.09632767e-01] [ 2.43693338e-02 1.39130947e-04 9.99703014e-01 1.11787510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66255784400002 meters Centerline goodness : 0.178401 Centerline is valid? [False, False] Translation: X:2.19, Y:0.20, Z:1.12 [[ 9.99701238e-01 -6.91163291e-03 -2.34449044e-02 2.18789161e+00] [ 6.86919412e-03 9.99974620e-01 -1.89020306e-03 2.03338018e-01] [ 2.34573738e-02 1.72859074e-03 9.99723344e-01 1.11841575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69255784400002 meters Centerline goodness : 0.139489 Centerline is valid? [False, False] Translation: X:2.19, Y:0.20, Z:1.12 [[ 9.99707452e-01 -6.90717377e-03 -2.31797807e-02 2.18722539e+00] [ 6.87755183e-03 9.99975428e-01 -1.35740004e-03 2.01097795e-01] [ 2.31885869e-02 1.19758279e-03 9.99730391e-01 1.11804731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72255784400002 meters Centerline goodness : 0.139594 Centerline is valid? [False, False] Translation: X:2.19, Y:0.20, Z:1.12 [[ 9.99709397e-01 -6.93084123e-03 -2.30886304e-02 2.18693547e+00] [ 6.91094207e-03 9.99975676e-01 -9.41541919e-04 1.99128214e-01] [ 2.30945945e-02 7.81704116e-04 9.99732979e-01 1.11785441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.752557844 meters Centerline goodness : 0.146204 Centerline is valid? [False, False] Translation: X:2.19, Y:0.20, Z:1.12 [[ 9.99703508e-01 -7.03828751e-03 -2.33100357e-02 2.18742282e+00] [ 7.02564368e-03 9.99975125e-01 -6.24271791e-04 1.97593432e-01] [ 2.33138497e-02 4.60318695e-04 9.99728089e-01 1.11757322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782557844 meters Centerline goodness : 0.128607 Centerline is valid? [False, False] Translation: X:2.19, Y:0.20, Z:1.12 [[ 9.99690784e-01 -7.04254872e-03 -2.38482623e-02 2.18906928e+00] [ 7.03721988e-03 9.99975191e-01 -3.07366174e-04 1.96280750e-01] [ 2.38498353e-02 1.39445666e-04 9.99715542e-01 1.11674032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.812557844 meters Centerline goodness : 0.156784 Centerline is valid? [False, False] Translation: X:2.19, Y:0.20, Z:1.12 [[ 9.99695706e-01 -7.02400311e-03 -2.36465293e-02 2.18867429e+00] [ 7.02553258e-03 9.99975320e-01 -1.83959884e-05 1.95337518e-01] [ 2.36460750e-02 -1.47739072e-04 9.99720382e-01 1.11626401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842557844 meters Centerline goodness : 0.153386 Centerline is valid? [False, False] Translation: X:2.19, Y:0.19, Z:1.12 [[ 9.99702002e-01 -7.10071843e-03 -2.33556445e-02 2.18795442e+00] [ 7.10926751e-03 9.99974689e-01 2.83026157e-04 1.94178106e-01] [ 2.33530436e-02 -4.48983340e-04 9.99727180e-01 1.11579113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.872557844 meters Centerline goodness : 0.136559 Centerline is valid? [False, False] Translation: X:2.19, Y:0.19, Z:1.12 [[ 9.99701921e-01 -7.18615558e-03 -2.33329788e-02 2.18795320e+00] [ 7.20228981e-03 9.99973879e-01 6.07513197e-04 1.92813852e-01] [ 2.33280036e-02 -7.75382985e-04 9.99727564e-01 1.11520213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902557844 meters Centerline goodness : 0.156021 Centerline is valid? [False, False] Translation: X:2.19, Y:0.19, Z:1.11 [[ 9.99675585e-01 -7.90256203e-03 -2.42131029e-02 2.19056773e+00] [ 7.92054226e-03 9.99968423e-01 6.46766623e-04 1.89989885e-01] [ 2.42072272e-02 -8.38337707e-04 9.99706611e-01 1.11454734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.932557844 meters Centerline goodness : 0.123273 Centerline is valid? [False, False] Translation: X:2.21, Y:0.18, Z:1.12 [[ 9.99716649e-01 -2.73683593e-04 -2.38022603e-02 2.20872361e+00] [ 2.60030426e-04 9.99999800e-01 -5.76701189e-04 1.83373067e-01] [ 2.38024133e-02 5.70348468e-04 9.99716520e-01 1.11629435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.962557844 meters Centerline goodness : 0.151901 Centerline is valid? [False, False] Translation: X:2.19, Y:0.19, Z:1.12 [[ 9.99668447e-01 -9.58682346e-03 -2.38974818e-02 2.18648173e+00] [ 9.59785671e-03 9.99953879e-01 3.47032513e-04 1.85624564e-01] [ 2.38930527e-02 -5.76282060e-04 9.99714354e-01 1.11616005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.992557844 meters Centerline goodness : 0.152939 Centerline is valid? [False, False] Translation: X:2.21, Y:0.18, Z:1.12 [[ 0.99980197 -0.00552037 -0.01911937 2.20564133] [ 0.00545939 0.99997985 -0.00323975 0.17950308] [ 0.01913687 0.00313473 0.99981196 1.11591313] [ 0. 0. 0. 1. ]] SLAMing on 172.022557844 meters Centerline goodness : 0.130975 Centerline is valid? [False, False] Translation: X:2.20, Y:0.18, Z:1.12 [[ 0.99981179 -0.00542736 -0.01862603 2.20398752] [ 0.00537553 0.99998154 -0.00283155 0.17723408] [ 0.01864105 0.00273089 0.99982251 1.11651947] [ 0. 0. 0. 1. ]] SLAMing on 172.052557844 meters Centerline goodness : 0.149526 Centerline is valid? [False, False] Translation: X:2.20, Y:0.18, Z:1.12 [[ 0.99981692 -0.00530678 -0.01838389 2.203383 ] [ 0.00526112 0.99998296 -0.00253065 0.17590142] [ 0.018397 0.00243347 0.9998278 1.11642166] [ 0. 0. 0. 1. ]] SLAMing on 172.082557844 meters Centerline goodness : 0.119954 Centerline is valid? [False, False] Translation: X:2.21, Y:0.17, Z:1.11 [[ 9.99812197e-01 -5.04885086e-03 -1.87104037e-02 2.20517208e+00] [ 5.01128068e-03 9.99985333e-01 -2.05432541e-03 1.74695548e-01] [ 1.87205012e-02 1.96017652e-03 9.99822835e-01 1.11489999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.112557844 meters Centerline goodness : 0.148973 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:1.12 [[ 9.99745359e-01 -5.36608045e-03 -2.19185580e-02 2.16107201e+00] [ 5.34131321e-03 9.99985029e-01 -1.18835472e-03 1.73515405e-01] [ 2.19246067e-02 1.07097823e-03 9.99759053e-01 1.11508483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.142557844 meters Centerline goodness : 0.106504 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:1.12 [[ 9.99741816e-01 -5.32440224e-03 -2.20896328e-02 2.16132686e+00] [ 5.30471791e-03 9.99985479e-01 -9.49613072e-04 1.72234266e-01] [ 2.20943682e-02 8.32188627e-04 9.99755543e-01 1.11533447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.172557844 meters Centerline goodness : 0.143580 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:1.12 [[ 9.99739500e-01 -5.27517636e-03 -2.22059392e-02 2.16137686e+00] [ 5.26003604e-03 9.99985892e-01 -7.40168646e-04 1.70968445e-01] [ 2.22095305e-02 6.23171792e-04 9.99753144e-01 1.11569846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.202557844 meters Centerline goodness : 0.145682 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:1.12 [[ 9.99742737e-01 -5.15356981e-03 -2.20884523e-02 2.16078923e+00] [ 5.14494183e-03 9.99986665e-01 -4.47421988e-04 1.69649460e-01] [ 2.20904636e-02 3.33663081e-04 9.99755920e-01 1.11608230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.232557844 meters Centerline goodness : 0.145682 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:1.12 [[ 9.99742737e-01 -5.15356981e-03 -2.20884523e-02 2.16078923e+00] [ 5.14494183e-03 9.99986665e-01 -4.47421988e-04 1.69649460e-01] [ 2.20904636e-02 3.33663081e-04 9.99755920e-01 1.11608230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.262557844 meters Centerline goodness : 0.142512 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:1.12 [[ 9.99746418e-01 -5.03420152e-03 -2.19489467e-02 2.16032359e+00] [ 5.03049983e-03 9.99987322e-01 -2.23860812e-04 1.68836655e-01] [ 2.19497954e-02 1.13389872e-04 9.99759068e-01 1.11622144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29255784400002 meters Centerline goodness : 0.140444 Centerline is valid? [False, False] Translation: X:2.11, Y:0.17, Z:1.12 [[ 9.99685321e-01 -5.67493949e-03 -2.44346882e-02 2.11423287e+00] [ 5.68839768e-03 9.99983705e-01 4.81309215e-04 1.67834141e-01] [ 2.44315586e-02 -6.20151981e-04 9.99701313e-01 1.11686860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32255784400002 meters Centerline goodness : 0.138970 Centerline is valid? [False, False] Translation: X:2.11, Y:0.17, Z:1.12 [[ 9.99683023e-01 -5.64148887e-03 -2.45362276e-02 2.11454942e+00] [ 5.66066509e-03 9.99983725e-01 7.12160650e-04 1.66455599e-01] [ 2.45318106e-02 -8.50826279e-04 9.99698688e-01 1.11668431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35255784400002 meters Centerline goodness : 0.129831 Centerline is valid? [False, False] Translation: X:2.12, Y:0.16, Z:1.12 [[ 9.99679576e-01 -5.52173670e-03 -2.47033738e-02 2.11529727e+00] [ 5.55266728e-03 9.99983883e-01 1.18365883e-03 1.64258994e-01] [ 2.46964398e-02 -1.32044917e-03 9.99694124e-01 1.11601294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38255784400002 meters Centerline goodness : 0.148771 Centerline is valid? [False, False] Translation: X:2.07, Y:0.16, Z:1.12 [[ 0.99960791 -0.00515267 -0.02752244 2.07047783] [ 0.00522593 0.99998299 0.00259043 0.16443137] [ 0.02750862 -0.00273324 0.99961783 1.11595069] [ 0. 0. 0. 1. ]] SLAMing on 172.41255784400002 meters Centerline goodness : 0.127311 Centerline is valid? [False, False] Translation: X:2.09, Y:0.16, Z:1.12 [[ 9.99626133e-01 4.09786960e-03 -2.70333349e-02 2.09073935e+00] [-4.05393479e-03 9.99990372e-01 1.67981431e-03 1.61778457e-01] [ 2.70399583e-02 -1.56959491e-03 9.99633121e-01 1.11681734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44255784400002 meters Centerline goodness : 0.146001 Centerline is valid? [False, False] Translation: X:2.09, Y:0.16, Z:1.12 [[ 9.99621039e-01 4.03292499e-03 -2.72307373e-02 2.09132672e+00] [-3.99668224e-03 9.99991054e-01 1.38524564e-03 1.63198988e-01] [ 2.72360803e-02 -1.27588809e-03 9.99628215e-01 1.11668004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47255784400002 meters Centerline goodness : 0.144609 Centerline is valid? [False, False] Translation: X:2.09, Y:0.16, Z:1.12 [[ 9.99612345e-01 3.98045477e-03 -2.75556959e-02 2.09229657e+00] [-3.95032534e-03 9.99991539e-01 1.14775236e-03 1.64467830e-01] [ 2.75600313e-02 -1.03845347e-03 9.99619611e-01 1.11640731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502557844 meters Centerline goodness : 0.125712 Centerline is valid? [False, False] Translation: X:2.09, Y:0.17, Z:1.12 [[ 9.99600432e-01 3.94609795e-03 -2.79893824e-02 2.09367834e+00] [-3.91859192e-03 9.99991784e-01 1.03751321e-03 1.65357947e-01] [ 2.79932466e-02 -9.27419687e-04 9.99607682e-01 1.11596382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.532557844 meters Centerline goodness : 0.144511 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99500941e-01 3.49926703e-03 -3.13946649e-02 2.05028973e+00] [-3.44902792e-03 9.99992684e-01 1.65425498e-03 1.66678653e-01] [ 3.14002239e-02 -1.54514833e-03 9.99505697e-01 1.11564985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562557844 meters Centerline goodness : 0.134993 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99499533e-01 3.44832149e-03 -3.14450706e-02 2.05031187e+00] [-3.39908251e-03 9.99992912e-01 1.61919393e-03 1.66588626e-01] [ 3.14504312e-02 -1.51149919e-03 9.99504170e-01 1.11579896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.592557844 meters Centerline goodness : 0.130631 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99506428e-01 3.40446466e-03 -3.12299495e-02 2.04953418e+00] [-3.35869747e-03 9.99993208e-01 1.51783234e-03 1.67083336e-01] [ 3.12349048e-02 -1.41219123e-03 9.99511074e-01 1.11618752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622557844 meters Centerline goodness : 0.153850 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99514480e-01 3.45017877e-03 -3.09661324e-02 2.04859347e+00] [-3.40615362e-03 9.99993112e-01 1.47435742e-03 1.67657259e-01] [ 3.09710059e-02 -1.36816619e-03 9.99519347e-01 1.11661231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.652557844 meters Centerline goodness : 0.141199 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99512630e-01 3.40284442e-03 -3.10309991e-02 2.04894360e+00] [-3.36377848e-03 9.99993483e-01 1.31104917e-03 1.68704954e-01] [ 3.10352582e-02 -1.20602880e-03 9.99517563e-01 1.11630463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682557844 meters Centerline goodness : 0.129330 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99510395e-01 3.42927828e-03 -3.10999937e-02 2.04921685e+00] [-3.38545928e-03 9.99993201e-01 1.46151870e-03 1.67898147e-01] [ 3.11047942e-02 -1.35551537e-03 9.99515210e-01 1.11608338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.712557844 meters Centerline goodness : 0.137218 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99509774e-01 3.43425205e-03 -3.11193954e-02 2.04918821e+00] [-3.38399596e-03 9.99992884e-01 1.66746727e-03 1.66752691e-01] [ 3.11249005e-02 -1.56134192e-03 9.99514283e-01 1.11614146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.742557844 meters Centerline goodness : 0.139193 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99532142e-01 3.51281859e-03 -3.03834922e-02 2.04684662e+00] [-3.45339268e-03 9.99992021e-01 2.00811616e-03 1.65190415e-01] [ 3.03903039e-02 -1.90225051e-03 9.99536298e-01 1.11682971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.772557844 meters Centerline goodness : 0.154210 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.11 [[ 0.99953905 -0.00497924 -0.02994809 2.02730927] [ 0.00508151 0.99998151 0.00333964 0.17058896] [ 0.0299309 -0.00349028 0.99954588 1.11487399] [ 0. 0. 0. 1. ]] SLAMing on 172.802557844 meters Centerline goodness : 0.146154 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.11 [[ 0.99953857 -0.00500413 -0.02995999 2.02743627] [ 0.00510507 0.99998155 0.00329339 0.17083371] [ 0.02994296 -0.00344482 0.99954567 1.11466224] [ 0. 0. 0. 1. ]] SLAMing on 172.832557844 meters Centerline goodness : 0.155892 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.11 [[ 0.99953303 -0.00508521 -0.0301309 2.02814633] [ 0.00518328 0.99998152 0.00317765 0.17129308] [ 0.03011418 -0.00333235 0.99954091 1.11417873] [ 0. 0. 0. 1. ]] SLAMing on 172.862557844 meters Centerline goodness : 0.140647 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.11 [[ 0.99952823 -0.0051515 -0.03027838 2.02866032] [ 0.00524462 0.99998176 0.00299688 0.17226199] [ 0.03026239 -0.00315426 0.99953701 1.11392222] [ 0. 0. 0. 1. ]] SLAMing on 172.892557844 meters Centerline goodness : 0.127413 Centerline is valid? [False, False] Translation: X:2.03, Y:0.18, Z:1.12 [[ 0.99956117 -0.00244451 -0.02952103 2.02560905] [ 0.00260112 0.99998274 0.00526792 0.17704484] [ 0.02950765 -0.00534239 0.99955028 1.11517069] [ 0. 0. 0. 1. ]] SLAMing on 172.922557844 meters Centerline goodness : 0.127179 Centerline is valid? [False, False] Translation: X:2.02, Y:0.18, Z:1.12 [[ 0.99956712 -0.00264667 -0.02930143 2.02490978] [ 0.00278258 0.99998556 0.00459842 0.18049262] [ 0.02928883 -0.00467797 0.99956004 1.11544247] [ 0. 0. 0. 1. ]] SLAMing on 172.952557844 meters Centerline goodness : 0.128620 Centerline is valid? [False, False] Translation: X:2.02, Y:0.18, Z:1.12 [[ 0.99957512 -0.0028849 -0.02900458 2.02403022] [ 0.00299812 0.99998805 0.00386102 0.18416616] [ 0.02899309 -0.00394634 0.99957182 1.11572797] [ 0. 0. 0. 1. ]] SLAMing on 172.982557844 meters Centerline goodness : 0.140583 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.12 [[ 0.99958914 -0.00343492 -0.02845612 2.0226081 ] [ 0.00350835 0.99999064 0.00253103 0.19083689] [ 0.02844716 -0.00262983 0.99959184 1.11580984] [ 0. 0. 0. 1. ]] SLAMing on 173.012557844 meters Centerline goodness : 0.139189 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.12 [[ 9.99594093e-01 -3.68760802e-03 -2.82497924e-02 2.02216762e+00] [ 3.74619564e-03 9.99990940e-01 2.02126856e-03 1.93069344e-01] [ 2.82420829e-02 -2.12627736e-03 9.99598851e-01 1.11564531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04255784400002 meters Centerline goodness : 0.113651 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.12 [[ 9.99598387e-01 -3.92211410e-03 -2.80656853e-02 2.02179059e+00] [ 3.97028431e-03 9.99990739e-01 1.66081880e-03 1.94534915e-01] [ 2.80589115e-02 -1.77158054e-03 9.99604701e-01 1.11543687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07255784400002 meters Centerline goodness : 0.107297 Centerline is valid? [False, False] Translation: X:2.02, Y:0.20, Z:1.12 [[ 9.99599545e-01 -4.15198704e-03 -2.79912519e-02 2.02165434e+00] [ 4.19339416e-03 9.99990198e-01 1.42074928e-03 1.95470024e-01] [ 2.79850786e-02 -1.53755868e-03 9.99607158e-01 1.11526643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10255784400002 meters Centerline goodness : 0.125040 Centerline is valid? [False, False] Translation: X:2.03, Y:0.20, Z:1.11 [[ 9.99566652e-01 -4.97519138e-03 -2.90130217e-02 2.02514777e+00] [ 4.99831733e-03 9.99987246e-01 7.24619310e-04 1.97546590e-01] [ 2.90090465e-02 -8.69321587e-04 9.99578771e-01 1.11371469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13255784400002 meters Centerline goodness : 0.127944 Centerline is valid? [False, False] Translation: X:2.03, Y:0.20, Z:1.11 [[ 9.99546476e-01 -5.22160211e-03 -2.96576537e-02 2.02735138e+00] [ 5.23883528e-03 9.99986151e-01 5.03396109e-04 1.98158125e-01] [ 2.96546144e-02 -6.58539369e-04 9.99559988e-01 1.11269834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16255784400002 meters Centerline goodness : 0.110864 Centerline is valid? [False, False] Translation: X:2.03, Y:0.20, Z:1.11 [[ 9.99532563e-01 -5.39851931e-03 -3.00917140e-02 2.02894555e+00] [ 5.41105400e-03 9.99985304e-01 3.35132142e-04 1.98693308e-01] [ 3.00894626e-02 -4.97803378e-04 9.99547086e-01 1.11180566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19255784400002 meters Centerline goodness : 0.116324 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:1.11 [[ 9.99438555e-01 -6.01900808e-03 -3.29597637e-02 1.98448546e+00] [ 6.04285922e-03 9.99981547e-01 6.24078437e-04 2.00848261e-01] [ 3.29553992e-02 -8.22899263e-04 9.99456485e-01 1.11118466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22255784400002 meters Centerline goodness : 0.119806 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.11 [[ 9.99530129e-01 1.90352674e-03 -3.05924500e-02 2.00226870e+00] [-1.92666111e-03 9.99997880e-01 -7.26751921e-04 1.97439866e-01] [ 3.05910018e-02 7.85351725e-04 9.99531677e-01 1.11175054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.252557844 meters Centerline goodness : 0.180975 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.11 [[ 9.99537895e-01 1.81117842e-03 -3.03432938e-02 2.00147034e+00] [-1.83881761e-03 9.99997920e-01 -8.83003576e-04 1.97989941e-01] [ 3.03416314e-02 9.38391319e-04 9.99539146e-01 1.11201366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282557844 meters Centerline goodness : 0.108767 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.11 [[ 9.99543138e-01 1.70875546e-03 -3.01760714e-02 2.00099560e+00] [-1.74273359e-03 9.99997877e-01 -1.09973140e-03 1.98880519e-01] [ 3.01741282e-02 1.15181783e-03 9.99543994e-01 1.11209751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.312557844 meters Centerline goodness : 0.123703 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:1.11 [[ 9.99482120e-01 1.85036718e-03 -3.21258008e-02 1.95356491e+00] [-1.88509504e-03 9.99997671e-01 -1.05074190e-03 2.06845427e-01] [ 3.21237817e-02 1.11075793e-03 9.99483281e-01 1.11256282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342557844 meters Centerline goodness : 0.106138 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:1.11 [[ 9.99483845e-01 1.70788611e-03 -3.20800085e-02 1.95356448e+00] [-1.76044132e-03 9.99997154e-01 -1.61008102e-03 2.09814528e-01] [ 3.20771673e-02 1.66572494e-03 9.99484007e-01 1.11252713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.372557844 meters Centerline goodness : 0.146103 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:1.11 [[ 9.99482852e-01 1.54571917e-03 -3.21191562e-02 1.95386050e+00] [-1.61713491e-03 9.99996278e-01 -2.19760439e-03 2.12817665e-01] [ 3.21156397e-02 2.24840891e-03 9.99481631e-01 1.11230183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402557844 meters Centerline goodness : 0.184229 Centerline is valid? [False, False] Translation: X:1.95, Y:0.22, Z:1.11 [[ 9.99476620e-01 1.38691387e-03 -3.23197073e-02 1.95454675e+00] [-1.47650387e-03 9.99995133e-01 -2.74829147e-03 2.15589424e-01] [ 3.23157384e-02 2.79457324e-03 9.99473803e-01 1.11210009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.432557844 meters Centerline goodness : 0.113726 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99461748e-01 1.14533743e-03 -3.27857072e-02 1.95606487e+00] [-1.26624741e-03 9.99992474e-01 -3.66736150e-03 2.20404177e-01] [ 3.27812600e-02 3.70690235e-03 9.99455676e-01 1.11163133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.462557844 meters Centerline goodness : 0.133669 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99457486e-01 9.75781396e-04 -3.29208247e-02 1.95662047e+00] [-1.10997630e-03 9.99991149e-01 -4.05826280e-03 2.22226907e-01] [ 3.29165734e-02 4.09260248e-03 9.99449723e-01 1.11130894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.492557844 meters Centerline goodness : 0.094935 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99454775e-01 8.58616503e-04 -3.30063093e-02 1.95691738e+00] [-1.00083744e-03 9.99990286e-01 -4.29262167e-03 2.23267739e-01] [ 3.30023030e-02 4.32331517e-03 9.99445925e-01 1.11116203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.522557844 meters Centerline goodness : 0.188054 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99454619e-01 7.83126637e-04 -3.30129047e-02 1.95672933e+00] [-9.25515403e-04 9.99990335e-01 -4.29806396e-03 2.23288851e-01] [ 3.30092197e-02 4.32627382e-03 9.99445684e-01 1.11134517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.552557844 meters Centerline goodness : 0.115357 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99450948e-01 8.21173678e-04 -3.31229160e-02 1.95682598e+00] [-9.54400956e-04 9.99991518e-01 -4.00659854e-03 2.21906989e-01] [ 3.31193449e-02 4.03601126e-03 9.99443255e-01 1.11149818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.582557844 meters Centerline goodness : 0.098734 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99444459e-01 8.36820486e-04 -3.33177466e-02 1.95730625e+00] [-9.59349360e-04 9.99992836e-01 -3.66176960e-03 2.20018227e-01] [ 3.33144437e-02 3.69169870e-03 9.99438102e-01 1.11137971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.612557844 meters Centerline goodness : 0.107889 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99449573e-01 3.50948252e-04 -3.31727124e-02 1.95717901e+00] [-4.70106163e-04 9.99993466e-01 -3.58431482e-03 2.17717534e-01] [ 3.31712377e-02 3.59793661e-03 9.99443207e-01 1.11087956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.642557844 meters Centerline goodness : 0.186613 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99457239e-01 4.03692912e-04 -3.29403057e-02 1.95644804e+00] [-5.17514637e-04 9.99993925e-01 -3.44694101e-03 2.17024896e-01] [ 3.29387141e-02 3.46211723e-03 9.99451377e-01 1.11109240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.672557844 meters Centerline goodness : 0.181262 Centerline is valid? [False, False] Translation: X:1.98, Y:0.22, Z:1.11 [[ 0.99949624 -0.00732004 -0.0308817 1.97550661] [ 0.00725499 0.99997122 -0.00221784 0.22008938] [ 0.03089705 0.00199267 0.99952059 1.11275988] [ 0. 0. 0. 1. ]] SLAMing on 173.702557844 meters Centerline goodness : 0.103411 Centerline is valid? [False, False] Translation: X:1.97, Y:0.22, Z:1.11 [[ 9.99540584e-01 -4.97997826e-03 -2.98968300e-02 1.97099968e+00] [ 4.97133119e-03 9.99987577e-01 -3.63553952e-04 2.23843680e-01] [ 2.98982691e-02 2.14759886e-04 9.99552924e-01 1.11494384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.732557844 meters Centerline goodness : 0.179396 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99547162e-01 3.54082581e-03 -2.98820068e-02 1.99069040e+00] [-3.59007185e-03 9.99992284e-01 -1.59452590e-03 2.20596070e-01] [ 2.98761303e-02 1.70108239e-03 9.99552161e-01 1.11678126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.762557844 meters Centerline goodness : 0.180541 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99547829e-01 3.46356540e-03 -2.98687298e-02 1.99063475e+00] [-3.51941845e-03 9.99992155e-01 -1.81758097e-03 2.21684547e-01] [ 2.98622002e-02 1.92187967e-03 9.99552177e-01 1.11683031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79255784400002 meters Centerline goodness : 0.150463 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99551533e-01 3.44000631e-03 -2.97472588e-02 1.99017665e+00] [-3.49961704e-03 9.99991971e-01 -1.95207539e-03 2.22503491e-01] [ 2.97403048e-02 2.05530396e-03 9.99555546e-01 1.11710888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82255784400002 meters Centerline goodness : 0.179164 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 0.9995635 0.00338795 -0.02934852 1.98888425] [-0.00344919 0.99999198 -0.00203656 0.22275363] [ 0.02934138 0.0021369 0.99956716 1.11753283] [ 0. 0. 0. 1. ]] SLAMing on 173.85255784400002 meters Centerline goodness : 0.246839 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99565073e-01 3.37477502e-03 -2.92963385e-02 1.98877927e+00] [-3.43375514e-03 9.99992178e-01 -1.96314918e-03 2.22114562e-01] [ 2.92894841e-02 2.06289181e-03 9.99568842e-01 1.11740111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88255784400002 meters Centerline goodness : 0.178193 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99563584e-01 3.42051411e-03 -2.93417939e-02 1.98901684e+00] [-3.47403696e-03 9.99992393e-01 -1.77333208e-03 2.21081475e-01] [ 2.93355050e-02 1.87449265e-03 9.99567864e-01 1.11713127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91255784400002 meters Centerline goodness : 0.284107 Centerline is valid? [False, False] Translation: X:1.97, Y:0.23, Z:1.12 [[ 9.99518225e-01 -5.14204037e-03 -3.06084552e-02 1.96923573e+00] [ 5.12758004e-03 9.99986702e-01 -5.50903201e-04 2.25960701e-01] [ 3.06108810e-02 3.93690486e-04 9.99531300e-01 1.11584580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94255784400002 meters Centerline goodness : 0.149896 Centerline is valid? [False, False] Translation: X:1.97, Y:0.23, Z:1.12 [[ 9.99521078e-01 -5.01829532e-03 -3.05357336e-02 1.96885245e+00] [ 5.01043375e-03 9.99987392e-01 -3.33966347e-04 2.25481113e-01] [ 3.05370245e-02 1.80809133e-04 9.99533620e-01 1.11607309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97255784400002 meters Centerline goodness : 0.108202 Centerline is valid? [False, False] Translation: X:1.97, Y:0.23, Z:1.12 [[ 9.99520638e-01 -5.02042416e-03 -3.05497848e-02 1.96880890e+00] [ 5.01438963e-03 9.99987390e-01 -2.74140432e-04 2.25097262e-01] [ 3.05507759e-02 1.20820496e-04 9.99533209e-01 1.11614669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002557844 meters Centerline goodness : 0.281968 Centerline is valid? [False, False] Translation: X:1.97, Y:0.22, Z:1.12 [[ 9.99516687e-01 -5.06286062e-03 -3.06718030e-02 1.96930195e+00] [ 5.05668712e-03 9.99987176e-01 -2.78840416e-04 2.24854073e-01] [ 3.06728214e-02 1.23607938e-04 9.99529471e-01 1.11582995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.032557844 meters Centerline goodness : 0.175420 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99513894e-01 1.10442811e-03 -3.11569505e-02 1.99155019e+00] [-1.20660225e-03 9.99993956e-01 -3.26072627e-03 2.21235530e-01] [ 3.11531609e-02 3.29673525e-03 9.99509186e-01 1.11574785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062557844 meters Centerline goodness : 0.148439 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99516981e-01 1.06046749e-03 -3.10593125e-02 1.99133618e+00] [-1.16513381e-03 9.99993703e-01 -3.35198080e-03 2.21657866e-01] [ 3.10555623e-02 3.38654998e-03 9.99511923e-01 1.11565156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.092557844 meters Centerline goodness : 0.148439 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99516981e-01 1.06046749e-03 -3.10593125e-02 1.99133618e+00] [-1.16513381e-03 9.99993703e-01 -3.35198080e-03 2.21657866e-01] [ 3.10555623e-02 3.38654998e-03 9.99511923e-01 1.11565156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122557844 meters Centerline goodness : 0.100292 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99520603e-01 1.04025302e-03 -3.09432129e-02 1.99094078e+00] [-1.14671452e-03 9.99993484e-01 -3.42299772e-03 2.22161817e-01] [ 3.09394505e-02 3.45683978e-03 9.99515283e-01 1.11576856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.152557844 meters Centerline goodness : 0.286110 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99522509e-01 1.07585620e-03 -3.08803694e-02 1.99075997e+00] [-1.17770282e-03 9.99993927e-01 -3.28010372e-03 2.21562564e-01] [ 3.08766530e-02 3.31490539e-03 9.99517706e-01 1.11570696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182557844 meters Centerline goodness : 0.176826 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99503389e-01 5.19685047e-04 -3.15072191e-02 1.99257672e+00] [-6.19711154e-04 9.99994799e-01 -3.16502240e-03 2.19069976e-01] [ 3.15054105e-02 3.18297599e-03 9.99498513e-01 1.11505637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.212557844 meters Centerline goodness : 0.174812 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.11 [[ 9.99486984e-01 3.69711340e-04 -3.20254847e-02 1.99415039e+00] [-4.60800735e-04 9.99995870e-01 -2.83694454e-03 2.16618887e-01] [ 3.20243036e-02 2.85024651e-03 9.99483026e-01 1.11442269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.242557844 meters Centerline goodness : 0.172092 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.11 [[ 9.99478403e-01 4.36453205e-04 -3.22913390e-02 1.99512484e+00] [-5.13509716e-04 9.99997041e-01 -2.37803571e-03 2.14085385e-01] [ 3.22902055e-02 2.39337725e-03 9.99475670e-01 1.11379184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.272557844 meters Centerline goodness : 0.175855 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.11 [[ 9.99475266e-01 5.71099261e-04 -3.23862213e-02 1.99556061e+00] [-6.35936726e-04 9.99997814e-01 -1.99174256e-03 2.12217271e-01] [ 3.23850130e-02 2.01129301e-03 9.99473444e-01 1.11336607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.302557844 meters Centerline goodness : 0.173173 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.11 [[ 9.99474804e-01 7.26918138e-04 -3.23973388e-02 1.99555534e+00] [-7.83250834e-04 9.99998203e-01 -1.72614926e-03 2.11293712e-01] [ 3.23960258e-02 1.75061794e-03 9.99473578e-01 1.11341636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.332557844 meters Centerline goodness : 0.174441 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.11 [[ 9.99479096e-01 7.63899754e-04 -3.22638038e-02 1.99490183e+00] [-8.22996475e-04 9.99998008e-01 -1.81843224e-03 2.11976167e-01] [ 3.22623505e-02 1.84403801e-03 9.99477734e-01 1.11404597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.362557844 meters Centerline goodness : 0.175888 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.11 [[ 9.99473785e-01 1.29609683e-03 -3.24110134e-02 1.99530216e+00] [-1.35614931e-03 9.99997404e-01 -1.83092750e-03 2.13801319e-01] [ 3.24085562e-02 1.87391821e-03 9.99472948e-01 1.11413570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.392557844 meters Centerline goodness : 0.180001 Centerline is valid? [False, False] Translation: X:2.00, Y:0.22, Z:1.11 [[ 9.99467864e-01 1.21120362e-03 -3.25963553e-02 1.99603158e+00] [-1.28358602e-03 9.99996757e-01 -2.19973323e-03 2.15644730e-01] [ 3.25935853e-02 2.24040290e-03 9.99466177e-01 1.11379820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.422557844 meters Centerline goodness : 0.177909 Centerline is valid? [False, False] Translation: X:2.00, Y:0.22, Z:1.11 [[ 9.99467496e-01 1.12705127e-03 -3.26106305e-02 1.99621955e+00] [-1.21046297e-03 9.99996046e-01 -2.53817800e-03 2.17348266e-01] [ 3.26076409e-02 2.57630037e-03 9.99464909e-01 1.11364876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.452557844 meters Centerline goodness : 0.118552 Centerline is valid? [False, False] Translation: X:2.00, Y:0.22, Z:1.11 [[ 9.99477851e-01 1.07416304e-03 -3.22935309e-02 1.99512768e+00] [-1.16436552e-03 9.99995473e-01 -2.77453003e-03 2.18541776e-01] [ 3.22904044e-02 2.81068279e-03 9.99474577e-01 1.11416142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.482557844 meters Centerline goodness : 0.179110 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:1.12 [[ 9.99519411e-01 -6.73686576e-03 -3.02582352e-02 2.01404085e+00] [ 6.69085539e-03 9.99976301e-01 -1.62158409e-03 2.21786799e-01] [ 3.02684425e-02 1.41835129e-03 9.99540799e-01 1.11638381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.512557844 meters Centerline goodness : 0.096790 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:1.12 [[ 9.99527412e-01 -6.80116997e-03 -2.99782563e-02 2.01314388e+00] [ 6.75206711e-03 9.99975693e-01 -1.73887647e-03 2.22334390e-01] [ 2.99893540e-02 1.53563950e-03 9.99549039e-01 1.11661992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54255784400002 meters Centerline goodness : 0.176159 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:1.12 [[ 9.99523893e-01 -6.83276443e-03 -3.00882254e-02 2.01383524e+00] [ 6.78621786e-03 9.99975614e-01 -1.64884794e-03 2.21708708e-01] [ 3.00987579e-02 1.44387766e-03 9.99545887e-01 1.11585858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57255784400002 meters Centerline goodness : 0.176483 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:1.12 [[ 9.99517422e-01 -6.86472888e-03 -3.02951918e-02 2.01469441e+00] [ 6.82209760e-03 9.99975589e-01 -1.51033528e-03 2.20828212e-01] [ 3.03048203e-02 1.30292967e-03 9.99539854e-01 1.11517177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60255784400002 meters Centerline goodness : 0.098786 Centerline is valid? [False, False] Translation: X:2.02, Y:0.22, Z:1.11 [[ 9.99511517e-01 -6.95463970e-03 -3.04689941e-02 2.01527487e+00] [ 6.91739136e-03 9.99975193e-01 -1.32773805e-03 2.19908486e-01] [ 3.04774722e-02 1.11632352e-03 9.99534831e-01 1.11474386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63255784400002 meters Centerline goodness : 0.177907 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:1.11 [[ 9.99514460e-01 -6.93114877e-03 -3.03776826e-02 2.01492417e+00] [ 6.89652123e-03 9.99975444e-01 -1.24452783e-03 2.19642304e-01] [ 3.03855626e-02 1.03442323e-03 9.99537717e-01 1.11487556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66255784400002 meters Centerline goodness : 0.176222 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:1.12 [[ 9.99516387e-01 -6.93563773e-03 -3.03131763e-02 2.01464970e+00] [ 6.90136532e-03 9.99975423e-01 -1.23509134e-03 2.19590898e-01] [ 3.03209975e-02 1.02529173e-03 9.99539687e-01 1.11503275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69255784400002 meters Centerline goodness : 0.172715 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:1.12 [[ 9.99565502e-01 9.64052750e-04 -2.94597682e-02 2.03262769e+00] [-1.04324815e-03 9.99995883e-01 -2.67300405e-03 2.13814554e-01] [ 2.94570701e-02 2.70257648e-03 9.99562393e-01 1.11659630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72255784400002 meters Centerline goodness : 0.154013 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:1.12 [[ 9.99566863e-01 8.63961899e-04 -2.94166713e-02 2.03290937e+00] [-9.46399111e-04 9.99995664e-01 -2.78859006e-03 2.13866639e-01] [ 2.94141345e-02 2.81522213e-03 9.99563346e-01 1.11592526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.752557844 meters Centerline goodness : 0.104456 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:1.12 [[ 9.99565201e-01 8.46417411e-04 -2.94735892e-02 2.03332044e+00] [-9.30786254e-04 9.99995509e-01 -2.84892141e-03 2.14217769e-01] [ 2.94710454e-02 2.87511631e-03 9.99561499e-01 1.11549028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782557844 meters Centerline goodness : 0.266547 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:1.12 [[ 9.99564680e-01 8.38325326e-04 -2.94914848e-02 2.03343012e+00] [-9.24438832e-04 9.99995349e-01 -2.90643142e-03 2.14600090e-01] [ 2.94889111e-02 2.93242927e-03 9.99560806e-01 1.11538166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.812557844 meters Centerline goodness : 0.174503 Centerline is valid? [False, False] Translation: X:2.03, Y:0.22, Z:1.12 [[ 9.99565214e-01 7.86583743e-04 -2.94747972e-02 2.03313211e+00] [-8.76891184e-04 9.99994961e-01 -3.05108613e-03 2.15221497e-01] [ 2.94722487e-02 3.07560575e-03 9.99560867e-01 1.11586831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842557844 meters Centerline goodness : 0.171034 Centerline is valid? [False, False] Translation: X:2.03, Y:0.22, Z:1.12 [[ 9.99564252e-01 7.26652291e-04 -2.95089399e-02 2.03313510e+00] [-8.20647804e-04 9.99994628e-01 -3.17333734e-03 2.15631639e-01] [ 2.95064755e-02 3.19617101e-03 9.99559479e-01 1.11601569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.872557844 meters Centerline goodness : 0.174580 Centerline is valid? [False, False] Translation: X:2.03, Y:0.22, Z:1.12 [[ 9.99560056e-01 6.74133139e-04 -2.96519670e-02 2.03365620e+00] [-7.72935974e-04 9.99994188e-01 -3.32074785e-03 2.16346733e-01] [ 2.96495560e-02 3.34220598e-03 9.99554768e-01 1.11578750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902557844 meters Centerline goodness : 0.127735 Centerline is valid? [False, False] Translation: X:2.03, Y:0.22, Z:1.12 [[ 9.99551246e-01 6.00460336e-04 -2.99490507e-02 2.03474259e+00] [-7.06157511e-04 9.99993560e-01 -3.51878102e-03 2.17336519e-01] [ 2.99467449e-02 3.53835070e-03 9.99545233e-01 1.11526912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.932557844 meters Centerline goodness : 0.175520 Centerline is valid? [False, False] Translation: X:2.06, Y:0.22, Z:1.12 [[ 9.99496550e-01 -4.96814065e-03 -3.13362934e-02 2.05971859e+00] [ 4.93540528e-03 9.99987191e-01 -1.12190871e-03 2.20366867e-01] [ 3.13414658e-02 9.66686577e-04 9.99508268e-01 1.11504432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.962557844 meters Centerline goodness : 0.177168 Centerline is valid? [False, False] Translation: X:2.06, Y:0.22, Z:1.12 [[ 9.99497900e-01 -5.07264898e-03 -3.12764415e-02 2.05958959e+00] [ 5.03034537e-03 9.99986324e-01 -1.43110827e-03 2.21905282e-01] [ 3.12832732e-02 1.27305841e-03 9.99509748e-01 1.11507124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.992557844 meters Centerline goodness : 0.096591 Centerline is valid? [False, False] Translation: X:2.06, Y:0.22, Z:1.12 [[ 9.99496730e-01 -5.16011555e-03 -3.12995215e-02 2.05970439e+00] [ 5.10715906e-03 9.99985389e-01 -1.77163644e-03 2.23718857e-01] [ 3.13082061e-02 1.61089319e-03 9.99508480e-01 1.11505459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.022557844 meters Centerline goodness : 0.178554 Centerline is valid? [False, False] Translation: X:2.08, Y:0.22, Z:1.12 [[ 0.9995049 0.00363289 -0.03125321 2.08016216] [-0.00371533 0.99998977 -0.00257997 0.2204533 ] [ 0.03124352 0.00269481 0.99950817 1.11613226] [ 0. 0. 0. 1. ]] SLAMing on 175.052557844 meters Centerline goodness : 0.238522 Centerline is valid? [False, False] Translation: X:2.08, Y:0.22, Z:1.12 [[ 0.99949221 0.00388029 -0.03162682 2.08109475] [-0.00397908 0.9999874 -0.00306115 0.2240984 ] [ 0.03161454 0.00318544 0.99949506 1.11638521] [ 0. 0. 0. 1. ]] SLAMing on 175.082557844 meters Centerline goodness : 0.114676 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:1.12 [[ 9.99500734e-01 -2.49905083e-03 -3.14966414e-02 2.05761302e+00] [ 2.48041986e-03 9.99996725e-01 -6.30580778e-04 2.30861583e-01] [ 3.14981141e-02 5.52141055e-04 9.99503659e-01 1.11684297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.112557844 meters Centerline goodness : 0.293001 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:1.12 [[ 9.99505501e-01 -2.61671778e-03 -3.13353771e-02 2.05694493e+00] [ 2.58365973e-03 9.99996062e-01 -1.09541874e-03 2.33240474e-01] [ 3.13381201e-02 1.01391710e-03 9.99508326e-01 1.11740340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.142557844 meters Centerline goodness : 0.099567 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 9.99519341e-01 -2.80234049e-03 -3.08744998e-02 2.05534270e+00] [ 2.74976860e-03 9.99994697e-01 -1.74508864e-03 2.36687519e-01] [ 3.08792264e-02 1.65935211e-03 9.99521746e-01 1.11817297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.172557844 meters Centerline goodness : 0.097400 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 9.99523544e-01 -2.87985697e-03 -3.07309385e-02 2.05500130e+00] [ 2.82242866e-03 9.99994189e-01 -1.91196025e-03 2.37453894e-01] [ 3.07362661e-02 1.82431341e-03 9.99525865e-01 1.11810518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.202557844 meters Centerline goodness : 0.097988 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 9.99521713e-01 -2.94759891e-03 -3.07840291e-02 2.05523760e+00] [ 2.88625724e-03 9.99993760e-01 -2.03689194e-03 2.37999668e-01] [ 3.07898410e-02 1.94706710e-03 9.99523984e-01 1.11790904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.232557844 meters Centerline goodness : 0.095510 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 9.99517980e-01 -3.00309948e-03 -3.08996453e-02 2.05566301e+00] [ 2.93917428e-03 9.99993446e-01 -2.11401330e-03 2.38428363e-01] [ 3.09057913e-02 2.02217486e-03 9.99520256e-01 1.11764531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.262557844 meters Centerline goodness : 0.142403 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 0.9995133 -0.00315653 -0.03103544 2.05614701] [ 0.00308382 0.99999239 -0.0023903 0.23983703] [ 0.03104275 0.00229343 0.99951543 1.11742038] [ 0. 0. 0. 1. ]] SLAMing on 175.29255784400002 meters Centerline goodness : 0.180903 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 0.99951389 -0.00325951 -0.03100593 2.0559992 ] [ 0.00317923 0.99999147 -0.0026381 0.24103687] [ 0.03101427 0.00253824 0.99951572 1.11757603] [ 0. 0. 0. 1. ]] SLAMing on 175.32255784400002 meters Centerline goodness : 0.110815 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 0.9995177 -0.00331847 -0.03087642 2.0554893 ] [ 0.00323166 0.99999069 -0.00286091 0.24224129] [ 0.03088563 0.00275975 0.99951912 1.11790206] [ 0. 0. 0. 1. ]] SLAMing on 175.35255784400002 meters Centerline goodness : 0.277991 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:1.12 [[ 0.99952456 -0.00346452 -0.03063756 2.05462434] [ 0.00335999 0.99998836 -0.0034626 0.24530269] [ 0.0306492 0.00335802 0.99952456 1.11847386] [ 0. 0. 0. 1. ]] SLAMing on 175.38255784400002 meters Centerline goodness : 0.101907 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:1.12 [[ 0.99952257 -0.00360754 -0.03068566 2.05492238] [ 0.00348973 0.99998634 -0.00389222 0.24737271] [ 0.03069928 0.00378328 0.99952151 1.1182768 ] [ 0. 0. 0. 1. ]] SLAMing on 175.41255784400002 meters Centerline goodness : 0.101706 Centerline is valid? [False, False] Translation: X:2.06, Y:0.25, Z:1.12 [[ 0.99951434 -0.00375001 -0.03093574 2.05576171] [ 0.00361741 0.99998403 -0.00434126 0.2495802 ] [ 0.03095153 0.00422725 0.99951195 1.11800447] [ 0. 0. 0. 1. ]] SLAMing on 175.44255784400002 meters Centerline goodness : 0.104733 Centerline is valid? [False, False] Translation: X:2.06, Y:0.25, Z:1.12 [[ 0.99949632 -0.00382448 -0.03150353 2.05736735] [ 0.00367327 0.99998146 -0.0048563 0.25235948] [ 0.03152152 0.00473814 0.99949184 1.11779283] [ 0. 0. 0. 1. ]] SLAMing on 175.47255784400002 meters Centerline goodness : 0.100799 Centerline is valid? [False, False] Translation: X:2.06, Y:0.25, Z:1.12 [[ 0.99949434 -0.00386736 -0.03156128 2.05766279] [ 0.00371138 0.99998062 -0.00499927 0.25314554] [ 0.03158 0.0048796 0.99948932 1.11755779] [ 0. 0. 0. 1. ]] SLAMing on 175.502557844 meters Centerline goodness : 0.101276 Centerline is valid? [False, False] Translation: X:2.06, Y:0.25, Z:1.12 [[ 0.99949665 -0.00390987 -0.03148265 2.05754639] [ 0.00374935 0.99997968 -0.00515612 0.2540183 ] [ 0.03150217 0.00503549 0.999491 1.11744674] [ 0. 0. 0. 1. ]] SLAMing on 175.532557844 meters Centerline goodness : 0.120077 Centerline is valid? [False, False] Translation: X:2.06, Y:0.26, Z:1.12 [[ 0.99949815 -0.00396981 -0.03142745 2.05744119] [ 0.00380325 0.99997841 -0.00535769 0.255093 ] [ 0.03144804 0.00523547 0.99949168 1.11744172] [ 0. 0. 0. 1. ]] SLAMing on 175.562557844 meters Centerline goodness : 0.120804 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:1.12 [[ 0.99953439 0.00422045 -0.03021902 2.07724973] [-0.00441989 0.99996887 -0.00653595 0.25150258] [ 0.0301905 0.00666647 0.99952193 1.11838174] [ 0. 0. 0. 1. ]] SLAMing on 175.592557844 meters Centerline goodness : 0.100706 Centerline is valid? [False, False] Translation: X:2.08, Y:0.26, Z:1.12 [[ 0.99954454 0.00404737 -0.02990554 2.07621631] [-0.0042693 0.9999638 -0.00736081 0.25587795] [ 0.02987466 0.00748513 0.99952563 1.11898124] [ 0. 0. 0. 1. ]] SLAMing on 175.622557844 meters Centerline goodness : 0.180354 Centerline is valid? [False, False] Translation: X:2.08, Y:0.26, Z:1.12 [[ 0.99954486 0.00386282 -0.02991903 2.0762291 ] [-0.00410286 0.99995986 -0.00796585 0.25900991] [ 0.02988706 0.00808497 0.99952058 1.1191432 ] [ 0. 0. 0. 1. ]] SLAMing on 175.652557844 meters Centerline goodness : 0.184126 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:1.12 [[ 0.99956113 0.00570217 -0.02906936 2.07409598] [-0.00590727 0.99995823 -0.00697453 0.26623655] [ 0.02902837 0.00714319 0.99955306 1.11938383] [ 0. 0. 0. 1. ]] SLAMing on 175.682557844 meters Centerline goodness : 0.107887 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:1.12 [[ 0.99956286 0.00552703 -0.02904392 2.07425451] [-0.005745 0.99995592 -0.0074268 0.26833657] [ 0.0290016 0.00759041 0.99955055 1.11904586] [ 0. 0. 0. 1. ]] SLAMing on 175.712557844 meters Centerline goodness : 0.124918 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:1.12 [[ 0.99956615 0.00536281 -0.02896105 2.07423579] [-0.00559091 0.99995394 -0.00780094 0.27001028] [ 0.02891789 0.00795947 0.9995501 1.11875672] [ 0. 0. 0. 1. ]] SLAMing on 175.742557844 meters Centerline goodness : 0.104096 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:1.12 [[ 0.9995701 0.00522723 -0.02884958 2.0740749 ] [-0.00546138 0.99995274 -0.00804325 0.27097906] [ 0.02880617 0.00819735 0.9995514 1.1185378 ] [ 0. 0. 0. 1. ]] SLAMing on 175.772557844 meters Centerline goodness : 0.183016 Centerline is valid? [False, False] Translation: X:2.08, Y:0.27, Z:1.12 [[ 0.99956182 0.00492892 -0.02918689 2.07527996] [-0.00517748 0.99995092 -0.00844674 0.27254965] [ 0.02914383 0.00859415 0.99953828 1.11788306] [ 0. 0. 0. 1. ]] SLAMing on 175.802557844 meters Centerline goodness : 0.106220 Centerline is valid? [False, False] Translation: X:2.08, Y:0.27, Z:1.12 [[ 0.99955021 0.00481392 -0.02960068 2.07660641] [-0.00507 0.99995032 -0.00858217 0.27310089] [ 0.02955789 0.00872838 0.99952496 1.1173549 ] [ 0. 0. 0. 1. ]] SLAMing on 175.832557844 meters Centerline goodness : 0.159201 Centerline is valid? [False, False] Translation: X:2.10, Y:0.28, Z:1.12 [[ 0.99951263 -0.00322816 -0.0310496 2.09778279] [ 0.00299485 0.99996696 -0.00755773 0.27649669] [ 0.03107298 0.00746106 0.99948927 1.11975762] [ 0. 0. 0. 1. ]] SLAMing on 175.862557844 meters Centerline goodness : 0.179693 Centerline is valid? [False, False] Translation: X:2.10, Y:0.28, Z:1.12 [[ 0.99950746 -0.003289 -0.03120929 2.09830929] [ 0.00305281 0.99996636 -0.00761259 0.27676489] [ 0.03123328 0.00751356 0.99948388 1.11948718] [ 0. 0. 0. 1. ]] SLAMing on 175.892557844 meters Centerline goodness : 0.176080 Centerline is valid? [False, False] Translation: X:2.12, Y:0.28, Z:1.12 [[ 0.99946368 -0.01167712 -0.03059391 2.11919691] [ 0.01148145 0.99991254 -0.00656359 0.28005753] [ 0.03066788 0.00620881 0.99951035 1.12110234] [ 0. 0. 0. 1. ]] SLAMing on 175.922557844 meters Centerline goodness : 0.100364 Centerline is valid? [False, False] Translation: X:2.12, Y:0.28, Z:1.12 [[ 0.99946769 -0.01182429 -0.03040581 2.118855 ] [ 0.01162236 0.99990927 -0.00680951 0.28129299] [ 0.03048357 0.0064525 0.99951444 1.12087762] [ 0. 0. 0. 1. ]] SLAMing on 175.952557844 meters Centerline goodness : 0.169844 Centerline is valid? [False, False] Translation: X:2.10, Y:0.28, Z:1.12 [[ 0.99953652 -0.00328773 -0.03026458 2.09772543] [ 0.00305002 0.99996416 -0.00789724 0.27978022] [ 0.03028946 0.00780127 0.99951072 1.11901067] [ 0. 0. 0. 1. ]] SLAMing on 175.982557844 meters Centerline goodness : 0.129942 Centerline is valid? [False, False] Translation: X:2.10, Y:0.28, Z:1.12 [[ 0.999536 -0.00344237 -0.03026449 2.09765506] [ 0.00319357 0.99996074 -0.00826552 0.28145005] [ 0.03029176 0.00816503 0.99950775 1.11916486] [ 0. 0. 0. 1. ]] SLAMing on 176.012557844 meters Centerline goodness : 0.098731 Centerline is valid? [False, False] Translation: X:2.10, Y:0.28, Z:1.12 [[ 0.99953507 -0.00359325 -0.03027775 2.09755475] [ 0.00333195 0.99995681 -0.00867641 0.28348393] [ 0.03030762 0.00857149 0.99950387 1.1194481 ] [ 0. 0. 0. 1. ]] SLAMing on 176.04255784400002 meters Centerline goodness : 0.098731 Centerline is valid? [False, False] Translation: X:2.10, Y:0.28, Z:1.12 [[ 0.99953507 -0.00359325 -0.03027775 2.09755475] [ 0.00333195 0.99995681 -0.00867641 0.28348393] [ 0.03030762 0.00857149 0.99950387 1.1194481 ] [ 0. 0. 0. 1. ]] SLAMing on 176.07255784400002 meters Centerline goodness : 0.104413 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99952698 -0.00386038 -0.03051104 2.09817946] [ 0.00357205 0.9999485 -0.00949894 0.28780122] [ 0.03054613 0.00938546 0.99948929 1.11952141] [ 0. 0. 0. 1. ]] SLAMing on 176.10255784400002 meters Centerline goodness : 0.176276 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99952348 -0.00401006 -0.03060622 2.09857928] [ 0.00370978 0.99994449 -0.00986169 0.2896131 ] [ 0.03064407 0.00974344 0.99948287 1.11931561] [ 0. 0. 0. 1. ]] SLAMing on 176.13255784400002 meters Centerline goodness : 0.176629 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99952481 -0.00413571 -0.03054589 2.09845641] [ 0.00382606 0.99994078 -0.01018856 0.29119733] [ 0.03058622 0.01006685 0.99948144 1.1193082 ] [ 0. 0. 0. 1. ]] SLAMing on 176.16255784400002 meters Centerline goodness : 0.177218 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99952811 -0.00426638 -0.03041959 2.09807693] [ 0.0039486 0.99993709 -0.01049898 0.2926448 ] [ 0.03046247 0.01037391 0.99948208 1.11944047] [ 0. 0. 0. 1. ]] SLAMing on 176.19255784400002 meters Centerline goodness : 0.177881 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.9995321 -0.00447751 -0.03025778 2.097477 ] [ 0.00414635 0.99993092 -0.01099852 0.29494689] [ 0.03030494 0.01086791 0.99948162 1.11984339] [ 0. 0. 0. 1. ]] SLAMing on 176.22255784400002 meters Centerline goodness : 0.173930 Centerline is valid? [False, False] Translation: X:2.10, Y:0.30, Z:1.12 [[ 0.99953209 -0.00455283 -0.03024677 2.09741557] [ 0.00421749 0.99992904 -0.01114121 0.29550388] [ 0.03029535 0.01100844 0.99948037 1.11991184] [ 0. 0. 0. 1. ]] SLAMing on 176.252557844 meters Centerline goodness : 0.110814 Centerline is valid? [False, False] Translation: X:2.10, Y:0.30, Z:1.12 [[ 0.99953661 -0.00458036 -0.03009296 2.09684989] [ 0.00424669 0.9999289 -0.01114258 0.29534068] [ 0.03014186 0.01100962 0.999485 1.12014586] [ 0. 0. 0. 1. ]] SLAMing on 176.282557844 meters Centerline goodness : 0.136281 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99954882 -0.00459556 -0.02968235 2.09529931] [ 0.00426863 0.99992963 -0.01106849 0.29498898] [ 0.02973112 0.01093679 0.9994981 1.12091358] [ 0. 0. 0. 1. ]] SLAMing on 176.312557844 meters Centerline goodness : 0.173532 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99955021 -0.00456659 -0.02963975 2.09526389] [ 0.00424315 0.99993087 -0.01096603 0.29456247] [ 0.02968778 0.01083533 0.99950049 1.12074404] [ 0. 0. 0. 1. ]] SLAMing on 176.342557844 meters Centerline goodness : 0.169316 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99954949 -0.00454972 -0.02966666 2.09554975] [ 0.00423073 0.99993266 -0.01080621 0.29360951] [ 0.02971383 0.01067583 0.99950143 1.12032574] [ 0. 0. 0. 1. ]] SLAMing on 176.372557844 meters Centerline goodness : 0.176921 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 0.99945661 -0.00477604 -0.03261409 2.05102895] [ 0.00440717 0.99992562 -0.01137258 0.29662303] [ 0.03266598 0.01122267 0.99940331 1.11972576] [ 0. 0. 0. 1. ]] SLAMing on 176.402557844 meters Centerline goodness : 0.173458 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 0.99944632 -0.00478286 -0.03292676 2.05205444] [ 0.00440728 0.99992451 -0.01146947 0.29710979] [ 0.03297913 0.011318 0.99939195 1.11937721] [ 0. 0. 0. 1. ]] SLAMing on 176.432557844 meters Centerline goodness : 0.170837 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99463078e-01 -9.33377886e-04 -3.27518485e-02 2.05151470e+00] [ 6.86954955e-04 9.99971380e-01 -7.53438569e-03 2.95838617e-01] [ 3.27579436e-02 7.50784128e-03 9.99435115e-01 1.11929788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.462557844 meters Centerline goodness : 0.118392 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99460031e-01 -9.37678348e-04 -3.28445785e-02 2.05161122e+00] [ 6.83904191e-04 9.99969836e-01 -7.73689819e-03 2.97132756e-01] [ 3.28508425e-02 7.71025797e-03 9.99430525e-01 1.11959380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.492557844 meters Centerline goodness : 0.101065 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99461266e-01 -9.68608833e-04 -3.28061051e-02 2.05142326e+00] [ 7.09208388e-04 9.99968402e-01 -7.91779193e-03 2.98138094e-01] [ 3.28127378e-02 7.89025998e-03 9.99430372e-01 1.11982427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.522557844 meters Centerline goodness : 0.170925 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99468990e-01 -9.76761977e-04 -3.25696674e-02 2.05045226e+00] [ 7.14893547e-04 9.99967335e-01 -8.05093083e-03 2.98715303e-01] [ 3.25764674e-02 8.02337186e-03 9.99437041e-01 1.12041581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.552557844 meters Centerline goodness : 0.097603 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99467452e-01 -9.78027422e-04 -3.26167986e-02 2.05061077e+00] [ 7.14417386e-04 9.99966998e-01 -8.09270780e-03 2.99014623e-01] [ 3.26236371e-02 8.06509604e-03 9.99435167e-01 1.12039395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.582557844 meters Centerline goodness : 0.169383 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99451993e-01 -8.90172954e-04 -3.30895872e-02 2.05241314e+00] [ 6.25259770e-04 9.99967680e-01 -8.01542368e-03 2.98900629e-01] [ 3.30956529e-02 7.99034158e-03 9.99420248e-01 1.11942373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.612557844 meters Centerline goodness : 0.100275 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99442153e-01 -9.03865398e-04 -3.33851004e-02 2.05340290e+00] [ 6.33881433e-04 9.99967021e-01 -8.09665874e-03 2.99345152e-01] [ 3.33913176e-02 8.07097985e-03 9.99409765e-01 1.11905046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.642557844 meters Centerline goodness : 0.098938 Centerline is valid? [False, False] Translation: X:2.08, Y:0.30, Z:1.12 [[ 0.99941525 -0.00647417 -0.03357457 2.07625743] [ 0.00631493 0.99996832 -0.00484669 0.30058134] [ 0.03360489 0.00463184 0.99942446 1.11963645] [ 0. 0. 0. 1. ]] SLAMing on 176.672557844 meters Centerline goodness : 0.116832 Centerline is valid? [False, False] Translation: X:2.08, Y:0.30, Z:1.12 [[ 9.99432499e-01 -2.50944740e-03 -3.35914030e-02 2.07615793e+00] [ 2.47586281e-03 9.99996393e-01 -1.04135558e-03 3.00364211e-01] [ 3.35938951e-02 9.57596907e-04 9.99435107e-01 1.11972159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.702557844 meters Centerline goodness : 0.178282 Centerline is valid? [False, False] Translation: X:2.08, Y:0.30, Z:1.12 [[ 9.99434817e-01 1.54357438e-03 -3.35806953e-02 2.07603345e+00] [-1.45377867e-03 9.99995303e-01 2.69827976e-03 3.01392766e-01] [ 3.35847026e-02 -2.64793584e-03 9.99432367e-01 1.11985727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.732557844 meters Centerline goodness : 0.162239 Centerline is valid? [False, False] Translation: X:2.07, Y:0.31, Z:1.12 [[ 0.99944157 0.00507055 -0.03302788 2.07394447] [-0.00490754 0.99997538 0.00501486 0.30856143] [ 0.0330525 -0.00484997 0.99944185 1.12093956] [ 0. 0. 0. 1. ]] SLAMing on 176.762557844 meters Centerline goodness : 0.101778 Centerline is valid? [False, False] Translation: X:2.07, Y:0.31, Z:1.12 [[ 0.99944626 0.004952 -0.03290363 2.07331259] [-0.00481533 0.99997945 0.00423178 0.31271425] [ 0.03292391 -0.00407099 0.99944957 1.12152311] [ 0. 0. 0. 1. ]] SLAMing on 176.79255784400002 meters Centerline goodness : 0.133564 Centerline is valid? [False, False] Translation: X:2.07, Y:0.32, Z:1.12 [[ 0.99944722 0.00470585 -0.03291066 2.07327505] [-0.00459447 0.99998346 0.00345899 0.31651309] [ 0.03292639 -0.00330587 0.99945231 1.12166366] [ 0. 0. 0. 1. ]] SLAMing on 176.82255784400002 meters Centerline goodness : 0.132276 Centerline is valid? [False, False] Translation: X:2.10, Y:0.33, Z:1.12 [[ 9.99333908e-01 -1.41868233e-03 -3.64654320e-02 2.09620701e+00] [ 1.58466495e-03 9.99988514e-01 4.52328060e-03 3.26862302e-01] [ 3.64585961e-02 -4.57805317e-03 9.99324678e-01 1.12364365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85255784400002 meters Centerline goodness : 0.131054 Centerline is valid? [False, False] Translation: X:2.10, Y:0.33, Z:1.12 [[ 9.99332003e-01 -1.67267280e-03 -3.65068456e-02 2.09640373e+00] [ 1.81833037e-03 9.99990518e-01 3.95703296e-03 3.29554852e-01] [ 3.64998807e-02 -4.02077118e-03 9.99325569e-01 1.12350052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88255784400002 meters Centerline goodness : 0.139843 Centerline is valid? [False, False] Translation: X:2.10, Y:0.33, Z:1.12 [[ 9.99335739e-01 -1.94524952e-03 -3.63909007e-02 2.09580935e+00] [ 2.06994542e-03 9.99992114e-01 3.38920603e-03 3.32218698e-01] [ 3.63840209e-02 -3.46228189e-03 9.99331885e-01 1.12400759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91255784400002 meters Centerline goodness : 0.137936 Centerline is valid? [False, False] Translation: X:2.13, Y:0.34, Z:1.13 [[ 0.99945035 -0.00235202 -0.03306758 2.13499441] [ 0.00247154 0.99999056 0.00357401 0.33753745] [ 0.03305886 -0.00365378 0.99944673 1.12661089] [ 0. 0. 0. 1. ]] SLAMing on 176.94255784400002 meters Centerline goodness : 0.140496 Centerline is valid? [False, False] Translation: X:2.13, Y:0.34, Z:1.13 [[ 0.99945223 -0.00259605 -0.03299249 2.13484348] [ 0.0026968 0.99999183 0.00300955 0.34024623] [ 0.03298441 -0.00309687 0.99945107 1.12656071] [ 0. 0. 0. 1. ]] SLAMing on 176.97255784400002 meters Centerline goodness : 0.124862 Centerline is valid? [False, False] Translation: X:2.13, Y:0.34, Z:1.13 [[ 0.99945405 -0.00284742 -0.03291653 2.13485539] [ 0.00292935 0.99999273 0.00244104 0.34291044] [ 0.03290934 -0.00253613 0.99945512 1.12626429] [ 0. 0. 0. 1. ]] SLAMing on 177.002557844 meters Centerline goodness : 0.138225 Centerline is valid? [False, False] Translation: X:2.13, Y:0.35, Z:1.13 [[ 9.99457243e-01 -3.12607873e-03 -3.27940212e-02 2.13463152e+00] [ 3.18905314e-03 9.99993170e-01 1.86817238e-03 3.45425965e-01] [ 3.27879571e-02 -1.97174029e-03 9.99460385e-01 1.12612753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.032557844 meters Centerline goodness : 0.118441 Centerline is valid? [False, False] Translation: X:2.13, Y:0.35, Z:1.13 [[ 9.99461950e-01 -3.41313870e-03 -3.26214913e-02 2.13409384e+00] [ 3.45596212e-03 9.99993239e-01 1.25644202e-03 3.48150648e-01] [ 3.26169823e-02 -1.36850463e-03 9.99466988e-01 1.12630195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062557844 meters Centerline goodness : 0.128787 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.13 [[ 9.99521390e-01 3.88827298e-03 -3.06899361e-02 2.15252555e+00] [-3.90233257e-03 9.99992307e-01 -3.98234852e-04 3.49877412e-01] [ 3.06881516e-02 5.17806590e-04 9.99528874e-01 1.12738081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.092557844 meters Centerline goodness : 0.130444 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.13 [[ 9.99517409e-01 3.73412812e-03 -3.08383620e-02 2.15303171e+00] [-3.75728639e-03 9.99992701e-01 -6.93042499e-04 3.51241722e-01] [ 3.08355490e-02 8.08576601e-04 9.99524144e-01 1.12718857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122557844 meters Centerline goodness : 0.130831 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.13 [[ 9.99517297e-01 3.51892231e-03 -3.08672972e-02 2.15327358e+00] [-3.55041114e-03 9.99993231e-01 -9.65386069e-04 3.52087946e-01] [ 3.08636912e-02 1.07451167e-03 9.99523025e-01 1.12689498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.152557844 meters Centerline goodness : 0.132498 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.13 [[ 9.99525986e-01 3.05217753e-03 -3.06347513e-02 2.15278053e+00] [-3.09583399e-03 9.99994259e-01 -1.37773319e-03 3.52893303e-01] [ 3.06303703e-02 1.47192023e-03 9.99529696e-01 1.12669566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182557844 meters Centerline goodness : 0.124357 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.13 [[ 9.99525717e-01 2.99674501e-03 -3.06489899e-02 2.15284133e+00] [-3.04334536e-03 9.99994283e-01 -1.47391745e-03 3.53473022e-01] [ 3.06443977e-02 1.56649386e-03 9.99529123e-01 1.12664737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.212557844 meters Centerline goodness : 0.125176 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.13 [[ 9.99523477e-01 2.94354998e-03 -3.07270984e-02 2.15307449e+00] [-2.99574411e-03 9.99994147e-01 -1.65273739e-03 3.54580865e-01] [ 3.07220536e-02 1.74400034e-03 9.99526445e-01 1.12663289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.242557844 meters Centerline goodness : 0.134281 Centerline is valid? [False, False] Translation: X:2.15, Y:0.36, Z:1.13 [[ 0.99951345 0.00271126 -0.03107277 2.1540929 ] [-0.00278393 0.99999349 -0.00229576 0.35767072] [ 0.03106635 0.00238114 0.99951449 1.12656312] [ 0. 0. 0. 1. ]] SLAMing on 177.272557844 meters Centerline goodness : 0.133989 Centerline is valid? [False, False] Translation: X:2.15, Y:0.36, Z:1.13 [[ 0.99951087 0.00254347 -0.0311696 2.15435499] [-0.00263292 0.99999253 -0.00282904 0.36027765] [ 0.03116217 0.00290972 0.99951011 1.12661971] [ 0. 0. 0. 1. ]] SLAMing on 177.302557844 meters Centerline goodness : 0.146388 Centerline is valid? [False, False] Translation: X:2.15, Y:0.36, Z:1.13 [[ 0.99950818 0.00240994 -0.03126629 2.1546091 ] [-0.00251796 0.999991 -0.00341588 0.36336316] [ 0.03125778 0.00349293 0.99950525 1.12672298] [ 0. 0. 0. 1. ]] SLAMing on 177.332557844 meters Centerline goodness : 0.136738 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.13 [[ 0.99950361 0.00226526 -0.03142292 2.15501455] [-0.00239337 0.99998898 -0.00403997 0.36661978] [ 0.03141343 0.00411317 0.99949801 1.12680971] [ 0. 0. 0. 1. ]] SLAMing on 177.362557844 meters Centerline goodness : 0.120760 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.13 [[ 9.99494090e-01 2.10664137e-03 -3.17352624e-02 2.15587715e+00] [-2.25441667e-03 9.99986780e-01 -4.62144024e-03 3.69567904e-01] [ 3.17251071e-02 4.69064671e-03 9.99485625e-01 1.12675555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.392557844 meters Centerline goodness : 0.125109 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.13 [[ 9.99483967e-01 1.81677369e-03 -3.20702278e-02 2.15685609e+00] [-1.99306441e-03 9.99983076e-01 -5.46590993e-03 3.73742660e-01] [ 3.20597547e-02 5.52700737e-03 9.99470672e-01 1.12660888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.422557844 meters Centerline goodness : 0.127408 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.13 [[ 9.99481492e-01 1.75110673e-03 -3.21508912e-02 2.15716145e+00] [-1.93379951e-03 9.99982157e-01 -5.65213980e-03 3.74831515e-01] [ 3.21404200e-02 5.71138250e-03 9.99467045e-01 1.12643407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.452557844 meters Centerline goodness : 0.142991 Centerline is valid? [False, False] Translation: X:2.16, Y:0.38, Z:1.13 [[ 9.99478607e-01 1.72504086e-03 -3.22418707e-02 2.15755110e+00] [-1.90965022e-03 9.99981955e-01 -5.69584847e-03 3.75150933e-01] [ 3.22314633e-02 5.75444939e-03 9.99463866e-01 1.12615133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.482557844 meters Centerline goodness : 0.123674 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.13 [[ 9.99473181e-01 1.34349562e-03 -3.24276847e-02 2.15848101e+00] [-1.53122980e-03 9.99982209e-01 -5.76517899e-03 3.74399932e-01] [ 3.24193623e-02 5.81179603e-03 9.99457457e-01 1.12525784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.512557844 meters Centerline goodness : 0.130756 Centerline is valid? [False, False] Translation: X:2.18, Y:0.38, Z:1.13 [[ 0.99948751 -0.00786921 -0.03102902 2.17961837] [ 0.00771589 0.99995744 -0.0050576 0.37502507] [ 0.0310675 0.0048156 0.99950569 1.12631068] [ 0. 0. 0. 1. ]] SLAMing on 177.54255784400002 meters Centerline goodness : 0.116875 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.13 [[ 9.99550182e-01 5.89958848e-04 -2.99847614e-02 2.15713024e+00] [-7.66777397e-04 9.99982385e-01 -5.88579070e-03 3.70449610e-01] [ 2.99807609e-02 5.90613481e-03 9.99533027e-01 1.12517911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57255784400002 meters Centerline goodness : 0.159275 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 0.99955664 -0.0079527 -0.02869289 2.17695496] [ 0.00783022 0.99995976 -0.00437879 0.37182236] [ 0.02872656 0.00415218 0.99957868 1.12715136] [ 0. 0. 0. 1. ]] SLAMing on 177.60255784400002 meters Centerline goodness : 0.124113 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 0.99956128 -0.00786743 -0.02855436 2.17662524] [ 0.00775442 0.99996167 -0.0040664 0.3702837 ] [ 0.02858525 0.0038432 0.99958397 1.12709606] [ 0. 0. 0. 1. ]] SLAMing on 177.63255784400002 meters Centerline goodness : 0.146001 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 0.99956388 -0.00785895 -0.02846547 2.17649763] [ 0.00774915 0.99996211 -0.00396576 0.36956744] [ 0.02849556 0.00374345 0.99958691 1.12688974] [ 0. 0. 0. 1. ]] SLAMing on 177.66255784400002 meters Centerline goodness : 0.149902 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 0.999566 -0.00787642 -0.02838631 2.17631643] [ 0.00776704 0.99996199 -0.00396172 0.3693936 ] [ 0.02841643 0.00373952 0.99958918 1.12684863] [ 0. 0. 0. 1. ]] SLAMing on 177.69255784400002 meters Centerline goodness : 0.148141 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 0.9995643 -0.00785742 -0.02845123 2.17645876] [ 0.00774798 0.99996216 -0.00395461 0.3694791 ] [ 0.02848123 0.00373245 0.99958736 1.1268547 ] [ 0. 0. 0. 1. ]] SLAMing on 177.72255784400002 meters Centerline goodness : 0.145809 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 9.99592495e-01 -4.11954617e-03 -2.82466403e-02 2.17590823e+00] [ 4.11809205e-03 9.99991515e-01 -1.09651978e-04 3.68598947e-01] [ 2.82468523e-02 -6.71497026e-06 9.99600978e-01 1.12676680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.752557844 meters Centerline goodness : 0.148169 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 9.99590372e-01 -4.15096654e-03 -2.83170935e-02 2.17621877e+00] [ 4.14577590e-03 9.99991377e-01 -2.42012013e-04 3.69276144e-01] [ 2.83178539e-02 1.24516555e-04 9.99598961e-01 1.12658494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782557844 meters Centerline goodness : 0.143356 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 9.99586844e-01 -4.17647253e-03 -2.84376272e-02 2.17675251e+00] [ 4.16808565e-03 9.99991251e-01 -3.54193144e-04 3.69828286e-01] [ 2.84388576e-02 2.35516341e-04 9.99595506e-01 1.12620751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.812557844 meters Centerline goodness : 0.139553 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 9.99584962e-01 -4.19424018e-03 -2.85010844e-02 2.17699220e+00] [ 4.18266141e-03 9.99991144e-01 -4.65862568e-04 3.70453737e-01] [ 2.85027859e-02 3.46458832e-04 9.99593653e-01 1.12609402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842557844 meters Centerline goodness : 0.128486 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.13 [[ 9.99615676e-01 -1.89767933e-03 -2.76568202e-02 2.17230100e+00] [ 1.94105451e-03 9.99996928e-01 1.54157311e-03 3.72774151e-01] [ 2.76538098e-02 -1.59466405e-03 9.99616288e-01 1.12871966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.872557844 meters Centerline goodness : 0.127673 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.13 [[ 9.99608328e-01 -1.96440559e-03 -2.79165143e-02 2.17295129e+00] [ 2.00152950e-03 9.99997149e-01 1.30193754e-03 3.74018845e-01] [ 2.79138772e-02 -1.35730333e-03 9.99609410e-01 1.12877808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902557844 meters Centerline goodness : 0.127673 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.13 [[ 9.99608328e-01 -1.96440559e-03 -2.79165143e-02 2.17295129e+00] [ 2.00152950e-03 9.99997149e-01 1.30193754e-03 3.74018845e-01] [ 2.79138772e-02 -1.35730333e-03 9.99609410e-01 1.12877808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.932557844 meters Centerline goodness : 0.149683 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.13 [[ 9.99601931e-01 -2.05764089e-03 -2.81379894e-02 2.17381552e+00] [ 2.08801913e-03 9.99997269e-01 1.05027698e-03 3.75245477e-01] [ 2.81357514e-02 -1.10861155e-03 9.99603497e-01 1.12822656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.962557844 meters Centerline goodness : 0.140295 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.13 [[ 9.99597917e-01 -2.13916705e-03 -2.82741605e-02 2.17458740e+00] [ 2.16263782e-03 9.99997342e-01 7.99559984e-04 3.76504579e-01] [ 2.82723749e-02 -8.60385263e-04 9.99599886e-01 1.12752733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.992557844 meters Centerline goodness : 0.119038 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.13 [[ 9.99606952e-01 -2.23219965e-03 -2.79456421e-02 2.17391496e+00] [ 2.24534143e-03 9.99997383e-01 4.38891144e-04 3.78563148e-01] [ 2.79445892e-02 -5.01466147e-04 9.99609348e-01 1.12729408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.022557844 meters Centerline goodness : 0.126540 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.13 [[ 9.99609910e-01 -2.26110342e-03 -2.78372913e-02 2.17342914e+00] [ 2.27282622e-03 9.99997341e-01 3.89485180e-04 3.78747637e-01] [ 2.78363366e-02 -4.52602572e-04 9.99612392e-01 1.12767916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.052557844 meters Centerline goodness : 0.136471 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99628418e-01 4.96223369e-03 -2.68030203e-02 2.19181275e+00] [-4.99164131e-03 9.99987011e-01 -1.03037915e-03 3.72276796e-01] [ 2.67975591e-02 1.16378734e-03 9.99640203e-01 1.12947461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.082557844 meters Centerline goodness : 0.131010 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99623768e-01 5.01399834e-03 -2.69663142e-02 2.19208146e+00] [-5.03301340e-03 9.99987131e-01 -6.37313525e-04 3.69845374e-01] [ 2.69627717e-02 7.72795568e-04 9.99636140e-01 1.12954829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.112557844 meters Centerline goodness : 0.147891 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99619343e-01 5.09530424e-03 -2.71147024e-02 2.19267455e+00] [-5.10809416e-03 9.99986873e-01 -4.02452172e-04 3.68697300e-01] [ 2.71122958e-02 5.40803429e-04 9.99632248e-01 1.12915761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.142557844 meters Centerline goodness : 0.141053 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99615637e-01 5.18903390e-03 -2.72332876e-02 2.19316448e+00] [-5.19614567e-03 9.99986482e-01 -1.90381418e-04 3.67708366e-01] [ 2.72319316e-02 3.31816372e-04 9.99629087e-01 1.12882580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.172557844 meters Centerline goodness : 0.131412 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99605957e-01 5.45252830e-03 -2.75354553e-02 2.19418255e+00] [-5.45189198e-03 9.99985134e-01 9.81838582e-05 3.66928476e-01] [ 2.75355813e-02 5.19751584e-05 9.99620823e-01 1.12842320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.202557844 meters Centerline goodness : 0.130484 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99605381e-01 5.57271590e-03 -2.75323060e-02 2.19401655e+00] [-5.57002921e-03 9.99984472e-01 1.74275312e-04 3.66927698e-01] [ 2.75328496e-02 -2.08507916e-05 9.99620899e-01 1.12870627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.232557844 meters Centerline goodness : 0.133669 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99607627e-01 5.66846545e-03 -2.74310150e-02 2.19357050e+00] [-5.66293783e-03 9.99983926e-01 2.79191061e-04 3.66576598e-01] [ 2.74321567e-02 -1.23741381e-04 9.99623660e-01 1.12902282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.262557844 meters Centerline goodness : 0.141737 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99614108e-01 5.73068871e-03 -2.71807523e-02 2.19267499e+00] [-5.72226074e-03 9.99983553e-01 3.87843773e-04 3.65707551e-01] [ 2.71825279e-02 -2.32158756e-04 9.99630460e-01 1.12939635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29255784400002 meters Centerline goodness : 0.130015 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99618044e-01 5.78244347e-03 -2.70246051e-02 2.19216031e+00] [-5.77091033e-03 9.99983221e-01 5.04738171e-04 3.65083579e-01] [ 2.70270703e-02 -3.48588810e-04 9.99634641e-01 1.12953187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32255784400002 meters Centerline goodness : 0.127307 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99621848e-01 5.79826626e-03 -2.68801216e-02 2.19158479e+00] [-5.78728464e-03 9.99983135e-01 4.86318810e-04 3.65228859e-01] [ 2.68824881e-02 -3.30571993e-04 9.99638546e-01 1.12987610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35255784400002 meters Centerline goodness : 0.128895 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99623895e-01 5.82781810e-03 -2.67974730e-02 2.19120494e+00] [-5.81715360e-03 9.99982967e-01 4.75906542e-04 3.65433524e-01] [ 2.67997901e-02 -3.19842535e-04 9.99640770e-01 1.13015796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38255784400002 meters Centerline goodness : 0.131566 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99614336e-01 5.87920652e-03 -2.71406419e-02 2.19227015e+00] [-5.87000441e-03 9.99982684e-01 4.18713450e-04 3.66158007e-01] [ 2.71426336e-02 -2.59236279e-04 9.99631537e-01 1.12983095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41255784400002 meters Centerline goodness : 0.125732 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99605834e-01 5.87085296e-03 -2.74537759e-02 2.19324380e+00] [-5.86402881e-03 9.99982752e-01 3.29072770e-04 3.66794534e-01] [ 2.74552343e-02 -1.67953328e-04 9.99623020e-01 1.12955389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44255784400002 meters Centerline goodness : 0.146792 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99603647e-01 5.79213259e-03 -2.75499536e-02 2.19360101e+00] [-5.79139219e-03 9.99983224e-01 1.06667017e-04 3.67882610e-01] [ 2.75501092e-02 5.29278465e-05 9.99620422e-01 1.12938576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47255784400002 meters Centerline goodness : 0.122964 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.13 [[ 9.99666973e-01 -2.17577957e-03 -2.57140009e-02 2.17126006e+00] [ 2.17411877e-03 9.99997632e-01 -9.25446367e-05 3.75832286e-01] [ 2.57141413e-02 3.66085248e-05 9.99669336e-01 1.12901905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502557844 meters Centerline goodness : 0.137925 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99696193e-01 5.50647621e-03 -2.40249877e-02 2.18943686e+00] [-5.54577919e-03 9.99983390e-01 -1.56959860e-03 3.72425289e-01] [ 2.40159456e-02 1.70235902e-03 9.99710126e-01 1.13123091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.532557844 meters Centerline goodness : 0.126125 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99696846e-01 5.40222746e-03 -2.40215031e-02 2.18923463e+00] [-5.44980510e-03 9.99983315e-01 -1.91560234e-03 3.74222098e-01] [ 2.40107538e-02 2.04593413e-03 9.99709607e-01 1.13158627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562557844 meters Centerline goodness : 0.123605 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:1.13 [[ 0.99969262 0.005309 -0.02421755 2.18990895] [-0.00536586 0.999983 -0.0022834 0.37623998] [ 0.02420501 0.00241265 0.9997041 1.13132341] [ 0. 0. 0. 1. ]] SLAMing on 178.592557844 meters Centerline goodness : 0.123633 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:1.13 [[ 0.99968822 0.00521225 -0.02441898 2.1906986 ] [-0.00527831 0.99998258 -0.00264166 0.37820624] [ 0.02440479 0.00276972 0.99969832 1.13088994] [ 0. 0. 0. 1. ]] SLAMing on 178.622557844 meters Centerline goodness : 0.125992 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:1.13 [[ 0.99969648 0.00489578 -0.02414476 2.18997393] [-0.00498758 0.99998056 -0.00374304 0.38357566] [ 0.02412596 0.00386232 0.99970147 1.13112458] [ 0. 0. 0. 1. ]] SLAMing on 178.652557844 meters Centerline goodness : 0.127824 Centerline is valid? [False, False] Translation: X:2.19, Y:0.39, Z:1.13 [[ 0.99970191 0.00459963 -0.02397782 2.18935703] [-0.00471063 0.99997844 -0.00457505 0.38738238] [ 0.02395626 0.00468663 0.99970202 1.13157174] [ 0. 0. 0. 1. ]] SLAMing on 178.682557844 meters Centerline goodness : 0.102644 Centerline is valid? [False, False] Translation: X:2.19, Y:0.39, Z:1.13 [[ 0.99970257 0.00436043 -0.02399511 2.18927657] [-0.00449135 0.99997531 -0.00540484 0.39164756] [ 0.02397095 0.005511 0.99969747 1.131856 ] [ 0. 0. 0. 1. ]] SLAMing on 178.712557844 meters Centerline goodness : 0.121732 Centerline is valid? [False, False] Translation: X:2.19, Y:0.40, Z:1.13 [[ 0.9996774 0.00806132 -0.02408554 2.189889 ] [-0.0081263 0.9999636 -0.00260118 0.39805735] [ 0.0240637 0.00279607 0.99970652 1.13141258] [ 0. 0. 0. 1. ]] SLAMing on 178.742557844 meters Centerline goodness : 0.118051 Centerline is valid? [False, False] Translation: X:2.19, Y:0.40, Z:1.13 [[ 0.99967905 0.00778424 -0.02410804 2.19008849] [-0.00786461 0.99996382 -0.00324083 0.40090452] [ 0.02408194 0.00342939 0.99970411 1.13121484] [ 0. 0. 0. 1. ]] SLAMing on 178.772557844 meters Centerline goodness : 0.119969 Centerline is valid? [False, False] Translation: X:2.19, Y:0.40, Z:1.13 [[ 0.99968456 0.00753695 -0.02395793 2.18968844] [-0.00762808 0.99996401 -0.00371477 0.40281229] [ 0.02392907 0.00389635 0.99970607 1.13125542] [ 0. 0. 0. 1. ]] SLAMing on 178.802557844 meters Centerline goodness : 0.132073 Centerline is valid? [False, False] Translation: X:2.19, Y:0.40, Z:1.13 [[ 0.99969725 0.00728472 -0.02350194 2.18826177] [-0.00738216 0.9999645 -0.00406206 0.4040363 ] [ 0.02347151 0.00423433 0.99971554 1.13170669] [ 0. 0. 0. 1. ]] SLAMing on 178.832557844 meters Centerline goodness : 0.113653 Centerline is valid? [False, False] Translation: X:2.17, Y:0.41, Z:1.13 [[ 9.99738604e-01 -1.04199732e-03 -2.28393934e-02 2.16572387e+00] [ 9.57609556e-04 9.99992676e-01 -3.70545953e-03 4.11399360e-01] [ 2.28430872e-02 3.68261972e-03 9.99732280e-01 1.13088492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.862557844 meters Centerline goodness : 0.165968 Centerline is valid? [False, False] Translation: X:2.19, Y:0.42, Z:1.13 [[ 0.99969315 -0.01064852 -0.02236545 2.18702076] [ 0.01058088 0.99993909 -0.00314024 0.41566098] [ 0.02239753 0.00290263 0.99974493 1.13189499] [ 0. 0. 0. 1. ]] SLAMing on 178.892557844 meters Centerline goodness : 0.146981 Centerline is valid? [False, False] Translation: X:2.19, Y:0.42, Z:1.13 [[ 0.9996771 -0.01082495 -0.02298942 2.18929723] [ 0.01075625 0.99993731 -0.00310982 0.41511264] [ 0.02302165 0.00286153 0.99973087 1.1308132 ] [ 0. 0. 0. 1. ]] SLAMing on 178.922557844 meters Centerline goodness : 0.123369 Centerline is valid? [False, False] Translation: X:2.19, Y:0.41, Z:1.13 [[ 0.99965879 -0.01094572 -0.02371709 2.1920164 ] [ 0.01087663 0.99993623 -0.00304008 0.4144979 ] [ 0.02374885 0.00278108 0.99971409 1.12944257] [ 0. 0. 0. 1. ]] SLAMing on 178.952557844 meters SLAMing on 178.982557844 meters Centerline goodness : 0.061151 Centerline is valid? [False, False] Translation: X:2.20, Y:0.41, Z:1.13 [[ 9.99644924e-01 -9.75909396e-03 -2.47948595e-02 2.19700065e+00] [ 9.72232451e-03 9.99951452e-01 -1.60306707e-03 4.12770870e-01] [ 2.48093002e-02 1.36143419e-03 9.99691275e-01 1.12696827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.012557844 meters Centerline goodness : 0.099379 Centerline is valid? [False, False] Translation: X:2.20, Y:0.41, Z:1.13 [[ 9.99648410e-01 -9.87740650e-03 -2.46067603e-02 2.19608564e+00] [ 9.83365808e-03 9.99949847e-01 -1.89827708e-03 4.14061325e-01] [ 2.46242763e-02 1.65563520e-03 9.99695406e-01 1.12771489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04255784400002 meters Centerline goodness : 0.113607 Centerline is valid? [False, False] Translation: X:2.20, Y:0.42, Z:1.13 [[ 9.99651524e-01 -1.00868396e-02 -2.43943866e-02 2.19516077e+00] [ 1.00324938e-02 9.99946914e-01 -2.34916304e-03 4.15827019e-01] [ 2.44167872e-02 2.10360788e-03 9.99699653e-01 1.12836071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07255784400002 meters Centerline goodness : 0.147770 Centerline is valid? [False, False] Translation: X:2.20, Y:0.42, Z:1.13 [[ 0.99964438 -0.01032677 -0.02458618 2.19582235] [ 0.01025511 0.9999428 -0.00303877 0.41905038] [ 0.02461616 0.00278556 0.9996931 1.12813348] [ 0. 0. 0. 1. ]] SLAMing on 179.10255784400002 meters Centerline goodness : 0.153883 Centerline is valid? [False, False] Translation: X:2.18, Y:0.42, Z:1.13 [[ 9.99635275e-01 -9.47871178e-04 -2.69892475e-02 2.17591045e+00] [ 8.50497313e-04 9.99993089e-01 -3.61912690e-03 4.18070024e-01] [ 2.69924915e-02 3.59485263e-03 9.99629172e-01 1.12719376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13255784400002 meters SLAMing on 179.16255784400002 meters SLAMing on 179.19255784400002 meters Centerline goodness : 0.123465 Centerline is valid? [False, False] Translation: X:2.17, Y:0.42, Z:1.13 [[ 9.99648189e-01 -1.04469069e-03 -2.65029525e-02 2.17381202e+00] [ 9.47962631e-04 9.99992845e-01 -3.66201047e-03 4.17780432e-01] [ 2.65065886e-02 3.63559833e-03 9.99642028e-01 1.12860244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22255784400002 meters Centerline goodness : 0.134382 Centerline is valid? [False, False] Translation: X:2.17, Y:0.42, Z:1.13 [[ 9.99658126e-01 -1.02419419e-03 -2.61262678e-02 2.17226618e+00] [ 9.31581593e-04 9.99993241e-01 -3.55673279e-03 4.17244053e-01] [ 2.61297340e-02 3.53117809e-03 9.99652323e-01 1.12955828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.252557844 meters Centerline goodness : 0.163139 Centerline is valid? [False, False] Translation: X:2.12, Y:0.42, Z:1.13 [[ 9.99615673e-01 -2.57790837e-04 -2.77207588e-02 2.12378984e+00] [ 1.52739021e-04 9.99992800e-01 -3.79169500e-03 4.20152993e-01] [ 2.77215366e-02 3.78600370e-03 9.99608515e-01 1.13083881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282557844 meters Centerline goodness : 0.150679 Centerline is valid? [False, False] Translation: X:2.14, Y:0.42, Z:1.13 [[ 0.99958407 -0.00927548 -0.02730663 2.1449421 ] [ 0.00919465 0.99995297 -0.00308405 0.42259511] [ 0.02733395 0.00283169 0.99962235 1.13161499] [ 0. 0. 0. 1. ]] SLAMing on 179.312557844 meters Centerline goodness : 0.089339 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:1.13 [[ 0.9995794 -0.00927441 -0.02747743 2.14570949] [ 0.00919352 0.99995303 -0.00306886 0.42247559] [ 0.0275046 0.00281496 0.99961771 1.13103488] [ 0. 0. 0. 1. ]] SLAMing on 179.342557844 meters Centerline goodness : 0.149396 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:1.13 [[ 0.99957466 -0.00927177 -0.02765008 2.14637449] [ 0.00918945 0.99995296 -0.00310287 0.42268674] [ 0.02767755 0.00284746 0.99961285 1.13062902] [ 0. 0. 0. 1. ]] SLAMing on 179.372557844 meters Centerline goodness : 0.134166 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:1.13 [[ 9.99614132e-01 -5.50798286e-03 -2.72258770e-02 2.14547141e+00] [ 5.52988182e-03 9.99984444e-01 7.29116903e-04 4.22669568e-01] [ 2.72214375e-02 -8.79391443e-04 9.99629041e-01 1.13019944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402557844 meters Centerline goodness : 0.138653 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:1.13 [[ 9.99614285e-01 -5.53409063e-03 -2.72149718e-02 2.14521451e+00] [ 5.55230757e-03 9.99984409e-01 5.93850209e-04 4.23424350e-01] [ 2.72112611e-02 -7.44727047e-04 9.99629428e-01 1.13062158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.432557844 meters Centerline goodness : 0.151842 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:1.13 [[ 9.99613813e-01 -5.58886521e-03 -2.72211369e-02 2.14501643e+00] [ 5.60319319e-03 9.99984201e-01 4.50105840e-04 4.24052807e-01] [ 2.72181913e-02 -6.02457304e-04 9.99629335e-01 1.13098652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.462557844 meters Centerline goodness : 0.137939 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:1.13 [[ 9.99611994e-01 -5.62792640e-03 -2.72797930e-02 2.14503685e+00] [ 5.63892532e-03 9.99984048e-01 3.26276772e-04 4.24545877e-01] [ 2.72775216e-02 -4.79978891e-04 9.99627784e-01 1.13121683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.492557844 meters Centerline goodness : 0.093325 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:1.13 [[ 9.99582468e-01 -5.31469809e-03 -2.84014569e-02 2.14832843e+00] [ 5.32867075e-03 9.99985716e-01 4.16305815e-04 4.25034416e-01] [ 2.83988387e-02 -5.67474007e-04 9.99596511e-01 1.13048833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.522557844 meters Centerline goodness : 0.149752 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:1.13 [[ 9.99567244e-01 -5.18972494e-03 -2.89549943e-02 2.15014150e+00] [ 5.20278499e-03 9.99986395e-01 3.75725168e-04 4.25671077e-01] [ 2.89526505e-02 -5.26209181e-04 9.99580646e-01 1.12979818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.552557844 meters Centerline goodness : 0.095549 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:1.13 [[ 9.99559024e-01 -5.14292299e-03 -2.92456553e-02 2.15109948e+00] [ 5.15116500e-03 9.99986711e-01 2.06485773e-04 4.26660284e-01] [ 2.92442047e-02 -3.57043913e-04 9.99572233e-01 1.12939656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.582557844 meters Centerline goodness : 0.139213 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:1.13 [[ 9.99593748e-01 -2.30115825e-03 -2.84085085e-02 2.14767597e+00] [ 2.36184463e-03 9.99995000e-01 2.10283424e-03 4.31432641e-01] [ 2.84035275e-02 -2.16907644e-03 9.99594185e-01 1.13023578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.612557844 meters Centerline goodness : 0.154701 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:1.13 [[ 9.99594742e-01 -2.10614280e-03 -2.83886673e-02 2.14721466e+00] [ 2.16200911e-03 9.99995786e-01 1.93735773e-03 4.32842869e-01] [ 2.83844674e-02 -1.99794915e-03 9.99595083e-01 1.13098089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.642557844 meters Centerline goodness : 0.125628 Centerline is valid? [False, False] Translation: X:2.17, Y:0.43, Z:1.13 [[ 9.99603497e-01 6.91188707e-03 -2.72960416e-02 2.16704775e+00] [-6.87820036e-03 9.99975463e-01 1.32782426e-03 4.29222438e-01] [ 2.73045496e-02 -1.13955013e-03 9.99626512e-01 1.13204905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.672557844 meters Centerline goodness : 0.154910 Centerline is valid? [False, False] Translation: X:2.12, Y:0.44, Z:1.13 [[ 9.99606337e-01 1.13359051e-02 -2.56645458e-02 2.12406936e+00] [-1.13015708e-02 9.99935036e-01 1.48247002e-03 4.37639142e-01] [ 2.56796837e-02 -1.19183674e-03 9.99669512e-01 1.12969648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.702557844 meters Centerline goodness : 0.116703 Centerline is valid? [False, False] Translation: X:2.12, Y:0.44, Z:1.13 [[ 9.99615043e-01 1.16079792e-02 -2.51996261e-02 2.12265173e+00] [-1.15801944e-02 9.99932168e-01 1.24824332e-03 4.38903515e-01] [ 2.52124063e-02 -9.55946226e-04 9.99681660e-01 1.12965013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.732557844 meters Centerline goodness : 0.070916 Centerline is valid? [False, False] Translation: X:2.12, Y:0.44, Z:1.13 [[ 9.99621656e-01 1.18034966e-02 -2.48439727e-02 2.12142383e+00] [-1.17807818e-02 9.99930042e-01 1.06046624e-03 4.39918378e-01] [ 2.48547519e-02 -7.67383593e-04 9.99690778e-01 1.12975862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.762557844 meters Centerline goodness : 0.155820 Centerline is valid? [False, False] Translation: X:2.12, Y:0.44, Z:1.13 [[ 9.99614973e-01 1.19007649e-02 -2.50654719e-02 2.12223241e+00] [-1.18862086e-02 9.99929090e-01 7.29645512e-04 4.41041353e-01] [ 2.50723779e-02 -4.31431151e-04 9.99685545e-01 1.12872995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79255784400002 meters Centerline goodness : 0.121493 Centerline is valid? [False, False] Translation: X:2.10, Y:0.45, Z:1.13 [[ 9.99634821e-01 2.95082632e-03 -2.68610697e-02 2.10366244e+00] [-2.90719114e-03 9.99994391e-01 1.66338416e-03 4.46489068e-01] [ 2.68658274e-02 -1.58468646e-03 9.99637792e-01 1.12754484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82255784400002 meters Centerline goodness : 0.070920 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:1.13 [[ 0.99968825 0.00245047 -0.02484752 2.14917331] [-0.00238972 0.99999408 0.00247429 0.44400502] [ 0.02485344 -0.00241414 0.99968819 1.12686214] [ 0. 0. 0. 1. ]] SLAMing on 179.85255784400002 meters Centerline goodness : 0.070920 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:1.13 [[ 0.99968825 0.00245047 -0.02484752 2.14917331] [-0.00238972 0.99999408 0.00247429 0.44400502] [ 0.02485344 -0.00241414 0.99968819 1.12686214] [ 0. 0. 0. 1. ]] SLAMing on 179.88255784400002 meters Centerline goodness : 0.116021 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:1.13 [[ 0.9996979 0.0026932 -0.0244307 2.14787711] [-0.00262091 0.99999209 0.0029903 0.44175408] [ 0.02443856 -0.00292537 0.99969705 1.12724679] [ 0. 0. 0. 1. ]] SLAMing on 179.91255784400002 meters Centerline goodness : 0.153311 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:1.13 [[ 0.99972962 -0.00612031 -0.02243282 2.16744264] [ 0.00621171 0.99997268 0.00400693 0.44313276] [ 0.02240768 -0.00414519 0.99974032 1.12816975] [ 0. 0. 0. 1. ]] SLAMing on 179.94255784400002 meters Centerline goodness : 0.131398 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:1.13 [[ 0.99973387 -0.00600781 -0.02227333 2.16678268] [ 0.00610515 0.9999721 0.00430471 0.44164146] [ 0.02224685 -0.00443955 0.99974265 1.12861475] [ 0. 0. 0. 1. ]] SLAMing on 179.97255784400002 meters Centerline goodness : 0.148535 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:1.13 [[ 0.99976647 0.00237602 -0.02147952 2.18773881] [-0.00228782 0.99998885 0.00412995 0.4352692 ] [ 0.02148909 -0.00407984 0.99976076 1.12950682] [ 0. 0. 0. 1. ]] SLAMing on 180.002557844 meters Centerline goodness : 0.133983 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:1.13 [[ 0.99976746 0.00239942 -0.02143041 2.1877102 ] [-0.00231084 0.99998869 0.00415755 0.43511533] [ 0.02144014 -0.00410706 0.9997617 1.12929904] [ 0. 0. 0. 1. ]] SLAMing on 180.032557844 meters Centerline goodness : 0.123645 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:1.13 [[ 0.99976715 0.00241077 -0.02144367 2.18771989] [-0.00232228 0.99998869 0.00415052 0.43504109] [ 0.02145343 -0.00409975 0.99976144 1.12929795] [ 0. 0. 0. 1. ]] SLAMing on 180.062557844 meters Centerline goodness : 0.132692 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:1.13 [[ 0.99976493 0.00240353 -0.02154792 2.18802539] [-0.00231701 0.99998916 0.00403924 0.43559167] [ 0.0215574 -0.00398836 0.99975966 1.12915788] [ 0. 0. 0. 1. ]] SLAMing on 180.092557844 meters Centerline goodness : 0.142166 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:1.13 [[ 0.99974244 0.00653978 -0.021732 2.18913182] [-0.00636924 0.99994845 0.00790705 0.43662043] [ 0.02178259 -0.0077666 0.99973256 1.12812406] [ 0. 0. 0. 1. ]] SLAMing on 180.122557844 meters Centerline goodness : 0.128606 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:1.13 [[ 9.99748708e-01 2.46042920e-04 -2.24156468e-02 2.21137359e+00] [-1.54800176e-05 9.99947104e-01 1.02853948e-02 4.42197826e-01] [ 2.24169917e-02 -1.02824632e-02 9.99695828e-01 1.12834664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.152557844 meters Centerline goodness : 0.118484 Centerline is valid? [False, False] Translation: X:2.21, Y:0.45, Z:1.13 [[ 9.99743783e-01 2.57813394e-04 -2.26341032e-02 2.21189498e+00] [-3.70983466e-05 9.99952454e-01 9.75131610e-03 4.45106791e-01] [ 2.26355410e-02 -9.74797795e-03 9.99696258e-01 1.12828731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182557844 meters Centerline goodness : 0.130164 Centerline is valid? [False, False] Translation: X:2.21, Y:0.45, Z:1.13 [[ 9.99745758e-01 5.78979418e-04 -2.25407304e-02 2.21155303e+00] [-3.80733881e-04 9.99961222e-01 8.79829005e-03 4.50929385e-01] [ 2.25449504e-02 -8.78747113e-03 9.99707210e-01 1.12833457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.212557844 meters Centerline goodness : 0.124175 Centerline is valid? [False, False] Translation: X:2.23, Y:0.45, Z:1.13 [[ 0.99971808 0.00867507 -0.02210217 2.23191367] [-0.00850947 0.9999351 0.00757573 0.45125074] [ 0.02216646 -0.00738551 0.99972701 1.12960916] [ 0. 0. 0. 1. ]] SLAMing on 180.242557844 meters Centerline goodness : 0.085882 Centerline is valid? [False, False] Translation: X:2.23, Y:0.45, Z:1.13 [[ 0.99971679 0.00848819 -0.02223282 2.2321822 ] [-0.0083359 0.99994122 0.00693348 0.45420382] [ 0.02229037 -0.00674618 0.99972878 1.12955606] [ 0. 0. 0. 1. ]] SLAMing on 180.272557844 meters Centerline goodness : 0.117825 Centerline is valid? [False, False] Translation: X:2.21, Y:0.46, Z:1.13 [[ 9.99751477e-01 5.40768039e-04 -2.22865831e-02 2.21133547e+00] [-3.82165080e-04 9.99974578e-01 7.12016681e-03 4.61869098e-01] [ 2.22898669e-02 -7.10988013e-03 9.99726268e-01 1.12858625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.302557844 meters Centerline goodness : 0.155821 Centerline is valid? [False, False] Translation: X:2.21, Y:0.47, Z:1.13 [[ 9.99761590e-01 1.83076932e-04 -2.18341294e-02 2.20946577e+00] [-4.44226126e-05 9.99979833e-01 6.35066395e-03 4.65180339e-01] [ 2.18348517e-02 -6.34817996e-03 9.99741437e-01 1.12981903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.332557844 meters Centerline goodness : 0.119540 Centerline is valid? [False, False] Translation: X:2.23, Y:0.46, Z:1.13 [[ 0.99975398 0.00734751 -0.02092838 2.22773544] [-0.00724943 0.9999624 0.00475861 0.46219212] [ 0.02096256 -0.00460572 0.99976965 1.1318585 ] [ 0. 0. 0. 1. ]] SLAMing on 180.362557844 meters Centerline goodness : 0.125014 Centerline is valid? [False, False] Translation: X:2.23, Y:0.46, Z:1.13 [[ 0.99974967 0.00727575 -0.02115794 2.22847153] [-0.00717905 0.99996345 0.00464316 0.46269654] [ 0.02119094 -0.00449011 0.99976536 1.13159869] [ 0. 0. 0. 1. ]] SLAMing on 180.392557844 meters Centerline goodness : 0.126270 Centerline is valid? [False, False] Translation: X:2.23, Y:0.46, Z:1.13 [[ 0.99974156 0.00723853 -0.02155017 2.22979048] [-0.00714228 0.99996419 0.00454014 0.46321017] [ 0.02158226 -0.00438504 0.99975746 1.13104959] [ 0. 0. 0. 1. ]] SLAMing on 180.422557844 meters Centerline goodness : 0.146817 Centerline is valid? [False, False] Translation: X:2.23, Y:0.46, Z:1.13 [[ 0.99973662 0.00719649 -0.02179204 2.23073736] [-0.00710211 0.99996508 0.00440538 0.46384947] [ 0.02182298 -0.00424945 0.99975282 1.13049926] [ 0. 0. 0. 1. ]] SLAMing on 180.452557844 meters Centerline goodness : 0.129687 Centerline is valid? [False, False] Translation: X:2.23, Y:0.46, Z:1.13 [[ 0.99974019 0.00716281 -0.0216392 2.22999262] [-0.00706993 0.99996548 0.0043655 0.46377855] [ 0.02166972 -0.00421137 0.99975631 1.13106665] [ 0. 0. 0. 1. ]] SLAMing on 180.482557844 meters Centerline goodness : 0.127070 Centerline is valid? [False, False] Translation: X:2.25, Y:0.47, Z:1.13 [[ 9.99799831e-01 -1.45323175e-03 -1.99545817e-02 2.24813945e+00] [ 1.56018339e-03 9.99984497e-01 5.34523180e-03 4.67229221e-01] [ 1.99465045e-02 -5.37529466e-03 9.99786599e-01 1.13278390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.512557844 meters Centerline goodness : 0.136359 Centerline is valid? [False, False] Translation: X:2.25, Y:0.47, Z:1.13 [[ 9.99803541e-01 -1.33053249e-03 -1.97764943e-02 2.24710564e+00] [ 1.43932823e-03 9.99983905e-01 5.48804983e-03 4.66743898e-01] [ 1.97688740e-02 -5.51543652e-03 9.99789364e-01 1.13373667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54255784400002 meters Centerline goodness : 0.085857 Centerline is valid? [False, False] Translation: X:2.25, Y:0.46, Z:1.13 [[ 9.99795194e-01 -8.76571827e-04 -2.02188298e-02 2.24821171e+00] [ 9.99303062e-04 9.99981134e-01 6.06084084e-03 4.64931776e-01] [ 2.02131356e-02 -6.07980428e-03 9.99777208e-01 1.13369684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57255784400002 meters Centerline goodness : 0.123426 Centerline is valid? [False, False] Translation: X:2.25, Y:0.46, Z:1.13 [[ 9.99792559e-01 -7.34166733e-04 -2.03543678e-02 2.24896275e+00] [ 8.63810514e-04 9.99979394e-01 6.36127440e-03 4.63501253e-01] [ 2.03492782e-02 -6.37753713e-03 9.99772591e-01 1.13294776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60255784400002 meters Centerline goodness : 0.124264 Centerline is valid? [False, False] Translation: X:2.25, Y:0.46, Z:1.13 [[ 9.99792792e-01 -5.91948006e-04 -2.03475542e-02 2.24906750e+00] [ 7.27724110e-04 9.99977517e-01 6.66608975e-03 4.62009236e-01] [ 2.03431507e-02 -6.67951589e-03 9.99770744e-01 1.13268623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63255784400002 meters Centerline goodness : 0.123807 Centerline is valid? [False, False] Translation: X:2.25, Y:0.46, Z:1.13 [[ 9.99801193e-01 -9.16279410e-05 -1.99390712e-02 2.24763759e+00] [ 2.42788867e-04 9.99971251e-01 7.57885313e-03 4.58220141e-01] [ 1.99378036e-02 -7.58218738e-03 9.99772471e-01 1.13339449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66255784400002 meters Centerline goodness : 0.128999 Centerline is valid? [False, False] Translation: X:2.25, Y:0.46, Z:1.13 [[ 9.99802243e-01 1.49746626e-04 -1.98859905e-02 2.24731030e+00] [ 1.06254415e-05 9.99967484e-01 8.06422473e-03 4.56168784e-01] [ 1.98865515e-02 -8.06284127e-03 9.99769731e-01 1.13374183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69255784400002 meters Centerline goodness : 0.126422 Centerline is valid? [False, False] Translation: X:2.25, Y:0.45, Z:1.13 [[ 9.99800514e-01 3.46146843e-04 -1.99702631e-02 2.24762817e+00] [-1.76981003e-04 9.99964096e-01 8.47203244e-03 4.54263347e-01] [ 1.99724786e-02 -8.46680803e-03 9.99764679e-01 1.13357966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72255784400002 meters Centerline goodness : 0.083748 Centerline is valid? [False, False] Translation: X:2.21, Y:0.45, Z:1.13 [[ 9.99699922e-01 1.00628841e-03 -2.44755623e-02 2.20758229e+00] [-8.20924110e-04 9.99970917e-01 7.58231290e-03 4.48304716e-01] [ 2.44824805e-02 -7.55994503e-03 9.99671674e-01 1.13298811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75255784400002 meters Centerline goodness : 0.152473 Centerline is valid? [False, False] Translation: X:2.21, Y:0.45, Z:1.13 [[ 9.99693768e-01 1.23352877e-03 -2.47153416e-02 2.20830884e+00] [-1.03929231e-03 9.99968489e-01 7.87024748e-03 4.47324266e-01] [ 2.47242709e-02 -7.84215090e-03 9.99663549e-01 1.13272805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782557844 meters Centerline goodness : 0.142839 Centerline is valid? [False, False] Translation: X:2.21, Y:0.45, Z:1.13 [[ 9.99695351e-01 1.40807022e-03 -2.46418786e-02 2.20814883e+00] [-1.20914719e-03 9.99966580e-01 8.08559843e-03 4.46686186e-01] [ 2.46524401e-02 -8.05333950e-03 9.99663644e-01 1.13263072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.812557844 meters Centerline goodness : 0.086279 Centerline is valid? [False, False] Translation: X:2.21, Y:0.45, Z:1.13 [[ 9.99698544e-01 1.52291094e-03 -2.45051196e-02 2.20773052e+00] [-1.31968695e-03 9.99964624e-01 8.30715954e-03 4.45698734e-01] [ 2.45169038e-02 -8.27231622e-03 9.99665189e-01 1.13272105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.842557844 meters Centerline goodness : 0.086514 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:1.13 [[ 9.99698068e-01 -2.03243773e-03 -2.44875835e-02 2.20776234e+00] [ 2.15165869e-03 9.99985956e-01 4.84326486e-03 4.43510141e-01] [ 2.44773960e-02 -4.89449144e-03 9.99688402e-01 1.13250137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.872557844 meters Centerline goodness : 0.132400 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:1.13 [[ 9.99696161e-01 -1.86826451e-03 -2.45783570e-02 2.20819463e+00] [ 1.99833574e-03 9.99984124e-01 5.26860785e-03 4.41513197e-01] [ 2.45681236e-02 -5.31612284e-03 9.99684023e-01 1.13218579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902557844 meters Centerline goodness : 0.086034 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:1.13 [[ 9.99695525e-01 -1.68391101e-03 -2.46175008e-02 2.20852745e+00] [ 1.82684508e-03 9.99981599e-01 5.78486138e-03 4.39150070e-01] [ 2.46073066e-02 -5.82807239e-03 9.99680206e-01 1.13186472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.932557844 meters Centerline goodness : 0.127611 Centerline is valid? [False, False] Translation: X:2.21, Y:0.43, Z:1.13 [[ 0.99968436 -0.00546077 -0.0245227 2.20800127] [ 0.00552997 0.99998091 0.00275518 0.43448381] [ 0.02450719 -0.00288992 0.99969548 1.13250841] [ 0. 0. 0. 1. ]] SLAMing on 180.962557844 meters Centerline goodness : 0.121994 Centerline is valid? [False, False] Translation: X:2.21, Y:0.43, Z:1.13 [[ 0.99968308 -0.00539528 -0.02458936 2.20813361] [ 0.00548114 0.99997911 0.00342562 0.43075295] [ 0.02457036 -0.00355931 0.99969177 1.13271715] [ 0. 0. 0. 1. ]] SLAMing on 180.992557844 meters Centerline goodness : 0.126090 Centerline is valid? [False, False] Translation: X:2.21, Y:0.43, Z:1.13 [[ 0.99967732 -0.00520628 -0.02486263 2.20892831] [ 0.00531116 0.99997727 0.00415388 0.42718167] [ 0.02484044 -0.00428459 0.99968225 1.13268976] [ 0. 0. 0. 1. ]] SLAMing on 181.022557844 meters Centerline goodness : 0.115047 Centerline is valid? [False, False] Translation: X:2.21, Y:0.42, Z:1.13 [[ 0.99966655 -0.0050768 -0.0253182 2.2103787 ] [ 0.00521108 0.99997269 0.00524077 0.42123281] [ 0.0252909 -0.00537096 0.99966571 1.13244356] [ 0. 0. 0. 1. ]] SLAMing on 181.052557844 meters Centerline goodness : 0.115007 Centerline is valid? [False, False] Translation: X:2.21, Y:0.42, Z:1.13 [[ 0.99967031 -0.00489026 -0.02520636 2.21014477] [ 0.00503972 0.99997008 0.00586928 0.41806931] [ 0.0251769 -0.00599438 0.99966504 1.13247168] [ 0. 0. 0. 1. ]] SLAMing on 181.082557844 meters Centerline goodness : 0.116847 Centerline is valid? [False, False] Translation: X:2.21, Y:0.41, Z:1.13 [[ 0.99967064 -0.00747874 -0.02454938 2.20650195] [ 0.00758235 0.99996272 0.00413025 0.41100089] [ 0.02451758 -0.00431503 0.99969009 1.13485327] [ 0. 0. 0. 1. ]] SLAMing on 181.112557844 meters Centerline goodness : 0.108823 Centerline is valid? [False, False] Translation: X:2.21, Y:0.41, Z:1.14 [[ 0.99967341 -0.00718899 -0.02452337 2.20639819] [ 0.00731137 0.99996125 0.00490406 0.40752244] [ 0.02448717 -0.00508175 0.99968723 1.13505951] [ 0. 0. 0. 1. ]] SLAMing on 181.142557844 meters Centerline goodness : 0.137428 Centerline is valid? [False, False] Translation: X:2.19, Y:0.40, Z:1.13 [[ 9.99699645e-01 1.19928106e-03 -2.44781933e-02 2.18710970e+00] [-1.09315003e-03 9.99989947e-01 4.34865850e-03 3.98171214e-01] [ 2.44831625e-02 -4.32059402e-03 9.99690906e-01 1.13342993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.172557844 meters Centerline goodness : 0.083048 Centerline is valid? [False, False] Translation: X:2.21, Y:0.39, Z:1.13 [[ 9.99700471e-01 6.94153083e-03 -2.34687684e-02 2.20953415e+00] [-6.90816121e-03 9.99975009e-01 1.50265008e-03 3.93748725e-01] [ 2.34786126e-02 -1.34007396e-03 9.99723441e-01 1.13353375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.202557844 meters Centerline goodness : 0.125417 Centerline is valid? [False, False] Translation: X:2.21, Y:0.39, Z:1.13 [[ 9.99719570e-01 3.28051637e-03 -2.34525056e-02 2.20935757e+00] [-3.32191774e-03 9.99992992e-01 -1.72658682e-03 3.89821905e-01] [ 2.34466772e-02 1.80400993e-03 9.99723461e-01 1.13363295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.232557844 meters Centerline goodness : 0.142256 Centerline is valid? [False, False] Translation: X:2.21, Y:0.39, Z:1.13 [[ 9.99717086e-01 3.47783589e-03 -2.35298259e-02 2.20949522e+00] [-3.51018351e-03 9.99992950e-01 -1.33358662e-03 3.88147645e-01] [ 2.35250220e-02 1.41580333e-03 9.99722246e-01 1.13370974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.262557844 meters Centerline goodness : 0.140127 Centerline is valid? [False, False] Translation: X:2.21, Y:0.39, Z:1.13 [[ 9.99717722e-01 3.69227369e-03 -2.34700390e-02 2.20931817e+00] [-3.71785462e-03 9.99992541e-01 -1.04639783e-03 3.87333112e-01] [ 2.34660004e-02 1.13336065e-03 9.99723993e-01 1.13373841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29255784400002 meters Centerline goodness : 0.251690 Centerline is valid? [False, False] Translation: X:2.21, Y:0.39, Z:1.13 [[ 9.99718605e-01 4.42477998e-03 -2.33052141e-02 2.20897190e+00] [-4.43440616e-03 9.99990103e-01 -3.61384704e-04 3.85539149e-01] [ 2.33033844e-02 4.64627797e-04 9.99728331e-01 1.13362253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32255784400002 meters Centerline goodness : 0.126518 Centerline is valid? [False, False] Translation: X:2.21, Y:0.38, Z:1.13 [[ 9.99718457e-01 4.43616153e-03 -2.33093759e-02 2.20904005e+00] [-4.44474513e-03 9.99990072e-01 -3.16450116e-04 3.84949294e-01] [ 2.33077406e-02 4.19965256e-04 9.99728250e-01 1.13346286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35255784400002 meters Centerline goodness : 0.130999 Centerline is valid? [False, False] Translation: X:2.21, Y:0.38, Z:1.13 [[ 9.99717106e-01 4.49856985e-03 -2.33553024e-02 2.20924832e+00] [-4.50329237e-03 9.99989849e-01 -1.49612014e-04 3.83879541e-01] [ 2.33543923e-02 2.54745445e-04 9.99727217e-01 1.13324893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38255784400002 meters Centerline goodness : 0.244908 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:1.13 [[ 9.99676327e-01 -3.14149906e-03 -2.52462514e-02 2.18937600e+00] [ 3.18470100e-03 9.99993532e-01 1.67119691e-03 3.84299218e-01] [ 2.52408381e-02 -1.75105775e-03 9.99679866e-01 1.13267558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41255784400002 meters Centerline goodness : 0.219680 Centerline is valid? [False, False] Translation: X:2.21, Y:0.38, Z:1.13 [[ 9.99670398e-01 4.94628202e-03 -2.51918703e-02 2.20873533e+00] [-4.91989941e-03 9.99987282e-01 1.10914009e-03 3.78210577e-01] [ 2.51970360e-02 -9.84833051e-04 9.99682019e-01 1.13461950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44255784400002 meters Centerline goodness : 0.130264 Centerline is valid? [False, False] Translation: X:2.21, Y:0.38, Z:1.13 [[ 9.99669707e-01 5.19448864e-03 -2.51693146e-02 2.20874053e+00] [-5.15156283e-03 9.99985164e-01 1.77002347e-03 3.75076253e-01] [ 2.51781356e-02 -1.63977754e-03 9.99681636e-01 1.13459144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47255784400002 meters Centerline goodness : 0.129581 Centerline is valid? [False, False] Translation: X:2.21, Y:0.37, Z:1.13 [[ 9.99676564e-01 1.32787979e-03 -2.53969356e-02 2.20948187e+00] [-1.37675523e-03 9.99997234e-01 -1.90707343e-03 3.73643536e-01] [ 2.53943330e-02 1.94142198e-03 9.99675627e-01 1.13422080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50255784400002 meters Centerline goodness : 0.236073 Centerline is valid? [False, False] Translation: X:2.21, Y:0.37, Z:1.13 [[ 9.99667061e-01 1.49844743e-03 -2.57589044e-02 2.21073974e+00] [-1.53103754e-03 9.99998052e-01 -1.24552243e-03 3.70189239e-01] [ 2.57569879e-02 1.28454560e-03 9.99667408e-01 1.13369040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.532557844 meters Centerline goodness : 0.144338 Centerline is valid? [False, False] Translation: X:2.21, Y:0.36, Z:1.13 [[ 9.99654452e-01 1.93661707e-03 -2.62150056e-02 2.21222692e+00] [-1.93466689e-03 9.99998124e-01 9.97544015e-05 3.63734711e-01] [ 2.62151496e-02 -4.90026281e-05 9.99656323e-01 1.13319044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562557844 meters Centerline goodness : 0.148679 Centerline is valid? [False, False] Translation: X:2.19, Y:0.36, Z:1.13 [[ 9.99616515e-01 -6.83012732e-03 -2.68360270e-02 2.19079918e+00] [ 6.86520313e-03 9.99975696e-01 1.21512443e-03 3.63210718e-01] [ 2.68270753e-02 -1.39889322e-03 9.99639110e-01 1.13230403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.592557844 meters Centerline goodness : 0.096850 Centerline is valid? [False, False] Translation: X:2.21, Y:0.36, Z:1.13 [[ 9.99709900e-01 -1.88084749e-03 -2.40120248e-02 2.21213726e+00] [ 1.83077967e-03 9.99996105e-01 -2.10692761e-03 3.57117569e-01] [ 2.40158940e-02 2.06235566e-03 9.99709450e-01 1.13265550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622557844 meters Centerline goodness : 0.127884 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.13 [[ 9.99711319e-01 -1.66924097e-03 -2.39685771e-02 2.21201229e+00] [ 1.63172021e-03 9.99997413e-01 -1.58488716e-03 3.54773431e-01] [ 2.39711607e-02 1.54531963e-03 9.99711456e-01 1.13271384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.652557844 meters Centerline goodness : 0.155244 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.13 [[ 9.99709108e-01 -1.46488765e-03 -2.40739345e-02 2.21252153e+00] [ 1.43868046e-03 9.99998354e-01 -1.10589642e-03 3.52667035e-01] [ 2.40755149e-02 1.07094003e-03 9.99709569e-01 1.13230418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682557844 meters SLAMing on 181.712557844 meters SLAMing on 181.742557844 meters Centerline goodness : 0.151576 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.13 [[ 0.99968682 -0.00522175 -0.02447448 2.21396104] [ 0.00511978 0.99997796 -0.00422706 0.3479467 ] [ 0.02449601 0.00410043 0.99969152 1.1316435 ] [ 0. 0. 0. 1. ]] SLAMing on 181.772557844 meters Centerline goodness : 0.151074 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.13 [[ 0.99968963 -0.00507707 -0.02439001 2.21341514] [ 0.00498853 0.99998075 -0.0036894 0.34523226] [ 0.02440827 0.00356659 0.99969571 1.13223761] [ 0. 0. 0. 1. ]] SLAMing on 181.802557844 meters Centerline goodness : 0.169833 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.13 [[ 0.99972804 0.0026197 -0.02317309 2.19353158] [-0.00271793 0.99998745 -0.00420848 0.33665143] [ 0.02316178 0.00427032 0.99972261 1.13078592] [ 0. 0. 0. 1. ]] SLAMing on 181.832557844 meters Centerline goodness : 0.094958 Centerline is valid? [False, False] Translation: X:2.21, Y:0.34, Z:1.13 [[ 0.99973678 -0.00543328 -0.02229 2.21325999] [ 0.00537636 0.99998213 -0.00261279 0.33896166] [ 0.02230379 0.00249227 0.99974813 1.13239435] [ 0. 0. 0. 1. ]] SLAMing on 181.862557844 meters Centerline goodness : 0.195494 Centerline is valid? [False, False] Translation: X:2.21, Y:0.34, Z:1.13 [[ 9.99734474e-01 -5.38391608e-03 -2.24052658e-02 2.21396992e+00] [ 5.34273012e-03 9.99983927e-01 -1.89768184e-03 3.35143659e-01] [ 2.24151227e-02 1.77747267e-03 9.99747169e-01 1.13176904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.892557844 meters Centerline goodness : 0.144894 Centerline is valid? [False, False] Translation: X:2.23, Y:0.33, Z:1.13 [[ 9.99713058e-01 1.14040129e-03 -2.39270069e-02 2.23229484e+00] [-1.21564849e-03 9.99994361e-01 -3.13055526e-03 3.28575674e-01] [ 2.39233019e-02 3.15874380e-03 9.99708807e-01 1.13394029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.922557844 meters Centerline goodness : 0.103683 Centerline is valid? [False, False] Translation: X:2.23, Y:0.33, Z:1.13 [[ 9.99708467e-01 1.22269805e-03 -2.41140034e-02 2.23276972e+00] [-1.29131812e-03 9.99995161e-01 -2.83028587e-03 3.27079533e-01] [ 2.41104262e-02 2.86059960e-03 9.99705209e-01 1.13392251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.952557844 meters Centerline goodness : 0.169877 Centerline is valid? [False, False] Translation: X:2.23, Y:0.33, Z:1.13 [[ 9.99710292e-01 1.28635522e-03 -2.40349113e-02 2.23227573e+00] [-1.34540535e-03 9.99996116e-01 -2.44083905e-03 3.25107893e-01] [ 2.40316781e-02 2.47246862e-03 9.99708140e-01 1.13451958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.982557844 meters Centerline goodness : 0.108974 Centerline is valid? [False, False] Translation: X:2.23, Y:0.32, Z:1.14 [[ 9.99713614e-01 1.33031688e-03 -2.38939410e-02 2.23163570e+00] [-1.38355009e-03 9.99996598e-01 -2.21150249e-03 3.23897581e-01] [ 2.38909177e-02 2.24392761e-03 9.99712053e-01 1.13503365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.012557844 meters Centerline goodness : 0.169901 Centerline is valid? [False, False] Translation: X:2.23, Y:0.32, Z:1.14 [[ 9.99717153e-01 1.34986393e-03 -2.37442905e-02 2.23101436e+00] [-1.39618183e-03 9.99997155e-01 -1.93422656e-03 3.22302867e-01] [ 2.37416120e-02 1.96683081e-03 9.99716193e-01 1.13549803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04255784400002 meters Centerline goodness : 0.095231 Centerline is valid? [False, False] Translation: X:2.25, Y:0.32, Z:1.14 [[ 9.99694476e-01 -7.50937505e-03 -2.35491735e-02 2.25216172e+00] [ 7.48844875e-03 9.99971484e-01 -9.76682242e-04 3.23286196e-01] [ 2.35558363e-02 8.00037063e-04 9.99722203e-01 1.13702725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07255784400002 meters SLAMing on 182.10255784400002 meters SLAMing on 182.13255784400002 meters Centerline goodness : 0.091831 Centerline is valid? [False, False] Translation: X:2.25, Y:0.32, Z:1.14 [[ 9.99728217e-01 -8.36440724e-03 -2.17607308e-02 2.24688130e+00] [ 8.34336698e-03 9.99964634e-01 -1.05750286e-03 3.20034986e-01] [ 2.17688066e-02 8.75657683e-04 9.99762648e-01 1.13846659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16255784400002 meters Centerline goodness : 0.135210 Centerline is valid? [False, False] Translation: X:2.25, Y:0.32, Z:1.14 [[ 9.99728960e-01 -8.30787649e-03 -2.17482213e-02 2.24685813e+00] [ 8.29230290e-03 9.99965293e-01 -8.06171813e-04 3.18857558e-01] [ 2.17541641e-02 6.25610470e-04 9.99763154e-01 1.13843506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19255784400002 meters Centerline goodness : 0.116911 Centerline is valid? [False, False] Translation: X:2.23, Y:0.31, Z:1.14 [[ 9.99733965e-01 -6.81907932e-05 -2.30649885e-02 2.22789270e+00] [ 4.09091923e-05 9.99999299e-01 -1.18328420e-03 3.12193605e-01] [ 2.30650530e-02 1.18202583e-03 9.99733267e-01 1.13740254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22255784400002 meters Centerline goodness : 0.130516 Centerline is valid? [False, False] Translation: X:2.23, Y:0.31, Z:1.14 [[ 9.99727516e-01 -3.69816901e-05 -2.33429489e-02 2.22860687e+00] [ 1.58717901e-05 9.99999591e-01 -9.04521951e-04 3.10701408e-01] [ 2.33429728e-02 9.03904989e-04 9.99727107e-01 1.13735377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25255784400002 meters Centerline goodness : 0.275703 Centerline is valid? [False, False] Translation: X:2.23, Y:0.31, Z:1.14 [[ 9.99723296e-01 -8.10895487e-05 -2.35228710e-02 2.22902681e+00] [ 6.70027004e-05 9.99999818e-01 -5.99645061e-04 3.08753624e-01] [ 2.35229154e-02 5.97903040e-04 9.99723119e-01 1.13736358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282557844 meters Centerline goodness : 0.201407 Centerline is valid? [False, False] Translation: X:2.25, Y:0.31, Z:1.14 [[ 9.99695824e-01 -9.38612033e-03 -2.28070318e-02 2.25116861e+00] [ 9.38302969e-03 9.99955949e-01 -2.42524496e-04 3.08917366e-01] [ 2.28083035e-02 2.84516700e-05 9.99739856e-01 1.13787268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.312557844 meters Centerline goodness : 0.100092 Centerline is valid? [False, False] Translation: X:2.21, Y:0.30, Z:1.14 [[ 9.99591877e-01 -1.25763235e-02 -2.56498717e-02 2.20788653e+00] [ 1.25424956e-02 9.99920246e-01 -1.47929686e-03 2.99969544e-01] [ 2.56664302e-02 1.15697972e-03 9.99669893e-01 1.13748839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342557844 meters Centerline goodness : 0.092066 Centerline is valid? [False, False] Translation: X:2.21, Y:0.30, Z:1.14 [[ 9.99574289e-01 -1.27451977e-02 -2.62450198e-02 2.20970870e+00] [ 1.27266069e-02 9.99918630e-01 -8.75273278e-04 2.96250433e-01] [ 2.62540398e-02 5.40890613e-04 9.99655157e-01 1.13679435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.372557844 meters Centerline goodness : 0.111067 Centerline is valid? [False, False] Translation: X:2.21, Y:0.29, Z:1.14 [[ 9.99557080e-01 -1.28962768e-02 -2.68203432e-02 2.21134635e+00] [ 1.28932252e-02 9.99916838e-01 -2.86712547e-04 2.92541820e-01] [ 2.68218103e-02 -5.92151698e-05 9.99640229e-01 1.13631886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402557844 meters Centerline goodness : 0.101089 Centerline is valid? [False, False] Translation: X:2.21, Y:0.29, Z:1.14 [[ 9.99541159e-01 -1.29499363e-02 -2.73819390e-02 2.21287759e+00] [ 1.29635672e-02 9.99915918e-01 3.20340792e-04 2.88959535e-01] [ 2.73754883e-02 -6.75161412e-04 9.99624993e-01 1.13597748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.432557844 meters Centerline goodness : 0.105828 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:1.14 [[ 9.99547789e-01 -1.29300021e-02 -2.71483478e-02 2.21221827e+00] [ 1.29704704e-02 9.99915015e-01 1.31506262e-03 2.83163975e-01] [ 2.71290369e-02 -1.66659477e-03 9.99630551e-01 1.13605309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.462557844 meters Centerline goodness : 0.186395 Centerline is valid? [False, False] Translation: X:2.23, Y:0.28, Z:1.14 [[ 9.99638349e-01 -5.25891996e-03 -2.63726230e-02 2.22927404e+00] [ 5.26761215e-03 9.99986092e-01 2.60129387e-04 2.75625673e-01] [ 2.63708882e-02 -3.98956061e-04 9.99652148e-01 1.13838493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.492557844 meters Centerline goodness : 0.092908 Centerline is valid? [False, False] Translation: X:2.23, Y:0.27, Z:1.14 [[ 9.99642211e-01 -5.11683885e-03 -2.62539014e-02 2.22867752e+00] [ 5.13510741e-03 9.99986618e-01 6.28468605e-04 2.73639851e-01] [ 2.62503342e-02 -7.63060349e-04 9.99655109e-01 1.13885389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.522557844 meters Centerline goodness : 0.096854 Centerline is valid? [False, False] Translation: X:2.23, Y:0.27, Z:1.14 [[ 9.99635723e-01 -5.04197255e-03 -2.65141545e-02 2.22969425e+00] [ 5.06245189e-03 9.99986937e-01 7.05324035e-04 2.73472390e-01] [ 2.65102520e-02 -8.39293733e-04 9.99648189e-01 1.13822207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.552557844 meters Centerline goodness : 0.182564 Centerline is valid? [False, False] Translation: X:2.23, Y:0.27, Z:1.14 [[ 9.99627000e-01 -4.94784072e-03 -2.68585006e-02 2.23106527e+00] [ 4.96974405e-03 9.99987370e-01 7.48817079e-04 2.73669576e-01] [ 2.68544563e-02 -8.82017644e-04 9.99638965e-01 1.13736143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.582557844 meters Centerline goodness : 0.189520 Centerline is valid? [False, False] Translation: X:2.23, Y:0.27, Z:1.14 [[ 9.99626178e-01 -4.93209687e-03 -2.68919825e-02 2.23135648e+00] [ 4.95341064e-03 9.99987468e-01 7.26011110e-04 2.73890107e-01] [ 2.68880648e-02 -8.58946744e-04 9.99638082e-01 1.13698943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.612557844 meters Centerline goodness : 0.085125 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:1.14 [[ 9.99659208e-01 1.24768005e-03 -2.60750922e-02 2.20595706e+00] [-1.30017968e-03 9.99997162e-01 -1.99654425e-03 2.71353609e-01] [ 2.60725271e-02 2.02976615e-03 9.99657993e-01 1.13771067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.642557844 meters Centerline goodness : 0.252037 Centerline is valid? [False, False] Translation: X:2.23, Y:0.27, Z:1.14 [[ 9.99680849e-01 -7.05332092e-03 -2.42580108e-02 2.22590206e+00] [ 7.02966243e-03 9.99974729e-01 -1.06042412e-03 2.73536605e-01] [ 2.42648773e-02 8.89560056e-04 9.99705169e-01 1.13922333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.672557844 meters Centerline goodness : 0.106430 Centerline is valid? [False, False] Translation: X:2.18, Y:0.27, Z:1.14 [[ 9.99608080e-01 -7.52361817e-03 -2.69644637e-02 2.18027749e+00] [ 7.50203303e-03 9.99971453e-01 -9.01577939e-04 2.72100444e-01] [ 2.69704771e-02 6.98936295e-04 9.99635986e-01 1.13973280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.702557844 meters Centerline goodness : 0.185677 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 9.99562366e-01 -8.32048676e-04 -2.95699922e-02 2.20003891e+00] [ 7.82188372e-04 9.99998253e-01 -1.69770632e-03 2.65575788e-01] [ 2.95713531e-02 1.67383405e-03 9.99561270e-01 1.14157055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.732557844 meters Centerline goodness : 0.104641 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.14 [[ 9.99551321e-01 -8.03413574e-04 -2.99417885e-02 2.20129713e+00] [ 7.59550059e-04 9.99998622e-01 -1.47630464e-03 2.64404121e-01] [ 2.99429333e-02 1.45289997e-03 9.99550554e-01 1.14094915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.762557844 meters Centerline goodness : 0.183599 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.14 [[ 9.99550916e-01 -7.48788774e-04 -2.99567427e-02 2.20136274e+00] [ 7.11430341e-04 9.99998956e-01 -1.25771829e-03 2.63382593e-01] [ 2.99576532e-02 1.23584133e-03 9.99550405e-01 1.14083116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79255784400002 meters Centerline goodness : 0.180113 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.14 [[ 9.99580324e-01 -7.32029109e-04 -2.89592877e-02 2.19822477e+00] [ 7.00533369e-04 9.99999152e-01 -1.09771750e-03 2.62747077e-01] [ 2.89600667e-02 1.07696986e-03 9.99579989e-01 1.14194139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82255784400002 meters Centerline goodness : 0.108308 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.14 [[ 9.99589301e-01 -7.42377980e-04 -2.86474887e-02 2.19705767e+00] [ 7.12182975e-04 9.99999180e-01 -1.06420809e-03 2.62418172e-01] [ 2.86482552e-02 1.04336876e-03 9.99589010e-01 1.14261725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85255784400002 meters Centerline goodness : 0.091046 Centerline is valid? [False, False] Translation: X:2.22, Y:0.26, Z:1.14 [[ 0.99961517 0.00549747 -0.02719001 2.21785982] [-0.00561121 0.99997582 -0.00410859 0.2595528 ] [ 0.02716677 0.00425958 0.99962184 1.14287217] [ 0. 0. 0. 1. ]] SLAMing on 182.88255784400002 meters Centerline goodness : 0.183566 Centerline is valid? [False, False] Translation: X:2.22, Y:0.26, Z:1.14 [[ 0.99961052 0.00543527 -0.02737282 2.21866459] [-0.00555352 0.99997556 -0.00424604 0.26020647] [ 0.02734908 0.00439641 0.99961628 1.14228103] [ 0. 0. 0. 1. ]] SLAMing on 182.91255784400002 meters Centerline goodness : 0.181167 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.99959452 -0.00290544 -0.02832578 2.19931807] [ 0.00281858 0.9999912 -0.00310606 0.26652363] [ 0.02833456 0.00302496 0.99959392 1.14064469] [ 0. 0. 0. 1. ]] SLAMing on 182.94255784400002 meters Centerline goodness : 0.179174 Centerline is valid? [False, False] Translation: X:2.22, Y:0.26, Z:1.14 [[ 0.9996135 0.00507483 -0.0273331 2.2185995 ] [-0.00519417 0.99997728 -0.00429692 0.26186687] [ 0.02731067 0.00443724 0.99961715 1.14191288] [ 0. 0. 0. 1. ]] SLAMing on 182.97255784400002 meters Centerline goodness : 0.182297 Centerline is valid? [False, False] Translation: X:2.22, Y:0.26, Z:1.14 [[ 0.99962401 0.00492963 -0.02697278 2.21688637] [-0.00505335 0.99997701 -0.00452082 0.26263244] [ 0.02694987 0.00465542 0.99962595 1.14327369] [ 0. 0. 0. 1. ]] SLAMing on 183.00255784400002 meters Centerline goodness : 0.179703 Centerline is valid? [False, False] Translation: X:2.22, Y:0.26, Z:1.14 [[ 0.99962825 0.00484908 -0.02683005 2.21616976] [-0.00497568 0.99997679 -0.0046537 0.26315475] [ 0.02680687 0.00478546 0.99962918 1.1438516 ] [ 0. 0. 0. 1. ]] SLAMing on 183.032557844 meters Centerline goodness : 0.177273 Centerline is valid? [False, False] Translation: X:2.22, Y:0.26, Z:1.14 [[ 0.9996288 0.00478414 -0.02682116 2.21620686] [-0.00491346 0.99997661 -0.0047574 0.26358289] [ 0.02679778 0.00488741 0.99962893 1.14374807] [ 0. 0. 0. 1. ]] SLAMing on 183.062557844 meters Centerline goodness : 0.102338 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.99962143 -0.00357928 -0.02727986 2.19705295] [ 0.00348217 0.99998743 -0.00360653 0.26958788] [ 0.02729242 0.00351017 0.99962133 1.14158655] [ 0. 0. 0. 1. ]] SLAMing on 183.092557844 meters Centerline goodness : 0.124204 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.99962099 -0.00361939 -0.02729042 2.19730927] [ 0.00352032 0.99998704 -0.00367736 0.26991373] [ 0.02730338 0.00357989 0.99962078 1.14118254] [ 0. 0. 0. 1. ]] SLAMing on 183.122557844 meters Centerline goodness : 0.107065 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.99962621 -0.00371174 -0.02708605 2.19659753] [ 0.00360805 0.99998598 -0.00387581 0.2707726 ] [ 0.02710006 0.00377664 0.99962559 1.1415299 ] [ 0. 0. 0. 1. ]] SLAMing on 183.152557844 meters Centerline goodness : 0.099523 Centerline is valid? [False, False] Translation: X:2.22, Y:0.27, Z:1.14 [[ 0.99965188 0.00444482 -0.026007 2.21584207] [-0.00457536 0.99997722 -0.0049619 0.26647612] [ 0.02598436 0.00507917 0.99964945 1.14291405] [ 0. 0. 0. 1. ]] SLAMing on 183.182557844 meters Centerline goodness : 0.179119 Centerline is valid? [False, False] Translation: X:2.22, Y:0.27, Z:1.14 [[ 0.99964445 0.00433023 -0.02631014 2.21696831] [-0.00447037 0.99997612 -0.00526981 0.26809748] [ 0.02628669 0.00538555 0.99963994 1.14242112] [ 0. 0. 0. 1. ]] SLAMing on 183.212557844 meters Centerline goodness : 0.138139 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.99960198 -0.00391555 -0.0279382 2.19820598] [ 0.00380406 0.99998459 -0.00404277 0.27396436] [ 0.0279536 0.00393489 0.99960148 1.14067182] [ 0. 0. 0. 1. ]] SLAMing on 183.242557844 meters Centerline goodness : 0.104277 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.9995965 -0.00393377 -0.02813109 2.19905589] [ 0.00382144 0.99998451 -0.00404567 0.2739239 ] [ 0.02814657 0.00393654 0.99959606 1.14002654] [ 0. 0. 0. 1. ]] SLAMing on 183.272557844 meters Centerline goodness : 0.101350 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.9995911 -0.00399084 -0.02831439 2.19975902] [ 0.00387427 0.9999838 -0.0041705 0.2744223 ] [ 0.02833058 0.00405909 0.99959037 1.13964397] [ 0. 0. 0. 1. ]] SLAMing on 183.302557844 meters Centerline goodness : 0.101292 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.14 [[ 9.99620427e-01 -1.22311975e-03 -2.75228353e-02 2.19640383e+00] [ 1.17651759e-03 9.99997847e-01 -1.70934782e-03 2.77814089e-01] [ 2.75248668e-02 1.67631790e-03 9.99619714e-01 1.14105956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.332557844 meters Centerline goodness : 0.182039 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.14 [[ 9.99618894e-01 -1.34382661e-03 -2.75728362e-02 2.19642953e+00] [ 1.28308071e-03 9.99996711e-01 -2.22068097e-03 2.80519115e-01] [ 2.75757298e-02 2.18445648e-03 9.99617330e-01 1.14132807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.362557844 meters Centerline goodness : 0.104457 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.14 [[ 9.99620102e-01 -1.54956051e-03 -2.75181935e-02 2.19617370e+00] [ 1.47174591e-03 9.99994862e-01 -2.84777962e-03 2.83522612e-01] [ 2.75224649e-02 2.80619797e-03 9.99617246e-01 1.14159635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.392557844 meters Centerline goodness : 0.179485 Centerline is valid? [False, False] Translation: X:2.20, Y:0.29, Z:1.14 [[ 9.99623325e-01 -1.81037081e-03 -2.73848750e-02 2.19564285e+00] [ 1.71331726e-03 9.99992170e-01 -3.56710559e-03 2.86822530e-01] [ 2.73911184e-02 3.51884297e-03 9.99618599e-01 1.14205027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.422557844 meters Centerline goodness : 0.176520 Centerline is valid? [False, False] Translation: X:2.22, Y:0.29, Z:1.14 [[ 0.99963824 0.00690191 -0.02599514 2.21687633] [-0.00703008 0.99996356 -0.00484246 0.29053599] [ 0.02596077 0.00502346 0.99965034 1.14287423] [ 0. 0. 0. 1. ]] SLAMing on 183.452557844 meters Centerline goodness : 0.187588 Centerline is valid? [False, False] Translation: X:2.22, Y:0.29, Z:1.14 [[ 0.99963265 0.00667675 -0.02626776 2.2178492 ] [-0.00682512 0.99996124 -0.0055629 0.29426447] [ 0.0262296 0.00574013 0.99963946 1.14248637] [ 0. 0. 0. 1. ]] SLAMing on 183.482557844 meters Centerline goodness : 0.110846 Centerline is valid? [False, False] Translation: X:2.22, Y:0.30, Z:1.14 [[ 0.99959808 0.01042407 -0.02636311 2.21868727] [-0.01049371 0.9999418 -0.0025048 0.29877774] [ 0.02633547 0.00278044 0.99964929 1.14184617] [ 0. 0. 0. 1. ]] SLAMing on 183.512557844 meters Centerline goodness : 0.177455 Centerline is valid? [False, False] Translation: X:2.22, Y:0.30, Z:1.14 [[ 0.99960746 0.01018967 -0.02609783 2.21764885] [-0.01027597 0.99994216 -0.00317477 0.30185916] [ 0.02606397 0.00344171 0.99965435 1.14257366] [ 0. 0. 0. 1. ]] SLAMing on 183.54255784400002 meters Centerline goodness : 0.178274 Centerline is valid? [False, False] Translation: X:2.22, Y:0.30, Z:1.14 [[ 0.99961533 0.00995924 -0.02588439 2.21664378] [-0.01005949 0.99994239 -0.00374566 0.3044018 ] [ 0.0258456 0.0040046 0.99965793 1.1434312 ] [ 0. 0. 0. 1. ]] SLAMing on 183.57255784400002 meters Centerline goodness : 0.178506 Centerline is valid? [False, False] Translation: X:2.20, Y:0.31, Z:1.14 [[ 0.99975151 0.00475961 -0.02177779 2.19555478] [-0.00481537 0.99998526 -0.00250866 0.3130614 ] [ 0.02176553 0.00261291 0.99975969 1.14181453] [ 0. 0. 0. 1. ]] SLAMing on 183.60255784400002 meters Centerline goodness : 0.105418 Centerline is valid? [False, False] Translation: X:2.20, Y:0.31, Z:1.14 [[ 0.99975412 0.00464432 -0.02168246 2.19526166] [-0.00470684 0.99998491 -0.00283303 0.31457042] [ 0.02166898 0.00293439 0.99976089 1.14194489] [ 0. 0. 0. 1. ]] SLAMing on 183.63255784400002 meters Centerline goodness : 0.175561 Centerline is valid? [False, False] Translation: X:2.19, Y:0.32, Z:1.14 [[ 0.99975832 0.00451342 -0.02151581 2.19487416] [-0.00458291 0.99998444 -0.00318109 0.31616648] [ 0.02150112 0.00327893 0.99976345 1.14192494] [ 0. 0. 0. 1. ]] SLAMing on 183.66255784400002 meters Centerline goodness : 0.175561 Centerline is valid? [False, False] Translation: X:2.19, Y:0.32, Z:1.14 [[ 0.99975832 0.00451342 -0.02151581 2.19487416] [-0.00458291 0.99998444 -0.00318109 0.31616648] [ 0.02150112 0.00327893 0.99976345 1.14192494] [ 0. 0. 0. 1. ]] SLAMing on 183.69255784400002 meters Centerline goodness : 0.110892 Centerline is valid? [False, False] Translation: X:2.19, Y:0.32, Z:1.14 [[ 0.99977968 0.00485716 -0.02042045 2.19191482] [-0.00493125 0.99998144 -0.00357907 0.31947547] [ 0.02040268 0.00367897 0.99978507 1.14258688] [ 0. 0. 0. 1. ]] SLAMing on 183.72255784400002 meters Centerline goodness : 0.176432 Centerline is valid? [False, False] Translation: X:2.19, Y:0.32, Z:1.14 [[ 0.99979008 0.00497266 -0.01987622 2.1901107 ] [-0.00505325 0.99997921 -0.00400663 0.32216248] [ 0.01985589 0.00410623 0.99979442 1.14347961] [ 0. 0. 0. 1. ]] SLAMing on 183.75255784400002 meters Centerline goodness : 0.180308 Centerline is valid? [False, False] Translation: X:2.19, Y:0.32, Z:1.14 [[ 0.99979804 0.00516465 -0.01942196 2.18876496] [-0.00525048 0.99997666 -0.004371 0.32465398] [ 0.01939893 0.00447209 0.99980182 1.14399627] [ 0. 0. 0. 1. ]] SLAMing on 183.782557844 meters Centerline goodness : 0.178281 Centerline is valid? [False, False] Translation: X:2.19, Y:0.33, Z:1.14 [[ 0.99979506 0.00528079 -0.01954337 2.18895498] [-0.00537572 0.99997399 -0.00480781 0.32737891] [ 0.01951747 0.00491188 0.99979745 1.14421401] [ 0. 0. 0. 1. ]] SLAMing on 183.812557844 meters Centerline goodness : 0.121540 Centerline is valid? [False, False] Translation: X:2.19, Y:0.33, Z:1.14 [[ 0.99976444 0.00796139 -0.02019129 2.1929724 ] [-0.00801929 0.99996396 -0.00278831 0.33204445] [ 0.02016837 0.00294958 0.99979225 1.14146268] [ 0. 0. 0. 1. ]] SLAMing on 183.842557844 meters Centerline goodness : 0.131826 Centerline is valid? [False, False] Translation: X:2.19, Y:0.33, Z:1.14 [[ 0.99976283 0.00787543 -0.02030406 2.19351415] [-0.00794052 0.99996358 -0.00312733 0.33366449] [ 0.02027869 0.00328781 0.99978896 1.14097339] [ 0. 0. 0. 1. ]] SLAMing on 183.872557844 meters Centerline goodness : 0.145454 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.14 [[ 0.99976422 0.00780414 -0.02026306 2.19334907] [-0.00787441 0.99996325 -0.0033905 0.33503938] [ 0.02023586 0.00354926 0.99978893 1.14104481] [ 0. 0. 0. 1. ]] SLAMing on 183.902557844 meters Centerline goodness : 0.183064 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.14 [[ 0.99976669 0.00765477 -0.02019846 2.19316207] [-0.00773167 0.99996315 -0.00373227 0.33641951] [ 0.02016915 0.00388757 0.99978902 1.14103304] [ 0. 0. 0. 1. ]] SLAMing on 183.932557844 meters Centerline goodness : 0.108811 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.14 [[ 0.99976415 0.00763706 -0.02033027 2.19362322] [-0.00771461 0.99996325 -0.00373898 0.33639834] [ 0.02030096 0.00389493 0.99978633 1.14084005] [ 0. 0. 0. 1. ]] SLAMing on 183.962557844 meters Centerline goodness : 0.182778 Centerline is valid? [False, False] Translation: X:2.21, Y:0.34, Z:1.14 [[ 9.99780709e-01 -2.55696574e-04 -2.09396539e-02 2.21363474e+00] [ 1.96854354e-04 9.99996027e-01 -2.81209867e-03 3.40654745e-01] [ 2.09402897e-02 2.80735993e-03 9.99776787e-01 1.14189468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.992557844 meters Centerline goodness : 0.182928 Centerline is valid? [False, False] Translation: X:2.21, Y:0.34, Z:1.14 [[ 9.99775298e-01 -2.25390754e-04 -2.11967605e-02 2.21473888e+00] [ 1.67694957e-04 9.99996277e-01 -2.72365389e-03 3.40209767e-01] [ 2.11972954e-02 2.71948729e-03 9.99771613e-01 1.14111800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.022557844 meters Centerline goodness : 0.105943 Centerline is valid? [False, False] Translation: X:2.22, Y:0.34, Z:1.14 [[ 9.99762032e-01 -1.53433359e-04 -2.18141349e-02 2.21696139e+00] [ 9.46440386e-05 9.99996361e-01 -2.69601727e-03 3.40166804e-01] [ 2.18144691e-02 2.69331112e-03 9.99758408e-01 1.13995856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.052557844 meters Centerline goodness : 0.192194 Centerline is valid? [False, False] Translation: X:2.22, Y:0.34, Z:1.14 [[ 9.99757880e-01 -1.75122433e-04 -2.20034146e-02 2.21758762e+00] [ 1.11445262e-04 9.99995803e-01 -2.89516063e-03 3.41249429e-01] [ 2.20038292e-02 2.89200748e-03 9.99753704e-01 1.13969491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.082557844 meters Centerline goodness : 0.105345 Centerline is valid? [False, False] Translation: X:2.22, Y:0.34, Z:1.14 [[ 9.99756030e-01 -1.16708017e-04 -2.20877152e-02 2.21785191e+00] [ 4.89965175e-05 9.99995298e-01 -3.06608917e-03 3.42459468e-01] [ 2.20879692e-02 3.06425892e-03 9.99751335e-01 1.13960970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.112557844 meters Centerline goodness : 0.101733 Centerline is valid? [False, False] Translation: X:2.22, Y:0.34, Z:1.14 [[ 9.99757608e-01 3.06490182e-04 -2.20143476e-02 2.21738706e+00] [-3.75664965e-04 9.99995005e-01 -3.13819226e-03 3.43869548e-01] [ 2.20132758e-02 3.14570161e-03 9.99752730e-01 1.14003094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.142557844 meters Centerline goodness : 0.148496 Centerline is valid? [False, False] Translation: X:2.22, Y:0.34, Z:1.14 [[ 9.99757668e-01 3.34590448e-04 -2.20112031e-02 2.21723799e+00] [-4.06431449e-04 9.99994605e-01 -3.25944542e-03 3.44573267e-01] [ 2.20099938e-02 3.26760159e-03 9.99752411e-01 1.14027122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.172557844 meters SLAMing on 184.202557844 meters Centerline goodness : 0.097438 Centerline is valid? [False, False] Translation: X:2.22, Y:0.35, Z:1.14 [[ 9.99764341e-01 8.65496337e-04 -2.16913167e-02 2.21651283e+00] [-9.35412135e-04 9.99994400e-01 -3.21327690e-03 3.45586825e-01] [ 2.16884141e-02 3.23280998e-03 9.99759552e-01 1.13998444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.232557844 meters Centerline goodness : 0.098535 Centerline is valid? [False, False] Translation: X:2.22, Y:0.35, Z:1.14 [[ 9.99770918e-01 8.74122037e-04 -2.13857024e-02 2.21542790e+00] [-9.43623854e-04 9.99994306e-01 -3.24004447e-03 3.45810275e-01] [ 2.13827484e-02 3.25948230e-03 9.99766050e-01 1.14048184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.262557844 meters Centerline goodness : 0.144549 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.14 [[ 9.99778989e-01 9.81772593e-04 -2.10002103e-02 2.21381793e+00] [-1.04916187e-03 9.99994335e-01 -3.19820436e-03 3.46173166e-01] [ 2.09969515e-02 3.21953015e-03 9.99774356e-01 1.14157030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29255784400002 meters SLAMing on 184.32255784400002 meters Centerline goodness : 0.133862 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.14 [[ 9.99777098e-01 9.19188569e-04 -2.10928837e-02 2.21430291e+00] [-9.90436105e-04 9.99993839e-01 -3.36760156e-03 3.46652658e-01] [ 2.10896583e-02 3.38774207e-03 9.99771849e-01 1.14115478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35255784400002 meters Centerline goodness : 0.113578 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.14 [[ 9.99775010e-01 8.92038692e-04 -2.11927634e-02 2.21482075e+00] [-9.66087191e-04 9.99993464e-01 -3.48406522e-03 3.47093694e-01] [ 2.11895169e-02 3.50375540e-03 9.99769337e-01 1.14064424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38255784400002 meters Centerline goodness : 0.180985 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.14 [[ 9.99776336e-01 1.20480525e-03 -2.11146016e-02 2.21456850e+00] [-1.28238506e-03 9.99992476e-01 -3.66107056e-03 3.49032972e-01] [ 2.11100318e-02 3.68732876e-03 9.99770359e-01 1.14061148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41255784400002 meters Centerline goodness : 0.129012 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.14 [[ 9.99779935e-01 1.22886508e-03 -2.09420824e-02 2.21389546e+00] [-1.31029168e-03 9.99991634e-01 -3.87490246e-03 3.50520470e-01] [ 2.09371454e-02 3.90148997e-03 9.99773181e-01 1.14095487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44255784400002 meters Centerline goodness : 0.098553 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99728196e-01 2.08495908e-03 -2.32203870e-02 2.16738569e+00] [-2.16155356e-03 9.99992304e-01 -3.27397700e-03 3.50067821e-01] [ 2.32133822e-02 3.32327924e-03 9.99725010e-01 1.14183495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47255784400002 meters Centerline goodness : 0.109518 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99729788e-01 2.03935859e-03 -2.31558126e-02 2.16728134e+00] [-2.11908940e-03 9.99991909e-01 -3.41921529e-03 3.50771999e-01] [ 2.31486523e-02 3.46736061e-03 9.99726021e-01 1.14170076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50255784400002 meters Centerline goodness : 0.236688 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99732874e-01 1.98446462e-03 -2.30270155e-02 2.16711647e+00] [-2.06680117e-03 9.99991554e-01 -3.55240197e-03 3.51308519e-01] [ 2.30197715e-02 3.59904530e-03 9.99728532e-01 1.14139126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.532557844 meters Centerline goodness : 0.099245 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99737480e-01 1.97557195e-03 -2.28269020e-02 2.16648187e+00] [-2.05741305e-03 9.99991538e-01 -3.56236274e-03 3.51368637e-01] [ 2.28196711e-02 3.60839191e-03 9.99733085e-01 1.14160529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562557844 meters Centerline goodness : 0.096036 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99741992e-01 1.97404445e-03 -2.26285894e-02 2.16579267e+00] [-2.05434365e-03 9.99991674e-01 -3.52587624e-03 3.51153145e-01] [ 2.26214408e-02 3.57145344e-03 9.99737723e-01 1.14194692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.592557844 meters Centerline goodness : 0.101427 Centerline is valid? [False, False] Translation: X:2.16, Y:0.35, Z:1.14 [[ 9.99749914e-01 1.98041341e-03 -2.22752733e-02 2.16450082e+00] [-2.05480831e-03 9.99992386e-01 -3.31740482e-03 3.49912163e-01] [ 2.22685338e-02 3.36234660e-03 9.99746371e-01 1.14269187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622557844 meters Centerline goodness : 0.140823 Centerline is valid? [False, False] Translation: X:2.16, Y:0.35, Z:1.14 [[ 9.99751355e-01 2.08201138e-03 -2.22012034e-02 2.16417796e+00] [-2.15019684e-03 9.99993044e-01 -3.04782148e-03 3.48717518e-01] [ 2.21947033e-02 3.09480061e-03 9.99748877e-01 1.14294023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.652557844 meters Centerline goodness : 0.124102 Centerline is valid? [False, False] Translation: X:2.16, Y:0.35, Z:1.14 [[ 0.99975078 0.00216696 -0.02221883 2.16418099] [-0.00223027 0.99999352 -0.00282495 0.34769391] [ 0.02221257 0.0028738 0.99974914 1.14304405] [ 0. 0. 0. 1. ]] SLAMing on 184.682557844 meters Centerline goodness : 0.130845 Centerline is valid? [False, False] Translation: X:2.16, Y:0.35, Z:1.14 [[ 0.99974671 0.00222847 -0.02239516 2.16479522] [-0.00228922 0.99999377 -0.00268746 0.34704228] [ 0.02238903 0.00273804 0.99974558 1.14273704] [ 0. 0. 0. 1. ]] SLAMing on 184.712557844 meters Centerline goodness : 0.231921 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 0.99974018 0.00230328 -0.02267741 2.16600411] [-0.00236391 0.9999937 -0.00264738 0.34686189] [ 0.02267117 0.0027003 0.99973933 1.14177683] [ 0. 0. 0. 1. ]] SLAMing on 184.742557844 meters Centerline goodness : 0.150072 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 0.99974164 0.0023743 -0.02260544 2.16591428] [-0.00243377 0.99999365 -0.00260364 0.34672939] [ 0.02259912 0.00265799 0.99974107 1.14155297] [ 0. 0. 0. 1. ]] SLAMing on 184.772557844 meters Centerline goodness : 0.171260 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 0.99974399 0.00245869 -0.02249264 2.16559637] [-0.00251455 0.99999382 -0.00245563 0.34597831] [ 0.02248646 0.00251156 0.99974399 1.14153981] [ 0. 0. 0. 1. ]] SLAMing on 184.802557844 meters Centerline goodness : 0.116283 Centerline is valid? [False, False] Translation: X:2.17, Y:0.34, Z:1.14 [[ 9.99737572e-01 2.67909989e-03 -2.27510554e-02 2.16684916e+00] [-2.72183866e-03 9.99994589e-01 -1.84778183e-03 3.42727454e-01] [ 2.27459819e-02 1.90922162e-03 9.99739454e-01 1.14056755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.832557844 meters Centerline goodness : 0.179475 Centerline is valid? [False, False] Translation: X:2.17, Y:0.34, Z:1.14 [[ 9.99730566e-01 2.86031741e-03 -2.30350499e-02 2.16788551e+00] [-2.89295199e-03 9.99994858e-01 -1.38353606e-03 3.40540721e-01] [ 2.30309741e-02 1.44980259e-03 9.99733701e-01 1.13997634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.862557844 meters Centerline goodness : 0.274217 Centerline is valid? [False, False] Translation: X:2.17, Y:0.34, Z:1.14 [[ 9.99725567e-01 3.09714379e-03 -2.32206265e-02 2.16853164e+00] [-3.11670766e-03 9.99994818e-01 -8.06377769e-04 3.37950221e-01] [ 2.32180087e-02 8.78528377e-04 9.99730040e-01 1.13968623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.892557844 meters Centerline goodness : 0.172938 Centerline is valid? [False, False] Translation: X:2.17, Y:0.34, Z:1.14 [[ 9.99724152e-01 3.35243451e-03 -2.32461193e-02 2.16857490e+00] [-3.35805210e-03 9.99994341e-01 -2.02625084e-04 3.35269843e-01] [ 2.32453084e-02 2.80630870e-04 9.99729752e-01 1.13972720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.922557844 meters Centerline goodness : 0.172899 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99726103e-01 3.81971898e-03 -2.30895589e-02 2.16795795e+00] [-3.79967084e-03 9.99992365e-01 9.12087047e-04 3.30099255e-01] [ 2.30928665e-02 -8.24104506e-04 9.99732985e-01 1.14016168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.952557844 meters Centerline goodness : 0.171056 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99724034e-01 3.97298761e-03 -2.31531912e-02 2.16813471e+00] [-3.94373587e-03 9.99991367e-01 1.30892431e-03 3.28069761e-01] [ 2.31581916e-02 -1.21725302e-03 9.99731072e-01 1.14014013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.982557844 meters Centerline goodness : 0.175025 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99718711e-01 4.03238126e-03 -2.33717626e-02 2.16889434e+00] [-3.99943335e-03 9.99990942e-01 1.45630351e-03 3.27134777e-01] [ 2.33774233e-02 -1.36242006e-03 9.99725782e-01 1.13981535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.012557844 meters Centerline goodness : 0.168261 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99699233e-01 4.51833127e-03 -2.41045294e-02 2.17115371e+00] [-4.47708930e-03 9.99988421e-01 1.76465623e-03 3.26589243e-01] [ 2.41122236e-02 -1.65620735e-03 9.99707886e-01 1.13892719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04255784400002 meters Centerline goodness : 0.170572 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99701185e-01 4.64510935e-03 -2.39992468e-02 2.17097071e+00] [-4.60446313e-03 9.99987871e-01 1.74862860e-03 3.27088657e-01] [ 2.40070782e-02 -1.63760243e-03 9.99710447e-01 1.13872196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07255784400002 meters Centerline goodness : 0.110546 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99706122e-01 4.77141071e-03 -2.37676922e-02 2.17031411e+00] [-4.73310672e-03 9.99987408e-01 1.66759451e-03 3.27954387e-01] [ 2.37753497e-02 -1.55460942e-03 9.99716118e-01 1.13878664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10255784400002 meters Centerline goodness : 0.116084 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99719682e-01 5.12723591e-03 -2.31142388e-02 2.16832241e+00] [-5.09188640e-03 9.99985775e-01 1.58793567e-03 3.29328396e-01] [ 2.31220518e-02 -1.46979547e-03 9.99731569e-01 1.13929607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13255784400002 meters Centerline goodness : 0.119875 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99714411e-01 5.02977075e-03 -2.33623336e-02 2.16900540e+00] [-5.00009059e-03 9.99986617e-01 1.32866952e-03 3.30338468e-01] [ 2.33687038e-02 -1.21147628e-03 9.99726181e-01 1.13910878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16255784400002 meters Centerline goodness : 0.109058 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.14 [[ 9.99699292e-01 -2.75554907e-03 -2.43666120e-02 2.18833527e+00] [ 2.80010990e-03 9.99994469e-01 1.79483532e-03 3.36561801e-01] [ 2.43615315e-02 -1.86252479e-03 9.99701479e-01 1.14064010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19255784400002 meters Centerline goodness : 0.141127 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.14 [[ 9.99698720e-01 -2.80346755e-03 -2.43846194e-02 2.18835894e+00] [ 2.84478408e-03 9.99994576e-01 1.65984395e-03 3.37261091e-01] [ 2.43798338e-02 -1.72871285e-03 9.99701273e-01 1.14062014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22255784400002 meters Centerline goodness : 0.118620 Centerline is valid? [False, False] Translation: X:2.14, Y:0.34, Z:1.14 [[ 0.99977003 -0.0023948 -0.0213107 2.14216075] [ 0.00245786 0.99999268 0.00293339 0.33620492] [ 0.02130351 -0.00298509 0.9997686 1.13927222] [ 0. 0. 0. 1. ]] SLAMing on 185.25255784400002 meters Centerline goodness : 0.105533 Centerline is valid? [False, False] Translation: X:2.16, Y:0.33, Z:1.14 [[ 9.99814151e-01 5.55309321e-03 -1.84614757e-02 2.16065861e+00] [-5.52306476e-03 9.99983341e-01 1.67713527e-03 3.34837702e-01] [ 1.84704814e-02 -1.57485965e-03 9.99828166e-01 1.14024419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282557844 meters Centerline goodness : 0.132201 Centerline is valid? [False, False] Translation: X:2.16, Y:0.34, Z:1.14 [[ 9.99818050e-01 5.43438383e-03 -1.82847986e-02 2.15996741e+00] [-5.40870989e-03 9.99984317e-01 1.45327411e-03 3.35724743e-01] [ 1.82924095e-02 -1.35411251e-03 9.99831763e-01 1.14067776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.312557844 meters Centerline goodness : 0.172003 Centerline is valid? [False, False] Translation: X:2.18, Y:0.34, Z:1.14 [[ 9.99827301e-01 -2.73024172e-03 -1.83824601e-02 2.17903952e+00] [ 2.76702385e-03 9.99994220e-01 1.97579931e-03 3.42228409e-01] [ 1.83769594e-02 -2.02632280e-03 9.99829076e-01 1.14225202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342557844 meters Centerline goodness : 0.169091 Centerline is valid? [False, False] Translation: X:2.18, Y:0.35, Z:1.14 [[ 9.99823096e-01 -2.97823507e-03 -1.85716456e-02 2.17973379e+00] [ 3.00278443e-03 9.99994654e-01 1.29412790e-03 3.45596070e-01] [ 1.85676921e-02 -1.34966561e-03 9.99826695e-01 1.14173252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.372557844 meters Centerline goodness : 0.169204 Centerline is valid? [False, False] Translation: X:2.18, Y:0.35, Z:1.14 [[ 9.99822216e-01 -3.06747958e-03 -1.86044940e-02 2.18002276e+00] [ 3.08531904e-03 9.99994808e-01 9.30251628e-04 3.47644477e-01] [ 1.86015439e-02 -9.87487044e-04 9.99826489e-01 1.14134241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402557844 meters Centerline goodness : 0.102163 Centerline is valid? [False, False] Translation: X:2.18, Y:0.35, Z:1.14 [[ 9.99826387e-01 -3.34264832e-03 -1.83309221e-02 2.17964946e+00] [ 3.34667187e-03 9.99994382e-01 1.88823510e-04 3.51188442e-01] [ 1.83301880e-02 -2.50138309e-04 9.99831957e-01 1.14069271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.432557844 meters Centerline goodness : 0.170469 Centerline is valid? [False, False] Translation: X:2.18, Y:0.35, Z:1.14 [[ 9.99829673e-01 -3.46739898e-03 -1.81274068e-02 2.17887144e+00] [ 3.46616076e-03 9.99993988e-01 -9.97252166e-05 3.52455638e-01] [ 1.81276436e-02 3.68757245e-05 9.99835680e-01 1.14110278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.462557844 meters Centerline goodness : 0.171058 Centerline is valid? [False, False] Translation: X:2.18, Y:0.35, Z:1.14 [[ 9.99834571e-01 -3.56507810e-03 -1.78359506e-02 2.17768326e+00] [ 3.55988573e-03 9.99993611e-01 -3.22859791e-04 3.53512249e-01] [ 1.78369876e-02 2.59312435e-04 9.99840875e-01 1.14182920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.492557844 meters Centerline goodness : 0.124822 Centerline is valid? [False, False] Translation: X:2.13, Y:0.35, Z:1.14 [[ 9.99787615e-01 -2.93200127e-03 -2.03992193e-02 2.13199122e+00] [ 2.93802173e-03 9.99995649e-01 2.65168333e-04 3.53475209e-01] [ 2.03983531e-02 -3.25045365e-04 9.99791879e-01 1.14252461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.522557844 meters Centerline goodness : 0.110888 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.14 [[ 9.99779997e-01 5.65168097e-03 -2.01993858e-02 2.15406220e+00] [-5.66152055e-03 9.99983881e-01 -4.29969819e-04 3.52330690e-01] [ 2.01966301e-02 5.44234462e-04 9.99795879e-01 1.14263350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.552557844 meters Centerline goodness : 0.110888 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.14 [[ 9.99779997e-01 5.65168097e-03 -2.01993858e-02 2.15406220e+00] [-5.66152055e-03 9.99983881e-01 -4.29969819e-04 3.52330690e-01] [ 2.01966301e-02 5.44234462e-04 9.99795879e-01 1.14263350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.582557844 meters Centerline goodness : 0.118812 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.14 [[ 9.99719260e-01 5.42325218e-03 -2.30648799e-02 2.10977077e+00] [-5.44557164e-03 9.99984763e-01 -9.04981887e-04 3.51923192e-01] [ 2.30596205e-02 1.03032928e-03 9.99733561e-01 1.14221811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.612557844 meters Centerline goodness : 0.193136 Centerline is valid? [False, False] Translation: X:2.13, Y:0.36, Z:1.14 [[ 9.99734534e-01 -2.35225743e-03 -2.29200382e-02 2.12865455e+00] [ 2.34733347e-03 9.99997216e-01 -2.41733940e-04 3.60237954e-01] [ 2.29205431e-02 1.87868795e-04 9.99737272e-01 1.14353743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.642557844 meters Centerline goodness : 0.171511 Centerline is valid? [False, False] Translation: X:2.13, Y:0.37, Z:1.14 [[ 9.99739951e-01 -2.21942608e-03 -2.26959178e-02 2.12809416e+00] [ 2.19609793e-03 9.99997034e-01 -1.05272959e-03 3.65434884e-01] [ 2.26981869e-02 1.00261337e-03 9.99741860e-01 1.14324233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.672557844 meters Centerline goodness : 0.123205 Centerline is valid? [False, False] Translation: X:2.13, Y:0.37, Z:1.14 [[ 9.99738548e-01 -2.41729302e-03 -2.27374622e-02 2.12816770e+00] [ 2.37738101e-03 9.99995586e-01 -1.78220918e-03 3.69029044e-01] [ 2.27416700e-02 1.72768761e-03 9.99739882e-01 1.14310560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.702557844 meters Centerline goodness : 0.086883 Centerline is valid? [False, False] Translation: X:2.11, Y:0.37, Z:1.14 [[ 0.99969004 0.00631916 -0.02408099 2.10712847] [-0.00638792 0.99997573 -0.00277924 0.36745498] [ 0.02406284 0.0029322 0.99970615 1.14261182] [ 0. 0. 0. 1. ]] SLAMing on 185.732557844 meters Centerline goodness : 0.088399 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:1.14 [[ 9.99691976e-01 -1.13250478e-03 -2.47925582e-02 2.12628911e+00] [ 1.08493500e-03 9.99997545e-01 -1.93207919e-03 3.76299860e-01] [ 2.47946855e-02 1.90458574e-03 9.99690750e-01 1.14437417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.762557844 meters Centerline goodness : 0.135660 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:1.14 [[ 9.99686343e-01 -1.42493366e-03 -2.50036985e-02 2.12685012e+00] [ 1.36150723e-03 9.99995813e-01 -2.55352233e-03 3.79000306e-01] [ 2.50072324e-02 2.51867869e-03 9.99684097e-01 1.14427423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79255784400002 meters Centerline goodness : 0.110701 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:1.14 [[ 9.99684453e-01 -1.49885556e-03 -2.50748415e-02 2.12695492e+00] [ 1.43239478e-03 9.99995414e-01 -2.66824813e-03 3.79433001e-01] [ 2.50787258e-02 2.63148910e-03 9.99682016e-01 1.14441059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82255784400002 meters Centerline goodness : 0.121983 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:1.14 [[ 9.99687067e-01 -1.54650914e-03 -2.49674940e-02 2.12645000e+00] [ 1.47908692e-03 9.99995211e-01 -2.71864154e-03 3.79614165e-01] [ 2.49715789e-02 2.68086169e-03 9.99684567e-01 1.14480606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85255784400002 meters Centerline goodness : 0.108487 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:1.15 [[ 9.99690062e-01 -1.59206288e-03 -2.48444337e-02 2.12592676e+00] [ 1.52400071e-03 9.99995035e-01 -2.75822812e-03 3.79767355e-01] [ 2.48487016e-02 2.71951031e-03 9.99687524e-01 1.14520479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88255784400002 meters Centerline goodness : 0.162854 Centerline is valid? [False, False] Translation: X:2.15, Y:0.39, Z:1.15 [[ 9.99656019e-01 -9.94641405e-03 -2.42675392e-02 2.14611960e+00] [ 9.90666778e-03 9.99949383e-01 -1.75751347e-03 3.85272985e-01] [ 2.42837918e-02 1.51649847e-03 9.99703955e-01 1.14667587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91255784400002 meters Centerline goodness : 0.154061 Centerline is valid? [False, False] Translation: X:2.15, Y:0.39, Z:1.15 [[ 9.99648864e-01 -9.95892408e-03 -2.45554222e-02 2.14720201e+00] [ 9.91845657e-03 9.99949246e-01 -1.76925411e-03 3.85262179e-01] [ 2.45717958e-02 1.52508097e-03 9.99696905e-01 1.14609925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94255784400002 meters Centerline goodness : 0.172725 Centerline is valid? [False, False] Translation: X:2.15, Y:0.39, Z:1.15 [[ 9.99639070e-01 -9.94892297e-03 -2.49549206e-02 2.14851775e+00] [ 9.90702232e-03 9.99949300e-01 -1.80212872e-03 3.85465422e-01] [ 2.49715846e-02 1.55424932e-03 9.99686953e-01 1.14555221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97255784400002 meters Centerline goodness : 0.094814 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:1.14 [[ 9.99662780e-01 -1.18121685e-03 -2.59409291e-02 2.12889558e+00] [ 1.11523640e-03 9.99996107e-01 -2.55780839e-03 3.80482740e-01] [ 2.59438495e-02 2.52801558e-03 9.99660205e-01 1.14428538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00255784400002 meters Centerline goodness : 0.165097 Centerline is valid? [False, False] Translation: X:2.15, Y:0.38, Z:1.15 [[ 0.99968715 0.0075509 -0.02384516 2.14914958] [-0.00763722 0.9999646 -0.00353075 0.38073343] [ 0.02381765 0.00371176 0.99970943 1.14556067] [ 0. 0. 0. 1. ]] SLAMing on 186.032557844 meters Centerline goodness : 0.166616 Centerline is valid? [False, False] Translation: X:2.15, Y:0.38, Z:1.15 [[ 0.99969771 0.00747729 -0.02342178 2.14779143] [-0.007567 0.99996436 -0.00374407 0.38166128] [ 0.02339295 0.00392017 0.99971866 1.14599479] [ 0. 0. 0. 1. ]] SLAMing on 186.062557844 meters Centerline goodness : 0.139086 Centerline is valid? [False, False] Translation: X:2.15, Y:0.38, Z:1.15 [[ 0.99970467 0.00738758 -0.02315169 2.14691315] [-0.0074815 0.99996412 -0.00397253 0.3826627 ] [ 0.02312151 0.00414456 0.99972407 1.14627656] [ 0. 0. 0. 1. ]] SLAMing on 186.092557844 meters Centerline goodness : 0.146466 Centerline is valid? [False, False] Translation: X:2.15, Y:0.38, Z:1.15 [[ 0.99970689 0.00731888 -0.02307746 2.14672498] [-0.00741714 0.99996378 -0.00417493 0.38368194] [ 0.02304606 0.00434488 0.99972496 1.14621732] [ 0. 0. 0. 1. ]] SLAMing on 186.122557844 meters Centerline goodness : 0.144311 Centerline is valid? [False, False] Translation: X:2.16, Y:0.39, Z:1.15 [[ 9.99741226e-01 1.46726040e-05 -2.27481920e-02 2.16498750e+00] [-7.63736079e-05 9.99996321e-01 -2.71148118e-03 3.92511012e-01] [ 2.27480685e-02 2.71251688e-03 9.99737549e-01 1.14815253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.152557844 meters Centerline goodness : 0.124782 Centerline is valid? [False, False] Translation: X:2.16, Y:0.39, Z:1.15 [[ 9.99744550e-01 -7.96914026e-05 -2.26015074e-02 2.16432848e+00] [ 1.48259790e-05 9.99995881e-01 -2.87011311e-03 3.93033774e-01] [ 2.26016430e-02 2.86904485e-03 9.99740433e-01 1.14863080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182557844 meters Centerline goodness : 0.119112 Centerline is valid? [False, False] Translation: X:2.16, Y:0.39, Z:1.15 [[ 9.99755006e-01 -3.11167713e-04 -2.21321155e-02 2.16263363e+00] [ 2.43522487e-04 9.99995291e-01 -3.05905789e-03 3.93332877e-01] [ 2.21329632e-02 3.05291877e-03 9.99750375e-01 1.14950612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.212557844 meters Centerline goodness : 0.121408 Centerline is valid? [False, False] Translation: X:2.16, Y:0.39, Z:1.15 [[ 9.99755880e-01 -2.90389817e-04 -2.20928952e-02 2.16246010e+00] [ 2.23423591e-04 9.99995374e-01 -3.03352838e-03 3.93462232e-01] [ 2.20936740e-02 3.02785176e-03 9.99751320e-01 1.14962805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.242557844 meters Centerline goodness : 0.139930 Centerline is valid? [False, False] Translation: X:2.16, Y:0.39, Z:1.15 [[ 9.99757365e-01 -2.78685603e-04 -2.20257497e-02 2.16234620e+00] [ 2.13083003e-04 9.99995535e-01 -2.98074110e-03 3.93303684e-01] [ 2.20264820e-02 2.97532456e-03 9.99752960e-01 1.14955985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.272557844 meters Centerline goodness : 0.170823 Centerline is valid? [False, False] Translation: X:2.16, Y:0.39, Z:1.15 [[ 9.99754161e-01 -2.76367095e-04 -2.21707506e-02 2.16272614e+00] [ 2.12993144e-04 9.99995885e-01 -2.86075905e-03 3.92547753e-01] [ 2.21714500e-02 2.85533355e-03 9.99750106e-01 1.14959416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.302557844 meters Centerline goodness : 0.145992 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99722079e-01 -1.87327487e-03 -2.35001180e-02 2.16826327e+00] [ 1.76994617e-03 9.99988679e-01 -4.41697356e-03 3.93787468e-01] [ 2.35081261e-02 4.37415205e-03 9.99714077e-01 1.14704705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.332557844 meters Centerline goodness : 0.171943 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99712024e-01 -1.82757485e-03 -2.39275803e-02 2.16969587e+00] [ 1.72580196e-03 9.99989380e-01 -4.27333073e-03 3.93089659e-01] [ 2.39351361e-02 4.23080585e-03 9.99704561e-01 1.14649212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.362557844 meters Centerline goodness : 0.146978 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99704461e-01 -1.77577967e-03 -2.42453436e-02 2.17083340e+00] [ 1.67586212e-03 9.99990023e-01 -4.14079989e-03 3.92525974e-01] [ 2.42524548e-02 4.09894427e-03 9.99697463e-01 1.14592698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.392557844 meters Centerline goodness : 0.147065 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99701176e-01 -1.72904622e-03 -2.43837804e-02 2.17138546e+00] [ 1.63089957e-03 9.99990491e-01 -4.04439214e-03 3.92132904e-01] [ 2.43905415e-02 4.00341609e-03 9.99694490e-01 1.14557304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.422557844 meters Centerline goodness : 0.128412 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99711039e-01 -1.70285966e-03 -2.39778910e-02 2.17024970e+00] [ 1.60521708e-03 9.99990344e-01 -4.09085107e-03 3.92379754e-01] [ 2.39846257e-02 4.05117926e-03 9.99704119e-01 1.14572470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.452557844 meters Centerline goodness : 0.102250 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99720210e-01 -1.70372940e-03 -2.35923505e-02 2.16903616e+00] [ 1.60583185e-03 9.99990025e-01 -4.16786973e-03 3.92752801e-01] [ 2.35992161e-02 4.12881825e-03 9.99712974e-01 1.14611202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.482557844 meters Centerline goodness : 0.169097 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99728258e-01 -1.71656430e-03 -2.32478853e-02 2.16794927e+00] [ 1.61723852e-03 9.99989488e-01 -4.29059291e-03 3.93457919e-01] [ 2.32550060e-02 4.25182960e-03 9.99720524e-01 1.14642489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.512557844 meters Centerline goodness : 0.123804 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99734335e-01 -1.70276959e-03 -2.29860915e-02 2.16709961e+00] [ 1.60235347e-03 9.99989096e-01 -4.38627166e-03 3.94174440e-01] [ 2.29933097e-02 4.34827454e-03 9.99726163e-01 1.14669249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54255784400002 meters Centerline goodness : 0.112546 Centerline is valid? [False, False] Translation: X:2.17, Y:0.40, Z:1.15 [[ 9.99737701e-01 -1.71665933e-03 -2.28381707e-02 2.16687889e+00] [ 1.61348760e-03 9.99988414e-01 -4.53517303e-03 3.95022608e-01] [ 2.28456914e-02 4.49713436e-03 9.99728888e-01 1.14638670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57255784400002 meters Centerline goodness : 0.143692 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99737222e-01 -1.70716778e-03 -2.28598364e-02 2.16717557e+00] [ 1.60532878e-03 9.99988710e-01 -4.47254159e-03 3.94593787e-01] [ 2.28672137e-02 4.43466875e-03 9.99728675e-01 1.14594081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60255784400002 meters Centerline goodness : 0.166873 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99734148e-01 -1.65783774e-03 -2.29974931e-02 2.16773505e+00] [ 1.55900507e-03 9.99989476e-01 -4.31480469e-03 3.93769745e-01] [ 2.30044043e-02 4.27780438e-03 9.99726211e-01 1.14559094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63255784400002 meters Centerline goodness : 0.119034 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99725334e-01 -1.66292420e-03 -2.33771352e-02 2.16880919e+00] [ 1.56864072e-03 9.99990565e-01 -4.05090857e-03 3.92371630e-01] [ 2.33836509e-02 4.01312560e-03 9.99718510e-01 1.14542229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66255784400002 meters Centerline goodness : 0.091619 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99719927e-01 -1.62739274e-03 -2.36097433e-02 2.16929827e+00] [ 1.53803409e-03 9.99991588e-01 -3.80248620e-03 3.91087339e-01] [ 2.36157328e-02 3.76510864e-03 9.99714020e-01 1.14565671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69255784400002 meters Centerline goodness : 0.122617 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99715243e-01 -1.80659482e-03 -2.37942904e-02 2.16961195e+00] [ 1.72579435e-03 9.99992677e-01 -3.41588946e-03 3.88480753e-01] [ 2.38002872e-02 3.37385271e-03 9.99711040e-01 1.14608586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72255784400002 meters Centerline goodness : 0.173706 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99712834e-01 -1.68567552e-03 -2.39041323e-02 2.16996943e+00] [ 1.61433519e-03 9.99994187e-01 -3.00341874e-03 3.86518572e-01] [ 2.39090561e-02 2.96396698e-03 9.99709744e-01 1.14600202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75255784400002 meters Centerline goodness : 0.201173 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99713566e-01 -1.51369775e-03 -2.38850256e-02 2.16996873e+00] [ 1.45274964e-03 9.99995645e-01 -2.56887421e-03 3.84569974e-01] [ 2.38888101e-02 2.53343943e-03 9.99711412e-01 1.14597332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782557844 meters Centerline goodness : 0.131256 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99713575e-01 -1.35702018e-03 -2.38940731e-02 2.16997715e+00] [ 1.30661371e-03 9.99996888e-01 -2.12506638e-03 3.82521374e-01] [ 2.38968825e-02 2.09323738e-03 9.99712237e-01 1.14605579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.812557844 meters Centerline goodness : 0.176354 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99714386e-01 -1.12817251e-03 -2.38720436e-02 2.16997865e+00] [ 1.09488576e-03 9.99998410e-01 -1.40740665e-03 3.78843131e-01] [ 2.38735934e-02 1.38086752e-03 9.99714031e-01 1.14603489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842557844 meters Centerline goodness : 0.173854 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99715473e-01 -9.95147107e-04 -2.38323902e-02 2.16980462e+00] [ 9.70009513e-04 9.99998961e-01 -1.06630320e-03 3.77243485e-01] [ 2.38334265e-02 1.04288216e-03 9.99715400e-01 1.14619626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.872557844 meters Centerline goodness : 0.173056 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99715521e-01 -8.68830200e-04 -2.38352983e-02 2.16968394e+00] [ 8.50376581e-04 9.99999331e-01 -7.84338934e-04 3.75970959e-01] [ 2.38359638e-02 7.63846827e-04 9.99715591e-01 1.14643668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902557844 meters Centerline goodness : 0.146737 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99715588e-01 -6.45778527e-04 -2.38395960e-02 2.16985831e+00] [ 6.33613726e-04 9.99999665e-01 -5.17827236e-04 3.75071589e-01] [ 2.38399225e-02 5.02574864e-04 9.99715662e-01 1.14608528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.932557844 meters Centerline goodness : 0.157904 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99719589e-01 -6.07666870e-04 -2.36722277e-02 2.16956785e+00] [ 5.94273866e-04 9.99999659e-01 -5.72799397e-04 3.75472275e-01] [ 2.36725677e-02 5.58570991e-04 9.99719609e-01 1.14580641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.962557844 meters Centerline goodness : 0.092895 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99727648e-01 -6.06541490e-04 -2.33294126e-02 2.16870130e+00] [ 5.90206110e-04 9.99999576e-01 -7.07084516e-04 3.76154938e-01] [ 2.33298316e-02 6.93122778e-04 9.99727582e-01 1.14574725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.992557844 meters Centerline goodness : 0.164220 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:1.15 [[ 9.99756557e-01 8.12357221e-03 -2.05142440e-02 2.18672988e+00] [-8.16478625e-03 9.99964813e-01 -1.92608728e-03 3.75403108e-01] [ 2.04978755e-02 2.09311281e-03 9.99787705e-01 1.14750958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.022557844 meters Centerline goodness : 0.146475 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99772890e-01 -1.47370888e-04 -2.13107130e-02 2.16587905e+00] [ 1.27883718e-04 9.99999572e-01 -9.15790633e-04 3.79789296e-01] [ 2.13108388e-02 9.12857355e-04 9.99772482e-01 1.14629893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.052557844 meters Centerline goodness : 0.166649 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99764594e-01 -1.15657466e-04 -2.16966173e-02 2.16728598e+00] [ 9.39612153e-05 9.99999495e-01 -1.00099987e-03 3.80311467e-01] [ 2.16967221e-02 9.98725590e-04 9.99764100e-01 1.14545673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.082557844 meters Centerline goodness : 0.169853 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99736000e-01 -6.67860834e-04 -2.29670083e-02 2.17243960e+00] [ 6.30483534e-04 9.99998465e-01 -1.63463708e-03 3.81198391e-01] [ 2.29680647e-02 1.61972522e-03 9.99734887e-01 1.14238482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.112557844 meters Centerline goodness : 0.170843 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99733367e-01 -6.05180776e-04 -2.30830762e-02 2.17307926e+00] [ 5.71234236e-04 9.99998746e-01 -1.47719010e-03 3.80432377e-01] [ 2.30839412e-02 1.46361039e-03 9.99732459e-01 1.14178260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.142557844 meters Centerline goodness : 0.169474 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99734247e-01 -5.41814575e-04 -2.30465217e-02 2.17292837e+00] [ 5.13064860e-04 9.99999083e-01 -1.25335906e-03 3.79362417e-01] [ 2.30471797e-02 1.24120162e-03 9.99733608e-01 1.14189113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.172557844 meters Centerline goodness : 0.254801 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99735692e-01 -4.79451902e-04 -2.29851363e-02 2.17249484e+00] [ 4.55972164e-04 9.99999369e-01 -1.02674844e-03 3.78264436e-01] [ 2.29856141e-02 1.01599648e-03 9.99735280e-01 1.14243767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.202557844 meters Centerline goodness : 0.175708 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99739511e-01 -4.40836900e-04 -2.28191802e-02 2.17177355e+00] [ 4.22573084e-04 9.99999587e-01 -8.05187071e-04 3.77180253e-01] [ 2.28195258e-02 7.95334558e-04 9.99739284e-01 1.14300507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.232557844 meters Centerline goodness : 0.105313 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99751264e-01 -4.64700512e-04 -2.22978592e-02 2.17014877e+00] [ 4.55599901e-04 9.99999811e-01 -4.13216704e-04 3.75094580e-01] [ 2.22980470e-02 4.02955020e-04 9.99751286e-01 1.14368840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.262557844 meters Centerline goodness : 0.175067 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.14 [[ 9.99755120e-01 -3.42863639e-04 -2.21265056e-02 2.16971274e+00] [ 3.41469566e-04 9.99999939e-01 -6.67828962e-05 3.73564092e-01] [ 2.21265272e-02 5.92110142e-05 9.99755177e-01 1.14374808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29255784400002 meters Centerline goodness : 0.168552 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.14 [[ 9.99759031e-01 -1.97704255e-04 -2.19508896e-02 2.16937652e+00] [ 2.10215880e-04 9.99999817e-01 5.67676576e-04 3.70474815e-01] [ 2.19507734e-02 -5.72154209e-04 9.99758889e-01 1.14370237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32255784400002 meters Centerline goodness : 0.119422 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.14 [[ 9.99756838e-01 -1.08184641e-04 -2.20511488e-02 2.16959646e+00] [ 1.29288707e-04 9.99999535e-01 9.55627241e-04 3.68434911e-01] [ 2.20510351e-02 -9.58245833e-04 9.99756387e-01 1.14381420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35255784400002 meters Centerline goodness : 0.177646 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.14 [[ 9.99756242e-01 -1.53143931e-05 -2.20784101e-02 2.16950285e+00] [ 4.55439810e-05 9.99999062e-01 1.36869007e-03 3.66202497e-01] [ 2.20783684e-02 -1.36936198e-03 9.99755305e-01 1.14416933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38255784400002 meters Centerline goodness : 0.118171 Centerline is valid? [False, False] Translation: X:2.19, Y:0.36, Z:1.14 [[ 9.99776153e-01 5.54977640e-03 -2.04167481e-02 2.19179833e+00] [-5.59064698e-03 9.99982480e-01 -1.94528324e-03 3.64371934e-01] [ 2.04055946e-02 2.05899063e-03 9.99789664e-01 1.14428037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41255784400002 meters Centerline goodness : 0.114318 Centerline is valid? [False, False] Translation: X:2.17, Y:0.36, Z:1.14 [[ 9.99785445e-01 -2.92361735e-03 -2.05064867e-02 2.17062438e+00] [ 2.91317204e-03 9.99995611e-01 -5.39220142e-04 3.64594689e-01] [ 2.05079732e-02 4.79365526e-04 9.99789574e-01 1.14305592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44255784400002 meters Centerline goodness : 0.126129 Centerline is valid? [False, False] Translation: X:2.17, Y:0.36, Z:1.14 [[ 9.99781943e-01 -2.85471152e-03 -2.06861458e-02 2.17125671e+00] [ 2.84594741e-03 9.99995848e-01 -4.53097442e-04 3.64304790e-01] [ 2.06873534e-02 3.94126958e-04 9.99785916e-01 1.14270330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47255784400002 meters Centerline goodness : 0.126129 Centerline is valid? [False, False] Translation: X:2.17, Y:0.36, Z:1.14 [[ 9.99781943e-01 -2.85471152e-03 -2.06861458e-02 2.17125671e+00] [ 2.84594741e-03 9.99995848e-01 -4.53097442e-04 3.64304790e-01] [ 2.06873534e-02 3.94126958e-04 9.99785916e-01 1.14270330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50255784400002 meters Centerline goodness : 0.176253 Centerline is valid? [False, False] Translation: X:2.17, Y:0.36, Z:1.14 [[ 9.99776511e-01 -2.80941671e-03 -2.09531769e-02 2.17234481e+00] [ 2.80008220e-03 9.99995967e-01 -4.74818692e-04 3.64476456e-01] [ 2.09544264e-02 4.16041957e-04 9.99780345e-01 1.14190522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.532557844 meters Centerline goodness : 0.114652 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.14 [[ 9.99769015e-01 -2.76053273e-03 -2.13142219e-02 2.17375079e+00] [ 2.74827101e-03 9.99996041e-01 -6.04554070e-04 3.65260908e-01] [ 2.13158064e-02 5.45837169e-04 9.99772643e-01 1.14093947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562557844 meters Centerline goodness : 0.173971 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.14 [[ 9.99762162e-01 -1.95140888e-03 -2.17212402e-02 2.17538968e+00] [ 1.94113202e-03 9.99997994e-01 -4.94199315e-04 3.66983912e-01] [ 2.17221610e-02 4.51917980e-04 9.99763944e-01 1.13964006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.592557844 meters Centerline goodness : 0.171734 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.14 [[ 9.99764383e-01 -1.93618565e-03 -2.16201394e-02 2.17517487e+00] [ 1.91814506e-03 9.99997795e-01 -8.55140838e-04 3.68893233e-01] [ 2.16217475e-02 8.13468788e-04 9.99765892e-01 1.13942423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622557844 meters Centerline goodness : 0.169066 Centerline is valid? [False, False] Translation: X:2.20, Y:0.37, Z:1.14 [[ 0.99975575 0.00660424 -0.02109102 2.19555239] [-0.00665489 0.99997514 -0.00233233 0.36894209] [ 0.0210751 0.00247212 0.99977484 1.14124255] [ 0. 0. 0. 1. ]] SLAMing on 187.652557844 meters Centerline goodness : 0.119968 Centerline is valid? [False, False] Translation: X:2.20, Y:0.37, Z:1.14 [[ 0.99974244 0.00680701 -0.02164975 2.19701277] [-0.00686756 0.99997271 -0.00272376 0.37171685] [ 0.02163062 0.00287174 0.99976191 1.14089538] [ 0. 0. 0. 1. ]] SLAMing on 187.682557844 meters Centerline goodness : 0.121065 Centerline is valid? [False, False] Translation: X:2.20, Y:0.37, Z:1.14 [[ 0.99974246 0.00670295 -0.0216816 2.19724737] [-0.00677011 0.99997251 -0.00302542 0.37315048] [ 0.02166073 0.00317143 0.99976035 1.14056606] [ 0. 0. 0. 1. ]] SLAMing on 187.712557844 meters Centerline goodness : 0.101165 Centerline is valid? [False, False] Translation: X:2.20, Y:0.37, Z:1.14 [[ 0.99974367 0.0065724 -0.02166544 2.19736737] [-0.00664633 0.99997233 -0.00334197 0.37454793] [ 0.02164287 0.00348511 0.99975969 1.14021573] [ 0. 0. 0. 1. ]] SLAMing on 187.742557844 meters Centerline goodness : 0.170535 Centerline is valid? [False, False] Translation: X:2.20, Y:0.38, Z:1.14 [[ 0.99974458 0.00647037 -0.0216545 2.19731909] [-0.00654938 0.99997215 -0.00357971 0.37559038] [ 0.02163073 0.00372062 0.99975911 1.14020824] [ 0. 0. 0. 1. ]] SLAMing on 187.772557844 meters Centerline goodness : 0.175646 Centerline is valid? [False, False] Translation: X:2.18, Y:0.38, Z:1.14 [[ 9.99774417e-01 -1.74065012e-03 -2.11680442e-02 2.17632886e+00] [ 1.68461288e-03 9.99995030e-01 -2.66480033e-03 3.81697265e-01] [ 2.11725775e-02 2.62853924e-03 9.99772380e-01 1.13853297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.802557844 meters Centerline goodness : 0.170682 Centerline is valid? [False, False] Translation: X:2.18, Y:0.38, Z:1.14 [[ 9.99773211e-01 -1.76557406e-03 -2.12228724e-02 2.17627063e+00] [ 1.70716471e-03 9.99994706e-01 -2.76999108e-03 3.82366372e-01] [ 2.12276507e-02 2.73313194e-03 9.99770932e-01 1.13884508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.832557844 meters Centerline goodness : 0.169845 Centerline is valid? [False, False] Translation: X:2.18, Y:0.38, Z:1.14 [[ 9.99772826e-01 -1.79416705e-03 -2.12386028e-02 2.17615222e+00] [ 1.73466736e-03 9.99994520e-01 -2.81957958e-03 3.82660373e-01] [ 2.12435453e-02 2.78209713e-03 9.99770460e-01 1.13911167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.862557844 meters Centerline goodness : 0.107691 Centerline is valid? [False, False] Translation: X:2.18, Y:0.38, Z:1.14 [[ 9.99771855e-01 -1.80355892e-03 -2.12834265e-02 2.17612087e+00] [ 1.74433504e-03 9.99994556e-01 -2.80086563e-03 3.82545202e-01] [ 2.12883622e-02 2.76310120e-03 9.99769559e-01 1.13938606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.892557844 meters Centerline goodness : 0.172089 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99781715e-01 -1.95971371e-03 -2.08009966e-02 2.17463572e+00] [ 1.90132622e-03 9.99994198e-01 -2.82636233e-03 3.82282680e-01] [ 2.08064148e-02 2.78619589e-03 9.99779641e-01 1.13994954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.922557844 meters Centerline goodness : 0.173178 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99781953e-01 -1.98411162e-03 -2.07872301e-02 2.17452045e+00] [ 1.92735069e-03 9.99994361e-01 -2.75024598e-03 3.81780759e-01] [ 2.07925696e-02 2.70958202e-03 9.99780139e-01 1.14012802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.952557844 meters Centerline goodness : 0.173246 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99781418e-01 -1.96914950e-03 -2.08143682e-02 2.17460410e+00] [ 1.91497272e-03 9.99994728e-01 -2.62246582e-03 3.81126567e-01] [ 2.08194224e-02 2.58203365e-03 9.99779918e-01 1.14013782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.982557844 meters Centerline goodness : 0.171090 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99781516e-01 -1.96334192e-03 -2.08102288e-02 2.17457244e+00] [ 1.91192523e-03 9.99995071e-01 -2.49034967e-03 3.80522850e-01] [ 2.08150157e-02 2.45001797e-03 9.99780342e-01 1.14026497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.012557844 meters Centerline goodness : 0.179690 Centerline is valid? [False, False] Translation: X:2.15, Y:0.38, Z:1.14 [[ 0.99976839 0.00459056 -0.02102624 2.1513309 ] [-0.00469419 0.99997707 -0.00488189 0.37589617] [ 0.02100335 0.00497946 0.99976701 1.14079352] [ 0. 0. 0. 1. ]] SLAMing on 188.04255784400002 meters Centerline goodness : 0.174499 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 0.99979288 -0.00361919 -0.02002727 2.17021511] [ 0.00354717 0.99998712 -0.00363047 0.3799313 ] [ 0.02004015 0.00355868 0.99979284 1.14264255] [ 0. 0. 0. 1. ]] SLAMing on 188.07255784400002 meters Centerline goodness : 0.176569 Centerline is valid? [False, False] Translation: X:2.12, Y:0.37, Z:1.14 [[ 0.99973715 -0.0049544 -0.02238502 2.12374219] [ 0.00486062 0.99997919 -0.00424205 0.37430977] [ 0.02240557 0.00413213 0.99974042 1.14370126] [ 0. 0. 0. 1. ]] SLAMing on 188.10255784400002 meters Centerline goodness : 0.135253 Centerline is valid? [False, False] Translation: X:2.14, Y:0.37, Z:1.14 [[ 0.9997496 0.00299006 -0.02217641 2.1442338 ] [-0.00310529 0.99998185 -0.00516323 0.36996709] [ 0.02216057 0.0052308 0.99974074 1.14492008] [ 0. 0. 0. 1. ]] SLAMing on 188.13255784400002 meters Centerline goodness : 0.173203 Centerline is valid? [False, False] Translation: X:2.14, Y:0.37, Z:1.14 [[ 0.99974613 0.00308731 -0.02231907 2.14479694] [-0.00319795 0.99998277 -0.0049235 0.36888244] [ 0.02230348 0.00499362 0.99973878 1.14462279] [ 0. 0. 0. 1. ]] SLAMing on 188.16255784400002 meters Centerline goodness : 0.178215 Centerline is valid? [False, False] Translation: X:2.15, Y:0.37, Z:1.14 [[ 0.99973842 0.0032989 -0.02263196 2.14569295] [-0.00340018 0.99998437 -0.00443815 0.36668907] [ 0.02261697 0.00451394 0.99973401 1.1444918 ] [ 0. 0. 0. 1. ]] SLAMing on 188.19255784400002 meters Centerline goodness : 0.110111 Centerline is valid? [False, False] Translation: X:2.15, Y:0.37, Z:1.14 [[ 0.99973702 0.0034173 -0.02267609 2.1457933 ] [-0.00351269 0.99998514 -0.00416832 0.36540466] [ 0.0226615 0.00424688 0.99973417 1.14452387] [ 0. 0. 0. 1. ]] SLAMing on 188.22255784400002 meters Centerline goodness : 0.175449 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.15 [[ 0.99973551 -0.00433638 -0.0225856 2.16380739] [ 0.00427292 0.99998679 -0.002857 0.36896588] [ 0.02259769 0.00275974 0.99974083 1.14656019] [ 0. 0. 0. 1. ]] SLAMing on 188.25255784400002 meters Centerline goodness : 0.136484 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.15 [[ 9.99739201e-01 -4.07119546e-03 -2.24712227e-02 2.16353181e+00] [ 4.02160073e-03 9.99989378e-01 -2.25178329e-03 3.66118009e-01] [ 2.24801515e-02 2.16082574e-03 9.99744954e-01 1.14654622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282557844 meters Centerline goodness : 0.176510 Centerline is valid? [False, False] Translation: X:2.16, Y:0.36, Z:1.15 [[ 9.99740713e-01 -3.88326138e-03 -2.24371731e-02 2.16356047e+00] [ 3.84363442e-03 9.99990977e-01 -1.80898534e-03 3.64129195e-01] [ 2.24439954e-02 1.72227600e-03 9.99746618e-01 1.14637687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.312557844 meters Centerline goodness : 0.103340 Centerline is valid? [False, False] Translation: X:2.16, Y:0.36, Z:1.15 [[ 9.99739632e-01 -3.69155731e-03 -2.25175799e-02 2.16401691e+00] [ 3.66315973e-03 9.99992443e-01 -1.30224719e-03 3.61681822e-01] [ 2.25222171e-02 1.21942263e-03 9.99745599e-01 1.14599775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342557844 meters Centerline goodness : 0.177457 Centerline is valid? [False, False] Translation: X:2.17, Y:0.36, Z:1.15 [[ 9.99726918e-01 -3.50475670e-03 -2.31042285e-02 2.16590752e+00] [ 3.49512679e-03 9.99993788e-01 -4.57171268e-04 3.56005522e-01] [ 2.31056873e-02 3.76294215e-04 9.99732957e-01 1.14545712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.372557844 meters Centerline goodness : 0.113580 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.15 [[ 9.99721000e-01 -3.33378136e-03 -2.33839332e-02 2.16682546e+00] [ 3.33420408e-03 9.99994441e-01 -2.09114998e-05 3.53888684e-01] [ 2.33838729e-02 -5.70611398e-05 9.99726558e-01 1.14514457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402557844 meters Centerline goodness : 0.180364 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99715488e-01 -3.18647736e-03 -2.36387179e-02 2.16771432e+00] [ 3.19480299e-03 9.99994847e-01 3.14445694e-04 3.52368186e-01] [ 2.36375941e-02 -3.89877278e-04 9.99720517e-01 1.14475593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.432557844 meters Centerline goodness : 0.179703 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99711953e-01 -3.07255945e-03 -2.38027357e-02 2.16848098e+00] [ 3.08649896e-03 9.99995086e-01 5.48909487e-04 3.51333042e-01] [ 2.38009322e-02 -6.22218495e-04 9.99716524e-01 1.14415224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.462557844 meters Centerline goodness : 0.145732 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.15 [[ 9.99710088e-01 5.04744938e-03 -2.35428009e-02 2.18839088e+00] [-5.05904363e-03 9.99987109e-01 -4.32940545e-04 3.44676118e-01] [ 2.35403122e-02 5.51919087e-04 9.99722736e-01 1.14600409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.492557844 meters Centerline goodness : 0.105354 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.15 [[ 9.99710478e-01 5.25559392e-03 -2.34805917e-02 2.18804056e+00] [-5.25352108e-03 9.99986189e-01 1.49964855e-04 3.41902729e-01] [ 2.34810555e-02 -2.65656535e-05 9.99724282e-01 1.14638515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.522557844 meters Centerline goodness : 0.181999 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.15 [[ 9.99721362e-01 1.65941511e-03 -2.35466522e-02 2.18744046e+00] [-1.72237432e-03 9.99994995e-01 -2.65377853e-03 3.36901375e-01] [ 2.35421306e-02 2.69359523e-03 9.99719217e-01 1.14744689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.552557844 meters Centerline goodness : 0.184555 Centerline is valid? [False, False] Translation: X:2.19, Y:0.33, Z:1.15 [[ 9.99716628e-01 1.77854523e-03 -2.37381688e-02 2.18785615e+00] [-1.82290304e-03 9.99996633e-01 -1.84711993e-03 3.32542973e-01] [ 2.37348037e-02 1.88986889e-03 9.99716504e-01 1.14767159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.582557844 meters Centerline goodness : 0.142932 Centerline is valid? [False, False] Translation: X:2.19, Y:0.33, Z:1.15 [[ 9.99717818e-01 1.88357260e-03 -2.36798678e-02 2.18764616e+00] [-1.90807466e-03 9.99997667e-01 -1.01216934e-03 3.27863501e-01] [ 2.36779061e-02 1.05706668e-03 9.99719080e-01 1.14794557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.612557844 meters Centerline goodness : 0.190734 Centerline is valid? [False, False] Translation: X:2.14, Y:0.32, Z:1.15 [[ 9.99664686e-01 5.31474847e-04 -2.58888527e-02 2.14117129e+00] [-5.62517434e-04 9.99999132e-01 -1.19180361e-03 3.20007751e-01] [ 2.58881968e-02 1.20596692e-03 9.99664117e-01 1.14888713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.642557844 meters Centerline goodness : 0.279346 Centerline is valid? [False, False] Translation: X:2.14, Y:0.32, Z:1.15 [[ 9.99667601e-01 7.92527817e-04 -2.57693431e-02 2.14080250e+00] [-8.02861712e-04 9.99999601e-01 -3.90671184e-04 3.16160962e-01] [ 2.57690233e-02 4.11230545e-04 9.99667839e-01 1.14911074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.672557844 meters Centerline goodness : 0.177640 Centerline is valid? [False, False] Translation: X:2.16, Y:0.31, Z:1.15 [[ 9.99687772e-01 -6.84562429e-03 -2.40311407e-02 2.16089163e+00] [ 6.88735435e-03 9.99974914e-01 1.65416086e-03 3.14073617e-01] [ 2.40192141e-02 -1.81915537e-03 9.99709842e-01 1.15000666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.702557844 meters Centerline goodness : 0.151962 Centerline is valid? [False, False] Translation: X:2.18, Y:0.31, Z:1.15 [[ 9.99707174e-01 1.58082400e-03 -2.41467677e-02 2.18070817e+00] [-1.56160561e-03 9.99998449e-01 8.14734755e-04 3.08311334e-01] [ 2.41480181e-02 -7.76788452e-04 9.99708092e-01 1.15209738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.732557844 meters Centerline goodness : 0.106287 Centerline is valid? [False, False] Translation: X:2.18, Y:0.31, Z:1.15 [[ 9.99703692e-01 1.73712121e-03 -2.42798557e-02 2.18121215e+00] [-1.70948194e-03 9.99997867e-01 1.15907203e-03 3.06673643e-01] [ 2.42818173e-02 -1.11722262e-03 9.99704529e-01 1.15182864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.762557844 meters Centerline goodness : 0.154769 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.15 [[ 9.99698545e-01 2.01996496e-03 -2.44691534e-02 2.18201593e+00] [-1.97712165e-03 9.99996470e-01 1.77497775e-03 3.03532289e-01] [ 2.44726525e-02 -1.72606418e-03 9.99699010e-01 1.15131677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79255784400002 meters Centerline goodness : 0.180591 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.15 [[ 9.99699398e-01 2.18241555e-03 -2.44202833e-02 2.18193304e+00] [-2.13191782e-03 9.99995536e-01 2.09370402e-03 3.02172956e-01] [ 2.44247437e-02 -2.04101261e-03 9.99699588e-01 1.15124120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82255784400002 meters Centerline goodness : 0.174326 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.15 [[ 0.99970142 0.00235701 -0.02432123 2.18168495] [-0.00229979 0.99999452 0.00238018 0.30109599] [ 0.02432671 -0.00232353 0.99970136 1.15125532] [ 0. 0. 0. 1. ]] SLAMing on 188.85255784400002 meters Centerline goodness : 0.105939 Centerline is valid? [False, False] Translation: X:2.20, Y:0.29, Z:1.15 [[ 9.99657846e-01 1.13929785e-02 -2.35454909e-02 2.20250218e+00] [-1.13527232e-02 9.99933858e-01 1.84265065e-03 2.94966048e-01] [ 2.35649268e-02 -1.57471473e-03 9.99721068e-01 1.15265910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88255784400002 meters Centerline goodness : 0.166856 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.15 [[ 0.99969779 0.00237716 -0.02446773 2.18189595] [-0.00231493 0.99999402 0.00257116 0.29678958] [ 0.0244737 -0.00251374 0.99969731 1.15165342] [ 0. 0. 0. 1. ]] SLAMing on 188.91255784400002 meters Centerline goodness : 0.152581 Centerline is valid? [False, False] Translation: X:2.20, Y:0.29, Z:1.15 [[ 9.99655363e-01 1.07924117e-02 -2.39307157e-02 2.20222243e+00] [-1.07589129e-02 9.99940954e-01 1.52814095e-03 2.91699131e-01] [ 2.39457950e-02 -1.27014581e-03 9.99712451e-01 1.15311706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94255784400002 meters Centerline goodness : 0.139987 Centerline is valid? [False, False] Translation: X:2.16, Y:0.29, Z:1.15 [[ 9.99594865e-01 1.01372407e-02 -2.65959037e-02 2.15662848e+00] [-1.00913263e-02 9.99947351e-01 1.86002365e-03 2.86498706e-01] [ 2.66133590e-02 -1.59088215e-03 9.99644536e-01 1.15361443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97255784400002 meters Centerline goodness : 0.136578 Centerline is valid? [False, False] Translation: X:2.18, Y:0.29, Z:1.15 [[ 9.99688053e-01 2.18826772e-03 -2.48798893e-02 2.17612439e+00] [-2.11062089e-03 9.99992822e-01 3.14669926e-03 2.87000039e-01] [ 2.48865965e-02 -3.09320564e-03 9.99685495e-01 1.15447989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00255784400002 meters Centerline goodness : 0.155173 Centerline is valid? [False, False] Translation: X:2.18, Y:0.29, Z:1.15 [[ 0.99968725 0.00232046 -0.02490008 2.17593224] [-0.00223431 0.99999142 0.00348707 0.2853886 ] [ 0.02490796 -0.00343035 0.99968386 1.1549134 ] [ 0. 0. 0. 1. ]] SLAMing on 189.032557844 meters Centerline goodness : 0.138375 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.16 [[ 0.99968392 0.00247036 -0.0250191 2.17602387] [-0.0023752 0.99998984 0.00383244 0.28383801] [ 0.02502832 -0.0037718 0.99967963 1.15530486] [ 0. 0. 0. 1. ]] SLAMing on 189.062557844 meters Centerline goodness : 0.145177 Centerline is valid? [False, False] Translation: X:2.22, Y:0.28, Z:1.15 [[ 0.99970312 0.00288399 -0.02419418 2.22378468] [-0.00279535 0.99998926 0.00369704 0.28422835] [ 0.02420458 -0.00362832 0.99970044 1.15430999] [ 0. 0. 0. 1. ]] SLAMing on 189.092557844 meters Centerline goodness : 0.155047 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.15 [[ 9.99625933e-01 1.78524080e-03 -2.72911483e-02 2.17968566e+00] [-1.69159494e-03 9.99992604e-01 3.45406574e-03 2.79595948e-01] [ 2.72971128e-02 -3.40660812e-03 9.99621560e-01 1.15401108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122557844 meters Centerline goodness : 0.128021 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.15 [[ 9.99623753e-01 1.87361222e-03 -2.73649854e-02 2.17996410e+00] [-1.77367858e-03 9.99991672e-01 3.67569625e-03 2.78453414e-01] [ 2.73716444e-02 -3.62577659e-03 9.99618751e-01 1.15387426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.152557844 meters Centerline goodness : 0.132219 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.15 [[ 9.99629280e-01 1.96965247e-03 -2.71555319e-02 2.17927182e+00] [-1.86964366e-03 9.99991379e-01 3.70771411e-03 2.78653363e-01] [ 2.71626007e-02 -3.65556841e-03 9.99624344e-01 1.15410529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182557844 meters Centerline goodness : 0.147243 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.15 [[ 9.99627825e-01 1.90817505e-03 -2.72134359e-02 2.17956993e+00] [-1.81259268e-03 9.99992104e-01 3.53655868e-03 2.79452928e-01] [ 2.72199694e-02 -3.48591558e-03 9.99623390e-01 1.15380289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.212557844 meters Centerline goodness : 0.148175 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.15 [[ 9.99625278e-01 1.82659154e-03 -2.73124129e-02 2.17982770e+00] [-1.73618896e-03 9.99992937e-01 3.33329274e-03 2.80364868e-01] [ 2.73183086e-02 -3.28462417e-03 9.99621389e-01 1.15376331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.242557844 meters Centerline goodness : 0.147027 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.15 [[ 9.99634820e-01 1.73636117e-03 -2.69668529e-02 2.17853505e+00] [-1.65462926e-03 9.99993971e-01 3.05284716e-03 2.82052335e-01] [ 2.69719912e-02 -3.00711218e-03 9.99631667e-01 1.15434270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.272557844 meters Centerline goodness : 0.168680 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.16 [[ 9.99643571e-01 1.76337327e-03 -2.66387028e-02 2.17722884e+00] [-1.68102789e-03 9.99993741e-01 3.11327149e-03 2.81919959e-01] [ 2.66440259e-02 -3.06738143e-03 9.99640279e-01 1.15514723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.302557844 meters Centerline goodness : 0.174514 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.16 [[ 9.99651865e-01 1.80913510e-03 -2.63225410e-02 2.17598982e+00] [-1.72247417e-03 9.99993023e-01 3.31457235e-03 2.80897468e-01] [ 2.63283538e-02 -3.26807853e-03 9.99648007e-01 1.15593547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.332557844 meters Centerline goodness : 0.143965 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.16 [[ 9.99655074e-01 -2.31271622e-03 -2.61607318e-02 2.17539754e+00] [ 2.30300923e-03 9.99997268e-01 -4.01175305e-04 2.78874024e-01] [ 2.61615881e-02 3.40788523e-04 9.99657669e-01 1.15628246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.362557844 meters Centerline goodness : 0.143965 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.16 [[ 9.99655074e-01 -2.31271622e-03 -2.61607318e-02 2.17539754e+00] [ 2.30300923e-03 9.99997268e-01 -4.01175305e-04 2.78874024e-01] [ 2.61615881e-02 3.40788523e-04 9.99657669e-01 1.15628246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.392557844 meters Centerline goodness : 0.138706 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.16 [[ 9.99644645e-01 -2.24536726e-03 -2.65620249e-02 2.17652424e+00] [ 2.24779607e-03 9.99997472e-01 6.15811357e-05 2.76349419e-01] [ 2.65618194e-02 -1.21265268e-04 9.99647165e-01 1.15615034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.422557844 meters Centerline goodness : 0.144149 Centerline is valid? [False, False] Translation: X:2.18, Y:0.27, Z:1.16 [[ 9.99638500e-01 -2.10140829e-03 -2.68039643e-02 2.17728865e+00] [ 2.11731904e-03 9.99997599e-01 5.65229367e-04 2.73885190e-01] [ 2.68027122e-02 -6.21777581e-04 9.99640549e-01 1.15596776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.452557844 meters Centerline goodness : 0.134655 Centerline is valid? [False, False] Translation: X:2.18, Y:0.27, Z:1.16 [[ 9.99632165e-01 -1.93061084e-03 -2.70519430e-02 2.17793129e+00] [ 1.96098525e-03 9.99997476e-01 1.09633367e-03 2.71366467e-01] [ 2.70497582e-02 -1.14897886e-03 9.99633428e-01 1.15598842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.482557844 meters Centerline goodness : 0.142842 Centerline is valid? [False, False] Translation: X:2.18, Y:0.27, Z:1.16 [[ 9.99630386e-01 -1.62041805e-03 -2.71379113e-02 2.17816601e+00] [ 1.67840266e-03 9.99996357e-01 2.11402232e-03 2.66294775e-01] [ 2.71343869e-02 -2.15878929e-03 9.99629464e-01 1.15616760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.512557844 meters Centerline goodness : 0.147895 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:1.16 [[ 9.99634557e-01 -1.38646748e-03 -2.69968554e-02 2.17757320e+00] [ 1.46023007e-03 9.99995254e-01 2.71274330e-03 2.63511169e-01] [ 2.69929661e-02 -2.75117356e-03 9.99631838e-01 1.15664051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54255784400002 meters Centerline goodness : 0.136359 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:1.16 [[ 9.99638048e-01 -1.14783143e-03 -2.68785230e-02 2.17702504e+00] [ 1.23712041e-03 9.99993771e-01 3.30555218e-03 2.60784863e-01] [ 2.68745613e-02 -3.33760770e-03 9.99633242e-01 1.15712309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57255784400002 meters Centerline goodness : 0.142537 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:1.16 [[ 9.99636260e-01 -7.72137902e-04 -2.69583256e-02 2.17722141e+00] [ 8.85390690e-04 9.99990833e-01 4.18934825e-03 2.56591153e-01] [ 2.69548437e-02 -4.21169306e-03 9.99627780e-01 1.15724702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60255784400002 meters Centerline goodness : 0.146093 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:1.16 [[ 9.99631119e-01 -6.25236595e-04 -2.71520716e-02 2.17800969e+00] [ 7.48013609e-04 9.99989542e-01 4.51190711e-03 2.55081607e-01] [ 2.71489666e-02 -4.53055287e-03 9.99621132e-01 1.15677678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63255784400002 meters Centerline goodness : 0.152949 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99623024e-01 -5.10573327e-04 -2.74508443e-02 2.17916410e+00] [ 6.41595717e-04 9.99988444e-01 4.76438617e-03 2.53862727e-01] [ 2.74480946e-02 -4.78020245e-03 9.99611801e-01 1.15613565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66255784400002 meters Centerline goodness : 0.150549 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99619043e-01 -2.16210934e-04 -2.75993082e-02 2.17979116e+00] [ 3.62340559e-04 9.99985943e-01 5.28979301e-03 2.51468891e-01] [ 2.75977765e-02 -5.29777817e-03 9.99605070e-01 1.15575142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69255784400002 meters Centerline goodness : 0.138139 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99625261e-01 -9.30917905e-05 -2.73738771e-02 2.17893104e+00] [ 2.45739202e-04 9.99984440e-01 5.57307872e-03 2.50060758e-01] [ 2.73729324e-02 -5.57771711e-03 9.99609730e-01 1.15625557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72255784400002 meters Centerline goodness : 0.151317 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99627806e-01 1.37158131e-04 -2.72805962e-02 2.17833827e+00] [ 3.11368395e-05 9.99980974e-01 6.16851520e-03 2.46988926e-01] [ 2.72809232e-02 -6.16706875e-03 9.99608783e-01 1.15688917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75255784400002 meters Centerline goodness : 0.143051 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99620774e-01 1.98486122e-04 -2.75366886e-02 2.17921494e+00] [-2.41305833e-05 9.99979953e-01 6.33194185e-03 2.46181285e-01] [ 2.75373934e-02 -6.32887613e-03 9.99600739e-01 1.15651987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782557844 meters Centerline goodness : 0.148396 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:1.16 [[ 0.99957813 0.00888468 -0.02765169 2.20035902] [-0.00873634 0.99994682 0.0054808 0.24261084] [ 0.02769892 -0.00523692 0.99960259 1.15763373] [ 0. 0. 0. 1. ]] SLAMing on 189.812557844 meters Centerline goodness : 0.144834 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:1.16 [[ 9.99582308e-01 -3.28963524e-04 -2.88981298e-02 2.17926455e+00] [ 5.08114048e-04 9.99980699e-01 6.19225671e-03 2.44992840e-01] [ 2.88955350e-02 -6.20435379e-03 9.99563182e-01 1.15685028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842557844 meters Centerline goodness : 0.127242 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:1.16 [[ 0.99959059 0.00825656 -0.02739493 2.19897294] [-0.00812434 0.99995482 0.00493417 0.24189077] [ 0.02743443 -0.00470959 0.99961251 1.15822319] [ 0. 0. 0. 1. ]] SLAMing on 189.872557844 meters Centerline goodness : 0.143626 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:1.16 [[ 0.9995917 0.00829529 -0.02734259 2.19861565] [-0.0081612 0.99995414 0.00501216 0.24162357] [ 0.02738291 -0.00478697 0.99961356 1.15860304] [ 0. 0. 0. 1. ]] SLAMing on 189.902557844 meters Centerline goodness : 0.151850 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:1.16 [[ 9.99608159e-01 -7.90026938e-04 -2.79804446e-02 2.17768764e+00] [ 9.56749543e-04 9.99981867e-01 5.94565380e-03 2.44915336e-01] [ 2.79752400e-02 -5.97009432e-03 9.99590788e-01 1.15738354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.932557844 meters Centerline goodness : 0.135299 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:1.16 [[ 9.99604004e-01 -8.11259382e-04 -2.81278834e-02 2.17823104e+00] [ 9.78828395e-04 9.99981854e-01 5.94414158e-03 2.44671344e-01] [ 2.81225508e-02 -5.96932010e-03 9.99586659e-01 1.15712473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.962557844 meters Centerline goodness : 0.142238 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:1.16 [[ 9.99598404e-01 -8.89080019e-04 -2.83238376e-02 2.17884308e+00] [ 1.05479205e-03 9.99982413e-01 5.83621709e-03 2.44907958e-01] [ 2.83181506e-02 -5.86374904e-03 9.99581762e-01 1.15694986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.992557844 meters Centerline goodness : 0.133750 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99594557e-01 -9.48021085e-04 -2.84573846e-02 2.17920599e+00] [ 1.11111252e-03 9.99983047e-01 5.71581054e-03 2.45366606e-01] [ 2.84514834e-02 -5.74511246e-03 9.99578665e-01 1.15690576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.022557844 meters Centerline goodness : 0.143481 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99592164e-01 -9.88805950e-04 -2.85399455e-02 2.17935100e+00] [ 1.14923056e-03 9.99983630e-01 5.60519987e-03 2.45951148e-01] [ 2.85339359e-02 -5.63571285e-03 9.99576937e-01 1.15700011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.052557844 meters Centerline goodness : 0.124378 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:1.16 [[ 0.99958156 0.00792099 -0.02782025 2.20033706] [-0.00779419 0.99995875 0.00466313 0.24494586] [ 0.02785604 -0.00444434 0.99960207 1.15801216] [ 0. 0. 0. 1. ]] SLAMing on 190.082557844 meters Centerline goodness : 0.149281 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99600694e-01 -1.22307459e-03 -2.82304118e-02 2.17886930e+00] [ 1.37444442e-03 9.99984781e-01 5.34316024e-03 2.49307655e-01] [ 2.82234471e-02 -5.37982782e-03 9.99587162e-01 1.15692532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.112557844 meters Centerline goodness : 0.141014 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99605054e-01 -1.27518071e-03 -2.80733106e-02 2.17810079e+00] [ 1.41897025e-03 9.99985975e-01 5.10260462e-03 2.50740659e-01] [ 2.80664101e-02 -5.14042456e-03 9.99592843e-01 1.15746759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.142557844 meters Centerline goodness : 0.129945 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99603655e-01 -1.33740849e-03 -2.81201817e-02 2.17825045e+00] [ 1.47657885e-03 9.99986763e-01 4.92894492e-03 2.51619531e-01] [ 2.81132175e-02 -4.96851302e-03 9.99592397e-01 1.15740031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.172557844 meters Centerline goodness : 0.141507 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99600565e-01 -1.43642928e-03 -2.82249301e-02 2.17874984e+00] [ 1.56888401e-03 9.99987859e-01 4.67124292e-03 2.52808316e-01] [ 2.82178775e-02 -4.71365871e-03 9.99590683e-01 1.15697257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.202557844 meters Centerline goodness : 0.127072 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99595971e-01 -1.55286863e-03 -2.83810370e-02 2.17939495e+00] [ 1.67710456e-03 9.99989114e-01 4.35414812e-03 2.54302400e-01] [ 2.83739666e-02 -4.39998688e-03 9.99587694e-01 1.15650439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.232557844 meters Centerline goodness : 0.148457 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:1.16 [[ 9.99600480e-01 -1.72213677e-03 -2.82119549e-02 2.17877947e+00] [ 1.83302820e-03 9.99990694e-01 3.90526368e-03 2.56640635e-01] [ 2.82049670e-02 -3.95541676e-03 9.99594335e-01 1.15671878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.262557844 meters Centerline goodness : 0.149787 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.16 [[ 0.99964159 0.00674024 -0.02590852 2.19785715] [-0.00667051 0.9999739 0.00277689 0.25514603] [ 0.02592656 -0.00260307 0.99966046 1.15770288] [ 0. 0. 0. 1. ]] SLAMing on 190.29255784400002 meters Centerline goodness : 0.133199 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:1.16 [[ 0.99967397 -0.00249571 -0.02541098 2.17541943] [ 0.00258501 0.9999906 0.00348219 0.25881638] [ 0.02540205 -0.00354674 0.99967102 1.15676603] [ 0. 0. 0. 1. ]] SLAMing on 190.32255784400002 meters Centerline goodness : 0.140851 Centerline is valid? [False, False] Translation: X:2.19, Y:0.26, Z:1.16 [[ 9.99691376e-01 5.21467068e-03 -2.42890717e-02 2.19392369e+00] [-5.17517392e-03 9.99985183e-01 1.68868851e-03 2.55684987e-01] [ 2.42975177e-02 -1.56246717e-03 9.99703551e-01 1.15869207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35255784400002 meters Centerline goodness : 0.156384 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:1.16 [[ 9.99717514e-01 -3.95875035e-03 -2.34354646e-02 2.21454598e+00] [ 4.00546609e-03 9.99990083e-01 1.94677230e-03 2.58660829e-01] [ 2.34275254e-02 -2.04009233e-03 9.99723456e-01 1.15969904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38255784400002 meters Centerline goodness : 0.146695 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:1.16 [[ 0.99971851 -0.00394947 -0.02339432 2.21445776] [ 0.00400329 0.99998945 0.00225408 0.2570031 ] [ 0.02338517 -0.0023471 0.99972377 1.15972861] [ 0. 0. 0. 1. ]] SLAMing on 190.41255784400002 meters Centerline goodness : 0.143442 Centerline is valid? [False, False] Translation: X:2.21, Y:0.25, Z:1.16 [[ 0.99971867 -0.00393379 -0.02339029 2.21433075] [ 0.0039966 0.99998853 0.00263892 0.25491581] [ 0.02337964 -0.00273166 0.99972293 1.16000765] [ 0. 0. 0. 1. ]] SLAMing on 190.44255784400002 meters Centerline goodness : 0.146168 Centerline is valid? [False, False] Translation: X:2.24, Y:0.25, Z:1.16 [[ 9.99752774e-01 1.46424189e-03 -2.21866437e-02 2.23565199e+00] [-1.48419656e-03 9.99998509e-01 -8.82960449e-04 2.52102954e-01] [ 2.21853177e-02 9.15671498e-04 9.99753456e-01 1.15995391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47255784400002 meters Centerline goodness : 0.141968 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99696441e-01 -1.66600789e-03 -2.45815186e-02 2.19035813e+00] [ 1.62554775e-03 9.99997291e-01 -1.66584837e-03 2.43798054e-01] [ 2.45842273e-02 1.62538426e-03 9.99696441e-01 1.16066186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50255784400002 meters Centerline goodness : 0.122442 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99694648e-01 -1.56224544e-03 -2.46610895e-02 2.19046528e+00] [ 1.53307442e-03 9.99998103e-01 -1.20173833e-03 2.41432539e-01] [ 2.46629202e-02 1.16356409e-03 9.99695147e-01 1.16088441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.532557844 meters Centerline goodness : 0.150486 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99697377e-01 -1.43308317e-03 -2.45581160e-02 2.19015865e+00] [ 1.41521137e-03 9.99998721e-01 -7.45099466e-04 2.39170501e-01] [ 2.45591524e-02 7.10119056e-04 9.99698126e-01 1.16099183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562557844 meters Centerline goodness : 0.150756 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99698996e-01 -1.29945929e-03 -2.44995788e-02 2.18991101e+00] [ 1.29222235e-03 9.99999117e-01 -3.11219989e-04 2.36982461e-01] [ 2.44999616e-02 2.79467407e-04 9.99699792e-01 1.16120361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.592557844 meters Centerline goodness : 0.153366 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99702133e-01 -1.16212423e-03 -2.43781531e-02 2.18937747e+00] [ 1.17178621e-03 9.99999240e-01 3.82056517e-04 2.33301754e-01] [ 2.43776906e-02 -4.10508698e-04 9.99702736e-01 1.16165882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.622557844 meters Centerline goodness : 0.146702 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99702060e-01 -1.02813955e-03 -2.43871530e-02 2.18941033e+00] [ 1.04661318e-03 9.99999175e-01 7.44763001e-04 2.31641056e-01] [ 2.43863672e-02 -7.70065022e-04 9.99702312e-01 1.16164074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.652557844 meters Centerline goodness : 0.144285 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99698240e-01 -9.26134451e-04 -2.45473362e-02 2.18980390e+00] [ 9.53726480e-04 9.99998927e-01 1.11234990e-03 2.29765753e-01] [ 2.45462797e-02 -1.13542568e-03 9.99698050e-01 1.16164943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.682557844 meters Centerline goodness : 0.155109 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99685852e-01 -1.07738282e-03 -2.50407111e-02 2.19131767e+00] [ 1.11784207e-03 9.99998092e-01 1.60179725e-03 2.25846382e-01] [ 2.50389376e-02 -1.62928561e-03 9.99685149e-01 1.16130699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.712557844 meters Centerline goodness : 0.149211 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.16 [[ 9.99684010e-01 -9.29904331e-04 -2.51200258e-02 2.19152623e+00] [ 9.81299257e-04 9.99997451e-01 2.03372467e-03 2.23638085e-01] [ 2.51180706e-02 -2.05773230e-03 9.99682374e-01 1.16130278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.742557844 meters Centerline goodness : 0.159819 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:1.16 [[ 9.99658908e-01 -4.93786906e-04 -2.61117416e-02 2.15210596e+00] [ 5.53533778e-04 9.99997245e-01 2.28094424e-03 2.21130440e-01] [ 2.61105433e-02 -2.29461996e-03 9.99656428e-01 1.15965134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.772557844 meters Centerline goodness : 0.156891 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:1.16 [[ 9.99654736e-01 -5.01805157e-04 -2.62708208e-02 2.15278552e+00] [ 5.60391341e-04 9.99997373e-01 2.22277105e-03 2.21471492e-01] [ 2.62696364e-02 -2.23672555e-03 9.99652391e-01 1.15915743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.802557844 meters Centerline goodness : 0.148265 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99624767e-01 8.13745966e-03 -2.61554325e-02 2.17295755e+00] [-8.10783546e-03 9.99966364e-01 1.23847344e-03 2.17436928e-01] [ 2.61646308e-02 -1.02594478e-03 9.99657121e-01 1.16021423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.832557844 meters Centerline goodness : 0.161088 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99637132e-01 8.19244854e-03 -2.56610091e-02 2.17143394e+00] [-8.17306793e-03 9.99966230e-01 8.60047689e-04 2.19722472e-01] [ 2.56671885e-02 -6.50006435e-04 9.99670332e-01 1.16081842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.862557844 meters Centerline goodness : 0.156983 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99641427e-01 8.16522578e-03 -2.55018760e-02 2.17095566e+00] [-8.15259993e-03 9.99966588e-01 5.99027725e-04 2.21360188e-01] [ 2.55059151e-02 -3.90906337e-04 9.99674595e-01 1.16090980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.892557844 meters Centerline goodness : 0.154533 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99643978e-01 8.08826152e-03 -2.54263086e-02 2.17081877e+00] [-8.08208040e-03 9.99967280e-01 3.45857143e-04 2.22672063e-01] [ 2.54282740e-02 -1.40236540e-04 9.99676639e-01 1.16082192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.922557844 meters Centerline goodness : 0.151853 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99646171e-01 7.88808934e-03 -2.54029706e-02 2.17071553e+00] [-7.89016586e-03 9.99968872e-01 1.84904438e-05 2.23878080e-01] [ 2.54023257e-02 1.81949750e-04 9.99677292e-01 1.16079081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.952557844 meters Centerline goodness : 0.131981 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99691208e-01 -9.06556779e-05 -2.48491723e-02 2.18988815e+00] [ 1.18929542e-04 9.99999347e-01 1.13634362e-03 2.30261059e-01] [ 2.48490530e-02 -1.13894803e-03 9.99690566e-01 1.16205277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.982557844 meters Centerline goodness : 0.157204 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99690553e-01 -7.50174491e-05 -2.48755289e-02 2.18996849e+00] [ 1.04361268e-04 9.99999300e-01 1.17832981e-03 2.30201349e-01] [ 2.48754231e-02 -1.18056122e-03 9.99689862e-01 1.16199860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.012557844 meters Centerline goodness : 0.147376 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99691698e-01 -8.41349572e-05 -2.48294461e-02 2.18964903e+00] [ 1.15152912e-04 9.99999215e-01 1.24781355e-03 2.29997443e-01] [ 2.48293216e-02 -1.25028803e-03 9.99690923e-01 1.16236075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04255784400002 meters Centerline goodness : 0.150223 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99695288e-01 -6.61667709e-05 -2.46845534e-02 2.18909482e+00] [ 9.87133816e-05 9.99999128e-01 1.31728489e-03 2.29638893e-01] [ 2.46844447e-02 -1.31932020e-03 9.99694422e-01 1.16269298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07255784400002 meters Centerline goodness : 0.148880 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99699820e-01 -7.19317098e-05 -2.45003033e-02 2.18835798e+00] [ 1.05083776e-04 9.99999081e-01 1.35184400e-03 2.29411722e-01] [ 2.45001836e-02 -1.35401278e-03 9.99698908e-01 1.16314265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10255784400002 meters Centerline goodness : 0.136508 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99704054e-01 -1.02132278e-04 -2.43268309e-02 2.18792938e+00] [ 1.33381684e-04 9.99999168e-01 1.28294630e-03 2.29749837e-01] [ 2.43266796e-02 -1.28581137e-03 9.99703236e-01 1.16308952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13255784400002 meters Centerline goodness : 0.140429 Centerline is valid? [False, False] Translation: X:2.15, Y:0.23, Z:1.16 [[ 9.99624420e-01 -5.57559474e-04 -2.73990454e-02 2.14501612e+00] [ 5.94967531e-04 9.99998902e-01 1.35717177e-03 2.27993541e-01] [ 2.73982587e-02 -1.37296359e-03 9.99623654e-01 1.16287982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16255784400002 meters Centerline goodness : 0.128337 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99624102e-01 -2.82676675e-04 -2.74148628e-02 2.18796578e+00] [ 3.09012798e-04 9.99999495e-01 9.56419481e-04 2.30241156e-01] [ 2.74145786e-02 -9.64531508e-04 9.99623684e-01 1.16364069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19255784400002 meters Centerline goodness : 0.154206 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99620852e-01 -2.25559050e-04 -2.75336354e-02 2.18830585e+00] [ 2.53827474e-04 9.99999444e-01 1.02319620e-03 2.30027630e-01] [ 2.75333893e-02 -1.02979705e-03 9.99620354e-01 1.16356783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22255784400002 meters Centerline goodness : 0.151746 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99618820e-01 -1.95825443e-04 -2.76075594e-02 2.18841205e+00] [ 2.26156935e-04 9.99999374e-01 1.09554806e-03 2.29653580e-01] [ 2.76073276e-02 -1.10137410e-03 9.99618238e-01 1.16369295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25255784400002 meters Centerline goodness : 0.145161 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99618723e-01 -1.39440143e-04 -2.76113949e-02 2.18838643e+00] [ 1.73894334e-04 9.99999209e-01 1.24542781e-03 2.28918282e-01] [ 2.76111994e-02 -1.24975442e-03 9.99617957e-01 1.16375476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282557844 meters Centerline goodness : 0.145161 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99618723e-01 -1.39440143e-04 -2.76113949e-02 2.18838643e+00] [ 1.73894334e-04 9.99999209e-01 1.24542781e-03 2.28918282e-01] [ 2.76111994e-02 -1.24975442e-03 9.99617957e-01 1.16375476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.312557844 meters Centerline goodness : 0.136605 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99616137e-01 -6.72909012e-05 -2.77051370e-02 2.18864765e+00] [ 1.07208311e-04 9.99998958e-01 1.43931164e-03 2.27950643e-01] [ 2.77050113e-02 -1.44172936e-03 9.99615103e-01 1.16373618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342557844 meters Centerline goodness : 0.163684 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99611955e-01 1.33529281e-04 -2.78553635e-02 2.18914906e+00] [-7.93640805e-05 9.99998104e-01 1.94561251e-03 2.25543695e-01] [ 2.78555705e-02 -1.94264681e-03 9.99610071e-01 1.16354486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.372557844 meters Centerline goodness : 0.127681 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.16 [[ 9.99611025e-01 2.25940514e-04 -2.78881154e-02 2.18924984e+00] [-1.66639525e-04 9.99997720e-01 2.12869503e-03 2.24769899e-01] [ 2.78885328e-02 -2.12321976e-03 9.99608784e-01 1.16353169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402557844 meters Centerline goodness : 0.142148 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.16 [[ 9.99620351e-01 4.28527515e-04 -2.75494278e-02 2.18828990e+00] [-3.62476705e-04 9.99997048e-01 2.40248763e-03 2.23800856e-01] [ 2.75503761e-02 -2.39158950e-03 9.99617555e-01 1.16375229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.432557844 meters Centerline goodness : 0.131226 Centerline is valid? [False, False] Translation: X:2.14, Y:0.22, Z:1.16 [[ 9.99557705e-01 -4.36233068e-04 -2.97355649e-02 2.14210409e+00] [ 5.19411724e-04 9.99995974e-01 2.78961166e-03 2.20472695e-01] [ 2.97342282e-02 -2.80382283e-03 9.99553908e-01 1.16427604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.462557844 meters Centerline goodness : 0.145103 Centerline is valid? [False, False] Translation: X:2.16, Y:0.22, Z:1.17 [[ 9.99554884e-01 8.13191657e-03 -2.87037511e-02 2.16207112e+00] [-8.09379328e-03 9.99966202e-01 1.44410124e-03 2.16605347e-01] [ 2.87145242e-02 -1.21113622e-03 9.99586919e-01 1.16575423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.492557844 meters Centerline goodness : 0.147203 Centerline is valid? [False, False] Translation: X:2.16, Y:0.22, Z:1.17 [[ 9.99549662e-01 8.14273674e-03 -2.88819941e-02 2.16259264e+00] [-8.10621150e-03 9.99966190e-01 1.38149955e-03 2.16805604e-01] [ 2.88922668e-02 -1.14675385e-03 9.99581874e-01 1.16573452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.522557844 meters Centerline goodness : 0.138971 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.17 [[ 9.99523561e-01 8.35751649e-03 -2.97119845e-02 2.16517853e+00] [-8.32974572e-03 9.99964747e-01 1.05831907e-03 2.18759822e-01] [ 2.97197820e-02 -8.10321567e-04 9.99557941e-01 1.16513163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.552557844 meters Centerline goodness : 0.137051 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99513318e-01 8.27668636e-03 -3.00769478e-02 2.16650107e+00] [-8.26222908e-03 9.99965684e-01 6.04926133e-04 2.21068879e-01] [ 3.00809224e-02 -3.56129094e-04 9.99547403e-01 1.16448443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.582557844 meters Centerline goodness : 0.135903 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99506866e-01 8.14646181e-03 -3.03258969e-02 2.16733909e+00] [-8.14608509e-03 9.99966811e-01 1.35971301e-04 2.23437573e-01] [ 3.03259981e-02 1.11133088e-04 9.99540055e-01 1.16409628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.612557844 meters Centerline goodness : 0.142151 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 0.99951269 0.00282716 -0.03108696 2.18944644] [-0.00274133 0.99999231 0.0028031 0.23058083] [ 0.03109465 -0.00271652 0.99951275 1.16481603] [ 0. 0. 0. 1. ]] SLAMing on 191.642557844 meters Centerline goodness : 0.144658 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99516413e-01 2.51726130e-03 -3.09936035e-02 2.18949807e+00] [-2.46163631e-03 9.99995291e-01 1.83275084e-03 2.35450855e-01] [ 3.09980711e-02 -1.75556956e-03 9.99517903e-01 1.16420544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.672557844 meters Centerline goodness : 0.143403 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99518119e-01 2.34501809e-03 -3.09520848e-02 2.18950976e+00] [-2.30121015e-03 9.99996300e-01 1.45089358e-03 2.37174372e-01] [ 3.09553727e-02 -1.37896717e-03 9.99519816e-01 1.16396474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.702557844 meters Centerline goodness : 0.146743 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99519540e-01 2.23132706e-03 -3.09145778e-02 2.18946491e+00] [-2.19488262e-03 9.99996856e-01 1.21276027e-03 2.38270295e-01] [ 3.09171867e-02 -1.14432371e-03 9.99521294e-01 1.16384815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.732557844 meters Centerline goodness : 0.143562 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99532332e-01 2.13323082e-03 -3.05051902e-02 2.18785024e+00] [-2.09927419e-03 9.99997141e-01 1.14512616e-03 2.38744346e-01] [ 3.05075458e-02 -1.08055187e-03 9.99533952e-01 1.16474789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.762557844 meters Centerline goodness : 0.144165 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.17 [[ 9.99540802e-01 2.12310732e-03 -3.02271103e-02 2.18662655e+00] [-2.08748468e-03 9.99997089e-01 1.21000742e-03 2.38557615e-01] [ 3.02295912e-02 -1.14635315e-03 9.99542324e-01 1.16566173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79255784400002 meters Centerline goodness : 0.152946 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.17 [[ 9.99548470e-01 2.13444208e-03 -2.99716664e-02 2.18550841e+00] [-2.09482298e-03 9.99996890e-01 1.35322272e-03 2.37959063e-01] [ 2.99744615e-02 -1.28982637e-03 9.99549833e-01 1.16651040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82255784400002 meters Centerline goodness : 0.147038 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:1.17 [[ 9.99551752e-01 2.16142106e-03 -2.98600590e-02 2.18488144e+00] [-2.11825422e-03 9.99996665e-01 1.47719501e-03 2.37405404e-01] [ 2.98631523e-02 -1.41328167e-03 9.99552997e-01 1.16713092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85255784400002 meters Centerline goodness : 0.147208 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:1.17 [[ 9.99557193e-01 2.22681810e-03 -2.96725303e-02 2.18421560e+00] [-2.17216613e-03 9.99995885e-01 1.87394389e-03 2.35351613e-01] [ 2.96765811e-02 -1.80866043e-03 9.99557917e-01 1.16752777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88255784400002 meters Centerline goodness : 0.134170 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:1.17 [[ 9.99555346e-01 2.28164897e-03 -2.97305291e-02 2.18441429e+00] [-2.21956090e-03 9.99995287e-01 2.12119534e-03 2.34023372e-01] [ 2.97352288e-02 -2.05426342e-03 9.99555699e-01 1.16745198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91255784400002 meters Centerline goodness : 0.136146 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:1.17 [[ 0.9995533 0.00236453 -0.02979265 2.1846144 ] [-0.00229503 0.99999457 0.00236675 0.23281078] [ 0.02979808 -0.00229732 0.9995533 1.16738175] [ 0. 0. 0. 1. ]] SLAMing on 191.94255784400002 meters Centerline goodness : 0.148691 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.17 [[ 0.99953567 0.00248438 -0.03036901 2.18617401] [-0.00240502 0.9999936 0.00264936 0.23140938] [ 0.0303754 -0.00257509 0.99953524 1.16723928] [ 0. 0. 0. 1. ]] SLAMing on 191.97255784400002 meters Centerline goodness : 0.148110 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.17 [[ 0.99952858 0.00251104 -0.03059932 2.18669375] [-0.00243015 0.99999345 0.00268067 0.23123575] [ 0.03060585 -0.00260504 0.99952814 1.16735515] [ 0. 0. 0. 1. ]] SLAMing on 192.00255784400002 meters Centerline goodness : 0.135759 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.17 [[ 0.99952511 0.00251637 -0.030712 2.18695664] [-0.00243764 0.99999365 0.00260061 0.23161711] [ 0.03071835 -0.00252451 0.99952489 1.16739081] [ 0. 0. 0. 1. ]] SLAMing on 192.032557844 meters Centerline goodness : 0.129923 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 9.99499881e-01 1.20313644e-02 -2.92443755e-02 2.20742937e+00] [-1.19835801e-02 9.99926559e-01 1.80868718e-03 2.29582530e-01] [ 2.92639887e-02 -1.45733031e-03 9.99570655e-01 1.16860564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062557844 meters Centerline goodness : 0.143166 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 9.99509755e-01 1.21101844e-02 -2.88720064e-02 2.20641249e+00] [-1.20633372e-02 9.99925622e-01 1.79621852e-03 2.30000562e-01] [ 2.88916115e-02 -1.44704518e-03 9.99581503e-01 1.16869519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.092557844 meters Centerline goodness : 0.130168 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 9.99515751e-01 1.21557890e-02 -2.86443885e-02 2.20582496e+00] [-1.21084064e-02 9.99925021e-01 1.82704866e-03 2.30034955e-01] [ 2.86644500e-02 -1.47932602e-03 9.99587996e-01 1.16872284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122557844 meters Centerline goodness : 0.143338 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 9.99517402e-01 1.22508459e-02 -2.85461167e-02 2.20529805e+00] [-1.21993434e-02 9.99923630e-01 1.97765339e-03 2.29213506e-01] [ 2.85681645e-02 -1.62845509e-03 9.99590520e-01 1.16923539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.152557844 meters Centerline goodness : 0.133514 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.17 [[ 0.99957993 0.00332837 -0.02879044 2.18549355] [-0.003243 0.99999021 0.00301136 0.23277872] [ 0.02880018 -0.00291673 0.99958093 1.16794306] [ 0. 0. 0. 1. ]] SLAMing on 192.182557844 meters Centerline goodness : 0.142675 Centerline is valid? [False, False] Translation: X:2.21, Y:0.24, Z:1.17 [[ 0.99959425 -0.00426995 -0.02816209 2.20515576] [ 0.00438746 0.99998192 0.00411193 0.2369749 ] [ 0.02814402 -0.00423382 0.99959491 1.16938636] [ 0. 0. 0. 1. ]] SLAMing on 192.212557844 meters Centerline goodness : 0.146098 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 0.99958674 -0.00413061 -0.02844809 2.20640447] [ 0.00426228 0.99998048 0.00456928 0.23458512] [ 0.02842866 -0.00468864 0.99958483 1.16854664] [ 0. 0. 0. 1. ]] SLAMing on 192.242557844 meters Centerline goodness : 0.136541 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 0.99958434 -0.00406165 -0.02854222 2.20674632] [ 0.00420135 0.99997948 0.00483637 0.23306816] [ 0.02852199 -0.00495428 0.99958089 1.16841744] [ 0. 0. 0. 1. ]] SLAMing on 192.272557844 meters Centerline goodness : 0.135648 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 0.9995862 -0.00393357 -0.02849491 2.2063587 ] [ 0.00408444 0.99997794 0.00523825 0.23096817] [ 0.02847368 -0.00535246 0.99958021 1.16891037] [ 0. 0. 0. 1. ]] SLAMing on 192.302557844 meters Centerline goodness : 0.134333 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 0.99959059 -0.0036868 -0.02837343 2.20575158] [ 0.00386063 0.9999741 0.00607434 0.22693377] [ 0.0283503 -0.00618139 0.99957894 1.16948223] [ 0. 0. 0. 1. ]] SLAMing on 192.332557844 meters Centerline goodness : 0.152569 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 0.999584 -0.00357859 -0.02861841 2.20656746] [ 0.00376478 0.99997208 0.00645469 0.22504347] [ 0.02859451 -0.00655975 0.99956957 1.16919834] [ 0. 0. 0. 1. ]] SLAMing on 192.362557844 meters Centerline goodness : 0.134756 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:1.17 [[ 0.99957428 -0.00348789 -0.02896699 2.20793707] [ 0.0036858 0.99997021 0.00678171 0.22331668] [ 0.02894247 -0.00688559 0.99955736 1.16844008] [ 0. 0. 0. 1. ]] SLAMing on 192.392557844 meters Centerline goodness : 0.138013 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:1.17 [[ 0.99956486 -0.00335162 -0.02930639 2.20932422] [ 0.00356574 0.99996731 0.00725687 0.22079073] [ 0.02928111 -0.00735821 0.99954413 1.16760545] [ 0. 0. 0. 1. ]] SLAMing on 192.422557844 meters Centerline goodness : 0.170948 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:1.17 [[ 0.99956433 -0.00330846 -0.02932939 2.20932055] [ 0.00352559 0.99996674 0.00735464 0.2202922 ] [ 0.02930409 -0.00745484 0.99954274 1.16773721] [ 0. 0. 0. 1. ]] SLAMing on 192.452557844 meters Centerline goodness : 0.142623 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.9995608 0.00549516 -0.02912075 2.22934801] [-0.00532257 0.99996783 0.00600103 0.2169534 ] [ 0.02915279 -0.00584339 0.99955789 1.16997491] [ 0. 0. 0. 1. ]] SLAMing on 192.482557844 meters Centerline goodness : 0.139969 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.99955781 0.00550845 -0.02922068 2.22971086] [-0.00533714 0.99996813 0.00593744 0.21740501] [ 0.02925246 -0.00577886 0.99955535 1.16977719] [ 0. 0. 0. 1. ]] SLAMing on 192.512557844 meters Centerline goodness : 0.132394 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.99955979 0.00550384 -0.02915373 2.22973818] [-0.00533449 0.99996846 0.0058833 0.21774989] [ 0.02918519 -0.00572519 0.99955763 1.16942381] [ 0. 0. 0. 1. ]] SLAMing on 192.54255784400002 meters Centerline goodness : 0.145837 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.99955969 0.00547036 -0.02916327 2.2298753 ] [-0.00530404 0.99996924 0.00577741 0.21828584] [ 0.02919397 -0.00562018 0.99955797 1.16925892] [ 0. 0. 0. 1. ]] SLAMing on 192.57255784400002 meters Centerline goodness : 0.155919 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.99955866 0.00542677 -0.02920688 2.22998945] [-0.00526325 0.99997006 0.00567274 0.21873491] [ 0.02923679 -0.00551651 0.99955729 1.16922108] [ 0. 0. 0. 1. ]] SLAMing on 192.60255784400002 meters Centerline goodness : 0.138133 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.99955591 0.00541406 -0.02930308 2.23015044] [-0.00525014 0.99997015 0.00566801 0.21869236] [ 0.02933289 -0.00551164 0.9995545 1.16933228] [ 0. 0. 0. 1. ]] SLAMing on 192.63255784400002 meters Centerline goodness : 0.117305 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.17 [[ 0.99947711 0.0040601 -0.03207838 2.18516801] [-0.0038707 0.99997472 0.00596436 0.21584364] [ 0.03210178 -0.00583707 0.99946756 1.16940928] [ 0. 0. 0. 1. ]] SLAMing on 192.66255784400002 meters Centerline goodness : 0.141311 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.9995654 0.00381692 -0.02923087 2.22698365] [-0.00368397 0.99998263 0.0046007 0.21961758] [ 0.02924792 -0.00449102 0.9995621 1.17059166] [ 0. 0. 0. 1. ]] SLAMing on 192.69255784400002 meters Centerline goodness : 0.118454 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:1.17 [[ 0.99955657 -0.0056318 -0.02923959 2.20425413] [ 0.00578749 0.99996951 0.00524279 0.22301357] [ 0.02920917 -0.00540969 0.99955868 1.17014261] [ 0. 0. 0. 1. ]] SLAMing on 192.72255784400002 meters Centerline goodness : 0.139581 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:1.17 [[ 0.99956028 -0.00560956 -0.02911674 2.20359943] [ 0.00576626 0.99996933 0.0053008 0.22283816] [ 0.02908611 -0.00546636 0.99956196 1.17077167] [ 0. 0. 0. 1. ]] SLAMing on 192.75255784400002 meters Centerline goodness : 0.121191 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:1.17 [[ 0.99956524 -0.00561093 -0.02894568 2.20298076] [ 0.00576583 0.99996949 0.00527084 0.22306384] [ 0.02891522 -0.00543545 0.99956709 1.1710729 ] [ 0. 0. 0. 1. ]] SLAMing on 192.782557844 meters Centerline goodness : 0.126161 Centerline is valid? [False, False] Translation: X:2.22, Y:0.22, Z:1.17 [[ 0.99958923 0.0031774 -0.02848283 2.22272495] [-0.00306163 0.99998688 0.0041072 0.21976602] [ 0.02849551 -0.0040183 0.99958584 1.17245123] [ 0. 0. 0. 1. ]] SLAMing on 192.812557844 meters Centerline goodness : 0.138070 Centerline is valid? [False, False] Translation: X:2.22, Y:0.22, Z:1.17 [[ 0.99958754 0.00319969 -0.02853964 2.22312003] [-0.00308229 0.99998661 0.00415643 0.21952725] [ 0.02855256 -0.00406675 0.99958402 1.17202064] [ 0. 0. 0. 1. ]] SLAMing on 192.842557844 meters Centerline goodness : 0.140494 Centerline is valid? [False, False] Translation: X:2.22, Y:0.22, Z:1.17 [[ 0.999582 0.00330919 -0.02872056 2.22389426] [-0.0031843 0.99998528 0.00439298 0.21849283] [ 0.02873468 -0.00429969 0.99957783 1.17143859] [ 0. 0. 0. 1. ]] SLAMing on 192.872557844 meters Centerline goodness : 0.141150 Centerline is valid? [False, False] Translation: X:2.22, Y:0.22, Z:1.17 [[ 0.99958174 0.00340427 -0.0287185 2.22373641] [-0.00327309 0.999984 0.00461356 0.21744924] [ 0.02873374 -0.00451763 0.99957689 1.17172005] [ 0. 0. 0. 1. ]] SLAMing on 192.902557844 meters Centerline goodness : 0.136698 Centerline is valid? [False, False] Translation: X:2.24, Y:0.21, Z:1.17 [[ 9.99634007e-01 9.69262774e-03 -2.52567971e-02 2.24385990e+00] [-9.65852769e-03 9.99952272e-01 1.47177805e-03 2.14655159e-01] [ 2.52698570e-02 -1.22729592e-03 9.99679913e-01 1.17176899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.932557844 meters Centerline goodness : 0.211221 Centerline is valid? [False, False] Translation: X:2.24, Y:0.21, Z:1.17 [[ 9.99635937e-01 9.81264286e-03 -2.51337636e-02 2.24354508e+00] [-9.77231986e-03 9.99950759e-01 1.72666372e-03 2.13560127e-01] [ 2.51494691e-02 -1.48041992e-03 9.99682606e-01 1.17179857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.962557844 meters Centerline goodness : 0.154816 Centerline is valid? [False, False] Translation: X:2.24, Y:0.21, Z:1.17 [[ 9.99633935e-01 9.97276910e-03 -2.51503569e-02 2.24398594e+00] [-9.92438268e-03 9.99948655e-01 2.04797627e-03 2.12341056e-01] [ 2.51694896e-02 -1.79762481e-03 9.99681582e-01 1.17117390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.992557844 meters Centerline goodness : 0.156661 Centerline is valid? [False, False] Translation: X:2.23, Y:0.21, Z:1.17 [[ 9.99632876e-01 8.79709021e-04 -2.70802489e-02 2.22500946e+00] [-7.94698280e-04 9.99994724e-01 3.14981787e-03 2.14713478e-01] [ 2.70828769e-02 -3.12714087e-03 9.99628300e-01 1.16988031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.022557844 meters Centerline goodness : 0.137670 Centerline is valid? [False, False] Translation: X:2.23, Y:0.21, Z:1.17 [[ 9.99625747e-01 9.08216136e-04 -2.73411927e-02 2.22597883e+00] [-8.17628280e-04 9.99994140e-01 3.32423443e-03 2.13560363e-01] [ 2.73440516e-02 -3.30063539e-03 9.99620632e-01 1.16938221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.052557844 meters Centerline goodness : 0.138064 Centerline is valid? [False, False] Translation: X:2.23, Y:0.21, Z:1.17 [[ 9.99612795e-01 9.31949045e-04 -2.78099016e-02 2.22717796e+00] [-8.28901673e-04 9.99992749e-01 3.71671825e-03 2.10960193e-01] [ 2.78131637e-02 -3.69222745e-03 9.99606320e-01 1.16940769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.082557844 meters Centerline goodness : 0.140778 Centerline is valid? [False, False] Translation: X:2.23, Y:0.21, Z:1.17 [[ 9.99609800e-01 1.02479457e-03 -2.79141197e-02 2.22750055e+00] [-9.14623236e-04 9.99991744e-01 3.95927804e-03 2.09805138e-01] [ 2.79179467e-02 -3.93220222e-03 9.99602484e-01 1.16930675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.112557844 meters Centerline goodness : 0.213662 Centerline is valid? [False, False] Translation: X:2.23, Y:0.21, Z:1.17 [[ 9.99606304e-01 1.19194101e-03 -2.80324102e-02 2.22773421e+00] [-1.06719818e-03 9.99989465e-01 4.46449011e-03 2.07473336e-01] [ 2.80374362e-02 -4.43281632e-03 9.99597045e-01 1.16939588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.142557844 meters Centerline goodness : 0.211926 Centerline is valid? [False, False] Translation: X:2.25, Y:0.21, Z:1.17 [[ 9.99625536e-01 7.42353983e-03 -2.63378023e-02 2.25024334e+00] [-7.39149657e-03 9.99971819e-01 1.31377391e-03 2.05590903e-01] [ 2.63468130e-02 -1.11860617e-03 9.99652237e-01 1.16872644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.172557844 meters Centerline goodness : 0.211926 Centerline is valid? [False, False] Translation: X:2.25, Y:0.21, Z:1.17 [[ 9.99625536e-01 7.42353983e-03 -2.63378023e-02 2.25024334e+00] [-7.39149657e-03 9.99971819e-01 1.31377391e-03 2.05590903e-01] [ 2.63468130e-02 -1.11860617e-03 9.99652237e-01 1.16872644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.202557844 meters Centerline goodness : 0.067970 Centerline is valid? [False, False] Translation: X:2.25, Y:0.20, Z:1.17 [[ 9.99659555e-01 3.82500370e-03 -2.58097481e-02 2.24907344e+00] [-3.87315549e-03 9.99990851e-01 -1.81591037e-03 2.03181332e-01] [ 2.58025661e-02 1.91525732e-03 9.99665224e-01 1.16816028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.232557844 meters Centerline goodness : 0.119670 Centerline is valid? [False, False] Translation: X:2.25, Y:0.20, Z:1.17 [[ 9.99686981e-01 1.12470815e-03 -2.49935159e-02 2.24617435e+00] [-1.21930214e-03 9.99992151e-01 -3.76982362e-03 1.97939176e-01] [ 2.49890797e-02 3.79911824e-03 9.99680505e-01 1.16872084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.262557844 meters Centerline goodness : 0.156269 Centerline is valid? [False, False] Translation: X:2.24, Y:0.19, Z:1.17 [[ 9.99719173e-01 -1.50221876e-03 -2.36499181e-02 2.24128220e+00] [ 1.39892871e-03 9.99989414e-01 -4.38339801e-03 1.88168671e-01] [ 2.36562525e-02 4.34908249e-03 9.99710692e-01 1.16923013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29255784400002 meters Centerline goodness : 0.154690 Centerline is valid? [False, False] Translation: X:2.24, Y:0.18, Z:1.17 [[ 9.99730611e-01 -1.60156851e-03 -2.31546897e-02 2.23992977e+00] [ 1.51826869e-03 9.99992314e-01 -3.61466787e-03 1.84980226e-01] [ 2.31603008e-02 3.57853907e-03 9.99725360e-01 1.16884855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32255784400002 meters Centerline goodness : 0.171274 Centerline is valid? [False, False] Translation: X:2.24, Y:0.18, Z:1.17 [[ 9.99731421e-01 -1.64424303e-03 -2.31167180e-02 2.23991654e+00] [ 1.57753427e-03 9.99994540e-01 -2.90367670e-03 1.82048005e-01] [ 2.31213662e-02 2.86642941e-03 9.99728556e-01 1.16809004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35255784400002 meters Centerline goodness : 0.131739 Centerline is valid? [False, False] Translation: X:2.24, Y:0.18, Z:1.17 [[ 9.99728474e-01 -1.77795164e-03 -2.32339783e-02 2.24022708e+00] [ 1.72532814e-03 9.99995901e-01 -2.28478643e-03 1.79329128e-01] [ 2.32379454e-02 2.24407981e-03 9.99727444e-01 1.16741436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38255784400002 meters Centerline goodness : 0.114849 Centerline is valid? [False, False] Translation: X:2.24, Y:0.17, Z:1.17 [[ 9.99729017e-01 -2.09024445e-03 -2.31845484e-02 2.24012191e+00] [ 2.05317065e-03 9.99996576e-01 -1.62276239e-03 1.74364812e-01] [ 2.31878610e-02 1.57472081e-03 9.99729885e-01 1.16752751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41255784400002 meters Centerline goodness : 0.144828 Centerline is valid? [False, False] Translation: X:2.24, Y:0.17, Z:1.17 [[ 9.99727846e-01 -1.94737221e-03 -2.32473925e-02 2.24003782e+00] [ 1.92349714e-03 9.99997600e-01 -1.04931716e-03 1.71496149e-01] [ 2.32493801e-02 1.00431529e-03 9.99729192e-01 1.16793427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44255784400002 meters Centerline goodness : 0.118364 Centerline is valid? [False, False] Translation: X:2.26, Y:0.17, Z:1.17 [[ 9.99659206e-01 -1.00414019e-02 -2.40965056e-02 2.26318907e+00] [ 1.00430354e-02 9.99949566e-01 -5.32321415e-05 1.70523274e-01] [ 2.40958249e-02 -1.88788058e-04 9.99709636e-01 1.16888586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47255784400002 meters Centerline goodness : 0.177036 Centerline is valid? [False, False] Translation: X:2.25, Y:0.16, Z:1.17 [[ 9.99683518e-01 1.65820333e-04 -2.51562377e-02 2.24878177e+00] [-1.77125108e-04 9.99999884e-01 -4.47154996e-04 1.62401506e-01] [ 2.51561606e-02 4.51469281e-04 9.99683432e-01 1.16708326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50255784400002 meters Centerline goodness : 0.113413 Centerline is valid? [False, False] Translation: X:2.25, Y:0.16, Z:1.17 [[ 9.99686454e-01 3.72160768e-04 -2.50370853e-02 2.24836767e+00] [-3.68455672e-04 9.99999920e-01 1.52597392e-04 1.59596083e-01] [ 2.50371401e-02 -1.43324490e-04 9.99686511e-01 1.16726205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.532557844 meters Centerline goodness : 0.114573 Centerline is valid? [False, False] Translation: X:2.29, Y:0.15, Z:1.17 [[ 9.99761344e-01 -9.15621886e-04 -2.18269588e-02 2.28508094e+00] [ 8.81942744e-04 9.99998406e-01 -1.55258291e-03 1.53376105e-01] [ 2.18283455e-02 1.53296225e-03 9.99760558e-01 1.17070051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562557844 meters Centerline goodness : 0.118968 Centerline is valid? [False, False] Translation: X:2.28, Y:0.15, Z:1.17 [[ 9.99761447e-01 -8.32352138e-04 -2.18255811e-02 2.28486851e+00] [ 8.10934986e-04 9.99999181e-01 -9.90118904e-04 1.50255211e-01] [ 2.18263874e-02 9.72183581e-04 9.99761303e-01 1.17103251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.592557844 meters Centerline goodness : 0.104104 Centerline is valid? [False, False] Translation: X:2.29, Y:0.15, Z:1.17 [[ 9.99751909e-01 -8.41793814e-04 -2.22578362e-02 2.28624223e+00] [ 8.29331162e-04 9.99999494e-01 -5.69146771e-04 1.47675009e-01] [ 2.22583041e-02 5.50546454e-04 9.99752102e-01 1.17050211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622557844 meters Centerline goodness : 0.138881 Centerline is valid? [False, False] Translation: X:2.24, Y:0.14, Z:1.17 [[ 9.99676896e-01 -3.62549497e-03 -2.51586858e-02 2.24469651e+00] [ 3.60519547e-03 9.99993138e-01 -8.52169888e-04 1.42176503e-01] [ 2.51616027e-02 7.61192568e-04 9.99683107e-01 1.16889080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.652557844 meters SLAMing on 193.682557844 meters Centerline goodness : 0.115546 Centerline is valid? [False, False] Translation: X:2.29, Y:0.14, Z:1.17 [[ 9.99730377e-01 -3.39286949e-03 -2.29708957e-02 2.28970489e+00] [ 3.36208461e-03 9.99993398e-01 -1.37865651e-03 1.38222858e-01] [ 2.29754217e-02 1.30105470e-03 9.99735184e-01 1.16856220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.712557844 meters SLAMing on 193.742557844 meters Centerline goodness : 0.103205 Centerline is valid? [False, False] Translation: X:2.29, Y:0.14, Z:1.17 [[ 9.99733131e-01 -3.35800083e-03 -2.28558826e-02 2.28933946e+00] [ 3.32915142e-03 9.99993613e-01 -1.30016435e-03 1.37756865e-01] [ 2.28601025e-02 1.22372668e-03 9.99737925e-01 1.16866274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.772557844 meters Centerline goodness : 0.103914 Centerline is valid? [False, False] Translation: X:2.29, Y:0.14, Z:1.17 [[ 9.99726511e-01 -3.35739702e-03 -2.31437104e-02 2.29046471e+00] [ 3.32973495e-03 9.99993695e-01 -1.23366355e-03 1.37383972e-01] [ 2.31477064e-02 1.15626373e-03 9.99731387e-01 1.16793398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.802557844 meters Centerline goodness : 0.130877 Centerline is valid? [False, False] Translation: X:2.29, Y:0.14, Z:1.17 [[ 9.99720563e-01 -3.34308338e-03 -2.34012719e-02 2.29128798e+00] [ 3.31851326e-03 9.99993901e-01 -1.08870316e-03 1.36529612e-01] [ 2.34047688e-02 1.01074151e-03 9.99725560e-01 1.16757519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.832557844 meters Centerline goodness : 0.133666 Centerline is valid? [False, False] Translation: X:2.29, Y:0.14, Z:1.17 [[ 9.99711956e-01 -3.35443185e-03 -2.37645236e-02 2.29237547e+00] [ 3.33430775e-03 9.99994048e-01 -8.86386761e-04 1.35226292e-01] [ 2.37673554e-02 8.06893207e-04 9.99717191e-01 1.16719223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.862557844 meters Centerline goodness : 0.149743 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 0.99973635 -0.00453757 -0.02250857 2.33732972] [ 0.00446949 0.99998529 -0.00307377 0.13321281] [ 0.02252219 0.00297236 0.99974192 1.1669332 ] [ 0. 0. 0. 1. ]] SLAMing on 193.892557844 meters Centerline goodness : 0.204130 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 0.99973858 -0.00447322 -0.02242243 2.33677273] [ 0.00440905 0.99998605 -0.00291018 0.13259339] [ 0.02243514 0.00281056 0.99974435 1.16741213] [ 0. 0. 0. 1. ]] SLAMing on 193.922557844 meters Centerline goodness : 0.177261 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 0.99974563 -0.00447149 -0.02210613 2.33560142] [ 0.0044062 0.99998579 -0.00300127 0.1334683 ] [ 0.02211924 0.0029031 0.99975112 1.16795268] [ 0. 0. 0. 1. ]] SLAMing on 193.952557844 meters SLAMing on 193.982557844 meters SLAMing on 194.012557844 meters Centerline goodness : 0.126147 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:1.17 [[ 0.99974913 -0.00463707 -0.02191294 2.33496045] [ 0.00457066 0.99998481 -0.00307959 0.13364215] [ 0.02192688 0.00297867 0.99975514 1.16812296] [ 0. 0. 0. 1. ]] SLAMing on 194.04255784400002 meters Centerline goodness : 0.137540 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:1.17 [[ 0.99974798 -0.00462626 -0.02196761 2.33488276] [ 0.00456424 0.99998546 -0.00287272 0.1324975 ] [ 0.02198058 0.00277173 0.99975456 1.168391 ] [ 0. 0. 0. 1. ]] SLAMing on 194.07255784400002 meters Centerline goodness : 0.116651 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:1.17 [[ 0.99974664 -0.00458483 -0.02203699 2.33496297] [ 0.00452932 0.99998645 -0.00256808 0.13097281] [ 0.02204846 0.00246762 0.99975386 1.168386 ] [ 0. 0. 0. 1. ]] SLAMing on 194.10255784400002 meters Centerline goodness : 0.185465 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 9.99741768e-01 -4.58202228e-03 -2.22576204e-02 2.33555799e+00] [ 4.53324235e-03 9.99987212e-01 -2.24156765e-03 1.29332742e-01] [ 2.22676067e-02 2.14008961e-03 9.99749756e-01 1.16814009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13255784400002 meters Centerline goodness : 0.118923 Centerline is valid? [False, False] Translation: X:2.32, Y:0.13, Z:1.17 [[ 9.99616005e-01 -1.46234084e-02 -2.35371620e-02 2.31598310e+00] [ 1.45927668e-02 9.99892435e-01 -1.47308378e-03 1.31177485e-01] [ 2.35561717e-02 1.12904581e-03 9.99721877e-01 1.16719989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16255784400002 meters SLAMing on 194.19255784400002 meters Centerline goodness : 0.140414 Centerline is valid? [False, False] Translation: X:2.31, Y:0.13, Z:1.17 [[ 9.99625934e-01 -1.44511850e-02 -2.32197243e-02 2.31481286e+00] [ 1.44307932e-02 9.99895324e-01 -1.04554373e-03 1.29719963e-01] [ 2.32324030e-02 7.10073589e-04 9.99729839e-01 1.16769987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22255784400002 meters Centerline goodness : 0.140040 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:1.17 [[ 9.99736073e-01 -5.23505796e-03 -2.23691253e-02 2.33412879e+00] [ 5.19958741e-03 9.99985131e-01 -1.64356103e-03 1.25012756e-01] [ 2.23773969e-02 1.52681703e-03 9.99748429e-01 1.16818326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25255784400002 meters Centerline goodness : 0.162988 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:1.17 [[ 9.99734787e-01 -5.25790235e-03 -2.24212195e-02 2.33440846e+00] [ 5.22078784e-03 9.99984903e-01 -1.71354476e-03 1.25339101e-01] [ 2.24298906e-02 1.59603387e-03 9.99747144e-01 1.16795399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282557844 meters SLAMing on 194.312557844 meters Centerline goodness : 0.071193 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 9.99725488e-01 -5.20512400e-03 -2.28441325e-02 2.33555447e+00] [ 5.15188963e-03 9.99983876e-01 -2.38856495e-03 1.29062780e-01] [ 2.28561969e-02 2.27021881e-03 9.99736185e-01 1.16788991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.342557844 meters Centerline goodness : 0.132436 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 0.99972768 -0.00529108 -0.02272812 2.3351546 ] [ 0.00523013 0.99998257 -0.00274038 0.13100298] [ 0.02274223 0.00262076 0.99973793 1.16806178] [ 0. 0. 0. 1. ]] SLAMing on 194.372557844 meters Centerline goodness : 0.073715 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:1.17 [[ 0.99973102 -0.0054964 -0.02253157 2.33431633] [ 0.0054234 0.99997985 -0.00329957 0.13385909] [ 0.02254925 0.00317649 0.99974069 1.16862289] [ 0. 0. 0. 1. ]] SLAMing on 194.402557844 meters Centerline goodness : 0.142804 Centerline is valid? [False, False] Translation: X:2.33, Y:0.14, Z:1.17 [[ 0.99972743 -0.00565215 -0.02265203 2.33478879] [ 0.00557195 0.99997799 -0.00360209 0.1351653 ] [ 0.02267189 0.0034749 0.99973692 1.16832483] [ 0. 0. 0. 1. ]] SLAMing on 194.432557844 meters Centerline goodness : 0.116358 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 0.99971922 -0.00579654 -0.02297578 2.33598656] [ 0.00570997 0.99997636 -0.00383191 0.13613869] [ 0.02299745 0.00369964 0.99972868 1.16761328] [ 0. 0. 0. 1. ]] SLAMing on 194.462557844 meters Centerline goodness : 0.138108 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 0.99969806 -0.00612068 -0.02379766 2.33864277] [ 0.00602272 0.9999731 -0.00418583 0.13740205] [ 0.02382264 0.00404124 0.99970803 1.16648711] [ 0. 0. 0. 1. ]] SLAMing on 194.492557844 meters Centerline goodness : 0.121172 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 0.99969487 -0.00618716 -0.02391411 2.33900569] [ 0.00608788 0.99997255 -0.0042223 0.13743621] [ 0.02393957 0.00407542 0.9997051 1.16633121] [ 0. 0. 0. 1. ]] SLAMing on 194.522557844 meters Centerline goodness : 0.123766 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 0.99970089 -0.00632285 -0.02362536 2.33776147] [ 0.00622524 0.99997179 -0.00420294 0.13689689] [ 0.02365127 0.00405461 0.99971205 1.16710731] [ 0. 0. 0. 1. ]] SLAMing on 194.552557844 meters Centerline goodness : 0.125728 Centerline is valid? [False, False] Translation: X:2.32, Y:0.13, Z:1.17 [[ 9.99720498e-01 1.22328570e-03 -2.36099453e-02 2.31673027e+00] [-1.34515346e-03 9.99985852e-01 -5.14652173e-03 1.32504681e-01] [ 2.36033156e-02 5.17684227e-03 9.99707999e-01 1.16594802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.582557844 meters Centerline goodness : 0.132002 Centerline is valid? [False, False] Translation: X:2.32, Y:0.13, Z:1.17 [[ 9.99721621e-01 1.16797735e-03 -2.35651388e-02 2.31636845e+00] [-1.28858923e-03 9.99986146e-01 -5.10369781e-03 1.31957009e-01] [ 2.35588514e-02 5.13264284e-03 9.99709276e-01 1.16633538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.612557844 meters Centerline goodness : 0.144751 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 0.99969701 -0.00644665 -0.02375546 2.33726904] [ 0.00635702 0.9999724 -0.00384654 0.13486471] [ 0.0237796 0.00369436 0.9997104 1.1680579 ] [ 0. 0. 0. 1. ]] SLAMing on 194.642557844 meters Centerline goodness : 0.147872 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 9.99708879e-01 -2.93352256e-03 -2.39489467e-02 2.33784907e+00] [ 2.93065276e-03 9.99995694e-01 -1.54927002e-04 1.34455161e-01] [ 2.39492980e-02 8.46958523e-05 9.99713171e-01 1.16786575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.672557844 meters Centerline goodness : 0.114825 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 9.99707918e-01 -3.02540862e-03 -2.39775935e-02 2.33810076e+00] [ 3.01471530e-03 9.99995340e-01 -4.82106978e-04 1.36082414e-01] [ 2.39789403e-02 4.09680545e-04 9.99712380e-01 1.16768007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.702557844 meters Centerline goodness : 0.132575 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 9.99707944e-01 -3.09651648e-03 -2.39674432e-02 2.33800287e+00] [ 3.07560505e-03 9.99994857e-01 -9.09306634e-04 1.38255557e-01] [ 2.39701356e-02 8.35326677e-04 9.99712326e-01 1.16793297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.732557844 meters Centerline goodness : 0.118397 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 9.99709974e-01 -3.21346870e-03 -2.38671667e-02 2.33761702e+00] [ 3.17872446e-03 9.99993833e-01 -1.49353006e-03 1.41151888e-01] [ 2.38718189e-02 1.41722975e-03 9.99714023e-01 1.16829605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.762557844 meters Centerline goodness : 0.126081 Centerline is valid? [False, False] Translation: X:2.34, Y:0.15, Z:1.17 [[ 9.99710059e-01 5.70245822e-04 -2.40722515e-02 2.33750658e+00] [-5.31855394e-04 9.99998577e-01 1.60117235e-03 1.45265668e-01] [ 2.40731303e-02 -1.58790515e-03 9.99708939e-01 1.16912506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79255784400002 meters Centerline goodness : 0.129559 Centerline is valid? [False, False] Translation: X:2.34, Y:0.15, Z:1.17 [[ 9.99713994e-01 4.11552512e-04 -2.39115149e-02 2.33719531e+00] [-3.89383285e-04 9.99999490e-01 9.31784698e-04 1.48894350e-01] [ 2.39118862e-02 -9.22207458e-04 9.99713645e-01 1.16904422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82255784400002 meters Centerline goodness : 0.124801 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:1.17 [[ 9.99742666e-01 2.27877132e-03 -2.25701098e-02 2.33235760e+00] [-2.23461540e-03 9.99995540e-01 1.98141717e-03 1.56617185e-01] [ 2.25745243e-02 -1.93047176e-03 9.99743299e-01 1.17072519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85255784400002 meters Centerline goodness : 0.127957 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:1.17 [[ 9.99744860e-01 1.97693531e-03 -2.25012579e-02 2.33238939e+00] [-1.94788597e-03 9.99997241e-01 1.31285440e-03 1.59686998e-01] [ 2.25037913e-02 -1.26868955e-03 9.99745953e-01 1.17039033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88255784400002 meters Centerline goodness : 0.118165 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:1.17 [[ 9.99745944e-01 1.77059885e-03 -2.24702501e-02 2.33251317e+00] [-1.75217208e-03 9.99998112e-01 8.39713571e-04 1.61942892e-01] [ 2.24716945e-02 -8.00128492e-04 9.99747159e-01 1.17005586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91255784400002 meters Centerline goodness : 0.117096 Centerline is valid? [False, False] Translation: X:2.33, Y:0.17, Z:1.17 [[ 9.99745127e-01 1.38653361e-03 -2.25335026e-02 2.33281146e+00] [-1.38654851e-03 9.99999039e-01 1.49626970e-05 1.65928408e-01] [ 2.25335017e-02 1.62849111e-05 9.99746088e-01 1.16983518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94255784400002 meters Centerline goodness : 0.095676 Centerline is valid? [False, False] Translation: X:2.33, Y:0.17, Z:1.17 [[ 9.99743876e-01 1.12971291e-03 -2.26032416e-02 2.33291723e+00] [-1.14064293e-03 9.99999239e-01 -4.70673127e-04 1.68047417e-01] [ 2.26026927e-02 4.96334804e-04 9.99744403e-01 1.16992703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97255784400002 meters Centerline goodness : 0.148400 Centerline is valid? [False, False] Translation: X:2.33, Y:0.17, Z:1.17 [[ 9.99742045e-01 8.67718871e-04 -2.26956069e-02 2.33327638e+00] [-8.90724509e-04 9.99999100e-01 -1.00357097e-03 1.70470826e-01] [ 2.26947157e-02 1.02352762e-03 9.99741918e-01 1.16972518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00255784400002 meters Centerline goodness : 0.085521 Centerline is valid? [False, False] Translation: X:2.34, Y:0.18, Z:1.17 [[ 9.99734541e-01 4.02980441e-04 -2.30366111e-02 2.33541363e+00] [-4.50862763e-04 9.99997749e-01 -2.07337546e-03 1.76385487e-01] [ 2.30357237e-02 2.08321141e-03 9.99732472e-01 1.16789100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.032557844 meters Centerline goodness : 0.139165 Centerline is valid? [False, False] Translation: X:2.34, Y:0.18, Z:1.17 [[ 9.99730789e-01 1.59351304e-04 -2.32017917e-02 2.33638214e+00] [-2.21792721e-04 9.99996361e-01 -2.68868410e-03 1.79441288e-01] [ 2.32012789e-02 2.69310626e-03 9.99727187e-01 1.16703359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062557844 meters Centerline goodness : 0.139165 Centerline is valid? [False, False] Translation: X:2.34, Y:0.18, Z:1.17 [[ 9.99730789e-01 1.59351304e-04 -2.32017917e-02 2.33638214e+00] [-2.21792721e-04 9.99996361e-01 -2.68868410e-03 1.79441288e-01] [ 2.32012789e-02 2.69310626e-03 9.99727187e-01 1.16703359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.092557844 meters Centerline goodness : 0.154058 Centerline is valid? [False, False] Translation: X:2.34, Y:0.18, Z:1.17 [[ 9.99727592e-01 -9.83459678e-05 -2.33395182e-02 2.33693479e+00] [ 2.07344565e-05 9.99994470e-01 -3.32554490e-03 1.82446393e-01] [ 2.33397162e-02 3.32415506e-03 9.99722065e-01 1.16679164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122557844 meters Centerline goodness : 0.104792 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:1.17 [[ 0.99970487 -0.00886385 -0.02261863 2.31671175] [ 0.00878444 0.99995491 -0.00360782 0.19543252] [ 0.02264959 0.00340807 0.99973766 1.16586174] [ 0. 0. 0. 1. ]] SLAMing on 195.152557844 meters Centerline goodness : 0.145514 Centerline is valid? [False, False] Translation: X:2.34, Y:0.19, Z:1.17 [[ 9.99788001e-01 -3.87786437e-04 -2.05864458e-02 2.33588569e+00] [ 2.86820742e-04 9.99987918e-01 -4.90720042e-03 1.94303573e-01] [ 2.05881001e-02 4.90025548e-03 9.99776034e-01 1.16625030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182557844 meters Centerline goodness : 0.108696 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99791766e-01 -7.70208418e-04 -2.03919256e-02 2.33533983e+00] [ 6.52029343e-04 9.99982959e-01 -5.80140037e-03 1.98667260e-01] [ 2.03960464e-02 5.78689619e-03 9.99775231e-01 1.16638143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.212557844 meters Centerline goodness : 0.115488 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99792972e-01 -9.32025794e-04 -2.03259646e-02 2.33526781e+00] [ 8.08794487e-04 9.99981250e-01 -6.07013133e-03 1.99719163e-01] [ 2.03312410e-02 6.05243512e-03 9.99774979e-01 1.16617456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.242557844 meters Centerline goodness : 0.104103 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99789782e-01 -1.10035906e-03 -2.04738946e-02 2.33563620e+00] [ 9.73367205e-04 9.99980234e-01 -6.21155488e-03 1.99994197e-01] [ 2.04803249e-02 6.19032048e-03 9.99771092e-01 1.16609836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.272557844 meters Centerline goodness : 0.106932 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99777973e-01 -1.65252794e-03 -2.10065291e-02 2.33708795e+00] [ 1.51508608e-03 9.99977355e-01 -6.55704843e-03 2.00485036e-01] [ 2.10168891e-02 6.52376589e-03 9.99757836e-01 1.16576066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.302557844 meters Centerline goodness : 0.150573 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99775424e-01 -1.70828063e-03 -2.11230733e-02 2.33742164e+00] [ 1.56989443e-03 9.99977209e-01 -6.56627122e-03 2.00411255e-01] [ 2.11338089e-02 6.53163560e-03 9.99755320e-01 1.16562669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.332557844 meters Centerline goodness : 0.098862 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99772617e-01 -1.70629800e-03 -2.12556427e-02 2.33772140e+00] [ 1.56819574e-03 9.99977566e-01 -6.51217947e-03 2.00148781e-01] [ 2.12662776e-02 6.47736570e-03 9.99752864e-01 1.16562620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.362557844 meters Centerline goodness : 0.100874 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99771031e-01 -1.71600264e-03 -2.13293657e-02 2.33776425e+00] [ 1.57869844e-03 9.99977936e-01 -6.45250391e-03 1.99773331e-01] [ 2.13399676e-02 6.41735384e-03 9.99751681e-01 1.16581447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.392557844 meters Centerline goodness : 0.152169 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99775976e-01 -1.72724721e-03 -2.10953479e-02 2.33669484e+00] [ 1.59292405e-03 9.99978362e-01 -6.38257501e-03 1.99232284e-01] [ 2.11059157e-02 6.34754188e-03 9.99757095e-01 1.16660776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.422557844 meters Centerline goodness : 0.150571 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99779166e-01 -1.67966570e-03 -2.09474931e-02 2.33603197e+00] [ 1.54673116e-03 9.99978575e-01 -6.36067159e-03 1.99384210e-01] [ 2.09577281e-02 6.32686680e-03 9.99760343e-01 1.16711622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.452557844 meters Centerline goodness : 0.152694 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99782019e-01 -1.64395367e-03 -2.08137416e-02 2.33552580e+00] [ 1.51093804e-03 9.99978347e-01 -6.40487395e-03 1.99866281e-01] [ 2.08238202e-02 6.37202953e-03 9.99762855e-01 1.16744274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.482557844 meters Centerline goodness : 0.126734 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99780914e-01 -1.60738145e-03 -2.08696059e-02 2.33565140e+00] [ 1.47329438e-03 9.99978186e-01 -6.43877934e-03 2.00022203e-01] [ 2.08795002e-02 6.40662162e-03 9.99761472e-01 1.16756703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.512557844 meters Centerline goodness : 0.143665 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99778786e-01 -1.56828958e-03 -2.09742547e-02 2.33588782e+00] [ 1.43399903e-03 9.99978388e-01 -6.41614622e-03 1.99871689e-01] [ 2.09838638e-02 6.38464982e-03 9.99759428e-01 1.16764114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54255784400002 meters Centerline goodness : 0.149136 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99784443e-01 -1.36557773e-03 -2.07171951e-02 2.33480914e+00] [ 1.23442308e-03 9.99979126e-01 -6.34218294e-03 2.00208520e-01] [ 2.07254234e-02 6.31524206e-03 9.99765260e-01 1.16840023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57255784400002 meters Centerline goodness : 0.146325 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99783574e-01 -1.29503597e-03 -2.07636006e-02 2.33461060e+00] [ 1.16334101e-03 9.99979140e-01 -6.35341274e-03 2.00698134e-01] [ 2.07713954e-02 6.32788255e-03 9.99764226e-01 1.16895559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60255784400002 meters Centerline goodness : 0.149026 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99784428e-01 -1.24740204e-03 -2.07253596e-02 2.33423597e+00] [ 1.11547617e-03 9.99979052e-01 -6.37577381e-03 2.01078699e-01] [ 2.07328786e-02 6.35128073e-03 9.99764877e-01 1.16946918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63255784400002 meters Centerline goodness : 0.113296 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99789608e-01 -1.24906648e-03 -2.04738701e-02 2.33311463e+00] [ 1.11729565e-03 9.99978599e-01 -6.44622461e-03 2.01361808e-01] [ 2.04814837e-02 6.42199301e-03 9.99769607e-01 1.17028971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66255784400002 meters Centerline goodness : 0.100882 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99790995e-01 -1.32117130e-03 -2.04014749e-02 2.33294301e+00] [ 1.18656939e-03 9.99977461e-01 -6.60835214e-03 2.02015565e-01] [ 2.04097459e-02 6.58276320e-03 9.99770028e-01 1.17027522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69255784400002 meters Centerline goodness : 0.094892 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99792619e-01 -1.40263286e-03 -2.03162893e-02 2.33271392e+00] [ 1.26439824e-03 9.99975976e-01 -6.81537510e-03 2.02958389e-01] [ 2.03253607e-02 6.78827384e-03 9.99770373e-01 1.17030434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72255784400002 meters Centerline goodness : 0.111754 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99792802e-01 -1.53911378e-03 -2.02973992e-02 2.33264969e+00] [ 1.39498830e-03 9.99973730e-01 -7.11293528e-03 2.04364377e-01] [ 2.03078136e-02 7.08314686e-03 9.99768684e-01 1.17033514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75255784400002 meters Centerline goodness : 0.097967 Centerline is valid? [False, False] Translation: X:2.33, Y:0.21, Z:1.17 [[ 9.99791044e-01 -1.72681783e-03 -2.03687789e-02 2.33275703e+00] [ 1.57407234e-03 9.99970541e-01 -7.51265162e-03 2.06502017e-01] [ 2.03811518e-02 7.47901987e-03 9.99764309e-01 1.17039858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78255784400002 meters Centerline goodness : 0.140125 Centerline is valid? [False, False] Translation: X:2.33, Y:0.21, Z:1.17 [[ 9.99787574e-01 -1.87343782e-03 -2.05255223e-02 2.33319944e+00] [ 1.71742826e-03 9.99969525e-01 -7.61575210e-03 2.06686917e-01] [ 2.05391645e-02 7.57888320e-03 9.99760323e-01 1.17025840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.812557844 meters Centerline goodness : 0.151535 Centerline is valid? [False, False] Translation: X:2.33, Y:0.21, Z:1.17 [[ 9.99781547e-01 -2.03141263e-03 -2.08022035e-02 2.33399925e+00] [ 1.87301813e-03 9.99969130e-01 -7.63096836e-03 2.06240584e-01] [ 2.08170630e-02 7.59033844e-03 9.99754488e-01 1.16998379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842557844 meters Centerline goodness : 0.120997 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 0.99976817 -0.0025084 -0.02138506 2.33604186] [ 0.00234494 0.99996787 -0.00766545 0.20524955] [ 0.0214036 0.00761353 0.99974193 1.16882122] [ 0. 0. 0. 1. ]] SLAMing on 195.872557844 meters Centerline goodness : 0.104248 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 9.99764883e-01 -2.49541952e-03 -2.15395457e-02 2.33662504e+00] [ 2.33221601e-03 9.99968410e-01 -7.59872230e-03 2.05097814e-01] [ 2.15578273e-02 7.54670083e-03 9.99739120e-01 1.16842900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902557844 meters Centerline goodness : 0.139409 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 0.99976151 -0.00254431 -0.02168974 2.33730876] [ 0.00237743 0.9999674 -0.00771615 0.2057009 ] [ 0.02170867 0.00766275 0.99973497 1.16793062] [ 0. 0. 0. 1. ]] SLAMing on 195.932557844 meters Centerline goodness : 0.104213 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 0.99975718 -0.00264275 -0.02187678 2.33792433] [ 0.00246833 0.99996498 -0.00799607 0.20705877] [ 0.02189714 0.00794012 0.9997287 1.16777908] [ 0. 0. 0. 1. ]] SLAMing on 195.962557844 meters Centerline goodness : 0.144465 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 0.99976866 -0.00267088 -0.02134218 2.33617269] [ 0.00248946 0.99996058 -0.00852258 0.20982881] [ 0.02136411 0.00846748 0.9997359 1.16867844] [ 0. 0. 0. 1. ]] SLAMing on 195.992557844 meters Centerline goodness : 0.104778 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 0.9997707 -0.00270354 -0.02124241 2.33571172] [ 0.00251722 0.99995817 -0.00879327 0.21128225] [ 0.02126529 0.00873778 0.99973568 1.16915825] [ 0. 0. 0. 1. ]] SLAMing on 196.022557844 meters Centerline goodness : 0.173943 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 9.99770096e-01 9.79919526e-04 -2.14194869e-02 2.33595498e+00] [-1.08882511e-03 9.99986538e-01 -5.07334519e-03 2.10566784e-01] [ 2.14142270e-02 5.09550089e-03 9.99757704e-01 1.16932375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.052557844 meters Centerline goodness : 0.100329 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 9.99750938e-01 1.09672147e-03 -2.22903221e-02 2.33878698e+00] [-1.21660428e-03 9.99984866e-01 -5.36539569e-03 2.12607427e-01] [ 2.22841004e-02 5.39117788e-03 9.99737142e-01 1.16834315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.082557844 meters Centerline goodness : 0.133303 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 9.99749089e-01 1.02628127e-03 -2.23764682e-02 2.33903270e+00] [-1.15250588e-03 9.99983494e-01 -5.62878727e-03 2.13865325e-01] [ 2.23703222e-02 5.65316396e-03 9.99733770e-01 1.16836987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.112557844 meters Centerline goodness : 0.103727 Centerline is valid? [False, False] Translation: X:2.34, Y:0.22, Z:1.17 [[ 9.99752183e-01 1.00340916e-03 -2.22388225e-02 2.33858516e+00] [-1.13489550e-03 9.99981947e-01 -5.90063659e-03 2.15403592e-01] [ 2.22325003e-02 5.92441305e-03 9.99735274e-01 1.16864380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.142557844 meters Centerline goodness : 0.109803 Centerline is valid? [False, False] Translation: X:2.34, Y:0.22, Z:1.17 [[ 9.99758640e-01 1.08189056e-03 -2.19428917e-02 2.33765484e+00] [-1.21839358e-03 9.99979985e-01 -6.20841642e-03 2.17542846e-01] [ 2.19357357e-02 6.23365304e-03 9.99739949e-01 1.16912023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.172557844 meters Centerline goodness : 0.112649 Centerline is valid? [False, False] Translation: X:2.34, Y:0.22, Z:1.17 [[ 0.99974833 0.0049886 -0.02187206 2.33702935] [-0.00505272 0.9999831 -0.00287709 0.22079545] [ 0.02185734 0.00298688 0.99975664 1.16996549] [ 0. 0. 0. 1. ]] SLAMing on 196.202557844 meters Centerline goodness : 0.123776 Centerline is valid? [False, False] Translation: X:2.36, Y:0.22, Z:1.17 [[ 9.99751803e-01 -4.61713970e-04 -2.22737114e-02 2.35997692e+00] [ 4.49550387e-04 9.99999747e-01 -5.51100049e-04 2.24923712e-01] [ 2.22739602e-02 5.40950112e-04 9.99751758e-01 1.17016574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.232557844 meters Centerline goodness : 0.180226 Centerline is valid? [False, False] Translation: X:2.36, Y:0.23, Z:1.17 [[ 9.99749374e-01 -6.57261555e-04 -2.23775927e-02 2.36047722e+00] [ 6.28276856e-04 9.99998955e-01 -1.30226136e-03 2.28644505e-01] [ 2.23784252e-02 1.28787566e-03 9.99748742e-01 1.16987827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.262557844 meters Centerline goodness : 0.125065 Centerline is valid? [False, False] Translation: X:2.36, Y:0.23, Z:1.17 [[ 9.99745331e-01 3.08324768e-03 -2.23554578e-02 2.36069025e+00] [-3.04794236e-03 9.99994054e-01 1.61317213e-03 2.34446700e-01] [ 2.23602987e-02 -1.54462316e-03 9.99748784e-01 1.16955988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29255784400002 meters Centerline goodness : 0.096212 Centerline is valid? [False, False] Translation: X:2.36, Y:0.24, Z:1.17 [[ 9.99748647e-01 2.83270783e-03 -2.22400073e-02 2.36038490e+00] [-2.81328219e-03 9.99995633e-01 9.04693704e-04 2.38045980e-01] [ 2.22424730e-02 -8.41898890e-04 9.99752251e-01 1.16963873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32255784400002 meters Centerline goodness : 0.182065 Centerline is valid? [False, False] Translation: X:2.36, Y:0.24, Z:1.17 [[ 9.99751963e-01 2.56133556e-03 -2.21235847e-02 2.35994409e+00] [-2.55659814e-03 9.99996703e-01 2.42415654e-04 2.41249529e-01] [ 2.21241326e-02 -1.85794410e-04 9.99755214e-01 1.16990079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35255784400002 meters Centerline goodness : 0.148772 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:1.17 [[ 9.99700269e-01 2.11105517e-03 -2.43908955e-02 2.31320856e+00] [-2.10892192e-03 9.99997770e-01 1.13183594e-04 2.47244599e-01] [ 2.43910801e-02 -6.17111750e-05 9.99702491e-01 1.17097683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38255784400002 meters Centerline goodness : 0.183396 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:1.17 [[ 9.99712103e-01 -5.90941159e-03 -2.32548943e-02 2.33256832e+00] [ 5.93025088e-03 9.99982074e-01 8.27263476e-04 2.56898475e-01] [ 2.32495888e-02 -9.64932666e-04 9.99729226e-01 1.17236057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41255784400002 meters Centerline goodness : 0.137954 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:1.17 [[ 9.99713443e-01 -6.14886841e-03 -2.31348894e-02 2.33248584e+00] [ 6.15690745e-03 9.99981008e-01 2.76271592e-04 2.59567989e-01] [ 2.31327512e-02 -4.18631798e-04 9.99732314e-01 1.17200310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44255784400002 meters Centerline goodness : 0.131201 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:1.17 [[ 9.99710747e-01 -6.37699129e-03 -2.31895871e-02 2.33276536e+00] [ 6.37273166e-03 9.99979661e-01 -2.57583939e-04 2.62035977e-01] [ 2.31907581e-02 1.09728416e-04 9.99731052e-01 1.17178634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47255784400002 meters Centerline goodness : 0.109006 Centerline is valid? [False, False] Translation: X:2.33, Y:0.27, Z:1.17 [[ 9.99701305e-01 -6.77560693e-03 -2.34817289e-02 2.33354349e+00] [ 6.75435771e-03 9.99976705e-01 -9.84121606e-04 2.65170997e-01] [ 2.34878499e-02 8.25223658e-04 9.99723782e-01 1.17163244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50255784400002 meters Centerline goodness : 0.109184 Centerline is valid? [False, False] Translation: X:2.35, Y:0.26, Z:1.17 [[ 9.99728766e-01 9.50264674e-04 -2.32699809e-02 2.35289649e+00] [-1.00133560e-03 9.99997116e-01 -2.18315924e-03 2.61109909e-01] [ 2.32678392e-02 2.20586815e-03 9.99726834e-01 1.17278037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53255784400002 meters Centerline goodness : 0.179426 Centerline is valid? [False, False] Translation: X:2.35, Y:0.26, Z:1.17 [[ 9.99726135e-01 8.48941131e-04 -2.33866153e-02 2.35322919e+00] [-9.03674054e-04 9.99996878e-01 -2.32988350e-03 2.61746810e-01] [ 2.33845643e-02 2.35037931e-03 9.99723781e-01 1.17269418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562557844 meters Centerline goodness : 0.178230 Centerline is valid? [False, False] Translation: X:2.35, Y:0.26, Z:1.17 [[ 9.99722043e-01 5.54846372e-04 -2.35696554e-02 2.35392197e+00] [-6.18806735e-04 9.99996146e-01 -2.70646719e-03 2.63031744e-01] [ 2.35680629e-02 2.72029997e-03 9.99718534e-01 1.17224011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.592557844 meters Centerline goodness : 0.177181 Centerline is valid? [False, False] Translation: X:2.35, Y:0.26, Z:1.17 [[ 9.99721162e-01 4.64121385e-04 -2.36089604e-02 2.35408882e+00] [-5.31591266e-04 9.99995793e-01 -2.85161243e-03 2.63615345e-01] [ 2.36075376e-02 2.86336761e-03 9.99717203e-01 1.17212629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622557844 meters Centerline goodness : 0.271438 Centerline is valid? [False, False] Translation: X:2.35, Y:0.26, Z:1.17 [[ 9.99721003e-01 3.55603231e-04 -2.36175657e-02 2.35417031e+00] [-4.29340169e-04 9.99995050e-01 -3.11712542e-03 2.64837759e-01] [ 2.36163404e-02 3.12639572e-03 9.99716207e-01 1.17204138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.652557844 meters Centerline goodness : 0.111402 Centerline is valid? [False, False] Translation: X:2.35, Y:0.27, Z:1.17 [[ 9.99719821e-01 2.05958830e-04 -2.36693100e-02 2.35425840e+00] [-2.89138310e-04 9.99993795e-01 -3.51086482e-03 2.66682481e-01] [ 2.36684401e-02 3.51672486e-03 9.99713678e-01 1.17222707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682557844 meters Centerline goodness : 0.167995 Centerline is valid? [False, False] Translation: X:2.40, Y:0.27, Z:1.17 [[ 9.99737334e-01 8.36061507e-04 -2.29033555e-02 2.40152257e+00] [-9.24157459e-04 9.99992215e-01 -3.83610672e-03 2.68328356e-01] [ 2.28999700e-02 3.85626542e-03 9.99730324e-01 1.17168437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.712557844 meters Centerline goodness : 0.178036 Centerline is valid? [False, False] Translation: X:2.36, Y:0.27, Z:1.17 [[ 9.99648720e-01 1.21748166e-03 -2.64755373e-02 2.35785246e+00] [-1.31767562e-03 9.99992036e-01 -3.76728098e-03 2.73585299e-01] [ 2.64707399e-02 3.80084378e-03 9.99642363e-01 1.17184036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.742557844 meters Centerline goodness : 0.161379 Centerline is valid? [False, False] Translation: X:2.36, Y:0.28, Z:1.17 [[ 9.99640315e-01 1.10423654e-03 -2.67959178e-02 2.35885064e+00] [-1.21692041e-03 9.99990484e-01 -4.18932000e-03 2.75789111e-01] [ 2.67910368e-02 4.22042166e-03 9.99632147e-01 1.17160452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.772557844 meters Centerline goodness : 0.110897 Centerline is valid? [False, False] Translation: X:2.36, Y:0.28, Z:1.17 [[ 9.99639809e-01 9.92442990e-04 -2.68191581e-02 2.35875248e+00] [-1.11561474e-03 9.99988898e-01 -4.57810528e-03 2.77779218e-01] [ 2.68143168e-02 4.60637613e-03 9.99629818e-01 1.17195484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.802557844 meters Centerline goodness : 0.099094 Centerline is valid? [False, False] Translation: X:2.38, Y:0.28, Z:1.17 [[ 9.99768884e-01 -2.43797135e-03 -2.13596433e-02 2.38083937e+00] [ 2.40999549e-03 9.99996204e-01 -1.33539699e-03 2.75917191e-01] [ 2.13628179e-02 1.28361172e-03 9.99770965e-01 1.17086564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.832557844 meters Centerline goodness : 0.102234 Centerline is valid? [False, False] Translation: X:2.38, Y:0.28, Z:1.17 [[ 9.99775823e-01 -2.50080092e-03 -2.10249942e-02 2.37948375e+00] [ 2.47097478e-03 9.99995904e-01 -1.44446358e-03 2.76191285e-01] [ 2.10285204e-02 1.39218753e-03 9.99777907e-01 1.17171634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.862557844 meters Centerline goodness : 0.110237 Centerline is valid? [False, False] Translation: X:2.38, Y:0.28, Z:1.17 [[ 9.99779798e-01 -2.49215546e-03 -2.08361394e-02 2.37874657e+00] [ 2.46383789e-03 9.99996006e-01 -1.38462084e-03 2.75813298e-01] [ 2.08395069e-02 1.33297908e-03 9.99781945e-01 1.17213193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.892557844 meters Centerline goodness : 0.104440 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99779717e-01 -2.44011157e-03 -2.08461870e-02 2.37870803e+00] [ 2.41602154e-03 9.99996384e-01 -1.18071551e-03 2.74821630e-01] [ 2.08489927e-02 1.13009058e-03 9.99781997e-01 1.17216555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.922557844 meters Centerline goodness : 0.179715 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99768255e-01 -2.56171818e-03 -2.13745954e-02 2.38031310e+00] [ 2.54916159e-03 9.99996562e-01 -6.14680350e-04 2.71345045e-01] [ 2.13760965e-02 5.60050603e-04 9.99771348e-01 1.17141345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.952557844 meters Centerline goodness : 0.113997 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99775159e-01 -2.46372320e-03 -2.10609011e-02 2.37929330e+00] [ 2.45957458e-03 9.99996950e-01 -2.22883039e-04 2.69349395e-01] [ 2.10613860e-02 1.71032068e-04 9.99778170e-01 1.17171065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.982557844 meters Centerline goodness : 0.113997 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99775159e-01 -2.46372320e-03 -2.10609011e-02 2.37929330e+00] [ 2.45957458e-03 9.99996950e-01 -2.22883039e-04 2.69349395e-01] [ 2.10613860e-02 1.71032068e-04 9.99778170e-01 1.17171065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.012557844 meters Centerline goodness : 0.102038 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99782946e-01 -2.37111768e-03 -2.06987750e-02 2.37809130e+00] [ 2.37312314e-03 9.99997182e-01 7.23252569e-05 2.67920121e-01] [ 2.06985452e-02 -1.21430300e-04 9.99785755e-01 1.17217169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04255784400002 meters Centerline goodness : 0.100724 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99782489e-01 -2.27773713e-03 -2.07313121e-02 2.37793159e+00] [ 2.28339130e-03 9.99997362e-01 2.49068170e-04 2.67285401e-01] [ 2.07306901e-02 -2.96351692e-04 9.99785052e-01 1.17262824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07255784400002 meters Centerline goodness : 0.146337 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99779328e-01 -2.25027795e-03 -2.08861452e-02 2.37837322e+00] [ 2.25566298e-03 9.99997429e-01 2.34272492e-04 2.67492277e-01] [ 2.08855643e-02 -2.81332899e-04 9.99781833e-01 1.17257366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10255784400002 meters Centerline goodness : 0.102349 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99767882e-01 -2.19109031e-03 -2.14331589e-02 2.38006147e+00] [ 2.19442065e-03 9.99997584e-01 1.31864105e-04 2.68147992e-01] [ 2.14328181e-02 -1.78866863e-04 9.99770275e-01 1.17204734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13255784400002 meters Centerline goodness : 0.178951 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99770311e-01 -2.16930845e-03 -2.13218217e-02 2.37951921e+00] [ 2.17303713e-03 9.99997627e-01 1.51708857e-04 2.68016315e-01] [ 2.13214420e-02 -1.98007122e-04 9.99772653e-01 1.17246964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16255784400002 meters Centerline goodness : 0.094122 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99779462e-01 -2.11019353e-03 -2.08943815e-02 2.37797107e+00] [ 2.11821576e-03 9.99997691e-01 3.61817576e-04 2.66833710e-01] [ 2.08935697e-02 -4.05996589e-04 9.99781623e-01 1.17319014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19255784400002 meters Centerline goodness : 0.179544 Centerline is valid? [False, False] Translation: X:2.37, Y:0.26, Z:1.17 [[ 9.99813520e-01 -2.61016485e-03 -1.91340664e-02 2.37280735e+00] [ 2.62032346e-03 9.99996439e-01 5.05865711e-04 2.64119668e-01] [ 1.91326779e-02 -5.55908820e-04 9.99816799e-01 1.17438760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22255784400002 meters Centerline goodness : 0.174868 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 9.99808161e-01 3.02551987e-03 -1.93516736e-02 2.39273495e+00] [-3.06854172e-03 9.99992886e-01 -2.19385207e-03 2.57741989e-01] [ 1.93448984e-02 2.25281262e-03 9.99810332e-01 1.17526803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25255784400002 meters Centerline goodness : 0.272418 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 9.99806336e-01 3.10758784e-03 -1.94327852e-02 2.39298695e+00] [-3.14196787e-03 9.99993552e-01 -1.73889536e-03 2.55353298e-01] [ 1.94272561e-02 1.79961579e-03 9.99809653e-01 1.17500038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28255784400002 meters Centerline goodness : 0.102984 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:1.17 [[ 9.99803308e-01 3.17871052e-03 -1.95765212e-02 2.39339641e+00] [-3.20637143e-03 9.99993905e-01 -1.38173775e-03 2.53467050e-01] [ 1.95720097e-02 1.44423557e-03 9.99807407e-01 1.17482422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.312557844 meters Centerline goodness : 0.175824 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:1.18 [[ 9.99803707e-01 3.31468115e-03 -1.95335824e-02 2.39301235e+00] [-3.33279146e-03 9.99994046e-01 -8.94655736e-04 2.51099298e-01] [ 1.95305006e-02 9.59581478e-04 9.99808801e-01 1.17514364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342557844 meters Centerline goodness : 0.173450 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:1.18 [[ 9.99802185e-01 3.40155400e-03 -1.95964589e-02 2.39309381e+00] [-3.41624416e-03 9.99993908e-01 -7.16205610e-04 2.50397473e-01] [ 1.95939033e-02 7.83010222e-04 9.99807714e-01 1.17524687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.372557844 meters Centerline goodness : 0.176694 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:1.17 [[ 9.99798076e-01 3.47413474e-03 -1.97923700e-02 2.39377207e+00] [-3.48572519e-03 9.99993773e-01 -5.51132780e-04 2.49654375e-01] [ 1.97903320e-02 6.20012256e-04 9.99803960e-01 1.17490972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402557844 meters Centerline goodness : 0.098140 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:1.17 [[ 9.99791186e-01 3.52404172e-03 -2.01287050e-02 2.39493954e+00] [-3.53331473e-03 9.99993667e-01 -4.25140400e-04 2.49011311e-01] [ 2.01270793e-02 4.96172675e-04 9.99797307e-01 1.17436628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.432557844 meters Centerline goodness : 0.127807 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:1.17 [[ 9.99778245e-01 3.49435955e-03 -2.07665599e-02 2.39682634e+00] [-3.50933743e-03 9.99993608e-01 -6.84851341e-04 2.50095161e-01] [ 2.07640340e-02 7.57576338e-04 9.99784117e-01 1.17392838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.462557844 meters Centerline goodness : 0.174697 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:1.17 [[ 9.99775835e-01 3.39344952e-03 -2.08989061e-02 2.39706793e+00] [-3.41608468e-03 9.99993617e-01 -1.04747386e-03 2.51842206e-01] [ 2.08952182e-02 1.11863148e-03 9.99781045e-01 1.17416254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.492557844 meters Centerline goodness : 0.098622 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:1.17 [[ 9.99778602e-01 3.32020838e-03 -2.07779313e-02 2.39668145e+00] [-3.35049855e-03 9.99993374e-01 -1.42316245e-03 2.53809415e-01] [ 2.07730684e-02 1.49246379e-03 9.99783103e-01 1.17442133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.522557844 meters Centerline goodness : 0.096893 Centerline is valid? [False, False] Translation: X:2.40, Y:0.26, Z:1.17 [[ 9.99781370e-01 3.38643355e-03 -2.06335716e-02 2.39650403e+00] [-3.42959128e-03 9.99992004e-01 -2.05659973e-03 2.57875784e-01] [ 2.06264421e-02 2.12691481e-03 9.99784990e-01 1.17432815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.552557844 meters Centerline goodness : 0.118612 Centerline is valid? [False, False] Translation: X:2.40, Y:0.26, Z:1.17 [[ 0.99977819 0.003242 -0.02081024 2.39723902] [-0.00329353 0.99999159 -0.00244217 0.25968318] [ 0.02080214 0.00251017 0.99978046 1.17389035] [ 0. 0. 0. 1. ]] SLAMing on 197.582557844 meters Centerline goodness : 0.173741 Centerline is valid? [False, False] Translation: X:2.40, Y:0.26, Z:1.17 [[ 0.99977587 0.00314247 -0.02093632 2.39777827] [-0.00319874 0.99999136 -0.00265444 0.26061112] [ 0.02092779 0.00272081 0.99977729 1.17349605] [ 0. 0. 0. 1. ]] SLAMing on 197.612557844 meters Centerline goodness : 0.103763 Centerline is valid? [False, False] Translation: X:2.35, Y:0.26, Z:1.17 [[ 0.99971838 0.00291011 -0.02355186 2.35127075] [-0.00297506 0.99999187 -0.00272348 0.26457902] [ 0.02354375 0.00279278 0.99971891 1.1745879 ] [ 0. 0. 0. 1. ]] SLAMing on 197.642557844 meters Centerline goodness : 0.098219 Centerline is valid? [False, False] Translation: X:2.37, Y:0.27, Z:1.18 [[ 9.99712039e-01 -5.45743540e-03 -2.33678277e-02 2.37265685e+00] [ 5.41904120e-03 9.99983862e-01 -1.70604671e-03 2.67890015e-01] [ 2.33767612e-02 1.57892421e-03 9.99725479e-01 1.17577148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.672557844 meters Centerline goodness : 0.155195 Centerline is valid? [False, False] Translation: X:2.37, Y:0.27, Z:1.18 [[ 9.99710262e-01 -5.48664272e-03 -2.34369059e-02 2.37309149e+00] [ 5.44667523e-03 9.99983602e-01 -1.76881821e-03 2.68240309e-01] [ 2.34462264e-02 1.64065251e-03 9.99723753e-01 1.17529526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.702557844 meters Centerline goodness : 0.170328 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 0.99973123 0.00241756 -0.02305674 2.39291336] [-0.00248414 0.99999283 -0.00285921 0.26255767] [ 0.02304967 0.00291571 0.99973007 1.17588278] [ 0. 0. 0. 1. ]] SLAMing on 197.732557844 meters Centerline goodness : 0.101423 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 9.99729570e-01 2.37276961e-03 -2.31334520e-02 2.39323826e+00] [-2.44188588e-03 9.99992638e-01 -2.95992911e-03 2.63023751e-01] [ 2.31262585e-02 3.01561791e-03 9.99728004e-01 1.17564940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.762557844 meters Centerline goodness : 0.270416 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 9.99722642e-01 2.36334321e-03 -2.34319023e-02 2.39406652e+00] [-2.43671594e-03 9.99992216e-01 -3.10325981e-03 2.64057600e-01] [ 2.34243859e-02 3.15949598e-03 9.99720619e-01 1.17554922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79255784400002 meters Centerline goodness : 0.179004 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 9.99717667e-01 2.38480494e-03 -2.36410321e-02 2.39463935e+00] [-2.45902783e-03 9.99992137e-01 -3.11100529e-03 2.64322309e-01] [ 2.36334271e-02 3.16826090e-03 9.99715671e-01 1.17547288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82255784400002 meters Centerline goodness : 0.099625 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 0.99971598 0.00240475 -0.02371018 2.39491393] [-0.00247906 0.99999211 -0.003105 0.26440721] [ 0.02370253 0.0031629 0.99971405 1.17530147] [ 0. 0. 0. 1. ]] SLAMing on 197.85255784400002 meters Centerline goodness : 0.180701 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 9.99726034e-01 2.32631854e-03 -2.32904635e-02 2.39351326e+00] [-2.40299745e-03 9.99991783e-01 -3.26484194e-03 2.64683119e-01] [ 2.32826770e-02 3.31991440e-03 9.99723409e-01 1.17597139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88255784400002 meters Centerline goodness : 0.176174 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:1.18 [[ 9.99757784e-01 -5.79737101e-03 -2.12312215e-02 2.41278950e+00] [ 5.75079157e-03 9.99980923e-01 -2.25431121e-03 2.66707592e-01] [ 2.12438856e-02 2.13166885e-03 9.99772051e-01 1.17737629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91255784400002 meters Centerline goodness : 0.173240 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:1.18 [[ 9.99760955e-01 -5.79101686e-03 -2.10831180e-02 2.41206601e+00] [ 5.74319607e-03 9.99980798e-01 -2.32804661e-03 2.67196685e-01] [ 2.10961949e-02 2.20640562e-03 9.99775016e-01 1.17798209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94255784400002 meters Centerline goodness : 0.298477 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:1.18 [[ 0.99975825 -0.00580248 -0.02120762 2.41223351] [ 0.00574968 0.99998022 -0.00254953 0.26862374] [ 0.02122199 0.00242698 0.99977184 1.1783004 ] [ 0. 0. 0. 1. ]] SLAMing on 197.97255784400002 meters Centerline goodness : 0.177538 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:1.18 [[ 0.9997528 -0.00591383 -0.0214328 2.41296976] [ 0.00585444 0.99997885 -0.00283256 0.26988985] [ 0.0214491 0.00270638 0.99976628 1.17805429] [ 0. 0. 0. 1. ]] SLAMing on 198.00255784400002 meters Centerline goodness : 0.111880 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:1.18 [[ 0.99974619 -0.00602729 -0.02170772 2.41382598] [ 0.00595942 0.99997715 -0.00319013 0.27160302] [ 0.02172645 0.00305996 0.99975927 1.17782403] [ 0. 0. 0. 1. ]] SLAMing on 198.03255784400002 meters Centerline goodness : 0.179015 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:1.18 [[ 9.99768472e-01 -3.76829964e-03 -2.11849583e-02 2.41121475e+00] [ 3.74336635e-03 9.99992254e-01 -1.21646653e-03 2.74800664e-01] [ 2.11893782e-02 1.13688182e-03 9.99774834e-01 1.17902569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062557844 meters Centerline goodness : 0.278380 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:1.18 [[ 9.99781542e-01 1.88038365e-04 -2.09005654e-02 2.41019714e+00] [-1.40097516e-04 9.99997356e-01 2.29519904e-03 2.77378151e-01] [ 2.09009418e-02 -2.29176951e-03 9.99778925e-01 1.17954354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.092557844 meters Centerline goodness : 0.098651 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:1.18 [[ 9.99785140e-01 3.14368929e-05 -2.07285697e-02 2.40955229e+00] [ 5.74859701e-06 9.99998391e-01 1.79386252e-03 2.79771393e-01] [ 2.07285927e-02 -1.79359625e-03 9.99783531e-01 1.18000407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122557844 meters Centerline goodness : 0.180585 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:1.18 [[ 9.99788228e-01 -1.47591632e-04 -2.05785491e-02 2.40892622e+00] [ 1.74597182e-04 9.99999126e-01 1.31052503e-03 2.82016128e-01] [ 2.05783376e-02 -1.31384046e-03 9.99787380e-01 1.18048950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.152557844 meters Centerline goodness : 0.273363 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:1.18 [[ 9.99788715e-01 -3.20724348e-04 -2.05529024e-02 2.40857686e+00] [ 3.38492079e-04 9.99999572e-01 8.61014664e-04 2.84151403e-01] [ 2.05526174e-02 -8.67789740e-04 9.99788396e-01 1.18101627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182557844 meters Centerline goodness : 0.175398 Centerline is valid? [False, False] Translation: X:2.41, Y:0.29, Z:1.18 [[ 9.99787997e-01 -6.79091054e-04 -2.05791125e-02 2.40868388e+00] [ 6.77109251e-04 9.99999765e-01 -1.03269416e-04 2.88924581e-01] [ 2.05791778e-02 8.93132151e-05 9.99788222e-01 1.18106611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.212557844 meters Centerline goodness : 0.179759 Centerline is valid? [False, False] Translation: X:2.41, Y:0.29, Z:1.18 [[ 9.99789631e-01 -8.95651035e-04 -2.04912569e-02 2.40844174e+00] [ 8.83232144e-04 9.99999421e-01 -6.15100231e-04 2.91200083e-01] [ 2.04917959e-02 5.96872296e-04 9.99789843e-01 1.18111460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.242557844 meters Centerline goodness : 0.109999 Centerline is valid? [False, False] Translation: X:2.41, Y:0.29, Z:1.18 [[ 9.99790766e-01 -1.10207512e-03 -2.04257327e-02 2.40820982e+00] [ 1.07898191e-03 9.99998766e-01 -1.14158013e-03 2.93603998e-01] [ 2.04269656e-02 1.11930227e-03 9.99790721e-01 1.18129582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.272557844 meters Centerline goodness : 0.173578 Centerline is valid? [False, False] Translation: X:2.41, Y:0.30, Z:1.18 [[ 9.99789700e-01 -1.36107586e-03 -2.04622410e-02 2.40827552e+00] [ 1.32431723e-03 9.99997485e-01 -1.80985646e-03 2.96757556e-01] [ 2.04646529e-02 1.78237735e-03 9.99788988e-01 1.18142689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.302557844 meters Centerline goodness : 0.175629 Centerline is valid? [False, False] Translation: X:2.41, Y:0.30, Z:1.18 [[ 9.99786603e-01 -1.60516780e-03 -2.05954133e-02 2.40862078e+00] [ 1.55369366e-03 9.99995630e-01 -2.51505894e-03 3.00304022e-01] [ 2.05993604e-02 2.48252327e-03 9.99784729e-01 1.18150655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.332557844 meters Centerline goodness : 0.099151 Centerline is valid? [False, False] Translation: X:2.41, Y:0.31, Z:1.18 [[ 9.99783726e-01 2.09532589e-03 -2.06908623e-02 2.40894062e+00] [-2.08787316e-03 9.99997748e-01 3.81789736e-04 3.05955494e-01] [ 2.06916156e-02 -3.38507269e-04 9.99785848e-01 1.18147934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.362557844 meters Centerline goodness : 0.101171 Centerline is valid? [False, False] Translation: X:2.41, Y:0.31, Z:1.18 [[ 9.99783012e-01 1.77568646e-03 -2.07551202e-02 2.40912826e+00] [-1.78534051e-03 9.99998307e-01 -4.46620523e-04 3.09742797e-01] [ 2.07542920e-02 4.83578569e-04 9.99784490e-01 1.18155856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.392557844 meters Centerline goodness : 0.106896 Centerline is valid? [False, False] Translation: X:2.41, Y:0.31, Z:1.18 [[ 9.99783285e-01 1.46235669e-03 -2.07664451e-02 2.40930177e+00] [-1.48799950e-03 9.99998149e-01 -1.21942113e-03 3.13246677e-01] [ 2.07646234e-02 1.25005733e-03 9.99783610e-01 1.18138866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.422557844 meters Centerline goodness : 0.170306 Centerline is valid? [False, False] Translation: X:2.43, Y:0.32, Z:1.18 [[ 9.99727685e-01 -4.08068610e-03 -2.29761720e-02 2.43464485e+00] [ 4.11110113e-03 9.99990734e-01 1.27668447e-03 3.21118082e-01] [ 2.29707494e-02 -1.37079418e-03 9.99735198e-01 1.18084475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.452557844 meters Centerline goodness : 0.175492 Centerline is valid? [False, False] Translation: X:2.44, Y:0.32, Z:1.18 [[ 9.99724825e-01 -4.22533688e-03 -2.30742339e-02 2.43521678e+00] [ 4.24698477e-03 9.99990586e-01 8.89260241e-04 3.23219339e-01] [ 2.30702592e-02 -9.87011459e-04 9.99733359e-01 1.18036226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.482557844 meters Centerline goodness : 0.164906 Centerline is valid? [False, False] Translation: X:2.44, Y:0.32, Z:1.18 [[ 9.99724369e-01 -4.39279134e-03 -2.30627205e-02 2.43519687e+00] [ 4.40571852e-03 9.99990165e-01 5.09741728e-04 3.24992957e-01] [ 2.30602545e-02 -6.11209083e-04 9.99733890e-01 1.18036398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.512557844 meters Centerline goodness : 0.114200 Centerline is valid? [False, False] Translation: X:2.45, Y:0.32, Z:1.18 [[ 9.99772047e-01 3.07479701e-03 -2.11281678e-02 2.45309482e+00] [-3.10171480e-03 9.99994419e-01 -1.24137192e-03 3.21642339e-01] [ 2.11242329e-02 1.30662249e-03 9.99776005e-01 1.18184276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54255784400002 meters Centerline goodness : 0.102145 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.18 [[ 9.99808382e-01 1.59010044e-03 -1.95108137e-02 2.44707927e+00] [-1.65020280e-03 9.99993942e-01 -3.06475082e-03 3.26223122e-01] [ 1.95058223e-02 3.09636035e-03 9.99804949e-01 1.18467820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57255784400002 meters Centerline goodness : 0.171473 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.18 [[ 9.99809106e-01 1.51791367e-03 -1.94794059e-02 2.44690631e+00] [-1.58042949e-03 9.99993649e-01 -3.19433587e-03 3.26801546e-01] [ 1.94744334e-02 3.22451191e-03 9.99805156e-01 1.18481977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60255784400002 meters Centerline goodness : 0.100895 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.18 [[ 9.99804139e-01 1.48972521e-03 -1.97348538e-02 2.44791863e+00] [-1.55364574e-03 9.99993596e-01 -3.22403071e-03 3.27075508e-01] [ 1.97299245e-02 3.25406022e-03 9.99800051e-01 1.18417344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63255784400002 meters Centerline goodness : 0.124832 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.18 [[ 9.99795818e-01 1.48205665e-03 -2.01525740e-02 2.44953359e+00] [-1.54655788e-03 9.99993731e-01 -3.18543626e-03 3.27098884e-01] [ 2.01477266e-02 3.21595297e-03 9.99791842e-01 1.18319238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66255784400002 meters Centerline goodness : 0.151472 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.18 [[ 9.99793288e-01 1.40806831e-03 -2.02829847e-02 2.44983382e+00] [-1.47605973e-03 9.99993341e-01 -3.33756022e-03 3.27891778e-01] [ 2.02781501e-02 3.36680920e-03 9.99788708e-01 1.18326741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69255784400002 meters Centerline goodness : 0.130036 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.19 [[ 9.99801887e-01 -6.83993341e-03 -1.86923090e-02 2.46827919e+00] [ 6.80407494e-03 9.99974889e-01 -1.98127928e-03 3.31348315e-01] [ 1.87053915e-02 1.85370289e-03 9.99823320e-01 1.18580578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72255784400002 meters Centerline goodness : 0.105968 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99832716e-01 2.12740186e-03 -1.81662937e-02 2.44517002e+00] [-2.17281052e-03 9.99994564e-01 -2.48023923e-03 3.28928047e-01] [ 1.81609185e-02 2.51929624e-03 9.99831903e-01 1.18551456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75255784400002 meters Centerline goodness : 0.128328 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.19 [[ 9.99797726e-01 -5.85879538e-03 -1.92400888e-02 2.46665937e+00] [ 5.83333931e-03 9.99982035e-01 -1.37893094e-03 3.33385638e-01] [ 1.92478220e-02 1.26641806e-03 9.99813941e-01 1.18659854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78255784400002 meters Centerline goodness : 0.173393 Centerline is valid? [False, False] Translation: X:2.42, Y:0.34, Z:1.19 [[ 9.99733185e-01 -5.42603881e-03 -2.24525275e-02 2.42363988e+00] [ 5.39419145e-03 9.99984358e-01 -1.47875262e-03 3.36420067e-01] [ 2.24602001e-02 1.35724483e-03 9.99746817e-01 1.18591721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.812557844 meters Centerline goodness : 0.153765 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99756663e-01 1.06267246e-03 -2.20337259e-02 2.44603786e+00] [-1.14696468e-03 9.99992072e-01 -3.81331510e-03 3.32171838e-01] [ 2.20294989e-02 3.83765909e-03 9.99749956e-01 1.18537003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842557844 meters Centerline goodness : 0.160356 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99757068e-01 1.04351053e-03 -2.20162650e-02 2.44596586e+00] [-1.12809719e-03 9.99992029e-01 -3.82993755e-03 3.32110087e-01] [ 2.20120929e-02 3.85384363e-03 9.99750277e-01 1.18539306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.872557844 meters Centerline goodness : 0.160356 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99757068e-01 1.04351053e-03 -2.20162650e-02 2.44596586e+00] [-1.12809719e-03 9.99992029e-01 -3.82993755e-03 3.32110087e-01] [ 2.20120929e-02 3.85384363e-03 9.99750277e-01 1.18539306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902557844 meters Centerline goodness : 0.131189 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99755531e-01 1.01702181e-03 -2.20872102e-02 2.44589192e+00] [-1.10406548e-03 9.99991672e-01 -3.92907163e-03 3.32604780e-01] [ 2.20830303e-02 3.95249682e-03 9.99748327e-01 1.18584088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.932557844 meters Centerline goodness : 0.109314 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.19 [[ 9.99738384e-01 -4.23340467e-03 -2.24775783e-02 2.46859449e+00] [ 4.23201847e-03 9.99991039e-01 -1.09238958e-04 3.34972654e-01] [ 2.24778394e-02 1.40848523e-05 9.99747341e-01 1.18690294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.962557844 meters Centerline goodness : 0.106389 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99735725e-01 -4.35359306e-03 -2.25727129e-02 2.46885958e+00] [ 4.34441457e-03 9.99990459e-01 -4.55641867e-04 3.36578947e-01] [ 2.25744813e-02 3.57456229e-04 9.99745100e-01 1.18691477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.992557844 meters Centerline goodness : 0.129314 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99739032e-01 -4.54201025e-03 -2.23883570e-02 2.46838216e+00] [ 4.52200011e-03 9.99989330e-01 -9.44320245e-04 3.38775418e-01] [ 2.23924072e-02 8.42833654e-04 9.99748903e-01 1.18695434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.022557844 meters Centerline goodness : 0.110867 Centerline is valid? [False, False] Translation: X:2.45, Y:0.34, Z:1.19 [[ 9.99729314e-01 4.25887148e-03 -2.28727143e-02 2.44791769e+00] [-4.30331960e-03 9.99988946e-01 -1.89441230e-03 3.36561545e-01] [ 2.28643934e-02 1.99232811e-03 9.99736590e-01 1.18530278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.052557844 meters Centerline goodness : 0.133393 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99718232e-01 -4.08335318e-03 -2.33833929e-02 2.46854269e+00] [ 4.06327467e-03 9.99991334e-01 -9.06114167e-04 3.40193772e-01] [ 2.33868902e-02 8.10845705e-04 9.99726160e-01 1.18680935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.082557844 meters Centerline goodness : 0.125562 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99715234e-01 -4.09935993e-03 -2.35084252e-02 2.46909398e+00] [ 4.07906454e-03 9.99991265e-01 -9.11212252e-04 3.40203601e-01] [ 2.35119552e-02 8.15060387e-04 9.99723224e-01 1.18637165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.112557844 meters Centerline goodness : 0.136411 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99709504e-01 -4.16457192e-03 -2.37395018e-02 2.46986767e+00] [ 4.14517873e-03 9.99991034e-01 -8.66066931e-04 3.39670923e-01] [ 2.37428957e-02 7.67410864e-04 9.99717803e-01 1.18598457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.142557844 meters Centerline goodness : 0.137831 Centerline is valid? [False, False] Translation: X:2.45, Y:0.34, Z:1.18 [[ 9.99773550e-01 2.57614397e-03 -2.11237121e-02 2.45307007e+00] [-2.61708550e-03 9.99994750e-01 -1.91076336e-03 3.36926060e-01] [ 2.11186788e-02 1.96561323e-03 9.99775044e-01 1.18224394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.172557844 meters Centerline goodness : 0.131424 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.18 [[ 9.99767934e-01 -5.77682780e-03 -2.07534495e-02 2.47306372e+00] [ 5.76393220e-03 9.99983156e-01 -6.81135183e-04 3.39520012e-01] [ 2.07570348e-02 5.61355639e-04 9.99784392e-01 1.18380819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.202557844 meters Centerline goodness : 0.132692 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.18 [[ 9.99770589e-01 -5.76463310e-03 -2.06285731e-02 2.47256879e+00] [ 5.75321423e-03 9.99983262e-01 -6.12850523e-04 3.39142214e-01] [ 2.06317607e-02 4.94029328e-04 9.99787021e-01 1.18405671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.232557844 meters Centerline goodness : 0.135794 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99784180e-01 -5.74731199e-03 -1.99640115e-02 2.47009361e+00] [ 5.74093074e-03 9.99983450e-01 -3.76935030e-04 3.37688436e-01] [ 1.99658475e-02 2.62241672e-04 9.99800628e-01 1.18541018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.262557844 meters Centerline goodness : 0.135003 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99788695e-01 -5.66946846e-03 -1.97591105e-02 2.46912455e+00] [ 5.66599036e-03 9.99983921e-01 -2.32004089e-04 3.37073460e-01] [ 1.97601082e-02 1.20000136e-04 9.99804743e-01 1.18619525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29255784400002 meters Centerline goodness : 0.130480 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99790493e-01 -5.61607361e-03 -1.96832302e-02 2.46878723e+00] [ 5.61394151e-03 9.99984228e-01 -1.63575056e-04 3.36820937e-01] [ 1.96838384e-02 5.30402829e-05 9.99806253e-01 1.18644923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32255784400002 meters Centerline goodness : 0.123598 Centerline is valid? [False, False] Translation: X:2.42, Y:0.34, Z:1.19 [[ 9.99730124e-01 -4.38080189e-03 -2.28142026e-02 2.42460036e+00] [ 4.38459125e-03 9.99990381e-01 1.16076963e-04 3.39460044e-01] [ 2.28134746e-02 -2.16076589e-04 9.99739715e-01 1.18703672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35255784400002 meters Centerline goodness : 0.149705 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99731207e-01 3.95632834e-03 -2.28442700e-02 2.44552202e+00] [-3.96730725e-03 9.99992035e-01 -4.35297012e-04 3.33925851e-01] [ 2.28423659e-02 5.25810245e-04 9.99738941e-01 1.18789701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38255784400002 meters Centerline goodness : 0.138346 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99722012e-01 3.98614478e-03 -2.32380896e-02 2.44656277e+00] [-4.00072768e-03 9.99991828e-01 -5.81085926e-04 3.34907325e-01] [ 2.32355834e-02 6.73893660e-04 9.99729790e-01 1.18782827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41255784400002 meters Centerline goodness : 0.131123 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99703557e-01 -3.24540088e-03 -2.41301900e-02 2.46662771e+00] [ 3.26490393e-03 9.99994375e-01 7.68889738e-04 3.39752385e-01] [ 2.41275589e-02 -8.47444558e-04 9.99708529e-01 1.18983898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44255784400002 meters Centerline goodness : 0.140021 Centerline is valid? [False, False] Translation: X:2.46, Y:0.34, Z:1.19 [[ 9.99719486e-01 -2.90210778e-03 -2.35058959e-02 2.46455544e+00] [ 2.90966984e-03 9.99995726e-01 2.87513318e-04 3.43809909e-01] [ 2.35049610e-02 -3.55827062e-04 9.99723657e-01 1.19086072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47255784400002 meters Centerline goodness : 0.129080 Centerline is valid? [False, False] Translation: X:2.46, Y:0.35, Z:1.19 [[ 9.99728123e-01 -3.00555440e-03 -2.31224438e-02 2.46306774e+00] [ 3.00261342e-03 9.99995479e-01 -1.61909371e-04 3.46121144e-01] [ 2.31228259e-02 9.24375912e-05 9.99732627e-01 1.19178986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50255784400002 meters Centerline goodness : 0.134870 Centerline is valid? [False, False] Translation: X:2.46, Y:0.35, Z:1.19 [[ 9.99733318e-01 -3.13899746e-03 -2.28787981e-02 2.46205577e+00] [ 3.12798114e-03 9.99994974e-01 -5.17278856e-04 3.47774796e-01] [ 2.28803069e-02 4.45576458e-04 9.99738112e-01 1.19246202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53255784400002 meters Centerline goodness : 0.149750 Centerline is valid? [False, False] Translation: X:2.46, Y:0.35, Z:1.19 [[ 9.99738215e-01 -3.22997535e-03 -2.26510037e-02 2.46118563e+00] [ 3.21437332e-03 9.99994571e-01 -7.25176003e-04 3.48714994e-01] [ 2.26532230e-02 6.52177381e-04 9.99743170e-01 1.19296015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562557844 meters Centerline goodness : 0.137297 Centerline is valid? [False, False] Translation: X:2.46, Y:0.35, Z:1.19 [[ 9.99745163e-01 -3.41916453e-03 -2.23140631e-02 2.46033022e+00] [ 3.39900798e-03 9.99993780e-01 -9.41176934e-04 3.49471654e-01] [ 2.23171424e-02 8.65091409e-04 9.99750567e-01 1.19289525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.592557844 meters Centerline goodness : 0.130749 Centerline is valid? [False, False] Translation: X:2.41, Y:0.35, Z:1.19 [[ 9.99678837e-01 -2.86818074e-03 -2.51792714e-02 2.41449443e+00] [ 2.84701351e-03 9.99995563e-01 -8.76469503e-04 3.53180293e-01] [ 2.51816735e-02 8.04502288e-04 9.99682568e-01 1.19330948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622557844 meters Centerline goodness : 0.131906 Centerline is valid? [False, False] Translation: X:2.41, Y:0.35, Z:1.19 [[ 9.99679382e-01 -2.93807596e-03 -2.51495819e-02 2.41457596e+00] [ 2.91408488e-03 9.99995263e-01 -9.90532140e-04 3.53757520e-01] [ 2.51523731e-02 9.16926541e-04 9.99683209e-01 1.19303356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.652557844 meters Centerline goodness : 0.146507 Centerline is valid? [False, False] Translation: X:2.45, Y:0.35, Z:1.20 [[ 9.99737455e-01 -3.56719764e-03 -2.26339708e-02 2.45495278e+00] [ 3.54689210e-03 9.99993271e-01 -9.37208908e-04 3.53440551e-01] [ 2.26371617e-02 8.56682596e-04 9.99743380e-01 1.19557064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682557844 meters Centerline goodness : 0.147188 Centerline is valid? [False, False] Translation: X:2.41, Y:0.36, Z:1.20 [[ 9.99677492e-01 -2.95753671e-03 -2.52223005e-02 2.40779470e+00] [ 2.92699217e-03 9.99994938e-01 -1.24784620e-03 3.59181375e-01] [ 2.52258634e-02 1.17361828e-03 9.99681088e-01 1.19738359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.712557844 meters Centerline goodness : 0.129891 Centerline is valid? [False, False] Translation: X:2.41, Y:0.36, Z:1.20 [[ 9.99671599e-01 -3.10931028e-03 -2.54367260e-02 2.40841107e+00] [ 3.06742116e-03 9.99993875e-01 -1.68565013e-03 3.61379751e-01] [ 2.54418114e-02 1.60707141e-03 9.99675013e-01 1.19730564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.742557844 meters Centerline goodness : 0.146761 Centerline is valid? [False, False] Translation: X:2.41, Y:0.37, Z:1.20 [[ 9.99653320e-01 -3.24074975e-03 -2.61292544e-02 2.41073836e+00] [ 3.17900383e-03 9.99992057e-01 -2.40428918e-03 3.65472318e-01] [ 2.61368386e-02 2.32039066e-03 9.99655681e-01 1.19643713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.772557844 meters Centerline goodness : 0.131943 Centerline is valid? [False, False] Translation: X:2.41, Y:0.37, Z:1.20 [[ 0.99965361 -0.00344033 -0.02609257 2.41068228] [ 0.00336585 0.99999014 -0.00289765 0.36765483] [ 0.02610228 0.00280882 0.99965533 1.19639966] [ 0. 0. 0. 1. ]] SLAMing on 199.802557844 meters Centerline goodness : 0.136537 Centerline is valid? [False, False] Translation: X:2.41, Y:0.37, Z:1.20 [[ 0.99965169 -0.00360272 -0.02614414 2.41077187] [ 0.00351707 0.9999883 -0.00332135 0.36967654] [ 0.0261558 0.00322825 0.99965267 1.19647856] [ 0. 0. 0. 1. ]] SLAMing on 199.832557844 meters Centerline goodness : 0.151361 Centerline is valid? [False, False] Translation: X:2.41, Y:0.37, Z:1.20 [[ 0.99964391 -0.00372912 -0.02642263 2.41159724] [ 0.00363315 0.99998663 -0.0036789 0.37164844] [ 0.026436 0.0035816 0.99964409 1.19625219] [ 0. 0. 0. 1. ]] SLAMing on 199.862557844 meters Centerline goodness : 0.151161 Centerline is valid? [False, False] Translation: X:2.42, Y:0.37, Z:1.19 [[ 9.99613519e-01 -1.89061651e-03 -2.77351290e-02 2.41772289e+00] [ 1.83776069e-03 9.99996447e-01 -1.93110174e-03 3.74115380e-01] [ 2.77386814e-02 1.87938488e-03 9.99613442e-01 1.19309310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.892557844 meters Centerline goodness : 0.147964 Centerline is valid? [False, False] Translation: X:2.42, Y:0.37, Z:1.19 [[ 9.99606503e-01 -2.01143559e-03 -2.79784445e-02 2.41856742e+00] [ 1.95271290e-03 9.99995833e-01 -2.12601867e-03 3.74749325e-01] [ 2.79826043e-02 2.07054822e-03 9.99606266e-01 1.19266754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.922557844 meters Centerline goodness : 0.155041 Centerline is valid? [False, False] Translation: X:2.42, Y:0.38, Z:1.19 [[ 9.99606980e-01 -2.13543900e-03 -2.79521867e-02 2.41842752e+00] [ 2.07128117e-03 9.99995154e-01 -2.32402359e-03 3.75340953e-01] [ 2.79570141e-02 2.26521337e-03 9.99606560e-01 1.19275335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.952557844 meters Centerline goodness : 0.132592 Centerline is valid? [False, False] Translation: X:2.42, Y:0.38, Z:1.19 [[ 9.99611381e-01 -2.24239690e-03 -2.77859418e-02 2.41778951e+00] [ 2.17199940e-03 9.99994355e-01 -2.56348777e-03 3.76448382e-01] [ 2.77915333e-02 2.50214050e-03 9.99610609e-01 1.19314147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.982557844 meters Centerline goodness : 0.138087 Centerline is valid? [False, False] Translation: X:2.44, Y:0.38, Z:1.19 [[ 9.99637854e-01 -7.89699618e-03 -2.57254335e-02 2.43818299e+00] [ 7.93630888e-03 9.99967490e-01 1.42642248e-03 3.78836661e-01] [ 2.57133327e-02 -1.63007089e-03 9.99668029e-01 1.19377670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.012557844 meters Centerline goodness : 0.147705 Centerline is valid? [False, False] Translation: X:2.42, Y:0.38, Z:1.19 [[ 9.99629943e-01 1.10015342e-03 -2.71802683e-02 2.41731729e+00] [-1.08712146e-03 9.99999287e-01 4.94236058e-04 3.77143089e-01] [ 2.71807926e-02 -4.64504910e-04 9.99630426e-01 1.19287603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04255784400002 meters Centerline goodness : 0.130520 Centerline is valid? [False, False] Translation: X:2.44, Y:0.38, Z:1.19 [[ 9.99625656e-01 7.81897858e-03 -2.62185417e-02 2.43931939e+00] [-7.87569375e-03 9.99966863e-01 -2.06060467e-03 3.75485943e-01] [ 2.62015611e-02 2.26632250e-03 9.99654111e-01 1.19301542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07255784400002 meters Centerline goodness : 0.127921 Centerline is valid? [False, False] Translation: X:2.41, Y:0.38, Z:1.19 [[ 9.99664319e-01 2.32193551e-03 -2.58042392e-02 2.41486777e+00] [-2.30504151e-03 9.99997109e-01 6.84424055e-04 3.81818307e-01] [ 2.58057538e-02 -6.24714464e-04 9.99666781e-01 1.19412231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10255784400002 meters Centerline goodness : 0.156843 Centerline is valid? [False, False] Translation: X:2.41, Y:0.38, Z:1.19 [[ 9.99670987e-01 2.35794360e-03 -2.55413101e-02 2.41376418e+00] [-2.34982494e-03 9.99997179e-01 3.47872922e-04 3.84194127e-01] [ 2.55420583e-02 -2.87740859e-04 9.99673707e-01 1.19496426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13255784400002 meters Centerline goodness : 0.150730 Centerline is valid? [False, False] Translation: X:2.41, Y:0.39, Z:1.20 [[ 9.99674066e-01 2.31051180e-03 -2.54248432e-02 2.41317115e+00] [-2.31248542e-03 9.99997325e-01 -4.82236356e-05 3.86477022e-01] [ 2.54246638e-02 1.07002497e-04 9.99676735e-01 1.19559713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16255784400002 meters Centerline goodness : 0.147515 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99700471e-01 -4.25827730e-03 -2.41005390e-02 2.43631905e+00] [ 4.31695705e-03 9.99987842e-01 2.38328562e-03 3.88200162e-01] [ 2.40900973e-02 -2.48661275e-03 9.99706699e-01 1.19485382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19255784400002 meters Centerline goodness : 0.126312 Centerline is valid? [False, False] Translation: X:2.42, Y:0.39, Z:1.19 [[ 9.99677559e-01 3.74504207e-03 -2.51147983e-02 2.41621046e+00] [-3.74269936e-03 9.99992986e-01 1.40285452e-04 3.87393223e-01] [ 2.51151475e-02 -4.62430786e-05 9.99684564e-01 1.19308368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22255784400002 meters Centerline goodness : 0.145233 Centerline is valid? [False, False] Translation: X:2.42, Y:0.39, Z:1.19 [[ 9.99680002e-01 3.66835946e-03 -2.50287222e-02 2.41589618e+00] [-3.66996353e-03 9.99993265e-01 -1.81549938e-05 3.88193242e-01] [ 2.50284870e-02 1.10003682e-04 9.99686732e-01 1.19322158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25255784400002 meters Centerline goodness : 0.130356 Centerline is valid? [False, False] Translation: X:2.42, Y:0.39, Z:1.19 [[ 9.99685231e-01 3.60909055e-03 -2.48276865e-02 2.41506323e+00] [-3.61344309e-03 9.99993463e-01 -1.30448326e-04 3.88791316e-01] [ 2.48270534e-02 2.20120697e-04 9.99691737e-01 1.19379689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28255784400002 meters Centerline goodness : 0.143603 Centerline is valid? [False, False] Translation: X:2.43, Y:0.39, Z:1.20 [[ 9.99704431e-01 -5.41729255e-03 -2.37002696e-02 2.43483857e+00] [ 5.43842799e-03 9.99984869e-01 8.27415903e-04 3.91490865e-01] [ 2.36954286e-02 -9.56063554e-04 9.99718767e-01 1.19629996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.312557844 meters Centerline goodness : 0.147678 Centerline is valid? [False, False] Translation: X:2.42, Y:0.39, Z:1.19 [[ 9.99691712e-01 3.08144301e-03 -2.46370970e-02 2.41544900e+00] [-3.09668120e-03 9.99995037e-01 -5.80377380e-04 3.88309413e-01] [ 2.46351863e-02 6.56491692e-04 9.99696292e-01 1.19459401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342557844 meters Centerline goodness : 0.133592 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99674794e-01 -5.51915393e-03 -2.48966814e-02 2.43669907e+00] [ 5.53244040e-03 9.99984588e-01 4.64815149e-04 3.91895017e-01] [ 2.48937323e-02 -6.02403394e-04 9.99689922e-01 1.19595604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.372557844 meters Centerline goodness : 0.131430 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99677227e-01 -5.62456814e-03 -2.47750957e-02 2.43655942e+00] [ 5.63167809e-03 9.99984118e-01 2.17214872e-04 3.93463054e-01] [ 2.47734804e-02 -3.56670125e-04 9.99693027e-01 1.19572073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402557844 meters Centerline goodness : 0.142885 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99682363e-01 -5.70742890e-03 -2.45478613e-02 2.43571624e+00] [ 5.71103039e-03 9.99983689e-01 7.66077685e-05 3.94014307e-01] [ 2.45470237e-02 -2.16777017e-04 9.99698653e-01 1.19616926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.432557844 meters Centerline goodness : 0.137703 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99686013e-01 -5.78450435e-03 -2.43806088e-02 2.43509617e+00] [ 5.78597771e-03 9.99983261e-01 -1.01119643e-05 3.94201507e-01] [ 2.43802592e-02 -1.30956870e-04 9.99702749e-01 1.19649886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.462557844 meters Centerline goodness : 0.121922 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99683410e-01 -5.83452674e-03 -2.44752603e-02 2.43530370e+00] [ 5.83468342e-03 9.99982976e-01 -6.50123453e-05 3.94311612e-01] [ 2.44752230e-02 -7.78136328e-05 9.99700434e-01 1.19652224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.492557844 meters Centerline goodness : 0.129047 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99681220e-01 -5.91405028e-03 -2.45455205e-02 2.43578544e+00] [ 5.91092069e-03 9.99982510e-01 -2.00054605e-04 3.94832301e-01] [ 2.45462743e-02 5.49042071e-05 9.99698693e-01 1.19602748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.522557844 meters Centerline goodness : 0.133317 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:1.20 [[ 9.99675080e-01 -5.98434679e-03 -2.47774346e-02 2.43694768e+00] [ 5.97716343e-03 9.99982070e-01 -3.63966796e-04 3.95739176e-01] [ 2.47791685e-02 2.15749759e-04 9.99692926e-01 1.19504897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.552557844 meters Centerline goodness : 0.125802 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:1.20 [[ 9.99672939e-01 -5.98814396e-03 -2.48627544e-02 2.43715357e+00] [ 5.97989313e-03 9.99982038e-01 -4.06192230e-04 3.96093842e-01] [ 2.48647402e-02 2.57382766e-04 9.99690791e-01 1.19507370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.582557844 meters Centerline goodness : 0.135196 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:1.20 [[ 9.99672358e-01 -5.97191219e-03 -2.48900048e-02 2.43699636e+00] [ 5.96425429e-03 9.99982141e-01 -3.81895637e-04 3.96017683e-01] [ 2.48918410e-02 2.33320194e-04 9.99690123e-01 1.19546182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.612557844 meters Centerline goodness : 0.145342 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:1.20 [[ 9.99671772e-01 -5.92559998e-03 -2.49246016e-02 2.43664280e+00] [ 5.92173820e-03 9.99982440e-01 -2.28746053e-04 3.95093956e-01] [ 2.49255194e-02 8.10740062e-05 9.99689308e-01 1.19616158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.642557844 meters Centerline goodness : 0.117402 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99672060e-01 -5.85545737e-03 -2.49296293e-02 2.43677736e+00] [ 5.85629427e-03 9.99982851e-01 -3.94390005e-05 3.94116691e-01] [ 2.49294327e-02 -1.06569178e-04 9.99689208e-01 1.19592043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.672557844 meters Centerline goodness : 0.116132 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99678031e-01 -5.76144134e-03 -2.47111522e-02 2.43654828e+00] [ 5.76952085e-03 9.99983323e-01 2.55672970e-04 3.92567130e-01] [ 2.47092671e-02 -3.98162159e-04 9.99694600e-01 1.19531179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.702557844 meters Centerline goodness : 0.123279 Centerline is valid? [False, False] Translation: X:2.42, Y:0.39, Z:1.19 [[ 9.99687585e-01 3.03714271e-03 -2.48094271e-02 2.41644270e+00] [-3.05855035e-03 9.99994982e-01 -8.24982459e-04 3.89297208e-01] [ 2.48067971e-02 9.00605605e-04 9.99691858e-01 1.19332897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.732557844 meters Centerline goodness : 0.135336 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99692954e-01 -5.35509683e-03 -2.41934138e-02 2.43686141e+00] [ 5.36744679e-03 9.99985496e-01 4.45558271e-04 3.91300078e-01] [ 2.41906769e-02 -5.75278325e-04 9.99707197e-01 1.19463057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.762557844 meters Centerline goodness : 0.130281 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99679126e-01 -5.15782124e-03 -2.48000288e-02 2.43861648e+00] [ 5.17754563e-03 9.99986329e-01 7.31191189e-04 3.90291523e-01] [ 2.47959184e-02 -8.59359850e-04 9.99692165e-01 1.19427728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79255784400002 meters Centerline goodness : 0.130281 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99679126e-01 -5.15782124e-03 -2.48000288e-02 2.43861648e+00] [ 5.17754563e-03 9.99986329e-01 7.31191189e-04 3.90291523e-01] [ 2.47959184e-02 -8.59359850e-04 9.99692165e-01 1.19427728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82255784400002 meters Centerline goodness : 0.122847 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99677724e-01 -5.08475300e-03 -2.48715257e-02 2.43880939e+00] [ 5.10782476e-03 9.99986582e-01 8.64195803e-04 3.89715784e-01] [ 2.48667977e-02 -9.90956688e-04 9.99690282e-01 1.19424475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85255784400002 meters Centerline goodness : 0.148614 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99682045e-01 -5.02557749e-03 -2.47093613e-02 2.43827495e+00] [ 5.05104983e-03 9.99986774e-01 9.68572271e-04 3.89216994e-01] [ 2.47041669e-02 -1.09307252e-03 9.99694208e-01 1.19443356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88255784400002 meters Centerline goodness : 0.122721 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99691047e-01 -4.96878457e-03 -2.43540920e-02 2.43719789e+00] [ 4.99780027e-03 9.99986872e-01 1.13068672e-03 3.88295852e-01] [ 2.43481541e-02 -1.25205428e-03 9.99702756e-01 1.19469659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91255784400002 meters Centerline goodness : 0.129072 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99697607e-01 -4.88446339e-03 -2.41005326e-02 2.43636893e+00] [ 4.91897800e-03 9.99986959e-01 1.37303371e-03 3.86963750e-01] [ 2.40935118e-02 -1.49116851e-03 9.99708597e-01 1.19498276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94255784400002 meters Centerline goodness : 0.134560 Centerline is valid? [False, False] Translation: X:2.44, Y:0.38, Z:1.19 [[ 9.99701021e-01 -4.68592146e-03 -2.39981361e-02 2.43624938e+00] [ 4.73506749e-03 9.99986806e-01 1.99149493e-03 3.83790122e-01] [ 2.39884875e-02 -2.10453231e-03 9.99710020e-01 1.19462407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97255784400002 meters Centerline goodness : 0.142660 Centerline is valid? [False, False] Translation: X:2.46, Y:0.38, Z:1.20 [[ 9.99686791e-01 2.70976233e-03 -2.48792323e-02 2.45568235e+00] [-2.67585503e-03 9.99995445e-01 1.39606631e-03 3.76761834e-01] [ 2.48829020e-02 -1.32905583e-03 9.99689489e-01 1.19623199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00255784400002 meters Centerline goodness : 0.126379 Centerline is valid? [False, False] Translation: X:2.41, Y:0.38, Z:1.20 [[ 9.99604450e-01 3.53575085e-03 -2.79005817e-02 2.41107950e+00] [-3.49677027e-03 9.99992841e-01 1.44579121e-03 3.79695444e-01] [ 2.79054939e-02 -1.34765741e-03 9.99609657e-01 1.19644332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03255784400002 meters Centerline goodness : 0.130670 Centerline is valid? [False, False] Translation: X:2.45, Y:0.37, Z:1.20 [[ 9.99670233e-01 2.29720653e-03 -2.55763062e-02 2.45371433e+00] [-2.25635270e-03 9.99996132e-01 1.62607578e-03 3.72680993e-01] [ 2.55799427e-02 -1.56783039e-03 9.99671550e-01 1.19760650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062557844 meters Centerline goodness : 0.142487 Centerline is valid? [False, False] Translation: X:2.45, Y:0.37, Z:1.20 [[ 9.99680888e-01 2.35252723e-03 -2.51513091e-02 2.45220643e+00] [-2.30577457e-03 9.99995560e-01 1.88769564e-03 3.71046626e-01] [ 2.51556382e-02 -1.82910001e-03 9.99681874e-01 1.19823472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.092557844 meters Centerline goodness : 0.126499 Centerline is valid? [False, False] Translation: X:2.45, Y:0.37, Z:1.20 [[ 9.99688127e-01 2.40947520e-03 -2.48564467e-02 2.45113349e+00] [-2.35721574e-03 9.99994950e-01 2.13153721e-03 3.69631245e-01] [ 2.48614570e-02 -2.07228043e-03 9.99688758e-01 1.19866204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122557844 meters Centerline goodness : 0.149148 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.20 [[ 9.99621370e-01 3.23747947e-03 -2.73246414e-02 2.40467408e+00] [-3.17668520e-03 9.99992382e-01 2.26800407e-03 3.72715642e-01] [ 2.73317759e-02 -2.18034355e-03 9.99624039e-01 1.19940212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.152557844 meters Centerline goodness : 0.131539 Centerline is valid? [False, False] Translation: X:2.43, Y:0.37, Z:1.20 [[ 0.99962695 -0.00386187 -0.0270377 2.42646841] [ 0.0039984 0.99997952 0.00499754 0.3727131 ] [ 0.02701785 -0.00510379 0.99962192 1.19992994] [ 0. 0. 0. 1. ]] SLAMing on 201.182557844 meters Centerline goodness : 0.137207 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 0.9995442 -0.00307106 -0.03003265 2.383107 ] [ 0.00322023 0.99998271 0.00491972 0.37494054] [ 0.03001702 -0.00501419 0.99953681 1.19911178] [ 0. 0. 0. 1. ]] SLAMing on 201.212557844 meters Centerline goodness : 0.141026 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.20 [[ 0.99956224 0.00433935 -0.02926598 2.40183568] [-0.00423838 0.99998485 0.00351119 0.36884682] [ 0.02928077 -0.00338561 0.99956549 1.20113645] [ 0. 0. 0. 1. ]] SLAMing on 201.242557844 meters Centerline goodness : 0.140437 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99581590e-01 -1.81213249e-03 -2.88679822e-02 2.37744997e+00] [ 1.98007706e-03 9.99981277e-01 5.79015259e-03 3.74076099e-01] [ 2.88569491e-02 -5.84489076e-03 9.99566463e-01 1.20179756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.272557844 meters Centerline goodness : 0.139346 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.20 [[ 0.99960333 0.00705667 -0.02726497 2.39898815] [-0.00690281 0.99995974 0.00573283 0.37207247] [ 0.02730433 -0.00554235 0.9996118 1.20182064] [ 0. 0. 0. 1. ]] SLAMing on 201.302557844 meters Centerline goodness : 0.146794 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99636454e-01 -2.65838310e-04 -2.69608852e-02 2.38122612e+00] [ 4.46454907e-04 9.99977499e-01 6.69341047e-03 3.79784896e-01] [ 2.69584992e-02 -6.70301392e-03 9.99614080e-01 1.19927999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.332557844 meters Centerline goodness : 0.143902 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99634792e-01 -3.88945108e-04 -2.70209433e-02 2.38153111e+00] [ 5.62038677e-04 9.99979371e-01 6.39860459e-03 3.81003514e-01] [ 2.70178971e-02 -6.41145458e-03 9.99614389e-01 1.19903539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.362557844 meters Centerline goodness : 0.132104 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99630025e-01 -5.00981975e-04 -2.71948736e-02 2.38200315e+00] [ 6.67318677e-04 9.99981125e-01 6.10774184e-03 3.82357206e-01] [ 2.71913005e-02 -6.12362977e-03 9.99611492e-01 1.19892499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.392557844 meters Centerline goodness : 0.126841 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99628040e-01 -4.96920441e-04 -2.72678151e-02 2.38208966e+00] [ 6.62979892e-04 9.99981289e-01 6.08124072e-03 3.82698059e-01] [ 2.72642830e-02 -6.09705675e-03 9.99609666e-01 1.19908175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.422557844 meters Centerline goodness : 0.147456 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99633264e-01 -4.76573978e-04 -2.70760189e-02 2.38140628e+00] [ 6.44067485e-04 9.99980711e-01 6.17766213e-03 3.82234559e-01] [ 2.70725525e-02 -6.19283535e-03 9.99614288e-01 1.19939869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.452557844 meters Centerline goodness : 0.129046 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99639067e-01 -4.61558580e-04 -2.68611731e-02 2.38058537e+00] [ 6.31878991e-04 9.99979749e-01 6.33262337e-03 3.81284957e-01] [ 2.68577063e-02 -6.34731073e-03 9.99619115e-01 1.19983019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.482557844 meters Centerline goodness : 0.129901 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99661172e-01 -8.80614733e-04 -2.60147226e-02 2.37812637e+00] [ 1.04496435e-03 9.99979580e-01 6.30464307e-03 3.79572061e-01] [ 2.60086394e-02 -6.32969134e-03 9.99641679e-01 1.20027901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.512557844 meters Centerline goodness : 0.131431 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99659008e-01 -7.56210220e-04 -2.61016315e-02 2.37858682e+00] [ 9.31273110e-04 9.99977151e-01 6.69546700e-03 3.77658621e-01] [ 2.60959720e-02 -6.71749165e-03 9.99636872e-01 1.19975275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54255784400002 meters Centerline goodness : 0.122627 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99654349e-01 -6.17467009e-04 -2.62831075e-02 2.37916491e+00] [ 8.03642592e-04 9.99974660e-01 7.07349576e-03 3.75887623e-01] [ 2.62780738e-02 -7.09217302e-03 9.99629513e-01 1.19948469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57255784400002 meters Centerline goodness : 0.142411 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99651006e-01 -4.88981751e-04 -2.64126456e-02 2.37955740e+00] [ 6.84153113e-04 9.99972528e-01 7.38078392e-03 3.74546924e-01] [ 2.64083109e-02 -7.39627836e-03 9.99623877e-01 1.19932683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60255784400002 meters Centerline goodness : 0.145433 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99652969e-01 -4.33071626e-04 -2.63392113e-02 2.37881525e+00] [ 6.29402543e-04 9.99972079e-01 7.44610706e-03 3.74244138e-01] [ 2.63352512e-02 -7.46010099e-03 9.99625331e-01 1.20030943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63255784400002 meters Centerline goodness : 0.129676 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99652230e-01 -4.53584019e-04 -2.63669113e-02 2.37867859e+00] [ 6.47808680e-04 9.99972719e-01 7.35815221e-03 3.74668483e-01] [ 2.63628544e-02 -7.37267397e-03 9.99625252e-01 1.20065294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66255784400002 meters Centerline goodness : 0.138773 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.20 [[ 0.99962405 0.00712107 -0.02647723 2.39787545] [-0.00695979 0.99995669 0.00617849 0.3695815 ] [ 0.02652008 -0.00599189 0.99963032 1.20264694] [ 0. 0. 0. 1. ]] SLAMing on 201.69255784400002 meters Centerline goodness : 0.131028 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99612881e-01 -9.80483183e-04 -2.78051651e-02 2.37830553e+00] [ 1.17854197e-03 9.99974046e-01 7.10760032e-03 3.75192869e-01] [ 2.77974746e-02 -7.13761839e-03 9.99588093e-01 1.20098778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72255784400002 meters Centerline goodness : 0.132013 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99615603e-01 -9.32139310e-04 -2.77088134e-02 2.37816232e+00] [ 1.13469772e-03 9.99972744e-01 7.29542756e-03 3.74272566e-01] [ 2.77012578e-02 -7.32406435e-03 9.99589415e-01 1.20076051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75255784400002 meters Centerline goodness : 0.131966 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99619667e-01 -9.02535016e-04 -2.75627655e-02 2.37774463e+00] [ 1.11173526e-03 9.99970687e-01 7.57557775e-03 3.72706532e-01] [ 2.75551203e-02 -7.60333901e-03 9.99591369e-01 1.20075473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78255784400002 meters Centerline goodness : 0.149452 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99622803e-01 -8.52844114e-04 -2.74503993e-02 2.37734443e+00] [ 1.06973009e-03 9.99968323e-01 7.88729853e-03 3.71046346e-01] [ 2.74428031e-02 -7.91368798e-03 9.99592050e-01 1.20085307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.812557844 meters Centerline goodness : 0.127643 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99623353e-01 -1.06253832e-03 -2.74230496e-02 2.37748421e+00] [ 1.29229904e-03 9.99964203e-01 8.36201760e-03 3.67595597e-01] [ 2.74131830e-02 -8.39430685e-03 9.99588942e-01 1.20031771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842557844 meters Centerline goodness : 0.127331 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99622698e-01 -9.41713661e-04 -2.74513056e-02 2.37782727e+00] [ 1.18302694e-03 9.99960793e-01 8.77567889e-03 3.65449767e-01] [ 2.74419651e-02 -8.80484345e-03 9.99584620e-01 1.19980419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.872557844 meters Centerline goodness : 0.125754 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99955971 0.00781328 -0.02862423 2.35759978] [-0.00758863 0.99993961 0.0079486 0.36100811] [ 0.02868461 -0.00772788 0.99955864 1.19799055] [ 0. 0. 0. 1. ]] SLAMing on 201.902557844 meters Centerline goodness : 0.131048 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.9995518 0.00796847 -0.02885664 2.35825916] [-0.00773574 0.99993672 0.00816777 0.36045801] [ 0.0289199 -0.00794088 0.99955019 1.19788066] [ 0. 0. 0. 1. ]] SLAMing on 201.932557844 meters Centerline goodness : 0.124096 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99954109 0.00845248 -0.02908897 2.35878297] [-0.00820889 0.99993032 0.00848333 0.36019465] [ 0.02915865 -0.00824064 0.99954083 1.19814531] [ 0. 0. 0. 1. ]] SLAMing on 201.962557844 meters Centerline goodness : 0.131492 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99954162 0.00842932 -0.02907749 2.35866832] [-0.00818773 0.99993105 0.00841751 0.36011637] [ 0.02914643 -0.00817557 0.99954172 1.19830829] [ 0. 0. 0. 1. ]] SLAMing on 201.992557844 meters Centerline goodness : 0.153127 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.9995597 0.00834311 -0.02847451 2.35610037] [-0.00811378 0.99993379 0.00815996 0.36009951] [ 0.02854071 -0.00792533 0.99956121 1.19977992] [ 0. 0. 0. 1. ]] SLAMing on 202.022557844 meters Centerline goodness : 0.162950 Centerline is valid? [False, False] Translation: X:2.35, Y:0.36, Z:1.20 [[ 0.99957105 0.00840886 -0.02805379 2.35462137] [-0.00818192 0.99993295 0.00819447 0.36010123] [ 0.02812082 -0.00796142 0.99957283 1.20053588] [ 0. 0. 0. 1. ]] SLAMing on 202.052557844 meters Centerline goodness : 0.149804 Centerline is valid? [False, False] Translation: X:2.35, Y:0.36, Z:1.20 [[ 0.99957954 0.00850157 -0.02772116 2.3534841 ] [-0.00827272 0.99993084 0.00835962 0.3594171 ] [ 0.02779031 -0.00812678 0.99958074 1.2010171 ] [ 0. 0. 0. 1. ]] SLAMing on 202.082557844 meters Centerline goodness : 0.102123 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99956131 0.00655182 -0.02888359 2.3589074 ] [-0.0063584 0.99995678 0.00678328 0.35613779] [ 0.02892678 -0.00659665 0.99955977 1.19822983] [ 0. 0. 0. 1. ]] SLAMing on 202.112557844 meters Centerline goodness : 0.105125 Centerline is valid? [False, False] Translation: X:2.36, Y:0.35, Z:1.20 [[ 0.99954819 0.00664941 -0.02931225 2.36063559] [-0.00644442 0.99995415 0.00708221 0.3546292 ] [ 0.02935799 -0.00689011 0.99954521 1.19709298] [ 0. 0. 0. 1. ]] SLAMing on 202.142557844 meters Centerline goodness : 0.126978 Centerline is valid? [False, False] Translation: X:2.36, Y:0.35, Z:1.20 [[ 0.99953799 0.00670367 -0.02964559 2.36182568] [-0.00649302 0.99995303 0.00719634 0.35412074] [ 0.02969244 -0.00700053 0.99953457 1.1964973 ] [ 0. 0. 0. 1. ]] SLAMing on 202.172557844 meters Centerline goodness : 0.132818 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99953958 0.00676616 -0.02957765 2.36147139] [-0.00655988 0.99995352 0.00706548 0.35515214] [ 0.02962408 -0.0068682 0.99953751 1.19688941] [ 0. 0. 0. 1. ]] SLAMing on 202.202557844 meters Centerline goodness : 0.103544 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99954323 0.00668132 -0.02947364 2.36087978] [-0.00648435 0.99995604 0.0067733 0.35658215] [ 0.0295176 -0.00657908 0.99954261 1.19748001] [ 0. 0. 0. 1. ]] SLAMing on 202.232557844 meters Centerline goodness : 0.133443 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99954915 0.00653954 -0.02930404 2.36036954] [-0.00635497 0.99995941 0.00638733 0.3583843 ] [ 0.02934462 -0.00619823 0.99955014 1.19765458] [ 0. 0. 0. 1. ]] SLAMing on 202.262557844 meters Centerline goodness : 0.133164 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99955064 0.00642272 -0.02927916 2.36058052] [-0.00625383 0.9999633 0.00585601 0.36148797] [ 0.0293157 -0.00567028 0.99955412 1.19724652] [ 0. 0. 0. 1. ]] SLAMing on 202.29255784400002 meters Centerline goodness : 0.129384 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99955234 0.00634642 -0.02923775 2.36062828] [-0.00618338 0.99996484 0.00566352 0.36250265] [ 0.02927267 -0.00548019 0.99955644 1.19699824] [ 0. 0. 0. 1. ]] SLAMing on 202.32255784400002 meters Centerline goodness : 0.110735 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99955344 0.00627575 -0.02921517 2.36076412] [-0.00611569 0.99996581 0.00556483 0.36288248] [ 0.02924909 -0.00538368 0.99955766 1.19666919] [ 0. 0. 0. 1. ]] SLAMing on 202.35255784400002 meters Centerline goodness : 0.141296 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99955194 0.00616569 -0.02928998 2.36106497] [-0.00600863 0.99996711 0.00544726 0.36309542] [ 0.02932261 -0.00526883 0.99955611 1.19642437] [ 0. 0. 0. 1. ]] SLAMing on 202.38255784400002 meters Centerline goodness : 0.136237 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99954075 0.00601549 -0.02970014 2.36233174] [-0.0058606 0.99996878 0.0052994 0.36349046] [ 0.02973109 -0.0051229 0.99954481 1.1959582 ] [ 0. 0. 0. 1. ]] SLAMing on 202.41255784400002 meters Centerline goodness : 0.131340 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99953486 0.00596191 -0.02990842 2.36291497] [-0.00581063 0.9999699 0.00514245 0.3645065 ] [ 0.02993818 -0.00496627 0.99953941 1.19586374] [ 0. 0. 0. 1. ]] SLAMing on 202.44255784400002 meters Centerline goodness : 0.140681 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99953055 0.00586638 -0.03007092 2.36339374] [-0.00572229 0.99997174 0.00487558 0.36599288] [ 0.03009867 -0.00470122 0.99953588 1.19577832] [ 0. 0. 0. 1. ]] SLAMing on 202.47255784400002 meters Centerline goodness : 0.137731 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99952975 0.0057833 -0.03011355 2.36353351] [-0.00564508 0.99997315 0.00467287 0.36704133] [ 0.03013977 -0.00450068 0.99953556 1.19572435] [ 0. 0. 0. 1. ]] SLAMing on 202.50255784400002 meters Centerline goodness : 0.134085 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99953886 0.00564807 -0.0298356 2.36256997] [-0.00551917 0.99997508 0.00440099 0.36822253] [ 0.02985972 -0.0042343 0.99954513 1.19617249] [ 0. 0. 0. 1. ]] SLAMing on 202.53255784400002 meters Centerline goodness : 0.133609 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99954474 0.00559545 -0.02964812 2.36197437] [-0.00546958 0.99997569 0.00432463 0.36852218] [ 0.0296716 -0.0041605 0.99955104 1.19638197] [ 0. 0. 0. 1. ]] SLAMing on 202.562557844 meters Centerline goodness : 0.130827 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99955173 0.00556724 -0.02941681 2.36126674] [-0.0054427 0.99997589 0.00431173 0.36847597] [ 0.02944011 -0.0041497 0.99955793 1.19654181] [ 0. 0. 0. 1. ]] SLAMing on 202.592557844 meters Centerline goodness : 0.139827 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99955792 0.00554784 -0.02920928 2.36052826] [-0.00542332 0.99997587 0.00434052 0.36831942] [ 0.02923266 -0.00418019 0.99956389 1.19686025] [ 0. 0. 0. 1. ]] SLAMing on 202.622557844 meters Centerline goodness : 0.131993 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99955515 0.00552683 -0.02930785 2.36073568] [-0.00540312 0.99997616 0.00429859 0.36858613] [ 0.02933091 -0.00413833 0.99956119 1.19691401] [ 0. 0. 0. 1. ]] SLAMing on 202.652557844 meters Centerline goodness : 0.132568 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99955236 0.00549967 -0.02940818 2.36104293] [-0.00537693 0.99997651 0.00425108 0.36877782] [ 0.02943087 -0.00409106 0.99955845 1.19682375] [ 0. 0. 0. 1. ]] SLAMing on 202.682557844 meters Centerline goodness : 0.132568 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99955236 0.00549967 -0.02940818 2.36104293] [-0.00537693 0.99997651 0.00425108 0.36877782] [ 0.02943087 -0.00409106 0.99955845 1.19682375] [ 0. 0. 0. 1. ]] SLAMing on 202.712557844 meters Centerline goodness : 0.130279 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99955003 0.00542058 -0.02950179 2.36125934] [-0.00530223 0.99997758 0.00408861 0.36940807] [ 0.02952329 -0.00393034 0.99955637 1.19684551] [ 0. 0. 0. 1. ]] SLAMing on 202.742557844 meters Centerline goodness : 0.134194 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99956204 0.00536689 -0.02910191 2.35987983] [-0.00526293 0.9999795 0.00364767 0.37162745] [ 0.02912089 -0.00349291 0.99956979 1.1976274 ] [ 0. 0. 0. 1. ]] SLAMing on 202.772557844 meters Centerline goodness : 0.142980 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99631066e-01 -5.85017809e-04 -2.71549345e-02 2.38227300e+00] [ 7.66213648e-04 9.99977510e-01 6.66274166e-03 3.72301013e-01] [ 2.71504260e-02 -6.68109003e-03 9.99609032e-01 1.19723677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.802557844 meters Centerline goodness : 0.147836 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99630665e-01 -6.47091760e-04 -2.71682718e-02 2.38236646e+00] [ 8.21495296e-04 9.99979127e-01 6.40871224e-03 3.73674437e-01] [ 2.71635577e-02 -6.42866389e-03 9.99610331e-01 1.19714345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.832557844 meters Centerline goodness : 0.141931 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99626428e-01 -6.49637167e-04 -2.73236641e-02 2.38298529e+00] [ 8.21784384e-04 9.99979883e-01 6.28954042e-03 3.74461554e-01] [ 2.73190285e-02 -6.30964498e-03 9.99606852e-01 1.19675172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.862557844 meters Centerline goodness : 0.138012 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99628152e-01 -6.39516796e-04 -2.72607702e-02 2.38276930e+00] [ 8.12684043e-04 9.99979561e-01 6.34164482e-03 3.74184307e-01] [ 2.72561574e-02 -6.36144108e-03 9.99608240e-01 1.19678896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.892557844 meters Centerline goodness : 0.144252 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99627719e-01 -6.06004325e-04 -2.72773894e-02 2.38268313e+00] [ 7.83235288e-04 9.99978652e-01 6.48714265e-03 3.73405031e-01] [ 2.72728758e-02 -6.50609223e-03 9.99606853e-01 1.19696772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.922557844 meters Centerline goodness : 0.132856 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99625621e-01 -7.34191195e-04 -2.73510201e-02 2.38293271e+00] [ 9.15947856e-04 9.99977579e-01 6.63339833e-03 3.72004175e-01] [ 2.73455367e-02 -6.65596703e-03 9.99603881e-01 1.19672997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.952557844 meters Centerline goodness : 0.134343 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.20 [[ 9.99538442e-01 -1.35027709e-03 -3.03492898e-02 2.33829745e+00] [ 1.51370089e-03 9.99984476e-01 5.36243520e-03 3.75111357e-01] [ 3.03415778e-02 -5.40589987e-03 9.99524970e-01 1.19654832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.982557844 meters Centerline goodness : 0.136744 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 9.99538525e-01 3.99709028e-03 -3.01124667e-02 2.36102024e+00] [-3.92740843e-03 9.99989472e-01 2.37284336e-03 3.70914976e-01] [ 3.01216342e-02 -2.25348439e-03 9.99543700e-01 1.19638470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.012557844 meters Centerline goodness : 0.134529 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99953917 0.00404733 -0.03008439 2.36102511] [-0.00397215 0.99998884 0.00255828 0.37000203] [ 0.03009441 -0.00243761 0.99954409 1.19620851] [ 0. 0. 0. 1. ]] SLAMing on 203.04255784400002 meters Centerline goodness : 0.131512 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99954408 0.00407815 -0.02991651 2.36053719] [-0.00399982 0.99998842 0.0026775 0.36941128] [ 0.02992709 -0.00255662 0.99954881 1.19625829] [ 0. 0. 0. 1. ]] SLAMing on 203.07255784400002 meters Centerline goodness : 0.124046 Centerline is valid? [False, False] Translation: X:2.31, Y:0.37, Z:1.20 [[ 9.99485750e-01 3.86737879e-03 -3.18320385e-02 2.31292923e+00] [-3.80984505e-03 9.99990998e-01 1.86787089e-03 3.71926515e-01] [ 3.18389757e-02 -1.74563520e-03 9.99491487e-01 1.19724168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10255784400002 meters Centerline goodness : 0.130050 Centerline is valid? [False, False] Translation: X:2.33, Y:0.37, Z:1.20 [[ 0.99950182 -0.0049178 -0.03117565 2.33415301] [ 0.00500306 0.99998395 0.00265737 0.37250955] [ 0.03116208 -0.00281202 0.99951039 1.19806277] [ 0. 0. 0. 1. ]] SLAMing on 203.13255784400002 meters Centerline goodness : 0.131474 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.20 [[ 0.99949499 -0.00467563 -0.03143098 2.33530132] [ 0.0047804 0.99998326 0.00325915 0.36977147] [ 0.03141522 -0.00340776 0.99950061 1.1971096 ] [ 0. 0. 0. 1. ]] SLAMing on 203.16255784400002 meters Centerline goodness : 0.129584 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.20 [[ 0.99949627 -0.00454625 -0.03140904 2.33520533] [ 0.00465898 0.99998296 0.00351681 0.36867331] [ 0.03139252 -0.00366138 0.99950043 1.19714662] [ 0. 0. 0. 1. ]] SLAMing on 203.19255784400002 meters Centerline goodness : 0.141796 Centerline is valid? [False, False] Translation: X:2.33, Y:0.37, Z:1.20 [[ 0.99950042 -0.0044454 -0.03129134 2.33465294] [ 0.00456421 0.99998264 0.00372632 0.36763301] [ 0.03127423 -0.00386728 0.99950336 1.19753298] [ 0. 0. 0. 1. ]] SLAMing on 203.22255784400002 meters Centerline goodness : 0.131388 Centerline is valid? [False, False] Translation: X:2.33, Y:0.37, Z:1.20 [[ 0.99950486 -0.00438411 -0.0311579 2.33392122] [ 0.00450845 0.99998215 0.00392143 0.36646212] [ 0.03114015 -0.00405997 0.99950678 1.19812829] [ 0. 0. 0. 1. ]] SLAMing on 203.25255784400002 meters Centerline goodness : 0.129334 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99950338 -0.00417734 -0.03123378 2.33378119] [ 0.00431723 0.99998094 0.00441278 0.36411432] [ 0.03121476 -0.00454543 0.99950237 1.19863077] [ 0. 0. 0. 1. ]] SLAMing on 203.28255784400002 meters Centerline goodness : 0.131173 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99949789 -0.00402747 -0.03142847 2.33443064] [ 0.00417765 0.99998016 0.00471434 0.36299884] [ 0.03140886 -0.00484327 0.99949489 1.19831851] [ 0. 0. 0. 1. ]] SLAMing on 203.312557844 meters Centerline goodness : 0.130045 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99949792 -0.00387729 -0.03144637 2.33471387] [ 0.00403712 0.99997925 0.00502075 0.3617985 ] [ 0.03142625 -0.00514518 0.99949283 1.19787487] [ 0. 0. 0. 1. ]] SLAMing on 203.342557844 meters Centerline goodness : 0.131478 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99950468 -0.00377376 -0.03124338 2.33429658] [ 0.00394111 0.99997821 0.0052964 0.36042477] [ 0.03122271 -0.00541691 0.99949777 1.19768833] [ 0. 0. 0. 1. ]] SLAMing on 203.372557844 meters Centerline goodness : 0.129761 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99954678 -0.00500456 -0.02968486 2.32867599] [ 0.00513268 0.99997783 0.00424117 0.36035281] [ 0.02966298 -0.00439161 0.99955031 1.19977651] [ 0. 0. 0. 1. ]] SLAMing on 203.402557844 meters Centerline goodness : 0.136573 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99955009 -0.00492361 -0.02958675 2.32816868] [ 0.00505723 0.99997734 0.00444294 0.359415 ] [ 0.02956421 -0.00459057 0.99955234 1.20016646] [ 0. 0. 0. 1. ]] SLAMing on 203.432557844 meters Centerline goodness : 0.140334 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99953264 -0.00470484 -0.03020544 2.33017987] [ 0.00485303 0.99997654 0.0048347 0.35819662] [ 0.03018198 -0.00497903 0.99953202 1.19935255] [ 0. 0. 0. 1. ]] SLAMing on 203.462557844 meters Centerline goodness : 0.096214 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99951678 -0.00465338 -0.03073353 2.33208335] [ 0.00480905 0.99997597 0.0049933 0.35746816] [ 0.03070956 -0.00513869 0.99951514 1.19834169] [ 0. 0. 0. 1. ]] SLAMing on 203.492557844 meters Centerline goodness : 0.105592 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.9995089 -0.00459907 -0.03099688 2.33323717] [ 0.0047623 0.99997517 0.00519395 0.35634452] [ 0.03097222 -0.00533902 0.99950599 1.19748553] [ 0. 0. 0. 1. ]] SLAMing on 203.522557844 meters Centerline goodness : 0.134142 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.99957986 0.00289762 -0.02883945 2.35040432] [-0.00278821 0.99998876 0.00383356 0.34864744] [ 0.02885024 -0.00375154 0.99957671 1.19948124] [ 0. 0. 0. 1. ]] SLAMing on 203.552557844 meters Centerline goodness : 0.126248 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.99958968 0.00298368 -0.028488 2.34897688] [-0.00287235 0.99998808 0.00394808 0.34832135] [ 0.02849944 -0.00386463 0.99958634 1.20036804] [ 0. 0. 0. 1. ]] SLAMing on 203.582557844 meters Centerline goodness : 0.132072 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.99959574 0.00303917 -0.02826866 2.34811464] [-0.00292615 0.99998756 0.00403869 0.34796016] [ 0.02828058 -0.00395434 0.9995922 1.20089766] [ 0. 0. 0. 1. ]] SLAMing on 203.612557844 meters Centerline goodness : 0.099471 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.99958938 0.00313427 -0.02848226 2.34919907] [-0.00301002 0.99998577 0.00440403 0.34567427] [ 0.02849566 -0.00431649 0.9995846 1.19999966] [ 0. 0. 0. 1. ]] SLAMing on 203.642557844 meters Centerline goodness : 0.103436 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.99958492 0.00323549 -0.02862731 2.34979427] [-0.00310363 0.99998437 0.00464949 0.34445329] [ 0.02864191 -0.00455871 0.99957934 1.19956849] [ 0. 0. 0. 1. ]] SLAMing on 203.672557844 meters Centerline goodness : 0.105255 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.99958176 0.00332457 -0.02872715 2.35012944] [-0.00318767 0.99998335 0.00481021 0.34377833] [ 0.02874266 -0.00471662 0.99957572 1.19941726] [ 0. 0. 0. 1. ]] SLAMing on 203.702557844 meters Centerline goodness : 0.163187 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.99958828 0.00351874 -0.02847619 2.34901636] [-0.00337909 0.99998204 0.00495077 0.3435351 ] [ 0.0284931 -0.00485251 0.99958221 1.20030304] [ 0. 0. 0. 1. ]] SLAMing on 203.732557844 meters Centerline goodness : 0.171105 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.99958727 0.00351942 -0.02851136 2.34887353] [-0.00338151 0.99998236 0.00488371 0.34385547] [ 0.02852805 -0.00478528 0.99958154 1.20070766] [ 0. 0. 0. 1. ]] SLAMing on 203.762557844 meters Centerline goodness : 0.128753 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.99958163 0.00349739 -0.02871137 2.34940609] [-0.00336164 0.99998295 0.00477527 0.34437445] [ 0.02872758 -0.00467675 0.99957634 1.20068276] [ 0. 0. 0. 1. ]] SLAMing on 203.79255784400002 meters Centerline goodness : 0.172856 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.99957437 0.00346605 -0.02896653 2.35016354] [-0.00333281 0.99998365 0.00464679 0.34504403] [ 0.02898217 -0.00454827 0.99956958 1.2004945 ] [ 0. 0. 0. 1. ]] SLAMing on 203.82255784400002 meters Centerline goodness : 0.147898 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.99957218 0.00343562 -0.0290457 2.35033777] [-0.00330681 0.99998449 0.00448171 0.34604538] [ 0.02906065 -0.00438375 0.99956804 1.20054093] [ 0. 0. 0. 1. ]] SLAMing on 203.85255784400002 meters Centerline goodness : 0.100250 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.9995765 0.00347469 -0.02889196 2.34989196] [-0.00334321 0.99998384 0.00459797 0.34554026] [ 0.02890747 -0.00449943 0.99957197 1.20055479] [ 0. 0. 0. 1. ]] SLAMing on 203.88255784400002 meters Centerline goodness : 0.161945 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.99957901 0.00352282 -0.0287993 2.34957849] [-0.00338644 0.99998283 0.00478274 0.34465776] [ 0.02881565 -0.0046832 0.99957377 1.2006185 ] [ 0. 0. 0. 1. ]] SLAMing on 203.91255784400002 meters Centerline goodness : 0.101457 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.9995808 0.00358278 -0.02872965 2.34941625] [-0.00343894 0.99998131 0.00505433 0.34330909] [ 0.02874722 -0.00495342 0.99957444 1.20051091] [ 0. 0. 0. 1. ]] SLAMing on 203.94255784400002 meters Centerline goodness : 0.167649 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99586800e-01 -4.92942421e-04 -2.87399729e-02 2.34939124e+00] [ 5.29953142e-04 9.99999040e-01 1.28017579e-03 3.42154737e-01] [ 2.87393143e-02 -1.29487766e-03 9.99586102e-01 1.20057586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97255784400002 meters Centerline goodness : 0.130568 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99590145e-01 -3.98670334e-04 -2.86248552e-02 2.34896498e+00] [ 4.47314320e-04 9.99998467e-01 1.69297847e-03 3.39925178e-01] [ 2.86241364e-02 -1.70508891e-03 9.99588791e-01 1.20070693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00255784400002 meters Centerline goodness : 0.102302 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99593122e-01 -2.88013325e-04 -2.85220701e-02 2.34863622e+00] [ 3.47369585e-04 9.99997785e-01 2.07613124e-03 3.37978784e-01] [ 2.85214089e-02 -2.08519420e-03 9.99591007e-01 1.20074552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03255784400002 meters Centerline goodness : 0.101635 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99596152e-01 -1.03559374e-04 -2.84169312e-02 2.34856813e+00] [ 1.78746224e-04 9.99996490e-01 2.64331949e-03 3.35283824e-01] [ 2.84165577e-02 -2.64733141e-03 9.99592662e-01 1.20029782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062557844 meters Centerline goodness : 0.114223 Centerline is valid? [False, False] Translation: X:2.30, Y:0.34, Z:1.20 [[ 9.99527551e-01 5.72578417e-05 -3.07355236e-02 2.30293051e+00] [ 1.77992185e-05 9.99997019e-01 2.44175051e-03 3.37933041e-01] [ 3.07355718e-02 -2.44114397e-03 9.99524570e-01 1.20011882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.092557844 meters Centerline goodness : 0.105677 Centerline is valid? [False, False] Translation: X:2.35, Y:0.33, Z:1.20 [[ 9.99583697e-01 -6.60214119e-04 -2.88443404e-02 2.34655416e+00] [ 7.26452111e-04 9.99997123e-01 2.28597590e-03 3.33968724e-01] [ 2.88427482e-02 -2.30597827e-03 9.99581302e-01 1.20093367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122557844 meters Centerline goodness : 0.102873 Centerline is valid? [False, False] Translation: X:2.35, Y:0.33, Z:1.20 [[ 9.99583628e-01 -6.57351729e-04 -2.88468147e-02 2.34640236e+00] [ 7.23121582e-04 9.99997163e-01 2.26959650e-03 3.33981147e-01] [ 2.88452410e-02 -2.28951126e-03 9.99581267e-01 1.20123797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.152557844 meters Centerline goodness : 0.104031 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99572176e-01 -4.07702546e-04 -2.92454859e-02 2.34712802e+00] [ 4.71058875e-04 9.99997557e-01 2.15950575e-03 3.35477293e-01] [ 2.92445340e-02 -2.17235820e-03 9.99569927e-01 1.20177851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.182557844 meters Centerline goodness : 0.108620 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99562632e-01 -4.51257449e-04 -2.95692521e-02 2.34798880e+00] [ 5.04491316e-04 9.99998266e-01 1.79287595e-03 3.37546530e-01] [ 2.95683918e-02 -1.80700923e-03 9.99561126e-01 1.20179747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.212557844 meters Centerline goodness : 0.108985 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99556734e-01 -5.24728502e-04 -2.97667628e-02 2.34848688e+00] [ 5.64684401e-04 9.99998951e-01 1.33390871e-03 3.39960783e-01] [ 2.97660316e-02 -1.35012626e-03 9.99555982e-01 1.20190510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.242557844 meters Centerline goodness : 0.111790 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 9.99570927e-01 2.15563307e-03 -2.92115624e-02 2.34542299e+00] [-2.06438420e-03 9.99992897e-01 3.15352295e-03 3.45948366e-01] [ 2.92181527e-02 -3.09186598e-03 9.99568277e-01 1.20372296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.272557844 meters Centerline goodness : 0.104007 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 9.99570537e-01 1.98732303e-03 -2.92368395e-02 2.34544946e+00] [-1.91186761e-03 9.99994770e-01 2.60856215e-03 3.48726673e-01] [ 2.92418707e-02 -2.55154490e-03 9.99569108e-01 1.20382757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.302557844 meters Centerline goodness : 0.102429 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 9.99565569e-01 1.84967553e-03 -2.94151592e-02 2.34597012e+00] [-1.78614961e-03 9.99996016e-01 2.18576111e-03 3.50968553e-01] [ 2.94190849e-02 -2.13227167e-03 9.99564891e-01 1.20374743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.332557844 meters Centerline goodness : 0.111401 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 9.99544378e-01 1.67846046e-03 -3.01366793e-02 2.34874056e+00] [-1.62296685e-03 9.99996942e-01 1.86576418e-03 3.52351958e-01] [ 3.01397188e-02 -1.81600327e-03 9.99544046e-01 1.20216783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.362557844 meters Centerline goodness : 0.164692 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 9.99533721e-01 1.65874239e-03 -3.04891563e-02 2.35013356e+00] [-1.60020562e-03 9.99996830e-01 1.94422094e-03 3.51781855e-01] [ 3.04922846e-02 -1.89452547e-03 9.99533207e-01 1.20130828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.392557844 meters Centerline goodness : 0.149034 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 9.99531017e-01 1.65310813e-03 -3.05779751e-02 2.35056900e+00] [-1.59399892e-03 9.99996814e-01 1.95734047e-03 3.51673382e-01] [ 3.05811134e-02 -1.90768125e-03 9.99530468e-01 1.20094658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.422557844 meters Centerline goodness : 0.114720 Centerline is valid? [False, False] Translation: X:2.34, Y:0.35, Z:1.20 [[ 0.99957214 0.00360645 -0.02902651 2.34356035] [-0.0035062 0.99998771 0.0035038 0.35402671] [ 0.02903879 -0.00340053 0.9995725 1.20460701] [ 0. 0. 0. 1. ]] SLAMing on 204.452557844 meters Centerline goodness : 0.105788 Centerline is valid? [False, False] Translation: X:2.34, Y:0.36, Z:1.21 [[ 0.99957622 0.003414 -0.02890895 2.34299087] [-0.00333169 0.99999026 0.00289506 0.35694036] [ 0.02891856 -0.00279752 0.99957786 1.20517388] [ 0. 0. 0. 1. ]] SLAMing on 204.482557844 meters Centerline goodness : 0.134372 Centerline is valid? [False, False] Translation: X:2.35, Y:0.36, Z:1.20 [[ 9.99552432e-01 3.44397750e-03 -2.97165625e-02 2.34544789e+00] [-3.38288935e-03 9.99992061e-01 2.10572399e-03 3.62052410e-01] [ 2.97235786e-02 -2.00425370e-03 9.99556147e-01 1.20457204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.512557844 meters Centerline goodness : 0.161265 Centerline is valid? [False, False] Translation: X:2.35, Y:0.36, Z:1.20 [[ 9.99551870e-01 3.27494354e-03 -2.97545767e-02 2.34573856e+00] [-3.22812137e-03 9.99993475e-01 1.62151244e-03 3.64451587e-01] [ 2.97596929e-02 -1.52473441e-03 9.99555919e-01 1.20426440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54255784400002 meters Centerline goodness : 0.161599 Centerline is valid? [False, False] Translation: X:2.35, Y:0.37, Z:1.20 [[ 9.99558888e-01 3.11252581e-03 -2.95354224e-02 2.34508523e+00] [-3.07815769e-03 9.99994532e-01 1.20901970e-03 3.66332326e-01] [ 2.95390240e-02 -1.11757170e-03 9.99563003e-01 1.20444914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57255784400002 meters Centerline goodness : 0.130589 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.21 [[ 9.99594345e-01 -5.66221281e-03 -2.79120773e-02 2.36495732e+00] [ 5.71307785e-03 9.99982161e-01 1.74291965e-03 3.70432200e-01] [ 2.79017106e-02 -1.90167649e-03 9.99608863e-01 1.20566032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60255784400002 meters Centerline goodness : 0.130589 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.21 [[ 9.99594345e-01 -5.66221281e-03 -2.79120773e-02 2.36495732e+00] [ 5.71307785e-03 9.99982161e-01 1.74291965e-03 3.70432200e-01] [ 2.79017106e-02 -1.90167649e-03 9.99608863e-01 1.20566032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63255784400002 meters Centerline goodness : 0.163575 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.20 [[ 9.99608407e-01 2.67583812e-03 -2.78544969e-02 2.34361579e+00] [-2.66643081e-03 9.99996375e-01 3.74868119e-04 3.67909693e-01] [ 2.78553990e-02 -3.00449235e-04 9.99611918e-01 1.20421322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66255784400002 meters Centerline goodness : 0.109037 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.21 [[ 9.99589227e-01 -6.04444395e-03 -2.80150234e-02 2.36410505e+00] [ 6.07986106e-03 9.99980822e-01 1.17920953e-03 3.72731448e-01] [ 2.80073585e-02 -1.34905259e-03 9.99606807e-01 1.20614932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69255784400002 meters Centerline goodness : 0.131074 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.21 [[ 9.99588657e-01 -6.13595019e-03 -2.80154889e-02 2.36412516e+00] [ 6.16633690e-03 9.99980490e-01 9.98374325e-04 3.73625637e-01] [ 2.80088164e-02 -1.17071659e-03 9.99606991e-01 1.20609318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72255784400002 meters Centerline goodness : 0.126169 Centerline is valid? [False, False] Translation: X:2.36, Y:0.38, Z:1.21 [[ 9.99589915e-01 -6.35117546e-03 -2.79224543e-02 2.36376507e+00] [ 6.36688609e-03 9.99979619e-01 4.73780755e-04 3.76337356e-01] [ 2.79188762e-02 -6.51365551e-04 9.99609980e-01 1.20633621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75255784400002 meters Centerline goodness : 0.126163 Centerline is valid? [False, False] Translation: X:2.36, Y:0.38, Z:1.21 [[ 9.99590567e-01 -6.46984108e-03 -2.78718485e-02 2.36359212e+00] [ 6.47714427e-03 9.99979008e-01 1.71752019e-04 3.77862107e-01] [ 2.78701522e-02 -3.52211681e-04 9.99611490e-01 1.20642634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78255784400002 meters Centerline goodness : 0.121048 Centerline is valid? [False, False] Translation: X:2.36, Y:0.38, Z:1.21 [[ 9.99588777e-01 -6.60277410e-03 -2.79048291e-02 2.36364250e+00] [ 6.60120635e-03 9.99978201e-01 -1.48303131e-04 3.79329151e-01] [ 2.79052000e-02 -3.59633896e-05 9.99610573e-01 1.20650408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.812557844 meters Centerline goodness : 0.123419 Centerline is valid? [False, False] Translation: X:2.36, Y:0.38, Z:1.21 [[ 9.99576038e-01 -6.88924231e-03 -2.82892573e-02 2.36491774e+00] [ 6.86827188e-03 9.99976062e-01 -8.38388660e-04 3.82541429e-01] [ 2.82943560e-02 6.43734904e-04 9.99599427e-01 1.20601159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842557844 meters Centerline goodness : 0.151371 Centerline is valid? [False, False] Translation: X:2.35, Y:0.38, Z:1.20 [[ 9.99556680e-01 2.07393835e-03 -2.97008687e-02 2.34507921e+00] [-2.13184559e-03 9.99995888e-01 -1.91814844e-03 3.81948224e-01] [ 2.96967684e-02 1.98061575e-03 9.99556991e-01 1.20441233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.872557844 meters Centerline goodness : 0.135684 Centerline is valid? [False, False] Translation: X:2.35, Y:0.38, Z:1.20 [[ 9.99538372e-01 1.95693539e-03 -3.03185453e-02 2.34688688e+00] [-2.03078316e-03 9.99995046e-01 -2.40512852e-03 3.84858789e-01] [ 3.03136884e-02 2.46558864e-03 9.99537394e-01 1.20403132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902557844 meters Centerline goodness : 0.134936 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99536666e-01 1.88852022e-03 -3.03790522e-02 2.34693684e+00] [-1.96753571e-03 9.99994759e-01 -2.57130372e-03 3.85676712e-01] [ 3.03740370e-02 2.62988421e-03 9.99535143e-01 1.20423603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.932557844 meters Centerline goodness : 0.148176 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99538611e-01 1.80023718e-03 -3.03203567e-02 2.34661009e+00] [-1.88617362e-03 9.99994285e-01 -2.80591905e-03 3.86824540e-01] [ 3.03151321e-02 2.86181389e-03 9.99536294e-01 1.20456345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.962557844 meters Centerline goodness : 0.148255 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99543422e-01 1.70313397e-03 -3.01669987e-02 2.34608164e+00] [-1.79854276e-03 9.99993466e-01 -3.13583519e-03 3.88486715e-01] [ 3.01614608e-02 3.18866008e-03 9.99539954e-01 1.20487637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.992557844 meters Centerline goodness : 0.121208 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99567195e-01 1.60249028e-03 -2.93743960e-02 2.34378949e+00] [-1.71361701e-03 9.99991469e-01 -3.75833220e-03 3.91562604e-01] [ 2.93681227e-02 3.80704204e-03 9.99561414e-01 1.20554413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.022557844 meters Centerline goodness : 0.125163 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99574986e-01 1.49761644e-03 -2.91136628e-02 2.34294376e+00] [-1.61572374e-03 9.99990559e-01 -4.03366405e-03 3.92732537e-01] [ 2.91073471e-02 4.07898932e-03 9.99567969e-01 1.20586289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.052557844 meters Centerline goodness : 0.138546 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99575378e-01 1.44846454e-03 -2.91026741e-02 2.34271480e+00] [-1.57178100e-03 9.99989882e-01 -4.21486019e-03 3.93588174e-01] [ 2.90962745e-02 4.25881349e-03 9.99567541e-01 1.20620613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.082557844 meters Centerline goodness : 0.115320 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99568567e-01 1.46947722e-03 -2.93346220e-02 2.34340434e+00] [-1.59534806e-03 9.99989620e-01 -4.26791951e-03 3.94042219e-01] [ 2.93280459e-02 4.31287712e-03 9.99560536e-01 1.20605405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.112557844 meters Centerline goodness : 0.117128 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99546747e-01 1.64750426e-03 -3.00596990e-02 2.34586073e+00] [-1.76739681e-03 9.99990588e-01 -3.96234794e-03 3.92803635e-01] [ 3.00528881e-02 4.01367941e-03 9.99540251e-01 1.20492842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.142557844 meters Centerline goodness : 0.136382 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99542771e-01 1.71637439e-03 -3.01877922e-02 2.34647103e+00] [-1.83017748e-03 9.99991322e-01 -3.74261132e-03 3.91573498e-01] [ 3.01811065e-02 3.79614911e-03 9.99537238e-01 1.20442613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.172557844 meters Centerline goodness : 0.124829 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99538899e-01 1.80409283e-03 -3.03106373e-02 2.34686009e+00] [-1.91169570e-03 9.99991973e-01 -3.52139964e-03 3.90443764e-01] [ 3.03040410e-02 3.57772063e-03 9.99534324e-01 1.20425188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.202557844 meters Centerline goodness : 0.115404 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99550359e-01 2.00807208e-03 -2.99173300e-02 2.34544721e+00] [-2.10470941e-03 9.99992668e-01 -3.19900501e-03 3.89170644e-01] [ 2.99106868e-02 3.26053389e-03 9.99547257e-01 1.20491562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.232557844 meters Centerline goodness : 0.170069 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99561880e-01 2.10253506e-03 -2.95233384e-02 2.34408160e+00] [-2.19447391e-03 9.99992843e-01 -3.08205181e-03 3.88777963e-01] [ 2.95166470e-02 3.14548969e-03 9.99559340e-01 1.20555660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.262557844 meters Centerline goodness : 0.132658 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99567947e-01 2.18039482e-03 -2.93115291e-02 2.34327076e+00] [-2.26769727e-03 9.99993091e-01 -2.94552209e-03 3.88140245e-01] [ 2.93049041e-02 3.01071914e-03 9.99565985e-01 1.20598795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29255784400002 meters Centerline goodness : 0.134144 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99566137e-01 2.27571079e-03 -2.93659311e-02 2.34357807e+00] [-2.35765196e-03 9.99993423e-01 -2.75602506e-03 3.87210999e-01] [ 2.93594661e-02 2.82406397e-03 9.99564929e-01 1.20569290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32255784400002 meters Centerline goodness : 0.172177 Centerline is valid? [False, False] Translation: X:2.35, Y:0.38, Z:1.20 [[ 9.99549196e-01 2.56915876e-03 -2.99132699e-02 2.34563259e+00] [-2.63637479e-03 9.99994088e-01 -2.20780715e-03 3.84794217e-01] [ 2.99074208e-02 2.28567445e-03 9.99550060e-01 1.20446924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35255784400002 meters Centerline goodness : 0.130432 Centerline is valid? [False, False] Translation: X:2.35, Y:0.38, Z:1.20 [[ 9.99548945e-01 2.68411077e-03 -2.99115612e-02 2.34578510e+00] [-2.74346047e-03 9.99994348e-01 -1.94330946e-03 3.83615417e-01] [ 2.99061761e-02 2.02449410e-03 9.99550660e-01 1.20415230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38255784400002 meters Centerline goodness : 0.143392 Centerline is valid? [False, False] Translation: X:2.35, Y:0.38, Z:1.20 [[ 9.99551562e-01 2.81528511e-03 -2.98118892e-02 2.34540087e+00] [-2.86586278e-03 9.99994526e-01 -1.65396855e-03 3.82238948e-01] [ 2.98070696e-02 1.73866364e-03 9.99554158e-01 1.20432843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41255784400002 meters Centerline goodness : 0.116266 Centerline is valid? [False, False] Translation: X:2.32, Y:0.38, Z:1.20 [[ 9.99549986e-01 -5.52398958e-03 -2.94840813e-02 2.32284478e+00] [ 5.50120939e-03 9.99984504e-01 -8.53688418e-04 3.84715373e-01] [ 2.94883402e-02 6.91106141e-04 9.99564885e-01 1.20415833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44255784400002 meters Centerline goodness : 0.160787 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99589976e-01 2.07907000e-03 -2.85579570e-02 2.34139183e+00] [-2.13985941e-03 9.99995509e-01 -2.09823664e-03 3.77566613e-01] [ 2.85534664e-02 2.15848633e-03 9.99589936e-01 1.20595859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47255784400002 meters Centerline goodness : 0.163052 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99595166e-01 2.15057390e-03 -2.83704075e-02 2.34079542e+00] [-2.20372713e-03 9.99995875e-01 -1.84241128e-03 3.76010709e-01] [ 2.83663282e-02 1.90418604e-03 9.99595781e-01 1.20606510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50255784400002 meters Centerline goodness : 0.164139 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.21 [[ 9.99599854e-01 2.24305315e-03 -2.81975322e-02 2.34038556e+00] [-2.28728825e-03 9.99996204e-01 -1.53660140e-03 3.74302684e-01] [ 2.81939785e-02 1.60048242e-03 9.99601189e-01 1.20597632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53255784400002 meters Centerline goodness : 0.166847 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.21 [[ 9.99605309e-01 2.40026975e-03 -2.79904283e-02 2.33967165e+00] [-2.43329488e-03 9.99996383e-01 -1.14587106e-03 3.72673390e-01] [ 2.79875766e-02 1.21352776e-03 9.99607534e-01 1.20623327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562557844 meters Centerline goodness : 0.153316 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.21 [[ 9.99606434e-01 2.46859979e-03 -2.79442908e-02 2.33950042e+00] [-2.49880066e-03 9.99996331e-01 -1.04588403e-03 3.72512802e-01] [ 2.79416064e-02 1.11529962e-03 9.99608935e-01 1.20633678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.592557844 meters Centerline goodness : 0.102111 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.21 [[ 9.99607515e-01 2.49708152e-03 -2.79030572e-02 2.33933245e+00] [-2.52606012e-03 9.99996306e-01 -1.00334487e-03 3.72366878e-01] [ 2.79004487e-02 1.07343588e-03 9.99610130e-01 1.20645760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622557844 meters Centerline goodness : 0.130292 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.21 [[ 9.99614291e-01 2.44060734e-03 -2.76642805e-02 2.33855540e+00] [-2.47395973e-03 9.99996254e-01 -1.17144925e-03 3.72938558e-01] [ 2.76613178e-02 1.23943773e-03 9.99616584e-01 1.20672673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.652557844 meters Centerline goodness : 0.157086 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.21 [[ 9.99612062e-01 2.39717664e-03 -2.77484992e-02 2.33879830e+00] [-2.43574495e-03 9.99996114e-01 -1.35620689e-03 3.73938603e-01] [ 2.77451403e-02 1.42326903e-03 9.99614016e-01 1.20667793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.682557844 meters Centerline goodness : 0.102699 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99611999e-01 2.38975952e-03 -2.77513907e-02 2.33887411e+00] [-2.43467129e-03 9.99995781e-01 -1.58468460e-03 3.75378652e-01] [ 2.77474866e-02 1.65163526e-03 9.99613600e-01 1.20657496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.712557844 meters Centerline goodness : 0.135248 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99621665e-01 2.66153105e-03 -2.73759565e-02 2.33790626e+00] [-2.71084215e-03 9.99994769e-01 -1.76430063e-03 3.77285768e-01] [ 2.73711175e-02 1.83784503e-03 9.99623651e-01 1.20672989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.742557844 meters Centerline goodness : 0.156005 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99625383e-01 2.61353016e-03 -2.72445020e-02 2.33756595e+00] [-2.66739415e-03 9.99994559e-01 -1.94090399e-03 3.78044649e-01] [ 2.72392811e-02 2.01284872e-03 9.99626915e-01 1.20673191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.772557844 meters Centerline goodness : 0.106501 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99627608e-01 2.59210309e-03 -2.71647816e-02 2.33730236e+00] [-2.64993210e-03 9.99994299e-01 -2.09304031e-03 3.78805832e-01] [ 2.71592014e-02 2.16424571e-03 9.99628778e-01 1.20681575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.802557844 meters Centerline goodness : 0.156267 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99616219e-01 2.82998844e-03 -2.75573185e-02 2.33845223e+00] [-2.89047340e-03 9.99993500e-01 -2.15529115e-03 3.79971184e-01] [ 2.75510399e-02 2.23411769e-03 9.99617901e-01 1.20655507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.832557844 meters Centerline goodness : 0.157421 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99607160e-01 2.88050285e-03 -2.78788100e-02 2.33947848e+00] [-2.94555975e-03 9.99993033e-01 -2.29277493e-03 3.80957072e-01] [ 2.78720114e-02 2.37399294e-03 9.99608681e-01 1.20618200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.862557844 meters Centerline goodness : 0.153843 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 0.99960146 0.00291102 -0.02807933 2.34022167] [-0.00298172 0.99999249 -0.0024765 0.38204141] [ 0.02807191 0.00255924 0.99960263 1.20575502] [ 0. 0. 0. 1. ]] SLAMing on 205.892557844 meters Centerline goodness : 0.162853 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.20 [[ 0.99959662 0.00337621 -0.02819927 2.34086757] [-0.00344883 0.99999086 -0.00252719 0.38331303] [ 0.02819048 0.00262343 0.99959913 1.20491508] [ 0. 0. 0. 1. ]] SLAMing on 205.922557844 meters Centerline goodness : 0.112693 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.20 [[ 0.99959968 0.00347392 -0.02807878 2.34065333] [-0.00355068 0.99999009 -0.00268464 0.384319 ] [ 0.02806918 0.00278327 0.99960211 1.20462552] [ 0. 0. 0. 1. ]] SLAMing on 205.952557844 meters Centerline goodness : 0.121198 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.20 [[ 0.99960821 0.00354287 -0.0277647 2.33982933] [-0.00362082 0.99998964 -0.00275764 0.38485996] [ 0.02775464 0.00285709 0.99961068 1.2045787 ] [ 0. 0. 0. 1. ]] SLAMing on 205.982557844 meters Centerline goodness : 0.186286 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.21 [[ 0.99965757 0.00365064 -0.02591171 2.38298041] [-0.00371681 0.99998995 -0.002506 0.38443324] [ 0.0259023 0.00260145 0.99966109 1.20597833] [ 0. 0. 0. 1. ]] SLAMing on 206.012557844 meters Centerline goodness : 0.178157 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.21 [[ 9.99655927e-01 3.83705865e-03 -2.59481190e-02 2.38311847e+00] [-3.89571807e-03 9.99989969e-01 -2.21046858e-03 3.83143071e-01] [ 2.59393770e-02 2.31079457e-03 9.99660847e-01 1.20574857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04255784400002 meters Centerline goodness : 0.178327 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.21 [[ 9.99652354e-01 3.99383178e-03 -2.60618616e-02 2.38360121e+00] [-4.04390940e-03 9.99990077e-01 -1.86906835e-03 3.81603270e-01] [ 2.60541383e-02 1.97381039e-03 9.99658585e-01 1.20538853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07255784400002 meters Centerline goodness : 0.094422 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99652047e-01 4.26811293e-03 -2.60301556e-02 2.38406806e+00] [-4.30094061e-03 9.99990025e-01 -1.20528385e-03 3.78169454e-01] [ 2.60247516e-02 1.31681862e-03 9.99660431e-01 1.20438412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10255784400002 meters Centerline goodness : 0.035588 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99652534e-01 4.40935773e-03 -2.59878598e-02 2.38418451e+00] [-4.43214848e-03 9.99989842e-01 -8.19441362e-04 3.76040476e-01] [ 2.59839826e-02 9.34338687e-04 9.99661923e-01 1.20395177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13255784400002 meters SLAMing on 206.16255784400002 meters Centerline goodness : 0.194640 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99655424e-01 5.05280279e-03 -2.57585332e-02 2.38372832e+00] [-5.04730336e-03 9.99987223e-01 2.78511443e-04 3.71484701e-01] [ 2.57596114e-02 -1.48404343e-04 9.99668155e-01 1.20374105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19255784400002 meters Centerline goodness : 0.198110 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99658797e-01 5.21603620e-03 -2.55945841e-02 2.38317392e+00] [-5.20720412e-03 9.99986358e-01 4.11713750e-04 3.71336136e-01] [ 2.55963825e-02 -2.78297048e-04 9.99672320e-01 1.20393611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22255784400002 meters Centerline goodness : 0.145185 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99661883e-01 5.34652059e-03 -2.54466810e-02 2.38277501e+00] [-5.33730591e-03 9.99985664e-01 4.30023012e-04 3.71518256e-01] [ 2.54486153e-02 -2.94060893e-04 9.99676088e-01 1.20388700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25255784400002 meters SLAMing on 206.28255784400002 meters Centerline goodness : 0.192076 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99653612e-01 6.13331441e-03 -2.55937150e-02 2.38382887e+00] [-6.10751723e-03 9.99980759e-01 1.08599852e-03 3.69616930e-01] [ 2.55998833e-02 -9.29308290e-04 9.99671837e-01 1.20263148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.312557844 meters Centerline goodness : 0.091247 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99646395e-01 6.29362862e-03 -2.58355387e-02 2.38476534e+00] [-6.25827085e-03 9.99979367e-01 1.44920049e-03 3.67892327e-01] [ 2.58441263e-02 -1.28700224e-03 9.99665156e-01 1.20205411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342557844 meters Centerline goodness : 0.119741 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99963024 -0.00254014 -0.02707252 2.36346059] [ 0.00260709 0.99999363 0.0024378 0.36601572] [ 0.02706615 -0.00250748 0.9996305 1.20124669] [ 0. 0. 0. 1. ]] SLAMing on 206.372557844 meters SLAMing on 206.402557844 meters Centerline goodness : 0.100621 Centerline is valid? [False, False] Translation: X:2.38, Y:0.36, Z:1.20 [[ 9.99744409e-01 4.24935049e-03 -2.22049286e-02 2.37889329e+00] [-4.24107838e-03 9.99990919e-01 4.19614060e-04 3.61684721e-01] [ 2.22065100e-02 -3.25333968e-04 9.99753352e-01 1.20389816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.432557844 meters Centerline goodness : 0.089270 Centerline is valid? [False, False] Translation: X:2.38, Y:0.36, Z:1.20 [[ 9.99754726e-01 4.30909163e-03 -2.17236949e-02 2.37750267e+00] [-4.30381925e-03 9.99990697e-01 2.89449025e-04 3.62777322e-01] [ 2.17247400e-02 -1.95883175e-04 9.99763971e-01 1.20420078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.462557844 meters Centerline goodness : 0.100591 Centerline is valid? [False, False] Translation: X:2.38, Y:0.36, Z:1.20 [[ 9.99758316e-01 4.25432465e-03 -2.15687330e-02 2.37713040e+00] [-4.25584552e-03 9.99990944e-01 -2.46109714e-05 3.64524373e-01] [ 2.15684330e-02 1.16398219e-04 9.99767368e-01 1.20411845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.492557844 meters Centerline goodness : 0.100591 Centerline is valid? [False, False] Translation: X:2.38, Y:0.36, Z:1.20 [[ 9.99758316e-01 4.25432465e-03 -2.15687330e-02 2.37713040e+00] [-4.25584552e-03 9.99990944e-01 -2.46109714e-05 3.64524373e-01] [ 2.15684330e-02 1.16398219e-04 9.99767368e-01 1.20411845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.522557844 meters Centerline goodness : 0.102528 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99756312e-01 4.18892082e-03 -2.16741894e-02 2.37768003e+00] [-4.19682346e-03 9.99991142e-01 -3.19136265e-04 3.66043527e-01] [ 2.16726606e-02 4.10021242e-04 9.99765036e-01 1.20355923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.552557844 meters Centerline goodness : 0.177905 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99747071e-01 4.19666849e-03 -2.20948623e-02 2.37896003e+00] [-4.21404657e-03 9.99990847e-01 -7.40019950e-04 3.68711637e-01] [ 2.20915544e-02 8.32941556e-04 9.99755605e-01 1.20307250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.582557844 meters Centerline goodness : 0.099656 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99746152e-01 4.15561349e-03 -2.21441451e-02 2.37886765e+00] [-4.17568789e-03 9.99990912e-01 -8.60370955e-04 3.69397297e-01] [ 2.21403685e-02 9.52619590e-04 9.99754418e-01 1.20341388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.612557844 meters Centerline goodness : 0.093696 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99742337e-01 4.16475446e-03 -2.23139744e-02 2.37899527e+00] [-4.18320660e-03 9.99990946e-01 -7.80317743e-04 3.68915438e-01] [ 2.23105225e-02 8.73460649e-04 9.99750708e-01 1.20393006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.642557844 meters Centerline goodness : 0.095516 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99741062e-01 4.15409720e-03 -2.23730094e-02 2.37906929e+00] [-4.16953890e-03 9.99991100e-01 -6.43589215e-04 3.67900963e-01] [ 2.23701367e-02 7.36707699e-04 9.99749486e-01 1.20400946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.672557844 meters Centerline goodness : 0.301172 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99741563e-01 4.18645714e-03 -2.23446095e-02 2.37886082e+00] [-4.19713375e-03 9.99991099e-01 -4.30939516e-04 3.66684228e-01] [ 2.23426065e-02 5.24611460e-04 9.99750235e-01 1.20421526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.702557844 meters Centerline goodness : 0.185265 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.21 [[ 9.99768891e-01 -3.87633686e-03 -2.11456389e-02 2.39780389e+00] [ 3.89930001e-03 9.99991852e-01 1.04482928e-03 3.69452864e-01] [ 2.11414164e-02 -1.12704100e-03 9.99775860e-01 1.20563368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.732557844 meters Centerline goodness : 0.095956 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.21 [[ 9.99773301e-01 -3.56327091e-03 -2.09916764e-02 2.39756682e+00] [ 3.60041103e-03 9.99992019e-01 1.73175081e-03 3.66733291e-01] [ 2.09853382e-02 -1.80693689e-03 9.99778151e-01 1.20550173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.762557844 meters Centerline goodness : 0.217443 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.20 [[ 9.99770161e-01 -3.44056038e-03 -2.11609752e-02 2.39830669e+00] [ 3.48321894e-03 9.99991975e-01 1.97937928e-03 3.65570838e-01] [ 2.11539952e-02 -2.05263265e-03 9.99774122e-01 1.20497755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79255784400002 meters SLAMing on 206.82255784400002 meters Centerline goodness : 0.180124 Centerline is valid? [False, False] Translation: X:2.42, Y:0.36, Z:1.20 [[ 9.99753912e-01 4.01345221e-03 -2.18175853e-02 2.42193264e+00] [-4.01493339e-03 9.99991940e-01 -2.40863425e-05 3.62248276e-01] [ 2.18173127e-02 1.11676567e-04 9.99761968e-01 1.20447485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85255784400002 meters Centerline goodness : 0.308300 Centerline is valid? [False, False] Translation: X:2.42, Y:0.36, Z:1.20 [[ 9.99756424e-01 4.62433012e-03 -2.15802929e-02 2.42136820e+00] [-4.62010180e-03 9.99989297e-01 2.45788000e-04 3.62289047e-01] [ 2.15811986e-02 -1.46024982e-04 9.99767088e-01 1.20432678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88255784400002 meters Centerline goodness : 0.178922 Centerline is valid? [False, False] Translation: X:2.38, Y:0.36, Z:1.20 [[ 9.99687588e-01 5.44259369e-03 -2.43947486e-02 2.37581136e+00] [-5.42711985e-03 9.99985028e-01 7.00472626e-04 3.60912135e-01] [ 2.43981957e-02 -5.67860566e-04 9.99702158e-01 1.20481306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91255784400002 meters Centerline goodness : 0.179719 Centerline is valid? [False, False] Translation: X:2.38, Y:0.36, Z:1.20 [[ 9.99684883e-01 5.49169116e-03 -2.44944227e-02 2.37614438e+00] [-5.47907171e-03 9.99984820e-01 5.82281137e-04 3.61722430e-01] [ 2.44972486e-02 -4.47890952e-04 9.99699797e-01 1.20457703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94255784400002 meters Centerline goodness : 0.176937 Centerline is valid? [False, False] Translation: X:2.42, Y:0.37, Z:1.20 [[ 9.99724710e-01 7.08946396e-03 -2.23661388e-02 2.42035437e+00] [-7.06533872e-03 9.99974370e-01 1.15748925e-03 3.65534860e-01] [ 2.23737715e-02 -9.99146262e-04 9.99749177e-01 1.20440068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97255784400002 meters Centerline goodness : 0.107013 Centerline is valid? [False, False] Translation: X:2.42, Y:0.37, Z:1.20 [[ 9.99732553e-01 7.07982041e-03 -2.20158878e-02 2.41937368e+00] [-7.05797166e-03 9.99974520e-01 1.06995425e-03 3.66023476e-01] [ 2.20229020e-02 -9.14280583e-04 9.99757048e-01 1.20450434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00255784400002 meters Centerline goodness : 0.108201 Centerline is valid? [False, False] Translation: X:2.42, Y:0.37, Z:1.20 [[ 9.99732623e-01 7.10867784e-03 -2.20033979e-02 2.41930440e+00] [-7.08558680e-03 9.99974262e-01 1.12721715e-03 3.65746651e-01] [ 2.20108446e-02 -9.71008772e-04 9.99757260e-01 1.20451432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03255784400002 meters Centerline goodness : 0.180666 Centerline is valid? [False, False] Translation: X:2.42, Y:0.37, Z:1.20 [[ 9.99725026e-01 7.10694703e-03 -2.23464561e-02 2.42045925e+00] [-7.08216917e-03 9.99974216e-01 1.18775081e-03 3.65304096e-01] [ 2.23543212e-02 -1.02916283e-03 9.99749581e-01 1.20399841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062557844 meters Centerline goodness : 0.176809 Centerline is valid? [False, False] Translation: X:2.42, Y:0.36, Z:1.20 [[ 9.99715291e-01 7.14061616e-03 -2.27672909e-02 2.42193203e+00] [-7.11227583e-03 9.99973829e-01 1.32551522e-03 3.64517256e-01] [ 2.27761600e-02 -1.16321058e-03 9.99739913e-01 1.20327123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.092557844 meters Centerline goodness : 0.113585 Centerline is valid? [False, False] Translation: X:2.42, Y:0.36, Z:1.20 [[ 9.99706932e-01 7.18325054e-03 -2.31182129e-02 2.42310941e+00] [-7.15088885e-03 9.99973334e-01 1.48220087e-03 3.63689421e-01] [ 2.31282435e-02 -1.31645071e-03 9.99731640e-01 1.20278714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122557844 meters Centerline goodness : 0.108077 Centerline is valid? [False, False] Translation: X:2.40, Y:0.36, Z:1.20 [[ 9.99721833e-01 -1.65706553e-03 -2.35267950e-02 2.40186080e+00] [ 1.71291801e-03 9.99995762e-01 2.35404006e-03 3.64193989e-01] [ 2.35227945e-02 -2.39368471e-03 9.99720435e-01 1.20186781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.152557844 meters Centerline goodness : 0.105524 Centerline is valid? [False, False] Translation: X:2.45, Y:0.37, Z:1.20 [[ 9.99769641e-01 -2.02750782e-03 -2.13671117e-02 2.44500534e+00] [ 2.07135021e-03 9.99995794e-01 2.02993105e-03 3.65002040e-01] [ 2.13629061e-02 -2.07372221e-03 9.99769636e-01 1.20289624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.182557844 meters Centerline goodness : 0.279528 Centerline is valid? [False, False] Translation: X:2.40, Y:0.36, Z:1.21 [[ 9.99726932e-01 -2.75421101e-03 -2.32050894e-02 2.39599663e+00] [ 2.80620572e-03 9.99993624e-01 2.20839430e-03 3.57321049e-01] [ 2.31988591e-02 -2.27290951e-03 9.99728286e-01 1.20520154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.212557844 meters Centerline goodness : 0.176474 Centerline is valid? [False, False] Translation: X:2.40, Y:0.36, Z:1.21 [[ 0.99972746 -0.00257087 -0.02320332 2.39585879] [ 0.00263294 0.99999304 0.00264497 0.35535006] [ 0.02319635 -0.00270534 0.99972727 1.20545796] [ 0. 0. 0. 1. ]] SLAMing on 207.242557844 meters Centerline goodness : 0.104760 Centerline is valid? [False, False] Translation: X:2.40, Y:0.35, Z:1.21 [[ 0.99972775 -0.00243281 -0.02320596 2.39595032] [ 0.00250299 0.99999238 0.00299586 0.35366766] [ 0.02319849 -0.00305313 0.99972622 1.20535846] [ 0. 0. 0. 1. ]] SLAMing on 207.272557844 meters Centerline goodness : 0.168450 Centerline is valid? [False, False] Translation: X:2.40, Y:0.35, Z:1.21 [[ 9.99728322e-01 -2.32315842e-03 -2.31923504e-02 2.39607394e+00] [ 2.39982534e-03 9.99991746e-01 3.27841353e-03 3.52209930e-01] [ 2.31845427e-02 -3.33318045e-03 9.99725646e-01 1.20512039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.302557844 meters Centerline goodness : 0.176169 Centerline is valid? [False, False] Translation: X:2.42, Y:0.35, Z:1.21 [[ 9.99723448e-01 5.93685690e-03 -2.27548177e-02 2.41611802e+00] [-5.88952591e-03 9.99980353e-01 2.14649547e-03 3.46704773e-01] [ 2.27671141e-02 -2.01188676e-03 9.99738771e-01 1.20668040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.332557844 meters Centerline goodness : 0.111703 Centerline is valid? [False, False] Translation: X:2.42, Y:0.35, Z:1.21 [[ 9.99726206e-01 6.03522875e-03 -2.26072727e-02 2.41570675e+00] [-5.98463776e-03 9.99979436e-01 2.30480866e-03 3.46203138e-01] [ 2.26207179e-02 -2.16888128e-03 9.99741766e-01 1.20673074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.362557844 meters Centerline goodness : 0.267624 Centerline is valid? [False, False] Translation: X:2.41, Y:0.35, Z:1.21 [[ 0.99973113 0.00622538 -0.02233637 2.41465467] [-0.00616831 0.99997754 0.00262277 0.3450766 ] [ 0.02235219 -0.00248428 0.99974707 1.20735706] [ 0. 0. 0. 1. ]] SLAMing on 207.392557844 meters Centerline goodness : 0.175427 Centerline is valid? [False, False] Translation: X:2.42, Y:0.34, Z:1.21 [[ 0.9997272 0.00628068 -0.02249625 2.41502688] [-0.00621926 0.99997674 0.00279916 0.34401845] [ 0.0225133 -0.00265849 0.99974301 1.20741199] [ 0. 0. 0. 1. ]] SLAMing on 207.422557844 meters Centerline goodness : 0.176643 Centerline is valid? [False, False] Translation: X:2.42, Y:0.34, Z:1.21 [[ 0.99972223 0.00631659 -0.02270582 2.41558879] [-0.00625106 0.99997609 0.0029555 0.34298813] [ 0.02272395 -0.00281275 0.99973782 1.20736584] [ 0. 0. 0. 1. ]] SLAMing on 207.452557844 meters Centerline goodness : 0.175964 Centerline is valid? [False, False] Translation: X:2.41, Y:0.34, Z:1.21 [[ 0.99972747 0.00649884 -0.02242227 2.41460505] [-0.00642512 0.99997372 0.00335803 0.34118263] [ 0.02244351 -0.00321305 0.99974295 1.20779782] [ 0. 0. 0. 1. ]] SLAMing on 207.482557844 meters Centerline goodness : 0.171672 Centerline is valid? [False, False] Translation: X:2.43, Y:0.34, Z:1.21 [[ 9.99782275e-01 -1.29672196e-03 -2.08259939e-02 2.43239830e+00] [ 1.39953976e-03 9.99986902e-01 4.92317763e-03 3.44908718e-01] [ 2.08193371e-02 -4.95125253e-03 9.99770994e-01 1.20949882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.512557844 meters Centerline goodness : 0.156945 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.21 [[ 9.99734144e-01 -2.12491009e-03 -2.29592057e-02 2.38589499e+00] [ 2.23702068e-03 9.99985695e-01 4.85845476e-03 3.39731924e-01] [ 2.29485535e-02 -4.90852333e-03 9.99724597e-01 1.21001006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54255784400002 meters Centerline goodness : 0.174135 Centerline is valid? [False, False] Translation: X:2.41, Y:0.33, Z:1.21 [[ 9.99705292e-01 3.16468811e-03 -2.40689344e-02 2.40954142e+00] [-3.12523210e-03 9.99993711e-01 1.67673152e-03 3.34471538e-01] [ 2.40740893e-02 -1.60101637e-03 9.99708895e-01 1.20994743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57255784400002 meters Centerline goodness : 0.171239 Centerline is valid? [False, False] Translation: X:2.41, Y:0.33, Z:1.21 [[ 9.99695402e-01 3.29314833e-03 -2.44593186e-02 2.41081351e+00] [-3.24338009e-03 9.99992589e-01 2.07412801e-03 3.32429925e-01] [ 2.44659677e-02 -1.99416537e-03 9.99698674e-01 1.20946843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60255784400002 meters Centerline goodness : 0.168080 Centerline is valid? [False, False] Translation: X:2.41, Y:0.33, Z:1.21 [[ 0.99969008 0.00356537 -0.02463798 2.41150437] [-0.00349825 0.99999005 0.00276661 0.32921094] [ 0.0246476 -0.00267957 0.99969261 1.20909442] [ 0. 0. 0. 1. ]] SLAMing on 207.63255784400002 meters Centerline goodness : 0.177300 Centerline is valid? [False, False] Translation: X:2.41, Y:0.33, Z:1.21 [[ 0.99969064 0.00367919 -0.02459866 2.41136905] [-0.00360588 0.99998893 0.00302378 0.3279746 ] [ 0.02460951 -0.00293415 0.99969283 1.20914485] [ 0. 0. 0. 1. ]] SLAMing on 207.66255784400002 meters Centerline goodness : 0.168802 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:1.21 [[ 0.99970041 -0.00392844 -0.02415906 2.43063452] [ 0.00403314 0.99998268 0.00428637 0.33236346] [ 0.0241418 -0.00438252 0.99969894 1.2104207 ] [ 0. 0. 0. 1. ]] SLAMing on 207.69255784400002 meters Centerline goodness : 0.173888 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:1.21 [[ 0.99970066 -0.00384398 -0.0241623 2.43077226] [ 0.00395198 0.99998241 0.00442377 0.33185947] [ 0.02414487 -0.00451794 0.99969826 1.21018701] [ 0. 0. 0. 1. ]] SLAMing on 207.72255784400002 meters Centerline goodness : 0.170348 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:1.21 [[ 0.99969488 -0.00362937 -0.0244329 2.43177298] [ 0.00375059 0.99998088 0.00491755 0.32945565] [ 0.02441458 -0.00500769 0.99968938 1.20969038] [ 0. 0. 0. 1. ]] SLAMing on 207.75255784400002 meters Centerline goodness : 0.167902 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:1.21 [[ 0.99969138 -0.0034931 -0.02459557 2.43212106] [ 0.00362472 0.99997934 0.00530875 0.32739164] [ 0.02457652 -0.00539626 0.99968339 1.20985008] [ 0. 0. 0. 1. ]] SLAMing on 207.78255784400002 meters Centerline goodness : 0.173868 Centerline is valid? [False, False] Translation: X:2.43, Y:0.32, Z:1.21 [[ 0.9996923 -0.00335022 -0.02457795 2.4320028 ] [ 0.00349488 0.99997681 0.00584504 0.32451177] [ 0.0245578 -0.00592914 0.99968083 1.21006365] [ 0. 0. 0. 1. ]] SLAMing on 207.812557844 meters Centerline goodness : 0.105985 Centerline is valid? [False, False] Translation: X:2.45, Y:0.32, Z:1.21 [[ 9.99725437e-01 1.76352643e-03 -2.33653571e-02 2.45265700e+00] [-1.69923764e-03 9.99994717e-01 2.77102637e-03 3.16879502e-01] [ 2.33701205e-02 -2.73056226e-03 9.99723152e-01 1.21064006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842557844 meters Centerline goodness : 0.173789 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:1.21 [[ 9.99724763e-01 1.99412841e-03 -2.33756821e-02 2.45270576e+00] [-1.91385336e-03 9.99992197e-01 3.45599559e-03 3.13608706e-01] [ 2.33823914e-02 -3.41030674e-03 9.99720778e-01 1.21068570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.872557844 meters Centerline goodness : 0.162901 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:1.21 [[ 9.99722230e-01 2.19177179e-03 -2.34661074e-02 2.45303355e+00] [-2.09889370e-03 9.99989870e-01 3.98186628e-03 3.11076814e-01] [ 2.34745970e-02 -3.93150737e-03 9.99716703e-01 1.21056291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902557844 meters Centerline goodness : 0.172319 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:1.21 [[ 9.99713876e-01 2.43166667e-03 -2.37960730e-02 2.45417144e+00] [-2.32374822e-03 9.99986895e-01 4.56173822e-03 3.08222686e-01] [ 2.38068538e-02 -4.50513691e-03 9.99706426e-01 1.21011466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.932557844 meters Centerline goodness : 0.178762 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:1.21 [[ 9.99715221e-01 2.54657471e-03 -2.37274562e-02 2.45396493e+00] [-2.43428621e-03 9.99985708e-01 4.76011113e-03 3.07470190e-01] [ 2.37392391e-02 -4.70099613e-03 9.99707132e-01 1.21014855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.962557844 meters Centerline goodness : 0.174373 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:1.21 [[ 0.99971642 0.00268428 -0.02366149 2.45361362] [-0.00256666 0.99998421 0.00499974 0.30662567] [ 0.02367454 -0.00493759 0.99970753 1.21047614] [ 0. 0. 0. 1. ]] SLAMing on 207.992557844 meters Centerline goodness : 0.172646 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:1.21 [[ 0.99971058 0.00272673 -0.02390237 2.45450521] [-0.00260511 0.99998351 0.00511777 0.30570978] [ 0.02391593 -0.00505402 0.9997012 1.21005427] [ 0. 0. 0. 1. ]] SLAMing on 208.022557844 meters Centerline goodness : 0.141093 Centerline is valid? [False, False] Translation: X:2.46, Y:0.30, Z:1.21 [[ 0.99970473 0.00273562 -0.02414465 2.45521271] [-0.00261069 0.99998305 0.00520424 0.30491011] [ 0.02415848 -0.00513966 0.99969493 1.20983972] [ 0. 0. 0. 1. ]] SLAMing on 208.052557844 meters Centerline goodness : 0.140626 Centerline is valid? [False, False] Translation: X:2.46, Y:0.30, Z:1.21 [[ 0.99970143 0.00279408 -0.02427455 2.45561516] [-0.00266416 0.99998196 0.00538295 0.30391388] [ 0.02428915 -0.00531667 0.99969084 1.20971462] [ 0. 0. 0. 1. ]] SLAMing on 208.082557844 meters Centerline goodness : 0.138872 Centerline is valid? [False, False] Translation: X:2.46, Y:0.30, Z:1.21 [[ 0.99969976 0.00302734 -0.02431512 2.45545023] [-0.00288309 0.99997805 0.00596553 0.30144235] [ 0.02433264 -0.00589364 0.99968654 1.21020274] [ 0. 0. 0. 1. ]] SLAMing on 208.112557844 meters Centerline goodness : 0.137731 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:1.21 [[ 0.99970244 0.00315863 -0.02418784 2.45490527] [-0.00300715 0.99997566 0.00629653 0.29986958] [ 0.02420714 -0.00622192 0.9996876 1.2106306 ] [ 0. 0. 0. 1. ]] SLAMing on 208.142557844 meters Centerline goodness : 0.135129 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:1.21 [[ 0.9997061 0.00325935 -0.02402262 2.45424847] [-0.00310145 0.99997336 0.00660726 0.29816027] [ 0.02404351 -0.00653082 0.99968958 1.21107472] [ 0. 0. 0. 1. ]] SLAMing on 208.172557844 meters Centerline goodness : 0.135576 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:1.21 [[ 0.99970906 0.00345895 -0.02387114 2.45395006] [-0.00329077 0.99996952 0.00708066 0.29587597] [ 0.0238949 -0.00700005 0.99968997 1.21092708] [ 0. 0. 0. 1. ]] SLAMing on 208.202557844 meters Centerline goodness : 0.138638 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 0.99970702 0.00356745 -0.02394032 2.45434983] [-0.00339356 0.99996759 0.00730055 0.2949907 ] [ 0.02396558 -0.00721717 0.99968673 1.21055651] [ 0. 0. 0. 1. ]] SLAMing on 208.232557844 meters Centerline goodness : 0.140265 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 0.99970461 0.00367958 -0.02402404 2.45464877] [-0.00349881 0.99996528 0.00756222 0.29379282] [ 0.02405103 -0.00747593 0.99968278 1.21043658] [ 0. 0. 0. 1. ]] SLAMing on 208.262557844 meters Centerline goodness : 0.139344 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 0.99970095 0.00376931 -0.02416208 2.45506977] [-0.00358106 0.99996294 0.00782944 0.29229196] [ 0.0241907 -0.00774057 0.99967739 1.21033807] [ 0. 0. 0. 1. ]] SLAMing on 208.29255784400002 meters Centerline goodness : 0.138097 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99701077e-01 6.19238865e-05 -2.44490003e-02 2.45611024e+00] [ 4.14417463e-05 9.99991064e-01 4.22727679e-03 2.90855748e-01] [ 2.44490436e-02 -4.22702637e-03 9.99692141e-01 1.20972286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32255784400002 meters Centerline goodness : 0.142664 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99698628e-01 1.83243981e-04 -2.45483075e-02 2.45662845e+00] [-7.21268123e-05 9.99989749e-01 4.52727859e-03 2.89437503e-01] [ 2.45488854e-02 -4.52414361e-03 9.99688394e-01 1.20928528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35255784400002 meters Centerline goodness : 0.152545 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99699284e-01 3.22622695e-04 -2.45201331e-02 2.45678666e+00] [-2.04930024e-04 9.99988448e-01 4.80219946e-03 2.88354283e-01] [ 2.45213991e-02 -4.79573045e-03 9.99687802e-01 1.20890706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38255784400002 meters Centerline goodness : 0.141301 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99706877e-01 5.02731854e-04 -2.42055384e-02 2.45594633e+00] [-3.78535645e-04 9.99986743e-01 5.13520916e-03 2.87081947e-01] [ 2.42077991e-02 -5.12454125e-03 9.99693814e-01 1.20905095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41255784400002 meters Centerline goodness : 0.141301 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99706877e-01 5.02731854e-04 -2.42055384e-02 2.45594633e+00] [-3.78535645e-04 9.99986743e-01 5.13520916e-03 2.87081947e-01] [ 2.42077991e-02 -5.12454125e-03 9.99693814e-01 1.20905095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44255784400002 meters Centerline goodness : 0.135713 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99707686e-01 5.56886160e-04 -2.41709165e-02 2.45582313e+00] [-4.29455597e-04 9.99985985e-01 5.27693245e-03 2.86287525e-01] [ 2.41735164e-02 -5.26500959e-03 9.99693914e-01 1.20909196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47255784400002 meters Centerline goodness : 0.138761 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99706056e-01 5.92838776e-04 -2.42373691e-02 2.45623442e+00] [-4.61824528e-04 9.99985255e-01 5.41070515e-03 2.85428056e-01] [ 2.42402194e-02 -5.39792129e-03 9.99691590e-01 1.20868732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50255784400002 meters Centerline goodness : 0.123980 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:1.21 [[ 9.99699596e-01 7.00115633e-04 -2.44995330e-02 2.45725395e+00] [-5.59473432e-04 9.99983329e-01 5.74699109e-03 2.83613844e-01] [ 2.45031482e-02 -5.73155783e-03 9.99683322e-01 1.20808769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53255784400002 meters Centerline goodness : 0.140010 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:1.21 [[ 9.99700071e-01 7.57346245e-04 -2.44784471e-02 2.45718166e+00] [-6.12506545e-04 9.99982265e-01 5.92398595e-03 2.82746720e-01] [ 2.44824995e-02 -5.90721596e-03 9.99682806e-01 1.20812363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562557844 meters Centerline goodness : 0.144325 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:1.21 [[ 9.99703977e-01 8.80112503e-04 -2.43142692e-02 2.45665885e+00] [-7.25540309e-04 9.99979478e-01 6.36535311e-03 2.80558373e-01] [ 2.43193725e-02 -6.34582784e-03 9.99684099e-01 1.20839179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.592557844 meters Centerline goodness : 0.148530 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:1.21 [[ 9.99705187e-01 9.78495034e-04 -2.42607184e-02 2.45642269e+00] [-8.17641961e-04 9.99977626e-01 6.63921940e-03 2.79216661e-01] [ 2.42666721e-02 -6.61742549e-03 9.99683619e-01 1.20858597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622557844 meters Centerline goodness : 0.156301 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:1.21 [[ 9.99704396e-01 1.06731380e-03 -2.42895364e-02 2.45639337e+00] [-9.00361681e-04 9.99975904e-01 6.88331572e-03 2.78059386e-01] [ 2.42962978e-02 -6.85941162e-03 9.99681268e-01 1.20878127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.652557844 meters Centerline goodness : 0.140445 Centerline is valid? [False, False] Translation: X:2.48, Y:0.27, Z:1.21 [[ 0.99966555 0.00938689 -0.02409706 2.47646256] [-0.00925217 0.99994098 0.00569594 0.27443784] [ 0.02414911 -0.00547108 0.9996934 1.21041861] [ 0. 0. 0. 1. ]] SLAMing on 208.682557844 meters Centerline goodness : 0.126302 Centerline is valid? [False, False] Translation: X:2.43, Y:0.27, Z:1.21 [[ 0.99957327 0.00886102 -0.02783459 2.43397955] [-0.00869962 0.99994467 0.00591421 0.27281877] [ 0.02788545 -0.00566953 0.99959505 1.20987114] [ 0. 0. 0. 1. ]] SLAMing on 208.712557844 meters Centerline goodness : 0.142046 Centerline is valid? [False, False] Translation: X:2.43, Y:0.27, Z:1.21 [[ 0.99957325 0.00880874 -0.02785179 2.43407069] [-0.00865226 0.99994613 0.00573364 0.27379147] [ 0.02790079 -0.00549022 0.99959562 1.20978797] [ 0. 0. 0. 1. ]] SLAMing on 208.742557844 meters Centerline goodness : 0.166756 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:1.21 [[ 9.99649360e-01 1.08824520e-03 -2.64569967e-02 2.45276763e+00] [-9.16820506e-04 9.99978515e-01 6.49063777e-03 2.80544030e-01] [ 2.64634917e-02 -6.46410558e-03 9.99628881e-01 1.21108977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.772557844 meters Centerline goodness : 0.140757 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:1.21 [[ 9.99668083e-01 1.00769011e-03 -2.57431322e-02 2.45012731e+00] [-8.51452272e-04 9.99981158e-01 6.07934811e-03 2.82844249e-01] [ 2.57487732e-02 -6.05541122e-03 9.99650105e-01 1.21234333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.802557844 meters Centerline goodness : 0.138528 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:1.21 [[ 9.99668586e-01 9.18600596e-04 -2.57269209e-02 2.44996747e+00] [-7.68101061e-04 9.99982540e-01 5.85915649e-03 2.83934750e-01] [ 2.57318540e-02 -5.83745380e-03 9.99651837e-01 1.21247439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.832557844 meters Centerline goodness : 0.143407 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99664218e-01 8.27488311e-04 -2.58991457e-02 2.45052182e+00] [-6.81819718e-04 9.99983903e-01 5.63278100e-03 2.85073909e-01] [ 2.59033899e-02 -5.61323106e-03 9.99648691e-01 1.21222221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.862557844 meters Centerline goodness : 0.143923 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99653522e-01 6.58337934e-04 -2.63135548e-02 2.45211481e+00] [-5.21114164e-04 9.99986232e-01 5.22146330e-03 2.87115568e-01] [ 2.63166300e-02 -5.20594181e-03 9.99640102e-01 1.21124791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.892557844 meters Centerline goodness : 0.148769 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99650165e-01 5.60655452e-04 -2.64430303e-02 2.45252365e+00] [-4.25797292e-04 9.99986877e-01 5.10530603e-03 2.87393125e-01] [ 2.64455456e-02 -5.09226065e-03 9.99637285e-01 1.21112346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.922557844 meters Centerline goodness : 0.143859 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99649098e-01 4.17687690e-04 -2.64859542e-02 2.45234895e+00] [-2.88822949e-04 9.99988104e-01 4.86903814e-03 2.88432928e-01] [ 2.64876729e-02 -4.85967983e-03 9.99637328e-01 1.21158050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.952557844 meters Centerline goodness : 0.142274 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99648480e-01 3.69437266e-04 -2.65100004e-02 2.45234715e+00] [-2.43914554e-04 9.99988746e-01 4.73799674e-03 2.89205957e-01] [ 2.65114524e-02 -4.72986506e-03 9.99637320e-01 1.21163545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.982557844 meters Centerline goodness : 0.136014 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99648092e-01 3.15773809e-04 -2.65253271e-02 2.45236799e+00] [-1.93167310e-04 9.99989287e-01 4.62467785e-03 2.89816749e-01] [ 2.65265033e-02 -4.61792656e-03 9.99637444e-01 1.21163994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.012557844 meters Centerline goodness : 0.126140 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99658624e-01 2.87367308e-04 -2.61257085e-02 2.45119908e+00] [-1.64927069e-04 9.99988995e-01 4.68861461e-03 2.89249030e-01] [ 2.61267684e-02 -4.68270520e-03 9.99647670e-01 1.21195277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04255784400002 meters Centerline goodness : 0.139113 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99664617e-01 3.42862949e-04 -2.58947202e-02 2.45036049e+00] [-2.16985414e-04 9.99988148e-01 4.86378084e-03 2.88345667e-01] [ 2.58960809e-02 -4.85653084e-03 9.99652843e-01 1.21236949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07255784400002 meters Centerline goodness : 0.124962 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99670322e-01 3.82002430e-04 -2.56729756e-02 2.44962712e+00] [-2.54165113e-04 9.99987555e-01 4.98252938e-03 2.87767498e-01] [ 2.56745594e-02 -4.97436157e-03 9.99657978e-01 1.21265590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10255784400002 meters Centerline goodness : 0.144354 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99671110e-01 3.89214638e-04 -2.56421602e-02 2.44949630e+00] [-2.61505826e-04 9.99987548e-01 4.98358841e-03 2.87736369e-01] [ 2.56437806e-02 -4.97524378e-03 9.99658764e-01 1.21277909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13255784400002 meters Centerline goodness : 0.152076 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99665421e-01 3.86591281e-04 -2.58630174e-02 2.45069487e+00] [-2.62309028e-04 9.99988404e-01 4.80862430e-03 2.88633578e-01] [ 2.58645764e-02 -4.80023133e-03 9.99653931e-01 1.21163704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16255784400002 meters Centerline goodness : 0.140647 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99666167e-01 3.92928776e-04 -2.58340901e-02 2.45099926e+00] [-2.71131494e-04 9.99988834e-01 4.71792916e-03 2.89176155e-01] [ 2.58356554e-02 -4.70934973e-03 9.99655111e-01 1.21098119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19255784400002 meters Centerline goodness : 0.143818 Centerline is valid? [False, False] Translation: X:2.47, Y:0.29, Z:1.21 [[ 0.99963607 0.00965402 -0.02518984 2.47224031] [-0.00956198 0.99994717 0.00377169 0.28764779] [ 0.02522492 -0.00352946 0.99967557 1.21158009] [ 0. 0. 0. 1. ]] SLAMing on 209.22255784400002 meters Centerline goodness : 0.143832 Centerline is valid? [False, False] Translation: X:2.47, Y:0.29, Z:1.21 [[ 0.99963686 0.00959884 -0.02517955 2.47216293] [-0.00951255 0.99994847 0.00354441 0.28873 ] [ 0.02521227 -0.0033036 0.99967666 1.21158663] [ 0. 0. 0. 1. ]] SLAMing on 209.25255784400002 meters Centerline goodness : 0.149898 Centerline is valid? [False, False] Translation: X:2.47, Y:0.29, Z:1.21 [[ 0.99963855 0.00956949 -0.02512351 2.47185772] [-0.00948738 0.99994926 0.0033854 0.28956939] [ 0.02515463 -0.00314582 0.99967862 1.21180892] [ 0. 0. 0. 1. ]] SLAMing on 209.28255784400002 meters Centerline goodness : 0.136997 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 0.99966092 0.00303351 -0.02586198 2.44820003] [-0.00286479 0.99997439 0.00655854 0.2906104 ] [ 0.02588122 -0.00648223 0.99964401 1.21271547] [ 0. 0. 0. 1. ]] SLAMing on 209.312557844 meters Centerline goodness : 0.137616 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 0.99965872 0.00305883 -0.02594389 2.44847774] [-0.00288718 0.99997371 0.00665086 0.29011722] [ 0.02596355 -0.00657368 0.99964128 1.21259092] [ 0. 0. 0. 1. ]] SLAMing on 209.342557844 meters Centerline goodness : 0.147048 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 0.99965154 0.00305909 -0.02621891 2.44951977] [-0.00288148 0.99997267 0.00680912 0.28898853] [ 0.02623902 -0.0067312 0.99963303 1.21206811] [ 0. 0. 0. 1. ]] SLAMing on 209.372557844 meters Centerline goodness : 0.143102 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99658961e-01 -5.98697356e-04 -2.61075285e-02 2.45013084e+00] [ 6.85545128e-04 9.99994261e-01 3.31771775e-03 2.88403872e-01] [ 2.61053923e-02 -3.33448417e-03 9.99653635e-01 1.21086299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402557844 meters Centerline goodness : 0.139240 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99661376e-01 -5.26857221e-04 -2.60164654e-02 2.44982176e+00] [ 6.17819448e-04 9.99993725e-01 3.48841870e-03 2.87742333e-01] [ 2.60144643e-02 -3.50331092e-03 9.99655428e-01 1.21103925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.432557844 meters Centerline goodness : 0.138540 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99661353e-01 -4.57696788e-04 -2.60186376e-02 2.44963274e+00] [ 5.52089089e-04 9.99993292e-01 3.62080478e-03 2.87205984e-01] [ 2.60168058e-02 -3.63394322e-03 9.99654901e-01 1.21136472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.462557844 meters Centerline goodness : 0.152380 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99658312e-01 -4.44157434e-04 -2.61354553e-02 2.44990481e+00] [ 5.40074205e-04 9.99993145e-01 3.66304230e-03 2.86912145e-01] [ 2.61336492e-02 -3.67590577e-03 9.99651699e-01 1.21141530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.492557844 meters Centerline goodness : 0.148971 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99643693e-01 -4.69113699e-04 -2.66883135e-02 2.45184638e+00] [ 5.66742540e-04 9.99993176e-01 3.65066560e-03 2.86525936e-01] [ 2.66864188e-02 -3.66449025e-03 9.99637137e-01 1.21057335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.522557844 meters Centerline goodness : 0.155014 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99642311e-01 -5.10735002e-04 -2.67392946e-02 2.45218370e+00] [ 6.05386964e-04 9.99993580e-01 3.53183213e-03 2.87046277e-01] [ 2.67373191e-02 -3.54675646e-03 9.99636202e-01 1.21018424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.552557844 meters Centerline goodness : 0.153793 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99643441e-01 -5.74842454e-04 -2.66956912e-02 2.45209279e+00] [ 6.64921180e-04 9.99994116e-01 3.36552534e-03 2.87872191e-01] [ 2.66935994e-02 -3.38207586e-03 9.99637941e-01 1.21011272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.582557844 meters Centerline goodness : 0.140820 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99653691e-01 -6.43243317e-04 -2.63074796e-02 2.45092552e+00] [ 7.24137013e-04 9.99995039e-01 3.06552031e-03 2.89840734e-01] [ 2.63053772e-02 -3.08350891e-03 9.99649198e-01 1.21029266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.612557844 meters Centerline goodness : 0.143380 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99657955e-01 -7.08406352e-04 -2.61432864e-02 2.45032824e+00] [ 7.83580103e-04 9.99995588e-01 2.86531908e-03 2.91056858e-01] [ 2.61411413e-02 -2.88482437e-03 9.99654099e-01 1.21056482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.642557844 meters Centerline goodness : 0.137685 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99660920e-01 -8.12372852e-04 -2.60266108e-02 2.44987610e+00] [ 8.80893894e-04 9.99996176e-01 2.62137305e-03 2.92275303e-01] [ 2.60243817e-02 -2.64341088e-03 9.99657813e-01 1.21078383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.672557844 meters Centerline goodness : 0.151432 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99663678e-01 -8.98291367e-04 -2.59176448e-02 2.44953772e+00] [ 9.62495549e-04 9.99996499e-01 2.46486971e-03 2.92983888e-01] [ 2.59153399e-02 -2.48898634e-03 9.99661043e-01 1.21089712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.702557844 meters Centerline goodness : 0.131504 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99672642e-01 -1.11773303e-03 -2.55608800e-02 2.44838820e+00] [ 1.17606290e-03 9.99996739e-01 2.26707849e-03 2.93561365e-01] [ 2.55582626e-02 -2.29639755e-03 9.99670697e-01 1.21133890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.732557844 meters Centerline goodness : 0.137722 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99670921e-01 -1.17062726e-03 -2.56257602e-02 2.44858394e+00] [ 1.22887836e-03 9.99996697e-01 2.25751611e-03 2.93508921e-01] [ 2.56230328e-02 -2.28826415e-03 9.99669057e-01 1.21131906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.762557844 meters Centerline goodness : 0.138455 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99669120e-01 -1.22396522e-03 -2.56934219e-02 2.44881080e+00] [ 1.28187223e-03 9.99996675e-01 2.23741824e-03 2.93529895e-01] [ 2.56905980e-02 -2.26961361e-03 9.99667366e-01 1.21123634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79255784400002 meters Centerline goodness : 0.143907 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99667327e-01 -1.38137157e-03 -2.57551328e-02 2.44897437e+00] [ 1.43837466e-03 9.99996557e-01 2.19487648e-03 2.93358171e-01] [ 2.57520121e-02 -2.23119184e-03 9.99665872e-01 1.21124838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82255784400002 meters Centerline goodness : 0.139891 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99665315e-01 -1.39915257e-03 -2.58321477e-02 2.44916079e+00] [ 1.45878671e-03 9.99996314e-01 2.28982346e-03 2.92656494e-01] [ 2.58288486e-02 -2.32674069e-03 9.99663672e-01 1.21130411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85255784400002 meters Centerline goodness : 0.181662 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99663704e-01 -1.37355633e-03 -2.58957995e-02 2.44926866e+00] [ 1.43734445e-03 9.99995978e-01 2.44480855e-03 2.91757030e-01] [ 2.58923373e-02 -2.48120756e-03 9.99661658e-01 1.21141465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88255784400002 meters Centerline goodness : 0.157415 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99662765e-01 -1.29983263e-03 -2.59358062e-02 2.44930548e+00] [ 1.36938647e-03 9.99995513e-01 2.66418826e-03 2.90685836e-01] [ 2.59322269e-02 -2.69880594e-03 9.99660060e-01 1.21154800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91255784400002 meters Centerline goodness : 0.148233 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99664431e-01 -1.15935697e-03 -2.58782036e-02 2.44917149e+00] [ 1.24190229e-03 9.99994192e-01 3.17391865e-03 2.88071963e-01] [ 2.58743736e-02 -3.20499178e-03 9.99660065e-01 1.21162310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94255784400002 meters Centerline goodness : 0.142029 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99663820e-01 -1.10990415e-03 -2.59039636e-02 2.44952159e+00] [ 1.19760027e-03 9.99993604e-01 3.37016407e-03 2.86803354e-01] [ 2.59000574e-02 -3.40005368e-03 9.99658755e-01 1.21120599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97255784400002 meters Centerline goodness : 0.142064 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99661484e-01 -1.09901738e-03 -2.59943981e-02 2.44994136e+00] [ 1.18969675e-03 9.99993261e-01 3.47321163e-03 2.85921245e-01] [ 2.59904058e-02 -3.50296135e-03 9.99656055e-01 1.21093900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00255784400002 meters Centerline goodness : 0.142313 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99661099e-01 -1.08088135e-03 -2.60099733e-02 2.45018655e+00] [ 1.17243190e-03 9.99993171e-01 3.50483197e-03 2.85692538e-01] [ 2.60060074e-02 -3.53413910e-03 9.99655539e-01 1.21057237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03255784400002 meters Centerline goodness : 0.159832 Centerline is valid? [False, False] Translation: X:2.47, Y:0.28, Z:1.21 [[ 0.99963014 0.00864254 -0.02578563 2.47304353] [-0.00855112 0.99995676 0.00365332 0.28332628] [ 0.02581609 -0.00343147 0.99966082 1.21065743] [ 0. 0. 0. 1. ]] SLAMing on 210.06255784400003 meters Centerline goodness : 0.135686 Centerline is valid? [False, False] Translation: X:2.47, Y:0.28, Z:1.21 [[ 0.99962888 0.0086539 -0.02583029 2.47336662] [-0.0085625 0.99995669 0.00364676 0.28330456] [ 0.02586073 -0.00342424 0.99965969 1.21028972] [ 0. 0. 0. 1. ]] SLAMing on 210.092557844 meters Centerline goodness : 0.144659 Centerline is valid? [False, False] Translation: X:2.47, Y:0.28, Z:1.21 [[ 9.99643479e-01 5.54366014e-03 -2.61186174e-02 2.47413685e+00] [-5.53648014e-03 9.99984613e-01 3.47206959e-04 2.82956494e-01] [ 2.61201403e-02 -2.02477966e-04 9.99658790e-01 1.20988012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122557844 meters Centerline goodness : 0.144757 Centerline is valid? [False, False] Translation: X:2.47, Y:0.28, Z:1.21 [[ 9.99642793e-01 5.61773647e-03 -2.61290656e-02 2.47406670e+00] [-5.60634777e-03 9.99984155e-01 5.09100312e-04 2.82332086e-01] [ 2.61315116e-02 -3.62429829e-04 9.99658448e-01 1.21001705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.152557844 meters Centerline goodness : 0.145197 Centerline is valid? [False, False] Translation: X:2.47, Y:0.28, Z:1.21 [[ 9.99642834e-01 5.73276298e-03 -2.61024888e-02 2.47388705e+00] [-5.71589020e-03 9.99983404e-01 7.20972250e-04 2.81583854e-01] [ 2.61061888e-02 -5.71515783e-04 9.99659012e-01 1.21018709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.182557844 meters Centerline goodness : 0.140531 Centerline is valid? [False, False] Translation: X:2.49, Y:0.29, Z:1.21 [[ 9.99683020e-01 -1.99500069e-03 -2.50973980e-02 2.49341219e+00] [ 2.04308331e-03 9.99996126e-01 1.89034450e-03 2.85384528e-01] [ 2.50935295e-02 -1.94102137e-03 9.99683223e-01 1.21161141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.212557844 meters Centerline goodness : 0.147941 Centerline is valid? [False, False] Translation: X:2.49, Y:0.28, Z:1.21 [[ 9.99687155e-01 -1.76893586e-03 -2.49492111e-02 2.49267921e+00] [ 1.83280805e-03 9.99995101e-01 2.53745355e-03 2.81932360e-01] [ 2.49446003e-02 -2.58238683e-03 9.99685500e-01 1.21226643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.242557844 meters Centerline goodness : 0.146777 Centerline is valid? [False, False] Translation: X:2.49, Y:0.28, Z:1.21 [[ 9.99688046e-01 -1.61375226e-03 -2.49240311e-02 2.49246277e+00] [ 1.68700977e-03 9.99994318e-01 2.91848491e-03 2.80018655e-01] [ 2.49191797e-02 -2.95962156e-03 9.99685088e-01 1.21256919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.272557844 meters Centerline goodness : 0.142191 Centerline is valid? [False, False] Translation: X:2.51, Y:0.28, Z:1.21 [[ 9.99690274e-01 6.72958596e-03 -2.39597143e-02 2.51103089e+00] [-6.69442002e-03 9.99976395e-01 1.54761942e-03 2.75409474e-01] [ 2.39695635e-02 -1.38674369e-03 9.99711727e-01 1.21471903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.302557844 meters Centerline goodness : 0.129884 Centerline is valid? [False, False] Translation: X:2.51, Y:0.27, Z:1.22 [[ 9.99692732e-01 6.86698372e-03 -2.38177620e-02 2.51038785e+00] [-6.82461845e-03 9.99974983e-01 1.85955607e-03 2.74000650e-01] [ 2.38299357e-02 -1.69643755e-03 9.99714587e-01 1.21518961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.332557844 meters Centerline goodness : 0.129884 Centerline is valid? [False, False] Translation: X:2.51, Y:0.27, Z:1.22 [[ 9.99692732e-01 6.86698372e-03 -2.38177620e-02 2.51038785e+00] [-6.82461845e-03 9.99974983e-01 1.85955607e-03 2.74000650e-01] [ 2.38299357e-02 -1.69643755e-03 9.99714587e-01 1.21518961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.362557844 meters Centerline goodness : 0.142060 Centerline is valid? [False, False] Translation: X:2.51, Y:0.27, Z:1.22 [[ 9.99689128e-01 7.13235424e-03 -2.38909466e-02 2.51024401e+00] [-7.07436964e-03 9.99971824e-01 2.51069412e-03 2.71067009e-01] [ 2.39081806e-02 -2.34090023e-03 9.99711418e-01 1.21575020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.392557844 meters Centerline goodness : 0.136973 Centerline is valid? [False, False] Translation: X:2.53, Y:0.27, Z:1.22 [[ 9.99713997e-01 -4.95523769e-04 -2.39097998e-02 2.53085457e+00] [ 5.83353155e-04 9.99993108e-01 3.66652842e-03 2.74331893e-01] [ 2.39078182e-02 -3.67942764e-03 9.99707396e-01 1.21675785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.422557844 meters Centerline goodness : 0.142350 Centerline is valid? [False, False] Translation: X:2.49, Y:0.27, Z:1.22 [[ 9.99642687e-01 -1.39539564e-03 -2.66936622e-02 2.48639706e+00] [ 1.50775394e-03 9.99990087e-01 4.18951074e-03 2.68685702e-01] [ 2.66875516e-02 -4.22826124e-03 9.99634882e-01 1.21649959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.452557844 meters Centerline goodness : 0.147259 Centerline is valid? [False, False] Translation: X:2.49, Y:0.26, Z:1.22 [[ 9.99651300e-01 -1.27558161e-03 -2.63751848e-02 2.48545212e+00] [ 1.40708961e-03 9.99986669e-01 4.96809220e-03 2.63981822e-01] [ 2.63684960e-02 -5.00347208e-03 9.99639769e-01 1.21695338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.482557844 meters Centerline goodness : 0.141308 Centerline is valid? [False, False] Translation: X:2.50, Y:0.26, Z:1.22 [[ 0.99966613 0.00690834 -0.02489769 2.50409084] [-0.00681886 0.99996999 0.00367705 0.25908577] [ 0.02492235 -0.00350605 0.99968324 1.21891033] [ 0. 0. 0. 1. ]] SLAMing on 210.512557844 meters Centerline goodness : 0.143674 Centerline is valid? [False, False] Translation: X:2.50, Y:0.26, Z:1.22 [[ 0.99966691 0.007046 -0.02482796 2.50374578] [-0.00694866 0.99996784 0.00400479 0.25764513] [ 0.02485538 -0.00383093 0.99968372 1.21919224] [ 0. 0. 0. 1. ]] SLAMing on 210.54255784400002 meters Centerline goodness : 0.144920 Centerline is valid? [False, False] Translation: X:2.48, Y:0.26, Z:1.22 [[ 9.99674643e-01 -1.84666747e-03 -2.54401001e-02 2.48295672e+00] [ 1.98407451e-03 9.99983575e-01 5.37701664e-03 2.59413590e-01] [ 2.54297527e-02 -5.42574224e-03 9.99661887e-01 1.21777826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57255784400002 meters Centerline goodness : 0.133824 Centerline is valid? [False, False] Translation: X:2.51, Y:0.26, Z:1.22 [[ 9.99699575e-01 4.60046200e-03 -2.40747791e-02 2.50554517e+00] [-4.54259819e-03 9.99986662e-01 2.45764070e-03 2.57622832e-01] [ 2.40857643e-02 -2.34754032e-03 9.99707140e-01 1.21722634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60255784400002 meters Centerline goodness : 0.132564 Centerline is valid? [False, False] Translation: X:2.50, Y:0.26, Z:1.22 [[ 9.99718399e-01 6.34989558e-04 -2.37216887e-02 2.50469804e+00] [-6.62095107e-04 9.99999137e-01 -1.13481175e-03 2.55246325e-01] [ 2.37209476e-02 1.15019820e-03 9.99717957e-01 1.21711028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63255784400002 meters Centerline goodness : 0.140346 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:1.22 [[ 9.99722065e-01 8.07401332e-04 -2.35614394e-02 2.50399704e+00] [-8.22465804e-04 9.99999464e-01 -6.29686194e-04 2.52706397e-01] [ 2.35609183e-02 6.48889660e-04 9.99722192e-01 1.21762031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66255784400002 meters Centerline goodness : 0.148144 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:1.22 [[ 9.99742594e-01 1.05926310e-03 -2.26632790e-02 2.50114765e+00] [-1.05107509e-03 9.99999378e-01 3.73198653e-04 2.47681353e-01] [ 2.26636602e-02 -3.49281782e-04 9.99743085e-01 1.21870758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69255784400002 meters Centerline goodness : 0.143924 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:1.22 [[ 9.99746867e-01 1.26406249e-03 -2.24634121e-02 2.50061232e+00] [-1.24350461e-03 9.99998795e-01 9.29116298e-04 2.44995743e-01] [ 2.24645594e-02 -9.00947751e-04 9.99747234e-01 1.21879738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72255784400002 meters Centerline goodness : 0.134099 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:1.22 [[ 9.99745825e-01 1.40876335e-03 -2.25011364e-02 2.50086872e+00] [-1.37842254e-03 9.99998120e-01 1.36386536e-03 2.42642731e-01] [ 2.25030155e-02 -1.33250263e-03 9.99745887e-01 1.21859449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75255784400002 meters Centerline goodness : 0.156571 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:1.22 [[ 9.99735900e-01 1.55460579e-03 -2.29284315e-02 2.50269130e+00] [-1.51433236e-03 9.99997280e-01 1.77374263e-03 2.40155541e-01] [ 2.29311266e-02 -1.73855292e-03 9.99735535e-01 1.21745669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78255784400002 meters Centerline goodness : 0.161500 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:1.22 [[ 9.99724846e-01 1.59498494e-03 -2.34027247e-02 2.50434695e+00] [-1.55504016e-03 9.99997303e-01 1.72494269e-03 2.40484198e-01] [ 2.34054129e-02 -1.68807589e-03 9.99724631e-01 1.21666040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81255784400003 meters Centerline goodness : 0.161268 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.22 [[ 9.99711419e-01 1.68058435e-03 -2.39635960e-02 2.50614649e+00] [-1.64348395e-03 9.99997420e-01 1.56780924e-03 2.41666463e-01] [ 2.39661690e-02 -1.52797301e-03 9.99711602e-01 1.21584069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842557844 meters Centerline goodness : 0.157294 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.22 [[ 9.99703446e-01 1.81912029e-03 -2.42839547e-02 2.50720950e+00] [-1.78535866e-03 9.99997410e-01 1.41189431e-03 2.43099262e-01] [ 2.42864602e-02 -1.36812004e-03 9.99704104e-01 1.21529872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.872557844 meters Centerline goodness : 0.147286 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.21 [[ 9.99705899e-01 2.66585656e-03 -2.41041068e-02 2.50697877e+00] [-2.62564939e-03 9.99995109e-01 1.69955821e-03 2.44377197e-01] [ 2.41085197e-02 -1.63576943e-03 9.99708009e-01 1.21471290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902557844 meters Centerline goodness : 0.142857 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.21 [[ 9.99708178e-01 2.65466111e-03 -2.40106727e-02 2.50688234e+00] [-2.61654344e-03 9.99995267e-01 1.61880793e-03 2.44687574e-01] [ 2.40148564e-02 -1.55551055e-03 9.99710392e-01 1.21443240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.932557844 meters Centerline goodness : 0.141657 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.21 [[ 9.99707873e-01 2.69251910e-03 -2.40191255e-02 2.50691224e+00] [-2.65224046e-03 9.99995023e-01 1.70863962e-03 2.44139822e-01] [ 2.40236065e-02 -1.64443599e-03 9.99710039e-01 1.21439746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.962557844 meters Centerline goodness : 0.138566 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.21 [[ 9.99709292e-01 2.90558681e-03 -2.39351175e-02 2.50640878e+00] [-2.85161461e-03 9.99993315e-01 2.28876109e-03 2.41293828e-01] [ 2.39416077e-02 -2.21984200e-03 9.99710894e-01 1.21491250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.992557844 meters Centerline goodness : 0.131407 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.22 [[ 0.99970792 0.00299154 -0.0239818 2.50647949] [-0.00293011 0.99999234 0.00259593 0.23969651] [ 0.02398938 -0.0025249 0.99970902 1.21501891] [ 0. 0. 0. 1. ]] SLAMing on 211.022557844 meters Centerline goodness : 0.131628 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.21 [[ 0.99970205 0.0030433 -0.02421879 2.50720716] [-0.00297496 0.99999149 0.00285726 0.23815207] [ 0.02422728 -0.00278435 0.9997026 1.21482286] [ 0. 0. 0. 1. ]] SLAMing on 211.052557844 meters Centerline goodness : 0.140356 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.21 [[ 0.99968609 0.00294575 -0.02488075 2.50956557] [-0.00286947 0.99999108 0.00310075 0.23613484] [ 0.02488966 -0.00302838 0.99968562 1.213659 ] [ 0. 0. 0. 1. ]] SLAMing on 211.082557844 meters Centerline goodness : 0.157473 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:1.21 [[ 0.99968436 0.00305971 -0.02493624 2.50980184] [-0.00297574 0.99998978 0.00340394 0.23476015] [ 0.0249464 -0.00332866 0.99968325 1.21350916] [ 0. 0. 0. 1. ]] SLAMing on 211.112557844 meters Centerline goodness : 0.123082 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:1.21 [[ 0.99968423 0.00314725 -0.02493073 2.50976985] [-0.00305776 0.99998875 0.0036266 0.23380592] [ 0.02494187 -0.00354922 0.9996826 1.21354471] [ 0. 0. 0. 1. ]] SLAMing on 211.142557844 meters Centerline goodness : 0.141875 Centerline is valid? [False, False] Translation: X:2.56, Y:0.24, Z:1.21 [[ 0.99970969 0.00376734 -0.02379816 2.55532615] [-0.00369868 0.99998887 0.00292821 0.23583588] [ 0.02380892 -0.00283934 0.9997125 1.21385703] [ 0. 0. 0. 1. ]] SLAMing on 211.172557844 meters Centerline goodness : 0.145885 Centerline is valid? [False, False] Translation: X:2.56, Y:0.24, Z:1.21 [[ 0.99970656 0.0037617 -0.02392987 2.55588979] [-0.00369273 0.9999889 0.00292599 0.2357284 ] [ 0.02394061 -0.00283677 0.99970936 1.21344558] [ 0. 0. 0. 1. ]] SLAMing on 211.202557844 meters Centerline goodness : 0.133829 Centerline is valid? [False, False] Translation: X:2.56, Y:0.24, Z:1.21 [[ 0.99970812 0.00372405 -0.02387063 2.55606499] [-0.00365734 0.99998928 0.00283794 0.23605967] [ 0.02388094 -0.00274981 0.99971103 1.21288494] [ 0. 0. 0. 1. ]] SLAMing on 211.232557844 meters Centerline goodness : 0.121966 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:1.21 [[ 0.99972695 0.00387023 -0.02304432 2.5538311 ] [-0.0038069 0.99998886 0.00279166 0.23702214] [ 0.02305486 -0.00270317 0.99973055 1.21312561] [ 0. 0. 0. 1. ]] SLAMing on 211.262557844 meters Centerline goodness : 0.146129 Centerline is valid? [False, False] Translation: X:2.57, Y:0.24, Z:1.21 [[ 0.99976797 -0.00338252 -0.02127352 2.57165203] [ 0.00347116 0.99998544 0.00413142 0.24345229] [ 0.02125923 -0.00420431 0.99976516 1.21493307] [ 0. 0. 0. 1. ]] SLAMing on 211.29255784400002 meters Centerline goodness : 0.137179 Centerline is valid? [False, False] Translation: X:2.57, Y:0.24, Z:1.22 [[ 0.99977317 -0.00342624 -0.02102053 2.57076308] [ 0.00351081 0.99998589 0.00398754 0.24428178] [ 0.02100657 -0.00406043 0.99977109 1.21530976] [ 0. 0. 0. 1. ]] SLAMing on 211.32255784400002 meters Centerline goodness : 0.134262 Centerline is valid? [False, False] Translation: X:2.57, Y:0.24, Z:1.22 [[ 0.99977599 -0.00345735 -0.02088091 2.57023695] [ 0.00353929 0.99998618 0.00388814 0.2448655 ] [ 0.02086718 -0.00396118 0.99977441 1.21559859] [ 0. 0. 0. 1. ]] SLAMing on 211.35255784400002 meters Centerline goodness : 0.145380 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.22 [[ 0.99977812 -0.00360485 -0.02075371 2.56988137] [ 0.00368033 0.99998675 0.00360014 0.2459714 ] [ 0.02074045 -0.00367572 0.99977814 1.21563876] [ 0. 0. 0. 1. ]] SLAMing on 211.38255784400002 meters Centerline goodness : 0.125049 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.22 [[ 0.99977792 -0.00368891 -0.02074851 2.56997469] [ 0.00375984 0.99998722 0.00338052 0.24698656] [ 0.02073577 -0.00345778 0.99977901 1.21541777] [ 0. 0. 0. 1. ]] SLAMing on 211.41255784400002 meters Centerline goodness : 0.139576 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.22 [[ 0.99977781 -0.00376421 -0.02074019 2.57006003] [ 0.00383112 0.99998758 0.00318726 0.2479504 ] [ 0.02072793 -0.00326601 0.99977982 1.21521132] [ 0. 0. 0. 1. ]] SLAMing on 211.44255784400002 meters Centerline goodness : 0.143049 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.22 [[ 0.99977846 -0.0038158 -0.0206995 2.57001783] [ 0.00387965 0.99998784 0.00304504 0.24870659] [ 0.02068763 -0.00312467 0.99978111 1.21506337] [ 0. 0. 0. 1. ]] SLAMing on 211.47255784400002 meters Centerline goodness : 0.141059 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.22 [[ 0.99978079 -0.00382921 -0.02058415 2.56961744] [ 0.00389244 0.99998783 0.00303225 0.24888046] [ 0.02057229 -0.00311171 0.99978353 1.2152149 ] [ 0. 0. 0. 1. ]] SLAMing on 211.50255784400002 meters Centerline goodness : 0.138722 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.22 [[ 0.99977919 -0.00385001 -0.02065793 2.56985766] [ 0.00391368 0.99998771 0.00304237 0.24871274] [ 0.02064597 -0.00312255 0.99978197 1.21512873] [ 0. 0. 0. 1. ]] SLAMing on 211.53255784400002 meters Centerline goodness : 0.133307 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.99977835 -0.00384969 -0.0206987 2.57017894] [ 0.00391464 0.99998754 0.00309805 0.24822735] [ 0.02068651 -0.00317839 0.99978096 1.21475964] [ 0. 0. 0. 1. ]] SLAMing on 211.56255784400003 meters Centerline goodness : 0.144846 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.99977805 -0.00388292 -0.02070691 2.57051972] [ 0.00394934 0.99998718 0.00316781 0.24729763] [ 0.02069435 -0.00324888 0.99978057 1.21430549] [ 0. 0. 0. 1. ]] SLAMing on 211.592557844 meters Centerline goodness : 0.134821 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.99977781 -0.00387955 -0.02071896 2.57066507] [ 0.00394583 0.99998723 0.00315888 0.24738656] [ 0.02070644 -0.00323993 0.99978035 1.21408558] [ 0. 0. 0. 1. ]] SLAMing on 211.622557844 meters Centerline goodness : 0.148198 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.99977579 -0.00385059 -0.02082146 2.57112448] [ 0.00391659 0.99998743 0.00313003 0.24774558] [ 0.02080915 -0.00321088 0.99977831 1.21369399] [ 0. 0. 0. 1. ]] SLAMing on 211.652557844 meters Centerline goodness : 0.145799 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.9997727 -0.00379455 -0.02097972 2.5717679 ] [ 0.0038618 0.99998753 0.00316581 0.24781117] [ 0.02096745 -0.00324611 0.99977489 1.21327314] [ 0. 0. 0. 1. ]] SLAMing on 211.682557844 meters Centerline goodness : 0.150881 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.99977266 -0.00368226 -0.02100142 2.57166407] [ 0.00375485 0.99998711 0.00341813 0.24649183] [ 0.02098856 -0.00349621 0.9997736 1.21354031] [ 0. 0. 0. 1. ]] SLAMing on 211.712557844 meters Centerline goodness : 0.122956 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.9997767 -0.0036312 -0.02081759 2.57084941] [ 0.00370646 0.99998673 0.00357785 0.24560099] [ 0.02080433 -0.00365421 0.99977689 1.2141636 ] [ 0. 0. 0. 1. ]] SLAMing on 211.742557844 meters Centerline goodness : 0.145344 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.99978522 -0.00350238 -0.02042679 2.56951545] [ 0.00357864 0.99998676 0.00369814 0.24555948] [ 0.02041357 -0.00377044 0.99978451 1.2146978 ] [ 0. 0. 0. 1. ]] SLAMing on 211.772557844 meters Centerline goodness : 0.127207 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:1.22 [[ 0.99979382 0.00563072 -0.01950929 2.58993414] [-0.00557679 0.99998048 0.00281771 0.24459357] [ 0.01952477 -0.00270833 0.99980571 1.21533833] [ 0. 0. 0. 1. ]] SLAMing on 211.802557844 meters Centerline goodness : 0.143891 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99793004e-01 5.52273185e-03 -1.95818466e-02 2.59043372e+00] [-5.47605425e-03 9.99982038e-01 2.43653841e-03 2.46489564e-01] [ 1.95949513e-02 -2.32880280e-03 9.99805288e-01 1.21473859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.832557844 meters Centerline goodness : 0.144246 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99792037e-01 5.35775353e-03 -1.96768133e-02 2.59092182e+00] [-5.31933540e-03 9.99983844e-01 2.00427707e-03 2.48392322e-01] [ 1.96872338e-02 -1.89919269e-03 9.99804384e-01 1.21426469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.862557844 meters Centerline goodness : 0.124650 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99785118e-01 5.07702213e-03 -2.00983053e-02 2.59209632e+00] [-5.05240739e-03 9.99986423e-01 1.27530550e-03 2.51671301e-01] [ 2.01045072e-02 -1.17348663e-03 9.99797195e-01 1.21393369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.892557844 meters Centerline goodness : 0.141629 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99785454e-01 5.03016353e-03 -2.00933723e-02 2.59193193e+00] [-5.00645864e-03 9.99986711e-01 1.22986628e-03 2.51873254e-01] [ 2.00992917e-02 -1.12900578e-03 9.99797351e-01 1.21414157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.922557844 meters Centerline goodness : 0.147048 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99789953e-01 4.50548695e-03 -1.99937398e-02 2.59150049e+00] [-4.48130651e-03 9.99989173e-01 1.25403960e-03 2.50194509e-01] [ 1.99991734e-02 -1.16417812e-03 9.99799319e-01 1.21463174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.952557844 meters Centerline goodness : 0.147872 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99783908e-01 4.44266242e-03 -2.03076444e-02 2.59239923e+00] [-4.41201874e-03 9.99989060e-01 1.55352731e-03 2.48204218e-01] [ 2.03143241e-02 -1.46359389e-03 9.99792572e-01 1.21452539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.982557844 meters Centerline goodness : 0.158663 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99773222e-01 4.39986381e-03 -2.08361596e-02 2.59392821e+00] [-4.36319342e-03 9.99988852e-01 1.80507424e-03 2.46478918e-01] [ 2.08438694e-02 -1.71375270e-03 9.99781274e-01 1.21421432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.012557844 meters Centerline goodness : 0.130051 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:1.22 [[ 9.99764992e-01 -3.41525565e-03 -2.14078667e-02 2.61482199e+00] [ 3.46971854e-03 9.99990837e-01 2.50743221e-03 2.49755072e-01] [ 2.13991070e-02 -2.58112221e-03 9.99767681e-01 1.21521848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04255784400002 meters Centerline goodness : 0.149647 Centerline is valid? [False, False] Translation: X:2.62, Y:0.25, Z:1.22 [[ 0.99976349 -0.00334085 -0.02148947 2.61508612] [ 0.00340049 0.99999047 0.00273932 0.24848844] [ 0.02148012 -0.00281174 0.99976532 1.21518062] [ 0. 0. 0. 1. ]] SLAMing on 212.07255784400002 meters Centerline goodness : 0.138285 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:1.22 [[ 0.99977936 -0.00310506 -0.02077468 2.61278015] [ 0.00316817 0.99999047 0.00300536 0.24774662] [ 0.02076515 -0.00307052 0.99977967 1.21601432] [ 0. 0. 0. 1. ]] SLAMing on 212.10255784400002 meters Centerline goodness : 0.152944 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:1.22 [[ 0.99978761 -0.00302034 -0.02038679 2.61154132] [ 0.0030828 0.99999065 0.00303303 0.24793365] [ 0.02037744 -0.00309523 0.99978757 1.21642861] [ 0. 0. 0. 1. ]] SLAMing on 212.13255784400002 meters Centerline goodness : 0.153001 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:1.22 [[ 0.99979283 -0.00297571 -0.02013575 2.61087457] [ 0.00303697 0.99999085 0.00301284 0.24820301] [ 0.0201266 -0.00307337 0.99979272 1.21646624] [ 0. 0. 0. 1. ]] SLAMing on 212.16255784400002 meters Centerline goodness : 0.146412 Centerline is valid? [False, False] Translation: X:2.64, Y:0.25, Z:1.22 [[ 9.99764016e-01 5.09533268e-03 -2.11175073e-02 2.63561478e+00] [-5.06928255e-03 9.99986323e-01 1.28692751e-03 2.46134587e-01] [ 2.11237758e-02 -1.17957320e-03 9.99776172e-01 1.21539258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19255784400002 meters Centerline goodness : 0.156684 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:1.21 [[ 9.99688772e-01 3.94581143e-03 -2.46330898e-02 2.59298110e+00] [-3.90991879e-03 9.99991224e-01 1.50508452e-03 2.42692681e-01] [ 2.46388124e-02 -1.40830271e-03 9.99695426e-01 1.21464397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22255784400002 meters Centerline goodness : 0.156684 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:1.21 [[ 9.99688772e-01 3.94581143e-03 -2.46330898e-02 2.59298110e+00] [-3.90991879e-03 9.99991224e-01 1.50508452e-03 2.42692681e-01] [ 2.46388124e-02 -1.40830271e-03 9.99695426e-01 1.21464397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25255784400002 meters Centerline goodness : 0.128749 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:1.21 [[ 9.99688518e-01 3.95182242e-03 -2.46424532e-02 2.59318901e+00] [-3.91544264e-03 9.99991173e-01 1.52438067e-03 2.42598836e-01] [ 2.46482597e-02 -1.42741974e-03 9.99695166e-01 1.21428360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28255784400002 meters Centerline goodness : 0.148155 Centerline is valid? [False, False] Translation: X:2.64, Y:0.25, Z:1.21 [[ 9.99737661e-01 4.97363345e-03 -2.23578139e-02 2.63632118e+00] [-4.95081910e-03 9.99987166e-01 1.07565569e-03 2.45958412e-01] [ 2.23628769e-02 -9.64684016e-04 9.99749454e-01 1.21457903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31255784400003 meters Centerline goodness : 0.133499 Centerline is valid? [False, False] Translation: X:2.62, Y:0.25, Z:1.21 [[ 9.99725974e-01 -4.51250316e-03 -2.29698372e-02 2.61546757e+00] [ 4.55269892e-03 9.99988195e-01 1.69794314e-03 2.49490377e-01] [ 2.29619041e-02 -1.80205261e-03 9.99734717e-01 1.21312088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342557844 meters Centerline goodness : 0.126228 Centerline is valid? [False, False] Translation: X:2.64, Y:0.25, Z:1.21 [[ 9.99737532e-01 3.44688245e-03 -2.26492107e-02 2.63552015e+00] [-3.44909656e-03 9.99994050e-01 -5.86924774e-05 2.46541685e-01] [ 2.26488736e-02 1.36796387e-04 9.99743472e-01 1.21433230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.372557844 meters Centerline goodness : 0.148224 Centerline is valid? [False, False] Translation: X:2.64, Y:0.25, Z:1.21 [[ 9.99733181e-01 3.43095458e-03 -2.28428341e-02 2.63612672e+00] [-3.43314673e-03 9.99994105e-01 -5.67503023e-05 2.46592301e-01] [ 2.28425047e-02 1.35157961e-04 9.99739067e-01 1.21413872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402557844 meters Centerline goodness : 0.157612 Centerline is valid? [False, False] Translation: X:2.64, Y:0.25, Z:1.21 [[ 9.99732043e-01 3.42620580e-03 -2.28932989e-02 2.63629603e+00] [-3.42875084e-03 9.99994119e-01 -7.19174623e-05 2.46885589e-01] [ 2.28929179e-02 1.50393609e-04 9.99737912e-01 1.21402051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.432557844 meters Centerline goodness : 0.151424 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:1.21 [[ 9.99723091e-01 -6.27364511e-03 -2.26800185e-02 2.61339317e+00] [ 6.28605827e-03 9.99980129e-01 4.76064655e-04 2.49419177e-01] [ 2.26765811e-02 -6.18500746e-04 9.99742662e-01 1.21376496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.462557844 meters Centerline goodness : 0.165306 Centerline is valid? [False, False] Translation: X:2.63, Y:0.25, Z:1.21 [[ 9.99785801e-01 3.20231817e-04 -2.06941991e-02 2.63231252e+00] [-3.74073246e-04 9.99996555e-01 -2.59794573e-03 2.46513864e-01] [ 2.06932959e-02 2.60513040e-03 9.99782477e-01 1.21486104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.492557844 meters Centerline goodness : 0.155704 Centerline is valid? [False, False] Translation: X:2.63, Y:0.24, Z:1.22 [[ 9.99786333e-01 3.35759816e-04 -2.06682129e-02 2.63197114e+00] [-3.82424448e-04 9.99997387e-01 -2.25388613e-03 2.44595919e-01] [ 2.06674021e-02 2.26130858e-03 9.99783849e-01 1.21534430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.522557844 meters Centerline goodness : 0.154489 Centerline is valid? [False, False] Translation: X:2.63, Y:0.24, Z:1.22 [[ 9.99789536e-01 4.38324421e-04 -2.05107735e-02 2.63140682e+00] [-4.75710991e-04 9.99998234e-01 -1.81793357e-03 2.42606137e-01] [ 2.05099405e-02 1.82730816e-03 9.99787979e-01 1.21561128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.552557844 meters Centerline goodness : 0.150926 Centerline is valid? [False, False] Translation: X:2.63, Y:0.24, Z:1.22 [[ 9.99790433e-01 3.64820374e-04 -2.04684435e-02 2.63122854e+00] [-3.89492245e-04 9.99999202e-01 -1.20138772e-03 2.39104386e-01] [ 2.04679889e-02 1.20910825e-03 9.99789778e-01 1.21588644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.582557844 meters Centerline goodness : 0.151763 Centerline is valid? [False, False] Translation: X:2.63, Y:0.24, Z:1.22 [[ 9.99784390e-01 4.54710367e-04 -2.07597245e-02 2.63199946e+00] [-4.71681446e-04 9.99999559e-01 -8.12611008e-04 2.36965951e-01] [ 2.07593458e-02 8.22227778e-04 9.99784163e-01 1.21585808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.612557844 meters Centerline goodness : 0.132787 Centerline is valid? [False, False] Translation: X:2.63, Y:0.24, Z:1.22 [[ 9.99778703e-01 4.97470012e-04 -2.10308544e-02 2.63269481e+00] [-5.08237853e-04 9.99999742e-01 -5.06660253e-04 2.35121844e-01] [ 2.10305969e-02 5.17236807e-04 9.99778699e-01 1.21586456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.642557844 meters Centerline goodness : 0.148174 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:1.22 [[ 9.99777397e-01 6.25699597e-04 -2.10894624e-02 2.63267344e+00] [-6.29910538e-04 9.99999783e-01 -1.93027975e-04 2.33705753e-01] [ 2.10893370e-02 2.06269481e-04 9.99777574e-01 1.21616173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.672557844 meters Centerline goodness : 0.133349 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:1.22 [[ 9.99779705e-01 8.73253687e-04 -2.09709098e-02 2.63204739e+00] [-8.62383395e-04 9.99999489e-01 5.27388869e-04 2.30440933e-01] [ 2.09713596e-02 -5.09187723e-04 9.99779947e-01 1.21675175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.702557844 meters Centerline goodness : 0.149028 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:1.22 [[ 9.99776705e-01 9.38467789e-04 -2.11106622e-02 2.63234723e+00] [-9.19806956e-04 9.99999178e-01 8.93645562e-04 2.28527115e-01] [ 2.11114835e-02 -8.74028282e-04 9.99776746e-01 1.21682416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.732557844 meters Centerline goodness : 0.134098 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:1.22 [[ 9.99772668e-01 1.02003845e-03 -2.12972215e-02 2.63287702e+00] [-9.92888526e-04 9.99998681e-01 1.28534595e-03 2.26362636e-01] [ 2.12985045e-02 -1.26390799e-03 9.99772362e-01 1.21675142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.762557844 meters Centerline goodness : 0.144606 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:1.22 [[ 9.99767924e-01 1.14806007e-03 -2.15123434e-02 2.63346737e+00] [-1.11140618e-03 9.99997911e-01 1.71573209e-03 2.24218352e-01] [ 2.15142682e-02 -1.69142496e-03 9.99767111e-01 1.21666077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79255784400002 meters Centerline goodness : 0.173395 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:1.22 [[ 9.99769635e-01 1.47177039e-03 -2.14128729e-02 2.63311703e+00] [-1.41488666e-03 9.99995431e-01 2.67142773e-03 2.19791653e-01] [ 2.14167068e-02 -2.64051554e-03 9.99767149e-01 1.21687063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82255784400002 meters Centerline goodness : 0.141334 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:1.22 [[ 9.99772792e-01 1.63932041e-03 -2.12527111e-02 2.63234130e+00] [-1.57147405e-03 9.99993617e-01 3.20867050e-03 2.17141660e-01] [ 2.12578355e-02 -3.17454338e-03 9.99768987e-01 1.21753911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85255784400002 meters Centerline goodness : 0.136025 Centerline is valid? [False, False] Translation: X:2.65, Y:0.21, Z:1.22 [[ 9.99786923e-01 7.90187559e-03 -1.90701157e-02 2.65388190e+00] [-7.90251036e-03 9.99968774e-01 4.20729864e-05 2.13936896e-01] [ 1.90698526e-02 1.08637765e-04 9.99818148e-01 1.21717618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88255784400002 meters Centerline goodness : 0.162288 Centerline is valid? [False, False] Translation: X:2.65, Y:0.21, Z:1.22 [[ 0.99981748 0.00432122 -0.01860986 2.65253978] [-0.0043822 0.99998516 -0.00323729 0.21137764] [ 0.0185956 0.00331825 0.99982158 1.21739599] [ 0. 0. 0. 1. ]] SLAMing on 212.91255784400002 meters Centerline goodness : 0.180684 Centerline is valid? [False, False] Translation: X:2.65, Y:0.21, Z:1.22 [[ 0.99981407 0.00449433 -0.01875196 2.6529634 ] [-0.00454762 0.99998574 -0.00280039 0.20929144] [ 0.01873911 0.00288514 0.99982024 1.21726101] [ 0. 0. 0. 1. ]] SLAMing on 212.94255784400002 meters Centerline goodness : 0.160550 Centerline is valid? [False, False] Translation: X:2.65, Y:0.21, Z:1.22 [[ 9.99811676e-01 4.65234557e-03 -1.88406193e-02 2.65338700e+00] [-4.69804764e-03 9.99986127e-01 -2.38218566e-03 2.07282424e-01] [ 1.88292752e-02 2.47025117e-03 9.99819662e-01 1.21689748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97255784400002 meters Centerline goodness : 0.129478 Centerline is valid? [False, False] Translation: X:2.65, Y:0.20, Z:1.22 [[ 9.99811630e-01 4.94841323e-03 -1.87674834e-02 2.65298205e+00] [-4.97598223e-03 9.99986608e-01 -1.42256373e-03 2.02492792e-01] [ 1.87601926e-02 1.51568242e-03 9.99822863e-01 1.21727297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00255784400002 meters Centerline goodness : 0.153503 Centerline is valid? [False, False] Translation: X:2.65, Y:0.20, Z:1.22 [[ 9.99813365e-01 5.12810502e-03 -1.86262716e-02 2.65227361e+00] [-5.14507228e-03 9.99986392e-01 -8.63124771e-04 1.99739552e-01] [ 1.86215919e-02 9.58797196e-04 9.99826143e-01 1.21786128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03255784400002 meters Centerline goodness : 0.141045 Centerline is valid? [False, False] Translation: X:2.65, Y:0.20, Z:1.22 [[ 9.99810556e-01 5.28146996e-03 -1.87338620e-02 2.65224250e+00] [-5.28857880e-03 9.99985961e-01 -3.29942553e-04 1.96980169e-01] [ 1.87318564e-02 4.28955552e-04 9.99824451e-01 1.21835925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06255784400003 meters Centerline goodness : 0.136094 Centerline is valid? [False, False] Translation: X:2.65, Y:0.19, Z:1.22 [[ 9.99792444e-01 5.21912730e-03 -1.96933709e-02 2.65484620e+00] [-5.21396054e-03 9.99986358e-01 3.13696643e-04 1.92993429e-01] [ 1.96947395e-02 -2.10951074e-04 9.99806018e-01 1.21798551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.092557844 meters Centerline goodness : 0.071516 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:1.22 [[ 9.99787743e-01 5.32146409e-03 -1.99035649e-02 2.65568669e+00] [-5.30960939e-03 9.99985694e-01 6.48405187e-04 1.91449638e-01] [ 1.99067307e-02 -5.42587403e-04 9.99801694e-01 1.21740076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122557844 meters Centerline goodness : 0.125984 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:1.22 [[ 9.99784588e-01 5.36297334e-03 -2.00503214e-02 2.65637727e+00] [-5.34733572e-03 9.99985356e-01 8.33451113e-04 1.90524638e-01] [ 2.00544976e-02 -7.26055778e-04 9.99798625e-01 1.21683164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.152557844 meters Centerline goodness : 0.070501 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:1.22 [[ 9.99782273e-01 5.34250744e-03 -2.01708590e-02 2.65679607e+00] [-5.32679150e-03 9.99985466e-01 8.32789138e-04 1.90418319e-01] [ 2.01750150e-02 -7.25161857e-04 9.99796201e-01 1.21663823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.182557844 meters Centerline goodness : 0.071012 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:1.22 [[ 9.99785219e-01 5.10136001e-03 -2.00871178e-02 2.65646849e+00] [-5.09753406e-03 9.99986978e-01 2.41665752e-04 1.93034405e-01] [ 2.00880891e-02 -1.39219079e-04 9.99798204e-01 1.21686275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.212557844 meters SLAMing on 213.242557844 meters Centerline goodness : 0.141170 Centerline is valid? [False, False] Translation: X:2.68, Y:0.20, Z:1.22 [[ 9.99794410e-01 1.30517474e-05 -2.02765290e-02 2.67832393e+00] [ 4.37851769e-05 9.99996072e-01 2.80264296e-03 2.00968489e-01] [ 2.02764859e-02 -2.80295458e-03 9.99790482e-01 1.21744320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.272557844 meters Centerline goodness : 0.108739 Centerline is valid? [False, False] Translation: X:2.68, Y:0.20, Z:1.22 [[ 9.99790992e-01 -2.63807364e-04 -2.04426771e-02 2.67909686e+00] [ 3.06891483e-04 9.99997739e-01 2.10444910e-03 2.04194817e-01] [ 2.04420757e-02 -2.11028294e-03 9.99788812e-01 1.21681914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.302557844 meters Centerline goodness : 0.124405 Centerline is valid? [False, False] Translation: X:2.68, Y:0.21, Z:1.22 [[ 9.99782858e-01 -8.76937093e-04 -2.08198778e-02 2.68081640e+00] [ 8.93072939e-04 9.99999308e-01 7.65736002e-04 2.10216242e-01] [ 2.08191919e-02 -7.84163399e-04 9.99782950e-01 1.21537577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.332557844 meters Centerline goodness : 0.130740 Centerline is valid? [False, False] Translation: X:2.72, Y:0.21, Z:1.21 [[ 9.99821936e-01 -8.03824186e-04 -1.88533710e-02 2.72484869e+00] [ 7.96247346e-04 9.99999599e-01 -4.09385744e-04 2.14240191e-01] [ 1.88536925e-02 3.94300901e-04 9.99822176e-01 1.21496963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.362557844 meters Centerline goodness : 0.142848 Centerline is valid? [False, False] Translation: X:2.72, Y:0.21, Z:1.22 [[ 9.99824022e-01 -1.10875411e-03 -1.87268539e-02 2.72422752e+00] [ 1.09689897e-03 9.99999191e-01 -6.43315534e-04 2.14996488e-01] [ 1.87275520e-02 6.22660858e-04 9.99824430e-01 1.21538974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.392557844 meters Centerline goodness : 0.164431 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:1.22 [[ 9.99833295e-01 -1.48528368e-03 -1.81982685e-02 2.72225950e+00] [ 1.47048914e-03 9.99998577e-01 -8.26318015e-04 2.15388517e-01] [ 1.81994699e-02 7.99419907e-04 9.99834056e-01 1.21644428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.422557844 meters Centerline goodness : 0.138623 Centerline is valid? [False, False] Translation: X:2.74, Y:0.22, Z:1.22 [[ 9.99818458e-01 -1.11615276e-02 -1.54424975e-02 2.73995302e+00] [ 1.11487663e-02 9.99937434e-01 -9.12220064e-04 2.18774958e-01] [ 1.54517131e-02 7.39889664e-04 9.99880341e-01 1.21856666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.452557844 meters Centerline goodness : 0.150614 Centerline is valid? [False, False] Translation: X:2.72, Y:0.21, Z:1.22 [[ 9.99863226e-01 -1.98979616e-03 -1.64185735e-02 2.72078609e+00] [ 1.96327505e-03 9.99996742e-01 -1.63127162e-03 2.13486035e-01] [ 1.64217659e-02 1.59881433e-03 9.99863875e-01 1.21814488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.482557844 meters Centerline goodness : 0.152520 Centerline is valid? [False, False] Translation: X:2.77, Y:0.21, Z:1.22 [[ 9.99875453e-01 -1.96302521e-03 -1.56596894e-02 2.76583595e+00] [ 1.92913174e-03 9.99995765e-01 -2.17918896e-03 2.12910157e-01] [ 1.56639008e-02 2.14870795e-03 9.99875005e-01 1.21771374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.512557844 meters Centerline goodness : 0.151344 Centerline is valid? [False, False] Translation: X:2.77, Y:0.21, Z:1.22 [[ 9.99870746e-01 -2.19828999e-03 -1.59266714e-02 2.76649904e+00] [ 2.16542138e-03 9.99995491e-01 -2.08069744e-03 2.12090447e-01] [ 1.59311736e-02 2.04594054e-03 9.99870998e-01 1.21766276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54255784400002 meters Centerline goodness : 0.137805 Centerline is valid? [False, False] Translation: X:2.77, Y:0.21, Z:1.22 [[ 9.99871741e-01 -2.22991518e-03 -1.58596393e-02 2.76598403e+00] [ 2.19927862e-03 9.99995682e-01 -1.94891031e-03 2.11481977e-01] [ 1.58639167e-02 1.91378058e-03 9.99872329e-01 1.21823272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57255784400002 meters Centerline goodness : 0.156344 Centerline is valid? [False, False] Translation: X:2.77, Y:0.21, Z:1.22 [[ 9.99874506e-01 -2.21646815e-03 -1.56862941e-02 2.76519971e+00] [ 2.18750986e-03 9.99995872e-01 -1.86300623e-03 2.11095717e-01] [ 1.56903587e-02 1.82845851e-03 9.99875227e-01 1.21880118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60255784400002 meters Centerline goodness : 0.148978 Centerline is valid? [False, False] Translation: X:2.76, Y:0.21, Z:1.22 [[ 9.99876189e-01 -2.23388393e-03 -1.55761495e-02 2.76471597e+00] [ 2.20443500e-03 9.99995751e-01 -1.90755521e-03 2.11299991e-01] [ 1.55803446e-02 1.87298242e-03 9.99876865e-01 1.21911292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63255784400002 meters Centerline goodness : 0.152101 Centerline is valid? [False, False] Translation: X:2.81, Y:0.21, Z:1.22 [[ 9.99900932e-01 -1.12233308e-03 -1.40308853e-02 2.80791560e+00] [ 1.09206490e-03 9.99997061e-01 -2.16472972e-03 2.11428207e-01] [ 1.40332736e-02 2.14919263e-03 9.99899219e-01 1.21929882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66255784400002 meters Centerline goodness : 0.157568 Centerline is valid? [False, False] Translation: X:2.81, Y:0.21, Z:1.22 [[ 9.99900581e-01 -1.21191201e-03 -1.40484703e-02 2.80831254e+00] [ 1.17601536e-03 9.99996024e-01 -2.56317932e-03 2.13387556e-01] [ 1.40515208e-02 2.54640328e-03 9.99898030e-01 1.21874462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69255784400002 meters Centerline goodness : 0.139344 Centerline is valid? [False, False] Translation: X:2.81, Y:0.21, Z:1.22 [[ 9.99898608e-01 -1.30290186e-03 -1.41801609e-02 2.80879833e+00] [ 1.26278634e-03 9.99995177e-01 -2.83757509e-03 2.14714908e-01] [ 1.41837896e-02 2.81938087e-03 9.99895430e-01 1.21845743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72255784400002 meters Centerline goodness : 0.154863 Centerline is valid? [False, False] Translation: X:2.81, Y:0.22, Z:1.22 [[ 9.99896918e-01 -1.40872901e-03 -1.42887617e-02 2.80929668e+00] [ 1.36287990e-03 9.99993894e-01 -3.21798323e-03 2.16686221e-01] [ 1.42932078e-02 3.19817765e-03 9.99892732e-01 1.21812151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75255784400002 meters Centerline goodness : 0.142587 Centerline is valid? [False, False] Translation: X:2.81, Y:0.22, Z:1.22 [[ 9.99905096e-01 8.26500626e-04 -1.37519549e-02 2.80676964e+00] [-8.44583299e-04 9.99998786e-01 -1.30916085e-03 2.20723651e-01] [ 1.37508562e-02 1.32065128e-03 9.99904580e-01 1.21929190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78255784400002 meters Centerline goodness : 0.125782 Centerline is valid? [False, False] Translation: X:2.81, Y:0.22, Z:1.22 [[ 9.99893128e-01 4.57104057e-03 -1.38865947e-02 2.80713565e+00] [-4.54635303e-03 9.99988029e-01 1.80884469e-03 2.24669695e-01] [ 1.38946968e-02 -1.74551801e-03 9.99901940e-01 1.21930605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81255784400003 meters Centerline goodness : 0.134163 Centerline is valid? [False, False] Translation: X:2.81, Y:0.23, Z:1.22 [[ 9.99891373e-01 4.42719451e-03 -1.40585092e-02 2.80764515e+00] [-4.40908109e-03 9.99989410e-01 1.31916381e-03 2.26984067e-01] [ 1.40642005e-02 -1.25703540e-03 9.99900304e-01 1.21919644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842557844 meters Centerline goodness : 0.143371 Centerline is valid? [False, False] Translation: X:2.81, Y:0.23, Z:1.22 [[ 9.99889342e-01 4.26920213e-03 -1.42505505e-02 2.80835788e+00] [-4.25677607e-03 9.99990533e-01 9.02188428e-04 2.28810243e-01] [ 1.42542672e-02 -8.41427191e-04 9.99898049e-01 1.21882618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.872557844 meters Centerline goodness : 0.164880 Centerline is valid? [False, False] Translation: X:2.81, Y:0.23, Z:1.22 [[ 9.99886770e-01 4.14259928e-03 -1.44667455e-02 2.80924895e+00] [-4.13451976e-03 9.99991280e-01 5.88352716e-04 2.30219218e-01] [ 1.44690566e-02 -5.28473052e-04 9.99895178e-01 1.21819351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902557844 meters Centerline goodness : 0.136140 Centerline is valid? [False, False] Translation: X:2.81, Y:0.23, Z:1.22 [[ 9.99883457e-01 3.98796945e-03 -1.47366623e-02 2.81021857e+00] [-3.98459885e-03 9.99992028e-01 2.58076577e-04 2.31780914e-01] [ 1.47375740e-02 -1.99326813e-04 9.99891376e-01 1.21764803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.932557844 meters Centerline goodness : 0.138849 Centerline is valid? [False, False] Translation: X:2.81, Y:0.23, Z:1.22 [[ 9.99881235e-01 3.92476558e-03 -1.49034135e-02 2.81060673e+00] [-3.92165699e-03 9.99992282e-01 2.37801152e-04 2.31820051e-01] [ 1.49042318e-02 -1.79326834e-04 9.99888910e-01 1.21762614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.962557844 meters Centerline goodness : 0.131753 Centerline is valid? [False, False] Translation: X:2.81, Y:0.23, Z:1.22 [[ 9.99878297e-01 3.83096073e-03 -1.51233340e-02 2.81119877e+00] [-3.82877511e-03 9.99992655e-01 1.73470758e-04 2.32017680e-01] [ 1.51238875e-02 -1.15545802e-04 9.99885621e-01 1.21752371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.992557844 meters Centerline goodness : 0.129234 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99856166e-01 -4.87006455e-03 -1.62459399e-02 2.79202040e+00] [ 4.89575880e-03 9.99986827e-01 1.54218388e-03 2.36862016e-01] [ 1.62382153e-02 -1.62149827e-03 9.99866837e-01 1.21632875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.022557844 meters Centerline goodness : 0.150465 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99854216e-01 -4.88052077e-03 -1.63623454e-02 2.79224281e+00] [ 4.90616508e-03 9.99986798e-01 1.52750171e-03 2.37250704e-01] [ 1.63546744e-02 -1.60755539e-03 9.99864961e-01 1.21643181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.052557844 meters Centerline goodness : 0.126507 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99854666e-01 -4.91806919e-03 -1.63235907e-02 2.79201181e+00] [ 4.94151731e-03 9.99986816e-01 1.39643284e-03 2.37974053e-01] [ 1.63165078e-02 -1.47689320e-03 9.99865786e-01 1.21666180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.082557844 meters Centerline goodness : 0.142181 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99854468e-01 -4.95674986e-03 -1.63240179e-02 2.79190707e+00] [ 4.97731141e-03 9.99986870e-01 1.21920239e-03 2.38980743e-01] [ 1.63177602e-02 -1.30027467e-03 9.99866011e-01 1.21685975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.112557844 meters Centerline goodness : 0.148453 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99853989e-01 -5.00865079e-03 -1.63375262e-02 2.79184810e+00] [ 5.02487368e-03 9.99986922e-01 9.52084655e-04 2.40441435e-01] [ 1.63325438e-02 -1.03403964e-03 9.99866080e-01 1.21702481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.142557844 meters Centerline goodness : 0.148453 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99853944e-01 -5.00407281e-03 -1.63416861e-02 2.79184288e+00] [ 5.02039948e-03 9.99986939e-01 9.58210359e-04 2.40439960e-01] [ 1.63366777e-02 -1.04011220e-03 9.99866007e-01 1.21703586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.172557844 meters Centerline goodness : 0.164752 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99863557e-01 -1.50775905e-03 -1.64497529e-02 2.79186253e+00] [ 1.58115678e-03 9.99988849e-01 4.44984212e-03 2.41236800e-01] [ 1.64428602e-02 -4.47524461e-03 9.99854792e-01 1.21726681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.202557844 meters Centerline goodness : 0.137645 Centerline is valid? [False, False] Translation: X:2.79, Y:0.25, Z:1.22 [[ 9.99865316e-01 -1.72964623e-03 -1.63204900e-02 2.79169537e+00] [ 1.78928228e-03 9.99991774e-01 3.64016630e-03 2.45587194e-01] [ 1.63140595e-02 -3.66887799e-03 9.99860186e-01 1.21701310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.232557844 meters Centerline goodness : 0.154890 Centerline is valid? [False, False] Translation: X:2.79, Y:0.25, Z:1.22 [[ 9.99867255e-01 -1.90178881e-03 -1.61819703e-02 2.79103429e+00] [ 1.95404496e-03 9.99992926e-01 3.21408379e-03 2.47537926e-01] [ 1.61757433e-02 -3.24527743e-03 9.99863897e-01 1.21751569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.262557844 meters Centerline goodness : 0.143815 Centerline is valid? [False, False] Translation: X:2.79, Y:0.25, Z:1.22 [[ 9.99870015e-01 -2.07265835e-03 -1.59892788e-02 2.79011275e+00] [ 2.11748728e-03 9.99993874e-01 2.78726719e-03 2.49654514e-01] [ 1.59834038e-02 -2.82076198e-03 9.99868278e-01 1.21819561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29255784400002 meters Centerline goodness : 0.133960 Centerline is valid? [False, False] Translation: X:2.79, Y:0.25, Z:1.22 [[ 9.99872844e-01 -2.21219564e-03 -1.57924943e-02 2.78919778e+00] [ 2.24956018e-03 9.99994712e-01 2.34859648e-03 2.52045846e-01] [ 1.57872152e-02 -2.38382401e-03 9.99872532e-01 1.21881552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32255784400002 meters Centerline goodness : 0.127254 Centerline is valid? [False, False] Translation: X:2.78, Y:0.26, Z:1.22 [[ 9.99892410e-01 5.27913566e-06 -1.46685998e-02 2.78488176e+00] [ 5.21202450e-05 9.99992344e-01 3.91269332e-03 2.59420730e-01] [ 1.46685082e-02 -3.91303688e-03 9.99884755e-01 1.22062336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35255784400002 meters Centerline goodness : 0.165509 Centerline is valid? [False, False] Translation: X:2.78, Y:0.26, Z:1.22 [[ 9.99894393e-01 -2.81653420e-04 -1.45300646e-02 2.78448785e+00] [ 3.28827235e-04 9.99994683e-01 3.24434803e-03 2.62485282e-01] [ 1.45290736e-02 -3.24878328e-03 9.99889170e-01 1.22069884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38255784400002 meters Centerline goodness : 0.116295 Centerline is valid? [False, False] Translation: X:2.78, Y:0.27, Z:1.22 [[ 9.99895909e-01 -5.65011340e-04 -1.44170588e-02 2.78419495e+00] [ 6.03047490e-04 9.99996349e-01 2.63406298e-03 2.65196418e-01] [ 1.44155178e-02 -2.64248297e-03 9.99892599e-01 1.22068678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41255784400002 meters Centerline goodness : 0.146211 Centerline is valid? [False, False] Translation: X:2.78, Y:0.27, Z:1.22 [[ 9.99897412e-01 -7.80808765e-04 -1.43022959e-02 2.78384881e+00] [ 8.12158274e-04 9.99997280e-01 2.18624445e-03 2.67222914e-01] [ 1.43005499e-02 -2.19763589e-03 9.99895327e-01 1.22076153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44255784400002 meters Centerline goodness : 0.191116 Centerline is valid? [False, False] Translation: X:2.81, Y:0.27, Z:1.22 [[ 0.99987488 -0.00747274 -0.01394206 2.80624063] [ 0.007535 0.99996185 0.00441796 0.27299586] [ 0.01390851 -0.00452246 0.99989304 1.22080556] [ 0. 0. 0. 1. ]] SLAMing on 214.47255784400002 meters Centerline goodness : 0.135542 Centerline is valid? [False, False] Translation: X:2.76, Y:0.27, Z:1.22 [[ 0.99982455 -0.0082012 -0.01684078 2.76095028] [ 0.00827794 0.99995565 0.00449235 0.27490594] [ 0.01680319 -0.00463097 0.99984809 1.22171465] [ 0. 0. 0. 1. ]] SLAMing on 214.50255784400002 meters Centerline goodness : 0.190782 Centerline is valid? [False, False] Translation: X:2.78, Y:0.27, Z:1.22 [[ 9.99864748e-01 -6.63782524e-04 -1.64330638e-02 2.77852722e+00] [ 7.07885463e-04 9.99996163e-01 2.67812153e-03 2.71011283e-01] [ 1.64312231e-02 -2.68939204e-03 9.99861381e-01 1.22354305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53255784400002 meters SLAMing on 214.56255784400003 meters Centerline goodness : 0.097474 Centerline is valid? [False, False] Translation: X:2.78, Y:0.28, Z:1.22 [[ 9.99863851e-01 -1.13961121e-03 -1.64614633e-02 2.77883096e+00] [ 1.16773553e-03 9.99997875e-01 1.69898416e-03 2.75299488e-01] [ 1.64594922e-02 -1.71797548e-03 9.99863057e-01 1.22320618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.592557844 meters Centerline goodness : 0.094725 Centerline is valid? [False, False] Translation: X:2.78, Y:0.28, Z:1.22 [[ 9.99860659e-01 -1.30258838e-03 -1.66422936e-02 2.77953970e+00] [ 1.32240080e-03 9.99998430e-01 1.17953663e-03 2.77909951e-01] [ 1.66407310e-02 -1.20138006e-03 9.99860812e-01 1.22284613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622557844 meters Centerline goodness : 0.302955 Centerline is valid? [False, False] Translation: X:2.78, Y:0.28, Z:1.22 [[ 9.99855474e-01 -1.51020151e-03 -1.69336821e-02 2.78052275e+00] [ 1.52027939e-03 9.99998675e-01 5.82280759e-04 2.80698214e-01] [ 1.69327803e-02 -6.07940533e-04 9.99856445e-01 1.22247899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.652557844 meters Centerline goodness : 0.148718 Centerline is valid? [False, False] Translation: X:2.78, Y:0.29, Z:1.22 [[ 9.99858316e-01 -1.59533512e-03 -1.67571483e-02 2.78027992e+00] [ 1.58726711e-03 9.99998618e-01 -4.94755665e-04 2.86850875e-01] [ 1.67579145e-02 4.68087496e-04 9.99859467e-01 1.22226570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.682557844 meters Centerline goodness : 0.155997 Centerline is valid? [False, False] Translation: X:2.78, Y:0.29, Z:1.22 [[ 9.99874172e-01 3.41137960e-04 -1.58595237e-02 2.77666505e+00] [-3.25862300e-04 9.99999481e-01 9.65759499e-04 2.91792994e-01] [ 1.58598449e-02 -9.60469958e-04 9.99873763e-01 1.22368962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.712557844 meters Centerline goodness : 0.158189 Centerline is valid? [False, False] Translation: X:2.78, Y:0.30, Z:1.22 [[ 9.99873062e-01 1.29946947e-04 -1.59324289e-02 2.77699342e+00] [-1.26185881e-04 9.99999964e-01 2.37068635e-04 2.95448866e-01] [ 1.59324591e-02 -2.35028094e-04 9.99873043e-01 1.22349338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.742557844 meters Centerline goodness : 0.093762 Centerline is valid? [False, False] Translation: X:2.76, Y:0.30, Z:1.22 [[ 9.99818544e-01 -8.12700218e-03 -1.72287592e-02 2.75885259e+00] [ 8.14975521e-03 9.99966008e-01 1.25084248e-03 3.04135620e-01] [ 1.72180079e-02 -1.39102567e-03 9.99850791e-01 1.22177208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.772557844 meters Centerline goodness : 0.234256 Centerline is valid? [False, False] Translation: X:2.76, Y:0.31, Z:1.22 [[ 9.99804804e-01 -8.48522632e-03 -1.78425081e-02 2.76076992e+00] [ 8.49110498e-03 9.99963918e-01 2.53742148e-04 3.08772665e-01] [ 1.78397112e-02 -4.05195227e-04 9.99840778e-01 1.22110046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.802557844 meters Centerline goodness : 0.178919 Centerline is valid? [False, False] Translation: X:2.74, Y:0.31, Z:1.22 [[ 9.99835656e-01 4.77641083e-05 -1.81289629e-02 2.73961348e+00] [-5.48845457e-05 9.99999922e-01 -3.92268504e-04 3.06754423e-01] [ 1.81289428e-02 3.93199036e-04 9.99835580e-01 1.22048333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.832557844 meters Centerline goodness : 0.123219 Centerline is valid? [False, False] Translation: X:2.74, Y:0.31, Z:1.22 [[ 9.99838320e-01 -5.76678486e-05 -1.79813807e-02 2.73893445e+00] [ 4.63791261e-05 9.99999802e-01 -6.28217030e-04 3.07968956e-01] [ 1.79814134e-02 6.27281499e-04 9.99838125e-01 1.22098883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.862557844 meters Centerline goodness : 0.196930 Centerline is valid? [False, False] Translation: X:2.74, Y:0.31, Z:1.22 [[ 9.99843016e-01 -1.31376821e-04 -1.77179448e-02 2.73797501e+00] [ 1.17963516e-04 9.99999706e-01 -7.58089306e-04 3.08680762e-01] [ 1.77180392e-02 7.55880227e-04 9.99842738e-01 1.22148110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.892557844 meters Centerline goodness : 0.129106 Centerline is valid? [False, False] Translation: X:2.74, Y:0.31, Z:1.22 [[ 9.99843334e-01 -2.45210916e-04 -1.76988225e-02 2.73789598e+00] [ 2.28872203e-04 9.99999546e-01 -9.25172194e-04 3.09273211e-01] [ 1.76990413e-02 9.20976482e-04 9.99842936e-01 1.22154338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.922557844 meters Centerline goodness : 0.197592 Centerline is valid? [False, False] Translation: X:2.74, Y:0.31, Z:1.22 [[ 9.99841350e-01 -3.65368164e-04 -1.78084762e-02 2.73835278e+00] [ 3.45236677e-04 9.99999298e-01 -1.13350533e-03 3.10059810e-01] [ 1.78088778e-02 1.12717736e-03 9.99840774e-01 1.22122636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.952557844 meters Centerline goodness : 0.152850 Centerline is valid? [False, False] Translation: X:2.74, Y:0.31, Z:1.22 [[ 9.99834402e-01 -6.28969908e-04 -1.81871496e-02 2.73965075e+00] [ 5.95711156e-04 9.99998141e-01 -1.83405489e-03 3.13662217e-01] [ 1.81882694e-02 1.82291688e-03 9.99832918e-01 1.22063936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.982557844 meters Centerline goodness : 0.132590 Centerline is valid? [False, False] Translation: X:2.74, Y:0.32, Z:1.22 [[ 9.99832776e-01 -7.33840143e-04 -1.82724091e-02 2.73989166e+00] [ 6.92671154e-04 9.99997208e-01 -2.25929549e-03 3.16236733e-01] [ 1.82740161e-02 2.24626091e-03 9.99830493e-01 1.22064755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.012557844 meters Centerline goodness : 0.117813 Centerline is valid? [False, False] Translation: X:2.74, Y:0.32, Z:1.22 [[ 9.99837910e-01 -1.08961560e-03 -1.79712678e-02 2.73869299e+00] [ 1.03107000e-03 9.99994133e-01 -3.26667721e-03 3.21153045e-01] [ 1.79747218e-02 3.24761808e-03 9.99833167e-01 1.22153740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04255784400002 meters Centerline goodness : 0.301274 Centerline is valid? [False, False] Translation: X:2.74, Y:0.32, Z:1.22 [[ 9.99838913e-01 -1.31831718e-03 -1.78999975e-02 2.73826223e+00] [ 1.25153087e-03 9.99992216e-01 -3.74176907e-03 3.22936641e-01] [ 1.79047911e-02 3.71876392e-03 9.99832781e-01 1.22197400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07255784400002 meters Centerline goodness : 0.169250 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:1.22 [[ 0.99979669 -0.0096176 -0.01772204 2.75861467] [ 0.00955999 0.99994875 -0.00333265 0.32879812] [ 0.01775318 0.00316255 0.9998374 1.22335519] [ 0. 0. 0. 1. ]] SLAMing on 215.10255784400002 meters Centerline goodness : 0.165392 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:1.22 [[ 9.99821953e-01 -6.67521893e-03 -1.76494512e-02 2.75819653e+00] [ 6.67002067e-03 9.99977693e-01 -3.53377869e-04 3.30258506e-01] [ 1.76514163e-02 2.35592747e-04 9.99844174e-01 1.22346782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13255784400002 meters Centerline goodness : 0.124533 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:1.22 [[ 9.99843143e-01 -3.50036112e-03 -1.73619492e-02 2.75731863e+00] [ 3.54804684e-03 9.99990016e-01 2.71652304e-03 3.33160967e-01] [ 1.73522670e-02 -2.77769794e-03 9.99845580e-01 1.22362635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16255784400002 meters Centerline goodness : 0.127104 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:1.22 [[ 9.99844563e-01 -3.62336386e-03 -1.72545930e-02 2.75696444e+00] [ 3.66764279e-03 9.99990060e-01 2.53525885e-03 3.33844287e-01] [ 1.72452353e-02 -2.59814846e-03 9.99847914e-01 1.22375208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19255784400002 meters Centerline goodness : 0.132834 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:1.22 [[ 9.99846071e-01 -3.73102399e-03 -1.71439403e-02 2.75665616e+00] [ 3.77394026e-03 9.99989824e-01 2.47162068e-03 3.33791454e-01] [ 1.71345442e-02 -2.53594043e-03 9.99849977e-01 1.22375369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22255784400002 meters Centerline goodness : 0.193884 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:1.22 [[ 9.99838036e-01 2.95553824e-03 -1.77529467e-02 2.73326444e+00] [-2.95638553e-03 9.99995630e-01 -2.14825391e-05 3.32299073e-01] [ 1.77528056e-02 7.39636144e-05 9.99842404e-01 1.22363879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25255784400002 meters Centerline goodness : 0.124313 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:1.22 [[ 9.99841568e-01 2.81404181e-03 -1.75761271e-02 2.73279588e+00] [-2.81613577e-03 9.99996030e-01 -9.43872542e-05 3.32546474e-01] [ 1.75757917e-02 1.43869060e-04 9.99845523e-01 1.22360460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28255784400002 meters Centerline goodness : 0.188258 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:1.22 [[ 9.99843609e-01 2.78225180e-03 -1.74647153e-02 2.73246380e+00] [-2.78456341e-03 9.99996117e-01 -1.08042510e-04 3.32547956e-01] [ 1.74643469e-02 1.56657221e-04 9.99847474e-01 1.22368044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31255784400003 meters Centerline goodness : 0.168534 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:1.22 [[ 9.99846202e-01 2.73752640e-03 -1.73227782e-02 2.73207191e+00] [-2.74003462e-03 9.99996239e-01 -1.21060634e-04 3.32356301e-01] [ 1.73223817e-02 1.68507027e-04 9.99849942e-01 1.22375826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342557844 meters Centerline goodness : 0.124058 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:1.22 [[ 9.99845755e-01 2.67904471e-03 -1.73576524e-02 2.73213853e+00] [-2.68209286e-03 9.99996392e-01 -1.52331845e-04 3.32240053e-01] [ 1.73571816e-02 1.98863184e-04 9.99849333e-01 1.22375569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.372557844 meters Centerline goodness : 0.190487 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:1.22 [[ 9.99845665e-01 2.63434501e-03 -1.73697072e-02 2.73215552e+00] [-2.63926075e-03 9.99996483e-01 -2.60088788e-04 3.32750470e-01] [ 1.73689610e-02 3.05891834e-04 9.99849101e-01 1.22377144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402557844 meters Centerline goodness : 0.113269 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:1.22 [[ 0.99984947 -0.00299234 -0.0170906 2.75547697] [ 0.003041 0.99999139 0.00282196 0.33657307] [ 0.01708201 -0.00287351 0.99984996 1.22368586] [ 0. 0. 0. 1. ]] SLAMing on 215.432557844 meters Centerline goodness : 0.123744 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:1.23 [[ 9.99807017e-01 -2.28897970e-03 -1.95112677e-02 2.70837468e+00] [ 2.35127907e-03 9.99992209e-01 3.17065247e-03 3.40990141e-01] [ 1.95038581e-02 -3.21591702e-03 9.99804610e-01 1.22506561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.462557844 meters Centerline goodness : 0.135410 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:1.23 [[ 9.99807873e-01 -2.43395820e-03 -1.94497649e-02 2.70812993e+00] [ 2.48873580e-03 9.99993004e-01 2.79265463e-03 3.42764685e-01] [ 1.94428316e-02 -2.84052342e-03 9.99806935e-01 1.22526034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.492557844 meters Centerline goodness : 0.128373 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:1.22 [[ 9.99804516e-01 -2.63892929e-03 -1.95950461e-02 2.70888890e+00] [ 2.68532729e-03 9.99993652e-01 2.34190869e-03 3.44718599e-01] [ 1.95887416e-02 -2.39407000e-03 9.99805256e-01 1.22457199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.522557844 meters Centerline goodness : 0.098627 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.22 [[ 9.99801820e-01 -2.72829997e-03 -1.97199528e-02 2.70939567e+00] [ 2.77114496e-03 9.99993858e-01 2.14567266e-03 3.45590338e-01] [ 1.97139776e-02 -2.19989428e-03 9.99803240e-01 1.22422014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.552557844 meters Centerline goodness : 0.143883 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.22 [[ 9.99799948e-01 -2.80312088e-03 -1.98041881e-02 2.70979391e+00] [ 2.84356643e-03 9.99993928e-01 2.01440794e-03 3.46163222e-01] [ 1.97984212e-02 -2.07031948e-03 9.99801849e-01 1.22388173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.582557844 meters Centerline goodness : 0.192100 Centerline is valid? [False, False] Translation: X:2.66, Y:0.35, Z:1.22 [[ 9.99742907e-01 -3.07565051e-03 -2.24646668e-02 2.66397660e+00] [ 3.11408169e-03 9.99993747e-01 1.67595615e-03 3.49002617e-01] [ 2.24593717e-02 -1.74548208e-03 9.99746233e-01 1.22491015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.612557844 meters Centerline goodness : 0.081995 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.23 [[ 9.99783657e-01 -3.69497399e-03 -2.04691573e-02 2.70778129e+00] [ 3.72284028e-03 9.99992194e-01 1.32344117e-03 3.47707029e-01] [ 2.04641074e-02 -1.39935826e-03 9.99789609e-01 1.22592019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.642557844 meters Centerline goodness : 0.170905 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.23 [[ 9.99785549e-01 -3.70392803e-03 -2.03749071e-02 2.70734960e+00] [ 3.73087652e-03 9.99992215e-01 1.28477784e-03 3.47981989e-01] [ 2.03699898e-02 -1.36051859e-03 9.99791585e-01 1.22623603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.672557844 meters Centerline goodness : 0.183549 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.23 [[ 9.99785878e-01 -3.73801977e-03 -2.03525231e-02 2.70707450e+00] [ 3.76315614e-03 9.99992203e-01 1.19689053e-03 3.48467522e-01] [ 2.03478904e-02 -1.27322397e-03 9.99792150e-01 1.22661872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.702557844 meters Centerline goodness : 0.105948 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.23 [[ 9.99791634e-01 -3.81210935e-03 -2.00538595e-02 2.70610800e+00] [ 3.83275254e-03 9.99992164e-01 9.91053213e-04 3.49617701e-01] [ 2.00499243e-02 -1.06770819e-03 9.99798410e-01 1.22701715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.732557844 meters Centerline goodness : 0.120833 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99815434e-01 4.07316753e-03 -1.87751548e-02 2.72480396e+00] [-4.08196495e-03 9.99991576e-01 -4.30268014e-04 3.45381949e-01] [ 1.87732441e-02 5.06828125e-04 9.99823639e-01 1.22831544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.762557844 meters Centerline goodness : 0.123424 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99817716e-01 3.95539783e-03 -1.86786029e-02 2.72438179e+00] [-3.96889589e-03 9.99991889e-01 -6.85633132e-04 3.46476269e-01] [ 1.86757394e-02 7.59641582e-04 9.99825305e-01 1.22865131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79255784400002 meters Centerline goodness : 0.116933 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99817840e-01 3.86073260e-03 -1.86917554e-02 2.72433176e+00] [-3.87924132e-03 9.99992021e-01 -9.54050322e-04 3.47755342e-01] [ 1.86879229e-02 1.02638636e-03 9.99824839e-01 1.22881455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82255784400002 meters Centerline goodness : 0.120962 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99819240e-01 3.75701588e-03 -1.86379344e-02 2.72386238e+00] [-3.78298034e-03 9.99991922e-01 -1.35803617e-03 3.50131419e-01] [ 1.86326817e-02 1.42829763e-03 9.99825376e-01 1.22938935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85255784400002 meters Centerline goodness : 0.116400 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99818503e-01 3.69560172e-03 -1.86896698e-02 2.72394399e+00] [-3.72353421e-03 9.99992002e-01 -1.45996367e-03 3.50646663e-01] [ 1.86841249e-02 1.52929032e-03 9.99824267e-01 1.22945283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88255784400002 meters Centerline goodness : 0.140484 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99820187e-01 3.69144817e-03 -1.86001602e-02 2.72383745e+00] [-3.71783114e-03 9.99992131e-01 -1.38404780e-03 3.50198886e-01] [ 1.85949047e-02 1.45295119e-03 9.99826044e-01 1.22921082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91255784400002 meters Centerline goodness : 0.141425 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99821728e-01 3.63418541e-03 -1.85284664e-02 2.72372282e+00] [-3.65755069e-03 9.99992558e-01 -1.22731608e-03 3.49035490e-01] [ 1.85238682e-02 1.29486608e-03 9.99827580e-01 1.22900556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94255784400002 meters Centerline goodness : 0.103500 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:1.23 [[ 9.99798779e-01 -6.03561070e-03 -1.91304252e-02 2.70244263e+00] [ 6.01673677e-03 9.99981354e-01 -1.04399635e-03 3.51806219e-01] [ 1.91363696e-02 9.28683546e-04 9.99816452e-01 1.22834340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97255784400002 meters Centerline goodness : 0.159358 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:1.23 [[ 9.99795003e-01 -5.95960360e-03 -1.93503272e-02 2.70314096e+00] [ 5.94531760e-03 9.99982010e-01 -7.95726352e-04 3.50722345e-01] [ 1.93547213e-02 6.80519390e-04 9.99812448e-01 1.22801090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00255784400002 meters Centerline goodness : 0.120938 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:1.23 [[ 9.99789908e-01 -5.89667564e-03 -1.96307993e-02 2.70414786e+00] [ 5.88523549e-03 9.99982477e-01 -6.40486362e-04 3.50196469e-01] [ 1.96342320e-02 5.24819925e-04 9.99807092e-01 1.22746937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03255784400002 meters Centerline goodness : 0.120938 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:1.23 [[ 9.99789908e-01 -5.89667564e-03 -1.96307993e-02 2.70414786e+00] [ 5.88523549e-03 9.99982477e-01 -6.40486362e-04 3.50196469e-01] [ 1.96342320e-02 5.24819925e-04 9.99807092e-01 1.22746937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06255784400003 meters Centerline goodness : 0.160298 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.23 [[ 9.99780407e-01 -5.88783196e-03 -2.01114859e-02 2.70574543e+00] [ 5.87503146e-03 9.99982500e-01 -6.95501895e-04 3.50799304e-01] [ 2.01152290e-02 5.77193555e-04 9.99797502e-01 1.22683467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.092557844 meters Centerline goodness : 0.156548 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.23 [[ 9.99776583e-01 -5.89736972e-03 -2.02979167e-02 2.70629840e+00] [ 5.88277382e-03 9.99982393e-01 -7.78719300e-04 3.51277020e-01] [ 2.03021517e-02 6.59137268e-04 9.99793673e-01 1.22669954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122557844 meters Centerline goodness : 0.180364 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99784288e-01 2.60135935e-03 -2.06060639e-02 2.68591903e+00] [-2.64301362e-03 9.99994518e-01 -1.99448071e-03 3.49179270e-01] [ 2.06007626e-02 2.04851258e-03 9.99785683e-01 1.22477182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.152557844 meters Centerline goodness : 0.132989 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99786889e-01 2.53306266e-03 -2.04880353e-02 2.68551919e+00] [-2.57878635e-03 9.99994243e-01 -2.20561452e-03 3.50111607e-01] [ 2.04823303e-02 2.25797874e-03 9.99787665e-01 1.22497411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.182557844 meters Centerline goodness : 0.133605 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.23 [[ 9.99790664e-01 2.47878769e-03 -2.03096725e-02 2.68495931e+00] [-2.52755291e-03 9.99993984e-01 -2.37576587e-03 3.50929741e-01] [ 2.03036613e-02 2.42660231e-03 9.99790915e-01 1.22515115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.212557844 meters Centerline goodness : 0.134348 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99787749e-01 2.49924404e-03 -2.04501814e-02 2.68555279e+00] [-2.54753323e-03 9.99994028e-01 -2.33559818e-03 3.50832703e-01] [ 2.04442220e-02 2.38719996e-03 9.99788145e-01 1.22472205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.242557844 meters Centerline goodness : 0.162545 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99782790e-01 2.53400276e-03 -2.06869806e-02 2.68658418e+00] [-2.58123953e-03 9.99994122e-01 -2.25702303e-03 3.50528443e-01] [ 2.06811397e-02 2.30993083e-03 9.99783454e-01 1.22395974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.272557844 meters Centerline goodness : 0.155073 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99775307e-01 2.51991239e-03 -2.10472118e-02 2.68785086e+00] [-2.56982484e-03 9.99993949e-01 -2.34474193e-03 3.51064712e-01] [ 2.10411759e-02 2.39830273e-03 9.99775733e-01 1.22338663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.302557844 meters Centerline goodness : 0.131378 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99772049e-01 2.45111236e-03 -2.12094835e-02 2.68819477e+00] [-2.50674360e-03 9.99993487e-01 -2.59675275e-03 3.52326461e-01] [ 2.12029804e-02 2.64932756e-03 9.99771681e-01 1.22355945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.332557844 meters Centerline goodness : 0.143155 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99774824e-01 2.38311915e-03 -2.10860463e-02 2.68772217e+00] [-2.44631126e-03 9.99992593e-01 -2.97158191e-03 3.54201091e-01] [ 2.10788085e-02 3.02249582e-03 9.99773248e-01 1.22394404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.362557844 meters Centerline goodness : 0.133070 Centerline is valid? [False, False] Translation: X:2.69, Y:0.36, Z:1.22 [[ 9.99777831e-01 2.30966141e-03 -2.09512414e-02 2.68713597e+00] [-2.38183302e-03 9.99991314e-01 -3.42044164e-03 3.56440395e-01] [ 2.09431593e-02 3.46958409e-03 9.99774648e-01 1.22448042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.392557844 meters Centerline goodness : 0.127132 Centerline is valid? [False, False] Translation: X:2.69, Y:0.36, Z:1.23 [[ 9.99783528e-01 2.17836052e-03 -2.06918322e-02 2.68617721e+00] [-2.25971107e-03 9.99989807e-01 -3.90896214e-03 3.58720415e-01] [ 2.06831062e-02 3.95487352e-03 9.99778259e-01 1.22511893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.422557844 meters Centerline goodness : 0.138735 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99792506e-01 2.00730972e-03 -2.02710442e-02 2.68460054e+00] [-2.09810148e-03 9.99987859e-01 -4.45861531e-03 3.61447026e-01] [ 2.02618483e-02 4.50022088e-03 9.99784580e-01 1.22601019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.452557844 meters Centerline goodness : 0.142253 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99794423e-01 1.95811489e-03 -2.01811017e-02 2.68431126e+00] [-2.05047843e-03 9.99987514e-01 -4.55705859e-03 3.61952037e-01] [ 2.01719264e-02 4.59750268e-03 9.99785955e-01 1.22609524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.482557844 meters Centerline goodness : 0.121950 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99796246e-01 1.92590118e-03 -2.00937282e-02 2.68403751e+00] [-2.01835585e-03 9.99987466e-01 -4.58190516e-03 3.62036948e-01] [ 2.00846520e-02 4.62152787e-03 9.99787602e-01 1.22613544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.512557844 meters Centerline goodness : 0.182776 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99813458e-01 1.59399154e-03 -1.92486051e-02 2.68167949e+00] [-1.68633096e-03 9.99987145e-01 -4.78192213e-03 3.62043014e-01] [ 1.92407353e-02 4.81348962e-03 9.99803293e-01 1.22658649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54255784400002 meters Centerline goodness : 0.185779 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99817610e-01 1.58425551e-03 -1.90325455e-02 2.68093838e+00] [-1.67369763e-03 9.99987627e-01 -4.68442115e-03 3.61459100e-01] [ 1.90248887e-02 4.71542148e-03 9.99807891e-01 1.22687832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57255784400002 meters Centerline goodness : 0.151715 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99813667e-01 1.59742708e-03 -1.92374313e-02 2.68138369e+00] [-1.68497304e-03 9.99988295e-01 -4.53546496e-03 3.60699981e-01] [ 1.92299610e-02 4.56703441e-03 9.99804656e-01 1.22696685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60255784400002 meters Centerline goodness : 0.154191 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99808874e-01 1.63301163e-03 -1.94820178e-02 2.68227573e+00] [-1.71865932e-03 9.99988929e-01 -4.38031026e-03 3.59992880e-01] [ 1.94746490e-02 4.41295602e-03 9.99800612e-01 1.22644282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63255784400002 meters Centerline goodness : 0.126047 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99805434e-01 1.65356228e-03 -1.96560437e-02 2.68304284e+00] [-1.73341389e-03 9.99990312e-01 -4.04610223e-03 3.58035615e-01] [ 1.96491628e-02 4.07938706e-03 9.99798614e-01 1.22575345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66255784400002 meters Centerline goodness : 0.127696 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99812324e-01 1.67633968e-03 -1.93004459e-02 2.68190064e+00] [-1.75105578e-03 9.99991036e-01 -3.85496241e-03 3.56876700e-01] [ 1.92938107e-02 3.88803508e-03 9.99806297e-01 1.22610298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69255784400002 meters Centerline goodness : 0.082544 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99819892e-01 1.73168569e-03 -1.88993577e-02 2.68052180e+00] [-1.80016853e-03 9.99991874e-01 -3.60714330e-03 3.55561816e-01] [ 1.88929576e-02 3.64051566e-03 9.99814884e-01 1.22663332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72255784400002 meters Centerline goodness : 0.170807 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.23 [[ 9.99823545e-01 1.84863435e-03 -1.86939025e-02 2.67970329e+00] [-1.91042626e-03 9.99992769e-01 -3.28813980e-03 3.54150002e-01] [ 1.86876888e-02 3.32327291e-03 9.99819847e-01 1.22706990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75255784400002 meters Centerline goodness : 0.149103 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.23 [[ 9.99811363e-01 2.03947453e-03 -1.93152272e-02 2.68155870e+00] [-2.08813169e-03 9.99994697e-01 -2.49927595e-03 3.50510672e-01] [ 1.93100276e-02 2.53913724e-03 9.99810320e-01 1.22634506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78255784400002 meters Centerline goodness : 0.158815 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.23 [[ 9.99803775e-01 2.12364602e-03 -1.96951958e-02 2.68303035e+00] [-2.16498048e-03 9.99995498e-01 -2.07762311e-03 3.48138027e-01] [ 1.96906950e-02 2.11985515e-03 9.99803872e-01 1.22537164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81255784400003 meters Centerline goodness : 0.153733 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.22 [[ 9.99797628e-01 2.24857680e-03 -1.99911676e-02 2.68409266e+00] [-2.28020616e-03 9.99996184e-01 -1.55951329e-03 3.45262442e-01] [ 1.99875847e-02 1.60478167e-03 9.99798940e-01 1.22472831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842557844 meters Centerline goodness : 0.158954 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:1.23 [[ 9.99799124e-01 2.58915351e-03 -1.98747888e-02 2.68345559e+00] [-2.60412193e-03 9.99996345e-01 -7.27292174e-04 3.41213852e-01] [ 1.98728330e-02 7.78902452e-04 9.99802212e-01 1.22517867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.872557844 meters Centerline goodness : 0.108040 Centerline is valid? [False, False] Translation: X:2.66, Y:0.34, Z:1.23 [[ 9.99810856e-01 -3.44598217e-03 -1.91409726e-02 2.65941868e+00] [ 3.48829397e-03 9.99991545e-01 2.17758733e-03 3.44781347e-01] [ 1.91333069e-02 -2.24394479e-03 9.99814423e-01 1.22566762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902557844 meters Centerline goodness : 0.134307 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:1.23 [[ 9.99825326e-01 4.99893375e-03 -1.80091345e-02 2.67913211e+00] [-4.97313799e-03 9.99986543e-01 1.47687080e-03 3.38867635e-01] [ 1.80162750e-02 -1.38705091e-03 9.99836732e-01 1.22691923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.932557844 meters Centerline goodness : 0.111526 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:1.23 [[ 9.99825287e-01 5.12636755e-03 -1.79754021e-02 2.67890179e+00] [-5.09533621e-03 9.99985449e-01 1.77169680e-03 3.37220040e-01] [ 1.79842229e-02 -1.67979654e-03 9.99836860e-01 1.22710686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.962557844 meters Centerline goodness : 0.096794 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:1.23 [[ 9.99824345e-01 5.25750426e-03 -1.79899429e-02 2.67905841e+00] [-5.22024876e-03 9.99984133e-01 2.11724112e-03 3.35514093e-01] [ 1.80007889e-02 -2.02295724e-03 9.99835926e-01 1.22682222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.992557844 meters Centerline goodness : 0.104696 Centerline is valid? [False, False] Translation: X:2.68, Y:0.33, Z:1.23 [[ 9.99825146e-01 5.42432786e-03 -1.78956432e-02 2.67883162e+00] [-5.37958599e-03 9.99982285e-01 2.54734733e-03 3.33526989e-01] [ 1.79091438e-02 -2.45063076e-03 9.99836615e-01 1.22670536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.022557844 meters Centerline goodness : 0.100256 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:1.23 [[ 0.99985715 -0.00290031 -0.01665128 2.69924227] [ 0.00296476 0.9999882 0.00384724 0.33336497] [ 0.01663993 -0.00389606 0.99985396 1.2278055 ] [ 0. 0. 0. 1. ]] SLAMing on 217.052557844 meters Centerline goodness : 0.182436 Centerline is valid? [False, False] Translation: X:2.65, Y:0.33, Z:1.23 [[ 0.99981031 -0.00388497 -0.01908519 2.65266541] [ 0.00395022 0.99998648 0.00338248 0.330872 ] [ 0.01907179 -0.00345723 0.99981214 1.2293158 ] [ 0. 0. 0. 1. ]] SLAMing on 217.082557844 meters Centerline goodness : 0.162018 Centerline is valid? [False, False] Translation: X:2.65, Y:0.33, Z:1.23 [[ 0.99980534 -0.00372837 -0.01937457 2.65334512] [ 0.00380393 0.9999853 0.00386436 0.32843602] [ 0.01935988 -0.0039373 0.99980483 1.22933679] [ 0. 0. 0. 1. ]] SLAMing on 217.112557844 meters Centerline goodness : 0.106791 Centerline is valid? [False, False] Translation: X:2.65, Y:0.33, Z:1.23 [[ 0.99980145 -0.00360212 -0.0195982 2.65396296] [ 0.00368475 0.99998447 0.00418144 0.32693364] [ 0.01958283 -0.00425282 0.99979919 1.22918382] [ 0. 0. 0. 1. ]] SLAMing on 217.142557844 meters Centerline goodness : 0.120431 Centerline is valid? [False, False] Translation: X:2.65, Y:0.33, Z:1.23 [[ 0.99979741 -0.00346216 -0.01982795 2.65491198] [ 0.00355073 0.99998387 0.00443361 0.32583005] [ 0.01981228 -0.00450311 0.99979358 1.22852556] [ 0. 0. 0. 1. ]] SLAMing on 217.172557844 meters Centerline goodness : 0.125502 Centerline is valid? [False, False] Translation: X:2.67, Y:0.32, Z:1.23 [[ 0.99980049 0.00479259 -0.01939124 2.67468229] [-0.00472622 0.99998282 0.00346711 0.31984219] [ 0.01940752 -0.00337477 0.99980596 1.2293076 ] [ 0. 0. 0. 1. ]] SLAMing on 217.202557844 meters Centerline goodness : 0.102659 Centerline is valid? [False, False] Translation: X:2.66, Y:0.33, Z:1.23 [[ 9.99818848e-01 -2.48603560e-03 -1.88703798e-02 2.65716654e+00] [ 2.57999047e-03 9.99984389e-01 4.95624937e-03 3.26588555e-01] [ 1.88577638e-02 -5.00403694e-03 9.99809654e-01 1.22675481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.232557844 meters Centerline goodness : 0.100118 Centerline is valid? [False, False] Translation: X:2.66, Y:0.33, Z:1.23 [[ 9.99818736e-01 -2.48383415e-03 -1.88766022e-02 2.65725333e+00] [ 2.57306454e-03 9.99985625e-01 4.70421989e-03 3.28076160e-01] [ 1.88646463e-02 -4.75193789e-03 9.99810754e-01 1.22671204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.262557844 meters Centerline goodness : 0.104843 Centerline is valid? [False, False] Translation: X:2.66, Y:0.33, Z:1.23 [[ 9.99819216e-01 -2.12670336e-03 -1.88947879e-02 2.65727058e+00] [ 2.20921052e-03 9.99988112e-01 4.34686296e-03 3.31275553e-01] [ 1.88853188e-02 -4.38781968e-03 9.99812028e-01 1.22691639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29255784400002 meters Centerline goodness : 0.183827 Centerline is valid? [False, False] Translation: X:2.66, Y:0.33, Z:1.23 [[ 9.99819999e-01 -2.27201657e-03 -1.88363192e-02 2.65705007e+00] [ 2.34443293e-03 9.99989943e-01 3.82331644e-03 3.33849889e-01] [ 1.88274431e-02 -3.86678873e-03 9.99815271e-01 1.22711083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32255784400002 meters Centerline goodness : 0.100652 Centerline is valid? [False, False] Translation: X:2.66, Y:0.34, Z:1.23 [[ 9.99823277e-01 -2.44426150e-03 -1.86397560e-02 2.65634462e+00] [ 2.50571489e-03 9.99991500e-01 3.27425695e-03 3.36519265e-01] [ 1.86315944e-02 -3.32038423e-03 9.99820903e-01 1.22757930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35255784400002 meters Centerline goodness : 0.127509 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:1.23 [[ 9.99855122e-01 5.73021622e-03 -1.60280889e-02 2.67665172e+00] [-5.69983391e-03 9.99981873e-01 1.94060697e-03 3.39537958e-01] [ 1.60389185e-02 -1.84896837e-03 9.99869659e-01 1.22809485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38255784400002 meters Centerline goodness : 0.177282 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:1.23 [[ 9.99856178e-01 5.50906590e-03 -1.60397423e-02 2.67679708e+00] [-5.48792470e-03 9.99984014e-01 1.36176866e-03 3.42496691e-01] [ 1.60469879e-02 -1.27354791e-03 9.99870428e-01 1.22797663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41255784400002 meters Centerline goodness : 0.098071 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.23 [[ 9.99858239e-01 5.29353356e-03 -1.59837443e-02 2.67690686e+00] [-5.28117987e-03 9.99985722e-01 8.15001259e-04 3.45193332e-01] [ 1.59878304e-02 -7.30472695e-04 9.99871920e-01 1.22760384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44255784400002 meters Centerline goodness : 0.179356 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.23 [[ 9.99860163e-01 5.08745653e-03 -1.59302078e-02 2.67701131e+00] [-5.08216895e-03 9.99987016e-01 3.72386930e-04 3.47183871e-01] [ 1.59318954e-02 -2.91374849e-04 9.99873037e-01 1.22720449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47255784400002 meters Centerline goodness : 0.124567 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:1.23 [[ 9.99854511e-01 -3.79525726e-03 -1.66298736e-02 2.69922653e+00] [ 3.80543214e-03 9.99992591e-01 5.80241933e-04 3.53082096e-01] [ 1.66275482e-02 -6.43441370e-04 9.99861546e-01 1.22794817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50255784400002 meters Centerline goodness : 0.102176 Centerline is valid? [False, False] Translation: X:2.65, Y:0.36, Z:1.23 [[ 9.99803380e-01 -4.00586725e-03 -1.94204571e-02 2.65393465e+00] [ 4.01543962e-03 9.99991835e-01 4.53931846e-04 3.56503444e-01] [ 1.94184801e-02 -5.31824267e-04 9.99811302e-01 1.22843074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53255784400002 meters Centerline goodness : 0.097501 Centerline is valid? [False, False] Translation: X:2.65, Y:0.36, Z:1.23 [[ 9.99799146e-01 -4.02886639e-03 -1.96325221e-02 2.65449996e+00] [ 4.04036276e-03 9.99991689e-01 5.45947409e-04 3.56057801e-01] [ 1.96301594e-02 -6.25160264e-04 9.99807114e-01 1.22828749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56255784400003 meters Centerline goodness : 0.133582 Centerline is valid? [False, False] Translation: X:2.66, Y:0.36, Z:1.23 [[ 9.99793476e-01 -4.04582675e-03 -1.99157353e-02 2.65532208e+00] [ 4.06113140e-03 9.99991489e-01 7.28085719e-04 3.55010907e-01] [ 1.99126201e-02 -8.08815770e-04 9.99801397e-01 1.22800236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.592557844 meters Centerline goodness : 0.104513 Centerline is valid? [False, False] Translation: X:2.66, Y:0.35, Z:1.23 [[ 9.99793167e-01 -4.05063878e-03 -1.99302640e-02 2.65546250e+00] [ 4.06935478e-03 9.99991316e-01 8.98608297e-04 3.53990375e-01] [ 1.99264510e-02 -9.79525750e-04 9.99800969e-01 1.22774896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622557844 meters Centerline goodness : 0.100311 Centerline is valid? [False, False] Translation: X:2.65, Y:0.35, Z:1.23 [[ 9.99810251e-01 -4.22159120e-03 -1.90168581e-02 2.65304284e+00] [ 4.24071663e-03 9.99990542e-01 9.65494775e-04 3.52907087e-01] [ 1.90126023e-02 -1.04595668e-03 9.99818697e-01 1.22799809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.652557844 meters Centerline goodness : 0.142981 Centerline is valid? [False, False] Translation: X:2.65, Y:0.35, Z:1.23 [[ 9.99813583e-01 -4.23098867e-03 -1.88387162e-02 2.65240883e+00] [ 4.25072244e-03 9.99990458e-01 1.00759193e-03 3.52471907e-01] [ 1.88342733e-02 -1.08748225e-03 9.99822028e-01 1.22827292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.682557844 meters Centerline goodness : 0.120487 Centerline is valid? [False, False] Translation: X:2.65, Y:0.35, Z:1.23 [[ 9.99810565e-01 -4.23106721e-03 -1.89982401e-02 2.65283771e+00] [ 4.25120116e-03 9.99990444e-01 1.01951819e-03 3.52316710e-01] [ 1.89937449e-02 -1.10009040e-03 9.99818997e-01 1.22821209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.712557844 meters Centerline goodness : 0.125044 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99727711e-01 -2.32393482e-03 -2.32185910e-02 2.61254825e+00] [ 2.38033792e-03 9.99994282e-01 2.40187895e-03 3.55033517e-01] [ 2.32128764e-02 -2.45649303e-03 9.99727527e-01 1.22674214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.742557844 meters Centerline goodness : 0.102918 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99721760e-01 -2.23371239e-03 -2.34821697e-02 2.61338283e+00] [ 2.29104812e-03 9.99994459e-01 2.41505117e-03 3.55329770e-01] [ 2.34766450e-02 -2.46817799e-03 9.99721339e-01 1.22647583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.772557844 meters Centerline goodness : 0.121653 Centerline is valid? [False, False] Translation: X:2.63, Y:0.35, Z:1.23 [[ 9.99725467e-01 5.80837520e-03 -2.26991944e-02 2.63314700e+00] [-5.78036436e-03 9.99982449e-01 1.29942064e-03 3.49679781e-01] [ 2.27063435e-02 -1.16785429e-03 9.99741496e-01 1.22771799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.802557844 meters Centerline goodness : 0.104856 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99743263e-01 -2.43041023e-03 -2.25278081e-02 2.61302953e+00] [ 2.47058850e-03 9.99995407e-01 1.75583621e-03 3.56142113e-01] [ 2.25234372e-02 -1.81104237e-03 9.99744675e-01 1.22712827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.832557844 meters Centerline goodness : 0.098875 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99743765e-01 -2.43914160e-03 -2.25045371e-02 2.61264771e+00] [ 2.47675141e-03 9.99995582e-01 1.64348893e-03 3.56620740e-01] [ 2.25004289e-02 -1.69880596e-03 9.99745390e-01 1.22767508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.862557844 meters Centerline goodness : 0.132982 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99753201e-01 -1.95147593e-03 -2.21298136e-02 2.61138530e+00] [ 1.99035424e-03 9.99996514e-01 1.73494018e-03 3.57649364e-01] [ 2.21263508e-02 -1.77855816e-03 9.99753600e-01 1.22837794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.892557844 meters Centerline goodness : 0.131803 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99756233e-01 -1.91661050e-03 -2.19954941e-02 2.61090880e+00] [ 1.95172115e-03 9.99996855e-01 1.57490960e-03 3.58558287e-01] [ 2.19924064e-02 -1.61745476e-03 9.99756829e-01 1.22869309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.922557844 meters Centerline goodness : 0.182776 Centerline is valid? [False, False] Translation: X:2.59, Y:0.36, Z:1.23 [[ 9.99744301e-01 6.62133310e-03 -2.16215531e-02 2.58922296e+00] [-6.61649974e-03 9.99978067e-01 2.95074962e-04 3.56385054e-01] [ 2.16230326e-02 -1.51940512e-04 9.99766183e-01 1.22713017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.952557844 meters Centerline goodness : 0.182776 Centerline is valid? [False, False] Translation: X:2.59, Y:0.36, Z:1.23 [[ 9.99744301e-01 6.62133310e-03 -2.16215531e-02 2.58922296e+00] [-6.61649974e-03 9.99978067e-01 2.95074962e-04 3.56385054e-01] [ 2.16230326e-02 -1.51940512e-04 9.99766183e-01 1.22713017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.982557844 meters Centerline goodness : 0.283061 Centerline is valid? [False, False] Translation: X:2.59, Y:0.36, Z:1.23 [[ 9.99762093e-01 7.10596980e-03 -2.06219121e-02 2.58622123e+00] [-7.10730775e-03 9.99974743e-01 8.41114989e-06 3.59519117e-01] [ 2.06214510e-02 1.38157127e-04 9.99787346e-01 1.22817396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.012557844 meters Centerline goodness : 0.145082 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99819091e-01 1.94853026e-03 -1.89206060e-02 2.60867418e+00] [-1.88426797e-03 9.99992398e-01 3.41365181e-03 3.62550912e-01] [ 1.89271138e-02 -3.37738275e-03 9.99815162e-01 1.22789291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04255784400002 meters Centerline goodness : 0.185205 Centerline is valid? [False, False] Translation: X:2.61, Y:0.37, Z:1.23 [[ 9.99824515e-01 1.92833390e-03 -1.86338783e-02 2.60809065e+00] [-1.87409414e-03 9.99993958e-01 2.92783811e-03 3.65381415e-01] [ 1.86394115e-02 -2.89240267e-03 9.99822087e-01 1.22775799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07255784400002 meters Centerline goodness : 0.185929 Centerline is valid? [False, False] Translation: X:2.61, Y:0.37, Z:1.23 [[ 9.99825650e-01 1.78182645e-03 -1.85874871e-02 2.60809320e+00] [-1.73825945e-03 9.99995705e-01 2.35978173e-03 3.68147017e-01] [ 1.85916120e-02 -2.32706042e-03 9.99824453e-01 1.22761716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10255784400002 meters Centerline goodness : 0.147329 Centerline is valid? [False, False] Translation: X:2.61, Y:0.37, Z:1.23 [[ 9.99834000e-01 1.57988889e-03 -1.81514990e-02 2.60712168e+00] [-1.55525933e-03 9.99997851e-01 1.37092444e-03 3.72891236e-01] [ 1.81536259e-02 -1.34246657e-03 9.99834308e-01 1.22747807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13255784400002 meters Centerline goodness : 0.188778 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99837143e-01 1.43443323e-03 -1.79897107e-02 2.60648717e+00] [-1.41958881e-03 9.99998641e-01 8.37904511e-04 3.75701948e-01] [ 1.79908882e-02 -8.12230061e-04 9.99837821e-01 1.22786471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16255784400002 meters Centerline goodness : 0.099998 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99837240e-01 1.35146973e-03 -1.79907581e-02 2.60628066e+00] [-1.34397632e-03 9.99999005e-01 4.28598587e-04 3.78277202e-01] [ 1.79913195e-02 -4.04349676e-04 9.99838061e-01 1.22821241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19255784400002 meters Centerline goodness : 0.140048 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99836420e-01 1.20129807e-03 -1.80468644e-02 2.60660905e+00] [-1.20115129e-03 9.99999278e-01 1.89727940e-05 3.80410914e-01] [ 1.80468742e-02 2.70732392e-06 9.99837142e-01 1.22790397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22255784400002 meters Centerline goodness : 0.098462 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99833056e-01 1.02304479e-03 -1.82431829e-02 2.60784869e+00] [-1.02848919e-03 9.99999429e-01 -2.89055020e-04 3.81710178e-01] [ 1.82428768e-02 3.07769680e-04 9.99833538e-01 1.22658416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25255784400002 meters Centerline goodness : 0.127790 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99834090e-01 1.00056726e-03 -1.81876803e-02 2.60779067e+00] [-1.00567095e-03 9.99999457e-01 -2.71468156e-04 3.81578038e-01] [ 1.81873988e-02 2.89713938e-04 9.99834554e-01 1.22639522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28255784400002 meters Centerline goodness : 0.184963 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99835671e-01 1.04761916e-03 -1.80978887e-02 2.60757123e+00] [-1.05104438e-03 9.99999431e-01 -1.79749724e-04 3.81298381e-01] [ 1.80976901e-02 1.98741870e-04 9.99836204e-01 1.22636140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31255784400003 meters Centerline goodness : 0.100242 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99833690e-01 1.12923680e-03 -1.82021129e-02 2.60790482e+00] [-1.12937389e-03 9.99999362e-01 2.74773416e-06 3.80554808e-01] [ 1.82021044e-02 1.78097140e-05 9.99834328e-01 1.22623541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342557844 meters Centerline goodness : 0.190324 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99831707e-01 1.16164107e-03 -1.83086684e-02 2.60829663e+00] [-1.16100445e-03 9.99999325e-01 4.54006308e-05 3.80276935e-01] [ 1.83087087e-02 -2.41365447e-05 9.99832381e-01 1.22606908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.372557844 meters Centerline goodness : 0.121414 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99828009e-01 1.16730781e-03 -1.85092081e-02 2.60897173e+00] [-1.16843461e-03 9.99999316e-01 -5.00638639e-05 3.80761073e-01] [ 1.85091370e-02 7.16820526e-05 9.99828689e-01 1.22578457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402557844 meters Centerline goodness : 0.097076 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99822408e-01 1.28585519e-03 -1.88015600e-02 2.60981589e+00] [-1.28890232e-03 9.99999158e-01 -1.49951265e-04 3.81689253e-01] [ 1.88013513e-02 1.74158009e-04 9.99823224e-01 1.22559526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.432557844 meters Centerline goodness : 0.278972 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99814598e-01 2.38764885e-03 -1.91067741e-02 2.61058632e+00] [-2.38260301e-03 9.99997120e-01 2.86845971e-04 3.83339522e-01] [ 1.91074040e-02 -2.41268932e-04 9.99817408e-01 1.22561253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.462557844 meters Centerline goodness : 0.282159 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99815112e-01 2.53014039e-03 -1.90614643e-02 2.61043415e+00] [-2.52893153e-03 9.99996798e-01 8.75238884e-05 3.84804728e-01] [ 1.90616247e-02 -3.93025684e-05 9.99818310e-01 1.22573706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.492557844 meters Centerline goodness : 0.180217 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99817358e-01 2.55084840e-03 -1.89405557e-02 2.61010352e+00] [-2.55517013e-03 9.99996715e-01 -2.03976472e-04 3.86343224e-01] [ 1.89399732e-02 2.52335560e-04 9.99820591e-01 1.22580348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.522557844 meters Centerline goodness : 0.142702 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99819080e-01 2.89010723e-03 -1.88003899e-02 2.60978514e+00] [-2.89918556e-03 9.99995694e-01 -4.55642782e-04 3.88412615e-01] [ 1.87989920e-02 5.10066166e-04 9.99823153e-01 1.22558232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.552557844 meters Centerline goodness : 0.110450 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99814679e-01 2.92923630e-03 -1.90269996e-02 2.61057400e+00] [-2.94092662e-03 9.99995504e-01 -5.86454842e-04 3.89302772e-01] [ 1.90251962e-02 6.42303169e-04 9.99818798e-01 1.22514457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.582557844 meters Centerline goodness : 0.251123 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99806544e-01 3.00755488e-03 -1.94378039e-02 2.61193405e+00] [-3.02084939e-03 9.99995223e-01 -6.54625081e-04 3.90059423e-01] [ 1.94357423e-02 7.13217118e-04 9.99810854e-01 1.22456301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.612557844 meters Centerline goodness : 0.175471 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99795961e-01 3.18284926e-03 -1.99475747e-02 2.61359134e+00] [-3.20061224e-03 9.99994509e-01 -8.58620960e-04 3.91475678e-01] [ 1.99447323e-02 9.22290220e-04 9.99800659e-01 1.22378937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.642557844 meters Centerline goodness : 0.181441 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99799158e-01 3.14407889e-03 -1.97929065e-02 2.61290383e+00] [-3.16500886e-03 9.99994465e-01 -1.02621165e-03 3.92130794e-01] [ 1.97895705e-02 1.08865027e-03 9.99803575e-01 1.22427239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.672557844 meters Centerline goodness : 0.197987 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99804102e-01 3.14660580e-03 -1.95411737e-02 2.61193336e+00] [-3.16985158e-03 9.99994305e-01 -1.15871873e-03 3.92677539e-01] [ 1.95374164e-02 1.22043436e-03 9.99808382e-01 1.22478958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.702557844 meters Centerline goodness : 0.100700 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99808058e-01 3.16770935e-03 -1.93342502e-02 2.61131717e+00] [-3.19183158e-03 9.99994166e-01 -1.21691133e-03 3.93120360e-01] [ 1.93302826e-02 1.27838942e-03 9.99812335e-01 1.22488777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.732557844 meters Centerline goodness : 0.167493 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99811857e-01 3.34405333e-03 -1.91067244e-02 2.61104972e+00] [-3.36261853e-03 9.99993905e-01 -9.39613132e-04 3.91999828e-01] [ 1.91034658e-02 1.00368498e-03 9.99817008e-01 1.22433581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.762557844 meters Centerline goodness : 0.183437 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99814419e-01 3.43172534e-03 -1.89565340e-02 2.61070410e+00] [-3.44611657e-03 9.99993798e-01 -7.26555978e-04 3.90955997e-01] [ 1.89539231e-02 7.91747570e-04 9.99820045e-01 1.22427606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79255784400002 meters Centerline goodness : 0.097395 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99818677e-01 3.51200793e-03 -1.87157204e-02 2.60979406e+00] [-3.52262203e-03 9.99993653e-01 -5.34184921e-04 3.90028978e-01] [ 1.87137255e-02 6.00016470e-04 9.99824703e-01 1.22479174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82255784400002 meters Centerline goodness : 0.201348 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99821969e-01 3.55914664e-03 -1.85300332e-02 2.60899610e+00] [-3.56848470e-03 9.99993522e-01 -4.70901507e-04 3.89681876e-01] [ 1.85282372e-02 5.36941812e-04 9.99828193e-01 1.22531804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85255784400002 meters Centerline goodness : 0.134721 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99821227e-01 3.78012426e-03 -1.85263344e-02 2.60885970e+00] [-3.78960643e-03 9.99992706e-01 -4.76741012e-04 3.90184372e-01] [ 1.85243972e-02 5.46863300e-04 9.99828259e-01 1.22553582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88255784400002 meters Centerline goodness : 0.138259 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99821403e-01 3.81000802e-03 -1.85107089e-02 2.60876771e+00] [-3.82306126e-03 9.99992468e-01 -6.69836479e-04 3.91341786e-01] [ 1.85080174e-02 7.40484422e-04 9.99828438e-01 1.22551487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91255784400002 meters Centerline goodness : 0.148156 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99824852e-01 3.78819724e-03 -1.83279675e-02 2.60825143e+00] [-3.80585935e-03 9.99992326e-01 -9.28886146e-04 3.92763808e-01] [ 1.83243080e-02 9.98477120e-04 9.99831597e-01 1.22560828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94255784400002 meters Centerline goodness : 0.170348 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99827179e-01 3.77261406e-03 -1.82038078e-02 2.60789466e+00] [-3.79596958e-03 9.99992016e-01 -1.24861877e-03 3.94585159e-01] [ 1.81989519e-02 1.31750409e-03 9.99833517e-01 1.22561159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97255784400002 meters Centerline goodness : 0.113424 Centerline is valid? [False, False] Translation: X:2.58, Y:0.40, Z:1.23 [[ 9.99839350e-01 -1.52557916e-03 -1.78590873e-02 2.58486132e+00] [ 1.56296760e-03 9.99996616e-01 2.07975449e-03 3.99769365e-01] [ 1.78558540e-02 -2.10733355e-03 9.99838351e-01 1.22544041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00255784400002 meters SLAMing on 219.03255784400002 meters Centerline goodness : 0.125251 Centerline is valid? [False, False] Translation: X:2.61, Y:0.40, Z:1.23 [[ 9.99819981e-01 7.17210969e-03 -1.75660765e-02 2.60656897e+00] [-7.15243070e-03 9.99973721e-01 1.18285313e-03 3.98501650e-01] [ 1.75740984e-02 -1.05700005e-03 9.99845005e-01 1.22575149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06255784400003 meters Centerline goodness : 0.181731 Centerline is valid? [False, False] Translation: X:2.59, Y:0.40, Z:1.22 [[ 9.99788638e-01 -1.53777415e-03 -2.05015796e-02 2.58736259e+00] [ 1.57216148e-03 9.99997384e-01 1.66128949e-03 4.01798034e-01] [ 2.04989713e-02 -1.69317015e-03 9.99788440e-01 1.22445309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.092557844 meters Centerline goodness : 0.179452 Centerline is valid? [False, False] Translation: X:2.59, Y:0.40, Z:1.22 [[ 9.99787814e-01 -1.54462519e-03 -2.05412099e-02 2.58746291e+00] [ 1.57928304e-03 9.99997357e-01 1.67112013e-03 4.01734764e-01] [ 2.05385744e-02 -1.70320593e-03 9.99787610e-01 1.22443758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122557844 meters Centerline goodness : 0.181524 Centerline is valid? [False, False] Translation: X:2.59, Y:0.40, Z:1.22 [[ 9.99789670e-01 -1.53580408e-03 -2.04513371e-02 2.58700999e+00] [ 1.57049867e-03 9.99997355e-01 1.68049317e-03 4.01834562e-01] [ 2.04487021e-02 -1.71225851e-03 9.99789437e-01 1.22480332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.152557844 meters Centerline goodness : 0.210261 Centerline is valid? [False, False] Translation: X:2.57, Y:0.40, Z:1.22 [[ 9.99763793e-01 6.93890714e-03 -2.05963434e-02 2.56626280e+00] [-6.92079533e-03 9.99975599e-01 9.50519774e-04 3.96817125e-01] [ 2.06024364e-02 -8.07752178e-04 9.99787421e-01 1.22399676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.182557844 meters Centerline goodness : 0.098885 Centerline is valid? [False, False] Translation: X:2.59, Y:0.40, Z:1.22 [[ 9.99795857e-01 -1.47936268e-03 -2.01508368e-02 2.58610076e+00] [ 1.50979818e-03 9.99997742e-01 1.49525441e-03 4.01681485e-01] [ 2.01485793e-02 -1.52537286e-03 9.99795833e-01 1.22482291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.212557844 meters Centerline goodness : 0.104036 Centerline is valid? [False, False] Translation: X:2.59, Y:0.40, Z:1.22 [[ 9.99793107e-01 -1.49475742e-03 -2.02856912e-02 2.58679289e+00] [ 1.52483246e-03 9.99997761e-01 1.46718710e-03 4.01702920e-01] [ 2.02834527e-02 -1.49781583e-03 9.99793148e-01 1.22417248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.242557844 meters Centerline goodness : 0.178300 Centerline is valid? [False, False] Translation: X:2.59, Y:0.40, Z:1.22 [[ 9.99784173e-01 -1.45633320e-03 -2.07240600e-02 2.58832555e+00] [ 1.48733333e-03 9.99997798e-01 1.48051757e-03 4.01649922e-01] [ 2.07218583e-02 -1.51102162e-03 9.99784137e-01 1.22334587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.272557844 meters Centerline goodness : 0.177629 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99685809e-01 -2.57807823e-04 -2.50642725e-02 2.54914475e+00] [ 3.21804895e-04 9.99996699e-01 2.54931856e-03 3.99345605e-01] [ 2.50635326e-02 -2.55658339e-03 9.99682591e-01 1.22155232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.302557844 meters Centerline goodness : 0.187374 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99684055e-01 -2.14497670e-04 -2.51345384e-02 2.54924505e+00] [ 2.79183796e-04 9.99996658e-01 2.57011426e-03 3.99264051e-01] [ 2.51339032e-02 -2.57631940e-03 9.99680774e-01 1.22165705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.332557844 meters Centerline goodness : 0.141990 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99687914e-01 -1.74370144e-04 -2.49808646e-02 2.54836771e+00] [ 2.40005861e-04 9.99996527e-01 2.62446560e-03 3.99031563e-01] [ 2.49803203e-02 -2.62964210e-03 9.99684485e-01 1.22248122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.362557844 meters Centerline goodness : 0.185146 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99693351e-01 -1.14504083e-04 -2.47627006e-02 2.54746933e+00] [ 1.81642077e-04 9.99996314e-01 2.70902261e-03 3.98756779e-01] [ 2.47622992e-02 -2.71268984e-03 9.99689687e-01 1.22310753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.392557844 meters Centerline goodness : 0.104542 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99691716e-01 -4.33287587e-05 -2.48288231e-02 2.54761388e+00] [ 1.12128107e-04 9.99996158e-01 2.76956131e-03 3.98620724e-01] [ 2.48286077e-02 -2.77149150e-03 9.99687881e-01 1.22313006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.422557844 meters Centerline goodness : 0.182478 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99685238e-01 1.06068317e-05 -2.50883562e-02 2.54851835e+00] [ 5.92287154e-05 9.99996126e-01 2.78283927e-03 3.98602758e-01] [ 2.50882886e-02 -2.78344929e-03 9.99681364e-01 1.22269660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.452557844 meters Centerline goodness : 0.183790 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99695373e-01 1.09946765e-04 -2.46809367e-02 2.54741718e+00] [-4.03108950e-05 9.99996018e-01 2.82192338e-03 3.98413852e-01] [ 2.46811487e-02 -2.82006884e-03 9.99691396e-01 1.22277409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.482557844 meters Centerline goodness : 0.181629 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99702572e-01 2.02939108e-04 -2.43870068e-02 2.54624101e+00] [-1.29348360e-04 9.99995434e-01 3.01916072e-03 3.97618457e-01] [ 2.43875081e-02 -3.01510832e-03 9.99698034e-01 1.22353819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.512557844 meters Centerline goodness : 0.171341 Centerline is valid? [False, False] Translation: X:2.57, Y:0.39, Z:1.22 [[ 9.99720358e-01 8.47458061e-03 -2.20768348e-02 2.56551225e+00] [-8.42866460e-03 9.99962119e-01 2.17205005e-03 3.93637345e-01] [ 2.20944058e-02 -1.98536441e-03 9.99753918e-01 1.22491686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54255784400002 meters Centerline goodness : 0.179110 Centerline is valid? [False, False] Translation: X:2.56, Y:0.39, Z:1.23 [[ 9.99756250e-01 6.45211766e-03 -2.11142262e-02 2.56036065e+00] [-6.44239070e-03 9.99979108e-01 5.28671321e-04 3.90064065e-01] [ 2.11171961e-02 -3.92516363e-04 9.99776930e-01 1.22791628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57255784400002 meters Centerline goodness : 0.270429 Centerline is valid? [False, False] Translation: X:2.56, Y:0.39, Z:1.23 [[ 9.99753511e-01 6.54991341e-03 -2.12135864e-02 2.56062261e+00] [-6.53241288e-03 9.99978264e-01 8.94159650e-04 3.88152048e-01] [ 2.12189819e-02 -7.55363345e-04 9.99774567e-01 1.22792286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60255784400002 meters Centerline goodness : 0.173225 Centerline is valid? [False, False] Translation: X:2.56, Y:0.39, Z:1.23 [[ 9.99749025e-01 6.66172988e-03 -2.13894540e-02 2.56118251e+00] [-6.63536698e-03 9.99977136e-01 1.30325454e-03 3.86087680e-01] [ 2.13976469e-02 -1.16100058e-03 9.99770370e-01 1.22774421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63255784400002 meters Centerline goodness : 0.177955 Centerline is valid? [False, False] Translation: X:2.58, Y:0.39, Z:1.23 [[ 9.99792071e-01 -2.65084161e-03 -2.02184901e-02 2.58161046e+00] [ 2.69150447e-03 9.99994409e-01 1.98422504e-03 3.86006035e-01] [ 2.02131172e-02 -2.03823062e-03 9.99793616e-01 1.22830491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66255784400002 meters Centerline goodness : 0.181315 Centerline is valid? [False, False] Translation: X:2.58, Y:0.38, Z:1.23 [[ 9.99800571e-01 -2.61410465e-03 -1.97986211e-02 2.58040564e+00] [ 2.66312100e-03 9.99993453e-01 2.44978498e-03 3.83441540e-01] [ 1.97920875e-02 -2.50202254e-03 9.99800987e-01 1.22866972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69255784400002 meters Centerline goodness : 0.172822 Centerline is valid? [False, False] Translation: X:2.58, Y:0.38, Z:1.23 [[ 0.99981084 -0.00268362 -0.0192635 2.57872954] [ 0.00273828 0.9999923 0.00281166 0.38114284] [ 0.01925581 -0.00286388 0.99981049 1.22937272] [ 0. 0. 0. 1. ]] SLAMing on 219.72255784400002 meters Centerline goodness : 0.290071 Centerline is valid? [False, False] Translation: X:2.58, Y:0.38, Z:1.23 [[ 0.99981685 -0.00273014 -0.01894251 2.5776716 ] [ 0.00279173 0.9999909 0.00322547 0.37871426] [ 0.01893353 -0.00327776 0.99981537 1.22991396] [ 0. 0. 0. 1. ]] SLAMing on 219.75255784400002 meters SLAMing on 219.78255784400002 meters Centerline goodness : 0.092576 Centerline is valid? [False, False] Translation: X:2.58, Y:0.37, Z:1.23 [[ 9.99775259e-01 -5.86670913e-03 -2.03718913e-02 2.58263010e+00] [ 5.89447013e-03 9.99981779e-01 1.30293114e-03 3.71176313e-01] [ 2.03638761e-02 -1.42271983e-03 9.99791622e-01 1.22835429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81255784400003 meters Centerline goodness : 0.128380 Centerline is valid? [False, False] Translation: X:2.54, Y:0.37, Z:1.23 [[ 9.99685210e-01 -7.45056278e-03 -2.39576618e-02 2.54059247e+00] [ 7.46018465e-03 9.99972124e-01 3.12266355e-04 3.67707098e-01] [ 2.39546674e-02 -4.90896638e-04 9.99712925e-01 1.22735320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842557844 meters Centerline goodness : 0.128380 Centerline is valid? [False, False] Translation: X:2.54, Y:0.37, Z:1.23 [[ 9.99685210e-01 -7.45056278e-03 -2.39576618e-02 2.54059247e+00] [ 7.46018465e-03 9.99972124e-01 3.12266355e-04 3.67707098e-01] [ 2.39546674e-02 -4.90896638e-04 9.99712925e-01 1.22735320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.872557844 meters Centerline goodness : 0.177886 Centerline is valid? [False, False] Translation: X:2.54, Y:0.37, Z:1.23 [[ 9.99676566e-01 -7.40854325e-03 -2.43285020e-02 2.54184583e+00] [ 7.42836560e-03 9.99972147e-01 7.24504945e-04 3.65441617e-01] [ 2.43224569e-02 -9.04991624e-04 9.99703756e-01 1.22675885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902557844 meters Centerline goodness : 0.132800 Centerline is valid? [False, False] Translation: X:2.54, Y:0.36, Z:1.23 [[ 9.99689216e-01 -7.51063952e-03 -2.37710082e-02 2.54035134e+00] [ 7.54201162e-03 9.99970802e-01 1.23038417e-03 3.62450042e-01] [ 2.37610732e-02 -1.40928301e-03 9.99716673e-01 1.22709666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.932557844 meters SLAMing on 219.962557844 meters Centerline goodness : 0.098082 Centerline is valid? [False, False] Translation: X:2.58, Y:0.36, Z:1.23 [[ 9.99731328e-01 -7.98612704e-03 -2.17598902e-02 2.58345871e+00] [ 8.01663119e-03 9.99967002e-01 1.31498057e-03 3.59130917e-01] [ 2.17486705e-02 -1.48906828e-03 9.99762361e-01 1.22839893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.992557844 meters Centerline goodness : 0.196033 Centerline is valid? [False, False] Translation: X:2.59, Y:0.36, Z:1.23 [[ 9.99718330e-01 -7.87296917e-03 -2.23892194e-02 2.58517506e+00] [ 7.91960747e-03 9.99966649e-01 1.99516392e-03 3.55542889e-01] [ 2.23727649e-02 -2.17191577e-03 9.99747339e-01 1.22816132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.022557844 meters Centerline goodness : 0.091911 Centerline is valid? [False, False] Translation: X:2.59, Y:0.35, Z:1.23 [[ 9.99717257e-01 -7.72659359e-03 -2.24879021e-02 2.58540454e+00] [ 7.78240590e-03 9.99966848e-01 2.39542323e-03 3.53618652e-01] [ 2.24686481e-02 -2.56975592e-03 9.99744245e-01 1.22822274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.052557844 meters Centerline goodness : 0.091513 Centerline is valid? [False, False] Translation: X:2.59, Y:0.35, Z:1.23 [[ 0.9997196 -0.00765283 -0.02240863 2.58539943] [ 0.00771596 0.9999665 0.00273202 0.351868 ] [ 0.02238697 -0.00290416 0.99974516 1.22791435] [ 0. 0. 0. 1. ]] SLAMing on 220.082557844 meters Centerline goodness : 0.300463 Centerline is valid? [False, False] Translation: X:2.58, Y:0.35, Z:1.23 [[ 0.99972454 -0.00762275 -0.02219748 2.5847551 ] [ 0.00769716 0.99996503 0.00326866 0.3487449 ] [ 0.02217179 -0.00343861 0.99974826 1.22807152] [ 0. 0. 0. 1. ]] SLAMing on 220.112557844 meters Centerline goodness : 0.086050 Centerline is valid? [False, False] Translation: X:2.56, Y:0.34, Z:1.23 [[ 9.99759260e-01 4.94805780e-04 -2.19357602e-02 2.56434194e+00] [-4.45505898e-04 9.99997364e-01 2.25229620e-03 3.41647396e-01] [ 2.19368169e-02 -2.24198147e-03 9.99756845e-01 1.22676935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.142557844 meters Centerline goodness : 0.214684 Centerline is valid? [False, False] Translation: X:2.56, Y:0.34, Z:1.23 [[ 9.99757075e-01 5.70197762e-04 -2.20333051e-02 2.56447862e+00] [-5.11986209e-04 9.99996364e-01 2.64753084e-03 3.39847347e-01] [ 2.20347346e-02 -2.63560694e-03 9.99753732e-01 1.22692872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.172557844 meters Centerline goodness : 0.092906 Centerline is valid? [False, False] Translation: X:2.57, Y:0.34, Z:1.23 [[ 9.99726847e-01 2.53655052e-04 -2.33702206e-02 2.56824196e+00] [-1.84525440e-04 9.99995602e-01 2.96013041e-03 3.37176813e-01] [ 2.33708686e-02 -2.95500944e-03 9.99722497e-01 1.22609792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.202557844 meters Centerline goodness : 0.188412 Centerline is valid? [False, False] Translation: X:2.53, Y:0.34, Z:1.23 [[ 9.99644603e-01 -3.13228513e-04 -2.66565210e-02 2.52511102e+00] [ 3.89553396e-04 9.99995840e-01 2.85812765e-03 3.36594874e-01] [ 2.66555149e-02 -2.86749602e-03 9.99640566e-01 1.22542544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.232557844 meters Centerline goodness : 0.098003 Centerline is valid? [False, False] Translation: X:2.53, Y:0.34, Z:1.23 [[ 9.99637580e-01 -3.07035324e-04 -2.69186677e-02 2.52595398e+00] [ 3.86638946e-04 9.99995568e-01 2.95203528e-03 3.36047666e-01] [ 2.69176420e-02 -2.96137321e-03 9.99633268e-01 1.22508327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.262557844 meters Centerline goodness : 0.123936 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99572622e-01 -4.14806730e-04 -2.92301585e-02 2.47974112e+00] [ 5.04587224e-04 9.99995178e-01 3.06419289e-03 3.36496898e-01] [ 2.92287465e-02 -3.07763249e-03 9.99568011e-01 1.22565606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29255784400002 meters Centerline goodness : 0.131346 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99575292e-01 -4.83191184e-04 -2.91376546e-02 2.47902969e+00] [ 5.68129771e-04 9.99995614e-01 2.90687147e-03 3.37288492e-01] [ 2.91361223e-02 -2.92219087e-03 9.99571182e-01 1.22648830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32255784400002 meters Centerline goodness : 0.144751 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99576230e-01 -5.26919985e-04 -2.91046733e-02 2.47886472e+00] [ 6.09385298e-04 9.99995825e-01 2.82460735e-03 3.37609072e-01] [ 2.91030635e-02 -2.84114633e-03 9.99572378e-01 1.22661794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35255784400002 meters Centerline goodness : 0.128969 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99575620e-01 -5.65902676e-04 -2.91248836e-02 2.47894747e+00] [ 6.47033630e-04 9.99995937e-01 2.77627427e-03 3.37772124e-01] [ 2.91231942e-02 -2.79394086e-03 9.99571925e-01 1.22654034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38255784400002 meters Centerline goodness : 0.092823 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99575741e-01 -5.24481307e-04 -2.91215097e-02 2.47903900e+00] [ 6.06780603e-04 9.99995847e-01 2.81730044e-03 3.37923307e-01] [ 2.91199112e-02 -2.83377554e-03 9.99571909e-01 1.22631620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41255784400002 meters Centerline goodness : 0.135076 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99578017e-01 -5.02673428e-04 -2.90436870e-02 2.47877283e+00] [ 5.86898862e-04 9.99995647e-01 2.89150479e-03 3.37622044e-01] [ 2.90421071e-02 -2.90733033e-03 9.99573961e-01 1.22643835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44255784400002 meters Centerline goodness : 0.138540 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99579118e-01 -5.09727220e-04 -2.90056474e-02 2.47852669e+00] [ 5.97256127e-04 9.99995294e-01 3.00906681e-03 3.36899514e-01] [ 2.90039771e-02 -3.02512415e-03 9.99574719e-01 1.22666903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47255784400002 meters Centerline goodness : 0.161088 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99581517e-01 -5.53324284e-04 -2.89220287e-02 2.47817640e+00] [ 6.46475339e-04 9.99994634e-01 3.21151350e-03 3.35545819e-01] [ 2.89200965e-02 -3.22886692e-03 9.99576512e-01 1.22687245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50255784400002 meters SLAMing on 220.53255784400002 meters Centerline goodness : 0.205606 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99630762e-01 -1.50198566e-03 -2.71308455e-02 2.47275747e+00] [ 1.57969931e-03 9.99994710e-01 2.84319587e-03 3.34258640e-01] [ 2.71264316e-02 -2.88500463e-03 9.99627847e-01 1.22845838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56255784400003 meters Centerline goodness : 0.093428 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99632679e-01 -1.49242479e-03 -2.70606597e-02 2.47255381e+00] [ 1.57332129e-03 9.99994357e-01 2.96840534e-03 3.33645969e-01] [ 2.70560769e-02 -3.00989010e-03 9.99629386e-01 1.22847177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.592557844 meters Centerline goodness : 0.179045 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99629884e-01 -1.47005673e-03 -2.71649292e-02 2.47307452e+00] [ 1.55376139e-03 9.99994110e-01 3.06049922e-03 3.33197499e-01] [ 2.71602701e-02 -3.10157430e-03 9.99626280e-01 1.22803205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622557844 meters Centerline goodness : 0.123991 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99625698e-01 -1.50447414e-03 -2.73166531e-02 2.47406539e+00] [ 1.58683625e-03 9.99994260e-01 2.99366068e-03 3.33495024e-01] [ 2.73119924e-02 -3.03588720e-03 9.99622348e-01 1.22701980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.652557844 meters Centerline goodness : 0.097868 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99626620e-01 -1.49381715e-03 -2.72834772e-02 2.47396833e+00] [ 1.57696480e-03 9.99994177e-01 3.02628359e-03 3.33326093e-01] [ 2.72787976e-02 -3.06817872e-03 9.99623156e-01 1.22700552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.682557844 meters Centerline goodness : 0.094784 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99628126e-01 -1.47388405e-03 -2.72293525e-02 2.47368351e+00] [ 1.55970679e-03 9.99993882e-01 3.13087664e-03 3.32755348e-01] [ 2.72245713e-02 -3.17218215e-03 9.99624309e-01 1.22725645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.712557844 meters Centerline goodness : 0.097251 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99631438e-01 -1.41332167e-03 -2.71107263e-02 2.47318225e+00] [ 1.50360294e-03 9.99993392e-01 3.30999756e-03 3.31905199e-01] [ 2.71058690e-02 -3.34954139e-03 9.99626957e-01 1.22755785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.742557844 meters Centerline goodness : 0.183123 Centerline is valid? [False, False] Translation: X:2.52, Y:0.33, Z:1.23 [[ 9.99686171e-01 -1.57739728e-03 -2.50014098e-02 2.51702087e+00] [ 1.66439826e-03 9.99992631e-01 3.45941564e-03 3.28911543e-01] [ 2.49957687e-02 -3.49994228e-03 9.99681430e-01 1.22838234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.772557844 meters Centerline goodness : 0.091105 Centerline is valid? [False, False] Translation: X:2.52, Y:0.33, Z:1.23 [[ 9.99684970e-01 -1.62821178e-03 -2.50461536e-02 2.51720529e+00] [ 1.72925612e-03 9.99990452e-01 4.01319609e-03 3.25551812e-01] [ 2.50393801e-02 -4.05524302e-03 9.99678240e-01 1.22818488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.802557844 meters Centerline goodness : 0.102296 Centerline is valid? [False, False] Translation: X:2.52, Y:0.32, Z:1.23 [[ 9.99680964e-01 -1.54817849e-03 -2.52105610e-02 2.51771199e+00] [ 1.65883611e-03 9.99989080e-01 4.36901432e-03 3.23639551e-01] [ 2.52035217e-02 -4.40944064e-03 9.99672616e-01 1.22800211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.832557844 meters Centerline goodness : 0.173791 Centerline is valid? [False, False] Translation: X:2.52, Y:0.32, Z:1.23 [[ 9.99668372e-01 -1.39425915e-03 -2.57138418e-02 2.51937882e+00] [ 1.51978344e-03 9.99987022e-01 4.86268798e-03 3.21161236e-01] [ 2.57067283e-02 -4.90015485e-03 9.99657518e-01 1.22732015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.862557844 meters Centerline goodness : 0.105294 Centerline is valid? [False, False] Translation: X:2.52, Y:0.32, Z:1.23 [[ 9.99663605e-01 -1.34610638e-03 -2.59010508e-02 2.51994333e+00] [ 1.47398698e-03 9.99986816e-01 4.91881619e-03 3.21022055e-01] [ 2.58940881e-02 -4.95533934e-03 9.99652410e-01 1.22719982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.892557844 meters Centerline goodness : 0.108605 Centerline is valid? [False, False] Translation: X:2.52, Y:0.32, Z:1.23 [[ 9.99659849e-01 -1.32856116e-03 -2.60465025e-02 2.52029999e+00] [ 1.45689506e-03 9.99986891e-01 4.90874913e-03 3.21150180e-01] [ 2.60396395e-02 -4.94502644e-03 9.99648680e-01 1.22723478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.922557844 meters Centerline goodness : 0.095497 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:1.23 [[ 0.99964804 0.00687509 -0.02562288 2.53960922] [-0.00678462 0.99997045 0.00361591 0.31652098] [ 0.02564698 -0.0034408 0.99966514 1.22906439] [ 0. 0. 0. 1. ]] SLAMing on 220.952557844 meters Centerline goodness : 0.095123 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:1.23 [[ 0.99966069 0.00699858 -0.02509051 2.53787048] [-0.00691307 0.99997 0.00349356 0.31769515] [ 0.02511421 -0.00331892 0.99967908 1.22981567] [ 0. 0. 0. 1. ]] SLAMing on 220.982557844 meters Centerline goodness : 0.094757 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:1.23 [[ 0.99966164 0.00696954 -0.02506048 2.53784308] [-0.00688617 0.99997047 0.00341148 0.31809584] [ 0.02508352 -0.00323775 0.99968012 1.22972876] [ 0. 0. 0. 1. ]] SLAMing on 221.012557844 meters Centerline goodness : 0.090723 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:1.23 [[ 0.99966341 0.00692969 -0.02500077 2.53758534] [-0.0068481 0.99997095 0.00334768 0.31829012] [ 0.02502324 -0.00317534 0.99968183 1.22989726] [ 0. 0. 0. 1. ]] SLAMing on 221.04255784400002 meters Centerline goodness : 0.092144 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:1.23 [[ 0.99967252 0.00684342 -0.02465814 2.53629576] [-0.00676412 0.99997168 0.00329801 0.31807688] [ 0.02468001 -0.00313014 0.9996905 1.2305389 ] [ 0. 0. 0. 1. ]] SLAMing on 221.07255784400002 meters Centerline goodness : 0.097033 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:1.23 [[ 0.99967441 0.00682563 -0.02458611 2.53610034] [-0.00674596 0.99997173 0.00332201 0.31795269] [ 0.02460809 -0.00315507 0.9996922 1.23050224] [ 0. 0. 0. 1. ]] SLAMing on 221.10255784400002 meters Centerline goodness : 0.092944 Centerline is valid? [False, False] Translation: X:2.52, Y:0.32, Z:1.23 [[ 9.99675012e-01 -1.51281558e-03 -2.54476246e-02 2.51671050e+00] [ 1.63469894e-03 9.99987290e-01 4.76945620e-03 3.23034826e-01] [ 2.54400859e-02 -4.80950539e-03 9.99664779e-01 1.22871516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13255784400002 meters Centerline goodness : 0.091191 Centerline is valid? [False, False] Translation: X:2.52, Y:0.32, Z:1.23 [[ 9.99645324e-01 -1.72049939e-03 -2.65756639e-02 2.51984500e+00] [ 1.85493937e-03 9.99985604e-01 5.03493870e-03 3.21284778e-01] [ 2.65666187e-02 -5.08244918e-03 9.99634125e-01 1.22805568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16255784400002 meters Centerline goodness : 0.145722 Centerline is valid? [False, False] Translation: X:2.50, Y:0.32, Z:1.23 [[ 9.99594671e-01 3.69412548e-03 -2.82284737e-02 2.49644653e+00] [-3.64991399e-03 9.99992031e-01 1.61756777e-03 3.19506600e-01] [ 2.82342242e-02 -1.51388062e-03 9.99600188e-01 1.22827183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19255784400002 meters Centerline goodness : 0.158643 Centerline is valid? [False, False] Translation: X:2.50, Y:0.32, Z:1.23 [[ 9.99589604e-01 3.47314319e-03 -2.84351875e-02 2.49704682e+00] [-3.42630292e-03 9.99992692e-01 1.69582240e-03 3.18196389e-01] [ 2.84408695e-02 -1.59769888e-03 9.99594200e-01 1.22800542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22255784400002 meters Centerline goodness : 0.101637 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99621532e-01 3.25011505e-03 -2.73172193e-02 2.49416549e+00] [-3.20241906e-03 9.99993271e-01 1.78957212e-03 3.17077307e-01] [ 2.73228518e-02 -1.70141364e-03 9.99625213e-01 1.22815193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25255784400002 meters Centerline goodness : 0.291855 Centerline is valid? [False, False] Translation: X:2.51, Y:0.32, Z:1.23 [[ 0.99965545 -0.00473879 -0.025817 2.51358572] [ 0.00482111 0.99998349 0.00312714 0.32037857] [ 0.02580175 -0.00325053 0.99966179 1.23000231] [ 0. 0. 0. 1. ]] SLAMing on 221.28255784400002 meters Centerline goodness : 0.180867 Centerline is valid? [False, False] Translation: X:2.47, Y:0.32, Z:1.23 [[ 0.99959768 -0.0046318 -0.02798255 2.46620325] [ 0.00472765 0.99998318 0.00336002 0.32315217] [ 0.02796652 -0.00349096 0.99960276 1.23099813] [ 0. 0. 0. 1. ]] SLAMing on 221.31255784400003 meters SLAMing on 221.342557844 meters Centerline goodness : 0.289407 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99571914e-01 1.68773951e-03 -2.92085722e-02 2.49118863e+00] [-1.66623866e-03 9.99998323e-01 7.60438145e-04 3.21136879e-01] [ 2.92098066e-02 -7.11444160e-04 9.99573049e-01 1.23038779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.372557844 meters Centerline goodness : 0.173199 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99572868e-01 1.67628093e-03 -2.91765521e-02 2.49125047e+00] [-1.65615938e-03 9.99998374e-01 7.13800282e-04 3.21416011e-01] [ 2.91777012e-02 -6.65174375e-04 9.99574019e-01 1.23012887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402557844 meters Centerline goodness : 0.101254 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99580874e-01 1.59346081e-03 -2.89056752e-02 2.49030133e+00] [-1.57682087e-03 9.99998578e-01 5.98448274e-04 3.21754881e-01] [ 2.89065877e-02 -5.52618376e-04 9.99581965e-01 1.23053313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.432557844 meters Centerline goodness : 0.177722 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99542231e-01 -7.02499388e-03 -2.94274972e-02 2.46972146e+00] [ 7.07088438e-03 9.99973941e-01 1.45567016e-03 3.27385339e-01] [ 2.94165043e-02 -1.66308223e-03 9.99565857e-01 1.22966540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.462557844 meters Centerline goodness : 0.178828 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99540594e-01 -6.97404789e-03 -2.94951375e-02 2.46991098e+00] [ 7.02466276e-03 9.99974026e-01 1.61276891e-03 3.26691991e-01] [ 2.94831239e-02 -1.81922139e-03 9.99563623e-01 1.22957368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.492557844 meters Centerline goodness : 0.170550 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99539417e-01 -6.90648058e-03 -2.95508713e-02 2.47012440e+00] [ 6.96317572e-03 9.99974108e-01 1.81608325e-03 3.25783673e-01] [ 2.95375634e-02 -2.02101471e-03 9.99561628e-01 1.22942492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.522557844 meters Centerline goodness : 0.171509 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99519114e-01 -6.12378510e-04 -3.10026778e-02 2.48765747e+00] [ 6.29395216e-04 9.99999657e-01 5.39122768e-04 3.17141467e-01] [ 3.10023371e-02 -5.58376448e-04 9.99519156e-01 1.23164289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.552557844 meters Centerline goodness : 0.106147 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99515942e-01 -5.24351221e-04 -3.11063638e-02 2.48807251e+00] [ 5.48597410e-04 9.99999552e-01 7.70931349e-04 3.15971838e-01] [ 3.11059457e-02 -7.87623045e-04 9.99515783e-01 1.23136597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.582557844 meters Centerline goodness : 0.118979 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99514523e-01 -4.52936766e-04 -3.11530539e-02 2.48824437e+00] [ 4.82204732e-04 9.99999449e-01 9.31982978e-04 3.15188188e-01] [ 3.11526146e-02 -9.46552672e-04 9.99514191e-01 1.23126572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.612557844 meters Centerline goodness : 0.109442 Centerline is valid? [False, False] Translation: X:2.49, Y:0.31, Z:1.23 [[ 9.99512994e-01 -3.48923922e-04 -3.12034150e-02 2.48822733e+00] [ 3.84327630e-04 9.99999289e-01 1.12861960e-03 3.14346798e-01] [ 3.12029990e-02 -1.14006229e-03 9.99512418e-01 1.23154296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.642557844 meters Centerline goodness : 0.104906 Centerline is valid? [False, False] Translation: X:2.49, Y:0.31, Z:1.23 [[ 9.99520295e-01 -6.28514744e-05 -3.09705545e-02 2.48713380e+00] [ 1.12955411e-04 9.99998688e-01 1.61604577e-03 3.12397006e-01] [ 3.09704123e-02 -1.61876884e-03 9.99518991e-01 1.23235862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.672557844 meters Centerline goodness : 0.098436 Centerline is valid? [False, False] Translation: X:2.49, Y:0.31, Z:1.23 [[ 9.99524845e-01 5.43629868e-05 -3.08233993e-02 2.48660796e+00] [ 5.25213355e-06 9.99998130e-01 1.93400223e-03 3.10792480e-01] [ 3.08234468e-02 -1.93324517e-03 9.99522975e-01 1.23255443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.702557844 meters Centerline goodness : 0.175413 Centerline is valid? [False, False] Translation: X:2.49, Y:0.31, Z:1.23 [[ 9.99531380e-01 1.93985393e-04 -3.06101864e-02 2.48594383e+00] [-1.23459529e-04 9.99997334e-01 2.30587300e-03 3.08924669e-01] [ 3.06105521e-02 -2.30101330e-03 9.99528739e-01 1.23272007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.732557844 meters Centerline goodness : 0.091082 Centerline is valid? [False, False] Translation: X:2.48, Y:0.31, Z:1.23 [[ 9.99545867e-01 4.25058271e-04 -3.01310276e-02 2.48438336e+00] [-3.33648553e-04 9.99995327e-01 3.03870331e-03 3.05261169e-01] [ 3.01321785e-02 -3.02727016e-03 9.99541339e-01 1.23318062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.762557844 meters Centerline goodness : 0.091082 Centerline is valid? [False, False] Translation: X:2.48, Y:0.31, Z:1.23 [[ 9.99545867e-01 4.25058271e-04 -3.01310276e-02 2.48438336e+00] [-3.33648553e-04 9.99995327e-01 3.03870331e-03 3.05261169e-01] [ 3.01321785e-02 -3.02727016e-03 9.99541339e-01 1.23318062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79255784400002 meters Centerline goodness : 0.173445 Centerline is valid? [False, False] Translation: X:2.48, Y:0.30, Z:1.23 [[ 9.99550287e-01 5.80053005e-04 -2.99814573e-02 2.48381217e+00] [-4.76739419e-04 9.99993925e-01 3.45294951e-03 3.03283464e-01] [ 2.99832780e-02 -3.43710333e-03 9.99544491e-01 1.23344811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82255784400002 meters Centerline goodness : 0.100048 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99477589e-01 -3.26776370e-05 -3.23194660e-02 2.43730964e+00] [ 1.42178885e-04 9.99994258e-01 3.38579728e-03 3.03551889e-01] [ 3.23191698e-02 -3.38862365e-03 9.99471855e-01 1.23374472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85255784400002 meters Centerline goodness : 0.110842 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99478656e-01 1.28971181e-04 -3.22861986e-02 2.43709633e+00] [ 3.73519080e-06 9.99991553e-01 4.11021865e-03 2.99828617e-01] [ 3.22864560e-02 -4.10819640e-03 9.99470213e-01 1.23379303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88255784400002 meters Centerline goodness : 0.319024 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99477352e-01 2.48875671e-04 -3.23258524e-02 2.43721139e+00] [-1.07104203e-04 9.99990370e-01 4.38735683e-03 2.98656466e-01] [ 3.23266330e-02 -4.38160155e-03 9.99467754e-01 1.23371755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91255784400002 meters Centerline goodness : 0.106633 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99471191e-01 2.91291114e-04 -3.25154351e-02 2.43785274e+00] [-1.45320094e-04 9.99989902e-01 4.49155685e-03 2.98250757e-01] [ 3.25164151e-02 -4.48445653e-03 9.99461141e-01 1.23342354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94255784400002 meters Centerline goodness : 0.124343 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99464847e-01 2.95723653e-04 -3.27098027e-02 2.43853628e+00] [-1.48192703e-04 9.99989807e-01 4.51263014e-03 2.98163790e-01] [ 3.27108038e-02 -4.50536784e-03 9.99454704e-01 1.23309129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97255784400002 meters Centerline goodness : 0.098882 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99460217e-01 2.85269132e-04 -3.28510662e-02 2.43899905e+00] [-1.37312174e-04 9.99989838e-01 4.50603875e-03 2.98118298e-01] [ 3.28520179e-02 -4.49909562e-03 9.99450100e-01 1.23290127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00255784400002 meters Centerline goodness : 0.136511 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99455450e-01 1.72793194e-04 -3.29965556e-02 2.43959860e+00] [-3.20852650e-05 9.99990905e-01 4.26480362e-03 2.99158227e-01] [ 3.29969925e-02 -4.26142252e-03 9.99446366e-01 1.23251481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03255784400002 meters Centerline goodness : 0.274188 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99456115e-01 1.02687085e-04 -3.29767010e-02 2.43961763e+00] [ 3.19373763e-05 9.99991669e-01 4.08185875e-03 3.00110399e-01] [ 3.29768454e-02 -4.08069188e-03 9.99447785e-01 1.23240178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06255784400003 meters Centerline goodness : 0.175460 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99461513e-01 -9.77738185e-05 -3.28127244e-02 2.43915725e+00] [ 2.15875022e-04 9.99993512e-01 3.59572678e-03 3.02404829e-01] [ 3.28121599e-02 -3.60087398e-03 9.99455049e-01 1.23251178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.092557844 meters Centerline goodness : 0.099726 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99463388e-01 -2.15669325e-04 -3.27549795e-02 2.43892610e+00] [ 3.24247784e-04 9.99994471e-01 3.30959318e-03 3.03726506e-01] [ 3.27540846e-02 -3.31843794e-03 9.99457932e-01 1.23266532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122557844 meters Centerline goodness : 0.173112 Centerline is valid? [False, False] Translation: X:2.44, Y:0.31, Z:1.23 [[ 9.99461809e-01 -3.51697846e-04 -3.28019710e-02 2.43911035e+00] [ 4.50413450e-04 9.99995392e-01 3.00210059e-03 3.05157147e-01] [ 3.28007641e-02 -3.01525933e-03 9.99457362e-01 1.23256748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.152557844 meters Centerline goodness : 0.176568 Centerline is valid? [False, False] Translation: X:2.44, Y:0.31, Z:1.23 [[ 9.99457736e-01 -4.59607564e-04 -3.29244914e-02 2.43952239e+00] [ 5.50673144e-04 9.99996048e-01 2.75687739e-03 3.06338415e-01] [ 3.29230942e-02 -2.77351307e-03 9.99454040e-01 1.23238190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.182557844 meters Centerline goodness : 0.171419 Centerline is valid? [False, False] Translation: X:2.44, Y:0.31, Z:1.23 [[ 9.99456111e-01 -7.13584534e-04 -3.29692834e-02 2.44006594e+00] [ 7.87069142e-04 9.99997235e-01 2.21595663e-03 3.08978648e-01] [ 3.29676110e-02 -2.24070050e-03 9.99453909e-01 1.23170751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.212557844 meters Centerline goodness : 0.173945 Centerline is valid? [False, False] Translation: X:2.44, Y:0.31, Z:1.23 [[ 9.99457046e-01 -8.47668148e-04 -3.29377264e-02 2.44010497e+00] [ 9.10590577e-04 9.99997789e-01 1.89539173e-03 3.10486757e-01] [ 3.29360469e-02 -1.92435541e-03 9.99455609e-01 1.23154218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.242557844 meters Centerline goodness : 0.170035 Centerline is valid? [False, False] Translation: X:2.44, Y:0.31, Z:1.23 [[ 9.99453643e-01 -1.00073246e-03 -3.30365642e-02 2.44045034e+00] [ 1.05233824e-03 9.99998253e-01 1.54473018e-03 3.12129813e-01] [ 3.30349606e-02 -1.57865184e-03 9.99452950e-01 1.23137990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.272557844 meters Centerline goodness : 0.177267 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99349623e-01 -6.14406321e-04 -3.60548817e-02 2.39538283e+00] [ 6.76886159e-04 9.99998290e-01 1.72072834e-03 3.17951561e-01] [ 3.60537629e-02 -1.74401426e-03 9.99348330e-01 1.23132716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.302557844 meters Centerline goodness : 0.175635 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99340682e-01 -8.86679464e-04 -3.62962025e-02 2.39615946e+00] [ 9.21468039e-04 9.99999132e-01 9.41746045e-04 3.21746569e-01] [ 3.62953360e-02 -9.74570926e-04 9.99340632e-01 1.23114607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.332557844 meters Centerline goodness : 0.170457 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99340606e-01 -1.01246904e-03 -3.62950181e-02 2.39607044e+00] [ 1.03755355e-03 9.99999236e-01 6.72299377e-04 3.22901993e-01] [ 3.62943096e-02 -7.09514092e-04 9.99340893e-01 1.23132229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.362557844 meters Centerline goodness : 0.173729 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99344759e-01 -1.09197669e-03 -3.61781778e-02 2.39565400e+00] [ 1.11160390e-03 9.99999246e-01 5.22405172e-04 3.23515703e-01] [ 3.61775800e-02 -5.62278674e-04 9.99345219e-01 1.23149229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.392557844 meters Centerline goodness : 0.171441 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99345402e-01 -1.15661365e-03 -3.61584117e-02 2.39567397e+00] [ 1.17656921e-03 9.99999167e-01 5.30619145e-04 3.23472613e-01] [ 3.61577679e-02 -5.72814676e-04 9.99345930e-01 1.23125184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.422557844 meters Centerline goodness : 0.176351 Centerline is valid? [False, False] Translation: X:2.38, Y:0.32, Z:1.23 [[ 9.99299034e-01 6.93924654e-03 -3.67870437e-02 2.37612454e+00] [-6.96973623e-03 9.99975466e-01 -7.00637748e-04 3.19850971e-01] [ 3.67812793e-02 9.56542616e-04 9.99322882e-01 1.22888126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.452557844 meters Centerline goodness : 0.172034 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99319209e-01 -1.57577037e-03 -3.68596751e-02 2.39671308e+00] [ 1.57775648e-03 9.99998755e-01 2.47954259e-05 3.21410553e-01] [ 3.68595901e-02 -8.29341367e-05 9.99320451e-01 1.23072279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.482557844 meters Centerline goodness : 0.101952 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99321197e-01 -1.68835349e-03 -3.68007534e-02 2.39617813e+00] [ 1.67830832e-03 9.99998545e-01 -3.03851298e-04 3.22871701e-01] [ 3.68012129e-02 2.41882032e-04 9.99322577e-01 1.23143700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.512557844 meters Centerline goodness : 0.171394 Centerline is valid? [False, False] Translation: X:2.40, Y:0.33, Z:1.23 [[ 9.99320225e-01 -1.72634372e-03 -3.68253719e-02 2.39605102e+00] [ 1.70246778e-03 9.99998320e-01 -6.79703467e-04 3.25124499e-01] [ 3.68264834e-02 6.16547412e-04 9.99321485e-01 1.23183951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54255784400002 meters Centerline goodness : 0.169348 Centerline is valid? [False, False] Translation: X:2.40, Y:0.33, Z:1.23 [[ 9.99317601e-01 -1.73149581e-03 -3.68962745e-02 2.39621555e+00] [ 1.69135380e-03 9.99997943e-01 -1.11915420e-03 3.27809207e-01] [ 3.68981364e-02 1.05598584e-03 9.99318474e-01 1.23200926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57255784400002 meters Centerline goodness : 0.177141 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 9.99336182e-01 -1.78535030e-03 -3.63869254e-02 2.39486561e+00] [ 1.71800983e-03 9.99996754e-01 -1.88186063e-03 3.31777654e-01] [ 3.63901671e-02 1.81809832e-03 9.99336005e-01 1.23234987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60255784400002 meters Centerline goodness : 0.253121 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 9.99342322e-01 -1.93243395e-03 -3.62103444e-02 2.39429713e+00] [ 1.85243815e-03 9.99995770e-01 -2.24261694e-03 3.33296549e-01] [ 3.62145250e-02 2.17406460e-03 9.99341674e-01 1.23256672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63255784400002 meters Centerline goodness : 0.110801 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 9.99347685e-01 -2.02165073e-03 -3.60571329e-02 2.39368234e+00] [ 1.93507785e-03 9.99995161e-01 -2.43572808e-03 3.34133903e-01] [ 3.60618827e-02 2.36436586e-03 9.99346762e-01 1.23292602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66255784400002 meters Centerline goodness : 0.119215 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 9.99350550e-01 -2.07390427e-03 -3.59746671e-02 2.39328684e+00] [ 1.98436246e-03 9.99994844e-01 -2.52455064e-03 3.34600076e-01] [ 3.59797173e-02 2.45152429e-03 9.99349513e-01 1.23318346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69255784400002 meters Centerline goodness : 0.146172 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.23 [[ 9.99256878e-01 -2.48566258e-03 -3.84644345e-02 2.34759952e+00] [ 2.39351956e-03 9.99994155e-01 -2.44140259e-03 3.37484569e-01] [ 3.84702782e-02 2.34752295e-03 9.99256987e-01 1.23304756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72255784400002 meters Centerline goodness : 0.167690 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 0.99932327 -0.0037683 -0.03658953 2.39217969] [ 0.00365193 0.99998806 -0.0032468 0.33355565] [ 0.03660132 0.00311098 0.9993251 1.23412715] [ 0. 0. 0. 1. ]] SLAMing on 222.75255784400002 meters Centerline goodness : 0.169515 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 0.99933433 -0.00421244 -0.03623734 2.39117778] [ 0.00409884 0.99998645 -0.00320866 0.3319185 ] [ 0.03625036 0.00305799 0.99933806 1.23413628] [ 0. 0. 0. 1. ]] SLAMing on 222.78255784400002 meters Centerline goodness : 0.167048 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 0.99932897 -0.00411996 -0.03639541 2.39166406] [ 0.00401531 0.99998759 -0.00294812 0.33085642] [ 0.03640711 0.0028 0.99933312 1.23392124] [ 0. 0. 0. 1. ]] SLAMing on 222.81255784400003 meters Centerline goodness : 0.167559 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 0.99932394 -0.00405021 -0.03654126 2.39224977] [ 0.00395066 0.99998829 -0.00279612 0.33028732] [ 0.03655216 0.00264987 0.99932823 1.2335452 ] [ 0. 0. 0. 1. ]] SLAMing on 222.842557844 meters Centerline goodness : 0.128198 Centerline is valid? [False, False] Translation: X:2.37, Y:0.33, Z:1.23 [[ 0.99929958 0.00458961 -0.03713864 2.37114671] [-0.00472654 0.99998235 -0.00359999 0.32712942] [ 0.03712146 0.003773 0.99930364 1.23177625] [ 0. 0. 0. 1. ]] SLAMing on 222.872557844 meters Centerline goodness : 0.102629 Centerline is valid? [False, False] Translation: X:2.37, Y:0.33, Z:1.23 [[ 0.99930962 0.00460526 -0.03686555 2.37002188] [-0.00475301 0.99998102 -0.00392132 0.32885242] [ 0.03684679 0.00409383 0.99931254 1.23267521] [ 0. 0. 0. 1. ]] SLAMing on 222.902557844 meters Centerline goodness : 0.168852 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.24 [[ 9.99308928e-01 -1.83151642e-03 -3.71256216e-02 2.38707585e+00] [ 1.76049121e-03 9.99996557e-01 -1.94570564e-03 3.33866174e-01] [ 3.71290574e-02 1.87900169e-03 9.99308712e-01 1.23614594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.932557844 meters Centerline goodness : 0.166516 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.24 [[ 9.99292963e-01 -1.81816387e-03 -3.75535486e-02 2.38829173e+00] [ 1.73393597e-03 9.99995908e-01 -2.27532212e-03 3.35844141e-01] [ 3.75575318e-02 2.20859793e-03 9.99292026e-01 1.23604430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.962557844 meters Centerline goodness : 0.154176 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.23 [[ 9.99228402e-01 -1.35055920e-03 -3.92527319e-02 2.39343470e+00] [ 1.26150501e-03 9.99996574e-01 -2.29341845e-03 3.37742780e-01] [ 3.92556948e-02 2.24213134e-03 9.99226683e-01 1.23468333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.992557844 meters Centerline goodness : 0.173752 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.23 [[ 9.99224257e-01 -1.44357148e-03 -3.93548069e-02 2.39387553e+00] [ 1.34164618e-03 9.99995678e-01 -2.61619448e-03 3.39335714e-01] [ 3.93584135e-02 2.56136476e-03 9.99221875e-01 1.23443321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.022557844 meters Centerline goodness : 0.102418 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.23 [[ 9.99227174e-01 -1.55312796e-03 -3.92764926e-02 2.39348016e+00] [ 1.43787394e-03 9.99994578e-01 -2.96250557e-03 3.41081395e-01] [ 3.92808808e-02 2.90374142e-03 9.99223989e-01 1.23477360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.052557844 meters Centerline goodness : 0.176310 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.24 [[ 9.99231922e-01 -1.71931010e-03 -3.91485730e-02 2.39276216e+00] [ 1.58842198e-03 9.99993046e-01 -3.37422747e-03 3.43184385e-01] [ 3.91541021e-02 3.30945134e-03 9.99227704e-01 1.23541029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.082557844 meters Centerline goodness : 0.101858 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.24 [[ 9.99227509e-01 -1.78917104e-03 -3.92579145e-02 2.39319657e+00] [ 1.65558721e-03 9.99992730e-01 -3.43496988e-03 3.43372133e-01] [ 3.92637748e-02 3.36732149e-03 9.99223207e-01 1.23512162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.112557844 meters Centerline goodness : 0.106355 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.23 [[ 9.99224234e-01 -1.87687405e-03 -3.93371124e-02 2.39356152e+00] [ 1.73959824e-03 9.99992279e-01 -3.52366586e-03 3.43624933e-01] [ 3.93434221e-02 3.45250154e-03 9.99219783e-01 1.23481338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.142557844 meters Centerline goodness : 0.168501 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.23 [[ 9.99223821e-01 -1.94452777e-03 -3.93443129e-02 2.39364288e+00] [ 1.80319651e-03 9.99991795e-01 -3.62733268e-03 3.44037998e-01] [ 3.93510436e-02 3.55357169e-03 9.99219129e-01 1.23469404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.172557844 meters Centerline goodness : 0.169809 Centerline is valid? [False, False] Translation: X:2.39, Y:0.35, Z:1.23 [[ 9.99227277e-01 -2.09131629e-03 -3.92489010e-02 2.39329584e+00] [ 1.93478956e-03 9.99990025e-01 -4.02561415e-03 3.46130361e-01] [ 3.92569283e-02 3.94656510e-03 9.99221356e-01 1.23491596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.202557844 meters Centerline goodness : 0.109503 Centerline is valid? [False, False] Translation: X:2.39, Y:0.35, Z:1.23 [[ 9.99229098e-01 -2.17397443e-03 -3.91980049e-02 2.39315764e+00] [ 2.00695249e-03 9.99988742e-01 -4.29982654e-03 3.47577835e-01] [ 3.92069114e-02 4.21784326e-03 9.99222211e-01 1.23498265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.232557844 meters Centerline goodness : 0.166088 Centerline is valid? [False, False] Translation: X:2.39, Y:0.35, Z:1.23 [[ 9.99228714e-01 -2.30661425e-03 -3.92002236e-02 2.39336056e+00] [ 2.12538747e-03 9.99986864e-01 -4.66415081e-03 3.49350737e-01] [ 3.92104670e-02 4.57723775e-03 9.99220490e-01 1.23473172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.262557844 meters Centerline goodness : 0.108694 Centerline is valid? [False, False] Translation: X:2.39, Y:0.35, Z:1.23 [[ 9.99226555e-01 -2.46018260e-03 -3.92458712e-02 2.39360540e+00] [ 2.26173209e-03 9.99984436e-01 -5.10019377e-03 3.51417290e-01] [ 3.92578078e-02 5.00748540e-03 9.99216568e-01 1.23460682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29255784400002 meters Centerline goodness : 0.171758 Centerline is valid? [False, False] Translation: X:2.39, Y:0.36, Z:1.24 [[ 9.99267231e-01 -1.47279643e-05 -3.82753341e-02 2.38907046e+00] [-1.18546623e-04 9.99993939e-01 -3.47972484e-03 3.57696202e-01] [ 3.82751533e-02 3.48171242e-03 9.99261172e-01 1.23701572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32255784400002 meters Centerline goodness : 0.167170 Centerline is valid? [False, False] Translation: X:2.39, Y:0.36, Z:1.24 [[ 9.99272327e-01 -2.03713658e-04 -3.81415007e-02 2.38843013e+00] [ 4.53517121e-05 9.99991376e-01 -4.15277812e-03 3.61051783e-01] [ 3.81420178e-02 4.14802648e-03 9.99263719e-01 1.23766359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35255784400002 meters Centerline goodness : 0.146936 Centerline is valid? [False, False] Translation: X:2.39, Y:0.36, Z:1.24 [[ 9.99272556e-01 -4.34808169e-04 -3.81335793e-02 2.38838031e+00] [ 2.50499889e-04 9.99988266e-01 -4.83787271e-03 3.64347705e-01] [ 3.81352354e-02 4.82480097e-03 9.99260939e-01 1.23781192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38255784400002 meters Centerline goodness : 0.169178 Centerline is valid? [False, False] Translation: X:2.39, Y:0.37, Z:1.24 [[ 9.99264124e-01 3.30439943e-03 -3.82137479e-02 2.38899141e+00] [-3.37271877e-03 9.99992827e-01 -1.72349331e-03 3.68441208e-01] [ 3.82077787e-02 1.85110926e-03 9.99268102e-01 1.23728873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41255784400002 meters Centerline goodness : 0.161379 Centerline is valid? [False, False] Translation: X:2.39, Y:0.37, Z:1.24 [[ 9.99266091e-01 3.07342969e-03 -3.81815823e-02 2.38888221e+00] [-3.16317298e-03 9.99992375e-01 -2.29024693e-03 3.71132052e-01] [ 3.81742522e-02 2.40934105e-03 9.99268193e-01 1.23741370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44255784400002 meters Centerline goodness : 0.109698 Centerline is valid? [False, False] Translation: X:2.39, Y:0.37, Z:1.24 [[ 0.99927257 0.00284331 -0.03802955 2.38825077] [-0.00295288 0.99999165 -0.00282531 0.37352306] [ 0.0380212 0.00293555 0.99927262 1.23789254] [ 0. 0. 0. 1. ]] SLAMing on 223.47255784400002 meters Centerline goodness : 0.106408 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:1.24 [[ 0.9992789 0.00260095 -0.03788022 2.38750191] [-0.00273021 0.99999062 -0.00336095 0.37587479] [ 0.03787112 0.00346195 0.99927663 1.23855876] [ 0. 0. 0. 1. ]] SLAMing on 223.50255784400002 meters Centerline goodness : 0.103243 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:1.24 [[ 9.99269928e-01 2.19885077e-03 -3.81415379e-02 2.38848355e+00] [-2.36525996e-03 9.99987879e-01 -4.31836363e-03 3.80822123e-01] [ 3.81315801e-02 4.40542557e-03 9.99263016e-01 1.23814150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53255784400002 meters Centerline goodness : 0.113115 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:1.24 [[ 9.99256501e-01 2.08240379e-03 -3.84981726e-02 2.39003999e+00] [-2.26284416e-03 9.99986656e-01 -4.64400590e-03 3.82644397e-01] [ 3.84879882e-02 4.72766845e-03 9.99247879e-01 1.23712610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56255784400003 meters Centerline goodness : 0.100825 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:1.24 [[ 9.99247942e-01 1.93943239e-03 -3.87271022e-02 2.39119364e+00] [-2.13076627e-03 9.99985725e-01 -4.89990451e-03 3.83762926e-01] [ 3.87170464e-02 4.97873790e-03 9.99237811e-01 1.23618664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.592557844 meters Centerline goodness : 0.119348 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:1.24 [[ 9.99254220e-01 1.58567221e-03 -3.85809360e-02 2.39063729e+00] [-1.79264536e-03 9.99984185e-01 -5.33064603e-03 3.84999887e-01] [ 3.85718732e-02 5.39583248e-03 9.99241260e-01 1.23645085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622557844 meters Centerline goodness : 0.119348 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:1.24 [[ 9.99254220e-01 1.58567221e-03 -3.85809360e-02 2.39063729e+00] [-1.79264536e-03 9.99984185e-01 -5.33064603e-03 3.84999887e-01] [ 3.85718732e-02 5.39583248e-03 9.99241260e-01 1.23645085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.652557844 meters Centerline goodness : 0.107729 Centerline is valid? [False, False] Translation: X:2.39, Y:0.39, Z:1.24 [[ 9.99261406e-01 1.50439321e-03 -3.83976582e-02 2.38995590e+00] [-1.71499345e-03 9.99983665e-01 -5.45236704e-03 3.85495873e-01] [ 3.83888284e-02 5.51419168e-03 9.99247663e-01 1.23678672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.682557844 meters Centerline goodness : 0.158720 Centerline is valid? [False, False] Translation: X:2.39, Y:0.39, Z:1.24 [[ 9.99265962e-01 1.44372504e-03 -3.82812421e-02 2.38967037e+00] [-1.65749673e-03 9.99983208e-01 -5.55309216e-03 3.86019792e-01] [ 3.82725822e-02 5.61246701e-03 9.99251575e-01 1.23673523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.712557844 meters Centerline goodness : 0.125704 Centerline is valid? [False, False] Translation: X:2.39, Y:0.39, Z:1.24 [[ 9.99263414e-01 1.38152541e-03 -3.83499836e-02 2.39011405e+00] [-1.59838202e-03 9.99982904e-01 -5.62458875e-03 3.86337462e-01] [ 3.83415575e-02 5.68174368e-03 9.99248539e-01 1.23628707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.742557844 meters Centerline goodness : 0.125367 Centerline is valid? [False, False] Translation: X:2.39, Y:0.39, Z:1.24 [[ 9.99254636e-01 1.19274182e-03 -3.85843138e-02 2.39143915e+00] [-1.41790983e-03 9.99982123e-01 -5.80890137e-03 3.86779752e-01] [ 3.85766955e-02 5.85928070e-03 9.99238464e-01 1.23508794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.772557844 meters Centerline goodness : 0.109984 Centerline is valid? [False, False] Translation: X:2.39, Y:0.39, Z:1.23 [[ 9.99251776e-01 1.11312349e-03 -3.86606863e-02 2.39180475e+00] [-1.34543930e-03 9.99981193e-01 -5.98359928e-03 3.87625174e-01] [ 3.86532987e-02 6.03113781e-03 9.99234481e-01 1.23482118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.802557844 meters Centerline goodness : 0.127249 Centerline is valid? [False, False] Translation: X:2.41, Y:0.39, Z:1.24 [[ 0.99923819 -0.00682507 -0.0384248 2.41196078] [ 0.00665388 0.99996737 -0.00458142 0.39160559] [ 0.03845482 0.00432226 0.99925099 1.23698056] [ 0. 0. 0. 1. ]] SLAMing on 223.832557844 meters Centerline goodness : 0.128217 Centerline is valid? [False, False] Translation: X:2.41, Y:0.39, Z:1.24 [[ 9.99242352e-01 -3.25308004e-03 -3.87832424e-02 2.41363772e+00] [ 3.21292995e-03 9.99994236e-01 -1.09752589e-03 3.91876254e-01] [ 3.87865892e-02 9.72086512e-04 9.99247044e-01 1.23599486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.862557844 meters Centerline goodness : 0.124895 Centerline is valid? [False, False] Translation: X:2.41, Y:0.39, Z:1.24 [[ 9.99233764e-01 -3.29213482e-03 -3.90006077e-02 2.41468108e+00] [ 3.24570654e-03 9.99993947e-01 -1.25370680e-03 3.92656658e-01] [ 3.90044990e-02 1.12616163e-03 9.99238400e-01 1.23522480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.892557844 meters Centerline goodness : 0.133004 Centerline is valid? [False, False] Translation: X:2.42, Y:0.39, Z:1.23 [[ 9.99227433e-01 -3.28745831e-03 -3.91628543e-02 2.41539851e+00] [ 3.23322429e-03 9.99993725e-01 -1.44808841e-03 3.93833769e-01] [ 3.91673691e-02 1.32034738e-03 9.99231792e-01 1.23473927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.922557844 meters Centerline goodness : 0.137593 Centerline is valid? [False, False] Translation: X:2.41, Y:0.39, Z:1.24 [[ 9.99233717e-01 -3.31360577e-03 -3.89999733e-02 2.41473158e+00] [ 3.25279404e-03 9.99993393e-01 -1.62262645e-03 3.94848568e-01] [ 3.90050924e-02 1.49452418e-03 9.99237894e-01 1.23518216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.952557844 meters Centerline goodness : 0.126924 Centerline is valid? [False, False] Translation: X:2.41, Y:0.40, Z:1.24 [[ 9.99238084e-01 -3.37394568e-03 -3.88827448e-02 2.41418162e+00] [ 3.30412369e-03 9.99992812e-01 -1.85982762e-03 3.96056495e-01] [ 3.88887403e-02 1.72993719e-03 9.99242049e-01 1.23564957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.982557844 meters Centerline goodness : 0.160983 Centerline is valid? [False, False] Translation: X:2.41, Y:0.40, Z:1.24 [[ 9.99236268e-01 -3.49962330e-03 -3.89182931e-02 2.41414800e+00] [ 3.41462602e-03 9.99991638e-01 -2.25024963e-03 3.97808714e-01] [ 3.89258427e-02 2.11563963e-03 9.99239863e-01 1.23595290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.012557844 meters Centerline goodness : 0.145089 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:1.24 [[ 0.99925487 0.00539499 -0.03821767 2.43590211] [-0.00551131 0.99998049 -0.00293886 0.39755432] [ 0.03820107 0.0031473 0.99926512 1.23715188] [ 0. 0. 0. 1. ]] SLAMing on 224.04255784400002 meters Centerline goodness : 0.119657 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:1.24 [[ 0.99926495 0.00534786 -0.03796005 2.43504725] [-0.00548088 0.9999792 -0.003401 0.40019943] [ 0.03794108 0.00360656 0.99927347 1.23758715] [ 0. 0. 0. 1. ]] SLAMing on 224.07255784400002 meters Centerline goodness : 0.131350 Centerline is valid? [False, False] Translation: X:2.43, Y:0.40, Z:1.24 [[ 0.99927836 0.0052624 -0.03761747 2.43397825] [-0.00541266 0.99997777 -0.00389383 0.40282007] [ 0.03759614 0.00409463 0.99928463 1.238066 ] [ 0. 0. 0. 1. ]] SLAMing on 224.10255784400002 meters Centerline goodness : 0.119368 Centerline is valid? [False, False] Translation: X:2.43, Y:0.41, Z:1.24 [[ 0.9992939 0.00510387 -0.03722433 2.43264881] [-0.00527158 0.99997639 -0.00440877 0.40523386] [ 0.03720095 0.00460189 0.99929721 1.23870299] [ 0. 0. 0. 1. ]] SLAMing on 224.13255784400002 meters Centerline goodness : 0.130442 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99461099e-01 1.16955507e-03 -3.28046329e-02 2.45799288e+00] [-1.21673640e-03 9.99998254e-01 -1.41832615e-03 4.05579777e-01] [ 3.28029168e-02 1.45747640e-03 9.99460777e-01 1.23684888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16255784400002 meters Centerline goodness : 0.136891 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99458917e-01 1.01388573e-03 -3.28762011e-02 2.45819624e+00] [-1.07372825e-03 9.99997799e-01 -1.80263431e-03 4.07472755e-01] [ 3.28743011e-02 1.83695904e-03 9.99457806e-01 1.23682091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19255784400002 meters Centerline goodness : 0.134189 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99457111e-01 9.02866594e-04 -3.29342877e-02 2.45841620e+00] [-9.72318659e-04 9.99997337e-01 -2.09285257e-03 4.08982146e-01] [ 3.29323104e-02 2.12373901e-03 9.99455328e-01 1.23673128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22255784400002 meters Centerline goodness : 0.122393 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99457468e-01 6.04914809e-04 -3.29302781e-02 2.45850877e+00] [-6.90322936e-04 9.99996428e-01 -2.58229723e-03 4.10700092e-01] [ 3.29285984e-02 2.60362878e-03 9.99454315e-01 1.23657246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25255784400002 meters Centerline goodness : 0.139370 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99456930e-01 5.00791368e-04 -3.29483464e-02 2.45851964e+00] [-5.91409468e-04 9.99996070e-01 -2.74061985e-03 4.11245233e-01] [ 3.29468444e-02 2.75861747e-03 9.99453298e-01 1.23659344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28255784400002 meters Centerline goodness : 0.123951 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99454536e-01 4.23340765e-04 -3.30219781e-02 2.45863594e+00] [-5.21079884e-04 9.99995509e-01 -2.95127050e-03 4.12416176e-01] [ 3.30205804e-02 2.96686777e-03 9.99450268e-01 1.23670834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31255784400003 meters Centerline goodness : 0.121171 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99462173e-01 4.26489231e-03 -3.25142495e-02 2.45738150e+00] [-4.24590973e-03 9.99990773e-01 6.52846198e-04 4.14492175e-01] [ 3.25167338e-02 -5.14442511e-04 9.99471059e-01 1.23677672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34255784400003 meters Centerline goodness : 0.159710 Centerline is valid? [False, False] Translation: X:2.46, Y:0.42, Z:1.24 [[ 9.99467653e-01 4.11690153e-03 -3.23645025e-02 2.45678884e+00] [-4.10876543e-03 9.99991508e-01 3.17892277e-04 4.15948555e-01] [ 3.23655364e-02 -1.84744899e-04 9.99476082e-01 1.23715822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.372557844 meters Centerline goodness : 0.133863 Centerline is valid? [False, False] Translation: X:2.48, Y:0.42, Z:1.24 [[ 9.99505315e-01 -4.73354901e-03 -3.10920955e-02 2.47586975e+00] [ 4.76578574e-03 9.99988180e-01 9.62788714e-04 4.19694323e-01] [ 3.10871706e-02 -1.11049070e-03 9.99516060e-01 1.23900964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402557844 meters Centerline goodness : 0.127272 Centerline is valid? [False, False] Translation: X:2.48, Y:0.42, Z:1.24 [[ 9.99499659e-01 -4.93471855e-03 -3.12422735e-02 2.47639208e+00] [ 4.95399398e-03 9.99987583e-01 5.39589773e-04 4.21739902e-01] [ 3.12392228e-02 -6.94093829e-04 9.99511695e-01 1.23876348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.432557844 meters Centerline goodness : 0.120284 Centerline is valid? [False, False] Translation: X:2.48, Y:0.42, Z:1.24 [[ 9.99487533e-01 -4.94403223e-03 -3.16263801e-02 2.47789581e+00] [ 4.95917378e-03 9.99987623e-01 4.00340614e-04 4.22853578e-01] [ 3.16240094e-02 -5.56976167e-04 9.99499681e-01 1.23791619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.462557844 meters Centerline goodness : 0.123920 Centerline is valid? [False, False] Translation: X:2.46, Y:0.42, Z:1.24 [[ 9.99422835e-01 3.87618245e-03 -3.37486716e-02 2.45883998e+00] [-3.90265874e-03 9.99992126e-01 -7.18674983e-04 4.21839555e-01] [ 3.37456202e-02 8.49969737e-04 9.99430093e-01 1.23602306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.492557844 meters Centerline goodness : 0.118763 Centerline is valid? [False, False] Translation: X:2.46, Y:0.42, Z:1.24 [[ 9.99411311e-01 3.67224005e-03 -3.41108014e-02 2.46005222e+00] [-3.71425074e-03 9.99992420e-01 -1.16830988e-03 4.23859777e-01] [ 3.41062526e-02 1.29431818e-03 9.99417374e-01 1.23551388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.522557844 meters Centerline goodness : 0.131742 Centerline is valid? [False, False] Translation: X:2.48, Y:0.43, Z:1.24 [[ 9.99444448e-01 -4.88617835e-03 -3.29684923e-02 2.47980926e+00] [ 4.87609264e-03 9.99988037e-01 -3.86313721e-04 4.28220739e-01] [ 3.29699855e-02 2.25341681e-04 9.99456317e-01 1.23721827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.552557844 meters Centerline goodness : 0.124989 Centerline is valid? [False, False] Translation: X:2.48, Y:0.43, Z:1.24 [[ 9.99442040e-01 -5.05464288e-03 -3.30160418e-02 2.47971169e+00] [ 5.02983487e-03 9.99987002e-01 -8.34405443e-04 4.30321368e-01] [ 3.30198303e-02 6.67874640e-04 9.99454474e-01 1.23760820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.582557844 meters Centerline goodness : 0.107569 Centerline is valid? [False, False] Translation: X:2.48, Y:0.43, Z:1.24 [[ 9.99450897e-01 -1.26425202e-03 -3.31105149e-02 2.48045413e+00] [ 1.34803839e-03 9.99995946e-01 2.50830538e-03 4.32639064e-01] [ 3.31072095e-02 -2.55156231e-03 9.99448549e-01 1.23687519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.612557844 meters Centerline goodness : 0.135126 Centerline is valid? [False, False] Translation: X:2.48, Y:0.43, Z:1.24 [[ 9.99446438e-01 -1.34024423e-03 -3.32418604e-02 2.48081286e+00] [ 1.41014159e-03 9.99996844e-01 2.07933583e-03 4.34898052e-01] [ 3.32389687e-02 -2.12506052e-03 9.99445174e-01 1.23689232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.642557844 meters Centerline goodness : 0.120997 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99457630e-01 -1.41157759e-03 -3.29006660e-02 2.47957564e+00] [ 1.47010823e-03 9.99997380e-01 1.75488823e-03 4.36527732e-01] [ 3.28981026e-02 -1.80230397e-03 9.99457086e-01 1.23752130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.672557844 meters Centerline goodness : 0.120390 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99470970e-01 -1.48942569e-03 -3.24894134e-02 2.47803090e+00] [ 1.53852930e-03 9.99997712e-01 1.48642535e-03 4.37775854e-01] [ 3.24871252e-02 -1.53562490e-03 9.99470974e-01 1.23838926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.702557844 meters Centerline goodness : 0.121511 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99486860e-01 -1.47540443e-03 -3.19974844e-02 2.47634803e+00] [ 1.51935809e-03 9.99997935e-01 1.34938937e-03 4.38598302e-01] [ 3.19954274e-02 -1.39731258e-03 9.99487039e-01 1.23915566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.732557844 meters Centerline goodness : 0.163083 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99488166e-01 -1.47369825e-03 -3.19567673e-02 2.47621689e+00] [ 1.51519385e-03 9.99998040e-01 1.27431427e-03 4.39035403e-01] [ 3.19548267e-02 -1.32208273e-03 9.99488440e-01 1.23921453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.762557844 meters Centerline goodness : 0.119828 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99484180e-01 -1.48675067e-03 -3.20805649e-02 2.47639895e+00] [ 1.52182409e-03 9.99998271e-01 1.06890277e-03 4.40116291e-01] [ 3.20789203e-02 -1.11717239e-03 9.99484715e-01 1.23946992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79255784400002 meters Centerline goodness : 0.150004 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99480575e-01 -1.04617724e-03 -3.22100396e-02 2.47657235e+00] [ 1.07379497e-03 9.99999071e-01 8.40140281e-04 4.42600257e-01] [ 3.22091308e-02 -8.74290870e-04 9.99480769e-01 1.23982899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82255784400002 meters Centerline goodness : 0.113877 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99483693e-01 -8.67267185e-04 -3.21184589e-02 2.47620829e+00] [ 8.86764474e-04 9.99999431e-01 5.92803646e-04 4.44635380e-01] [ 3.21179265e-02 -6.20979085e-04 9.99483893e-01 1.24011089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85255784400002 meters Centerline goodness : 0.104470 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:1.24 [[ 9.99490810e-01 -7.39856798e-04 -3.18994399e-02 2.47549262e+00] [ 7.51003467e-04 9.99999661e-01 3.37451572e-04 4.46575418e-01] [ 3.18991794e-02 -3.61236335e-04 9.99491026e-01 1.24043964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88255784400002 meters Centerline goodness : 0.109126 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 0.99950762 0.00257187 -0.03127138 2.47262195] [-0.00247718 0.99999223 0.00306638 0.45010765] [ 0.03127903 -0.0029874 0.99950623 1.24197238] [ 0. 0. 0. 1. ]] SLAMing on 224.91255784400002 meters Centerline goodness : 0.109368 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 9.99513379e-01 2.46795358e-03 -3.10952356e-02 2.47203150e+00] [-2.38736868e-03 9.99993696e-01 2.62841185e-03 4.52194395e-01] [ 3.11015264e-02 -2.55289702e-03 9.99512970e-01 1.24215425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94255784400002 meters Centerline goodness : 0.127232 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 9.99511015e-01 2.35698452e-03 -3.11797296e-02 2.47227870e+00] [-2.28714938e-03 9.99994796e-01 2.27523647e-03 4.53852560e-01] [ 3.11849300e-02 -2.20281121e-03 9.99511204e-01 1.24206143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97255784400002 meters Centerline goodness : 0.109727 Centerline is valid? [False, False] Translation: X:2.47, Y:0.46, Z:1.24 [[ 9.99504356e-01 2.28959935e-03 -3.13974546e-02 2.47295712e+00] [-2.22701968e-03 9.99995464e-01 2.02796989e-03 4.55097624e-01] [ 3.14019554e-02 -1.95704199e-03 9.99504921e-01 1.24181794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00255784400002 meters Centerline goodness : 0.123173 Centerline is valid? [False, False] Translation: X:2.47, Y:0.46, Z:1.24 [[ 9.99497044e-01 2.22446538e-03 -3.16340037e-02 2.47370859e+00] [-2.16791780e-03 9.99995991e-01 1.82174298e-03 4.56220392e-01] [ 3.16379293e-02 -1.75224681e-03 9.99497859e-01 1.24153910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03255784400002 meters Centerline goodness : 0.133806 Centerline is valid? [False, False] Translation: X:2.47, Y:0.46, Z:1.24 [[ 9.99494761e-01 2.19137661e-03 -3.17083809e-02 2.47409710e+00] [-2.13630321e-03 9.99996151e-01 1.77064553e-03 4.56500085e-01] [ 3.17121390e-02 -1.70201221e-03 9.99495594e-01 1.24117536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06255784400003 meters Centerline goodness : 0.127396 Centerline is valid? [False, False] Translation: X:2.47, Y:0.46, Z:1.24 [[ 9.99492658e-01 2.20986955e-03 -3.17733055e-02 2.47431885e+00] [-2.15004096e-03 9.99995851e-01 1.91702516e-03 4.55709150e-01] [ 3.17774101e-02 -1.84773867e-03 9.99493263e-01 1.24109741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09255784400003 meters Centerline goodness : 0.158512 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 9.99496262e-01 2.25662656e-03 -3.16564362e-02 2.47400131e+00] [-2.18507653e-03 9.99994980e-01 2.29461736e-03 4.53733494e-01] [ 3.16614554e-02 -2.22428974e-03 9.99496175e-01 1.24110915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122557844 meters Centerline goodness : 0.154023 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 9.99495425e-01 2.36520139e-03 -3.16749356e-02 2.47408411e+00] [-2.28389140e-03 9.99994004e-01 2.60294794e-03 4.52310987e-01] [ 3.16809022e-02 -2.52929244e-03 9.99494834e-01 1.24103862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.152557844 meters Centerline goodness : 0.120433 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 9.99494586e-01 2.44926910e-03 -3.16950223e-02 2.47429209e+00] [-2.35951217e-03 9.99993101e-01 2.86898549e-03 4.50969170e-01] [ 3.17018305e-02 -2.79275068e-03 9.99493469e-01 1.24076569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.182557844 meters Centerline goodness : 0.158936 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 9.99490228e-01 2.51470038e-03 -3.18270260e-02 2.47469070e+00] [-2.41850187e-03 9.99992392e-01 3.06067728e-03 4.49933235e-01] [ 3.18344805e-02 -2.98214331e-03 9.99488706e-01 1.24061136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.212557844 meters Centerline goodness : 0.104370 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:1.24 [[ 0.99947432 0.0027407 -0.03230451 2.47599821] [-0.00263639 0.99999117 0.00327116 0.44944032] [ 0.03231319 -0.00318427 0.99947272 1.24039847] [ 0. 0. 0. 1. ]] SLAMing on 225.242557844 meters Centerline goodness : 0.106332 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:1.24 [[ 0.99946663 0.00279936 -0.0325365 2.47666041] [-0.00269448 0.99999103 0.00326697 0.44970398] [ 0.03254536 -0.00317756 0.99946521 1.24026839] [ 0. 0. 0. 1. ]] SLAMing on 225.272557844 meters Centerline goodness : 0.116867 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:1.24 [[ 0.99946229 0.00285727 -0.03266437 2.47711256] [-0.00275126 0.9999908 0.00328978 0.44968433] [ 0.03267347 -0.00319814 0.99946096 1.24003252] [ 0. 0. 0. 1. ]] SLAMing on 225.302557844 meters Centerline goodness : 0.154619 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:1.24 [[ 0.9994669 0.00292165 -0.03251732 2.47668491] [-0.0028165 0.99999066 0.00327895 0.44941871] [ 0.03252659 -0.00318561 0.99946579 1.24003236] [ 0. 0. 0. 1. ]] SLAMing on 225.332557844 meters Centerline goodness : 0.145780 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:1.24 [[ 0.99947714 0.00303064 -0.03219087 2.47562121] [-0.00292474 0.99999016 0.00333637 0.44938924] [ 0.03220066 -0.00324048 0.99947617 1.24032961] [ 0. 0. 0. 1. ]] SLAMing on 225.362557844 meters Centerline goodness : 0.131483 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 0.99949736 0.00358917 -0.03149839 2.47337127] [-0.0034726 0.99998692 0.00375465 0.44877483] [ 0.03151145 -0.00364338 0.99949675 1.24095438] [ 0. 0. 0. 1. ]] SLAMing on 225.392557844 meters Centerline goodness : 0.144439 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 0.99949878 0.00359077 -0.031453 2.47341985] [-0.00347725 0.99998724 0.00366329 0.44919243] [ 0.03146576 -0.00355209 0.99949852 1.24063049] [ 0. 0. 0. 1. ]] SLAMing on 225.422557844 meters Centerline goodness : 0.134165 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 0.99949828 0.00356648 -0.03147159 2.47364987] [-0.00345668 0.99998775 0.00354265 0.44971217] [ 0.03148384 -0.00343209 0.99949837 1.24028767] [ 0. 0. 0. 1. ]] SLAMing on 225.452557844 meters Centerline goodness : 0.152190 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 0.99949559 0.00353513 -0.03156041 2.47386938] [-0.00342875 0.99998826 0.00342424 0.45025751] [ 0.03157214 -0.0033143 0.99949598 1.24025634] [ 0. 0. 0. 1. ]] SLAMing on 225.482557844 meters Centerline goodness : 0.138894 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 0.99950246 0.00352832 -0.0313431 2.47291282] [-0.00342372 0.99998839 0.00339024 0.45036564] [ 0.03135469 -0.00328124 0.99950293 1.24093502] [ 0. 0. 0. 1. ]] SLAMing on 225.512557844 meters Centerline goodness : 0.145015 Centerline is valid? [False, False] Translation: X:2.52, Y:0.45, Z:1.24 [[ 9.99576758e-01 2.42426626e-03 -2.89901395e-02 2.51589917e+00] [-2.33596996e-03 9.99992531e-01 3.07921529e-03 4.49148781e-01] [ 2.89973878e-02 -3.01019194e-03 9.99574955e-01 1.24214331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54255784400002 meters Centerline goodness : 0.134839 Centerline is valid? [False, False] Translation: X:2.52, Y:0.45, Z:1.24 [[ 9.99580775e-01 2.44798193e-03 -2.88493048e-02 2.51547303e+00] [-2.35454409e-03 9.99991874e-01 3.27235029e-03 4.48007307e-01] [ 2.88570810e-02 -3.20305148e-03 9.99578416e-01 1.24222502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57255784400002 meters Centerline goodness : 0.134839 Centerline is valid? [False, False] Translation: X:2.52, Y:0.45, Z:1.24 [[ 9.99580775e-01 2.44798193e-03 -2.88493048e-02 2.51547303e+00] [-2.35454409e-03 9.99991874e-01 3.27235029e-03 4.48007307e-01] [ 2.88570810e-02 -3.20305148e-03 9.99578416e-01 1.24222502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60255784400002 meters Centerline goodness : 0.131546 Centerline is valid? [False, False] Translation: X:2.51, Y:0.45, Z:1.24 [[ 9.99586435e-01 2.31849941e-03 -2.86632797e-02 2.51463906e+00] [-2.21057787e-03 9.99990351e-01 3.79626451e-03 4.45327333e-01] [ 2.86718048e-02 -3.73133209e-03 9.99581915e-01 1.24315716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63255784400002 meters Centerline goodness : 0.131856 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.24 [[ 9.99585715e-01 2.35518106e-03 -2.86853954e-02 2.51459521e+00] [-2.23440660e-03 9.99988508e-01 4.24163810e-03 4.43051967e-01] [ 2.86950556e-02 -4.17578601e-03 9.99579490e-01 1.24328600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66255784400002 meters Centerline goodness : 0.133336 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.24 [[ 9.99582839e-01 -1.49367674e-03 -2.88429714e-02 2.51483886e+00] [ 1.51545815e-03 9.99998583e-01 7.33327308e-04 4.41606991e-01] [ 2.88418352e-02 -7.76731709e-04 9.99583686e-01 1.24360689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69255784400002 meters Centerline goodness : 0.136065 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.24 [[ 9.99570848e-01 -5.53687333e-03 -2.87656668e-02 2.51485720e+00] [ 5.46628774e-03 9.99981854e-01 -2.53187221e-03 4.37152804e-01] [ 2.87791635e-02 2.37354423e-03 9.99582976e-01 1.24337642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72255784400002 meters Centerline goodness : 0.141124 Centerline is valid? [False, False] Translation: X:2.51, Y:0.43, Z:1.24 [[ 9.99572337e-01 -5.50407479e-03 -2.87201749e-02 2.51485837e+00] [ 5.44573042e-03 9.99982947e-01 -2.10929930e-03 4.34861646e-01] [ 2.87312949e-02 1.95199490e-03 9.99585265e-01 1.24317026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75255784400002 meters Centerline goodness : 0.136140 Centerline is valid? [False, False] Translation: X:2.53, Y:0.44, Z:1.25 [[ 9.99526693e-01 -1.36390736e-02 -2.75747447e-02 2.53442354e+00] [ 1.36397693e-02 9.99906961e-01 -1.62871065e-04 4.36410874e-01] [ 2.75744006e-02 -2.13319177e-04 9.99619731e-01 1.24517847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78255784400002 meters Centerline goodness : 0.138807 Centerline is valid? [False, False] Translation: X:2.53, Y:0.44, Z:1.25 [[ 9.99528024e-01 -1.36506656e-02 -2.75206881e-02 2.53392595e+00] [ 1.36497548e-02 9.99906813e-01 -2.20964630e-04 4.36742963e-01] [ 2.75211399e-02 -1.54790306e-04 9.99621210e-01 1.24578314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81255784400003 meters Centerline goodness : 0.128092 Centerline is valid? [False, False] Translation: X:2.53, Y:0.44, Z:1.25 [[ 9.99530088e-01 -1.37248836e-02 -2.74085938e-02 2.53334151e+00] [ 1.37191441e-02 9.99905809e-01 -3.97450390e-04 4.37445393e-01] [ 2.74114672e-02 2.12411742e-05 9.99624235e-01 1.24626729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84255784400003 meters Centerline goodness : 0.129081 Centerline is valid? [False, False] Translation: X:2.53, Y:0.44, Z:1.25 [[ 9.99587571e-01 -1.15052719e-02 -2.63119196e-02 2.52910509e+00] [ 1.15447342e-02 9.99932448e-01 1.34836651e-03 4.41059474e-01] [ 2.62946288e-02 -1.65157452e-03 9.99652872e-01 1.24761868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.872557844 meters Centerline goodness : 0.121344 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.25 [[ 9.99630706e-01 -2.67855966e-03 -2.70421185e-02 2.50918018e+00] [ 2.68413992e-03 9.99996383e-01 1.70057601e-04 4.39576158e-01] [ 2.70415652e-02 -2.42579629e-04 9.99634281e-01 1.24585111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902557844 meters Centerline goodness : 0.133774 Centerline is valid? [False, False] Translation: X:2.53, Y:0.44, Z:1.25 [[ 9.99611483e-01 5.27599892e-03 -2.73687376e-02 2.52968223e+00] [-5.30228872e-03 9.99985548e-01 -8.88094200e-04 4.35663610e-01] [ 2.73636565e-02 1.03286611e-03 9.99625011e-01 1.24652889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.932557844 meters Centerline goodness : 0.136868 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.24 [[ 9.99596643e-01 -2.78844714e-03 -2.82626115e-02 2.51064537e+00] [ 2.79234786e-03 9.99996097e-01 9.85504937e-05 4.41531427e-01] [ 2.82622264e-02 -1.77429785e-04 9.99600528e-01 1.24456353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.962557844 meters Centerline goodness : 0.135193 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.25 [[ 9.99588391e-01 -2.92840860e-03 -2.85389706e-02 2.51104914e+00] [ 2.93154490e-03 9.99995701e-01 6.80557130e-05 4.41488995e-01] [ 2.85386486e-02 -1.51690974e-04 9.99592678e-01 1.24509213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.992557844 meters Centerline goodness : 0.139441 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.25 [[ 9.99580064e-01 -2.92776200e-03 -2.88292226e-02 2.51174055e+00] [ 2.93315182e-03 9.99995688e-01 1.44669485e-04 4.41151910e-01] [ 2.88286748e-02 -2.29169220e-04 9.99584341e-01 1.24522219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.022557844 meters Centerline goodness : 0.133850 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.24 [[ 9.99570380e-01 -2.95566525e-03 -2.91602334e-02 2.51284967e+00] [ 2.96306391e-03 9.99995588e-01 2.10516570e-04 4.40705828e-01] [ 2.91594825e-02 -2.96829763e-04 9.99574728e-01 1.24471127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.052557844 meters Centerline goodness : 0.138350 Centerline is valid? [False, False] Translation: X:2.54, Y:0.44, Z:1.25 [[ 9.99535092e-01 2.06620039e-03 -3.04192485e-02 2.53599156e+00] [-2.15286267e-03 9.99993716e-01 -2.81645309e-03 4.37318978e-01] [ 3.04132380e-02 2.88063216e-03 9.99533260e-01 1.24507778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.082557844 meters Centerline goodness : 0.137336 Centerline is valid? [False, False] Translation: X:2.54, Y:0.44, Z:1.24 [[ 9.99536152e-01 1.92673584e-03 -3.03935640e-02 2.53610582e+00] [-2.00731777e-03 9.99994551e-01 -2.62099349e-03 4.35818036e-01] [ 3.03883484e-02 2.68078728e-03 9.99534573e-01 1.24471517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.112557844 meters Centerline goodness : 0.130136 Centerline is valid? [False, False] Translation: X:2.54, Y:0.43, Z:1.25 [[ 9.99543997e-01 1.95353035e-03 -3.01327475e-02 2.53517630e+00] [-2.02878079e-03 9.99994899e-01 -2.46692664e-03 4.34994984e-01] [ 3.01277746e-02 2.52693446e-03 9.99542861e-01 1.24515563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.142557844 meters Centerline goodness : 0.138648 Centerline is valid? [False, False] Translation: X:2.53, Y:0.43, Z:1.25 [[ 9.99549531e-01 1.97488723e-03 -2.99471931e-02 2.53458632e+00] [-2.04485024e-03 9.99995251e-01 -2.30576709e-03 4.34077769e-01] [ 2.99424972e-02 2.36596594e-03 9.99548823e-01 1.24531273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.172557844 meters Centerline goodness : 0.140808 Centerline is valid? [False, False] Translation: X:2.53, Y:0.43, Z:1.24 [[ 9.99548823e-01 1.95337752e-03 -2.99722466e-02 2.53490829e+00] [-2.01584685e-03 9.99995858e-01 -2.05416390e-03 4.32385799e-01] [ 2.99681099e-02 2.11365657e-03 9.99548621e-01 1.24480010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.202557844 meters Centerline goodness : 0.129758 Centerline is valid? [False, False] Translation: X:2.55, Y:0.43, Z:1.25 [[ 9.99550296e-01 -6.50381076e-03 -2.92729510e-02 2.55493606e+00] [ 6.48395935e-03 9.99978680e-01 -7.73021054e-04 4.34750603e-01] [ 2.92773544e-02 5.82868800e-04 9.99571156e-01 1.24634825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.232557844 meters Centerline goodness : 0.148710 Centerline is valid? [False, False] Translation: X:2.55, Y:0.43, Z:1.25 [[ 9.99552545e-01 -6.44863046e-03 -2.92083110e-02 2.55464828e+00] [ 6.43207576e-03 9.99979096e-01 -6.60700850e-04 4.34315004e-01] [ 2.92119611e-02 4.72535146e-04 9.99573128e-01 1.24656315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.262557844 meters Centerline goodness : 0.153215 Centerline is valid? [False, False] Translation: X:2.55, Y:0.43, Z:1.25 [[ 9.99552673e-01 -6.32649399e-03 -2.92306315e-02 2.55460129e+00] [ 6.31841493e-03 9.99979971e-01 -3.68748157e-04 4.32979783e-01] [ 2.92323789e-02 1.83891948e-04 9.99572626e-01 1.24671172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29255784400002 meters Centerline goodness : 0.124132 Centerline is valid? [False, False] Translation: X:2.55, Y:0.43, Z:1.25 [[ 9.99552333e-01 -6.23937193e-03 -2.92609475e-02 2.55476241e+00] [ 6.23695576e-03 9.99980535e-01 -1.73842499e-04 4.32113011e-01] [ 2.92614626e-02 -8.73455911e-06 9.99571792e-01 1.24654859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32255784400002 meters Centerline goodness : 0.124666 Centerline is valid? [False, False] Translation: X:2.56, Y:0.43, Z:1.25 [[ 9.99549819e-01 -6.15297941e-03 -2.93649568e-02 2.55506062e+00] [ 6.15694468e-03 9.99981045e-01 4.46163466e-05 4.31081716e-01] [ 2.93641257e-02 -2.25394676e-04 9.99568756e-01 1.24646351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35255784400002 meters Centerline goodness : 0.121603 Centerline is valid? [False, False] Translation: X:2.56, Y:0.43, Z:1.25 [[ 9.99547912e-01 -6.03735443e-03 -2.94537302e-02 2.55543052e+00] [ 6.05700487e-03 9.99981489e-01 5.77987728e-04 4.28083446e-01] [ 2.94496955e-02 -7.56127814e-04 9.99565978e-01 1.24614056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38255784400002 meters Centerline goodness : 0.123614 Centerline is valid? [False, False] Translation: X:2.56, Y:0.43, Z:1.25 [[ 9.99544366e-01 -5.91396543e-03 -2.95987498e-02 2.55597992e+00] [ 5.94218867e-03 9.99981970e-01 8.65658355e-04 4.26765783e-01] [ 2.95930966e-02 -1.04114529e-03 9.99561486e-01 1.24580708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41255784400002 meters Centerline goodness : 0.129280 Centerline is valid? [False, False] Translation: X:2.56, Y:0.43, Z:1.25 [[ 9.99540552e-01 -5.79340869e-03 -2.97509975e-02 2.55653081e+00] [ 5.82866908e-03 9.99982410e-01 1.09859619e-03 4.25862176e-01] [ 2.97441096e-02 -1.27150016e-03 9.99556737e-01 1.24551564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44255784400002 meters Centerline goodness : 0.128288 Centerline is valid? [False, False] Translation: X:2.58, Y:0.42, Z:1.25 [[ 9.99562814e-01 2.27944978e-03 -2.94785650e-02 2.57653777e+00] [-2.26174635e-03 9.99997241e-01 6.33882625e-04 4.19541028e-01] [ 2.94799286e-02 -5.66932464e-04 9.99565212e-01 1.24649765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47255784400002 meters Centerline goodness : 0.137636 Centerline is valid? [False, False] Translation: X:2.56, Y:0.42, Z:1.25 [[ 9.99544905e-01 -5.82334510e-03 -2.95985022e-02 2.55624943e+00] [ 5.86911112e-03 9.99981711e-01 1.45958444e-03 4.24701875e-01] [ 2.95894613e-02 -1.63263709e-03 9.99560803e-01 1.24524989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50255784400002 meters Centerline goodness : 0.147830 Centerline is valid? [False, False] Translation: X:2.57, Y:0.42, Z:1.25 [[ 9.99590930e-01 1.74315799e-03 -2.85470333e-02 2.57450738e+00] [-1.73922517e-03 9.99998474e-01 1.62595737e-04 4.19083178e-01] [ 2.85472732e-02 -1.12879505e-04 9.99592437e-01 1.24717103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53255784400002 meters Centerline goodness : 0.129213 Centerline is valid? [False, False] Translation: X:2.53, Y:0.42, Z:1.25 [[ 9.99517535e-01 1.75652274e-03 -3.10098644e-02 2.52700671e+00] [-1.76810950e-03 9.99998377e-01 -3.46230450e-04 4.20976831e-01] [ 3.10092059e-02 4.00892242e-04 9.99519019e-01 1.24871859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56255784400003 meters Centerline goodness : 0.119251 Centerline is valid? [False, False] Translation: X:2.53, Y:0.42, Z:1.25 [[ 9.99516188e-01 1.80008360e-03 -3.10507693e-02 2.52719474e+00] [-1.80599261e-03 9.99998356e-01 -1.62257140e-04 4.20106260e-01] [ 3.10504262e-02 2.18256098e-04 9.99517795e-01 1.24851319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59255784400003 meters Centerline goodness : 0.126833 Centerline is valid? [False, False] Translation: X:2.53, Y:0.42, Z:1.25 [[ 9.99519944e-01 1.84332212e-03 -3.09270784e-02 2.52691925e+00] [-1.84174179e-03 9.99998301e-01 7.95853594e-05 4.18801518e-01] [ 3.09271726e-02 -2.25874613e-05 9.99521640e-01 1.24841878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622557844 meters Centerline goodness : 0.124150 Centerline is valid? [False, False] Translation: X:2.53, Y:0.42, Z:1.25 [[ 9.99530457e-01 1.80612723e-03 -3.05876411e-02 2.52603930e+00] [-1.79671784e-03 9.99998330e-01 3.35102786e-04 4.17093919e-01] [ 3.05881952e-02 -2.79988081e-04 9.99532032e-01 1.24837724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.652557844 meters Centerline goodness : 0.133928 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99557172e-01 1.17335508e-03 -2.97335324e-02 2.52345223e+00] [-1.16112955e-03 9.99999234e-01 4.28432747e-04 4.14014621e-01] [ 2.97340124e-02 -3.93718542e-04 9.99557769e-01 1.24885794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.682557844 meters Centerline goodness : 0.133855 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99556763e-01 1.31573127e-03 -2.97413254e-02 2.52343821e+00] [-1.29067205e-03 9.99998796e-01 8.61754190e-04 4.12004720e-01] [ 2.97424235e-02 -8.22985931e-04 9.99557257e-01 1.24885296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.712557844 meters Centerline goodness : 0.124600 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99552006e-01 1.45847771e-03 -2.98941516e-02 2.52398615e+00] [-1.42147411e-03 9.99998197e-01 1.25903494e-03 4.10224066e-01] [ 2.98959340e-02 -1.21597714e-03 9.99552277e-01 1.24853609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.742557844 meters Centerline goodness : 0.141203 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99545885e-01 1.65979170e-03 -3.00876839e-02 2.52475689e+00] [-1.60525443e-03 9.99997025e-01 1.83667539e-03 4.07262205e-01] [ 3.00906428e-02 -1.78754294e-03 9.99545576e-01 1.24799629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.772557844 meters Centerline goodness : 0.127766 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99548669e-01 1.68647057e-03 -2.99935548e-02 2.52437217e+00] [-1.62955736e-03 9.99996825e-01 1.92185695e-03 4.06728619e-01] [ 2.99967008e-02 -1.87211334e-03 9.99548245e-01 1.24820328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.802557844 meters Centerline goodness : 0.120488 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99551091e-01 1.71662732e-03 -2.99110453e-02 2.52396362e+00] [-1.65965107e-03 9.99996761e-01 1.92957879e-03 4.06750088e-01] [ 2.99142608e-02 -1.87907069e-03 9.99550702e-01 1.24856184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.832557844 meters Centerline goodness : 0.133682 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99550765e-01 1.86085353e-03 -2.99133061e-02 2.52386940e+00] [-1.80742984e-03 9.99996723e-01 1.81289086e-03 4.08080799e-01] [ 2.99165816e-02 -1.75801025e-03 9.99550853e-01 1.24879321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.862557844 meters Centerline goodness : 0.126849 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99548759e-01 1.83585703e-03 -2.99817837e-02 2.52426349e+00] [-1.78736366e-03 9.99997051e-01 1.64414777e-03 4.09068557e-01] [ 2.99847137e-02 -1.58981751e-03 9.99549093e-01 1.24842507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.892557844 meters Centerline goodness : 0.132599 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99543737e-01 1.77374946e-03 -3.01524716e-02 2.52484723e+00] [-1.73827657e-03 9.99997766e-01 1.20262266e-03 4.11412311e-01] [ 3.01545374e-02 -1.14966062e-03 9.99544587e-01 1.24818730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.922557844 meters Centerline goodness : 0.140995 Centerline is valid? [False, False] Translation: X:2.53, Y:0.41, Z:1.25 [[ 9.99540875e-01 1.67191992e-03 -3.02530089e-02 2.52512150e+00] [-1.64436856e-03 9.99998210e-01 9.35554425e-04 4.12751386e-01] [ 3.02545190e-02 -8.85377791e-04 9.99541835e-01 1.24816424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.952557844 meters Centerline goodness : 0.125394 Centerline is valid? [False, False] Translation: X:2.53, Y:0.41, Z:1.25 [[ 9.99529814e-01 1.57742986e-03 -3.06212621e-02 2.52616709e+00] [-1.55907059e-03 9.99998590e-01 6.23426119e-04 4.14442819e-01] [ 3.06222024e-02 -5.75392284e-04 9.99530865e-01 1.24797858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.982557844 meters Centerline goodness : 0.127219 Centerline is valid? [False, False] Translation: X:2.50, Y:0.42, Z:1.25 [[ 0.99940477 -0.00318876 -0.03435033 2.50489437] [ 0.00332181 0.9999872 0.00381677 0.42056911] [ 0.03433772 -0.00392861 0.99940257 1.24786608] [ 0. 0. 0. 1. ]] SLAMing on 227.012557844 meters Centerline goodness : 0.141627 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99421665e-01 4.37834495e-03 -3.37218731e-02 2.52428590e+00] [-4.29986749e-03 9.99987877e-01 2.39936679e-03 4.17213441e-01] [ 3.37319695e-02 -2.25297957e-03 9.99428376e-01 1.24929051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04255784400002 meters Centerline goodness : 0.127781 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99433068e-01 4.21517599e-03 -3.34032055e-02 2.52322339e+00] [-4.14810350e-03 9.99989240e-01 2.07701083e-03 4.18606448e-01] [ 3.34116010e-02 -1.93727335e-03 9.99439799e-01 1.24968005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07255784400002 meters Centerline goodness : 0.135888 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99448597e-01 4.07468951e-03 -3.29529812e-02 2.52157889e+00] [-4.01730056e-03 9.99990297e-01 1.80756230e-03 4.19761127e-01] [ 3.29600267e-02 -1.67418358e-03 9.99455269e-01 1.25049679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10255784400002 meters Centerline goodness : 0.130355 Centerline is valid? [False, False] Translation: X:2.47, Y:0.42, Z:1.25 [[ 9.99382061e-01 3.31709355e-03 -3.49927453e-02 2.47448998e+00] [-3.29305373e-03 9.99994301e-01 7.44606364e-04 4.24847763e-01] [ 3.49950158e-02 -6.28913253e-04 9.99387289e-01 1.25101547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13255784400002 meters Centerline goodness : 0.142141 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99406588e-01 1.43744241e-03 -3.44151919e-02 2.52124899e+00] [-1.43203132e-03 9.99998958e-01 1.81878249e-04 4.21154024e-01] [ 3.44154175e-02 -1.32486688e-04 9.99407605e-01 1.25101599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16255784400002 meters Centerline goodness : 0.122646 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99398221e-01 1.46188118e-03 -3.46562985e-02 2.52206120e+00] [-1.44703970e-03 9.99998850e-01 4.53325810e-04 4.19678088e-01] [ 3.46569214e-02 -4.02903968e-04 9.99399187e-01 1.25056778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19255784400002 meters Centerline goodness : 0.129378 Centerline is valid? [False, False] Translation: X:2.54, Y:0.42, Z:1.25 [[ 9.99408648e-01 -7.60212593e-03 -3.35344868e-02 2.54313743e+00] [ 7.65561681e-03 9.99969619e-01 1.46698766e-03 4.19954834e-01] [ 3.35223158e-02 -1.72284734e-03 9.99436484e-01 1.25180810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22255784400002 meters Centerline goodness : 0.120013 Centerline is valid? [False, False] Translation: X:2.54, Y:0.42, Z:1.25 [[ 9.99410324e-01 -7.58862030e-03 -3.34875606e-02 2.54294765e+00] [ 7.64280579e-03 9.99969683e-01 1.49036776e-03 4.19921824e-01] [ 3.34752355e-02 -1.74542785e-03 9.99438023e-01 1.25192937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25255784400002 meters Centerline goodness : 0.123990 Centerline is valid? [False, False] Translation: X:2.50, Y:0.42, Z:1.25 [[ 9.99341297e-01 -6.24728070e-03 -3.57483445e-02 2.49687541e+00] [ 6.31112400e-03 9.99978685e-01 1.67334489e-03 4.23498418e-01] [ 3.57371286e-02 -1.89785489e-03 9.99359423e-01 1.25153221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28255784400002 meters Centerline goodness : 0.128337 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99375162e-01 1.53798565e-03 -3.53117498e-02 2.51708182e+00] [-1.51625093e-03 9.99998644e-01 6.42280514e-04 4.18398144e-01] [ 3.53126897e-02 -5.88337719e-04 9.99376139e-01 1.25272567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31255784400003 meters Centerline goodness : 0.133007 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99368439e-01 1.48134447e-03 -3.55039346e-02 2.51784101e+00] [-1.46576417e-03 9.99998818e-01 4.64857410e-04 4.19258636e-01] [ 3.55045812e-02 -4.12523429e-04 9.99369428e-01 1.25230753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34255784400003 meters Centerline goodness : 0.124014 Centerline is valid? [False, False] Translation: X:2.47, Y:0.43, Z:1.25 [[ 9.99261417e-01 3.70504212e-03 -3.82477759e-02 2.47308488e+00] [-3.66189487e-03 9.99992578e-01 1.19809224e-03 4.26849704e-01] [ 3.82519310e-02 -1.05714802e-03 9.99267568e-01 1.25178771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.372557844 meters Centerline goodness : 0.130238 Centerline is valid? [False, False] Translation: X:2.49, Y:0.43, Z:1.25 [[ 0.99930156 -0.00375094 -0.03717954 2.49079486] [ 0.00386414 0.99998811 0.00297325 0.43293511] [ 0.03716794 -0.00311484 0.99930418 1.2545718 ] [ 0. 0. 0. 1. ]] SLAMing on 227.402557844 meters Centerline goodness : 0.126370 Centerline is valid? [False, False] Translation: X:2.49, Y:0.44, Z:1.26 [[ 9.99307899e-01 -3.96253212e-03 -3.69867790e-02 2.48997677e+00] [ 4.05084643e-03 9.99989120e-01 2.31309188e-03 4.36132748e-01] [ 3.69772109e-02 -2.46131875e-03 9.99313078e-01 1.25516261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.432557844 meters Centerline goodness : 0.126370 Centerline is valid? [False, False] Translation: X:2.49, Y:0.44, Z:1.26 [[ 9.99307899e-01 -3.96253212e-03 -3.69867790e-02 2.48997677e+00] [ 4.05084643e-03 9.99989120e-01 2.31309188e-03 4.36132748e-01] [ 3.69772109e-02 -2.46131875e-03 9.99313078e-01 1.25516261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.462557844 meters Centerline goodness : 0.134010 Centerline is valid? [False, False] Translation: X:2.49, Y:0.44, Z:1.26 [[ 9.99310005e-01 -4.16533286e-03 -3.69075022e-02 2.48956461e+00] [ 4.23114569e-03 9.99989595e-01 1.70525498e-03 4.39124044e-01] [ 3.69000152e-02 -1.86023939e-03 9.99317231e-01 1.25556830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.492557844 meters Centerline goodness : 0.113073 Centerline is valid? [False, False] Translation: X:2.49, Y:0.44, Z:1.26 [[ 9.99329080e-01 -4.22903604e-04 -3.66225536e-02 2.48890678e+00] [ 6.02812733e-04 9.99987805e-01 4.90162017e-03 4.42543705e-01] [ 3.66200341e-02 -4.92040812e-03 9.99317148e-01 1.25545853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.522557844 meters Centerline goodness : 0.127095 Centerline is valid? [False, False] Translation: X:2.49, Y:0.44, Z:1.26 [[ 9.99328518e-01 -6.07573863e-04 -3.66352961e-02 2.48895165e+00] [ 7.72205144e-04 9.99989667e-01 4.47980649e-03 4.44478002e-01] [ 3.66321957e-02 -4.50508835e-03 9.99318661e-01 1.25545433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.552557844 meters Centerline goodness : 0.124798 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.25 [[ 9.99324278e-01 -9.30715338e-04 -3.67440014e-02 2.48965532e+00] [ 1.07345021e-03 9.99991955e-01 3.86503915e-03 4.47108395e-01] [ 3.67401086e-02 -3.90187031e-03 9.99317237e-01 1.25473107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.582557844 meters Centerline goodness : 0.135990 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.25 [[ 9.99319169e-01 -1.00493685e-03 -3.68807366e-02 2.49032319e+00] [ 1.14232374e-03 9.99992487e-01 3.70428375e-03 4.47994298e-01] [ 3.68767369e-02 -3.74389150e-03 9.99312809e-01 1.25419187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.612557844 meters Centerline goodness : 0.120314 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.25 [[ 9.99316502e-01 -1.07872473e-03 -3.69508511e-02 2.49059715e+00] [ 1.21081685e-03 9.99992956e-01 3.55261433e-03 4.48755302e-01] [ 3.69467586e-02 -3.59492684e-03 9.99310769e-01 1.25405368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.642557844 meters Centerline goodness : 0.111196 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.25 [[ 9.99316049e-01 -1.16500030e-03 -3.69604911e-02 2.49060924e+00] [ 1.29224376e-03 9.99993320e-01 3.41898604e-03 4.49266960e-01] [ 3.69562611e-02 -3.46440958e-03 9.99310879e-01 1.25405001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.672557844 meters Centerline goodness : 0.143661 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.25 [[ 9.99321003e-01 -1.38774642e-03 -3.68185592e-02 2.48992591e+00] [ 1.50767636e-03 9.99993648e-01 3.22975837e-03 4.49399971e-01] [ 3.68138432e-02 -3.28307584e-03 9.99316748e-01 1.25452981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.702557844 meters Centerline goodness : 0.139207 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.26 [[ 9.99328390e-01 -1.46252289e-03 -3.66146027e-02 2.48910725e+00] [ 1.57732589e-03 9.99993930e-01 3.10675327e-03 4.49842377e-01] [ 3.66098368e-02 -3.16241990e-03 9.99324631e-01 1.25501688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.732557844 meters Centerline goodness : 0.111031 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.26 [[ 9.99333501e-01 -1.42000004e-03 -3.64765212e-02 2.48863127e+00] [ 1.52423900e-03 9.99994834e-01 2.83005053e-03 4.52261409e-01] [ 3.64723141e-02 -2.88376324e-03 9.99330503e-01 1.25532533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.762557844 meters Centerline goodness : 0.114889 Centerline is valid? [False, False] Translation: X:2.51, Y:0.45, Z:1.26 [[ 9.99322053e-01 6.30583261e-03 -3.62721775e-02 2.50842312e+00] [-6.24699502e-03 9.99978982e-01 1.73521927e-03 4.48402141e-01] [ 3.62823571e-02 -1.50745077e-03 9.99340442e-01 1.25681470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79255784400002 meters Centerline goodness : 0.109595 Centerline is valid? [False, False] Translation: X:2.51, Y:0.45, Z:1.26 [[ 9.99320548e-01 6.15033461e-03 -3.63402804e-02 2.50867324e+00] [-6.10610918e-03 9.99980476e-01 1.32784212e-03 4.50227640e-01] [ 3.63477375e-02 -1.10504219e-03 9.99338592e-01 1.25671958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82255784400002 meters Centerline goodness : 0.121625 Centerline is valid? [False, False] Translation: X:2.51, Y:0.45, Z:1.26 [[ 9.99315968e-01 6.02528173e-03 -3.64868833e-02 2.50901639e+00] [-5.99464226e-03 9.99981582e-01 9.49081285e-04 4.52002483e-01] [ 3.64919298e-02 -7.29706270e-04 9.99333681e-01 1.25677746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85255784400002 meters Centerline goodness : 0.140520 Centerline is valid? [False, False] Translation: X:2.51, Y:0.46, Z:1.26 [[ 9.99306863e-01 6.48298477e-03 -3.66574062e-02 2.50920194e+00] [-6.45843780e-03 9.99978834e-01 7.88008119e-04 4.55126229e-01] [ 3.66617389e-02 -5.50712343e-04 9.99327581e-01 1.25722439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88255784400002 meters Centerline goodness : 0.117697 Centerline is valid? [False, False] Translation: X:2.51, Y:0.46, Z:1.26 [[ 9.99298837e-01 6.43766606e-03 -3.68834885e-02 2.50982158e+00] [-6.42727909e-03 9.99979265e-01 4.00180521e-04 4.57396217e-01] [ 3.68852999e-02 -1.62839454e-04 9.99319493e-01 1.25721907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91255784400002 meters Centerline goodness : 0.115353 Centerline is valid? [False, False] Translation: X:2.51, Y:0.46, Z:1.26 [[ 9.99295865e-01 6.28835354e-03 -3.69896025e-02 2.51027878e+00] [-6.29677429e-03 9.99980169e-01 -1.11157550e-04 4.59882922e-01] [ 3.69881700e-02 3.43994458e-04 9.99315644e-01 1.25694412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94255784400002 meters Centerline goodness : 0.144295 Centerline is valid? [False, False] Translation: X:2.51, Y:0.46, Z:1.26 [[ 9.99299085e-01 6.40197294e-03 -3.68829763e-02 2.50982816e+00] [-6.43454165e-03 9.99979006e-01 -7.64391972e-04 4.63984251e-01] [ 3.68773084e-02 1.00118125e-03 9.99319299e-01 1.25733781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97255784400002 meters Centerline goodness : 0.136080 Centerline is valid? [False, False] Translation: X:2.51, Y:0.47, Z:1.26 [[ 9.99307733e-01 6.35360314e-03 -3.66563389e-02 2.50891221e+00] [-6.40203091e-03 9.99978782e-01 -1.20390246e-03 4.66624714e-01] [ 3.66479120e-02 1.43774405e-03 9.99327205e-01 1.25794605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00255784400002 meters Centerline goodness : 0.140384 Centerline is valid? [False, False] Translation: X:2.51, Y:0.47, Z:1.26 [[ 9.99306285e-01 6.20381361e-03 -3.67214036e-02 2.50891266e+00] [-6.27148218e-03 9.99978841e-01 -1.72785368e-03 4.69415109e-01] [ 3.67099073e-02 1.95695267e-03 9.99324048e-01 1.25828071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03255784400002 meters Centerline goodness : 0.136033 Centerline is valid? [False, False] Translation: X:2.51, Y:0.47, Z:1.26 [[ 9.99300604e-01 6.00647477e-03 -3.69083338e-02 2.50950858e+00] [-6.09292110e-03 9.99978951e-01 -2.23015756e-03 4.71869020e-01] [ 3.68941615e-02 2.45347736e-03 9.99316167e-01 1.25811928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06255784400003 meters Centerline goodness : 0.122278 Centerline is valid? [False, False] Translation: X:2.49, Y:0.48, Z:1.26 [[ 9.99253653e-01 -2.01985884e-03 -3.85753472e-02 2.49005937e+00] [ 1.95238455e-03 9.99996498e-01 -1.78674659e-03 4.80708736e-01] [ 3.85788211e-02 1.71009914e-03 9.99254097e-01 1.25639620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09255784400003 meters SLAMing on 228.122557844 meters Centerline goodness : 0.147962 Centerline is valid? [False, False] Translation: X:2.51, Y:0.49, Z:1.26 [[ 9.99322472e-01 -9.90609007e-03 -3.54466740e-02 2.50759129e+00] [ 9.91170829e-03 9.99950878e-01 -1.72268510e-05 4.85381040e-01] [ 3.54451034e-02 -3.34121913e-04 9.99371569e-01 1.25888260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.152557844 meters Centerline goodness : 0.136791 Centerline is valid? [False, False] Translation: X:2.51, Y:0.49, Z:1.26 [[ 9.99323789e-01 -9.93835534e-03 -3.54004647e-02 2.50714619e+00] [ 9.94277351e-03 9.99950568e-01 -5.12413633e-05 4.85499655e-01] [ 3.53992240e-02 -3.00772089e-04 9.99373206e-01 1.25942906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.182557844 meters Centerline goodness : 0.126689 Centerline is valid? [False, False] Translation: X:2.51, Y:0.49, Z:1.26 [[ 9.99323433e-01 -1.00347278e-02 -3.53833403e-02 2.50715475e+00] [ 1.00332643e-02 9.99949642e-01 -2.18927546e-04 4.86195447e-01] [ 3.53837554e-02 -1.36230978e-04 9.99373790e-01 1.25942187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.212557844 meters Centerline goodness : 0.150536 Centerline is valid? [False, False] Translation: X:2.51, Y:0.49, Z:1.26 [[ 9.99321473e-01 -1.03343046e-02 -3.53524471e-02 2.50698771e+00] [ 1.03107347e-02 9.99946483e-01 -8.48964475e-04 4.89063698e-01] [ 3.53593286e-02 4.83878727e-04 9.99374546e-01 1.25970338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.242557844 meters SLAMing on 228.272557844 meters Centerline goodness : 0.128499 Centerline is valid? [False, False] Translation: X:2.52, Y:0.49, Z:1.26 [[ 9.99422965e-01 -1.78556552e-04 -3.39662501e-02 2.52244671e+00] [ 1.73098125e-04 9.99999972e-01 -1.63642022e-04 4.86358717e-01] [ 3.39662783e-02 1.57668101e-04 9.99422967e-01 1.26267995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.302557844 meters Centerline goodness : 0.130439 Centerline is valid? [False, False] Translation: X:2.52, Y:0.49, Z:1.26 [[ 9.99418978e-01 -3.85378322e-04 -3.40816442e-02 2.52274724e+00] [ 3.61992741e-04 9.99999695e-01 -6.92331314e-04 4.88874646e-01] [ 3.40819006e-02 6.79591746e-04 9.99418812e-01 1.26272660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.332557844 meters Centerline goodness : 0.150717 Centerline is valid? [False, False] Translation: X:2.52, Y:0.49, Z:1.26 [[ 9.99416035e-01 -8.27111501e-04 -3.41599876e-02 2.52300515e+00] [ 7.66145359e-04 9.99998091e-01 -1.79777481e-03 4.93731884e-01] [ 3.41614093e-02 1.77055346e-03 9.99414760e-01 1.26266098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.362557844 meters Centerline goodness : 0.221519 Centerline is valid? [False, False] Translation: X:2.52, Y:0.50, Z:1.26 [[ 9.99417068e-01 -1.05612715e-03 -3.41234430e-02 2.52272208e+00] [ 9.74564292e-04 9.99996629e-01 -2.40677377e-03 4.96692867e-01] [ 3.41258698e-02 2.37211529e-03 9.99414728e-01 1.26297793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.392557844 meters Centerline goodness : 0.135383 Centerline is valid? [False, False] Translation: X:2.52, Y:0.50, Z:1.26 [[ 9.99443373e-01 2.58625972e-03 -3.32604173e-02 2.52031750e+00] [-2.56278184e-03 9.99996436e-01 7.48492603e-04 5.00660778e-01] [ 3.32622346e-02 -6.62836778e-04 9.99446439e-01 1.26339238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.422557844 meters Centerline goodness : 0.117186 Centerline is valid? [False, False] Translation: X:2.52, Y:0.50, Z:1.26 [[ 9.99437253e-01 2.43377443e-03 -3.34552591e-02 2.52100267e+00] [-2.42174097e-03 9.99996987e-01 4.00204846e-04 5.02478684e-01] [ 3.34561324e-02 -3.18959660e-04 9.99440136e-01 1.26312500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.452557844 meters Centerline goodness : 0.119245 Centerline is valid? [False, False] Translation: X:2.52, Y:0.50, Z:1.26 [[ 9.99428140e-01 2.31683752e-03 -3.37346281e-02 2.52216625e+00] [-2.31255243e-03 9.99997312e-01 1.66040774e-04 5.03631376e-01] [ 3.37349222e-02 -8.79327258e-05 9.99430812e-01 1.26240422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.482557844 meters Centerline goodness : 0.132471 Centerline is valid? [False, False] Translation: X:2.52, Y:0.50, Z:1.26 [[ 9.99421788e-01 2.21205506e-03 -3.39292801e-02 2.52304847e+00] [-2.21500188e-03 9.99997546e-01 -4.92644850e-05 5.04630787e-01] [ 3.39290879e-02 1.24389419e-04 9.99424235e-01 1.26177181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.512557844 meters Centerline goodness : 0.156932 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:1.26 [[ 9.99417195e-01 1.98539517e-03 -3.40782644e-02 2.52358121e+00] [-2.00611172e-03 9.99997823e-01 -5.73729445e-04 5.07274209e-01] [ 3.40770511e-02 6.41759879e-04 9.99419003e-01 1.26158420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54255784400002 meters Centerline goodness : 0.155439 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:1.26 [[ 9.99417029e-01 1.84424118e-03 -3.40910822e-02 2.52358047e+00] [-1.87573037e-03 9.99997843e-01 -8.91719217e-04 5.08815538e-01] [ 3.40893641e-02 9.55145049e-04 9.99418332e-01 1.26166410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57255784400002 meters Centerline goodness : 0.158639 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:1.26 [[ 9.99413907e-01 1.72188893e-03 -3.41888568e-02 2.52383158e+00] [-1.76335576e-03 9.99997746e-01 -1.18276029e-03 5.10217211e-01] [ 3.41867431e-02 1.24235420e-03 9.99414690e-01 1.26165701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60255784400002 meters Centerline goodness : 0.159439 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:1.26 [[ 9.99404479e-01 1.52401631e-03 -3.44726782e-02 2.52456161e+00] [-1.58185891e-03 9.99997386e-01 -1.65071449e-03 5.12379420e-01] [ 3.44700724e-02 1.70426236e-03 9.99404277e-01 1.26166856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63255784400002 meters Centerline goodness : 0.117736 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:1.26 [[ 9.99406308e-01 1.44327830e-03 -3.44230764e-02 2.52436618e+00] [-1.50736656e-03 9.99997179e-01 -1.83590273e-03 5.13151339e-01] [ 3.44203295e-02 1.88670097e-03 9.99405664e-01 1.26181258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66255784400002 meters Centerline goodness : 0.158171 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99455400e-01 -7.47957977e-03 -3.21396880e-02 2.54371718e+00] [ 7.44476269e-03 9.99971564e-01 -1.20283693e-03 5.17241466e-01] [ 3.21477708e-02 9.62909514e-04 9.99482663e-01 1.26277421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69255784400002 meters Centerline goodness : 0.131719 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:1.26 [[ 9.99480004e-01 1.49381424e-03 -3.22101085e-02 2.52343888e+00] [-1.56619902e-03 9.99996305e-01 -2.22215579e-03 5.13284282e-01] [ 3.22066700e-02 2.27144771e-03 9.99478650e-01 1.26135227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72255784400002 meters Centerline goodness : 0.131334 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99475444e-01 -7.16786813e-03 -3.15825807e-02 2.54345137e+00] [ 7.13710005e-03 9.99973940e-01 -1.08683655e-03 5.17320143e-01] [ 3.15895479e-02 8.60858410e-04 9.99500555e-01 1.26298257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75255784400002 meters Centerline goodness : 0.110948 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99472474e-01 -7.24714230e-03 -3.16583754e-02 2.54366078e+00] [ 7.20873820e-03 9.99973136e-01 -1.32704895e-03 5.18509509e-01] [ 3.16671422e-02 1.09813195e-03 9.99497867e-01 1.26293716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78255784400002 meters Centerline goodness : 0.134073 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99461157e-01 -7.36063054e-03 -3.19877526e-02 2.54470185e+00] [ 7.31009997e-03 9.99971842e-01 -1.69634595e-03 5.20322357e-01] [ 3.19993381e-02 1.46159822e-03 9.99486821e-01 1.26257204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81255784400003 meters Centerline goodness : 0.125249 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99462601e-01 -7.44090335e-03 -3.19240116e-02 2.54455932e+00] [ 7.38343900e-03 9.99970904e-01 -1.91754403e-03 5.21255175e-01] [ 3.19373510e-02 1.68080455e-03 9.99488459e-01 1.26252310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84255784400003 meters Centerline goodness : 0.139490 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99465784e-01 -7.48745507e-03 -3.18132674e-02 2.54425642e+00] [ 7.42460299e-03 9.99970246e-01 -2.09332906e-03 5.22083134e-01] [ 3.18279945e-02 1.85600989e-03 9.99491638e-01 1.26251704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.872557844 meters Centerline goodness : 0.161276 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99468830e-01 -7.53367950e-03 -3.17064867e-02 2.54388547e+00] [ 7.46666499e-03 9.99969634e-01 -2.23146192e-03 5.22744215e-01] [ 3.17223350e-02 1.99353492e-03 9.99494732e-01 1.26264164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902557844 meters Centerline goodness : 0.155671 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99547731e-01 8.28217052e-04 -3.00607243e-02 2.56221563e+00] [-9.13842175e-04 9.99995564e-01 -2.83477847e-03 5.17955227e-01] [ 3.00582432e-02 2.86096715e-03 9.99544054e-01 1.26400793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.932557844 meters Centerline goodness : 0.156940 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99547279e-01 7.47787585e-04 -3.00778763e-02 2.56221111e+00] [-8.39245867e-04 9.99995063e-01 -3.02820680e-03 5.19031009e-01] [ 3.00754634e-02 3.05207860e-03 9.99542971e-01 1.26411845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.962557844 meters Centerline goodness : 0.130479 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99554435e-01 4.80751791e-04 -2.98445929e-02 2.56191233e+00] [-5.81665259e-04 9.99994143e-01 -3.37270859e-03 5.20200419e-01] [ 2.98427967e-02 3.38856539e-03 9.99548861e-01 1.26365774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.992557844 meters Centerline goodness : 0.113681 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99561751e-01 3.57950502e-04 -2.96002980e-02 2.56130367e+00] [-4.60465988e-04 9.99993920e-01 -3.45658224e-03 5.20233445e-01] [ 2.95988808e-02 3.46869733e-03 9.99555839e-01 1.26361253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.022557844 meters Centerline goodness : 0.154252 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99563751e-01 3.25877293e-04 -2.95330470e-02 2.56119206e+00] [-4.25659387e-04 9.99994223e-01 -3.37243504e-03 5.19718230e-01] [ 2.95317774e-02 3.38353484e-03 9.99558115e-01 1.26353510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.052557844 meters Centerline goodness : 0.113230 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99564180e-01 1.42098079e-04 -2.95199772e-02 2.56118399e+00] [-2.33084662e-04 9.99995233e-01 -3.07878550e-03 5.17664342e-01] [ 2.95193990e-02 3.08432436e-03 9.99559449e-01 1.26339193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.082557844 meters Centerline goodness : 0.132748 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99562381e-01 1.89290519e-04 -2.95805674e-02 2.56158145e+00] [-2.69232452e-04 9.99996323e-01 -2.69855564e-03 5.15569587e-01] [ 2.95799479e-02 2.70533875e-03 9.99558757e-01 1.26289409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.112557844 meters Centerline goodness : 0.125374 Centerline is valid? [False, False] Translation: X:2.56, Y:0.51, Z:1.26 [[ 9.99559407e-01 2.32091444e-04 -2.96806072e-02 2.56218266e+00] [-2.99832481e-04 9.99997361e-01 -2.27790302e-03 5.13156850e-01] [ 2.96800002e-02 2.28579860e-03 9.99556838e-01 1.26221405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.142557844 meters Centerline goodness : 0.159897 Centerline is valid? [False, False] Translation: X:2.56, Y:0.51, Z:1.26 [[ 9.99557413e-01 4.28198992e-04 -2.97455015e-02 2.56308536e+00] [-4.73059266e-04 9.99998761e-01 -1.50111553e-03 5.09206541e-01] [ 2.97448218e-02 1.51452254e-03 9.99556377e-01 1.26085444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.172557844 meters Centerline goodness : 0.111785 Centerline is valid? [False, False] Translation: X:2.56, Y:0.51, Z:1.26 [[ 9.99555353e-01 5.86079790e-04 -2.98119470e-02 2.56329170e+00] [-6.22463851e-04 9.99999073e-01 -1.21118652e-03 5.08071483e-01] [ 2.98112095e-02 1.22920483e-03 9.99554791e-01 1.26078502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.202557844 meters Centerline goodness : 0.116451 Centerline is valid? [False, False] Translation: X:2.56, Y:0.51, Z:1.26 [[ 9.99557688e-01 7.34865836e-04 -2.97302458e-02 2.56276795e+00] [-7.66269354e-04 9.99999161e-01 -1.04490241e-03 5.07615726e-01] [ 2.97294529e-02 1.06722161e-03 9.99557412e-01 1.26136131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.232557844 meters Centerline goodness : 0.156052 Centerline is valid? [False, False] Translation: X:2.58, Y:0.50, Z:1.26 [[ 9.99550490e-01 9.79991516e-03 -2.83333742e-02 2.58373293e+00] [-9.82965851e-03 9.99951273e-01 -9.10669542e-04 5.02805641e-01] [ 2.83230691e-02 1.18876758e-03 9.99598115e-01 1.26248403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.262557844 meters Centerline goodness : 0.112664 Centerline is valid? [False, False] Translation: X:2.58, Y:0.50, Z:1.26 [[ 9.99540747e-01 9.94901561e-03 -2.86236296e-02 2.58447465e+00] [-9.98259833e-03 9.99949642e-01 -1.03058892e-03 5.03749427e-01] [ 2.86119348e-02 1.31585382e-03 9.99589729e-01 1.26245743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29255784400002 meters Centerline goodness : 0.108317 Centerline is valid? [False, False] Translation: X:2.58, Y:0.51, Z:1.26 [[ 9.99535662e-01 1.00960229e-02 -2.87494530e-02 2.58475248e+00] [-1.01351816e-02 9.99947898e-01 -1.21667122e-03 5.05085664e-01] [ 2.87356716e-02 1.50748720e-03 9.99585909e-01 1.26257369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32255784400002 meters Centerline goodness : 0.157465 Centerline is valid? [False, False] Translation: X:2.58, Y:0.51, Z:1.26 [[ 9.99535721e-01 1.03465163e-02 -2.86581864e-02 2.58454227e+00] [-1.03886566e-02 9.99945163e-01 -1.32193999e-03 5.06402490e-01] [ 2.86429374e-02 1.61904629e-03 9.99588396e-01 1.26263072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35255784400002 meters Centerline goodness : 0.127121 Centerline is valid? [False, False] Translation: X:2.58, Y:0.51, Z:1.26 [[ 9.99516890e-01 1.37654994e-02 -2.78656961e-02 2.58210131e+00] [-1.37471559e-02 9.99905142e-01 8.49757137e-04 5.12047226e-01] [ 2.78747502e-02 -4.66272541e-04 9.99611315e-01 1.26243015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38255784400002 meters Centerline goodness : 0.127121 Centerline is valid? [False, False] Translation: X:2.58, Y:0.51, Z:1.26 [[ 9.99516890e-01 1.37654994e-02 -2.78656961e-02 2.58210131e+00] [-1.37471559e-02 9.99905142e-01 8.49757137e-04 5.12047226e-01] [ 2.78747502e-02 -4.66272541e-04 9.99611315e-01 1.26243015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41255784400002 meters Centerline goodness : 0.108122 Centerline is valid? [False, False] Translation: X:2.58, Y:0.51, Z:1.26 [[ 9.99518999e-01 1.37351745e-02 -2.78049573e-02 2.58191314e+00] [-1.37310598e-02 9.99905667e-01 3.38919735e-04 5.14208739e-01] [ 2.78069895e-02 4.30348172e-05 9.99613310e-01 1.26218737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44255784400002 meters Centerline goodness : 0.117873 Centerline is valid? [False, False] Translation: X:2.58, Y:0.52, Z:1.26 [[ 9.99496212e-01 1.39965132e-02 -2.84854441e-02 2.58358505e+00] [-1.40086969e-02 9.99901847e-01 -2.28187956e-04 5.17220416e-01] [ 2.84794544e-02 6.27116950e-04 9.99594181e-01 1.26154293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47255784400002 meters Centerline goodness : 0.115819 Centerline is valid? [False, False] Translation: X:2.57, Y:0.53, Z:1.26 [[ 9.99596216e-01 6.54382357e-03 -2.76511136e-02 2.56562656e+00] [-6.50502123e-03 9.99977728e-01 1.49300395e-03 5.25685319e-01] [ 2.76602677e-02 -1.31253002e-03 9.99616520e-01 1.25974145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50255784400002 meters Centerline goodness : 0.156189 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99624517e-01 -1.66445337e-03 -2.73505994e-02 2.58249264e+00] [ 1.71082940e-03 9.99997138e-01 1.67229995e-03 5.33103438e-01] [ 2.73477377e-02 -1.71846424e-03 9.99624504e-01 1.26096049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53255784400002 meters Centerline goodness : 0.126877 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99638015e-01 -1.90568131e-03 -2.68366782e-02 2.58092509e+00] [ 1.94199934e-03 9.99997233e-01 1.32730018e-03 5.34130465e-01] [ 2.68340746e-02 -1.37893653e-03 9.99638950e-01 1.26138452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56255784400003 meters Centerline goodness : 0.120582 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99642395e-01 -1.96390645e-03 -2.66688064e-02 2.58036935e+00] [ 1.99837247e-03 9.99997202e-01 1.26578150e-03 5.34300032e-01] [ 2.66662459e-02 -1.31862306e-03 9.99643523e-01 1.26160911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59255784400003 meters Centerline goodness : 0.157940 Centerline is valid? [False, False] Translation: X:2.60, Y:0.53, Z:1.26 [[ 9.99649918e-01 4.96307678e-03 -2.59886323e-02 2.59836624e+00] [-4.96497744e-03 9.99987674e-01 -8.60703845e-06 5.29672099e-01] [ 2.59882693e-02 1.37636998e-04 9.99662238e-01 1.26351975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622557844 meters Centerline goodness : 0.111350 Centerline is valid? [False, False] Translation: X:2.58, Y:0.54, Z:1.26 [[ 9.99608640e-01 -5.01367892e-03 -2.75214607e-02 2.57975514e+00] [ 5.02548848e-03 9.99987307e-01 3.59952409e-04 5.35363272e-01] [ 2.75193067e-02 -4.98120322e-04 9.99621148e-01 1.26346205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.652557844 meters Centerline goodness : 0.159712 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99598774e-01 -5.03044642e-03 -2.78744496e-02 2.58067196e+00] [ 5.05070475e-03 9.99987030e-01 6.56411207e-04 5.34054451e-01] [ 2.78707860e-02 -7.96933453e-04 9.99611217e-01 1.26360918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.682557844 meters Centerline goodness : 0.160207 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99596151e-01 -5.02196470e-03 -2.79698958e-02 2.58105569e+00] [ 5.04650208e-03 9.99986941e-01 8.06758117e-04 5.33280483e-01] [ 2.79654790e-02 -9.47582446e-04 9.99608440e-01 1.26337050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.712557844 meters Centerline goodness : 0.118697 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99587151e-01 -4.94372126e-03 -2.83034980e-02 2.58212957e+00] [ 4.97834996e-03 9.99986943e-01 1.15314142e-03 5.31857807e-01] [ 2.82974276e-02 -1.29357006e-03 9.99598711e-01 1.26300885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.742557844 meters Centerline goodness : 0.156258 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99584783e-01 -4.89971769e-03 -2.83946141e-02 2.58232241e+00] [ 4.93951588e-03 9.99986914e-01 1.33163758e-03 5.31100284e-01] [ 2.83877179e-02 -1.47134031e-03 9.99595905e-01 1.26314842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.772557844 meters Centerline goodness : 0.156764 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99589851e-01 -4.87618907e-03 -2.82197141e-02 2.58193181e+00] [ 4.91753037e-03 9.99986935e-01 1.39576497e-03 5.30652429e-01] [ 2.82125394e-02 -1.53396380e-03 9.99600770e-01 1.26304651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.802557844 meters Centerline goodness : 0.106899 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99592157e-01 -4.98769186e-03 -2.81183633e-02 2.58205027e+00] [ 5.02311463e-03 9.99986677e-01 1.18927897e-03 5.31165960e-01] [ 2.81120569e-02 -1.33003569e-03 9.99603893e-01 1.26241072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.832557844 meters Centerline goodness : 0.121437 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99588837e-01 -5.06024198e-03 -2.82232356e-02 2.58257058e+00] [ 5.09173742e-03 9.99986492e-01 1.04418415e-03 5.31702384e-01] [ 2.82175705e-02 -1.18746012e-03 9.99601100e-01 1.26198754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.862557844 meters Centerline goodness : 0.157262 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99583072e-01 -5.07027333e-03 -2.84249034e-02 2.58308287e+00] [ 5.10056753e-03 9.99986499e-01 9.93357340e-04 5.32177856e-01] [ 2.84194830e-02 -1.13792632e-03 9.99595437e-01 1.26202024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.892557844 meters Centerline goodness : 0.117466 Centerline is valid? [False, False] Translation: X:2.59, Y:0.53, Z:1.26 [[ 9.99577645e-01 -1.44913334e-03 -2.90246587e-02 2.58529498e+00] [ 1.57253526e-03 9.99989820e-01 4.22924875e-03 5.34858692e-01] [ 2.90182345e-02 -4.27310481e-03 9.99569749e-01 1.26094511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.922557844 meters Centerline goodness : 0.116689 Centerline is valid? [False, False] Translation: X:2.59, Y:0.54, Z:1.26 [[ 9.99572398e-01 -1.62167711e-03 -2.91957435e-02 2.58595320e+00] [ 1.72997354e-03 9.99991716e-01 3.68444527e-03 5.37067035e-01] [ 2.91895267e-02 -3.73337766e-03 9.99566923e-01 1.26046069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.952557844 meters Centerline goodness : 0.154646 Centerline is valid? [False, False] Translation: X:2.59, Y:0.54, Z:1.26 [[ 9.99575048e-01 -1.80872086e-03 -2.90938564e-02 2.58574547e+00] [ 1.90377116e-03 9.99992940e-01 3.23965532e-03 5.39010588e-01] [ 2.90877914e-02 -3.29366667e-03 9.99571434e-01 1.26037328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.982557844 meters Centerline goodness : 0.126323 Centerline is valid? [False, False] Translation: X:2.58, Y:0.54, Z:1.26 [[ 9.99591926e-01 -2.11009199e-03 -2.84873528e-02 2.58390317e+00] [ 2.18313983e-03 9.99994408e-01 2.53336138e-03 5.42306488e-01] [ 2.84818479e-02 -2.59451946e-03 9.99590943e-01 1.26085819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.012557844 meters Centerline goodness : 0.155521 Centerline is valid? [False, False] Translation: X:2.58, Y:0.54, Z:1.26 [[ 9.99593678e-01 -2.18067828e-03 -2.84204658e-02 2.58374435e+00] [ 2.24749817e-03 9.99994785e-01 2.31938668e-03 5.43698540e-01] [ 2.84152598e-02 -2.38231921e-03 9.99593366e-01 1.26084753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04255784400002 meters Centerline goodness : 0.117733 Centerline is valid? [False, False] Translation: X:2.58, Y:0.55, Z:1.26 [[ 9.99588369e-01 -2.26672702e-03 -2.85999148e-02 2.58440376e+00] [ 2.32762011e-03 9.99995094e-01 2.09602320e-03 5.45011660e-01] [ 2.85950233e-02 -2.16173014e-03 9.99588741e-01 1.26054627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07255784400002 meters Centerline goodness : 0.116987 Centerline is valid? [False, False] Translation: X:2.59, Y:0.55, Z:1.26 [[ 9.99578985e-01 -2.38553978e-03 -2.89164532e-02 2.58560881e+00] [ 2.44079485e-03 9.99995262e-01 1.87570579e-03 5.46021576e-01] [ 2.89118416e-02 -1.94549522e-03 9.99580072e-01 1.25989546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10255784400002 meters Centerline goodness : 0.117694 Centerline is valid? [False, False] Translation: X:2.59, Y:0.55, Z:1.26 [[ 9.99543621e-01 -3.23337908e-03 -3.00348983e-02 2.58927197e+00] [ 3.26525395e-03 9.99994157e-01 1.01227464e-03 5.48348703e-01] [ 3.00314497e-02 -1.10988423e-03 9.99548338e-01 1.25886444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13255784400002 meters Centerline goodness : 0.115196 Centerline is valid? [False, False] Translation: X:2.59, Y:0.55, Z:1.26 [[ 9.99538445e-01 -3.33586947e-03 -3.01955214e-02 2.58964520e+00] [ 3.36349143e-03 9.99993970e-01 8.64023365e-04 5.49135969e-01] [ 3.01924571e-02 -9.65186948e-04 9.99543638e-01 1.25900983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16255784400002 meters Centerline goodness : 0.152931 Centerline is valid? [False, False] Translation: X:2.59, Y:0.55, Z:1.26 [[ 9.99536088e-01 -3.34176269e-03 -3.02727844e-02 2.58975404e+00] [ 3.36707726e-03 9.99994023e-01 7.85276844e-04 5.49810061e-01] [ 3.02699792e-02 -8.86843349e-04 9.99541366e-01 1.25919371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19255784400002 meters Centerline goodness : 0.141767 Centerline is valid? [False, False] Translation: X:2.59, Y:0.55, Z:1.26 [[ 9.99545390e-01 -3.61336926e-03 -2.99325371e-02 2.58897623e+00] [ 3.61549270e-03 9.99993464e-01 1.68183986e-05 5.52736754e-01] [ 2.99322807e-02 -1.25031622e-04 9.99551921e-01 1.25897025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22255784400002 meters Centerline goodness : 0.152173 Centerline is valid? [False, False] Translation: X:2.61, Y:0.55, Z:1.26 [[ 9.99566621e-01 3.78136849e-03 -2.91936848e-02 2.60547504e+00] [-3.84666510e-03 9.99990224e-01 -2.18083171e-03 5.47123476e-01] [ 2.91851529e-02 2.29218491e-03 9.99571395e-01 1.26069366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25255784400002 meters Centerline goodness : 0.146847 Centerline is valid? [False, False] Translation: X:2.60, Y:0.55, Z:1.26 [[ 9.99578717e-01 3.89045742e-03 -2.87620087e-02 2.60382502e+00] [-3.95936994e-03 9.99989425e-01 -2.33939321e-03 5.48080042e-01] [ 2.87526032e-02 2.45228710e-03 9.99583550e-01 1.26142147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28255784400002 meters Centerline goodness : 0.114107 Centerline is valid? [False, False] Translation: X:2.60, Y:0.55, Z:1.26 [[ 9.99595831e-01 4.20403725e-03 -2.81158441e-02 2.60153885e+00] [-4.27078216e-03 9.99988202e-01 -2.31429639e-03 5.48716271e-01] [ 2.81057830e-02 2.43343767e-03 9.99601992e-01 1.26228835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31255784400003 meters Centerline goodness : 0.152721 Centerline is valid? [False, False] Translation: X:2.60, Y:0.55, Z:1.26 [[ 0.99960809 0.00454884 -0.02762213 2.59995765] [-0.00462835 0.99998533 -0.00281528 0.55156558] [ 0.02760892 0.00294202 0.99961447 1.26229103] [ 0. 0. 0. 1. ]] SLAMing on 230.34255784400003 meters Centerline goodness : 0.115692 Centerline is valid? [False, False] Translation: X:2.60, Y:0.55, Z:1.26 [[ 0.9996097 0.00434389 -0.02759667 2.60032374] [-0.00444505 0.99998362 -0.00360537 0.55424734] [ 0.02758056 0.00372663 0.99961264 1.26122782] [ 0. 0. 0. 1. ]] SLAMing on 230.372557844 meters Centerline goodness : 0.129026 Centerline is valid? [False, False] Translation: X:2.60, Y:0.56, Z:1.26 [[ 0.99960471 0.004297 -0.02778398 2.60100042] [-0.00441481 0.99998152 -0.00418044 0.55652727] [ 0.02776551 0.00430145 0.99960521 1.26045883] [ 0. 0. 0. 1. ]] SLAMing on 230.402557844 meters Centerline goodness : 0.094796 Centerline is valid? [False, False] Translation: X:2.58, Y:0.57, Z:1.26 [[ 9.99574445e-01 -1.69091659e-03 -2.91216221e-02 2.58181693e+00] [ 1.63358900e-03 9.99996681e-01 -1.99223642e-03 5.69409939e-01] [ 2.91248942e-02 1.94381585e-03 9.99573890e-01 1.26065364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.432557844 meters Centerline goodness : 0.113046 Centerline is valid? [False, False] Translation: X:2.62, Y:0.57, Z:1.26 [[ 9.99636383e-01 -1.53628889e-03 -2.69210339e-02 2.62458685e+00] [ 1.52437237e-03 9.99998731e-01 -4.63164119e-04 5.70673431e-01] [ 2.69217112e-02 4.21958024e-04 9.99637456e-01 1.26194842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.462557844 meters Centerline goodness : 0.117658 Centerline is valid? [False, False] Translation: X:2.62, Y:0.57, Z:1.26 [[ 9.99634482e-01 -1.74927064e-03 -2.69785610e-02 2.62436382e+00] [ 1.71921837e-03 9.99997876e-01 -1.13708652e-03 5.74037237e-01] [ 2.69804927e-02 1.09028885e-03 9.99635366e-01 1.26256973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.492557844 meters Centerline goodness : 0.140198 Centerline is valid? [False, False] Translation: X:2.62, Y:0.58, Z:1.26 [[ 9.99634199e-01 -2.14140092e-03 -2.69607427e-02 2.62416370e+00] [ 2.08245447e-03 9.99995380e-01 -2.21426828e-03 5.79190190e-01] [ 2.69653598e-02 2.15731378e-03 9.99634041e-01 1.26281153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.522557844 meters Centerline goodness : 0.134762 Centerline is valid? [False, False] Translation: X:2.62, Y:0.58, Z:1.26 [[ 9.99636239e-01 -2.31219068e-03 -2.68708502e-02 2.62399784e+00] [ 2.24243201e-03 9.99994038e-01 -2.62591594e-03 5.81147285e-01] [ 2.68767616e-02 2.56470468e-03 9.99635465e-01 1.26267942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.552557844 meters Centerline goodness : 0.134869 Centerline is valid? [False, False] Translation: X:2.62, Y:0.58, Z:1.26 [[ 9.99636459e-01 -2.46688673e-03 -2.68489062e-02 2.62394859e+00] [ 2.38817061e-03 9.99992757e-01 -2.96348929e-03 5.82684428e-01] [ 2.68560223e-02 2.89829217e-03 9.99635110e-01 1.26271823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.582557844 meters Centerline goodness : 0.118579 Centerline is valid? [False, False] Translation: X:2.62, Y:0.58, Z:1.26 [[ 9.99629030e-01 -2.65171432e-03 -2.71066733e-02 2.62461015e+00] [ 2.56260590e-03 9.99991200e-01 -3.32153405e-03 5.84332268e-01] [ 2.71152425e-02 3.25083814e-03 9.99627028e-01 1.26277345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.612557844 meters Centerline goodness : 0.122388 Centerline is valid? [False, False] Translation: X:2.62, Y:0.58, Z:1.26 [[ 9.99625392e-01 -2.67251325e-03 -2.72384361e-02 2.62495307e+00] [ 2.58225910e-03 9.99991061e-01 -3.34812154e-03 5.84452847e-01] [ 2.72471405e-02 3.27653061e-03 9.99623358e-01 1.26279299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.642557844 meters Centerline goodness : 0.167804 Centerline is valid? [False, False] Translation: X:2.62, Y:0.58, Z:1.26 [[ 0.99962389 -0.00272477 -0.02728833 2.62498896] [ 0.00263168 0.9999906 -0.00344681 0.5848949 ] [ 0.02729747 0.0033737 0.99962166 1.26295238] [ 0. 0. 0. 1. ]] SLAMing on 230.672557844 meters SLAMing on 230.702557844 meters Centerline goodness : 0.093895 Centerline is valid? [False, False] Translation: X:2.62, Y:0.59, Z:1.26 [[ 0.99962805 -0.00284181 -0.0271234 2.62434208] [ 0.00273322 0.9999881 -0.00403982 0.58816958] [ 0.02713456 0.00396418 0.99962393 1.26348933] [ 0. 0. 0. 1. ]] SLAMing on 230.732557844 meters SLAMing on 230.762557844 meters SLAMing on 230.79255784400002 meters Centerline goodness : 0.123836 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:1.26 [[ 0.99961614 0.00692596 -0.02682526 2.64769686] [-0.00703013 0.9999681 -0.00379096 0.58913971] [ 0.02679815 0.00397809 0.99963295 1.26360184] [ 0. 0. 0. 1. ]] SLAMing on 230.82255784400002 meters Centerline goodness : 0.121211 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:1.26 [[ 0.99960379 0.00729083 -0.0271867 2.64848278] [-0.00739512 0.99996567 -0.0037375 0.58994585] [ 0.02715852 0.00393707 0.99962339 1.26380602] [ 0. 0. 0. 1. ]] SLAMing on 230.85255784400002 meters Centerline goodness : 0.184367 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:1.26 [[ 0.99960674 0.00732746 -0.02706799 2.64791025] [-0.00743292 0.99996516 -0.00379766 0.59040073] [ 0.02703922 0.00399736 0.99962638 1.26421524] [ 0. 0. 0. 1. ]] SLAMing on 230.88255784400002 meters Centerline goodness : 0.143728 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:1.26 [[ 0.99961057 0.00736915 -0.0269148 2.64734139] [-0.00747468 0.99996476 -0.00382245 0.59060387] [ 0.02688568 0.00402214 0.99963042 1.26449275] [ 0. 0. 0. 1. ]] SLAMing on 230.91255784400002 meters Centerline goodness : 0.119819 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:1.26 [[ 0.99960843 0.00776679 -0.02688235 2.64724743] [-0.00787197 0.99996176 -0.00380916 0.59142015] [ 0.02685174 0.00401928 0.99963135 1.26448545] [ 0. 0. 0. 1. ]] SLAMing on 230.94255784400002 meters Centerline goodness : 0.139847 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:1.26 [[ 0.99960208 0.00790339 -0.02707788 2.64760658] [-0.00801237 0.99996022 -0.00391868 0.5924912 ] [ 0.02704583 0.00413408 0.99962565 1.26463378] [ 0. 0. 0. 1. ]] SLAMing on 230.97255784400002 meters Centerline goodness : 0.146670 Centerline is valid? [False, False] Translation: X:2.67, Y:0.59, Z:1.26 [[ 9.99653902e-01 1.31735194e-03 -2.62743397e-02 2.66862807e+00] [-1.33874106e-03 9.99998787e-01 -7.96495171e-04 5.94818529e-01] [ 2.62732585e-02 8.31394043e-04 9.99654453e-01 1.26469970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00255784400002 meters Centerline goodness : 0.133442 Centerline is valid? [False, False] Translation: X:2.67, Y:0.60, Z:1.26 [[ 9.99640193e-01 1.72833805e-03 -2.67674591e-02 2.66979969e+00] [-1.74909804e-03 9.99998187e-01 -7.52173985e-04 5.95561611e-01] [ 2.67661106e-02 7.98722257e-04 9.99641404e-01 1.26464187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03255784400002 meters Centerline goodness : 0.172829 Centerline is valid? [False, False] Translation: X:2.71, Y:0.60, Z:1.26 [[ 9.99682222e-01 6.51111688e-04 -2.51998425e-02 2.71366947e+00] [-6.59372694e-04 9.99999732e-01 -3.19511743e-04 5.95601311e-01] [ 2.51996277e-02 3.36026297e-04 9.99682382e-01 1.26482613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06255784400003 meters Centerline goodness : 0.178542 Centerline is valid? [False, False] Translation: X:2.71, Y:0.60, Z:1.26 [[ 9.99684333e-01 6.34089024e-04 -2.51163551e-02 2.71338969e+00] [-6.45242724e-04 9.99999697e-01 -4.35979265e-04 5.96148562e-01] [ 2.51160710e-02 4.52047787e-04 9.99684440e-01 1.26483567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09255784400003 meters Centerline goodness : 0.141190 Centerline is valid? [False, False] Translation: X:2.71, Y:0.60, Z:1.27 [[ 9.99686435e-01 6.50507613e-04 -2.50321613e-02 2.71285641e+00] [-6.65166474e-04 9.99999612e-01 -5.77278967e-04 5.97054568e-01] [ 2.50317761e-02 5.93748507e-04 9.99686480e-01 1.26532008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122557844 meters Centerline goodness : 0.123744 Centerline is valid? [False, False] Translation: X:2.71, Y:0.60, Z:1.27 [[ 9.99695148e-01 6.87184058e-04 -2.46807240e-02 2.71156421e+00] [-7.04293057e-04 9.99999518e-01 -6.84527144e-04 5.97846510e-01] [ 2.46802417e-02 7.01700927e-04 9.99695150e-01 1.26596910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.152557844 meters Centerline goodness : 0.131010 Centerline is valid? [False, False] Translation: X:2.71, Y:0.60, Z:1.27 [[ 9.99696757e-01 7.20839366e-04 -2.46145091e-02 2.71138843e+00] [-7.35535847e-04 9.99999557e-01 -5.88017185e-04 5.97355216e-01] [ 2.46140743e-02 6.05943727e-04 9.99696844e-01 1.26598937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.182557844 meters Centerline goodness : 0.139237 Centerline is valid? [False, False] Translation: X:2.71, Y:0.60, Z:1.27 [[ 9.99696252e-01 7.86462497e-04 -2.46329947e-02 2.71160747e+00] [-7.96166406e-04 9.99999609e-01 -3.84134505e-04 5.96360361e-01] [ 2.46326829e-02 4.03629788e-04 9.99696488e-01 1.26571899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.212557844 meters Centerline goodness : 0.129061 Centerline is valid? [False, False] Translation: X:2.71, Y:0.59, Z:1.27 [[ 9.99693157e-01 1.00153296e-03 -2.47505384e-02 2.71227555e+00] [-9.97209715e-04 9.99999485e-01 1.87014788e-04 5.93632728e-01] [ 2.47507130e-02 -1.62275926e-04 9.99693641e-01 1.26511480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.242557844 meters Centerline goodness : 0.129061 Centerline is valid? [False, False] Translation: X:2.71, Y:0.59, Z:1.27 [[ 9.99693157e-01 1.00153296e-03 -2.47505384e-02 2.71227555e+00] [-9.97209715e-04 9.99999485e-01 1.87014788e-04 5.93632728e-01] [ 2.47507130e-02 -1.62275926e-04 9.99693641e-01 1.26511480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.272557844 meters Centerline goodness : 0.117363 Centerline is valid? [False, False] Translation: X:2.71, Y:0.59, Z:1.26 [[ 9.99693168e-01 1.06796483e-03 -2.47473143e-02 2.71244662e+00] [-1.05813051e-03 9.99999356e-01 4.10480782e-04 5.92385426e-01] [ 2.47477368e-02 -3.84168945e-04 9.99693654e-01 1.26481521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.302557844 meters Centerline goodness : 0.142977 Centerline is valid? [False, False] Translation: X:2.73, Y:0.59, Z:1.27 [[ 9.99686128e-01 -7.89834045e-03 -2.37752178e-02 2.73221438e+00] [ 7.93507415e-03 9.99967464e-01 1.45109452e-03 5.94990391e-01] [ 2.37629830e-02 -1.63929718e-03 9.99716276e-01 1.26519770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.332557844 meters Centerline goodness : 0.109647 Centerline is valid? [False, False] Translation: X:2.73, Y:0.59, Z:1.26 [[ 9.99687468e-01 -7.71319777e-03 -2.37796730e-02 2.73253958e+00] [ 7.75581773e-03 9.99968477e-01 1.70057718e-03 5.94101143e-01] [ 2.37658065e-02 -1.88447651e-03 9.99715777e-01 1.26459120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.362557844 meters Centerline goodness : 0.126813 Centerline is valid? [False, False] Translation: X:2.73, Y:0.59, Z:1.26 [[ 9.99685882e-01 -7.60164235e-03 -2.38820644e-02 2.73288992e+00] [ 7.64619805e-03 9.99969192e-01 1.77489170e-03 5.94042699e-01] [ 2.38678366e-02 -1.95694117e-03 9.99713207e-01 1.26438774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.392557844 meters Centerline goodness : 0.136375 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99672348e-01 -6.46612112e-04 -2.55886528e-02 2.75198025e+00] [ 6.68378026e-04 9.99999422e-01 8.42064342e-04 5.91139248e-01] [ 2.55880935e-02 -8.58891331e-04 9.99672202e-01 1.26742439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.422557844 meters Centerline goodness : 0.152175 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99663316e-01 -4.61002597e-04 -2.59430692e-02 2.75278943e+00] [ 4.81503097e-04 9.99999577e-01 7.83969709e-04 5.91928180e-01] [ 2.59426968e-02 -7.96197427e-04 9.99663115e-01 1.26747847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.452557844 meters Centerline goodness : 0.183041 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99666023e-01 1.78760540e-04 -2.58420319e-02 2.75265984e+00] [-1.59041895e-04 9.99999695e-01 7.65098779e-04 5.93475316e-01] [ 2.58421607e-02 -7.60733287e-04 9.99665746e-01 1.26712053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.482557844 meters Centerline goodness : 0.140527 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99663943e-01 2.37752195e-04 -2.59218943e-02 2.75300538e+00] [-2.23703213e-04 9.99999827e-01 5.44872130e-04 5.94425011e-01] [ 2.59220193e-02 -5.38890211e-04 9.99663823e-01 1.26669513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.512557844 meters SLAMing on 231.54255784400002 meters Centerline goodness : 0.134685 Centerline is valid? [False, False] Translation: X:2.75, Y:0.60, Z:1.27 [[ 9.99652610e-01 1.39529179e-03 -2.63194276e-02 2.75439979e+00] [-1.36505980e-03 9.99998388e-01 1.16658888e-03 5.95385060e-01] [ 2.63210129e-02 -1.13025603e-03 9.99652903e-01 1.26583028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57255784400002 meters SLAMing on 231.60255784400002 meters Centerline goodness : 0.134511 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99649364e-01 1.34849011e-03 -2.64448523e-02 2.75481115e+00] [-1.31558433e-03 9.99998339e-01 1.26167587e-03 5.94316146e-01] [ 2.64465097e-02 -1.22644305e-03 9.99649478e-01 1.26569527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63255784400002 meters Centerline goodness : 0.131657 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99653656e-01 1.37409361e-03 -2.62808004e-02 2.75433403e+00] [-1.33496640e-03 9.99997974e-01 1.50630030e-03 5.92912406e-01] [ 2.62828169e-02 -1.47069462e-03 9.99653465e-01 1.26584242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66255784400002 meters Centerline goodness : 0.130958 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99657705e-01 1.43531126e-03 -2.61230465e-02 2.75380890e+00] [-1.39037278e-03 9.99997523e-01 1.73834389e-03 5.91947290e-01] [ 2.61254769e-02 -1.70142809e-03 9.99657224e-01 1.26614354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69255784400002 meters Centerline goodness : 0.185838 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99659288e-01 1.51917788e-03 -2.60576380e-02 2.75358525e+00] [-1.46939710e-03 9.99997059e-01 1.92945156e-03 5.91330048e-01] [ 2.60604925e-02 -1.89050515e-03 9.99658580e-01 1.26633106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72255784400002 meters Centerline goodness : 0.110135 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99661160e-01 1.47767435e-03 -2.59880979e-02 2.75349674e+00] [-1.42572264e-03 9.99996949e-01 2.01747333e-03 5.90638080e-01] [ 2.59909998e-02 -1.97973791e-03 9.99660217e-01 1.26627750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75255784400002 meters Centerline goodness : 0.104458 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99658079e-01 1.41892114e-03 -2.61096263e-02 2.75392774e+00] [-1.36847708e-03 9.99997163e-01 1.94977682e-03 5.90648761e-01] [ 2.61123188e-02 -1.91337972e-03 9.99657184e-01 1.26603813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78255784400002 meters Centerline goodness : 0.129861 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99652532e-01 1.38189379e-03 -2.63231053e-02 2.75459515e+00] [-1.33325742e-03 9.99997372e-01 1.86512956e-03 5.91029970e-01] [ 2.63256135e-02 -1.82938601e-03 9.99651747e-01 1.26579172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81255784400003 meters Centerline goodness : 0.142770 Centerline is valid? [False, False] Translation: X:2.76, Y:0.59, Z:1.27 [[ 9.99648645e-01 1.41162188e-03 -2.64687419e-02 2.75510281e+00] [-1.36367968e-03 9.99997397e-01 1.82923936e-03 5.91469890e-01] [ 2.64712552e-02 -1.79250176e-03 9.99647968e-01 1.26547964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84255784400003 meters Centerline goodness : 0.144150 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99652136e-01 1.46634064e-03 -2.63335856e-02 2.75444391e+00] [-1.41746444e-03 9.99997238e-01 1.87461152e-03 5.91371915e-01] [ 2.63362617e-02 -1.83663249e-03 9.99651453e-01 1.26595345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.872557844 meters Centerline goodness : 0.126912 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99658777e-01 1.44011663e-03 -2.60817072e-02 2.75344150e+00] [-1.39154614e-03 9.99997264e-01 1.88029776e-03 5.91061881e-01] [ 2.60843437e-02 -1.84336226e-03 9.99658046e-01 1.26652525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.902557844 meters Centerline goodness : 0.124195 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99666419e-01 1.51839524e-03 -2.57826515e-02 2.75241528e+00] [-1.46233313e-03 9.99996526e-01 2.19312758e-03 5.89141222e-01] [ 2.57858920e-02 -2.15469317e-03 9.99665166e-01 1.26695369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.932557844 meters Centerline goodness : 0.092662 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99663999e-01 1.61420527e-03 -2.58705254e-02 2.75285385e+00] [-1.55064924e-03 9.99995731e-01 2.47656999e-03 5.87700726e-01] [ 2.58744126e-02 -2.43562175e-03 9.99662234e-01 1.26660436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.962557844 meters Centerline goodness : 0.093983 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99658538e-01 1.78014375e-03 -2.60698678e-02 2.75372990e+00] [-1.70608325e-03 9.99994447e-01 2.86281378e-03 5.85899409e-01] [ 2.60748192e-02 -2.81735887e-03 9.99656024e-01 1.26603742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.992557844 meters Centerline goodness : 0.136596 Centerline is valid? [False, False] Translation: X:2.75, Y:0.58, Z:1.27 [[ 9.99654442e-01 1.93368611e-03 -2.62156022e-02 2.75448139e+00] [-1.84916418e-03 9.99993016e-01 3.24796723e-03 5.83999487e-01] [ 2.62216996e-02 -3.19836792e-03 9.99651036e-01 1.26544241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.022557844 meters Centerline goodness : 0.183783 Centerline is valid? [False, False] Translation: X:2.75, Y:0.58, Z:1.27 [[ 9.99653719e-01 2.11986549e-03 -2.62287668e-02 2.75460195e+00] [-2.02399923e-03 9.99991177e-01 3.68101279e-03 5.81938717e-01] [ 2.62363386e-02 -3.62665112e-03 9.99649189e-01 1.26532694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.052557844 meters Centerline goodness : 0.103082 Centerline is valid? [False, False] Translation: X:2.75, Y:0.58, Z:1.26 [[ 9.99659730e-01 2.53145774e-03 -2.59618237e-02 2.75418450e+00] [-2.40970000e-03 9.99985957e-01 4.72008994e-03 5.76753174e-01] [ 2.59734079e-02 -4.65592363e-03 9.99651792e-01 1.26495147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.082557844 meters Centerline goodness : 0.137555 Centerline is valid? [False, False] Translation: X:2.75, Y:0.57, Z:1.26 [[ 9.99660343e-01 2.78747015e-03 -2.59119310e-02 2.75436208e+00] [-2.64990486e-03 9.99982222e-01 5.34177836e-03 5.73774128e-01] [ 2.59263603e-02 -5.27129984e-03 9.99649957e-01 1.26451534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.112557844 meters SLAMing on 232.142557844 meters SLAMing on 232.172557844 meters Centerline goodness : 0.161121 Centerline is valid? [False, False] Translation: X:2.75, Y:0.56, Z:1.26 [[ 9.99697386e-01 8.88421660e-04 -2.45834614e-02 2.75088746e+00] [-7.66182127e-04 9.99987299e-01 4.98140211e-03 5.58546600e-01] [ 2.45875747e-02 -4.96105926e-03 9.99685370e-01 1.26475130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.202557844 meters Centerline goodness : 0.138564 Centerline is valid? [False, False] Translation: X:2.75, Y:0.55, Z:1.26 [[ 9.99698274e-01 1.45399655e-03 -2.45203230e-02 2.75088796e+00] [-1.30089750e-03 9.99979569e-01 6.25855771e-03 5.52745700e-01] [ 2.45289219e-02 -6.22477092e-03 9.99679741e-01 1.26459289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.232557844 meters Centerline goodness : 0.135962 Centerline is valid? [False, False] Translation: X:2.75, Y:0.55, Z:1.26 [[ 9.99699402e-01 1.68314398e-03 -2.44596205e-02 2.75100118e+00] [-1.51819821e-03 9.99975994e-01 6.76060065e-03 5.50460306e-01] [ 2.44704124e-02 -6.72143387e-03 9.99677959e-01 1.26418089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.262557844 meters Centerline goodness : 0.177646 Centerline is valid? [False, False] Translation: X:2.75, Y:0.55, Z:1.26 [[ 9.99699125e-01 1.90746456e-03 -2.44544728e-02 2.75124269e+00] [-1.73171071e-03 9.99972536e-01 7.20614531e-03 5.48423175e-01] [ 2.44675466e-02 -7.16162909e-03 9.99674972e-01 1.26372924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29255784400002 meters Centerline goodness : 0.175892 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99698634e-01 2.27649455e-03 -2.44429824e-02 2.75139395e+00] [-2.08194068e-03 9.99965976e-01 7.98199812e-03 5.44760181e-01] [ 2.44603218e-02 -7.92870377e-03 9.99669359e-01 1.26340087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32255784400002 meters Centerline goodness : 0.179857 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99698906e-01 2.44970757e-03 -2.44150699e-02 2.75132109e+00] [-2.24579915e-03 9.99962402e-01 8.37566761e-03 5.42962480e-01] [ 2.44346698e-02 -8.31831441e-03 9.99666821e-01 1.26339558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35255784400002 meters Centerline goodness : 0.112361 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99701534e-01 2.61227361e-03 -2.42902932e-02 2.75093749e+00] [-2.39911930e-03 9.99958399e-01 8.80029308e-03 5.40844787e-01] [ 2.43122714e-02 -8.73939119e-03 9.99666213e-01 1.26353827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38255784400002 meters Centerline goodness : 0.191910 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99706760e-01 2.75780235e-03 -2.40580128e-02 2.75017905e+00] [-2.53721678e-03 9.99954510e-01 9.19461370e-03 5.38798197e-01] [ 2.40822753e-02 -9.13087708e-03 9.99668281e-01 1.26384122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41255784400002 meters Centerline goodness : 0.196757 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 0.99971116 0.00301442 -0.02384343 2.74960704] [-0.00277939 0.99994729 0.00988435 0.53549613] [ 0.02387197 -0.00981522 0.99966684 1.26395285] [ 0. 0. 0. 1. ]] SLAMing on 232.44255784400002 meters Centerline goodness : 0.174793 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 0.99970793 0.00314839 -0.02396146 2.75028886] [-0.00290558 0.99994415 0.01016157 0.53435719] [ 0.02399212 -0.01008898 0.99966124 1.26332484] [ 0. 0. 0. 1. ]] SLAMing on 232.47255784400002 meters Centerline goodness : 0.112669 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 0.9997041 0.0032309 -0.02410972 2.75113224] [-0.00298067 0.9999414 0.01040721 0.53310616] [ 0.02414193 -0.01033227 0.99965515 1.26258376] [ 0. 0. 0. 1. ]] SLAMing on 232.50255784400002 meters Centerline goodness : 0.112795 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99695824e-01 -5.86593560e-04 -2.46559278e-02 2.75309669e+00] [ 7.50670059e-04 9.99977634e-01 6.64591836e-03 5.32310065e-01] [ 2.46514779e-02 -6.66240530e-03 9.99673905e-01 1.26156007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53255784400002 meters Centerline goodness : 0.178010 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99693252e-01 -5.30855489e-04 -2.47612427e-02 2.75340194e+00] [ 6.99216323e-04 9.99976695e-01 6.79120691e-03 5.31577504e-01] [ 2.47570605e-02 -6.80643719e-03 9.99670326e-01 1.26150399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56255784400003 meters Centerline goodness : 0.176510 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99691480e-01 -5.16669985e-04 -2.48330119e-02 2.75360327e+00] [ 6.85971161e-04 9.99976579e-01 6.80955020e-03 5.31598452e-01] [ 2.48289120e-02 -6.82448404e-03 9.99668421e-01 1.26141660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59255784400003 meters Centerline goodness : 0.179512 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99686443e-01 -4.93051060e-04 -2.50354303e-02 2.75426929e+00] [ 6.55958619e-04 9.99978664e-01 6.49928507e-03 5.33679914e-01] [ 2.50316917e-02 -6.51366938e-03 9.99665437e-01 1.26101316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622557844 meters Centerline goodness : 0.191093 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99686482e-01 -5.39335011e-04 -2.50329264e-02 2.75431005e+00] [ 6.95726171e-04 9.99980294e-01 6.23912931e-03 5.34990932e-01] [ 2.50290681e-02 -6.25458929e-03 9.99667158e-01 1.26080034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.652557844 meters Centerline goodness : 0.179942 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99688046e-01 -6.54346169e-04 -2.49676260e-02 2.75406359e+00] [ 8.01903687e-04 9.99982271e-01 5.90039929e-03 5.36611076e-01] [ 2.49633224e-02 -5.91858027e-03 9.99670847e-01 1.26079317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.682557844 meters Centerline goodness : 0.175608 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99701696e-01 -6.46077255e-04 -2.44151775e-02 2.75216836e+00] [ 7.79389706e-04 9.99984839e-01 5.45110728e-03 5.39439915e-01] [ 2.44112855e-02 -5.46851013e-03 9.99687043e-01 1.26145588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.712557844 meters Centerline goodness : 0.167343 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99705876e-01 -7.06464756e-04 -2.42417553e-02 2.75154255e+00] [ 8.34307638e-04 9.99985797e-01 5.26395569e-03 5.40429807e-01] [ 2.42376922e-02 -5.28263251e-03 9.99692267e-01 1.26169139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.742557844 meters Centerline goodness : 0.194690 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99706364e-01 -7.45999797e-04 -2.42204288e-02 2.75142709e+00] [ 8.71448457e-04 9.99986259e-01 5.16931485e-03 5.40902084e-01] [ 2.42162397e-02 -5.18890381e-03 9.99693277e-01 1.26175604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.772557844 meters Centerline goodness : 0.139689 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99702645e-01 -7.63303624e-04 -2.43729060e-02 2.75210118e+00] [ 8.90684910e-04 9.99986000e-01 5.21591981e-03 5.40531704e-01] [ 2.43685834e-02 -5.23607741e-03 9.99689330e-01 1.26130221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.802557844 meters Centerline goodness : 0.171511 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99703049e-01 -7.71586576e-04 -2.43560799e-02 2.75204239e+00] [ 8.98571265e-04 9.99986060e-01 5.20316138e-03 5.40578343e-01] [ 2.43517256e-02 -5.22350197e-03 9.99689806e-01 1.26132373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.832557844 meters Centerline goodness : 0.174802 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99705672e-01 -7.89579082e-04 -2.42476096e-02 2.75156501e+00] [ 9.15352111e-04 9.99986184e-01 5.17636691e-03 5.40723683e-01] [ 2.42431874e-02 -5.19703846e-03 9.99692582e-01 1.26167027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.862557844 meters Centerline goodness : 0.177302 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99712419e-01 -7.60602692e-04 -2.39687530e-02 2.75039470e+00] [ 8.86959915e-04 9.99985765e-01 5.26155777e-03 5.40367490e-01] [ 2.39644098e-02 -5.28130396e-03 9.99698862e-01 1.26246509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.892557844 meters Centerline goodness : 0.175319 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99714723e-01 -7.49973213e-04 -2.38727803e-02 2.75008250e+00] [ 8.77422864e-04 9.99985418e-01 5.32867464e-03 5.40022429e-01] [ 2.38684358e-02 -5.34810102e-03 9.99700803e-01 1.26258450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.922557844 meters Centerline goodness : 0.119590 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99714000e-01 -7.14134771e-04 -2.39041471e-02 2.75025535e+00] [ 8.43853982e-04 9.99984972e-01 5.41699313e-03 5.39578565e-01] [ 2.38999195e-02 -5.43561548e-03 9.99699579e-01 1.26242739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.952557844 meters Centerline goodness : 0.174014 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99711251e-01 -6.69579187e-04 -2.40201210e-02 2.75092815e+00] [ 8.02335911e-04 9.99984456e-01 5.51768486e-03 5.39052214e-01] [ 2.40160531e-02 -5.53536384e-03 9.99696248e-01 1.26180639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.982557844 meters Centerline goodness : 0.121511 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99707848e-01 -5.76479725e-04 -2.41637319e-02 2.75161336e+00] [ 7.14723775e-04 9.99983426e-01 5.71289227e-03 5.38181004e-01] [ 2.41600380e-02 -5.72849364e-03 9.99691691e-01 1.26122478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.012557844 meters Centerline goodness : 0.194910 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99708996e-01 -4.87520750e-04 -2.41181569e-02 2.75138242e+00] [ 6.31108412e-04 9.99982122e-01 5.94625550e-03 5.37109360e-01] [ 2.41148268e-02 -5.95974629e-03 9.99691431e-01 1.26144838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04255784400002 meters Centerline goodness : 0.171944 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99710266e-01 -3.76186616e-04 -2.40674540e-02 2.75121393e+00] [ 5.26811751e-04 9.99980315e-01 6.25242312e-03 5.35658327e-01] [ 2.40646281e-02 -6.26329060e-03 9.99690785e-01 1.26157490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07255784400002 meters Centerline goodness : 0.176737 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99727352e-01 -2.19715251e-03 -2.32463617e-02 2.74703381e+00] [ 2.31019738e-03 9.99985632e-01 4.83716853e-03 5.31442117e-01] [ 2.32353997e-02 -4.88955337e-03 9.99718064e-01 1.26381884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10255784400002 meters Centerline goodness : 0.200742 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99728879e-01 -2.04106101e-03 -2.31949029e-02 2.74711703e+00] [ 2.16358558e-03 9.99983833e-01 5.25852457e-03 5.29447148e-01] [ 2.31837950e-02 -5.30728303e-03 9.99717132e-01 1.26353397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13255784400002 meters Centerline goodness : 0.176658 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99726321e-01 -1.88010280e-03 -2.33184084e-02 2.74774836e+00] [ 2.01243255e-03 9.99981998e-01 5.65273697e-03 5.27635331e-01] [ 2.33073609e-02 -5.69811666e-03 9.99712108e-01 1.26304216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16255784400002 meters Centerline goodness : 0.138418 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99711999e-01 -1.66806328e-03 -2.39402646e-02 2.75032300e+00] [ 1.81888565e-03 9.99978629e-01 6.27955386e-03 5.24356963e-01] [ 2.39292783e-02 -6.32128995e-03 9.99693669e-01 1.26143846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19255784400002 meters Centerline goodness : 0.138418 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99711999e-01 -1.66806328e-03 -2.39402646e-02 2.75032300e+00] [ 1.81888565e-03 9.99978629e-01 6.27955386e-03 5.24356963e-01] [ 2.39292783e-02 -6.32128995e-03 9.99693669e-01 1.26143846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22255784400002 meters Centerline goodness : 0.137043 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99708752e-01 -1.54567633e-03 -2.40836527e-02 2.75093926e+00] [ 1.70541033e-03 9.99976677e-01 6.61333861e-03 5.22641084e-01] [ 2.40728689e-02 -6.65248500e-03 9.99688072e-01 1.26106527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25255784400002 meters Centerline goodness : 0.174522 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99707700e-01 -1.41238085e-03 -2.41354619e-02 2.75096441e+00] [ 1.58030840e-03 9.99974669e-01 6.94005371e-03 5.21083065e-01] [ 2.41250485e-02 -6.97616660e-03 9.99684608e-01 1.26128677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28255784400002 meters Centerline goodness : 0.110614 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99710456e-01 -1.32559282e-03 -2.40259832e-02 2.75044561e+00] [ 1.49905292e-03 9.99972934e-01 7.20311564e-03 5.19734600e-01] [ 2.40157845e-02 -7.23704623e-03 9.99685384e-01 1.26171860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31255784400003 meters Centerline goodness : 0.110859 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99714982e-01 -1.16596742e-03 -2.38452551e-02 2.74974206e+00] [ 1.34873125e-03 9.99969829e-01 7.64993254e-03 5.17491862e-01] [ 2.38356161e-02 -7.67991301e-03 9.99686392e-01 1.26218847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34255784400003 meters Centerline goodness : 0.085622 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99714812e-01 -1.09989065e-03 -2.38554858e-02 2.74982531e+00] [ 1.28735529e-03 9.99968403e-01 7.84441177e-03 5.16488923e-01] [ 2.38461041e-02 -7.87288513e-03 9.99684641e-01 1.26210469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.372557844 meters Centerline goodness : 0.146304 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99715062e-01 -1.00879117e-03 -2.38490287e-02 2.74999994e+00] [ 1.20212935e-03 9.99966522e-01 8.09380617e-03 5.15221244e-01] [ 2.38400653e-02 -8.12016956e-03 9.99682807e-01 1.26180983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.402557844 meters Centerline goodness : 0.101349 Centerline is valid? [False, False] Translation: X:2.77, Y:0.51, Z:1.26 [[ 0.99968915 0.00669769 -0.0240153 2.77088442] [-0.0065222 0.99995151 0.00737799 0.51044321] [ 0.02406356 -0.00721906 0.99968437 1.26315583] [ 0. 0. 0. 1. ]] SLAMing on 233.432557844 meters Centerline goodness : 0.102407 Centerline is valid? [False, False] Translation: X:2.77, Y:0.51, Z:1.26 [[ 0.99968932 0.00693191 -0.02394177 2.77066002] [-0.00674244 0.99994538 0.00798554 0.50767627] [ 0.02399582 -0.00782163 0.99968146 1.26331494] [ 0. 0. 0. 1. ]] SLAMing on 233.462557844 meters Centerline goodness : 0.094178 Centerline is valid? [False, False] Translation: X:2.77, Y:0.51, Z:1.26 [[ 0.99968961 0.00705587 -0.02389352 2.77034709] [-0.0068579 0.99994156 0.00835729 0.50593228] [ 0.02395109 -0.00819084 0.99967958 1.26370871] [ 0. 0. 0. 1. ]] SLAMing on 233.492557844 meters Centerline goodness : 0.094766 Centerline is valid? [False, False] Translation: X:2.77, Y:0.50, Z:1.26 [[ 0.99971751 0.00312185 -0.02356191 2.76897873] [-0.00300851 0.99998374 0.0048443 0.50342149] [ 0.02357665 -0.00477205 0.99971064 1.26453439] [ 0. 0. 0. 1. ]] SLAMing on 233.522557844 meters Centerline goodness : 0.093062 Centerline is valid? [False, False] Translation: X:2.77, Y:0.50, Z:1.26 [[ 9.99727250e-01 -5.58594206e-04 -2.33476667e-02 2.76816581e+00] [ 5.88228842e-04 9.99999030e-01 1.26242755e-03 5.02668059e-01] [ 2.33469388e-02 -1.27581699e-03 9.99726609e-01 1.26479862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.552557844 meters Centerline goodness : 0.102466 Centerline is valid? [False, False] Translation: X:2.77, Y:0.50, Z:1.26 [[ 9.99728058e-01 -3.95626030e-04 -2.33163995e-02 2.76813154e+00] [ 4.36274848e-04 9.99998394e-01 1.73829634e-03 5.00366826e-01] [ 2.33156743e-02 -1.74799599e-03 9.99726625e-01 1.26479837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.582557844 meters Centerline goodness : 0.106568 Centerline is valid? [False, False] Translation: X:2.77, Y:0.50, Z:1.26 [[ 9.99724993e-01 1.32373635e-05 -2.34507653e-02 2.76874255e+00] [ 5.05515393e-05 9.99996301e-01 2.71952540e-03 4.96054555e-01] [ 2.34507145e-02 -2.71996298e-03 9.99721294e-01 1.26444974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.612557844 meters Centerline goodness : 0.090616 Centerline is valid? [False, False] Translation: X:2.77, Y:0.49, Z:1.26 [[ 9.99723800e-01 2.50251191e-04 -2.35002192e-02 2.76901632e+00] [-1.73212978e-04 9.99994605e-01 3.28016957e-03 4.93591978e-01] [ 2.35009133e-02 -3.27519305e-03 9.99718450e-01 1.26427573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.642557844 meters Centerline goodness : 0.093393 Centerline is valid? [False, False] Translation: X:2.77, Y:0.49, Z:1.26 [[ 9.99724082e-01 4.93147267e-04 -2.34843864e-02 2.76910122e+00] [-4.02456027e-04 9.99992445e-01 3.86633730e-03 4.90907771e-01] [ 2.34861156e-02 -3.85581907e-03 9.99716727e-01 1.26411319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.672557844 meters Centerline goodness : 0.091332 Centerline is valid? [False, False] Translation: X:2.77, Y:0.49, Z:1.26 [[ 9.99719418e-01 9.05596915e-04 -2.36699242e-02 2.77014183e+00] [-7.89980074e-04 9.99987715e-01 4.89344068e-03 4.85705482e-01] [ 2.36740649e-02 -4.87336890e-03 9.99707852e-01 1.26331259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.702557844 meters Centerline goodness : 0.094157 Centerline is valid? [False, False] Translation: X:2.77, Y:0.48, Z:1.26 [[ 9.99714160e-01 1.09246617e-03 -2.38831293e-02 2.77088247e+00] [-9.65375897e-04 9.99985318e-01 5.33222310e-03 4.83663622e-01] [ 2.38886039e-02 -5.30764274e-03 9.99700537e-01 1.26299122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.732557844 meters Centerline goodness : 0.086633 Centerline is valid? [False, False] Translation: X:2.77, Y:0.48, Z:1.26 [[ 9.99712148e-01 1.24869836e-03 -2.39595699e-02 2.77130172e+00] [-1.11314693e-03 9.99983306e-01 5.67001040e-03 4.82101880e-01] [ 2.39662501e-02 -5.64170776e-03 9.99696849e-01 1.26261298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.762557844 meters Centerline goodness : 0.148077 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99967084 0.00944343 -0.02385426 2.79240864] [-0.00932626 0.99994392 0.00501862 0.47726642] [ 0.02390031 -0.0047945 0.99970285 1.26403022] [ 0. 0. 0. 1. ]] SLAMing on 233.79255784400002 meters Centerline goodness : 0.096492 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99967159 0.0096877 -0.02372465 2.79241136] [-0.0095631 0.99993991 0.00535998 0.47547859] [ 0.02377515 -0.00513134 0.99970416 1.2634156 ] [ 0. 0. 0. 1. ]] SLAMing on 233.82255784400002 meters Centerline goodness : 0.099175 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99967373 0.00979234 -0.02359103 2.792173 ] [-0.00966609 0.99993838 0.0054597 0.47512411] [ 0.02364304 -0.00522988 0.99970678 1.26310194] [ 0. 0. 0. 1. ]] SLAMing on 233.85255784400002 meters Centerline goodness : 0.123247 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99967861 0.00987429 -0.02334889 2.7917133 ] [-0.00974922 0.99993754 0.00546463 0.47535567] [ 0.02340139 -0.00523525 0.99971244 1.26276458] [ 0. 0. 0. 1. ]] SLAMing on 233.88255784400002 meters Centerline goodness : 0.121173 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99966576 0.01037976 -0.02367742 2.79287728] [-0.01025177 0.99993221 0.00552037 0.47639991] [ 0.02373311 -0.00527579 0.99970441 1.26196222] [ 0. 0. 0. 1. ]] SLAMing on 233.91255784400002 meters Centerline goodness : 0.133964 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99966152 0.0103108 -0.02388586 2.79355449] [-0.01018931 0.99993455 0.00520231 0.47790289] [ 0.02393794 -0.00495716 0.99970116 1.2615304 ] [ 0. 0. 0. 1. ]] SLAMing on 233.94255784400002 meters Centerline goodness : 0.121238 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99965658 0.01025711 -0.02411445 2.79416994] [-0.01014094 0.9999364 0.00493483 0.47923866] [ 0.02416353 -0.00468859 0.99969702 1.26133066] [ 0. 0. 0. 1. ]] SLAMing on 233.97255784400002 meters Centerline goodness : 0.122608 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99965833 0.01017135 -0.02407821 2.7939035 ] [-0.01006098 0.99993834 0.00470066 0.48039975] [ 0.02412453 -0.0044568 0.99969903 1.26152928] [ 0. 0. 0. 1. ]] SLAMing on 234.00255784400002 meters Centerline goodness : 0.141791 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99966982 0.01008441 -0.02363399 2.79218675] [-0.00998066 0.99994005 0.00450378 0.48131014] [ 0.02367799 -0.00426641 0.99971053 1.26246554] [ 0. 0. 0. 1. ]] SLAMing on 234.03255784400002 meters Centerline goodness : 0.169312 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99967356 0.0100762 -0.02347857 2.79169837] [-0.00997262 0.99994004 0.00452453 0.48120874] [ 0.02352275 -0.00428891 0.9997141 1.262651 ] [ 0. 0. 0. 1. ]] SLAMing on 234.06255784400003 meters Centerline goodness : 0.094597 Centerline is valid? [False, False] Translation: X:2.81, Y:0.49, Z:1.26 [[ 9.99732983e-01 1.54301378e-03 -2.30560554e-02 2.81167539e+00] [-1.42028930e-03 9.99984743e-01 5.33830200e-03 4.86828587e-01] [ 2.30639407e-02 -5.30413031e-03 9.99719921e-01 1.26362032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09255784400003 meters Centerline goodness : 0.142678 Centerline is valid? [False, False] Translation: X:2.81, Y:0.49, Z:1.26 [[ 9.99730413e-01 1.55072166e-03 -2.31667001e-02 2.81218325e+00] [-1.42587072e-03 9.99984377e-01 5.40478815e-03 4.86576878e-01] [ 2.31747195e-02 -5.37029837e-03 9.99717006e-01 1.26326815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122557844 meters Centerline goodness : 0.145854 Centerline is valid? [False, False] Translation: X:2.81, Y:0.49, Z:1.26 [[ 9.99730775e-01 1.24528706e-03 -2.31695173e-02 2.81221169e+00] [-1.11932720e-03 9.99984530e-01 5.44862215e-03 4.85497826e-01] [ 2.31759440e-02 -5.42122098e-03 9.99716703e-01 1.26338481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.152557844 meters Centerline goodness : 0.141235 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99732849e-01 1.23704204e-03 -2.30802853e-02 2.81182838e+00] [-1.10659491e-03 9.99983348e-01 5.66380170e-03 4.84207413e-01] [ 2.30869073e-02 -5.63674809e-03 9.99717571e-01 1.26379993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.182557844 meters Centerline goodness : 0.143994 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99737648e-01 1.24013011e-03 -2.28713097e-02 2.81111067e+00] [-1.10296751e-03 9.99981339e-01 6.00878686e-03 4.82301642e-01] [ 2.28783346e-02 -5.98198413e-03 9.99720360e-01 1.26431081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.212557844 meters Centerline goodness : 0.087639 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99739037e-01 1.27160563e-03 -2.28088023e-02 2.81083228e+00] [-1.13256381e-03 9.99980706e-01 6.10785425e-03 4.81859799e-01] [ 2.28161290e-02 -6.08042790e-03 9.99721187e-01 1.26455425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.242557844 meters Centerline goodness : 0.137724 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99743046e-01 1.31646717e-03 -2.26298031e-02 2.81034262e+00] [-1.17560759e-03 9.99979861e-01 6.23669317e-03 4.81212996e-01] [ 2.26375577e-02 -6.20848686e-03 9.99724460e-01 1.26463388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.272557844 meters Centerline goodness : 0.135163 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99744994e-01 1.33838737e-03 -2.25422997e-02 2.81016535e+00] [-1.19623124e-03 9.99979323e-01 6.31849899e-03 4.80696983e-01] [ 2.25502902e-02 -6.28992193e-03 9.99725923e-01 1.26454814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.302557844 meters Centerline goodness : 0.126941 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99746087e-01 1.39867663e-03 -2.24900968e-02 2.81014130e+00] [-1.25627679e-03 9.99979084e-01 6.34455095e-03 4.80644758e-01] [ 2.24985004e-02 -6.31468620e-03 9.99726934e-01 1.26429716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.332557844 meters Centerline goodness : 0.166145 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99745978e-01 1.39828676e-03 -2.24949913e-02 2.81021612e+00] [-1.25794776e-03 9.99979667e-01 6.25161894e-03 4.81249455e-01] [ 2.25032755e-02 -6.22173337e-03 9.99727409e-01 1.26412597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.362557844 meters Centerline goodness : 0.094583 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99744215e-01 1.37402967e-03 -2.25747036e-02 2.81059965e+00] [-1.23757590e-03 9.99980888e-01 6.05740237e-03 4.82269734e-01] [ 2.25825952e-02 -6.02791507e-03 9.99726808e-01 1.26372442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.392557844 meters Centerline goodness : 0.088793 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99743990e-01 1.31253588e-03 -2.25883070e-02 2.81070786e+00] [-1.18177950e-03 9.99982475e-01 5.80105119e-03 4.83494864e-01] [ 2.25955253e-02 -5.77287167e-03 9.99728021e-01 1.26345349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.422557844 meters Centerline goodness : 0.166258 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99748381e-01 1.27363380e-03 -2.23953744e-02 2.81015835e+00] [-1.14921454e-03 9.99983841e-01 5.56757132e-03 4.84717572e-01] [ 2.24021035e-02 -5.54043332e-03 9.99733689e-01 1.26339782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.452557844 meters Centerline goodness : 0.163664 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99749246e-01 1.29512258e-03 -2.23555047e-02 2.80994236e+00] [-1.16899057e-03 9.99983331e-01 5.65424746e-03 4.84374658e-01] [ 2.23624550e-02 -5.62669626e-03 9.99734095e-01 1.26358728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.482557844 meters Centerline goodness : 0.143589 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99749924e-01 1.39089881e-03 -2.23193822e-02 2.80987143e+00] [-1.25903701e-03 9.99981679e-01 5.92091535e-03 4.83154987e-01] [ 2.23272087e-02 -5.89133374e-03 9.99733358e-01 1.26361504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.512557844 meters Centerline goodness : 0.143260 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99735842e-01 1.07619971e-03 -2.29584024e-02 2.81173932e+00] [-9.32356516e-04 9.99979876e-01 6.27516765e-03 4.79827761e-01] [ 2.29646937e-02 -6.25210460e-03 9.99716727e-01 1.26335423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54255784400002 meters Centerline goodness : 0.085746 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99730717e-01 1.05661226e-03 -2.31813885e-02 2.81234590e+00] [-8.98884117e-04 9.99976384e-01 6.81345061e-03 4.76577463e-01] [ 2.31880402e-02 -6.79077848e-03 9.99708057e-01 1.26346981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57255784400002 meters Centerline goodness : 0.142371 Centerline is valid? [False, False] Translation: X:2.81, Y:0.47, Z:1.26 [[ 0.99973041 -0.00285019 -0.02304307 2.8116407 ] [ 0.00292643 0.99999035 0.00327582 0.47479073] [ 0.02303351 -0.00334237 0.99972911 1.2640209 ] [ 0. 0. 0. 1. ]] SLAMing on 234.60255784400002 meters Centerline goodness : 0.253578 Centerline is valid? [False, False] Translation: X:2.81, Y:0.47, Z:1.26 [[ 9.99718230e-01 -6.41499857e-03 -2.28540867e-02 2.81087210e+00] [ 6.43741372e-03 9.99978868e-01 9.07358310e-04 4.67054917e-01] [ 2.28477830e-02 -1.05422385e-03 9.99738399e-01 1.26475341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63255784400002 meters Centerline goodness : 0.118397 Centerline is valid? [False, False] Translation: X:2.81, Y:0.46, Z:1.26 [[ 9.99715415e-01 -6.18723915e-03 -2.30392636e-02 2.81158978e+00] [ 6.23223807e-03 9.99978809e-01 1.88184956e-03 4.62021299e-01] [ 2.30271319e-02 -2.02490019e-03 9.99732790e-01 1.26458738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66255784400002 meters Centerline goodness : 0.139090 Centerline is valid? [False, False] Translation: X:2.81, Y:0.46, Z:1.26 [[ 0.99970964 -0.00590225 -0.02336223 2.81275126] [ 0.00597047 0.99997811 0.00285119 0.45712078] [ 0.02334489 -0.00298984 0.999723 1.26420522] [ 0. 0. 0. 1. ]] SLAMing on 234.69255784400002 meters Centerline goodness : 0.118050 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 0.99970285 -0.00561593 -0.02372052 2.81408042] [ 0.00570396 0.99997709 0.00364546 0.45315802] [ 0.02369951 -0.00377968 0.99971198 1.26364181] [ 0. 0. 0. 1. ]] SLAMing on 234.72255784400002 meters Centerline goodness : 0.117958 Centerline is valid? [False, False] Translation: X:2.82, Y:0.45, Z:1.26 [[ 0.99968721 -0.00512775 -0.02447812 2.81679913] [ 0.00524683 0.9999747 0.00480285 0.44709009] [ 0.02445288 -0.00492978 0.99968883 1.26258059] [ 0. 0. 0. 1. ]] SLAMing on 234.75255784400002 meters Centerline goodness : 0.126062 Centerline is valid? [False, False] Translation: X:2.82, Y:0.45, Z:1.26 [[ 0.9996849 -0.00491444 -0.02461585 2.81737586] [ 0.00504422 0.99997369 0.00521288 0.4452588 ] [ 0.02458958 -0.00533541 0.99968339 1.26222655] [ 0. 0. 0. 1. ]] SLAMing on 234.78255784400002 meters Centerline goodness : 0.086980 Centerline is valid? [False, False] Translation: X:2.82, Y:0.44, Z:1.26 [[ 0.99968708 -0.00473437 -0.02456271 2.81731376] [ 0.00487126 0.99997292 0.00551621 0.44394168] [ 0.02453592 -0.00563414 0.99968307 1.26211966] [ 0. 0. 0. 1. ]] SLAMing on 234.81255784400003 meters Centerline goodness : 0.083710 Centerline is valid? [False, False] Translation: X:2.84, Y:0.44, Z:1.26 [[ 0.99969914 0.00422119 -0.02416204 2.8377001 ] [-0.0041084 0.99998044 0.00471574 0.44004851] [ 0.02418147 -0.00461505 0.99969693 1.2639888 ] [ 0. 0. 0. 1. ]] SLAMing on 234.84255784400003 meters Centerline goodness : 0.163071 Centerline is valid? [False, False] Translation: X:2.84, Y:0.44, Z:1.26 [[ 0.99970052 0.00431568 -0.02408831 2.83756625] [-0.00420454 0.99998029 0.00466232 0.44052104] [ 0.02410796 -0.00455964 0.99969896 1.26378714] [ 0. 0. 0. 1. ]] SLAMing on 234.872557844 meters Centerline goodness : 0.158460 Centerline is valid? [False, False] Translation: X:2.84, Y:0.44, Z:1.26 [[ 0.99970053 0.00446032 -0.02406131 2.83752819] [-0.00435186 0.99998014 0.00455838 0.44150118] [ 0.02408116 -0.0044523 0.99970009 1.26357614] [ 0. 0. 0. 1. ]] SLAMing on 234.902557844 meters Centerline goodness : 0.152563 Centerline is valid? [False, False] Translation: X:2.79, Y:0.44, Z:1.26 [[ 0.99974916 0.00690586 -0.02130532 2.79245885] [-0.00679399 0.99996278 0.00531869 0.44007186] [ 0.02134126 -0.00517261 0.99975887 1.26214692] [ 0. 0. 0. 1. ]] SLAMing on 234.932557844 meters Centerline goodness : 0.141223 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99798259e-01 -1.13630838e-03 -2.00537035e-02 2.81020823e+00] [ 1.26365222e-03 9.99979112e-01 6.33861211e-03 4.46543164e-01] [ 2.00460820e-02 -6.36267425e-03 9.99778811e-01 1.26366204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.962557844 meters Centerline goodness : 0.143899 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99802635e-01 -1.16392394e-03 -1.98326976e-02 2.80956672e+00] [ 1.28736964e-03 9.99979872e-01 6.21272245e-03 4.47263077e-01] [ 1.98250673e-02 -6.23702829e-03 9.99784010e-01 1.26373531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.992557844 meters Centerline goodness : 0.150135 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99803610e-01 -1.21346393e-03 -1.97804990e-02 2.80973483e+00] [ 1.33320396e-03 9.99980862e-01 6.04137587e-03 4.48153949e-01] [ 1.97727894e-02 -6.06656084e-03 9.99786094e-01 1.26314332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.022557844 meters Centerline goodness : 0.149259 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99800027e-01 -1.24525324e-03 -1.99588290e-02 2.81041428e+00] [ 1.36504825e-03 9.99981130e-01 5.98960652e-03 4.48252505e-01] [ 1.99509938e-02 -6.01565352e-03 9.99782861e-01 1.26275629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.052557844 meters Centerline goodness : 0.141798 Centerline is valid? [False, False] Translation: X:2.83, Y:0.45, Z:1.26 [[ 0.99975995 0.00659651 -0.02089307 2.83142397] [-0.00649459 0.9999667 0.00494218 0.44520967] [ 0.02092498 -0.0048053 0.9997695 1.26449998] [ 0. 0. 0. 1. ]] SLAMing on 235.082557844 meters Centerline goodness : 0.141798 Centerline is valid? [False, False] Translation: X:2.83, Y:0.45, Z:1.26 [[ 0.99975995 0.00659651 -0.02089307 2.83142397] [-0.00649459 0.9999667 0.00494218 0.44520967] [ 0.02092498 -0.0048053 0.9997695 1.26449998] [ 0. 0. 0. 1. ]] SLAMing on 235.112557844 meters Centerline goodness : 0.143654 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99771556e-01 -1.78222221e-03 -2.12992940e-02 2.81043916e+00] [ 1.91283959e-03 9.99979482e-01 6.11367560e-03 4.47873759e-01] [ 2.12879610e-02 -6.15302110e-03 9.99754451e-01 1.26296780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.142557844 meters Centerline goodness : 0.163404 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99775562e-01 -1.75478198e-03 -2.11127104e-02 2.80981042e+00] [ 1.88681270e-03 9.99978780e-01 6.23531880e-03 4.47360708e-01] [ 2.11013207e-02 -6.27375509e-03 9.99757658e-01 1.26326065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.172557844 meters Centerline goodness : 0.145536 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99778481e-01 -1.73689289e-03 -2.09755016e-02 2.80937907e+00] [ 1.87053614e-03 9.99978067e-01 6.35345894e-03 4.46790895e-01] [ 2.09640063e-02 -6.39128697e-03 9.99759802e-01 1.26344175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.202557844 meters Centerline goodness : 0.155657 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.26 [[ 0.99977993 0.00611281 -0.02006826 2.82918189] [-0.00600979 0.99996847 0.00519003 0.44360574] [ 0.02009935 -0.00506828 0.99978514 1.26485792] [ 0. 0. 0. 1. ]] SLAMing on 235.232557844 meters Centerline goodness : 0.154617 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.26 [[ 0.99977683 0.00609313 -0.0202278 2.82953665] [-0.00598775 0.99996821 0.00526583 0.44307409] [ 0.02025925 -0.00514354 0.99978153 1.26496131] [ 0. 0. 0. 1. ]] SLAMing on 235.262557844 meters Centerline goodness : 0.142811 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.27 [[ 0.9997751 0.00612658 -0.02030306 2.82965839] [-0.00601901 0.99996755 0.00535541 0.44277892] [ 0.02033521 -0.005232 0.99977953 1.26511762] [ 0. 0. 0. 1. ]] SLAMing on 235.29255784400002 meters Centerline goodness : 0.163510 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.27 [[ 0.99977471 0.00615928 -0.02031242 2.82968095] [-0.00604935 0.99996675 0.00546935 0.4422927 ] [ 0.02034543 -0.00534524 0.99977872 1.26514266] [ 0. 0. 0. 1. ]] SLAMing on 235.32255784400002 meters Centerline goodness : 0.154784 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.27 [[ 0.99977444 0.00618986 -0.02031634 2.82955527] [-0.00607621 0.99996557 0.00565116 0.44131091] [ 0.02035062 -0.00552644 0.99977763 1.26543878] [ 0. 0. 0. 1. ]] SLAMing on 235.35255784400002 meters Centerline goodness : 0.159519 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.27 [[ 0.99980218 0.00319629 -0.0196314 2.82587403] [-0.00313651 0.99999035 0.00307521 0.43814116] [ 0.01964104 -0.00301303 0.99980256 1.26771604] [ 0. 0. 0. 1. ]] SLAMing on 235.38255784400002 meters Centerline goodness : 0.159385 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.27 [[ 0.99980334 0.00329606 -0.01955556 2.82552042] [-0.00322992 0.99998896 0.00341246 0.43657174] [ 0.01956659 -0.00334863 0.99980295 1.26808185] [ 0. 0. 0. 1. ]] SLAMing on 235.41255784400002 meters Centerline goodness : 0.147042 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.27 [[ 0.9998019 0.00340434 -0.01961033 2.82572847] [-0.00333187 0.9999875 0.00372702 0.43511505] [ 0.01962278 -0.00366094 0.99980075 1.26803263] [ 0. 0. 0. 1. ]] SLAMing on 235.44255784400002 meters Centerline goodness : 0.152137 Centerline is valid? [False, False] Translation: X:2.83, Y:0.43, Z:1.27 [[ 9.99790857e-01 2.63850753e-04 -2.04492925e-02 2.82891097e+00] [-2.49416562e-04 9.99999718e-01 7.08400107e-04 4.33093891e-01] [ 2.04494737e-02 -7.03151558e-04 9.99790640e-01 1.26667178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47255784400002 meters Centerline goodness : 0.145373 Centerline is valid? [False, False] Translation: X:2.83, Y:0.43, Z:1.27 [[ 9.99790674e-01 3.20726809e-04 -2.04574116e-02 2.82894759e+00] [-3.01951677e-04 9.99999530e-01 9.20849041e-04 4.31855942e-01] [ 2.04576973e-02 -9.14479134e-04 9.99790301e-01 1.26666201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50255784400002 meters Centerline goodness : 0.142481 Centerline is valid? [False, False] Translation: X:2.83, Y:0.43, Z:1.27 [[ 9.99790237e-01 3.75226438e-04 -2.04778019e-02 2.82896218e+00] [-3.53046059e-04 9.99999347e-01 1.08674705e-03 4.30930630e-01] [ 2.04781963e-02 -1.07928948e-03 9.99789717e-01 1.26672551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53255784400002 meters Centerline goodness : 0.155540 Centerline is valid? [False, False] Translation: X:2.83, Y:0.43, Z:1.27 [[ 9.99787494e-01 4.56286586e-04 -2.06096541e-02 2.82934694e+00] [-4.30261978e-04 9.99999105e-01 1.26715531e-03 4.30067889e-01] [ 2.06102138e-02 -1.25801849e-03 9.99786796e-01 1.26666244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56255784400003 meters Centerline goodness : 0.143856 Centerline is valid? [False, False] Translation: X:2.81, Y:0.42, Z:1.26 [[ 9.99714271e-01 8.56829168e-03 -2.23150335e-02 2.81152668e+00] [-8.56930206e-03 9.99963282e-01 5.03477647e-05 4.22437410e-01] [ 2.23146455e-02 1.40890883e-04 9.99750987e-01 1.26425384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59255784400003 meters Centerline goodness : 0.157081 Centerline is valid? [False, False] Translation: X:2.81, Y:0.42, Z:1.26 [[ 9.99711598e-01 8.65758524e-03 -2.24001598e-02 2.81187984e+00] [-8.65537243e-03 9.99962522e-01 1.95738314e-04 4.21822390e-01] [ 2.24010150e-02 -1.80013704e-06 9.99749066e-01 1.26399651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622557844 meters Centerline goodness : 0.117676 Centerline is valid? [False, False] Translation: X:2.81, Y:0.42, Z:1.26 [[ 9.99714228e-01 8.69832040e-03 -2.22665812e-02 2.81146681e+00] [-8.69412908e-03 9.99962165e-01 2.85034572e-04 4.21412676e-01] [ 2.22682180e-02 -9.13645867e-05 9.99752028e-01 1.26410006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.652557844 meters Centerline goodness : 0.145785 Centerline is valid? [False, False] Translation: X:2.81, Y:0.42, Z:1.26 [[ 9.99713941e-01 8.84499369e-03 -2.22216404e-02 2.81114370e+00] [-8.83258608e-03 9.99960776e-01 6.56446509e-04 4.19462999e-01] [ 2.22265750e-02 -4.59984175e-04 9.99752853e-01 1.26442541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.682557844 meters Centerline goodness : 0.151412 Centerline is valid? [False, False] Translation: X:2.81, Y:0.42, Z:1.26 [[ 9.99708830e-01 8.94447212e-03 -2.24109508e-02 2.81178145e+00] [-8.92592323e-03 9.99959733e-01 9.27567760e-04 4.18096028e-01] [ 2.24183450e-02 -7.27259254e-04 9.99748413e-01 1.26416154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.712557844 meters Centerline goodness : 0.158072 Centerline is valid? [False, False] Translation: X:2.81, Y:0.42, Z:1.26 [[ 9.99702888e-01 9.09506569e-03 -2.26144875e-02 2.81253497e+00] [-9.06757551e-03 9.99958020e-01 1.31784834e-03 4.16274122e-01] [ 2.26255241e-02 -1.11239821e-03 9.99743391e-01 1.26381619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.742557844 meters Centerline goodness : 0.153604 Centerline is valid? [False, False] Translation: X:2.79, Y:0.42, Z:1.26 [[ 9.99729758e-01 5.94484763e-04 -2.32391393e-02 2.79216349e+00] [-5.32343401e-04 9.99996267e-01 2.68009087e-03 4.16419967e-01] [ 2.32406458e-02 -2.66699539e-03 9.99726342e-01 1.26212022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.772557844 meters Centerline goodness : 0.143482 Centerline is valid? [False, False] Translation: X:2.81, Y:0.41, Z:1.26 [[ 9.99736061e-01 5.47824413e-03 -2.23113703e-02 2.81266816e+00] [-5.49901681e-03 9.99984502e-01 -8.69788969e-04 4.10884130e-01] [ 2.23062596e-02 9.92249998e-04 9.99750692e-01 1.26308387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.802557844 meters Centerline goodness : 0.156372 Centerline is valid? [False, False] Translation: X:2.81, Y:0.41, Z:1.26 [[ 9.99732802e-01 5.61424295e-03 -2.24233283e-02 2.81301403e+00] [-5.62257850e-03 9.99984146e-01 -3.08705932e-04 4.07989350e-01] [ 2.24212396e-02 4.34700370e-04 9.99748518e-01 1.26307852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.832557844 meters Centerline goodness : 0.158872 Centerline is valid? [False, False] Translation: X:2.81, Y:0.41, Z:1.26 [[ 9.99724478e-01 5.75681373e-03 -2.27558337e-02 2.81398937e+00] [-5.75299348e-03 9.99983424e-01 2.33342422e-04 4.05164245e-01] [ 2.27567998e-02 -1.02363968e-04 9.99741025e-01 1.26288045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.862557844 meters Centerline goodness : 0.087600 Centerline is valid? [False, False] Translation: X:2.81, Y:0.40, Z:1.26 [[ 9.99718549e-01 5.96305943e-03 -2.29622365e-02 2.81478422e+00] [-5.94543999e-03 9.99981977e-01 8.35516090e-04 4.02308433e-01] [ 2.29668049e-02 -6.98760334e-04 9.99735984e-01 1.26249884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.892557844 meters Centerline goodness : 0.085512 Centerline is valid? [False, False] Translation: X:2.81, Y:0.40, Z:1.26 [[ 9.99716556e-01 6.27829689e-03 -2.29649983e-02 2.81483510e+00] [-6.24277831e-03 9.99979205e-01 1.61800596e-03 3.98743190e-01] [ 2.29746791e-02 -1.47418195e-03 9.99734960e-01 1.26254647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.922557844 meters Centerline goodness : 0.142749 Centerline is valid? [False, False] Translation: X:2.81, Y:0.40, Z:1.26 [[ 9.99719073e-01 6.36902749e-03 -2.28300503e-02 2.81422826e+00] [-6.32813956e-03 9.99978242e-01 1.86276859e-03 3.97482164e-01] [ 2.28414175e-02 -1.71777354e-03 9.99737625e-01 1.26301049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.952557844 meters Centerline goodness : 0.132487 Centerline is valid? [False, False] Translation: X:2.81, Y:0.40, Z:1.26 [[ 9.99720634e-01 6.42492401e-03 -2.27458717e-02 2.81360744e+00] [-6.38016508e-03 9.99977566e-01 2.03980717e-03 3.96523494e-01] [ 2.27584670e-02 -1.89411490e-03 9.99739198e-01 1.26371888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.982557844 meters Centerline goodness : 0.082884 Centerline is valid? [False, False] Translation: X:2.81, Y:0.39, Z:1.26 [[ 9.99720885e-01 6.60178305e-03 -2.26841123e-02 2.81337903e+00] [-6.54830810e-03 9.99975605e-01 2.43084776e-03 3.94800229e-01] [ 2.26996069e-02 -2.28162672e-03 9.99739727e-01 1.26382916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.012557844 meters Centerline goodness : 0.085778 Centerline is valid? [False, False] Translation: X:2.81, Y:0.39, Z:1.26 [[ 9.99718430e-01 6.70165428e-03 -2.27628659e-02 2.81364286e+00] [-6.64246270e-03 9.99974361e-01 2.67497375e-03 3.93759519e-01] [ 2.27802090e-02 -2.52301907e-03 9.99737314e-01 1.26372896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04255784400002 meters Centerline goodness : 0.084458 Centerline is valid? [False, False] Translation: X:2.81, Y:0.39, Z:1.26 [[ 0.99971734 0.00683055 -0.02277238 2.81370663] [-0.00676366 0.99997259 0.00301309 0.39215913] [ 0.02279233 -0.00285822 0.99973614 1.26370252] [ 0. 0. 0. 1. ]] SLAMing on 236.07255784400002 meters Centerline goodness : 0.121003 Centerline is valid? [False, False] Translation: X:2.81, Y:0.39, Z:1.26 [[ 9.99741651e-01 2.86709592e-03 -2.25479543e-02 2.81259308e+00] [-2.87714055e-03 9.99995776e-01 -4.13049874e-04 3.88872227e-01] [ 2.25466748e-02 4.77816797e-04 9.99745677e-01 1.26457492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10255784400002 meters Centerline goodness : 0.133387 Centerline is valid? [False, False] Translation: X:2.81, Y:0.39, Z:1.26 [[ 9.99741402e-01 2.95816572e-03 -2.25472477e-02 2.81243482e+00] [-2.95308823e-03 9.99995606e-01 2.58486289e-04 3.85231505e-01] [ 2.25479133e-02 -1.91835433e-04 9.99745745e-01 1.26492901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13255784400002 meters Centerline goodness : 0.081508 Centerline is valid? [False, False] Translation: X:2.83, Y:0.39, Z:1.27 [[ 9.99747084e-01 -5.52595493e-03 -2.17997911e-02 2.83368882e+00] [ 5.55837825e-03 9.99983534e-01 1.42700976e-03 3.86020290e-01] [ 2.17915465e-02 -1.54782033e-03 9.99761338e-01 1.26559202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16255784400002 meters Centerline goodness : 0.132265 Centerline is valid? [False, False] Translation: X:2.83, Y:0.38, Z:1.27 [[ 9.99746997e-01 -5.26504008e-03 -2.18682828e-02 2.83406357e+00] [ 5.31547084e-03 9.99983345e-01 2.24862728e-03 3.82106149e-01] [ 2.18560794e-02 -2.36429859e-03 9.99758332e-01 1.26539709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19255784400002 meters Centerline goodness : 0.106355 Centerline is valid? [False, False] Translation: X:2.81, Y:0.37, Z:1.26 [[ 9.99784213e-01 -1.38484674e-04 -2.07727851e-02 2.81277733e+00] [ 1.31005768e-04 9.99999926e-01 -3.61394241e-04 3.69984673e-01] [ 2.07728337e-02 3.58594902e-04 9.99784157e-01 1.26417936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22255784400002 meters Centerline goodness : 0.163268 Centerline is valid? [False, False] Translation: X:2.83, Y:0.36, Z:1.27 [[ 0.99974827 0.00567716 -0.0217063 2.83421547] [-0.00575307 0.99997755 -0.00343646 0.36488628] [ 0.0216863 0.00356047 0.99975848 1.26553814] [ 0. 0. 0. 1. ]] SLAMing on 236.25255784400002 meters Centerline goodness : 0.113626 Centerline is valid? [False, False] Translation: X:2.83, Y:0.36, Z:1.27 [[ 0.99974259 0.0058625 -0.02191752 2.83478269] [-0.00592867 0.99997806 -0.00295513 0.36245009] [ 0.02189971 0.00308431 0.99975541 1.26552911] [ 0. 0. 0. 1. ]] SLAMing on 236.28255784400002 meters Centerline goodness : 0.137038 Centerline is valid? [False, False] Translation: X:2.82, Y:0.36, Z:1.26 [[ 9.99734290e-01 -2.40209414e-03 -2.29255341e-02 2.81536967e+00] [ 2.36775473e-03 9.99996034e-01 -1.52489463e-03 3.64296060e-01] [ 2.29291061e-02 1.47020741e-03 9.99736012e-01 1.26442056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31255784400003 meters Centerline goodness : 0.081539 Centerline is valid? [False, False] Translation: X:2.82, Y:0.36, Z:1.26 [[ 9.99734261e-01 -1.88575336e-03 -2.29749987e-02 2.81557964e+00] [ 1.86656596e-03 9.99997891e-01 -8.56559234e-04 3.61862054e-01] [ 2.29765655e-02 8.13447263e-04 9.99735673e-01 1.26422976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34255784400003 meters Centerline goodness : 0.193360 Centerline is valid? [False, False] Translation: X:2.82, Y:0.36, Z:1.26 [[ 9.99737743e-01 -1.73613348e-03 -2.28348637e-02 2.81519541e+00] [ 1.72453671e-03 9.99998374e-01 -5.27536306e-04 3.60215847e-01] [ 2.28357424e-02 4.88018395e-04 9.99739111e-01 1.26428028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.372557844 meters Centerline goodness : 0.212196 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:1.26 [[ 9.99741269e-01 -1.59504618e-03 -2.26903252e-02 2.81475591e+00] [ 1.59149624e-03 9.99998718e-01 -1.74508758e-04 3.58371568e-01] [ 2.26905745e-02 1.38352039e-04 9.99742526e-01 1.26442997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.402557844 meters Centerline goodness : 0.163844 Centerline is valid? [False, False] Translation: X:2.81, Y:0.35, Z:1.26 [[ 9.99743595e-01 -1.17999206e-03 -2.26130977e-02 2.81436232e+00] [ 1.19842708e-03 9.99998961e-01 8.01701653e-04 3.53913124e-01] [ 2.26121282e-02 -8.28596241e-04 9.99743970e-01 1.26479888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.432557844 meters Centerline goodness : 0.160655 Centerline is valid? [False, False] Translation: X:2.81, Y:0.35, Z:1.26 [[ 9.99740899e-01 -9.44852047e-04 -2.27429479e-02 2.81466639e+00] [ 9.76408856e-04 9.99998576e-01 1.37647794e-03 3.51234338e-01] [ 2.27416150e-02 -1.39832771e-03 9.99740398e-01 1.26491372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.462557844 meters Centerline goodness : 0.156573 Centerline is valid? [False, False] Translation: X:2.81, Y:0.35, Z:1.27 [[ 9.99739430e-01 -7.47118461e-04 -2.28147825e-02 2.81472784e+00] [ 7.91020498e-04 9.99997853e-01 1.91531627e-03 3.48539825e-01] [ 2.28133025e-02 -1.93286416e-03 9.99737874e-01 1.26520805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.492557844 meters Centerline goodness : 0.088537 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:1.27 [[ 9.99740066e-01 -4.77648509e-04 -2.27941104e-02 2.81438183e+00] [ 5.44131077e-04 9.99995616e-01 2.91054235e-03 3.43040395e-01] [ 2.27926202e-02 -2.92218879e-03 9.99735944e-01 1.26579025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.522557844 meters Centerline goodness : 0.163406 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:1.27 [[ 9.99739030e-01 -2.27896801e-04 -2.28433823e-02 2.81456773e+00] [ 3.08928362e-04 9.99993673e-01 3.54380018e-03 3.40181453e-01] [ 2.28424301e-02 -3.54993232e-03 9.99732775e-01 1.26573780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.552557844 meters Centerline goodness : 0.160560 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:1.27 [[ 9.99737674e-01 5.11442941e-05 -2.29037315e-02 2.81481300e+00] [ 4.54419897e-05 9.99991109e-01 4.21651417e-03 3.37216727e-01] [ 2.29037435e-02 -4.21644886e-03 9.99728783e-01 1.26565751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.582557844 meters Centerline goodness : 0.121446 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.27 [[ 9.99735879e-01 2.69429684e-04 -2.29804365e-02 2.81511241e+00] [-1.58643328e-04 9.99988359e-01 4.82258554e-03 3.34258592e-01] [ 2.29814683e-02 -4.81766610e-03 9.99724283e-01 1.26558874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.612557844 meters Centerline goodness : 0.153612 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.27 [[ 9.99721109e-01 -3.32853542e-03 -2.33800042e-02 2.81636512e+00] [ 3.36550267e-03 9.99993148e-01 1.54197762e-03 3.31208717e-01] [ 2.33747115e-02 -1.62023304e-03 9.99725461e-01 1.26512630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.642557844 meters Centerline goodness : 0.140217 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.26 [[ 9.99715469e-01 -3.14058478e-03 -2.36456896e-02 2.81720801e+00] [ 3.18712332e-03 9.99993057e-01 1.93073281e-03 3.29444003e-01] [ 2.36394618e-02 -2.00554518e-03 9.99718537e-01 1.26485817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.672557844 meters Centerline goodness : 0.123530 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.26 [[ 9.99713702e-01 -2.96670977e-03 -2.37426396e-02 2.81756711e+00] [ 3.02010067e-03 9.99992990e-01 2.21319323e-03 3.28340284e-01] [ 2.37359073e-02 -2.28426475e-03 9.99715654e-01 1.26465802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.702557844 meters Centerline goodness : 0.161019 Centerline is valid? [False, False] Translation: X:2.80, Y:0.32, Z:1.26 [[ 9.99681998e-01 5.83991916e-03 -2.45315838e-02 2.79713623e+00] [-5.80001751e-03 9.99981739e-01 1.69738048e-03 3.23010294e-01] [ 2.45410484e-02 -1.55455710e-03 9.99697614e-01 1.26303924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.732557844 meters Centerline goodness : 0.171519 Centerline is valid? [False, False] Translation: X:2.80, Y:0.32, Z:1.26 [[ 9.99684415e-01 5.81206262e-03 -2.44395137e-02 2.79686409e+00] [-5.77663860e-03 9.99982160e-01 1.51980728e-03 3.23914642e-01] [ 2.44479109e-02 -1.37814941e-03 9.99700155e-01 1.26304215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.762557844 meters Centerline goodness : 0.161332 Centerline is valid? [False, False] Translation: X:2.80, Y:0.32, Z:1.26 [[ 9.99684418e-01 5.80177205e-03 -2.44418656e-02 2.79692096e+00] [-5.76970880e-03 9.99982400e-01 1.38213476e-03 3.24669791e-01] [ 2.44494542e-02 -1.24067613e-03 9.99700298e-01 1.26291252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79255784400002 meters Centerline goodness : 0.157446 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.26 [[ 9.99682816e-01 -1.08604748e-03 -2.51612256e-02 2.81515628e+00] [ 1.14596135e-03 9.99996542e-01 2.36690139e-03 3.31379305e-01] [ 2.51585680e-02 -2.39498444e-03 9.99680604e-01 1.26455343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82255784400002 meters Centerline goodness : 0.167164 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.26 [[ 9.99681735e-01 -1.08407283e-03 -2.52042196e-02 2.81546311e+00] [ 1.14298878e-03 9.99996648e-01 2.32325430e-03 3.31734222e-01] [ 2.52016165e-02 -2.35132303e-03 9.99679624e-01 1.26416039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85255784400002 meters Centerline goodness : 0.166931 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.26 [[ 9.99682235e-01 -1.06450475e-03 -2.51852427e-02 2.81531290e+00] [ 1.12531798e-03 9.99996485e-01 2.40058761e-03 3.31389607e-01] [ 2.51825987e-02 -2.42816619e-03 9.99679919e-01 1.26433714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88255784400002 meters Centerline goodness : 0.166743 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.26 [[ 9.99681555e-01 -1.05023137e-03 -2.52127923e-02 2.81522230e+00] [ 1.11410859e-03 9.99996205e-01 2.51961089e-03 3.30751633e-01] [ 2.52100504e-02 -2.54689832e-03 9.99678932e-01 1.26466354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91255784400002 meters Centerline goodness : 0.167992 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:1.27 [[ 9.99686947e-01 -1.07191470e-03 -2.49971757e-02 2.81446039e+00] [ 1.14136759e-03 9.99995528e-01 2.76432762e-03 3.29246480e-01] [ 2.49941008e-02 -2.79199321e-03 9.99683700e-01 1.26513059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94255784400002 meters Centerline goodness : 0.165685 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:1.27 [[ 9.99691525e-01 -1.01904885e-03 -2.48156355e-02 2.81373560e+00] [ 1.09301052e-03 9.99995001e-01 2.96706463e-03 3.28186214e-01] [ 2.48124879e-02 -2.99327311e-03 9.99687642e-01 1.26563359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97255784400002 meters Centerline goodness : 0.163775 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:1.27 [[ 9.99697551e-01 -9.46269682e-04 -2.45745860e-02 2.81280926e+00] [ 1.02517084e-03 9.99994360e-01 3.19828113e-03 3.27063881e-01] [ 2.45714209e-02 -3.22250696e-03 9.99692883e-01 1.26617861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00255784400002 meters Centerline goodness : 0.163775 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:1.27 [[ 9.99697551e-01 -9.46269682e-04 -2.45745860e-02 2.81280926e+00] [ 1.02517084e-03 9.99994360e-01 3.19828113e-03 3.27063881e-01] [ 2.45714209e-02 -3.22250696e-03 9.99692883e-01 1.26617861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03255784400002 meters Centerline goodness : 0.171319 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99700269e-01 -7.78042923e-04 -2.44696944e-02 2.81253297e+00] [ 8.68563179e-04 9.99992819e-01 3.68886946e-03 3.24711970e-01] [ 2.44666486e-02 -3.70901727e-03 9.99693766e-01 1.26629022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06255784400003 meters Centerline goodness : 0.162671 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99695873e-01 -7.06097694e-04 -2.46508399e-02 2.81329261e+00] [ 8.03127697e-04 9.99991969e-01 3.92649589e-03 3.23477956e-01] [ 2.46478694e-02 -3.94509950e-03 9.99688411e-01 1.26578703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09255784400003 meters Centerline goodness : 0.164246 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99691789e-01 -6.06697822e-04 -2.48185392e-02 2.81410419e+00] [ 7.11019197e-04 9.99990949e-01 4.19475622e-03 3.22099389e-01] [ 2.48157696e-02 -4.21110980e-03 9.99683172e-01 1.26517250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122557844 meters Centerline goodness : 0.169963 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99689593e-01 -5.25525583e-04 -2.49086780e-02 2.81469877e+00] [ 6.35953647e-04 9.99990005e-01 4.42560270e-03 3.20825911e-01] [ 2.49061033e-02 -4.44006973e-03 9.99679935e-01 1.26458087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.152557844 meters Centerline goodness : 0.157754 Centerline is valid? [False, False] Translation: X:2.83, Y:0.32, Z:1.27 [[ 0.99967463 0.00791717 -0.02424767 2.83485051] [-0.00784093 0.99996402 0.00323776 0.31685003] [ 0.02427243 -0.00304658 0.99970074 1.26585502] [ 0. 0. 0. 1. ]] SLAMing on 237.182557844 meters Centerline goodness : 0.159670 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99694925e-01 2.70463044e-04 -2.46978343e-02 2.81264227e+00] [-1.42630971e-04 9.99986587e-01 5.17745630e-03 3.19528993e-01] [ 2.46989033e-02 -5.17235412e-03 9.99681555e-01 1.26499734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.212557844 meters Centerline goodness : 0.106175 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99692900e-01 2.52229164e-04 -2.47798797e-02 2.81311502e+00] [-1.29001887e-04 9.99987620e-01 4.97434904e-03 3.20667456e-01] [ 2.47808276e-02 -4.96962477e-03 9.99680556e-01 1.26447518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.242557844 meters Centerline goodness : 0.107593 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99692551e-01 2.09282612e-04 -2.47943328e-02 2.81336241e+00] [-9.10936842e-05 9.99988630e-01 4.76780544e-03 3.21715876e-01] [ 2.47950487e-02 -4.76408097e-03 9.99681204e-01 1.26404443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.272557844 meters Centerline goodness : 0.162700 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99700614e-01 1.19375849e-04 -2.44676926e-02 2.81217981e+00] [-1.02279465e-05 9.99990050e-01 4.46097547e-03 3.23118881e-01] [ 2.44679817e-02 -4.45938966e-03 9.99690668e-01 1.26447066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.302557844 meters Centerline goodness : 0.105891 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99702143e-01 6.51145886e-05 -2.44053406e-02 2.81195429e+00] [ 4.08988173e-05 9.99990567e-01 4.34333663e-03 3.23641417e-01] [ 2.44053932e-02 -4.34304108e-03 9.99692710e-01 1.26454184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.332557844 meters Centerline goodness : 0.117123 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99698868e-01 5.75148820e-06 -2.45392227e-02 2.81244596e+00] [ 9.86006849e-05 9.99990959e-01 4.25125240e-03 3.24023069e-01] [ 2.45390252e-02 -4.25239180e-03 9.99689829e-01 1.26426153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.362557844 meters Centerline goodness : 0.153697 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:1.26 [[ 9.99619455e-01 -9.62207286e-04 -2.75684315e-02 2.76843045e+00] [ 1.08231830e-03 9.99989987e-01 4.34224128e-03 3.20983289e-01] [ 2.75639773e-02 -4.37042668e-03 9.99610487e-01 1.26409651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.392557844 meters Centerline goodness : 0.165928 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:1.26 [[ 9.99661594e-01 -1.89819408e-03 -2.59440770e-02 2.81367084e+00] [ 1.97560632e-03 9.99993672e-01 2.95850535e-03 3.25135129e-01] [ 2.59382971e-02 -3.00875946e-03 9.99659018e-01 1.26410459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.422557844 meters Centerline goodness : 0.166606 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99664447e-01 -1.95583599e-03 -2.58295832e-02 2.81313516e+00] [ 2.03380468e-03 9.99993454e-01 2.99265528e-03 3.24806235e-01] [ 2.58235610e-02 -3.04418341e-03 9.99661881e-01 1.26453031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.452557844 meters Centerline goodness : 0.163281 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99666618e-01 -1.97598895e-03 -2.57439102e-02 2.81256034e+00] [ 2.05576697e-03 9.99993166e-01 3.07281091e-03 3.24352302e-01] [ 2.57376624e-02 -3.12470997e-03 9.99663848e-01 1.26517106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.482557844 meters Centerline goodness : 0.107862 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99671332e-01 -2.29560233e-03 -2.55334803e-02 2.81182083e+00] [ 2.37729378e-03 9.99992151e-01 3.16949069e-03 3.23085069e-01] [ 2.55260040e-02 -3.22914956e-03 9.99668943e-01 1.26564872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.512557844 meters Centerline goodness : 0.172074 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99667469e-01 -2.29834526e-03 -2.56840379e-02 2.81217650e+00] [ 2.38444109e-03 9.99991639e-01 3.32199093e-03 3.22169430e-01] [ 2.56761880e-02 -3.38212834e-03 9.99664591e-01 1.26574129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54255784400002 meters Centerline goodness : 0.159374 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99661680e-01 -2.29701541e-03 -2.59084654e-02 2.81269085e+00] [ 2.38894501e-03 9.99990959e-01 3.51785157e-03 3.21006637e-01] [ 2.59001506e-02 -3.57855532e-03 9.99658130e-01 1.26588775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57255784400002 meters Centerline goodness : 0.173602 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99654372e-01 -2.29997783e-03 -2.61886755e-02 2.81340375e+00] [ 2.39836500e-03 9.99990182e-01 3.72606879e-03 3.19729684e-01] [ 2.61798485e-02 -3.78759096e-03 9.99650074e-01 1.26592712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60255784400002 meters Centerline goodness : 0.170749 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99649860e-01 -2.23512985e-03 -2.63659055e-02 2.81382480e+00] [ 2.34287714e-03 9.99989028e-01 4.05643130e-03 3.18014795e-01] [ 2.63565496e-02 -4.11678306e-03 9.99644129e-01 1.26601174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63255784400002 meters Centerline goodness : 0.164092 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:1.27 [[ 9.99675452e-01 -2.42171596e-03 -2.53599409e-02 2.81089906e+00] [ 2.53896678e-03 9.99986232e-01 4.59228788e-03 3.14513304e-01] [ 2.53484706e-02 -4.65518551e-03 9.99667837e-01 1.26698836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66255784400002 meters Centerline goodness : 0.124018 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:1.27 [[ 9.99679773e-01 -2.31320515e-03 -2.51992287e-02 2.81037202e+00] [ 2.44180805e-03 9.99984147e-01 5.07387100e-03 3.12072388e-01] [ 2.51870923e-02 -5.13377789e-03 9.99669573e-01 1.26728535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69255784400002 meters Centerline goodness : 0.137304 Centerline is valid? [False, False] Translation: X:2.83, Y:0.31, Z:1.27 [[ 9.99684502e-01 3.57517385e-03 -2.48619025e-02 2.83156779e+00] [-3.53089380e-03 9.99992102e-01 1.82471137e-03 3.08230648e-01] [ 2.48682298e-02 -1.73635094e-03 9.99689230e-01 1.26777176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72255784400002 meters Centerline goodness : 0.138550 Centerline is valid? [False, False] Translation: X:2.83, Y:0.31, Z:1.27 [[ 9.99680497e-01 3.73378290e-03 -2.49992692e-02 2.83210763e+00] [-3.67647753e-03 9.99990509e-01 2.33785165e-03 3.05587099e-01] [ 2.50077609e-02 -2.24519545e-03 9.99684736e-01 1.26745800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75255784400002 meters Centerline goodness : 0.103054 Centerline is valid? [False, False] Translation: X:2.85, Y:0.30, Z:1.27 [[ 0.99971599 -0.00425397 -0.0234486 2.85223478] [ 0.00433996 0.99998404 0.00361769 0.3046113 ] [ 0.02343283 -0.00371843 0.9997185 1.26845094] [ 0. 0. 0. 1. ]] SLAMing on 237.78255784400002 meters Centerline goodness : 0.137632 Centerline is valid? [False, False] Translation: X:2.85, Y:0.30, Z:1.27 [[ 0.99971777 -0.00409212 -0.02340148 2.85193076] [ 0.00418602 0.99998338 0.00396465 0.30303121] [ 0.02338487 -0.00406149 0.99971829 1.26880372] [ 0. 0. 0. 1. ]] SLAMing on 237.81255784400003 meters Centerline goodness : 0.153700 Centerline is valid? [False, False] Translation: X:2.85, Y:0.30, Z:1.27 [[ 0.99971998 -0.00399307 -0.02332399 2.85172758] [ 0.00409041 0.99998312 0.00412716 0.30234105] [ 0.02330711 -0.00422141 0.99971944 1.26883705] [ 0. 0. 0. 1. ]] SLAMing on 237.84255784400003 meters Centerline goodness : 0.179802 Centerline is valid? [False, False] Translation: X:2.85, Y:0.30, Z:1.27 [[ 0.99971737 -0.0039345 -0.02344573 2.85231831] [ 0.0040323 0.99998336 0.00412581 0.30244278] [ 0.02342911 -0.00421918 0.9997166 1.26832756] [ 0. 0. 0. 1. ]] SLAMing on 237.872557844 meters Centerline goodness : 0.133791 Centerline is valid? [False, False] Translation: X:2.88, Y:0.30, Z:1.27 [[ 0.99967747 0.00608399 -0.02465637 2.87714175] [-0.00598454 0.99997367 0.00410522 0.30093728] [ 0.0246807 -0.00395634 0.99968756 1.26781694] [ 0. 0. 0. 1. ]] SLAMing on 237.902557844 meters Centerline goodness : 0.135987 Centerline is valid? [False, False] Translation: X:2.88, Y:0.30, Z:1.27 [[ 0.99967405 0.00609539 -0.02479208 2.8777702 ] [-0.00600256 0.9999747 0.00381709 0.302481 ] [ 0.02481472 -0.00366703 0.99968534 1.26726243] [ 0. 0. 0. 1. ]] SLAMing on 237.932557844 meters Centerline goodness : 0.136179 Centerline is valid? [False, False] Translation: X:2.83, Y:0.30, Z:1.27 [[ 0.99960309 0.00589528 -0.02754821 2.83201396] [-0.00578414 0.99997482 0.0041125 0.3010449 ] [ 0.02757176 -0.00395153 0.99961202 1.26784439] [ 0. 0. 0. 1. ]] SLAMing on 237.962557844 meters Centerline goodness : 0.130245 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:1.27 [[ 0.99962409 0.00748451 -0.02637529 2.87573239] [-0.00738838 0.99996571 0.00374008 0.30615657] [ 0.02640238 -0.0035438 0.99964511 1.26910273] [ 0. 0. 0. 1. ]] SLAMing on 237.992557844 meters Centerline goodness : 0.131428 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:1.27 [[ 0.99962097 0.00742295 -0.02651079 2.87633848] [-0.0073316 0.99996685 0.00354111 0.3071819 ] [ 0.02653619 -0.0033454 0.99964226 1.26861388] [ 0. 0. 0. 1. ]] SLAMing on 238.022557844 meters Centerline goodness : 0.133629 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:1.27 [[ 0.99962026 0.00735147 -0.02655742 2.87670595] [-0.00726514 0.99996801 0.00334556 0.30815028] [ 0.02658116 -0.00315134 0.99964169 1.26813797] [ 0. 0. 0. 1. ]] SLAMing on 238.052557844 meters Centerline goodness : 0.151835 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:1.27 [[ 0.99962159 0.00727835 -0.02652754 2.87663865] [-0.007196 0.99996899 0.00319856 0.30880565] [ 0.02655 -0.00300646 0.99964297 1.26810021] [ 0. 0. 0. 1. ]] SLAMing on 238.082557844 meters Centerline goodness : 0.136965 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:1.27 [[ 9.99629113e-01 7.13448283e-03 -2.62818444e-02 2.87544767e+00] [-7.06089052e-03 9.99970890e-01 2.89186006e-03 3.10267928e-01] [ 2.63017113e-02 -2.70521429e-03 9.99650390e-01 1.26901870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.112557844 meters Centerline goodness : 0.129183 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:1.27 [[ 9.99631918e-01 7.05138294e-03 -2.61974522e-02 2.87510030e+00] [-6.98338148e-03 9.99972008e-01 2.68631207e-03 3.11331987e-01] [ 2.62156611e-02 -2.50237648e-03 9.99653178e-01 1.26918927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.142557844 meters Centerline goodness : 0.129870 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99638517e-01 9.11322661e-06 -2.68856118e-02 2.89345754e+00] [ 9.57157820e-05 9.99992399e-01 3.89778520e-03 3.18595425e-01] [ 2.68854429e-02 -3.89894959e-03 9.99630917e-01 1.27155738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.172557844 meters Centerline goodness : 0.130630 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99637251e-01 -9.17307338e-05 -2.69324893e-02 2.89377651e+00] [ 1.90809504e-04 9.99993224e-01 3.67623560e-03 3.19707098e-01] [ 2.69319695e-02 -3.68004103e-03 9.99630495e-01 1.27120602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.202557844 meters Centerline goodness : 0.111903 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99635320e-01 -2.12291951e-04 -2.70033838e-02 2.89427466e+00] [ 3.06204961e-04 9.99993920e-01 3.47373627e-03 3.20524483e-01] [ 2.70024822e-02 -3.48073804e-03 9.99629307e-01 1.27065834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.232557844 meters Centerline goodness : 0.166121 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99635068e-01 -2.38658950e-04 -2.70124829e-02 2.89421774e+00] [ 3.32227593e-04 9.99993961e-01 3.45946887e-03 3.20504311e-01] [ 2.70114942e-02 -3.46718069e-03 9.99629110e-01 1.27079469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.262557844 meters Centerline goodness : 0.163378 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99633348e-01 -2.90116546e-04 -2.70755578e-02 2.89420264e+00] [ 3.81399949e-04 9.99994261e-01 3.36632869e-03 3.20929754e-01] [ 2.70744258e-02 -3.37542103e-03 9.99627722e-01 1.27110829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29255784400002 meters Centerline goodness : 0.158031 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99631559e-01 -3.29084788e-04 -2.71410613e-02 2.89424208e+00] [ 4.18338310e-04 9.99994524e-01 3.28289267e-03 3.21403152e-01] [ 2.71398323e-02 -3.29303726e-03 9.99626223e-01 1.27125198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32255784400002 meters Centerline goodness : 0.176699 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99630713e-01 -3.83281543e-04 -2.71715031e-02 2.89448767e+00] [ 4.68812492e-04 9.99994956e-01 3.14151763e-03 3.22288250e-01] [ 2.71701619e-02 -3.15309585e-03 9.99625850e-01 1.27093419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35255784400002 meters Centerline goodness : 0.160629 Centerline is valid? [False, False] Translation: X:2.91, Y:0.32, Z:1.27 [[ 9.99641833e-01 8.10221553e-03 -2.55060773e-02 2.91442243e+00] [-8.05209833e-03 9.99965445e-01 2.06700633e-03 3.19778386e-01] [ 2.55219432e-02 -1.86088855e-03 9.99672530e-01 1.27155785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38255784400002 meters Centerline goodness : 0.172189 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99685189e-01 -6.94251622e-04 -2.50806716e-02 2.89350692e+00] [ 7.65546423e-04 9.99995694e-01 2.83312940e-03 3.24288765e-01] [ 2.50785967e-02 -2.85143792e-03 9.99681416e-01 1.27012344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41255784400002 meters Centerline goodness : 0.164253 Centerline is valid? [False, False] Translation: X:2.89, Y:0.33, Z:1.27 [[ 9.99687874e-01 -7.32002850e-04 -2.49723445e-02 2.89321838e+00] [ 7.98919308e-04 9.99996117e-01 2.66975083e-03 3.25184342e-01] [ 2.49702933e-02 -2.68886842e-03 9.99684577e-01 1.27009963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44255784400002 meters Centerline goodness : 0.156939 Centerline is valid? [False, False] Translation: X:2.94, Y:0.33, Z:1.27 [[ 9.99726210e-01 6.22338484e-04 -2.33905578e-02 2.93837187e+00] [-5.61609369e-04 9.99996455e-01 2.60278840e-03 3.29328770e-01] [ 2.33920947e-02 -2.58893943e-03 9.99723015e-01 1.27006709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47255784400002 meters Centerline goodness : 0.140769 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:1.27 [[ 9.99704412e-01 8.11358292e-03 -2.29184969e-02 2.91903856e+00] [-8.08724680e-03 9.99966527e-01 1.24157447e-03 3.23608077e-01] [ 2.29278034e-02 -1.05585994e-03 9.99736566e-01 1.26780753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50255784400002 meters Centerline goodness : 0.162103 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:1.27 [[ 9.99712878e-01 8.12051396e-03 -2.25436900e-02 2.91765959e+00] [-8.09418207e-03 9.99966449e-01 1.25904200e-03 3.23334520e-01] [ 2.25531577e-02 -1.07620777e-03 9.99745066e-01 1.26849709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53255784400002 meters Centerline goodness : 0.167507 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:1.27 [[ 9.99713385e-01 8.12624711e-03 -2.25191598e-02 2.91758448e+00] [-8.10052913e-03 9.99966430e-01 1.23303515e-03 3.23520948e-01] [ 2.25284238e-02 -1.05026464e-03 9.99745651e-01 1.26847600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56255784400003 meters Centerline goodness : 0.160110 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:1.27 [[ 9.99712690e-01 8.12169857e-03 -2.25515992e-02 2.91774293e+00] [-8.09741288e-03 9.99966533e-01 1.16800354e-03 3.23942939e-01] [ 2.25603307e-02 -9.85058353e-04 9.99744998e-01 1.26831255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59255784400003 meters Centerline goodness : 0.172652 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:1.27 [[ 9.99712591e-01 8.09876506e-03 -2.25642498e-02 2.91781141e+00] [-8.07642546e-03 9.99966801e-01 1.08100044e-03 3.24417976e-01] [ 2.25722555e-02 -8.98451265e-04 9.99744810e-01 1.26820856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62255784400003 meters Centerline goodness : 0.115933 Centerline is valid? [False, False] Translation: X:2.94, Y:0.33, Z:1.27 [[ 9.99742922e-01 2.53017451e-04 -2.26721501e-02 2.93779002e+00] [-2.16292545e-04 9.99998661e-01 1.62226216e-03 3.29743476e-01] [ 2.26725302e-02 -1.61694130e-03 9.99741638e-01 1.26931401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.652557844 meters Centerline goodness : 0.161236 Centerline is valid? [False, False] Translation: X:2.94, Y:0.33, Z:1.27 [[ 9.99740772e-01 2.71047810e-04 -2.27665347e-02 2.93812172e+00] [-2.32466189e-04 9.99998533e-01 1.69729323e-03 3.29211399e-01] [ 2.27669613e-02 -1.69156079e-03 9.99739368e-01 1.26914001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.682557844 meters Centerline goodness : 0.111005 Centerline is valid? [False, False] Translation: X:2.94, Y:0.33, Z:1.27 [[ 9.99738961e-01 3.41709887e-04 -2.28449611e-02 2.93830025e+00] [-2.97793707e-04 9.99998101e-01 1.92573173e-03 3.28037682e-01] [ 2.28455757e-02 -1.91842595e-03 9.99737165e-01 1.26918058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.712557844 meters Centerline goodness : 0.133663 Centerline is valid? [False, False] Translation: X:2.94, Y:0.33, Z:1.27 [[ 9.99738668e-01 4.55081994e-04 -2.28558375e-02 2.93819366e+00] [-4.04360924e-04 9.99997446e-01 2.22374614e-03 3.26731159e-01] [ 2.28567911e-02 -2.21392300e-03 9.99736298e-01 1.26941741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.742557844 meters Centerline goodness : 0.109632 Centerline is valid? [False, False] Translation: X:2.96, Y:0.33, Z:1.27 [[ 0.9997463 -0.00745802 -0.02125332 2.95786692] [ 0.00753749 0.99996489 0.00366154 0.32815136] [ 0.02122526 -0.00382081 0.99976742 1.2712331 ] [ 0. 0. 0. 1. ]] SLAMing on 238.772557844 meters Centerline goodness : 0.132024 Centerline is valid? [False, False] Translation: X:2.96, Y:0.33, Z:1.27 [[ 0.99974957 -0.00731478 -0.02114937 2.95740426] [ 0.00740408 0.99996399 0.00414714 0.32567139] [ 0.02111828 -0.00430269 0.99976773 1.27164058] [ 0. 0. 0. 1. ]] SLAMing on 238.802557844 meters Centerline goodness : 0.132205 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:1.27 [[ 0.99975314 -0.00715619 -0.02103447 2.957058 ] [ 0.00725482 0.99996303 0.00461629 0.32332667] [ 0.02100066 -0.00476775 0.99976809 1.27183092] [ 0. 0. 0. 1. ]] SLAMing on 238.832557844 meters Centerline goodness : 0.132076 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:1.27 [[ 0.99975599 -0.00685891 -0.02099808 2.95709415] [ 0.00697217 0.99996151 0.00532559 0.31999941] [ 0.02096074 -0.0054707 0.99976533 1.27170108] [ 0. 0. 0. 1. ]] SLAMing on 238.862557844 meters Centerline goodness : 0.131829 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:1.27 [[ 0.99975744 -0.00676574 -0.02095908 2.95697436] [ 0.00688313 0.999961 0.00553384 0.31902504] [ 0.02092082 -0.00567676 0.99976502 1.27175163] [ 0. 0. 0. 1. ]] SLAMing on 238.892557844 meters Centerline goodness : 0.131829 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:1.27 [[ 0.99975744 -0.00676574 -0.02095908 2.95697436] [ 0.00688313 0.999961 0.00553384 0.31902504] [ 0.02092082 -0.00567676 0.99976502 1.27175163] [ 0. 0. 0. 1. ]] SLAMing on 238.922557844 meters Centerline goodness : 0.128752 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:1.27 [[ 0.99975669 -0.00665392 -0.0210304 2.95707403] [ 0.00677721 0.99996023 0.0057964 0.31767779] [ 0.02099099 -0.00593751 0.99976203 1.27191318] [ 0. 0. 0. 1. ]] SLAMing on 238.952557844 meters Centerline goodness : 0.136328 Centerline is valid? [False, False] Translation: X:2.94, Y:0.31, Z:1.27 [[ 9.99775472e-01 8.92400038e-04 -2.11709298e-02 2.93797532e+00] [-7.91495645e-04 9.99988291e-01 4.77407737e-03 3.09516892e-01] [ 2.11749422e-02 -4.75624876e-03 9.99764472e-01 1.27013081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.982557844 meters Centerline goodness : 0.137717 Centerline is valid? [False, False] Translation: X:2.94, Y:0.31, Z:1.27 [[ 9.99777432e-01 1.18620113e-03 -2.10637115e-02 2.93759481e+00] [-1.06908771e-03 9.99983914e-01 5.57035175e-03 3.05682873e-01] [ 2.10699802e-02 -5.54659302e-03 9.99762617e-01 1.27040192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.012557844 meters Centerline goodness : 0.134649 Centerline is valid? [False, False] Translation: X:2.94, Y:0.30, Z:1.27 [[ 9.99779542e-01 1.38742396e-03 -2.09509667e-02 2.93720258e+00] [-1.26083172e-03 9.99980878e-01 6.05431129e-03 3.03547879e-01] [ 2.09589659e-02 -6.02656093e-03 9.99762173e-01 1.27062583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04255784400002 meters Centerline goodness : 0.122760 Centerline is valid? [False, False] Translation: X:2.94, Y:0.30, Z:1.27 [[ 9.99781660e-01 1.59179642e-03 -2.08350194e-02 2.93680372e+00] [-1.45573361e-03 9.99977528e-01 6.54402472e-03 3.01372308e-01] [ 2.08449680e-02 -6.51226566e-03 9.99761510e-01 1.27083399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07255784400002 meters Centerline goodness : 0.145559 Centerline is valid? [False, False] Translation: X:2.94, Y:0.29, Z:1.27 [[ 9.99761781e-01 -4.41324251e-04 -2.18217149e-02 2.94127391e+00] [ 5.55070913e-04 9.99986291e-01 5.20676234e-03 2.94835465e-01] [ 2.18191179e-02 -5.21763459e-03 9.99748320e-01 1.26878561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10255784400002 meters Centerline goodness : 0.131263 Centerline is valid? [False, False] Translation: X:2.94, Y:0.29, Z:1.27 [[ 9.99751588e-01 -2.94278901e-04 -2.22862053e-02 2.94259781e+00] [ 4.25709084e-04 9.99982546e-01 5.89286359e-03 2.91011057e-01] [ 2.22840821e-02 -5.90088718e-03 9.99734264e-01 1.26858707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13255784400002 meters Centerline goodness : 0.138778 Centerline is valid? [False, False] Translation: X:2.94, Y:0.29, Z:1.27 [[ 9.99742310e-01 -1.66634398e-04 -2.26999222e-02 2.94361984e+00] [ 3.16812268e-04 9.99978088e-01 6.61235226e-03 2.86884865e-01] [ 2.26983230e-02 -6.61783994e-03 9.99720456e-01 1.26867884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16255784400002 meters Centerline goodness : 0.145871 Centerline is valid? [False, False] Translation: X:2.97, Y:0.28, Z:1.27 [[ 0.99974502 0.00584193 -0.02181227 2.96523379] [-0.0057687 0.99997752 0.00341829 0.28192414] [ 0.02183175 -0.00329159 0.99975624 1.26893259] [ 0. 0. 0. 1. ]] SLAMing on 239.19255784400002 meters Centerline goodness : 0.136880 Centerline is valid? [False, False] Translation: X:2.97, Y:0.27, Z:1.27 [[ 0.99973366 0.00638951 -0.02217597 2.96635284] [-0.00628341 0.99996849 0.0048508 0.27471381] [ 0.02220627 -0.00471017 0.99974231 1.26868857] [ 0. 0. 0. 1. ]] SLAMing on 239.22255784400002 meters Centerline goodness : 0.139613 Centerline is valid? [False, False] Translation: X:2.97, Y:0.27, Z:1.27 [[ 0.99972811 0.00669795 -0.02233479 2.96708829] [-0.00657653 0.99996322 0.00550553 0.27187907] [ 0.02237085 -0.00535715 0.99973539 1.2683097 ] [ 0. 0. 0. 1. ]] SLAMing on 239.25255784400002 meters Centerline goodness : 0.143246 Centerline is valid? [False, False] Translation: X:2.97, Y:0.27, Z:1.27 [[ 0.9997214 0.0069455 -0.02255854 2.96779452] [-0.00681138 0.9999587 0.00601648 0.26944917] [ 0.02259939 -0.00586115 0.99972742 1.26825725] [ 0. 0. 0. 1. ]] SLAMing on 239.28255784400002 meters Centerline goodness : 0.145053 Centerline is valid? [False, False] Translation: X:3.01, Y:0.27, Z:1.27 [[ 0.99975115 0.00769476 -0.02093868 3.01442779] [-0.00758894 0.99995805 0.00512853 0.26822091] [ 0.02097726 -0.00496835 0.99976761 1.26758356] [ 0. 0. 0. 1. ]] SLAMing on 239.31255784400003 meters Centerline goodness : 0.141573 Centerline is valid? [False, False] Translation: X:3.01, Y:0.27, Z:1.27 [[ 0.99974798 0.00781576 -0.0210448 3.01485434] [-0.0077049 0.99995604 0.00534362 0.26720727] [ 0.02108564 -0.00518012 0.99976425 1.26732992] [ 0. 0. 0. 1. ]] SLAMing on 239.34255784400003 meters Centerline goodness : 0.125350 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.27 [[ 9.99755031e-01 -5.28024410e-04 -2.21268711e-02 2.99763622e+00] [ 6.79862006e-04 9.99976272e-01 6.85517531e-03 2.71800018e-01] [ 2.21227263e-02 -6.86853923e-03 9.99731668e-01 1.26555808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37255784400003 meters Centerline goodness : 0.125393 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99753960e-01 -4.58986450e-04 -2.21767436e-02 2.99809912e+00] [ 6.11176686e-04 9.99976308e-01 6.85631486e-03 2.71954840e-01] [ 2.21730712e-02 -6.86818185e-03 9.99730555e-01 1.26492132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.402557844 meters Centerline goodness : 0.128602 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99757829e-01 -2.73064289e-04 -2.20047236e-02 2.99801872e+00] [ 4.23826236e-04 9.99976469e-01 6.84697234e-03 2.72512217e-01] [ 2.20023362e-02 -6.85464038e-03 9.99734420e-01 1.26422191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.432557844 meters Centerline goodness : 0.160970 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99762866e-01 -2.59210979e-04 -2.17748402e-02 2.99743052e+00] [ 4.06689638e-04 9.99977009e-01 6.76873758e-03 2.73079355e-01] [ 2.17725850e-02 -6.77598809e-03 9.99739986e-01 1.26419147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.462557844 meters Centerline goodness : 0.139700 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99767970e-01 -2.48612527e-04 -2.15393449e-02 2.99672013e+00] [ 3.93724505e-04 9.99977255e-01 6.73308672e-03 2.73427022e-01] [ 2.15371810e-02 -6.74000502e-03 9.99745329e-01 1.26435793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.492557844 meters Centerline goodness : 0.150483 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99769568e-01 -2.64399304e-04 -2.14648809e-02 2.99645023e+00] [ 4.08728584e-04 9.99977338e-01 6.71986437e-03 2.73447665e-01] [ 2.14626177e-02 -6.72708920e-03 9.99747019e-01 1.26450605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.522557844 meters Centerline goodness : 0.121137 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99765627e-01 -3.34228736e-04 -2.16466765e-02 2.99699885e+00] [ 4.82499702e-04 9.99976458e-01 6.84473437e-03 2.72104566e-01] [ 2.16438792e-02 -6.85357467e-03 9.99742252e-01 1.26439137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.552557844 meters Centerline goodness : 0.120429 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99763303e-01 -2.86067704e-04 -2.17544329e-02 2.99737595e+00] [ 4.39576919e-04 9.99975038e-01 7.05200226e-03 2.70970042e-01] [ 2.17518725e-02 -7.05989582e-03 9.99738473e-01 1.26420894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.582557844 meters Centerline goodness : 0.134461 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99758518e-01 -2.16321167e-04 -2.19740350e-02 2.99807065e+00] [ 3.76607565e-04 9.99973353e-01 7.29047801e-03 2.69804698e-01] [ 2.19718723e-02 -7.29699308e-03 9.99731959e-01 1.26398406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.612557844 meters Centerline goodness : 0.133175 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99751405e-01 -1.60137346e-04 -2.22958097e-02 2.99921198e+00] [ 3.27767956e-04 9.99971708e-01 7.51502912e-03 2.68641333e-01] [ 2.22939755e-02 -7.52046877e-03 9.99723172e-01 1.26345470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.642557844 meters Centerline goodness : 0.142633 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99751691e-01 -1.66979616e-04 -2.22829307e-02 2.99912264e+00] [ 3.34567866e-04 9.99971688e-01 7.51740889e-03 2.68590089e-01] [ 2.22810446e-02 -7.52299740e-03 9.99723442e-01 1.26356041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.672557844 meters Centerline goodness : 0.131813 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99754667e-01 -1.96415695e-04 -2.21487661e-02 2.99867418e+00] [ 3.61172695e-04 9.99972296e-01 7.43489876e-03 2.69067135e-01] [ 2.21466922e-02 -7.44107426e-03 9.99727040e-01 1.26370287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.702557844 meters Centerline goodness : 0.121384 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99757451e-01 -2.47989220e-04 -2.20221895e-02 2.99819512e+00] [ 4.08115343e-04 9.99973512e-01 7.26692973e-03 2.70060476e-01] [ 2.20198040e-02 -7.27415474e-03 9.99731071e-01 1.26394690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.732557844 meters Centerline goodness : 0.133932 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99757830e-01 -4.64397010e-04 -2.20014789e-02 2.99861547e+00] [ 6.11293223e-04 9.99977566e-01 6.67039679e-03 2.72763043e-01] [ 2.19978876e-02 -6.68223078e-03 9.99735685e-01 1.26304120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.762557844 meters Centerline goodness : 0.128554 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99798773e-01 3.58280853e-04 -2.00570439e-02 3.04257149e+00] [-2.46845579e-04 9.99984523e-01 5.55811717e-03 2.78175728e-01] [ 2.00587249e-02 -5.55204773e-03 9.99783388e-01 1.26293968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79255784400002 meters Centerline goodness : 0.139579 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99802244e-01 2.90664331e-04 -1.98843715e-02 3.04189567e+00] [-1.83784458e-04 9.99985529e-01 5.37668543e-03 2.79098849e-01] [ 1.98856466e-02 -5.37196772e-03 9.99787829e-01 1.26328728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82255784400002 meters Centerline goodness : 0.130652 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99807549e-01 2.80256126e-04 -1.96159774e-02 3.04089651e+00] [-1.76554593e-04 9.99986002e-01 5.28811723e-03 2.79804879e-01] [ 1.96171848e-02 -5.28363624e-03 9.99793603e-01 1.26378309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85255784400002 meters Centerline goodness : 0.136226 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:1.26 [[ 0.99979574 0.00905408 -0.01806931 3.06095376] [-0.00897598 0.99995004 0.0043985 0.2777903 ] [ 0.01810823 -0.00423541 0.99982706 1.26459364] [ 0. 0. 0. 1. ]] SLAMing on 239.88255784400002 meters Centerline goodness : 0.137659 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99796658e-01 -7.53590074e-04 -2.01512981e-02 3.04135102e+00] [ 8.50027243e-04 9.99988226e-01 4.77751832e-03 2.80581194e-01] [ 2.01474605e-02 -4.79367600e-03 9.99785527e-01 1.26426876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91255784400002 meters Centerline goodness : 0.133706 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99791352e-01 -7.58073843e-04 -2.04126852e-02 3.04191887e+00] [ 8.58809684e-04 9.99987495e-01 4.92664879e-03 2.79597755e-01] [ 2.04086952e-02 -4.94315147e-03 9.99779501e-01 1.26444070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94255784400002 meters Centerline goodness : 0.152191 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99790605e-01 -7.24576973e-04 -2.04504436e-02 3.04190771e+00] [ 8.28324559e-04 9.99986829e-01 5.06510688e-03 2.78898294e-01] [ 2.04465042e-02 -5.08098588e-03 9.99778037e-01 1.26460711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97255784400002 meters Centerline goodness : 0.132025 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99793338e-01 -6.45710239e-04 -2.03190412e-02 3.04138696e+00] [ 7.52184766e-04 9.99986025e-01 5.23292913e-03 2.78332446e-01] [ 2.03153783e-02 -5.24713136e-03 9.99779852e-01 1.26495355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00255784400002 meters Centerline goodness : 0.127507 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:1.27 [[ 0.99982846 0.00769886 -0.01684549 3.05996174] [-0.00762909 0.99996207 0.00420189 0.27515245] [ 0.0168772 -0.00407265 0.99984928 1.26548088] [ 0. 0. 0. 1. ]] SLAMing on 240.03255784400002 meters Centerline goodness : 0.137565 Centerline is valid? [False, False] Translation: X:3.06, Y:0.27, Z:1.27 [[ 0.99982859 0.00769679 -0.01683871 3.05968789] [-0.00762631 0.99996191 0.00424545 0.27475383] [ 0.01687075 -0.0041163 0.99984921 1.26591986] [ 0. 0. 0. 1. ]] SLAMing on 240.06255784400003 meters Centerline goodness : 0.126841 Centerline is valid? [False, False] Translation: X:3.06, Y:0.27, Z:1.27 [[ 0.99982775 0.00769277 -0.01689058 3.05990144] [-0.0076226 0.99996207 0.00421479 0.2748428 ] [ 0.01692237 -0.00408532 0.99984846 1.26585037] [ 0. 0. 0. 1. ]] SLAMing on 240.09255784400003 meters Centerline goodness : 0.148149 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:1.26 [[ 0.99981063 0.00806754 -0.01770935 3.06282881] [-0.00799426 0.9999592 0.00420493 0.27589864] [ 0.01774255 -0.00406256 0.99983434 1.26458167] [ 0. 0. 0. 1. ]] SLAMing on 240.12255784400003 meters Centerline goodness : 0.144500 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:1.26 [[ 0.99974377 0.00765885 -0.02130089 3.01955002] [-0.00756486 0.99996131 0.00448958 0.27442469] [ 0.02133445 -0.00432729 0.99976303 1.26487762] [ 0. 0. 0. 1. ]] SLAMing on 240.152557844 meters Centerline goodness : 0.122957 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 0.99976654 0.0091716 -0.0195639 3.06519266] [-0.00909538 0.99995071 0.00398109 0.27981928] [ 0.01959944 -0.00380222 0.99980068 1.26415946] [ 0. 0. 0. 1. ]] SLAMing on 240.182557844 meters Centerline goodness : 0.131948 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99806884e-01 7.01774349e-04 -1.96393133e-02 3.04594508e+00] [-5.98864822e-04 9.99986064e-01 5.24536655e-03 2.85619920e-01] [ 1.96427207e-02 -5.23259229e-03 9.99793370e-01 1.26202342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.212557844 meters Centerline goodness : 0.125298 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99808446e-01 5.59731006e-04 -1.95641783e-02 3.04588958e+00] [-4.65473109e-04 9.99988265e-01 4.82210348e-03 2.87655970e-01] [ 1.95666478e-02 -4.81207319e-03 9.99796975e-01 1.26170145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.242557844 meters Centerline goodness : 0.133583 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99803296e-01 2.50315746e-04 -1.98319471e-02 3.04696693e+00] [-1.69459741e-04 9.99991668e-01 4.07863392e-03 2.90894241e-01] [ 1.98328028e-02 -4.07447092e-03 9.99795008e-01 1.26093698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.272557844 meters Centerline goodness : 0.138186 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99800414e-01 1.17915594e-04 -1.99779216e-02 3.04734317e+00] [-4.16176511e-05 9.99992705e-01 3.81948586e-03 2.91906239e-01] [ 1.99782262e-02 -3.81789211e-03 9.99793126e-01 1.26089303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.302557844 meters Centerline goodness : 0.144301 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99799513e-01 2.57821375e-05 -2.00233104e-02 3.04735597e+00] [ 4.74909801e-05 9.99993305e-01 3.65890666e-03 2.92581561e-01] [ 2.00232706e-02 -3.65912403e-03 9.99792818e-01 1.26102721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.332557844 meters Centerline goodness : 0.139457 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99807295e-01 -9.74544927e-05 -1.96306932e-02 3.04609238e+00] [ 1.67901321e-04 9.99993553e-01 3.58699007e-03 2.92940391e-01] [ 1.96302170e-02 -3.58959486e-03 9.99800865e-01 1.26150919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.362557844 meters Centerline goodness : 0.134466 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99808474e-01 -1.58398150e-04 -1.95701129e-02 3.04582081e+00] [ 2.27760707e-04 9.99993701e-01 3.54213252e-03 2.93042807e-01] [ 1.95694286e-02 -3.54591141e-03 9.99802212e-01 1.26169779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.392557844 meters Centerline goodness : 0.127744 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99806139e-01 -2.51490011e-04 -1.96880953e-02 3.04622285e+00] [ 3.19118190e-04 9.99994060e-01 3.43191187e-03 2.93304488e-01] [ 1.96871153e-02 -3.43752939e-03 9.99800280e-01 1.26147789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.422557844 meters Centerline goodness : 0.135674 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99787335e-01 -5.35845170e-04 -2.06154524e-02 3.04872632e+00] [ 6.05591881e-04 9.99994114e-01 3.37713068e-03 2.92763497e-01] [ 2.06135215e-02 -3.38889704e-03 9.99781775e-01 1.26115908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.452557844 meters Centerline goodness : 0.141517 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99786662e-01 -4.24349600e-04 -2.06506784e-02 3.04862444e+00] [ 5.01675116e-04 9.99992883e-01 3.73941756e-03 2.91186408e-01] [ 2.06489446e-02 -3.74897973e-03 9.99779759e-01 1.26150537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.482557844 meters Centerline goodness : 0.139800 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99789934e-01 -3.22248844e-04 -2.04934908e-02 3.04790031e+00] [ 4.06367036e-04 9.99991510e-01 4.10059787e-03 2.89596614e-01] [ 2.04919954e-02 -4.10806435e-03 9.99781577e-01 1.26211880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.512557844 meters Centerline goodness : 0.141493 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99794070e-01 -2.68686997e-04 -2.02915254e-02 3.04704939e+00] [ 3.58173666e-04 9.99990227e-01 4.40654581e-03 2.88065458e-01] [ 2.02901431e-02 -4.41290626e-03 9.99784395e-01 1.26278519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54255784400002 meters Centerline goodness : 0.138212 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99854861e-01 4.24301983e-03 -1.65001289e-02 3.06859266e+00] [-4.23675528e-03 9.99990939e-01 4.14604488e-04 2.86668317e-01] [ 1.65017385e-02 -3.44637305e-04 9.99863778e-01 1.26221493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57255784400002 meters Centerline goodness : 0.147590 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99857055e-01 4.30888678e-03 -1.63494086e-02 3.06783120e+00] [-4.29949459e-03 9.99990571e-01 6.09572957e-04 2.85787008e-01] [ 1.63518810e-02 -5.39191628e-04 9.99866154e-01 1.26287909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60255784400002 meters Centerline goodness : 0.131545 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99859910e-01 4.38382471e-03 -1.61536966e-02 3.06717840e+00] [-4.37158876e-03 9.99990130e-01 7.92704189e-04 2.85075445e-01] [ 1.61570122e-02 -7.21975821e-04 9.99869206e-01 1.26310997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63255784400002 meters Centerline goodness : 0.166623 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99861911e-01 4.43968446e-03 -1.60140085e-02 3.06669863e+00] [-4.42567650e-03 9.99989793e-01 9.10064811e-04 2.84681990e-01] [ 1.60178854e-02 -8.39066320e-04 9.99871353e-01 1.26333210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66255784400002 meters Centerline goodness : 0.127057 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99889513e-01 -3.64432639e-03 -1.44110983e-02 3.08568235e+00] [ 3.67060099e-03 9.99991648e-01 1.79719042e-03 2.89720122e-01] [ 1.44044284e-02 -1.84988925e-03 9.99894540e-01 1.26440649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69255784400002 meters Centerline goodness : 0.127716 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99890839e-01 -3.61843778e-03 -1.43253655e-02 3.08527162e+00] [ 3.64584137e-03 9.99991573e-01 1.88728897e-03 2.89100913e-01] [ 1.43184158e-02 -1.93931097e-03 9.99895606e-01 1.26472108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72255784400002 meters Centerline goodness : 0.138201 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99891533e-01 -3.48387819e-03 -1.43103203e-02 3.08541311e+00] [ 3.51444198e-03 9.99991596e-01 2.11119465e-03 2.88104182e-01] [ 1.43028449e-02 -2.16125845e-03 9.99895373e-01 1.26445084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75255784400002 meters Centerline goodness : 0.142509 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99891005e-01 -3.39107730e-03 -1.43693625e-02 3.08574988e+00] [ 3.42455960e-03 9.99991477e-01 2.30615222e-03 2.87171011e-01] [ 1.43614197e-02 -2.35510960e-03 9.99894096e-01 1.26412918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78255784400002 meters Centerline goodness : 0.139944 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99888675e-01 -3.33984520e-03 -1.45424501e-02 3.08637123e+00] [ 3.37602040e-03 9.99991266e-01 2.46372082e-03 2.86239747e-01] [ 1.45340946e-02 -2.51254215e-03 9.99891218e-01 1.26382385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81255784400003 meters Centerline goodness : 0.139944 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99888675e-01 -3.33984520e-03 -1.45424501e-02 3.08637123e+00] [ 3.37602040e-03 9.99991266e-01 2.46372082e-03 2.86239747e-01] [ 1.45340946e-02 -2.51254215e-03 9.99891218e-01 1.26382385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84255784400003 meters Centerline goodness : 0.142839 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99883760e-01 -3.28273443e-03 -1.48892432e-02 3.08742150e+00] [ 3.32239458e-03 9.99990997e-01 2.63972528e-03 2.85203683e-01] [ 1.48804436e-02 -2.68888638e-03 9.99885665e-01 1.26355630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87255784400003 meters Centerline goodness : 0.170097 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99861848e-01 4.50112081e-03 -1.60007545e-02 3.06804631e+00] [-4.47332939e-03 9.99988424e-01 1.77224831e-03 2.77562327e-01] [ 1.60085464e-02 -1.70042682e-03 9.99870409e-01 1.26218714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.902557844 meters Centerline goodness : 0.133997 Centerline is valid? [False, False] Translation: X:3.11, Y:0.28, Z:1.26 [[ 9.99892889e-01 5.64496886e-03 -1.35034868e-02 3.11098000e+00] [-5.62387917e-03 9.99982907e-01 1.59925912e-03 2.79213609e-01] [ 1.35122838e-02 -1.52314585e-03 9.99907545e-01 1.26246684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.932557844 meters Centerline goodness : 0.118847 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99910716e-01 -3.09406814e-03 -1.29994823e-02 3.09104188e+00] [ 3.12513393e-03 9.99992308e-01 2.37013771e-03 2.83748322e-01] [ 1.29920489e-02 -2.41055122e-03 9.99912694e-01 1.26128845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.962557844 meters Centerline goodness : 0.121629 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99911913e-01 -3.06061462e-03 -1.29150637e-02 3.09081560e+00] [ 3.09240706e-03 9.99992236e-01 2.44240397e-03 2.83356446e-01] [ 1.29074882e-02 -2.48212746e-03 9.99913614e-01 1.26132819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.992557844 meters Centerline goodness : 0.164961 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99908345e-01 -3.01250808e-03 -1.31994830e-02 3.09215394e+00] [ 3.04445141e-03 9.99992484e-01 2.40061958e-03 2.83593230e-01] [ 1.31921519e-02 -2.44058474e-03 9.99910001e-01 1.26018985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.022557844 meters Centerline goodness : 0.145566 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99903638e-01 -3.00974764e-03 -1.35519439e-02 3.09355160e+00] [ 3.04096286e-03 9.99992769e-01 2.28335857e-03 2.84327212e-01] [ 1.35449736e-02 -2.32434950e-03 9.99905561e-01 1.25924731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.052557844 meters Centerline goodness : 0.120596 Centerline is valid? [False, False] Translation: X:3.10, Y:0.29, Z:1.26 [[ 9.99898185e-01 -3.02562827e-03 -1.39450970e-02 3.09507599e+00] [ 3.05586358e-03 9.99993025e-01 2.14736933e-03 2.85061215e-01] [ 1.39385026e-02 -2.18976501e-03 9.99900457e-01 1.25823778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.082557844 meters Centerline goodness : 0.148744 Centerline is valid? [False, False] Translation: X:3.10, Y:0.29, Z:1.26 [[ 9.99894996e-01 -3.07239075e-03 -1.41618355e-02 3.09597169e+00] [ 3.10162706e-03 9.99993103e-01 2.04294281e-03 2.85451339e-01] [ 1.41554611e-02 -2.08665302e-03 9.99897629e-01 1.25759755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.112557844 meters Centerline goodness : 0.133886 Centerline is valid? [False, False] Translation: X:3.10, Y:0.28, Z:1.26 [[ 9.99895426e-01 -3.01691480e-03 -1.41433484e-02 3.09549883e+00] [ 3.04913414e-03 9.99992804e-01 2.25704657e-03 2.84244669e-01] [ 1.41364373e-02 -2.29993551e-03 9.99897430e-01 1.25830584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.142557844 meters Centerline goodness : 0.146526 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99899281e-01 -2.90114666e-03 -1.38928497e-02 3.09456826e+00] [ 2.93695253e-03 9.99992417e-01 2.55757947e-03 2.82963974e-01] [ 1.38853245e-02 -2.59812452e-03 9.99900219e-01 1.25883751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.172557844 meters Centerline goodness : 0.129452 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99899228e-01 -2.78173936e-03 -1.39210641e-02 3.09458868e+00] [ 2.82230998e-03 9.99991825e-01 2.89553649e-03 2.81381101e-01] [ 1.39128956e-02 -2.93453426e-03 9.99898905e-01 1.25897372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.202557844 meters Centerline goodness : 0.144695 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99898595e-01 -2.71195459e-03 -1.39801365e-02 3.09473009e+00] [ 2.75679913e-03 9.99991114e-01 3.18945960e-03 2.79808847e-01] [ 1.39713626e-02 -3.22767660e-03 9.99897186e-01 1.25900857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.232557844 meters Centerline goodness : 0.212732 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99898452e-01 -2.56880888e-03 -1.40173838e-02 3.09481154e+00] [ 2.62066978e-03 9.99989785e-01 3.68264257e-03 2.77106571e-01] [ 1.40077806e-02 -3.71900354e-03 9.99894970e-01 1.25908825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.262557844 meters Centerline goodness : 0.149063 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99900345e-01 -2.48629228e-03 -1.38966949e-02 3.09457890e+00] [ 2.53912727e-03 9.99989611e-01 3.78563321e-03 2.76872325e-01] [ 1.38871383e-02 -3.82054143e-03 9.99896270e-01 1.25897443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29255784400002 meters Centerline goodness : 0.122456 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99894694e-01 6.75148953e-03 -1.28459070e-02 3.11494225e+00] [-6.71181694e-03 9.99972580e-01 3.12895439e-03 2.74345104e-01] [ 1.28666798e-02 -3.04240552e-03 9.99912592e-01 1.25931051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32255784400002 meters Centerline goodness : 0.121286 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99893765e-01 6.73070023e-03 -1.29288919e-02 3.11538531e+00] [-6.69226109e-03 9.99973064e-01 3.01408569e-03 2.74896859e-01] [ 1.29488305e-02 -2.92724197e-03 9.99911876e-01 1.25894672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35255784400002 meters Centerline goodness : 0.144662 Centerline is valid? [False, False] Translation: X:3.12, Y:0.28, Z:1.26 [[ 9.99890705e-01 6.65097178e-03 -1.32038503e-02 3.11625306e+00] [-6.61446242e-03 9.99974185e-01 2.80680115e-03 2.75588721e-01] [ 1.32221774e-02 -2.71915801e-03 9.99908886e-01 1.25872541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38255784400002 meters Centerline goodness : 0.120535 Centerline is valid? [False, False] Translation: X:3.12, Y:0.28, Z:1.26 [[ 9.99885008e-01 6.65040732e-03 -1.36287462e-02 3.11728245e+00] [-6.61829659e-03 9.99975219e-01 2.39985195e-03 2.77831699e-01] [ 1.36443685e-02 -2.30937691e-03 9.99904244e-01 1.25877465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41255784400002 meters Centerline goodness : 0.158767 Centerline is valid? [False, False] Translation: X:3.12, Y:0.28, Z:1.26 [[ 9.99885356e-01 6.63209906e-03 -1.36120967e-02 3.11725416e+00] [-6.60286702e-03 9.99975800e-01 2.19132492e-03 2.79202224e-01] [ 1.36263004e-02 -2.10119483e-03 9.99904950e-01 1.25872470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44255784400002 meters Centerline goodness : 0.123896 Centerline is valid? [False, False] Translation: X:3.10, Y:0.28, Z:1.26 [[ 9.99894369e-01 -2.27941263e-03 -1.43546071e-02 3.09659740e+00] [ 2.32564658e-03 9.99992160e-01 3.20497590e-03 2.84458630e-01] [ 1.43471891e-02 -3.23802110e-03 9.99891831e-01 1.25784580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47255784400002 meters Centerline goodness : 0.139808 Centerline is valid? [False, False] Translation: X:3.12, Y:0.29, Z:1.26 [[ 9.99935840e-01 4.26562717e-03 -1.04937931e-02 3.11583044e+00] [-4.26437105e-03 9.99990897e-01 1.42073859e-04 2.85947112e-01] [ 1.04943036e-02 -9.73153159e-05 9.99944929e-01 1.25714246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50255784400002 meters Centerline goodness : 0.122469 Centerline is valid? [False, False] Translation: X:3.11, Y:0.29, Z:1.26 [[ 9.99940961e-01 4.20830581e-03 -1.00182487e-02 3.11429795e+00] [-4.20627940e-03 9.99991129e-01 2.23333742e-04 2.85333228e-01] [ 1.00190997e-02 -1.81181003e-04 9.99949791e-01 1.25778166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53255784400002 meters Centerline goodness : 0.163722 Centerline is valid? [False, False] Translation: X:3.11, Y:0.28, Z:1.26 [[ 9.99944072e-01 4.15918995e-03 -9.72385762e-03 3.11332199e+00] [-4.15553997e-03 9.99991287e-01 3.95537126e-04 2.84229151e-01] [ 9.72541802e-03 -3.55107125e-04 9.99952644e-01 1.25823759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56255784400003 meters Centerline goodness : 0.146337 Centerline is valid? [False, False] Translation: X:3.11, Y:0.28, Z:1.26 [[ 9.99944392e-01 4.14996870e-03 -9.69489981e-03 3.11316548e+00] [-4.14376361e-03 9.99991197e-01 6.60035679e-04 2.82741079e-01] [ 9.69755359e-03 -6.19825603e-04 9.99952786e-01 1.25842840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59255784400003 meters Centerline goodness : 0.206745 Centerline is valid? [False, False] Translation: X:3.11, Y:0.28, Z:1.26 [[ 9.99949441e-01 1.82120526e-04 -1.00539290e-02 3.11459920e+00] [-2.12355707e-04 9.99995458e-01 -3.00631444e-03 2.81062191e-01] [ 1.00533358e-02 3.00829746e-03 9.99944939e-01 1.25764018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62255784400003 meters Centerline goodness : 0.164505 Centerline is valid? [False, False] Translation: X:3.12, Y:0.28, Z:1.26 [[ 9.99944141e-01 1.88678322e-04 -1.05678747e-02 3.11600640e+00] [-2.17702992e-04 9.99996208e-01 -2.74541715e-03 2.79299890e-01] [ 1.05673167e-02 2.74756445e-03 9.99940390e-01 1.25748905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.652557844 meters Centerline goodness : 0.126986 Centerline is valid? [False, False] Translation: X:3.12, Y:0.28, Z:1.26 [[ 9.99941916e-01 3.05914124e-04 -1.07736622e-02 3.11652701e+00] [-3.31613528e-04 9.99997104e-01 -2.38368608e-03 2.77462764e-01] [ 1.07729018e-02 2.38712031e-03 9.99939121e-01 1.25749166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.682557844 meters Centerline goodness : 0.136005 Centerline is valid? [False, False] Translation: X:3.12, Y:0.28, Z:1.26 [[ 9.99942567e-01 4.31913282e-04 -1.07087402e-02 3.11633802e+00] [-4.54414585e-04 9.99997694e-01 -2.09886505e-03 2.76235022e-01] [ 1.07078090e-02 2.10361071e-03 9.99940457e-01 1.25753889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.712557844 meters Centerline goodness : 0.145168 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99946863e-01 6.89952957e-04 -1.02856762e-02 3.11503683e+00] [-7.07347916e-04 9.99998326e-01 -1.68764088e-03 2.74778576e-01] [ 1.02844946e-02 1.69482676e-03 9.99945677e-01 1.25794605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.742557844 meters Centerline goodness : 0.220136 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99947289e-01 7.69284254e-04 -1.02384996e-02 3.11482110e+00] [-7.84899149e-04 9.99998535e-01 -1.52118471e-03 2.73946263e-01] [ 1.02373143e-02 1.52914072e-03 9.99946428e-01 1.25811297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.772557844 meters Centerline goodness : 0.136637 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99947543e-01 8.62762370e-04 -1.02062634e-02 3.11475753e+00] [-8.75764311e-04 9.99998811e-01 -1.26951712e-03 2.72635562e-01] [ 1.02051560e-02 1.27838881e-03 9.99947109e-01 1.25810481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.802557844 meters Centerline goodness : 0.134750 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99946900e-01 1.15680715e-03 -1.02400397e-02 3.11512429e+00] [-1.16162423e-03 9.99999217e-01 -4.64480853e-04 2.68634410e-01] [ 1.02394943e-02 4.76351268e-04 9.99947462e-01 1.25762334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.832557844 meters Centerline goodness : 0.148690 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99945306e-01 1.29451039e-03 -1.03782933e-02 3.11561318e+00] [-1.29475735e-03 9.99999162e-01 -1.70771141e-05 2.66331645e-01] [ 1.03782625e-02 3.05135516e-05 9.99946144e-01 1.25740398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.862557844 meters Centerline goodness : 0.069208 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99942514e-01 1.44388503e-03 -1.06246621e-02 3.11623074e+00] [-1.43926472e-03 9.99998866e-01 4.42499968e-04 2.63991503e-01] [ 1.06252889e-02 -4.27182829e-04 9.99943459e-01 1.25743596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.892557844 meters Centerline goodness : 0.070829 Centerline is valid? [False, False] Translation: X:3.10, Y:0.25, Z:1.26 [[ 9.99897781e-01 8.79200052e-03 -1.12751460e-02 3.09835245e+00] [-8.80523689e-03 9.99960600e-01 -1.12483794e-03 2.54035804e-01] [ 1.12648122e-02 1.22400329e-03 9.99935801e-01 1.25600868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.922557844 meters Centerline goodness : 0.070740 Centerline is valid? [False, False] Translation: X:3.10, Y:0.25, Z:1.26 [[ 9.99891783e-01 9.03931483e-03 -1.16065758e-02 3.09938057e+00] [-9.04784511e-03 9.99958834e-01 -6.82652309e-04 2.52152038e-01] [ 1.15999273e-02 7.87592935e-04 9.99932408e-01 1.25584115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.952557844 meters Centerline goodness : 0.163748 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99925033e-01 1.86452284e-03 -1.21017706e-02 3.11802808e+00] [-1.85423918e-03 9.99997910e-01 8.60929345e-04 2.59209860e-01] [ 1.21033506e-02 -8.38425226e-04 9.99926400e-01 1.25689660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.982557844 meters Centerline goodness : 0.148028 Centerline is valid? [False, False] Translation: X:3.07, Y:0.26, Z:1.26 [[ 9.99884936e-01 1.03727818e-03 -1.51340493e-02 3.07378694e+00] [-1.01120823e-03 9.99997992e-01 1.73015274e-03 2.55160516e-01] [ 1.51358135e-02 -1.71464998e-03 9.99883977e-01 1.25742747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.012557844 meters Centerline goodness : 0.071514 Centerline is valid? [False, False] Translation: X:3.07, Y:0.25, Z:1.26 [[ 9.99884644e-01 1.18489657e-03 -1.51424564e-02 3.07379467e+00] [-1.15334249e-03 9.99997146e-01 2.09237796e-03 2.53408834e-01] [ 1.51448925e-02 -2.07467215e-03 9.99883157e-01 1.25745004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04255784400002 meters Centerline goodness : 0.167351 Centerline is valid? [False, False] Translation: X:3.07, Y:0.25, Z:1.26 [[ 9.99886115e-01 1.31089749e-03 -1.50346023e-02 3.07307489e+00] [-1.27372281e-03 9.99996109e-01 2.48191665e-03 2.51513015e-01] [ 1.50377974e-02 -2.46248408e-03 9.99883894e-01 1.25823927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07255784400002 meters Centerline goodness : 0.141421 Centerline is valid? [False, False] Translation: X:3.07, Y:0.25, Z:1.26 [[ 9.99887838e-01 1.44736901e-03 -1.49069321e-02 3.07245001e+00] [-1.40363317e-03 9.99994681e-01 2.94397113e-03 2.49224211e-01] [ 1.49111139e-02 -2.92271707e-03 9.99884552e-01 1.25880933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10255784400002 meters Centerline goodness : 0.166170 Centerline is valid? [False, False] Translation: X:3.07, Y:0.25, Z:1.26 [[ 9.99887475e-01 1.60143371e-03 -1.49155076e-02 3.07231829e+00] [-1.54952762e-03 9.99992706e-01 3.49091500e-03 2.46523673e-01] [ 1.49209893e-02 -3.46741020e-03 9.99882664e-01 1.25913464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13255784400002 meters Centerline goodness : 0.125600 Centerline is valid? [False, False] Translation: X:3.03, Y:0.24, Z:1.26 [[ 9.99851408e-01 -4.30011833e-04 -1.72330005e-02 3.02768565e+00] [ 5.05059261e-04 9.99990408e-01 4.35075164e-03 2.35014304e-01] [ 1.72309643e-02 -4.35880884e-03 9.99842035e-01 1.25922924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16255784400002 meters Centerline goodness : 0.164395 Centerline is valid? [False, False] Translation: X:3.07, Y:0.23, Z:1.26 [[ 9.99869729e-01 -7.24336287e-04 -1.61245253e-02 3.06994328e+00] [ 7.91643901e-04 9.99990999e-01 4.16824710e-03 2.33463841e-01] [ 1.61213609e-02 -4.18046898e-03 9.99861303e-01 1.25902433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19255784400002 meters Centerline goodness : 0.110187 Centerline is valid? [False, False] Translation: X:3.07, Y:0.23, Z:1.26 [[ 9.99869897e-01 -6.21214011e-04 -1.61184386e-02 3.06980317e+00] [ 6.93258600e-04 9.99989794e-01 4.46449783e-03 2.32014652e-01] [ 1.61155007e-02 -4.47509122e-03 9.99860122e-01 1.25931985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22255784400002 meters Centerline goodness : 0.157972 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 0.99986173 0.00851999 -0.01428018 3.08898603] [-0.008474 0.99995872 0.00327763 0.22777121] [ 0.01430752 -0.00315617 0.99989266 1.26059257] [ 0. 0. 0. 1. ]] SLAMing on 242.25255784400002 meters Centerline goodness : 0.121531 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 0.99986564 0.00856373 -0.01397742 3.08799632] [-0.00851952 0.99995853 0.00321896 0.22821223] [ 0.01400441 -0.00309945 0.99989713 1.26106528] [ 0. 0. 0. 1. ]] SLAMing on 242.28255784400002 meters Centerline goodness : 0.158094 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99919845e-01 9.41388455e-04 -1.26260353e-02 3.10543162e+00] [-8.83492224e-04 9.99989074e-01 4.59025821e-03 2.34761364e-01] [ 1.26302186e-02 -4.57873527e-03 9.99909752e-01 1.26211983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31255784400003 meters Centerline goodness : 0.160245 Centerline is valid? [False, False] Translation: X:3.10, Y:0.23, Z:1.26 [[ 9.99923231e-01 1.03086165e-03 -1.23478876e-02 3.10449375e+00] [-9.72999209e-04 9.99988523e-01 4.69111035e-03 2.34436092e-01] [ 1.23525818e-02 -4.67873573e-03 9.99912758e-01 1.26253265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34255784400003 meters Centerline goodness : 0.153259 Centerline is valid? [False, False] Translation: X:3.10, Y:0.23, Z:1.26 [[ 9.99930332e-01 -1.37586464e-03 -1.17234141e-02 3.10197854e+00] [ 1.40136030e-03 9.99996671e-01 2.16682696e-03 2.32740470e-01] [ 1.17203938e-02 -2.18310473e-03 9.99928931e-01 1.26344881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37255784400003 meters Centerline goodness : 0.121694 Centerline is valid? [False, False] Translation: X:3.08, Y:0.23, Z:1.26 [[ 9.99916912e-01 5.59923998e-03 -1.16111134e-02 3.08370706e+00] [-5.59164192e-03 9.99984131e-01 6.86739268e-04 2.26622407e-01] [ 1.16147744e-02 -6.21757020e-04 9.99932353e-01 1.26058925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.402557844 meters Centerline goodness : 0.109712 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 9.99912734e-01 5.68016059e-03 -1.19272757e-02 3.08509103e+00] [-5.67196413e-03 9.99983654e-01 7.20917600e-04 2.26559893e-01] [ 1.19311756e-02 -6.53203609e-04 9.99928608e-01 1.25975896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.432557844 meters Centerline goodness : 0.113553 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 9.99906978e-01 5.74916125e-03 -1.23686447e-02 3.08682586e+00] [-5.74123480e-03 9.99983290e-01 6.76262302e-04 2.26926916e-01] [ 1.23723260e-02 -6.05188101e-04 9.99923277e-01 1.25882835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.462557844 meters Centerline goodness : 0.116935 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 9.99889014e-01 6.03889558e-03 -1.36195188e-02 3.09105092e+00] [-6.03203600e-03 9.99981659e-01 5.44680755e-04 2.28233364e-01] [ 1.36225583e-02 -4.62466875e-04 9.99907102e-01 1.25711489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.492557844 meters Centerline goodness : 0.157018 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:1.26 [[ 9.99871534e-01 -2.71699109e-04 -1.60262672e-02 3.11004024e+00] [ 2.93915990e-04 9.99998999e-01 1.38394012e-03 2.37022361e-01] [ 1.60258751e-02 -1.38847271e-03 9.99870613e-01 1.25873563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.522557844 meters Centerline goodness : 0.158838 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:1.26 [[ 9.99870524e-01 -3.47731637e-04 -1.60877229e-02 3.11046904e+00] [ 3.67014485e-04 9.99999218e-01 1.19566953e-03 2.37857399e-01] [ 1.60872946e-02 -1.20141914e-03 9.99869869e-01 1.25823878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.552557844 meters Centerline goodness : 0.127792 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:1.26 [[ 9.99872706e-01 -3.84483441e-04 -1.59506484e-02 3.11008176e+00] [ 4.02200668e-04 9.99999306e-01 1.10755979e-03 2.38274819e-01] [ 1.59502115e-02 -1.11383417e-03 9.99872167e-01 1.25826692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.582557844 meters Centerline goodness : 0.144491 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:1.26 [[ 9.99875682e-01 -3.77723970e-04 -1.57631564e-02 3.10927458e+00] [ 3.95637033e-04 9.99999280e-01 1.13328512e-03 2.38194073e-01] [ 1.57627170e-02 -1.13938072e-03 9.99875111e-01 1.25882001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.612557844 meters Centerline goodness : 0.160769 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:1.26 [[ 9.99879149e-01 -3.61757436e-04 -1.55420697e-02 3.10811769e+00] [ 3.82702331e-04 9.99999023e-01 1.34467281e-03 2.37385658e-01] [ 1.55415680e-02 -1.35045830e-03 9.99878311e-01 1.25984780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.642557844 meters Centerline goodness : 0.156809 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:1.26 [[ 9.99875228e-01 -3.64850066e-04 -1.57922674e-02 3.10884868e+00] [ 3.88331442e-04 9.99998824e-01 1.48384980e-03 2.36571681e-01] [ 1.57917075e-02 -1.48979729e-03 9.99874193e-01 1.25971998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.672557844 meters Centerline goodness : 0.118861 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 9.99838174e-01 6.73459711e-03 -1.66814548e-02 3.09039570e+00] [-6.73171343e-03 9.99977316e-01 2.29013795e-04 2.29887617e-01] [ 1.66826187e-02 -1.16681962e-04 9.99860829e-01 1.25779707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.702557844 meters Centerline goodness : 0.118861 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 9.99838174e-01 6.73459711e-03 -1.66814548e-02 3.09039570e+00] [-6.73171343e-03 9.99977316e-01 2.29013795e-04 2.29887617e-01] [ 1.66826187e-02 -1.16681962e-04 9.99860829e-01 1.25779707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.732557844 meters Centerline goodness : 0.158591 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99871905e-01 -2.34600631e-03 -1.58325538e-02 3.11120919e+00] [ 2.35253128e-03 9.99997155e-01 3.93511544e-04 2.34771730e-01] [ 1.58315856e-02 -4.30707715e-04 9.99874580e-01 1.25739589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.762557844 meters Centerline goodness : 0.155986 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99871830e-01 -2.26876886e-03 -1.58485473e-02 3.11114983e+00] [ 2.27968795e-03 9.99997176e-01 6.70932719e-04 2.33436226e-01] [ 1.58469803e-02 -7.06976468e-04 9.99874179e-01 1.25758561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79255784400002 meters Centerline goodness : 0.159744 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99870821e-01 -2.19309865e-03 -1.59227068e-02 3.11118073e+00] [ 2.20795332e-03 9.99997143e-01 9.15403974e-04 2.32318295e-01] [ 1.59206537e-02 -9.50442316e-04 9.99872807e-01 1.25784393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82255784400002 meters Centerline goodness : 0.161871 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99870166e-01 -2.12987506e-03 -1.59722855e-02 3.11126686e+00] [ 2.14797891e-03 9.99997070e-01 1.11638459e-03 2.31377975e-01] [ 1.59698610e-02 -1.15054778e-03 9.99871812e-01 1.25790910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85255784400002 meters Centerline goodness : 0.164856 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99866609e-01 -2.04884694e-03 -1.62038769e-02 3.11190498e+00] [ 2.07333301e-03 9.99996734e-01 1.49446940e-03 2.29288609e-01] [ 1.62007620e-02 -1.52786609e-03 9.99867592e-01 1.25786627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88255784400002 meters Centerline goodness : 0.160793 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99865591e-01 -2.03312899e-03 -1.62685614e-02 3.11218785e+00] [ 2.05961571e-03 9.99996581e-01 1.61150281e-03 2.28489527e-01] [ 1.62652293e-02 -1.64479320e-03 9.99866360e-01 1.25768717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91255784400002 meters Centerline goodness : 0.165039 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:1.26 [[ 9.99868382e-01 5.88004176e-03 -1.51210037e-02 3.13260044e+00] [-5.89107400e-03 9.99982413e-01 -6.85157737e-04 2.26192523e-01] [ 1.51167090e-02 7.74146510e-04 9.99885436e-01 1.25788545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94255784400002 meters Centerline goodness : 0.134333 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99880137e-01 -3.14484307e-03 -1.51598534e-02 3.11385516e+00] [ 3.13655733e-03 9.99994918e-01 -5.70303462e-04 2.32955033e-01] [ 1.51615698e-02 5.22685354e-04 9.99884920e-01 1.25738078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97255784400002 meters Centerline goodness : 0.165835 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:1.26 [[ 9.99879708e-01 6.11036397e-03 -1.42560102e-02 3.13322971e+00] [-6.13884271e-03 9.99979247e-01 -1.95476097e-03 2.31773854e-01] [ 1.42437701e-02 2.04204123e-03 9.99896467e-01 1.25894489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00255784400002 meters Centerline goodness : 0.166884 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:1.26 [[ 9.99880757e-01 6.09796929e-03 -1.41875692e-02 3.13306027e+00] [-6.12879792e-03 9.99978949e-01 -2.13046869e-03 2.32716272e-01] [ 1.41742790e-02 2.21716739e-03 9.99897082e-01 1.25900543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03255784400002 meters Centerline goodness : 0.116319 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:1.26 [[ 9.99879049e-01 6.08503921e-03 -1.43129200e-02 3.13362248e+00] [-6.11921975e-03 9.99978527e-01 -2.34550894e-03 2.33862537e-01] [ 1.42983402e-02 2.43280915e-03 9.99894814e-01 1.25865025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06255784400003 meters Centerline goodness : 0.173700 Centerline is valid? [False, False] Translation: X:3.13, Y:0.24, Z:1.26 [[ 9.99876262e-01 6.04346726e-03 -1.45236727e-02 3.13446321e+00] [-6.08233668e-03 9.99978034e-01 -2.63360042e-03 2.35214399e-01] [ 1.45074376e-02 2.72161241e-03 9.99891058e-01 1.25819179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09255784400003 meters Centerline goodness : 0.125998 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99893347e-01 -1.07782146e-03 -1.45647733e-02 3.15267289e+00] [ 1.05623824e-03 9.99998333e-01 -1.48948961e-03 2.45830149e-01] [ 1.45663545e-02 1.47394688e-03 9.99892819e-01 1.25947809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12255784400003 meters Centerline goodness : 0.084633 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99896702e-01 -1.06353854e-03 -1.43336569e-02 3.15171188e+00] [ 1.04149847e-03 9.99998264e-01 -1.54502158e-03 2.46393164e-01] [ 1.43352752e-02 1.52993351e-03 9.99896074e-01 1.26008276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.152557844 meters Centerline goodness : 0.112705 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99899000e-01 -1.05288163e-03 -1.41732540e-02 3.15093444e+00] [ 1.03075806e-03 9.99998239e-01 -1.56815263e-03 2.46624698e-01] [ 1.41748801e-02 1.55338506e-03 9.99898325e-01 1.26070284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.182557844 meters Centerline goodness : 0.178137 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99898105e-01 -1.08298557e-03 -1.42340066e-02 3.15098449e+00] [ 1.06024514e-03 9.99998150e-01 -1.60506149e-03 2.46642064e-01] [ 1.42357186e-02 1.58980641e-03 9.99897403e-01 1.26086096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.212557844 meters Centerline goodness : 0.162540 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99892513e-01 -1.21790517e-03 -1.46109148e-02 3.15245754e+00] [ 1.19284753e-03 9.99997803e-01 -1.72358690e-03 2.46699438e-01] [ 1.46129819e-02 1.70597304e-03 9.99891769e-01 1.25993325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.242557844 meters Centerline goodness : 0.166627 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99892866e-01 -1.16853100e-03 -1.45908122e-02 3.15244747e+00] [ 1.14530250e-03 9.99998064e-01 -1.60024964e-03 2.46279057e-01] [ 1.45926539e-02 1.58336730e-03 9.99892268e-01 1.25979529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.272557844 meters Centerline goodness : 0.137138 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99894884e-01 -1.07252278e-03 -1.44593093e-02 3.15191062e+00] [ 1.05343246e-03 9.99998564e-01 -1.32783028e-03 2.45239264e-01] [ 1.44607127e-02 1.31245880e-03 9.99894577e-01 1.26012494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.302557844 meters Centerline goodness : 0.153731 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:1.26 [[ 9.99874446e-01 -8.76275681e-03 -1.32025205e-02 3.17171128e+00] [ 8.76024654e-03 9.99961598e-01 -2.47955909e-04 2.48749924e-01] [ 1.32041863e-02 1.32267443e-04 9.99912812e-01 1.26152977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.332557844 meters Centerline goodness : 0.138803 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:1.26 [[ 9.99868628e-01 -9.35061797e-03 -1.32397930e-02 3.17131799e+00] [ 9.35000692e-03 9.99956282e-01 -1.08052215e-04 2.45438178e-01] [ 1.32402246e-02 -1.57541358e-05 9.99912344e-01 1.26254792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.362557844 meters Centerline goodness : 0.167664 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:1.26 [[ 9.99862708e-01 -9.27873591e-03 -1.37284687e-02 3.17263350e+00] [ 9.28343935e-03 9.99956869e-01 2.78915773e-04 2.43164191e-01] [ 1.37252886e-02 -4.06324887e-04 9.99905721e-01 1.26245849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.392557844 meters Centerline goodness : 0.143115 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:1.26 [[ 9.99860813e-01 -9.10220673e-03 -1.39822727e-02 3.17355996e+00] [ 9.11329716e-03 9.99958207e-01 7.29665677e-04 2.41424256e-01] [ 1.39750468e-02 -8.56988723e-04 9.99901977e-01 1.26188949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.422557844 meters Centerline goodness : 0.128397 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:1.26 [[ 9.99862038e-01 -8.98117992e-03 -1.39729731e-02 3.17368158e+00] [ 8.99770324e-03 9.99958893e-01 1.12010294e-03 2.39997341e-01] [ 1.39623389e-02 -1.24567308e-03 9.99901746e-01 1.26156000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.452557844 meters Centerline goodness : 0.136840 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:1.26 [[ 9.99866390e-01 -8.87248458e-03 -1.37288383e-02 3.17272155e+00] [ 8.89377582e-03 9.99959339e-01 1.49056344e-03 2.38464016e-01] [ 1.37150550e-02 -1.61246549e-03 9.99904644e-01 1.26215992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.482557844 meters Centerline goodness : 0.136096 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:1.26 [[ 9.99865995e-01 -8.75981898e-03 -1.38295766e-02 3.17282013e+00] [ 8.78281689e-03 9.99960145e-01 1.60309210e-03 2.37909684e-01] [ 1.38149826e-02 -1.72433991e-03 9.99903082e-01 1.26252945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.512557844 meters Centerline goodness : 0.142773 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:1.26 [[ 9.99862540e-01 -8.59524122e-03 -1.41782835e-02 3.17377940e+00] [ 8.62057378e-03 9.99961352e-01 1.72656742e-03 2.37388441e-01] [ 1.41628953e-02 -1.84855503e-03 9.99897992e-01 1.26253616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54255784400002 meters Centerline goodness : 0.084429 Centerline is valid? [False, False] Translation: X:3.18, Y:0.24, Z:1.26 [[ 9.99856727e-01 -8.42945989e-03 -1.46788674e-02 3.17527854e+00] [ 8.45707310e-03 9.99962582e-01 1.82009699e-03 2.36929948e-01] [ 1.46629757e-02 -1.94397647e-03 9.99890603e-01 1.26232436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57255784400002 meters Centerline goodness : 0.163332 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 9.99848427e-01 9.78344121e-04 -1.73829070e-02 3.16125575e+00] [-9.68395603e-04 9.99999362e-01 5.80724328e-04 2.29744577e-01] [ 1.73834641e-02 -5.63802775e-04 9.99848737e-01 1.26146686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60255784400002 meters Centerline goodness : 0.088994 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 9.99836740e-01 3.06297533e-03 -1.78076023e-02 3.16282119e+00] [-3.02246836e-03 9.99992785e-01 2.30116972e-03 2.33971734e-01] [ 1.78145222e-02 -2.24697112e-03 9.99838784e-01 1.26118155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63255784400002 meters Centerline goodness : 0.165227 Centerline is valid? [False, False] Translation: X:3.18, Y:0.24, Z:1.26 [[ 9.99861505e-01 -1.76676263e-03 -1.65484146e-02 3.18491152e+00] [ 1.85775619e-03 9.99983232e-01 5.48486927e-03 2.37572890e-01] [ 1.65384466e-02 -5.51485256e-03 9.99848022e-01 1.26108116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66255784400002 meters Centerline goodness : 0.164721 Centerline is valid? [False, False] Translation: X:3.18, Y:0.24, Z:1.26 [[ 9.99866748e-01 -1.78500960e-03 -1.62264921e-02 3.18383855e+00] [ 1.87070954e-03 9.99984375e-01 5.26783943e-03 2.38920990e-01] [ 1.62168354e-02 -5.29749253e-03 9.99854465e-01 1.26146842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69255784400002 meters Centerline goodness : 0.133738 Centerline is valid? [False, False] Translation: X:3.18, Y:0.24, Z:1.26 [[ 9.99869291e-01 -1.97956565e-03 -1.60462760e-02 3.18324683e+00] [ 2.05643114e-03 9.99986484e-01 4.77515449e-03 2.40873839e-01] [ 1.60366064e-02 -4.80752840e-03 9.99859848e-01 1.26177742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72255784400002 meters Centerline goodness : 0.160249 Centerline is valid? [False, False] Translation: X:3.18, Y:0.24, Z:1.26 [[ 9.99870757e-01 -2.09096448e-03 -1.59404067e-02 3.18309251e+00] [ 2.16229348e-03 9.99987722e-01 4.45880780e-03 2.42341676e-01] [ 1.59308878e-02 -4.49269937e-03 9.99863002e-01 1.26154352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75255784400002 meters Centerline goodness : 0.130379 Centerline is valid? [False, False] Translation: X:3.20, Y:0.24, Z:1.26 [[ 0.99987035 0.00719363 -0.01440626 3.20440662] [-0.00714491 0.99996859 0.00343041 0.24381965] [ 0.01443048 -0.00332703 0.99989034 1.26072904] [ 0. 0. 0. 1. ]] SLAMing on 243.78255784400002 meters Centerline goodness : 0.139932 Centerline is valid? [False, False] Translation: X:3.20, Y:0.25, Z:1.26 [[ 9.99872481e-01 7.07551464e-03 -1.43163653e-02 3.20427934e+00] [-7.03063844e-03 9.99970220e-01 3.18251423e-03 2.45081607e-01] [ 1.43384569e-02 -3.08145521e-03 9.99892451e-01 1.26047100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81255784400003 meters Centerline goodness : 0.162848 Centerline is valid? [False, False] Translation: X:3.20, Y:0.25, Z:1.26 [[ 9.99873894e-01 6.86715400e-03 -1.43191774e-02 3.20421908e+00] [-6.82602310e-03 9.99972441e-01 2.91933342e-03 2.46094767e-01] [ 1.43388303e-02 -2.82122223e-03 9.99893214e-01 1.26043561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84255784400003 meters Centerline goodness : 0.131178 Centerline is valid? [False, False] Translation: X:3.20, Y:0.25, Z:1.26 [[ 9.99870858e-01 6.52251766e-03 -1.46875702e-02 3.20479173e+00] [-6.48826521e-03 9.99976122e-01 2.37851572e-03 2.47990611e-01] [ 1.47027334e-02 -2.28291170e-03 9.99889303e-01 1.26097641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87255784400003 meters Centerline goodness : 0.137876 Centerline is valid? [False, False] Translation: X:3.20, Y:0.25, Z:1.26 [[ 9.99873603e-01 6.45545886e-03 -1.45294633e-02 3.20437641e+00] [-6.42203169e-03 9.99976626e-01 2.34612974e-03 2.48344122e-01] [ 1.45442690e-02 -2.25252452e-03 9.99891689e-01 1.26081810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.902557844 meters Centerline goodness : 0.130523 Centerline is valid? [False, False] Translation: X:3.20, Y:0.25, Z:1.26 [[ 9.99874598e-01 6.37209202e-03 -1.44977744e-02 3.20442225e+00] [-6.34185479e-03 9.99977620e-01 2.13066558e-03 2.49584850e-01] [ 1.45110268e-02 -2.03845561e-03 9.99892632e-01 1.26056725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.932557844 meters Centerline goodness : 0.162002 Centerline is valid? [False, False] Translation: X:3.20, Y:0.25, Z:1.26 [[ 9.99875535e-01 6.26920572e-03 -1.44779460e-02 3.20452771e+00] [-6.24291073e-03 9.99978782e-01 1.86069104e-03 2.51033351e-01] [ 1.44893039e-02 -1.77007492e-03 9.99893458e-01 1.26026024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.962557844 meters Centerline goodness : 0.129873 Centerline is valid? [False, False] Translation: X:3.22, Y:0.26, Z:1.26 [[ 9.99872564e-01 -1.04519359e-03 -1.59299218e-02 3.22237244e+00] [ 1.08564437e-03 9.99996208e-01 2.53085926e-03 2.60034120e-01] [ 1.59272161e-02 -2.54783097e-03 9.99869908e-01 1.26227997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.992557844 meters Centerline goodness : 0.156078 Centerline is valid? [False, False] Translation: X:3.22, Y:0.26, Z:1.26 [[ 9.99875566e-01 -1.56792004e-03 -1.56969485e-02 3.22133618e+00] [ 1.59706128e-03 9.99997024e-01 1.84412722e-03 2.61830176e-01] [ 1.56940103e-02 -1.86896673e-03 9.99875095e-01 1.26285318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.022557844 meters Centerline goodness : 0.135123 Centerline is valid? [False, False] Translation: X:3.22, Y:0.26, Z:1.26 [[ 9.99875518e-01 -1.61465988e-03 -1.56952598e-02 3.22135641e+00] [ 1.64192406e-03 9.99997165e-01 1.72436580e-03 2.62562320e-01] [ 1.56924310e-02 -1.74992158e-03 9.99875335e-01 1.26276545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.052557844 meters Centerline goodness : 0.152818 Centerline is valid? [False, False] Translation: X:3.22, Y:0.27, Z:1.26 [[ 9.99872196e-01 4.48873281e-04 -1.59809597e-02 3.22276867e+00] [-3.91932737e-04 9.99993565e-01 3.56597771e-03 2.66946442e-01] [ 1.59824576e-02 -3.55925850e-03 9.99865937e-01 1.26206600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.082557844 meters Centerline goodness : 0.075928 Centerline is valid? [False, False] Translation: X:3.22, Y:0.27, Z:1.26 [[ 9.99869557e-01 3.14611367e-04 -1.61483983e-02 3.22350457e+00] [-2.61703620e-04 9.99994592e-01 3.27835501e-03 2.68261684e-01] [ 1.61493424e-02 -3.27370128e-03 9.99864232e-01 1.26156569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.112557844 meters Centerline goodness : 0.156073 Centerline is valid? [False, False] Translation: X:3.22, Y:0.27, Z:1.26 [[ 9.99864049e-01 2.75157740e-04 -1.64865912e-02 3.22447125e+00] [-2.24222775e-04 9.99995197e-01 3.09124707e-03 2.68845756e-01] [ 1.64873626e-02 -3.08713014e-03 9.99859308e-01 1.26146141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.142557844 meters Centerline goodness : 0.071020 Centerline is valid? [False, False] Translation: X:3.19, Y:0.27, Z:1.26 [[ 9.99846664e-01 3.29595834e-03 -1.71983893e-02 3.19357161e+00] [-3.27186030e-03 9.99993626e-01 1.42912985e-03 2.66810666e-01] [ 1.72029901e-02 -1.37263998e-03 9.99851075e-01 1.26181564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.172557844 meters Centerline goodness : 0.070719 Centerline is valid? [False, False] Translation: X:3.21, Y:0.27, Z:1.26 [[ 9.99871531e-01 -4.00489804e-03 -1.55203839e-02 3.21211814e+00] [ 4.04662543e-03 9.99988280e-01 2.65808251e-03 2.72047551e-01] [ 1.55095566e-02 -2.72054621e-03 9.99876018e-01 1.26331112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.202557844 meters Centerline goodness : 0.158632 Centerline is valid? [False, False] Translation: X:3.19, Y:0.26, Z:1.26 [[ 9.99892347e-01 4.31501200e-03 -1.40241103e-02 3.19107996e+00] [-4.28790551e-03 9.99988881e-01 1.96234342e-03 2.64690644e-01] [ 1.40324219e-02 -1.90199811e-03 9.99899732e-01 1.26243686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.232557844 meters Centerline goodness : 0.151126 Centerline is valid? [False, False] Translation: X:3.24, Y:0.27, Z:1.26 [[ 9.99916171e-01 5.50449529e-03 -1.17196657e-02 3.23517698e+00] [-5.49522725e-03 9.99984563e-01 8.22867010e-04 2.71215123e-01] [ 1.17240143e-02 -7.58395804e-04 9.99930984e-01 1.26160462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.262557844 meters Centerline goodness : 0.135915 Centerline is valid? [False, False] Translation: X:3.24, Y:0.27, Z:1.26 [[ 9.99915804e-01 5.41996844e-03 -1.17902017e-02 3.23552448e+00] [-5.41433554e-03 9.99985213e-01 5.09627585e-04 2.72769892e-01] [ 1.17927895e-02 -4.45748568e-04 9.99930363e-01 1.26128356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29255784400002 meters Centerline goodness : 0.069885 Centerline is valid? [False, False] Translation: X:3.25, Y:0.28, Z:1.26 [[ 9.99923020e-01 -1.11872410e-03 -1.23573204e-02 3.25453081e+00] [ 1.14511680e-03 9.99997078e-01 2.12892561e-03 2.82120178e-01] [ 1.23549026e-02 -2.14291230e-03 9.99921379e-01 1.26248776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32255784400002 meters Centerline goodness : 0.134510 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:1.26 [[ 9.99884748e-01 -1.56558950e-03 -1.51009840e-02 3.20879903e+00] [ 1.61272064e-03 9.99993865e-01 3.10939130e-03 2.80074085e-01] [ 1.50960233e-02 -3.13338661e-03 9.99881139e-01 1.26369286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35255784400002 meters Centerline goodness : 0.130734 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:1.26 [[ 9.99883601e-01 -1.66960076e-03 -1.51656737e-02 3.20908805e+00] [ 1.71273347e-03 9.99994524e-01 2.83155817e-03 2.81175440e-01] [ 1.51608631e-02 -2.85720333e-03 9.99880985e-01 1.26350316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38255784400002 meters Centerline goodness : 0.133136 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:1.26 [[ 9.99882365e-01 -1.70062687e-03 -1.52434853e-02 3.20936292e+00] [ 1.74292141e-03 9.99994667e-01 2.76174275e-03 2.81357337e-01] [ 1.52387074e-02 -2.78798607e-03 9.99879997e-01 1.26337226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41255784400002 meters Centerline goodness : 0.135006 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:1.26 [[ 9.99882499e-01 -1.67317037e-03 -1.52377072e-02 3.20926312e+00] [ 1.71537169e-03 9.99994729e-01 2.75688324e-03 2.81523979e-01] [ 1.52330142e-02 -2.78269764e-03 9.99880099e-01 1.26347311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44255784400002 meters Centerline goodness : 0.226798 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:1.26 [[ 9.99883385e-01 -1.67210719e-03 -1.51796145e-02 3.20904297e+00] [ 1.71260950e-03 9.99995007e-01 2.65559692e-03 2.82227685e-01] [ 1.51750982e-02 -2.68128399e-03 9.99881257e-01 1.26358423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47255784400002 meters Centerline goodness : 0.136214 Centerline is valid? [False, False] Translation: X:3.19, Y:0.28, Z:1.26 [[ 9.99873170e-01 5.76470993e-03 -1.48462590e-02 3.18949963e+00] [-5.74182163e-03 9.99982261e-01 1.58385183e-03 2.77434452e-01] [ 1.48551261e-02 -1.49840638e-03 9.99888534e-01 1.26168125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50255784400002 meters Centerline goodness : 0.228851 Centerline is valid? [False, False] Translation: X:3.19, Y:0.28, Z:1.26 [[ 9.99873796e-01 5.62143496e-03 -1.48590384e-02 3.18972308e+00] [-5.60412070e-03 9.99983569e-01 1.20661583e-03 2.79011865e-01] [ 1.48655772e-02 -1.12319171e-03 9.99888870e-01 1.26131482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53255784400002 meters Centerline goodness : 0.145412 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99870422e-01 -3.35451008e-03 -1.57444072e-02 3.17070500e+00] [ 3.38784151e-03 9.99992075e-01 2.09083918e-03 2.85398579e-01] [ 1.57372687e-02 -2.14390781e-03 9.99873863e-01 1.26009982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56255784400003 meters Centerline goodness : 0.131662 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99870389e-01 -3.39673369e-03 -1.57374274e-02 3.17093289e+00] [ 3.42677402e-03 9.99992357e-01 1.88227329e-03 2.86607055e-01] [ 1.57309135e-02 -1.93595794e-03 9.99874387e-01 1.25961378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59255784400003 meters Centerline goodness : 0.133788 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99869835e-01 -3.46038849e-03 -1.57587819e-02 3.17095219e+00] [ 3.48693995e-03 9.99992547e-01 1.65770262e-03 2.87881500e-01] [ 1.57529281e-02 -1.71243677e-03 9.99874449e-01 1.25959025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62255784400003 meters Centerline goodness : 0.133788 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99869835e-01 -3.46038849e-03 -1.57587819e-02 3.17095219e+00] [ 3.48693995e-03 9.99992547e-01 1.65770262e-03 2.87881500e-01] [ 1.57529281e-02 -1.71243677e-03 9.99874449e-01 1.25959025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.652557844 meters Centerline goodness : 0.126953 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99870584e-01 -3.61618507e-03 -1.56760536e-02 3.17011377e+00] [ 3.63663863e-03 9.99992573e-01 1.27645507e-03 2.89756849e-01] [ 1.56713213e-02 -1.33329801e-03 9.99876308e-01 1.26061587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.682557844 meters Centerline goodness : 0.161669 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99881354e-01 4.61962558e-03 -1.46947770e-02 3.18929737e+00] [-4.62823599e-03 9.99989137e-01 -5.51996861e-04 2.88100418e-01] [ 1.46920674e-02 6.19942265e-04 9.99891874e-01 1.26196112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.712557844 meters Centerline goodness : 0.134494 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99880875e-01 4.53283954e-03 -1.47543251e-02 3.18958284e+00] [-4.54332289e-03 9.99989450e-01 -6.77086334e-04 2.88663921e-01] [ 1.47511003e-02 7.44039339e-04 9.99890920e-01 1.26165373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.742557844 meters Centerline goodness : 0.154302 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99863084e-01 -4.34566903e-03 -1.59664614e-02 3.16977829e+00] [ 4.35782539e-03 9.99990241e-01 7.26655336e-04 2.92789227e-01] [ 1.59631478e-02 -7.96134896e-04 9.99872264e-01 1.26036293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.772557844 meters Centerline goodness : 0.156469 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99864403e-01 -4.41088307e-03 -1.58656635e-02 3.16962687e+00] [ 4.41982848e-03 9.99990093e-01 5.28802099e-04 2.93927562e-01] [ 1.58631738e-02 -5.98853907e-04 9.99873993e-01 1.26013839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.802557844 meters SLAMing on 244.832557844 meters Centerline goodness : 0.129325 Centerline is valid? [False, False] Translation: X:3.17, Y:0.30, Z:1.26 [[ 9.99867969e-01 -4.91859809e-03 -1.54871738e-02 3.16799598e+00] [ 4.90934666e-03 9.99987747e-01 -6.35322626e-04 2.99142984e-01] [ 1.54901089e-02 5.59206839e-04 9.99879865e-01 1.26124720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.862557844 meters Centerline goodness : 0.202529 Centerline is valid? [False, False] Translation: X:3.19, Y:0.30, Z:1.26 [[ 9.99898064e-01 3.61975126e-03 -1.38115847e-02 3.18643422e+00] [-3.65461686e-03 9.99990197e-01 -2.49996986e-03 3.00050828e-01] [ 1.38024000e-02 2.55019107e-03 9.99901490e-01 1.26273876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.892557844 meters Centerline goodness : 0.135913 Centerline is valid? [False, False] Translation: X:3.19, Y:0.30, Z:1.26 [[ 9.99902745e-01 3.48968663e-03 -1.35027247e-02 3.18543577e+00] [-3.53011336e-03 9.99989355e-01 -2.97129332e-03 3.02790991e-01] [ 1.34922121e-02 3.01867049e-03 9.99904419e-01 1.26296925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.922557844 meters Centerline goodness : 0.134004 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:1.26 [[ 0.99991215 0.00327265 -0.01284492 3.18413716] [-0.00331668 0.99998869 -0.00340871 0.30613335] [ 0.01283362 0.00345101 0.99991169 1.261947 ] [ 0. 0. 0. 1. ]] SLAMing on 244.952557844 meters Centerline goodness : 0.136793 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:1.26 [[ 9.99912161e-01 3.10552492e-03 -1.28851075e-02 3.18438727e+00] [-3.15425452e-03 9.99987944e-01 -3.76325709e-03 3.07634833e-01] [ 1.28732652e-02 3.80356944e-03 9.99909902e-01 1.26167239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.982557844 meters Centerline goodness : 0.136183 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:1.26 [[ 9.99912214e-01 2.93045000e-03 -1.29219240e-02 3.18442471e+00] [-2.98347597e-03 9.99987201e-01 -4.08620017e-03 3.08934067e-01] [ 1.29097842e-02 4.12439371e-03 9.99908159e-01 1.26176876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.012557844 meters Centerline goodness : 0.131753 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:1.26 [[ 9.99914611e-01 2.74564310e-03 -1.27762115e-02 3.18356024e+00] [-2.80270326e-03 9.99986169e-01 -4.45036582e-03 3.10641551e-01] [ 1.27638157e-02 4.48579373e-03 9.99908477e-01 1.26255907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04255784400002 meters Centerline goodness : 0.135612 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:1.26 [[ 9.99915838e-01 2.71105979e-03 -1.26872585e-02 3.18325770e+00] [-2.76810698e-03 9.99986129e-01 -4.48101776e-03 3.10869248e-01] [ 1.26749342e-02 4.51576032e-03 9.99909473e-01 1.26262673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07255784400002 meters Centerline goodness : 0.132623 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:1.26 [[ 9.99915953e-01 2.69178116e-03 -1.26823522e-02 3.18331999e+00] [-2.74930708e-03 9.99986002e-01 -4.52065449e-03 3.11043417e-01] [ 1.26700061e-02 4.55514223e-03 9.99909357e-01 1.26250593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10255784400002 meters Centerline goodness : 0.157881 Centerline is valid? [False, False] Translation: X:3.16, Y:0.31, Z:1.26 [[ 0.9998896 -0.00633593 -0.01344027 3.16407238] [ 0.00629105 0.9999745 -0.00337915 0.31448683] [ 0.01346134 0.00329422 0.99990397 1.26084436] [ 0. 0. 0. 1. ]] SLAMing on 245.13255784400002 meters Centerline goodness : 0.133288 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 0.99988307 -0.00641365 -0.01388187 3.16556069] [ 0.00636642 0.9999738 -0.00344368 0.31432138] [ 0.01390359 0.0033549 0.99989771 1.26019867] [ 0. 0. 0. 1. ]] SLAMing on 245.16255784400002 meters Centerline goodness : 0.131300 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 0.99988048 -0.0063794 -0.01408292 3.16616447] [ 0.00633286 0.99997435 -0.00334636 0.31383297] [ 0.01410391 0.00325678 0.99989523 1.26001873] [ 0. 0. 0. 1. ]] SLAMing on 245.19255784400002 meters Centerline goodness : 0.152130 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 9.99879850e-01 -6.29062996e-03 -1.41673323e-02 3.16636142e+00] [ 6.24634933e-03 9.99975474e-01 -3.16762787e-03 3.13094865e-01] [ 1.41869112e-02 3.07875317e-03 9.99894621e-01 1.26003849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22255784400002 meters Centerline goodness : 0.122571 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 9.99879760e-01 -6.20043973e-03 -1.42134014e-02 3.16639800e+00] [ 6.15876420e-03 9.99976612e-01 -2.97402753e-03 3.12316737e-01] [ 1.42315093e-02 2.88613295e-03 9.99894562e-01 1.26016027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25255784400002 meters Centerline goodness : 0.126735 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 9.99879795e-01 -6.12537278e-03 -1.42434269e-02 3.16645670e+00] [ 6.08607218e-03 9.99977557e-01 -2.80092064e-03 3.11500186e-01] [ 1.42602639e-02 2.71389743e-03 9.99894634e-01 1.26022150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28255784400002 meters Centerline goodness : 0.125295 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 9.99878087e-01 -6.09323588e-03 -1.43764867e-02 3.16691657e+00] [ 6.05525627e-03 9.99978065e-01 -2.68383880e-03 3.10763299e-01] [ 1.43925246e-02 2.59645829e-03 9.99893051e-01 1.26001256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31255784400003 meters Centerline goodness : 0.138243 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 9.99873192e-01 -5.97427870e-03 -1.47617005e-02 3.16828351e+00] [ 5.94051963e-03 9.99979641e-01 -2.32972837e-03 3.08763346e-01] [ 1.47753184e-02 2.24174077e-03 9.99888326e-01 1.25935730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34255784400003 meters Centerline goodness : 0.133868 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 9.99873534e-01 -5.81672859e-03 -1.48014106e-02 3.16848693e+00] [ 5.78801821e-03 9.99981285e-01 -1.98180477e-03 3.07246389e-01] [ 1.48126612e-02 1.89588330e-03 9.99888489e-01 1.25912773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37255784400003 meters Centerline goodness : 0.211638 Centerline is valid? [False, False] Translation: X:3.19, Y:0.30, Z:1.26 [[ 9.99890906e-01 2.76926399e-03 -1.45088362e-02 3.18781904e+00] [-2.81070806e-03 9.99992026e-01 -2.83685919e-03 3.01925104e-01] [ 1.45008645e-02 2.87732981e-03 9.99890717e-01 1.26040776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.402557844 meters Centerline goodness : 0.147944 Centerline is valid? [False, False] Translation: X:3.19, Y:0.30, Z:1.26 [[ 9.99889129e-01 2.94771468e-03 -1.45959026e-02 3.18793828e+00] [-2.98173244e-03 9.99992888e-01 -2.30942438e-03 2.99384685e-01] [ 1.45889913e-02 2.35268941e-03 9.99890807e-01 1.26061297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.432557844 meters Centerline goodness : 0.170648 Centerline is valid? [False, False] Translation: X:3.19, Y:0.30, Z:1.26 [[ 9.99896654e-01 -9.68185175e-04 -1.43437822e-02 3.18722739e+00] [ 8.84600684e-04 9.99982600e-01 -5.83242711e-03 2.96625892e-01] [ 1.43491795e-02 5.81913583e-03 9.99880112e-01 1.26071449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.462557844 meters Centerline goodness : 0.151302 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99895446e-01 -8.33732367e-04 -1.44361629e-02 3.18729664e+00] [ 7.55324057e-04 9.99984940e-01 -5.43598228e-03 2.94649887e-01] [ 1.44404777e-02 5.42450994e-03 9.99881017e-01 1.26102568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.492557844 meters Centerline goodness : 0.151060 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99896027e-01 -7.19679427e-04 -1.44019896e-02 3.18720623e+00] [ 6.44714418e-04 9.99986224e-01 -5.20915027e-03 2.93737385e-01] [ 1.44055402e-02 5.19932349e-03 9.99882717e-01 1.26100454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.522557844 meters Centerline goodness : 0.216177 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99896679e-01 -5.98432355e-04 -1.43622428e-02 3.18722047e+00] [ 5.25733640e-04 9.99987034e-01 -5.06503590e-03 2.93394256e-01] [ 1.43650877e-02 5.05696186e-03 9.99884029e-01 1.26080757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.552557844 meters Centerline goodness : 0.147742 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99898687e-01 -4.19268393e-04 -1.42281309e-02 3.18747269e+00] [ 3.48441989e-04 9.99987539e-01 -4.98002728e-03 2.93179414e-01] [ 1.42300416e-02 4.97456506e-03 9.99886373e-01 1.25983320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.582557844 meters Centerline goodness : 0.129214 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99897442e-01 -4.25916459e-04 -1.43151411e-02 3.18786390e+00] [ 3.54196181e-04 9.99987376e-01 -5.01226125e-03 2.93063523e-01] [ 1.43170952e-02 5.00667683e-03 9.99884970e-01 1.25954432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.612557844 meters Centerline goodness : 0.128700 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99898143e-01 -3.79906482e-04 -1.42674464e-02 3.18778681e+00] [ 3.08469879e-04 9.99987408e-01 -5.00883187e-03 2.93136791e-01] [ 1.42691696e-02 5.00392060e-03 9.99885669e-01 1.25945573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.642557844 meters Centerline goodness : 0.142478 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99898715e-01 -3.07332533e-04 -1.42290450e-02 3.18761097e+00] [ 2.35620285e-04 9.99987265e-01 -5.04125179e-03 2.93659005e-01] [ 1.42304132e-02 5.03738853e-03 9.99886054e-01 1.25953581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.672557844 meters Centerline goodness : 0.148959 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99900856e-01 -2.66263186e-04 -1.40786252e-02 3.18708149e+00] [ 1.93500816e-04 9.99986620e-01 -5.16939620e-03 2.94702172e-01] [ 1.40798132e-02 5.16615946e-03 9.99887529e-01 1.25971675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.702557844 meters Centerline goodness : 0.151822 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:1.26 [[ 9.99911095e-01 -1.55413794e-04 -1.33333321e-02 3.18468792e+00] [ 8.38218737e-05 9.99985579e-01 -5.36978533e-03 2.96261048e-01] [ 1.33339744e-02 5.36819030e-03 9.99896688e-01 1.26057165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.732557844 meters Centerline goodness : 0.151999 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:1.26 [[ 9.99916351e-01 -1.76034120e-04 -1.29328719e-02 3.18343897e+00] [ 1.04564588e-04 9.99984722e-01 -5.52666027e-03 2.97102868e-01] [ 1.29336472e-02 5.52484566e-03 9.99901094e-01 1.26097224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.762557844 meters Centerline goodness : 0.187459 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:1.26 [[ 9.99921956e-01 -1.44383247e-04 -1.24924710e-02 3.18207777e+00] [ 7.45902329e-05 9.99984389e-01 -5.58709177e-03 2.97640343e-01] [ 1.24930826e-02 5.58572391e-03 9.99906357e-01 1.26137467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79255784400002 meters Centerline goodness : 0.225615 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:1.26 [[ 9.99926211e-01 -1.05842810e-04 -1.21474995e-02 3.18101370e+00] [ 3.75916501e-05 9.99984215e-01 -5.61862651e-03 2.98082033e-01] [ 1.21479024e-02 5.61775528e-03 9.99910431e-01 1.26166395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82255784400002 meters Centerline goodness : 0.218759 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:1.26 [[ 9.99923245e-01 -8.18607172e-05 -1.23894266e-02 3.18211431e+00] [ 1.26808145e-05 9.99984411e-01 -5.58376124e-03 2.97950821e-01] [ 1.23896905e-02 5.58317555e-03 9.99907658e-01 1.26075186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85255784400002 meters Centerline goodness : 0.208816 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:1.26 [[ 9.99919850e-01 -4.72193190e-05 -1.26606571e-02 3.18293208e+00] [-2.04138867e-05 9.99985732e-01 -5.34181561e-03 2.96591489e-01] [ 1.26607287e-02 5.34164591e-03 9.99905582e-01 1.26051007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88255784400002 meters Centerline goodness : 0.132571 Centerline is valid? [False, False] Translation: X:3.18, Y:0.29, Z:1.26 [[ 9.99916962e-01 4.41257047e-05 -1.28867086e-02 3.18336432e+00] [-1.07499928e-04 9.99987905e-01 -4.91714619e-03 2.94395754e-01] [ 1.28863358e-02 4.91812320e-03 9.99904873e-01 1.26075105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91255784400002 meters Centerline goodness : 0.139916 Centerline is valid? [False, False] Translation: X:3.14, Y:0.29, Z:1.26 [[ 9.99878513e-01 -2.10571901e-03 -1.54442564e-02 3.13749384e+00] [ 2.03235108e-03 9.99986584e-01 -4.76465709e-03 2.87696371e-01] [ 1.54540822e-02 4.73269010e-03 9.99869378e-01 1.26236036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94255784400002 meters Centerline goodness : 0.143004 Centerline is valid? [False, False] Translation: X:3.18, Y:0.29, Z:1.26 [[ 9.99911309e-01 -1.97574539e-03 -1.31707867e-02 3.18108916e+00] [ 1.90203873e-03 9.99982475e-01 -5.60640191e-03 2.87671531e-01] [ 1.31816327e-02 5.58085333e-03 9.99897544e-01 1.26263034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97255784400002 meters Centerline goodness : 0.146725 Centerline is valid? [False, False] Translation: X:3.18, Y:0.28, Z:1.26 [[ 9.99911386e-01 -2.13121823e-03 -1.31407349e-02 3.18080767e+00] [ 2.06801330e-03 9.99986238e-01 -4.82156070e-03 2.82495808e-01] [ 1.31508298e-02 4.79395823e-03 9.99902032e-01 1.26321093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00255784400002 meters Centerline goodness : 0.130165 Centerline is valid? [False, False] Translation: X:3.14, Y:0.28, Z:1.26 [[ 0.99987028 -0.0037424 -0.01566596 3.13566735] [ 0.00367566 0.99998406 -0.00428705 0.27611676] [ 0.01568175 0.00422891 0.99986809 1.26391564] [ 0. 0. 0. 1. ]] SLAMing on 246.03255784400002 meters Centerline goodness : 0.123579 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 0.9998685 -0.00361018 -0.01580969 3.13616842] [ 0.00354841 0.99998597 -0.00393332 0.27436899] [ 0.01582367 0.00387671 0.99986728 1.26371394] [ 0. 0. 0. 1. ]] SLAMing on 246.06255784400003 meters Centerline goodness : 0.130785 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 0.99986807 -0.00351713 -0.01585768 3.13646228] [ 0.00345762 0.99998689 -0.00377818 0.27372217] [ 0.01587076 0.00372285 0.99986712 1.26339766] [ 0. 0. 0. 1. ]] SLAMing on 246.09255784400003 meters Centerline goodness : 0.142785 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99871306e-01 -3.16916148e-03 -1.57266913e-02 3.13618286e+00] [ 3.11424090e-03 9.99988971e-01 -3.51545082e-03 2.73426367e-01] [ 1.57376589e-02 3.46602170e-03 9.99870148e-01 1.26327921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12255784400003 meters Centerline goodness : 0.127537 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99868447e-01 -3.10173552e-03 -1.59206596e-02 3.13666665e+00] [ 3.04673191e-03 9.99989311e-01 -3.47795045e-03 2.73339007e-01] [ 1.59312771e-02 3.42898694e-03 9.99867209e-01 1.26327820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.152557844 meters Centerline goodness : 0.120563 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99865417e-01 -3.08964268e-03 -1.61121851e-02 3.13723864e+00] [ 3.03469202e-03 9.99989500e-01 -3.43383806e-03 2.72888591e-01] [ 1.61226253e-02 3.38448041e-03 9.99864294e-01 1.26315315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.182557844 meters Centerline goodness : 0.127431 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99861995e-01 -3.07345338e-03 -1.63262256e-02 3.13785649e+00] [ 3.01944601e-03 9.99989892e-01 -3.33163366e-03 2.72094195e-01] [ 1.63363002e-02 3.28187772e-03 9.99861168e-01 1.26302410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.212557844 meters Centerline goodness : 0.150704 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99865533e-01 -2.92790280e-03 -1.61351507e-02 3.13711742e+00] [ 2.88258113e-03 9.99991837e-01 -2.83141950e-03 2.69632834e-01] [ 1.61433091e-02 2.78452789e-03 9.99865811e-01 1.26342905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.242557844 meters Centerline goodness : 0.124225 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99869727e-01 -2.79101493e-03 -1.58977537e-02 3.13625187e+00] [ 2.75106599e-03 9.99993005e-01 -2.53418219e-03 2.68502969e-01] [ 1.59047155e-02 2.49011629e-03 9.99870411e-01 1.26386248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.272557844 meters Centerline goodness : 0.126891 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99876867e-01 4.54864405e-03 -1.50186543e-02 3.11604039e+00] [-4.59436315e-03 9.99984913e-01 -3.01105632e-03 2.61543077e-01] [ 1.50047315e-02 3.07968671e-03 9.99882680e-01 1.26269206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.302557844 meters Centerline goodness : 0.157859 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99875969e-01 4.61201659e-03 -1.50590927e-02 3.11613934e+00] [-4.65377293e-03 9.99985420e-01 -2.73896765e-03 2.60252087e-01] [ 1.50462410e-02 2.80870953e-03 9.99882854e-01 1.26269277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.332557844 meters Centerline goodness : 0.158067 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99867388e-01 4.73571030e-03 -1.55814139e-02 3.11799839e+00] [-4.77513968e-03 9.99985488e-01 -2.49430903e-03 2.59016155e-01] [ 1.55693755e-02 2.56838168e-03 9.99875491e-01 1.26186714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.362557844 meters Centerline goodness : 0.136753 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99866930e-01 4.74866971e-03 -1.56067880e-02 3.11808294e+00] [-4.78845968e-03 9.99985377e-01 -2.51315051e-03 2.59183027e-01] [ 1.55946257e-02 2.58754856e-03 9.99875048e-01 1.26183785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.392557844 meters Centerline goodness : 0.139626 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99866571e-01 4.75454312e-03 -1.56280246e-02 3.11813558e+00] [-4.79564987e-03 9.99985137e-01 -2.59389993e-03 2.59683800e-01] [ 1.56154595e-02 2.66850036e-03 9.99874510e-01 1.26185178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.422557844 meters Centerline goodness : 0.175086 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99867405e-01 4.72803769e-03 -1.55826445e-02 3.11826628e+00] [-4.77261071e-03 9.99984622e-01 -2.82448206e-03 2.61016984e-01] [ 1.55690506e-02 2.89847744e-03 9.99874594e-01 1.26145468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.452557844 meters Centerline goodness : 0.125180 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:1.26 [[ 0.9998896 0.0059053 -0.013635 3.16405852] [-0.00595363 0.99997613 -0.00350642 0.26625657] [ 0.01361396 0.00358721 0.99990089 1.26018818] [ 0. 0. 0. 1. ]] SLAMing on 246.482557844 meters Centerline goodness : 0.129804 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:1.26 [[ 0.99988935 0.00584911 -0.01367786 3.16431572] [-0.00589971 0.99997589 -0.00366152 0.26695393] [ 0.01365611 0.00374181 0.99989975 1.25994325] [ 0. 0. 0. 1. ]] SLAMing on 246.512557844 meters Centerline goodness : 0.129804 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:1.26 [[ 0.99988935 0.00584911 -0.01367786 3.16431572] [-0.00589971 0.99997589 -0.00366152 0.26695393] [ 0.01365611 0.00374181 0.99989975 1.25994325] [ 0. 0. 0. 1. ]] SLAMing on 246.54255784400002 meters Centerline goodness : 0.160158 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99854937e-01 4.78747940e-03 -1.63457706e-02 3.11887053e+00] [-4.83824144e-03 9.99983591e-01 -3.06738364e-03 2.63870513e-01] [ 1.63308174e-02 3.14602347e-03 9.99861694e-01 1.26100698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57255784400002 meters Centerline goodness : 0.154710 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99855525e-01 4.80297921e-03 -1.63052284e-02 3.11899681e+00] [-4.85275670e-03 9.99983681e-01 -3.01466300e-03 2.63859454e-01] [ 1.62904830e-02 3.09335276e-03 9.99862516e-01 1.26055387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60255784400002 meters Centerline goodness : 0.136188 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99855606e-01 4.80635475e-03 -1.62992791e-02 3.11899256e+00] [-4.85569308e-03 9.99983745e-01 -2.98880281e-03 2.63721847e-01] [ 1.62846489e-02 3.06751554e-03 9.99862691e-01 1.26052349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63255784400002 meters Centerline goodness : 0.127036 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99866170e-01 -3.21563967e-03 -1.60406309e-02 3.13853822e+00] [ 3.18138866e-03 9.99992606e-01 -2.16032641e-03 2.70942905e-01] [ 1.60474591e-02 2.10900581e-03 9.99869007e-01 1.26120831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66255784400002 meters Centerline goodness : 0.156477 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 0.99986726 0.00398111 -0.01579914 3.11952503] [-0.00403252 0.99998667 -0.00322368 0.26508523] [ 0.01578609 0.00328696 0.99986999 1.25923019] [ 0. 0. 0. 1. ]] SLAMing on 246.69255784400002 meters Centerline goodness : 0.161247 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 0.99986874 0.00398134 -0.01570508 3.11928306] [-0.00403205 0.99998676 -0.00319834 0.26506635] [ 0.01569214 0.00326124 0.99987155 1.2592131 ] [ 0. 0. 0. 1. ]] SLAMing on 246.72255784400002 meters Centerline goodness : 0.150886 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99890313e-01 -3.37407433e-03 -1.44214517e-02 3.13725892e+00] [ 3.34870949e-03 9.99992804e-01 -1.78261316e-03 2.73904524e-01] [ 1.44273626e-02 1.73412437e-03 9.99894416e-01 1.26018971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75255784400002 meters Centerline goodness : 0.155652 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99892233e-01 -3.39670070e-03 -1.42823466e-02 3.13682003e+00] [ 3.36923654e-03 9.99992430e-01 -1.94656669e-03 2.74843479e-01] [ 1.42888504e-02 1.89823631e-03 9.99896107e-01 1.26033744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78255784400002 meters Centerline goodness : 0.137020 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99902664e-01 4.02944378e-03 -1.33576569e-02 3.11672534e+00] [-4.06821241e-03 9.99987588e-01 -2.87645180e-03 2.70669766e-01] [ 1.33459006e-02 2.93051360e-03 9.99906645e-01 1.25851732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81255784400003 meters Centerline goodness : 0.125167 Centerline is valid? [False, False] Translation: X:3.14, Y:0.28, Z:1.26 [[ 9.99917615e-01 -3.30865401e-03 -1.24022826e-02 3.13507273e+00] [ 3.28895195e-03 9.99993298e-01 -1.60864261e-03 2.79515508e-01] [ 1.24075219e-02 1.56771957e-03 9.99921795e-01 1.25936250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84255784400003 meters Centerline goodness : 0.143087 Centerline is valid? [False, False] Translation: X:3.13, Y:0.28, Z:1.26 [[ 9.99920608e-01 -3.32005094e-03 -1.21554241e-02 3.13421547e+00] [ 3.29630622e-03 9.99992621e-01 -1.97293989e-03 2.81688000e-01] [ 1.21618846e-02 1.93271525e-03 9.99924174e-01 1.25965276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87255784400003 meters Centerline goodness : 0.157689 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99872195e-01 -4.41889489e-03 -1.53644744e-02 3.08931108e+00] [ 4.39621629e-03 9.99989197e-01 -1.50950276e-03 2.78570682e-01] [ 1.53709788e-02 1.44176429e-03 9.99880820e-01 1.26069066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.902557844 meters Centerline goodness : 0.127246 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99869969e-01 -4.48671994e-03 -1.54891611e-02 3.08979125e+00] [ 4.46140072e-03 9.99988655e-01 -1.66880798e-03 2.79244858e-01] [ 1.54964728e-02 1.59948763e-03 9.99878643e-01 1.26036245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.932557844 meters Centerline goodness : 0.126583 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99867752e-01 -4.53337197e-03 -1.56181399e-02 3.09020232e+00] [ 4.50599703e-03 9.99988250e-01 -1.78751035e-03 2.79851125e-01] [ 1.56260598e-02 1.71689866e-03 9.99876432e-01 1.26016121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.962557844 meters Centerline goodness : 0.116089 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99874421e-01 -4.49214169e-03 -1.51974466e-02 3.08856761e+00] [ 4.46441454e-03 9.99988309e-01 -1.85789502e-03 2.80886358e-01] [ 1.52056148e-02 1.78981400e-03 9.99882786e-01 1.26102722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.992557844 meters Centerline goodness : 0.126321 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99877461e-01 -4.53591419e-03 -1.49829553e-02 3.08777238e+00] [ 4.50661982e-03 9.99987868e-01 -1.98836497e-03 2.81561581e-01] [ 1.49917925e-02 1.92059884e-03 9.99885772e-01 1.26144956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.022557844 meters Centerline goodness : 0.125205 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99878231e-01 -4.58275719e-03 -1.49171862e-02 3.08744078e+00] [ 4.55214331e-03 9.99987464e-01 -2.08556372e-03 2.81920316e-01] [ 1.49265568e-02 2.01740459e-03 9.99886558e-01 1.26175141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.052557844 meters Centerline goodness : 0.124123 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99878770e-01 -4.62173330e-03 -1.48688987e-02 3.08730011e+00] [ 4.59019778e-03 9.99987144e-01 -2.15433405e-03 2.82140490e-01] [ 1.48786644e-02 2.08582169e-03 9.99887131e-01 1.26174620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.082557844 meters Centerline goodness : 0.162276 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99870601e-01 3.02981205e-03 -1.57987661e-02 3.06775402e+00] [-3.07816036e-03 9.99990651e-01 -3.03684030e-03 2.76523878e-01] [ 1.57894173e-02 3.08507847e-03 9.99870580e-01 1.26047271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.112557844 meters Centerline goodness : 0.156124 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99871696e-01 -2.67118110e-03 -1.57941900e-02 3.09091460e+00] [ 2.66606632e-03 9.99996387e-01 -3.44885999e-04 2.79800117e-01] [ 1.57950541e-02 3.02733390e-04 9.99875205e-01 1.26008811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.142557844 meters Centerline goodness : 0.155203 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99872232e-01 -2.63256507e-03 -1.57667073e-02 3.09074555e+00] [ 2.62996691e-03 9.99996524e-01 -1.85519403e-04 2.78980903e-01] [ 1.57671409e-02 1.44029781e-04 9.99875681e-01 1.26024978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.172557844 meters Centerline goodness : 0.159282 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99872631e-01 -2.62298161e-03 -1.57429717e-02 3.09050060e+00] [ 2.62231819e-03 9.99996560e-01 -6.27834692e-05 2.78180969e-01] [ 1.57430822e-02 2.14923915e-05 9.99876070e-01 1.26060290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.202557844 meters Centerline goodness : 0.155471 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99873107e-01 -2.57220033e-03 -1.57211357e-02 3.09037010e+00] [ 2.57466347e-03 9.99996676e-01 1.36439366e-04 2.77222346e-01] [ 1.57207325e-02 -1.76898687e-04 9.99876406e-01 1.26073263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.232557844 meters Centerline goodness : 0.126078 Centerline is valid? [False, False] Translation: X:3.07, Y:0.27, Z:1.26 [[ 9.99858617e-01 5.00880337e-03 -1.60517308e-02 3.07145830e+00] [-5.02347724e-03 9.99987000e-01 -8.73971406e-04 2.72520028e-01] [ 1.60471446e-02 9.54483345e-04 9.99870781e-01 1.25854565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.262557844 meters Centerline goodness : 0.155134 Centerline is valid? [False, False] Translation: X:3.07, Y:0.27, Z:1.26 [[ 9.99853473e-01 5.06614512e-03 -1.63513817e-02 3.07272450e+00] [-5.08104552e-03 9.99986713e-01 -8.69847183e-04 2.72723517e-01] [ 1.63467576e-02 9.52801841e-04 9.99865929e-01 1.25776648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29255784400002 meters Centerline goodness : 0.217495 Centerline is valid? [False, False] Translation: X:3.07, Y:0.27, Z:1.26 [[ 9.99848301e-01 5.08637186e-03 -1.66584507e-02 3.07411129e+00] [-5.10215282e-03 9.99986574e-01 -9.04961715e-04 2.72948457e-01] [ 1.66536241e-02 9.89818394e-04 9.99860829e-01 1.25683502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32255784400002 meters Centerline goodness : 0.156737 Centerline is valid? [False, False] Translation: X:3.07, Y:0.27, Z:1.26 [[ 9.99845581e-01 5.05598041e-03 -1.68300894e-02 3.07497208e+00] [-5.07392585e-03 9.99986604e-01 -1.02374113e-03 2.73546606e-01] [ 1.68246879e-02 1.10897767e-03 9.99857840e-01 1.25618377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35255784400002 meters Centerline goodness : 0.126116 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99852355e-01 4.95419463e-03 -1.64536992e-02 3.07368801e+00] [-4.97467829e-03 9.99986901e-01 -1.20423203e-03 2.75172323e-01] [ 1.64475177e-02 1.28590609e-03 9.99863904e-01 1.25634816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38255784400002 meters Centerline goodness : 0.160594 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99855120e-01 4.92067705e-03 -1.62949378e-02 3.07314271e+00] [-4.94426290e-03 9.99986787e-01 -1.40746434e-03 2.76505597e-01] [ 1.62877968e-02 1.48782688e-03 9.99866238e-01 1.25655385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41255784400002 meters Centerline goodness : 0.114957 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:1.26 [[ 9.99850029e-01 -4.11596660e-03 -1.68219827e-02 3.05354700e+00] [ 4.10677412e-03 9.99991398e-01 -5.80964229e-04 2.82652176e-01] [ 1.68242292e-02 5.11793018e-04 9.99858332e-01 1.25543267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44255784400002 meters Centerline goodness : 0.161858 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:1.25 [[ 9.99846405e-01 -4.31538387e-03 -1.69865870e-02 3.05428059e+00] [ 4.30023439e-03 9.99990323e-01 -9.28274686e-04 2.83826865e-01] [ 1.69904285e-02 8.55085802e-04 9.99855287e-01 1.25482661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47255784400002 meters Centerline goodness : 0.160187 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99868140e-01 4.10607053e-03 -1.57112180e-02 3.07342531e+00] [-4.14493820e-03 9.99988428e-01 -2.44211687e-03 2.81540259e-01] [ 1.57010087e-02 2.50691688e-03 9.99873589e-01 1.25556652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50255784400002 meters Centerline goodness : 0.160534 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.25 [[ 9.99858449e-01 -5.08620268e-03 -1.60378590e-02 3.05275907e+00] [ 5.06282591e-03 9.99986062e-01 -1.49786405e-03 2.86127819e-01] [ 1.60452539e-02 1.41645514e-03 9.99870263e-01 1.25462547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53255784400002 meters Centerline goodness : 0.144463 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99884101e-01 3.13999264e-03 -1.48971198e-02 3.07225145e+00] [-3.18222619e-03 9.99990983e-01 -2.81215750e-03 2.83248807e-01] [ 1.48881553e-02 2.85923758e-03 9.99885077e-01 1.25546528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56255784400003 meters Centerline goodness : 0.160615 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99876946e-01 2.51177792e-03 -1.54849803e-02 3.07363690e+00] [-2.55902803e-03 9.99992128e-01 -3.03229217e-03 2.82594125e-01] [ 1.54772419e-02 3.07154553e-03 9.99875503e-01 1.25574354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59255784400003 meters Centerline goodness : 0.150710 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:1.26 [[ 9.99845779e-01 -7.44648415e-03 -1.59049415e-02 3.05165357e+00] [ 7.40845786e-03 9.99969560e-01 -2.44843131e-03 2.84000931e-01] [ 1.59226895e-02 2.33022263e-03 9.99870511e-01 1.25549651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62255784400003 meters Centerline goodness : 0.109518 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.25 [[ 9.99919153e-01 -2.43287464e-03 -1.24807617e-02 3.07385993e+00] [ 2.35682920e-03 9.99978592e-01 -6.10410616e-03 2.83684894e-01] [ 1.24953450e-02 6.07419764e-03 9.99903481e-01 1.25415050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.652557844 meters Centerline goodness : 0.116088 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.25 [[ 9.99930937e-01 -2.82602292e-03 -1.14076238e-02 3.07060938e+00] [ 2.75843986e-03 9.99978579e-01 -5.93576921e-03 2.82592426e-01] [ 1.14241541e-02 5.90389203e-03 9.99917313e-01 1.25460212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.682557844 meters Centerline goodness : 0.151205 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.25 [[ 9.99932717e-01 -2.80208500e-03 -1.12565343e-02 3.07002984e+00] [ 2.73807097e-03 9.99980016e-01 -5.69822402e-03 2.81458300e-01] [ 1.12722763e-02 5.66701944e-03 9.99920407e-01 1.25493222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.712557844 meters Centerline goodness : 0.113426 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.25 [[ 9.99938360e-01 -2.95018162e-03 -1.07038733e-02 3.06866705e+00] [ 2.89197903e-03 9.99980973e-01 -5.44893604e-03 2.80893069e-01] [ 1.07197450e-02 5.41764479e-03 9.99927865e-01 1.25434141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.742557844 meters Centerline goodness : 0.160950 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:1.25 [[ 0.99991289 0.00602706 -0.01174211 3.0485865 ] [-0.00610091 0.99996177 -0.00626398 0.27599196] [ 0.01170391 0.00633508 0.99991144 1.2542265 ] [ 0. 0. 0. 1. ]] SLAMing on 247.772557844 meters Centerline goodness : 0.148607 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99927069e-01 -9.20818487e-04 -1.20419352e-02 3.06673948e+00] [ 8.56972184e-04 9.99985555e-01 -5.30608256e-03 2.83327536e-01] [ 1.20466472e-02 5.29537598e-03 9.99913415e-01 1.25651200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.802557844 meters Centerline goodness : 0.147711 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99989791 -0.00807038 -0.01179183 3.08529214] [ 0.00801776 0.99995772 -0.00450367 0.29124338] [ 0.01182768 0.00440867 0.99992033 1.25821554] [ 0. 0. 0. 1. ]] SLAMing on 247.832557844 meters Centerline goodness : 0.122699 Centerline is valid? [False, False] Translation: X:3.08, Y:0.29, Z:1.26 [[ 0.99990033 -0.00829269 -0.01142621 3.08426646] [ 0.00823394 0.99995269 -0.00517941 0.29446284] [ 0.01146862 0.00508481 0.9999213 1.25835349] [ 0. 0. 0. 1. ]] SLAMing on 247.862557844 meters Centerline goodness : 0.137685 Centerline is valid? [False, False] Translation: X:3.08, Y:0.30, Z:1.26 [[ 0.99989794 -0.00834687 -0.01159441 3.08483612] [ 0.00828425 0.9999509 -0.00543848 0.29567636] [ 0.01163923 0.00534188 0.99991799 1.25808707] [ 0. 0. 0. 1. ]] SLAMing on 247.892557844 meters Centerline goodness : 0.110683 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:1.26 [[ 0.99989578 -0.00839404 -0.01174615 3.08541709] [ 0.00832832 0.99994946 -0.0056322 0.29657428] [ 0.01179284 0.00553379 0.99991515 1.25775179] [ 0. 0. 0. 1. ]] SLAMing on 247.922557844 meters Centerline goodness : 0.118933 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:1.26 [[ 0.99989198 -0.00847932 -0.01200544 3.08631806] [ 0.00840924 0.99994738 -0.00587587 0.29765349] [ 0.01205463 0.00577428 0.99991067 1.25726697] [ 0. 0. 0. 1. ]] SLAMing on 247.952557844 meters Centerline goodness : 0.111426 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99939982e-01 -1.08090111e-05 -1.09558839e-02 3.06650299e+00] [-6.35357816e-05 9.99976976e-01 -6.78546170e-03 2.90942905e-01] [ 1.09557050e-02 6.78575055e-03 9.99916960e-01 1.25593022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.982557844 meters Centerline goodness : 0.110293 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99941099e-01 -4.22362209e-05 -1.08534330e-02 3.06601292e+00] [-3.22521390e-05 9.99976450e-01 -6.86284842e-03 2.91366737e-01] [ 1.08534673e-02 6.86279424e-03 9.99917549e-01 1.25631925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.012557844 meters Centerline goodness : 0.110302 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99942683e-01 -5.25758862e-05 -1.07064684e-02 3.06541972e+00] [-2.10687560e-05 9.99976344e-01 -6.87828963e-03 2.91464229e-01] [ 1.07065768e-02 6.87812096e-03 9.99919027e-01 1.25669167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04255784400002 meters Centerline goodness : 0.165934 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99943334e-01 -6.71182099e-05 -1.06453449e-02 3.06516338e+00] [-6.33523034e-06 9.99976196e-01 -6.89986882e-03 2.91558295e-01] [ 1.06455546e-02 6.89954528e-03 9.99919531e-01 1.25685137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07255784400002 meters Centerline goodness : 0.111913 Centerline is valid? [False, False] Translation: X:3.08, Y:0.30, Z:1.26 [[ 0.99991418 -0.00739884 -0.01081133 3.08452122] [ 0.0073372 0.99995666 -0.00573019 0.29624385] [ 0.01085326 0.00565037 0.99992514 1.25867238] [ 0. 0. 0. 1. ]] SLAMing on 248.10255784400002 meters Centerline goodness : 0.108228 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99991089 -0.00706132 -0.01132916 3.08653381] [ 0.00700264 0.9999619 -0.00521079 0.29486225] [ 0.01136552 0.00513099 0.99992225 1.2574367 ] [ 0. 0. 0. 1. ]] SLAMing on 248.13255784400002 meters Centerline goodness : 0.115831 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99915647e-01 2.00144994e-03 -1.28332661e-02 3.06949260e+00] [-2.08115252e-03 9.99978612e-01 -6.20027993e-03 2.87509017e-01] [ 1.28205820e-02 6.22646490e-03 9.99898427e-01 1.25622267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16255784400002 meters Centerline goodness : 0.112756 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99989668 -0.00538251 -0.01332881 3.08961794] [ 0.00531221 0.99997182 -0.00530419 0.29154818] [ 0.01335699 0.00523283 0.9998971 1.25740454] [ 0. 0. 0. 1. ]] SLAMing on 248.19255784400002 meters Centerline goodness : 0.109038 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99990255 -0.0054374 -0.01285818 3.08802789] [ 0.00537007 0.99997172 -0.00526527 0.29104983] [ 0.01288645 0.00519571 0.99990347 1.2581265 ] [ 0. 0. 0. 1. ]] SLAMing on 248.22255784400002 meters Centerline goodness : 0.128771 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99990555 -0.00548828 -0.01260031 3.08693976] [ 0.00542144 0.99997108 -0.00533309 0.2910684 ] [ 0.01262922 0.00526428 0.99990639 1.25893314] [ 0. 0. 0. 1. ]] SLAMing on 248.25255784400002 meters Centerline goodness : 0.109950 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99990729 -0.0054824 -0.01246399 3.08630947] [ 0.00541682 0.99997134 -0.00528975 0.29070867] [ 0.01249264 0.00522174 0.99990833 1.25950052] [ 0. 0. 0. 1. ]] SLAMing on 248.28255784400002 meters Centerline goodness : 0.108385 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99990684 -0.0053861 -0.01254207 3.08623909] [ 0.00532184 0.99997257 -0.00515094 0.28992702] [ 0.01256947 0.00508371 0.99990808 1.26001488] [ 0. 0. 0. 1. ]] SLAMing on 248.31255784400003 meters Centerline goodness : 0.162736 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99990314 -0.00486731 -0.01303955 3.08824302] [ 0.00481431 0.99998003 -0.00409325 0.28593924] [ 0.01305921 0.00403008 0.9999066 1.25873945] [ 0. 0. 0. 1. ]] SLAMing on 248.34255784400003 meters Centerline goodness : 0.111938 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 0.99989928 -0.00450163 -0.01345992 3.0899109 ] [ 0.00445608 0.99998425 -0.00341243 0.28351795] [ 0.01347507 0.00335211 0.99990359 1.25774333] [ 0. 0. 0. 1. ]] SLAMing on 248.37255784400003 meters Centerline goodness : 0.137831 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99894997e-01 -4.19786391e-03 -1.38698408e-02 3.09134187e+00] [ 4.15851127e-03 9.99987249e-01 -2.86490480e-03 2.81432294e-01] [ 1.38816905e-02 2.80692609e-03 9.99899705e-01 1.25712863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.402557844 meters Centerline goodness : 0.137831 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99894997e-01 -4.19786391e-03 -1.38698408e-02 3.09134187e+00] [ 4.15851127e-03 9.99987249e-01 -2.86490480e-03 2.81432294e-01] [ 1.38816905e-02 2.80692609e-03 9.99899705e-01 1.25712863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.432557844 meters Centerline goodness : 0.156227 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99894558e-01 -4.03179507e-03 -1.39505328e-02 3.09151296e+00] [ 3.99771496e-03 9.99988959e-01 -2.46995015e-03 2.79625648e-01] [ 1.39603371e-02 2.41391946e-03 9.99899636e-01 1.25720158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.462557844 meters Centerline goodness : 0.160316 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99893861e-01 4.87942160e-03 -1.37279665e-02 3.11002564e+00] [-4.91428686e-03 9.99984782e-01 -2.50713862e-03 2.72208151e-01] [ 1.37155242e-02 2.57433568e-03 9.99902624e-01 1.25837773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.492557844 meters Centerline goodness : 0.153798 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99893857e-01 5.05329779e-03 -1.36652546e-02 3.10967754e+00] [-5.08307299e-03 9.99984780e-01 -2.14504405e-03 2.70594572e-01] [ 1.36542071e-02 2.21427785e-03 9.99904325e-01 1.25872289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.522557844 meters Centerline goodness : 0.153049 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99873105e-01 5.71150303e-03 -1.48712028e-02 3.11363159e+00] [-5.73303757e-03 9.99982578e-01 -1.40584152e-03 2.67849540e-01] [ 1.48629142e-02 1.49092029e-03 9.99888429e-01 1.25757069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.552557844 meters Centerline goodness : 0.159103 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99868110e-01 5.81887749e-03 -1.51625475e-02 3.11489136e+00] [-5.83756783e-03 9.99982255e-01 -1.18869774e-03 2.66761891e-01] [ 1.51553616e-02 1.27705336e-03 9.99884335e-01 1.25673121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.582557844 meters Centerline goodness : 0.155181 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99867435e-01 5.90690470e-03 -1.51730572e-02 3.11514369e+00] [-5.92309317e-03 9.99981936e-01 -1.02220540e-03 2.65970414e-01] [ 1.51667450e-02 1.11194133e-03 9.99884360e-01 1.25636384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.612557844 meters Centerline goodness : 0.128290 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99863970e-01 6.01030911e-03 -1.53596014e-02 3.11557621e+00] [-6.02602021e-03 9.99981366e-01 -9.76807493e-04 2.65703269e-01] [ 1.53534442e-02 1.06923189e-03 9.99881557e-01 1.25657368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.642557844 meters Centerline goodness : 0.145265 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99877980e-01 -1.25361874e-03 -1.55708903e-02 3.13286564e+00] [ 1.25424366e-03 9.99999213e-01 3.03682989e-05 2.73145921e-01] [ 1.55708400e-02 -4.98942838e-05 9.99878766e-01 1.25872986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.672557844 meters Centerline goodness : 0.145175 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99880739e-01 -1.18200012e-03 -1.53983708e-02 3.13224657e+00] [ 1.18413246e-03 9.99999291e-01 1.29361473e-04 2.72767015e-01] [ 1.53982069e-02 -1.47579756e-04 9.99881430e-01 1.25902731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.702557844 meters Centerline goodness : 0.139324 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99886348e-01 -9.78237350e-04 -1.50444292e-02 3.13103027e+00] [ 9.84516371e-04 9.99999431e-01 4.09964657e-04 2.72207153e-01] [ 1.50440196e-02 -4.24729551e-04 9.99886742e-01 1.25947348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.732557844 meters Centerline goodness : 0.142254 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99888287e-01 -9.14284086e-04 -1.49190191e-02 3.13082241e+00] [ 9.23051091e-04 9.99999405e-01 5.80764147e-04 2.71467917e-01] [ 1.49184793e-02 -5.94470286e-04 9.99888537e-01 1.25927675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.762557844 meters Centerline goodness : 0.146894 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99888212e-01 -8.53467574e-04 -1.49276579e-02 3.13082949e+00] [ 8.66627224e-04 9.99999242e-01 8.75115138e-04 2.69836158e-01] [ 1.49268997e-02 -8.87954025e-04 9.99888193e-01 1.25930377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79255784400002 meters Centerline goodness : 0.151252 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99887051e-01 -8.44971668e-04 -1.50056867e-02 3.13085797e+00] [ 8.62963139e-04 9.99998917e-01 1.19254226e-03 2.67796965e-01] [ 1.50046628e-02 -1.20535692e-03 9.99886697e-01 1.25964168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82255784400002 meters Centerline goodness : 0.122737 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99876026e-01 -9.38869564e-04 -1.57178852e-02 3.13241007e+00] [ 9.62496660e-04 9.99998418e-01 1.49570102e-03 2.65691644e-01] [ 1.57164561e-02 -1.51064401e-03 9.99875348e-01 1.25976300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85255784400002 meters Centerline goodness : 0.159731 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99872058e-01 -8.58328019e-04 -1.59728061e-02 3.13325237e+00] [ 8.86287121e-04 9.99998087e-01 1.74342255e-03 2.64484272e-01] [ 1.59712791e-02 -1.75735598e-03 9.99870907e-01 1.25939197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88255784400002 meters Centerline goodness : 0.113029 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99869605e-01 -6.75501728e-04 -1.61343538e-02 3.13388762e+00] [ 7.12558865e-04 9.99997121e-01 2.29114645e-03 2.62593145e-01] [ 1.61327597e-02 -2.30234437e-03 9.99867208e-01 1.25878016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91255784400002 meters Centerline goodness : 0.116498 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:1.26 [[ 9.99834107e-01 7.76299449e-03 -1.64770748e-02 3.11523418e+00] [-7.74690799e-03 9.99969452e-01 1.03990003e-03 2.54539029e-01] [ 1.64846442e-02 -9.12081137e-04 9.99863703e-01 1.25800746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94255784400002 meters Centerline goodness : 0.161367 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99881289e-01 -1.77742169e-03 -1.53051824e-02 3.13299923e+00] [ 1.79727773e-03 9.99997561e-01 1.28368404e-03 2.58534380e-01] [ 1.53028634e-02 -1.31103932e-03 9.99882045e-01 1.25863118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97255784400002 meters Centerline goodness : 0.154432 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99892058e-01 6.77130142e-03 -1.30392076e-02 3.15054686e+00] [-6.77319689e-03 9.99977057e-01 -1.01211301e-04 2.52612877e-01] [ 1.30382231e-02 1.89517496e-04 9.99914981e-01 1.26074609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00255784400002 meters Centerline goodness : 0.136853 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99898464e-01 -1.93216795e-03 -1.41183773e-02 3.13090611e+00] [ 1.95427791e-03 9.99996885e-01 1.55241258e-03 2.55773020e-01] [ 1.41153338e-02 -1.57984619e-03 9.99899126e-01 1.25980488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03255784400002 meters Centerline goodness : 0.115561 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99892987e-01 -1.72752021e-03 -1.45268954e-02 3.13208458e+00] [ 1.75126791e-03 9.99997151e-01 1.62217821e-03 2.55607860e-01] [ 1.45240517e-02 -1.64744510e-03 9.99893163e-01 1.25972336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06255784400003 meters Centerline goodness : 0.156113 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99876077e-01 7.13100745e-03 -1.40349688e-02 3.15217565e+00] [-7.12867383e-03 9.99974567e-01 2.16293722e-04 2.51792825e-01] [ 1.40361542e-02 -1.16216204e-04 9.99901482e-01 1.26087520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09255784400003 meters Centerline goodness : 0.143407 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:1.26 [[ 9.99844356e-01 7.75878700e-03 -1.58450203e-02 3.11618380e+00] [-7.77885073e-03 9.99969018e-01 -1.20500850e-03 2.51973040e-01] [ 1.58351800e-02 1.32807699e-03 9.99873734e-01 1.26147662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12255784400003 meters Centerline goodness : 0.138618 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99860703e-01 1.12280714e-03 -1.66527198e-02 3.13205497e+00] [-1.11016184e-03 9.99999088e-01 7.68578566e-04 2.58319130e-01] [ 1.66535676e-02 -7.49984292e-04 9.99861038e-01 1.26386014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.152557844 meters Centerline goodness : 0.118254 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99859525e-01 1.25018498e-03 -1.67142749e-02 3.13205997e+00] [-1.23563907e-03 9.99998849e-01 8.80567382e-04 2.57894202e-01] [ 1.67153565e-02 -8.59790873e-04 9.99859919e-01 1.26422588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.182557844 meters Centerline goodness : 0.124561 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99856366e-01 1.34723841e-03 -1.68947375e-02 3.13258837e+00] [-1.33121598e-03 9.99998654e-01 9.59578573e-04 2.57584666e-01] [ 1.68960075e-02 -9.36950200e-04 9.99856813e-01 1.26422963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.212557844 meters Centerline goodness : 0.132449 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99850254e-01 1.36153906e-03 -1.72515547e-02 3.13328703e+00] [-1.34194652e-03 9.99998442e-01 1.14722225e-03 2.55982493e-01] [ 1.72530898e-02 -1.12389980e-03 9.99850523e-01 1.26458941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.242557844 meters Centerline goodness : 0.157934 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99846404e-01 1.47412237e-03 -1.74641417e-02 3.13388632e+00] [-1.44888679e-03 9.99997888e-01 1.45755822e-03 2.54453295e-01] [ 1.74662534e-02 -1.43203078e-03 9.99846428e-01 1.26452467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.272557844 meters Centerline goodness : 0.130540 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99841658e-01 1.59897835e-03 -1.77229110e-02 3.13474242e+00] [-1.56770965e-03 9.99997190e-01 1.77806210e-03 2.52982946e-01] [ 1.77257043e-02 -1.74999618e-03 9.99841356e-01 1.26419699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.302557844 meters Centerline goodness : 0.137863 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:1.26 [[ 9.99837259e-01 1.72804862e-03 -1.79574596e-02 3.13557117e+00] [-1.68980348e-03 9.99996272e-01 2.14471824e-03 2.51188596e-01] [ 1.79610988e-02 -2.11402462e-03 9.99836452e-01 1.26381167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.332557844 meters Centerline goodness : 0.157091 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99842778e-01 -1.95896455e-03 -1.76233169e-02 3.13499275e+00] [ 1.93813366e-03 9.99997403e-01 -1.19900935e-03 2.48335755e-01] [ 1.76256200e-02 1.16466449e-03 9.99843978e-01 1.26348657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.362557844 meters Centerline goodness : 0.155735 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99841434e-01 -1.79812928e-03 -1.77164931e-02 3.13499305e+00] [ 1.78510648e-03 9.99998125e-01 -7.50852819e-04 2.46075762e-01] [ 1.77178100e-02 7.19107932e-04 9.99842769e-01 1.26393543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.392557844 meters Centerline goodness : 0.113151 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:1.26 [[ 9.99838092e-01 -1.67776454e-03 -1.79157969e-02 3.13544644e+00] [ 1.66921992e-03 9.99998486e-01 -4.91875227e-04 2.44879436e-01] [ 1.79165950e-02 4.61890183e-04 9.99839378e-01 1.26402008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.422557844 meters Centerline goodness : 0.158580 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:1.26 [[ 9.99832794e-01 -1.29661745e-03 -1.82401547e-02 3.13674805e+00] [ 1.29383441e-03 9.99999149e-01 -1.64377745e-04 2.44214001e-01] [ 1.82403523e-02 1.40750520e-04 9.99833621e-01 1.26316902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.452557844 meters Centerline goodness : 0.157399 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:1.26 [[ 9.99836619e-01 -1.24866515e-03 -1.80326524e-02 3.13628837e+00] [ 1.24595166e-03 9.99999211e-01 -1.61710728e-04 2.44291202e-01] [ 1.80328401e-02 1.39216495e-04 9.99837385e-01 1.26311359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.482557844 meters Centerline goodness : 0.114647 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:1.26 [[ 9.99841979e-01 -1.19059150e-03 -1.77369348e-02 3.13546766e+00] [ 1.18824718e-03 9.99999284e-01 -1.42709387e-04 2.44284021e-01] [ 1.77370920e-02 1.21610973e-04 9.99842678e-01 1.26329012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.512557844 meters Centerline goodness : 0.092914 Centerline is valid? [False, False] Translation: X:3.13, Y:0.24, Z:1.26 [[ 9.99845244e-01 -1.17046246e-03 -1.75532657e-02 3.13491261e+00] [ 1.16694612e-03 9.99999297e-01 -2.10564993e-04 2.44667333e-01] [ 1.75534998e-02 1.90048691e-04 9.99845907e-01 1.26341674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54255784400002 meters Centerline goodness : 0.182733 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99845024e-01 -1.14552888e-03 -1.75674594e-02 3.13495687e+00] [ 1.13910556e-03 9.99999281e-01 -3.75639133e-04 2.45716343e-01] [ 1.75678770e-02 3.55569727e-04 9.99845610e-01 1.26332505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57255784400002 meters Centerline goodness : 0.112388 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99846587e-01 -1.11465907e-03 -1.74802939e-02 3.13487065e+00] [ 1.10471097e-03 9.99999222e-01 -5.78749214e-04 2.47138628e-01] [ 1.74809254e-02 5.59349754e-04 9.99847040e-01 1.26303772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60255784400002 meters Centerline goodness : 0.149299 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99852024e-01 -1.15062115e-03 -1.71640689e-02 3.13386185e+00] [ 1.13411150e-03 9.99998885e-01 -9.71575049e-04 2.49464027e-01] [ 1.71651677e-02 9.51965311e-04 9.99852214e-01 1.26327822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63255784400002 meters Centerline goodness : 0.110929 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99852827e-01 -1.20814658e-03 -1.71132625e-02 3.13366577e+00] [ 1.18991752e-03 9.99998714e-01 -1.07534299e-03 2.49794609e-01] [ 1.71145397e-02 1.05482136e-03 9.99852979e-01 1.26337827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66255784400002 meters Centerline goodness : 0.154819 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99852163e-01 -1.25890643e-03 -1.71483916e-02 3.13380630e+00] [ 1.24013651e-03 9.99998620e-01 -1.10514869e-03 2.49757429e-01] [ 1.71497592e-02 1.08371897e-03 9.99852345e-01 1.26325478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69255784400002 meters Centerline goodness : 0.151254 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99851509e-01 -1.26510806e-03 -1.71860135e-02 3.13407666e+00] [ 1.24677148e-03 9.99998642e-01 -1.07762022e-03 2.49664703e-01] [ 1.71873534e-02 1.05603317e-03 9.99851729e-01 1.26292393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72255784400002 meters Centerline goodness : 0.153647 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:1.26 [[ 9.99843002e-01 -1.39879401e-03 -1.76639605e-02 3.13549525e+00] [ 1.38117788e-03 9.99998537e-01 -1.00945251e-03 2.48893874e-01] [ 1.76653467e-02 9.84896954e-04 9.99843471e-01 1.26258853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75255784400002 meters Centerline goodness : 0.113549 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:1.26 [[ 9.99839619e-01 -1.40573563e-03 -1.78538370e-02 3.13587663e+00] [ 1.39105902e-03 9.99998684e-01 -8.34434272e-04 2.47766316e-01] [ 1.78549865e-02 8.09464704e-04 9.99840259e-01 1.26277976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78255784400002 meters Centerline goodness : 0.114458 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:1.26 [[ 9.99837571e-01 -1.38925679e-03 -1.79694703e-02 3.13584661e+00] [ 1.37817531e-03 9.99998852e-01 -6.29052058e-04 2.46596480e-01] [ 1.79703236e-02 6.04184801e-04 9.99838338e-01 1.26332333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81255784400003 meters Centerline goodness : 0.156386 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:1.26 [[ 9.99841365e-01 -1.37658609e-03 -1.77580737e-02 3.13507810e+00] [ 1.37228498e-03 9.99999026e-01 -2.54388972e-04 2.44607051e-01] [ 1.77584066e-02 2.29979479e-04 9.99842281e-01 1.26382969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84255784400003 meters Centerline goodness : 0.148742 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:1.26 [[ 9.99844068e-01 7.33070346e-03 -1.60654965e-02 3.15426565e+00] [-7.35527672e-03 9.99971868e-01 -1.47101415e-03 2.40603732e-01] [ 1.60542610e-02 1.58895094e-03 9.99869860e-01 1.26444395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87255784400003 meters Centerline goodness : 0.154291 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:1.26 [[ 9.99848384e-01 7.36506121e-03 -1.57786282e-02 3.15337906e+00] [-7.38354833e-03 9.99972121e-01 -1.11372076e-03 2.39044159e-01] [ 1.57699857e-02 1.23005417e-03 9.99874889e-01 1.26455299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.902557844 meters Centerline goodness : 0.152030 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:1.27 [[ 9.99849915e-01 7.39118304e-03 -1.56690205e-02 3.15267592e+00] [-7.40525668e-03 9.99972228e-01 -8.40351430e-04 2.37650004e-01] [ 1.56623741e-02 9.56258424e-04 9.99876880e-01 1.26522357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.932557844 meters Centerline goodness : 0.105649 Centerline is valid? [False, False] Translation: X:3.15, Y:0.23, Z:1.27 [[ 9.99864219e-01 4.64545114e-03 -1.58102268e-02 3.15284885e+00] [-4.69530882e-03 9.99984116e-01 -3.11785129e-03 2.33044008e-01] [ 1.57954919e-02 3.19166184e-03 9.99870149e-01 1.26522783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.962557844 meters Centerline goodness : 0.157976 Centerline is valid? [False, False] Translation: X:3.13, Y:0.24, Z:1.26 [[ 9.99844009e-01 -4.63115418e-03 -1.70443456e-02 3.13403615e+00] [ 4.59137854e-03 9.99986646e-01 -2.37204798e-03 2.36495831e-01] [ 1.70551033e-02 2.29342092e-03 9.99851921e-01 1.26456821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.992557844 meters Centerline goodness : 0.128141 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:1.26 [[ 9.99841779e-01 -4.50795947e-03 -1.72073967e-02 3.13464467e+00] [ 4.47330365e-03 9.99987889e-01 -2.05196617e-03 2.34842062e-01] [ 1.72164385e-02 1.97466760e-03 9.99849836e-01 1.26426553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.022557844 meters Centerline goodness : 0.151850 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 9.99870408e-01 2.77519354e-03 -1.58576434e-02 3.15654060e+00] [-2.85265654e-03 9.99984100e-01 -4.86437009e-03 2.32705329e-01] [ 1.58438917e-02 4.90897612e-03 9.99862427e-01 1.26334179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.052557844 meters Centerline goodness : 0.155154 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 9.99869168e-01 2.87672735e-03 -1.59176446e-02 3.15669763e+00] [-2.95036290e-03 9.99985047e-01 -4.60448526e-03 2.31423491e-01] [ 1.59041608e-02 4.65084567e-03 9.99862704e-01 1.26336279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.082557844 meters Centerline goodness : 0.144828 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 0.99985769 0.00334637 -0.01653456 3.15858214] [-0.00341324 0.9999861 -0.00401762 0.22957355] [ 0.01652088 0.00407349 0.99985522 1.26294551] [ 0. 0. 0. 1. ]] SLAMing on 250.112557844 meters Centerline goodness : 0.155764 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 0.99984928 0.00354984 -0.01699477 3.15985602] [-0.00361674 0.99998583 -0.00390754 0.22919686] [ 0.01698066 0.00396842 0.99984794 1.26291379] [ 0. 0. 0. 1. ]] SLAMing on 250.142557844 meters Centerline goodness : 0.160641 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 0.99984015 0.00373198 -0.01748553 3.16125535] [-0.00379916 0.99998552 -0.00381016 0.22879867] [ 0.01747105 0.00387598 0.99983986 1.26280048] [ 0. 0. 0. 1. ]] SLAMing on 250.172557844 meters Centerline goodness : 0.156155 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 0.9998316 0.00385461 -0.01794181 3.16257554] [-0.00392308 0.99998515 -0.00378251 0.22862392] [ 0.01792696 0.00385226 0.99983188 1.26263004] [ 0. 0. 0. 1. ]] SLAMing on 250.202557844 meters Centerline goodness : 0.158765 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 0.99983142 0.00392981 -0.01793559 3.16253708] [-0.00399511 0.99998552 -0.0036066 0.22811518] [ 0.01792116 0.00367765 0.99983264 1.26259499] [ 0. 0. 0. 1. ]] SLAMing on 250.232557844 meters Centerline goodness : 0.155234 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99851755e-01 -4.43902704e-03 -1.66362006e-02 3.17891838e+00] [ 4.40344434e-03 9.99987940e-01 -2.17489248e-03 2.34112834e-01] [ 1.66456543e-02 2.10131348e-03 9.99859243e-01 1.26341060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.262557844 meters Centerline goodness : 0.172076 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99852626e-01 -4.40710137e-03 -1.65922771e-02 3.17855464e+00] [ 4.37339504e-03 9.99988300e-01 -2.06718383e-03 2.33647596e-01] [ 1.66011932e-02 1.99431459e-03 9.99860202e-01 1.26382687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29255784400002 meters Centerline goodness : 0.185646 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99852455e-01 -4.40272700e-03 -1.66037225e-02 3.17841599e+00] [ 4.37070410e-03 9.99988519e-01 -1.96445256e-03 2.33045448e-01] [ 1.66121808e-02 1.89159276e-03 9.99860219e-01 1.26411438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32255784400002 meters Centerline goodness : 0.185646 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99852455e-01 -4.40272700e-03 -1.66037225e-02 3.17841599e+00] [ 4.37070410e-03 9.99988519e-01 -1.96445256e-03 2.33045448e-01] [ 1.66121808e-02 1.89159276e-03 9.99860219e-01 1.26411438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35255784400002 meters Centerline goodness : 0.136310 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99855502e-01 -4.70207452e-03 -1.63360397e-02 3.17726981e+00] [ 4.66912136e-03 9.99986989e-01 -2.05476071e-03 2.32972876e-01] [ 1.63454888e-02 1.97818885e-03 9.99864447e-01 1.26454533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38255784400002 meters Centerline goodness : 0.157267 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99860794e-01 -4.82485118e-03 -1.59722696e-02 3.17613432e+00] [ 4.79472836e-03 9.99986655e-01 -1.92370198e-03 2.32523161e-01] [ 1.59813380e-02 1.84685150e-03 9.99870585e-01 1.26459648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41255784400002 meters Centerline goodness : 0.157082 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99866320e-01 -4.92354446e-03 -1.55916894e-02 3.17510094e+00] [ 4.89765218e-03 9.99986564e-01 -1.69839472e-03 2.31782192e-01] [ 1.55998421e-02 1.62180501e-03 9.99877000e-01 1.26435011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44255784400002 meters Centerline goodness : 0.153884 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:1.26 [[ 9.99873151e-01 -5.00182710e-03 -1.51216512e-02 3.17380059e+00] [ 4.98138942e-03 9.99986628e-01 -1.38891465e-03 2.30733930e-01] [ 1.51283961e-02 1.31341163e-03 9.99884697e-01 1.26415780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47255784400002 meters Centerline goodness : 0.109344 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:1.26 [[ 9.99882337e-01 -5.33616718e-03 -1.43818133e-02 3.17136527e+00] [ 5.32361921e-03 9.99985415e-01 -9.10631551e-04 2.28398115e-01] [ 1.43864629e-02 8.33961106e-04 9.99896162e-01 1.26437421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50255784400002 meters Centerline goodness : 0.154873 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:1.26 [[ 9.99884003e-01 -5.39046832e-03 -1.42451315e-02 3.17081215e+00] [ 5.38331676e-03 9.99985364e-01 -5.40333067e-04 2.26831688e-01] [ 1.42478357e-02 4.63584335e-04 9.99898387e-01 1.26434700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53255784400002 meters Centerline goodness : 0.140096 Centerline is valid? [False, False] Translation: X:3.15, Y:0.22, Z:1.26 [[ 9.99901669e-01 2.80166455e-03 -1.37405600e-02 3.15228617e+00] [-2.81635362e-03 9.99995483e-01 -1.04979660e-03 2.15599461e-01] [ 1.37375568e-02 1.08839164e-03 9.99905043e-01 1.26354860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56255784400003 meters Centerline goodness : 0.133015 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:1.26 [[ 9.99902264e-01 -4.64054500e-03 -1.31881765e-02 3.17263331e+00] [ 4.63974548e-03 9.99989232e-01 -9.12197675e-05 2.18085382e-01] [ 1.31884578e-02 3.00210697e-05 9.99913028e-01 1.26457843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59255784400003 meters Centerline goodness : 0.127704 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:1.26 [[ 9.99903416e-01 -4.46335937e-03 -1.31619334e-02 3.17245913e+00] [ 4.46828252e-03 9.99989958e-01 3.44661361e-04 2.16104674e-01] [ 1.31602629e-02 -4.03439310e-04 9.99913319e-01 1.26477314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62255784400003 meters Centerline goodness : 0.117321 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:1.27 [[ 9.99905922e-01 -4.31249057e-03 -1.30211470e-02 3.17192297e+00] [ 4.32189523e-03 9.99990420e-01 6.94207688e-04 2.14538071e-01] [ 1.30180285e-02 -7.50418412e-04 9.99914980e-01 1.26511897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.652557844 meters Centerline goodness : 0.152460 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:1.27 [[ 9.99909245e-01 -4.03671828e-03 -1.28532921e-02 3.17117939e+00] [ 4.05477895e-03 9.99990828e-01 1.37938926e-03 2.11278301e-01] [ 1.28476060e-02 -1.43138133e-03 9.99916442e-01 1.26575124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.682557844 meters Centerline goodness : 0.167080 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:1.27 [[ 9.99907795e-01 -3.89101333e-03 -1.30100922e-02 3.17152162e+00] [ 3.91444361e-03 9.99990762e-01 1.77595147e-03 2.09323847e-01] [ 1.30030618e-02 -1.82671499e-03 9.99913788e-01 1.26586315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.712557844 meters Centerline goodness : 0.161206 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:1.27 [[ 9.99913894e-01 3.61025126e-03 -1.26163134e-02 3.19291586e+00] [-3.62102985e-03 9.99993098e-01 -8.31599047e-04 2.04972057e-01] [ 1.26132240e-02 8.77211488e-04 9.99920065e-01 1.26574979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.742557844 meters Centerline goodness : 0.116577 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:1.27 [[ 9.99909496e-01 3.77050225e-03 -1.29144746e-02 3.19372211e+00] [-3.77442600e-03 9.99992838e-01 -2.79465998e-04 2.02162811e-01] [ 1.29133284e-02 3.28185434e-04 9.99916566e-01 1.26566907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.772557844 meters Centerline goodness : 0.136707 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:1.27 [[ 9.99902670e-01 4.07148067e-03 -1.33444499e-02 3.19473120e+00] [-4.06110804e-03 9.99991430e-01 8.04304945e-04 1.96690236e-01] [ 1.33476102e-02 -7.50033409e-04 9.99910635e-01 1.26578799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.802557844 meters Centerline goodness : 0.108175 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:1.27 [[ 9.99901067e-01 4.23457630e-03 -1.34136085e-02 3.19479164e+00] [-4.21798165e-03 9.99990304e-01 1.26519873e-03 1.94463135e-01] [ 1.34188360e-02 -1.20849520e-03 9.99909233e-01 1.26598202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.832557844 meters Centerline goodness : 0.119943 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:1.27 [[ 9.99898960e-01 4.36565607e-03 -1.35281838e-02 3.19517170e+00] [-4.34420878e-03 9.99989261e-01 1.61435886e-03 1.92736333e-01] [ 1.35350862e-02 -1.55542649e-03 9.99907187e-01 1.26582477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.862557844 meters Centerline goodness : 0.110245 Centerline is valid? [False, False] Translation: X:3.22, Y:0.20, Z:1.27 [[ 9.99903227e-01 -2.54972254e-03 -1.36761282e-02 3.21546919e+00] [ 2.58765196e-03 9.99992853e-01 2.75642515e-03 1.95250323e-01] [ 1.36690024e-02 -2.79154746e-03 9.99902678e-01 1.26651030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.892557844 meters Centerline goodness : 0.159444 Centerline is valid? [False, False] Translation: X:3.22, Y:0.19, Z:1.27 [[ 9.99903715e-01 -2.41426780e-03 -1.36650014e-02 3.21531280e+00] [ 2.45605921e-03 9.99992356e-01 3.04232554e-03 1.94061155e-01] [ 1.36575520e-02 -3.07559466e-03 9.99902001e-01 1.26673321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.922557844 meters Centerline goodness : 0.131133 Centerline is valid? [False, False] Translation: X:3.22, Y:0.19, Z:1.27 [[ 9.99903705e-01 -2.25374391e-03 -1.36930864e-02 3.21505562e+00] [ 2.30118554e-03 9.99991401e-01 3.44987327e-03 1.92205960e-01] [ 1.36851935e-02 -3.48105140e-03 9.99900294e-01 1.26729048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.952557844 meters Centerline goodness : 0.226209 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99932990e-01 -1.38237947e-03 -1.14936984e-02 3.25802771e+00] [ 1.40677888e-03 9.99996774e-01 2.11503760e-03 1.92759836e-01] [ 1.14907375e-02 -2.13106496e-03 9.99931708e-01 1.26737554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.982557844 meters Centerline goodness : 0.162141 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99928597e-01 -1.48032675e-03 -1.18579239e-02 3.25872888e+00] [ 1.50969816e-03 9.99995814e-01 2.46837560e-03 1.90346047e-01] [ 1.18542203e-02 -2.48610124e-03 9.99926646e-01 1.26772630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.012557844 meters Centerline goodness : 0.163366 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99928868e-01 -1.44842299e-03 -1.18389678e-02 3.25856004e+00] [ 1.48006493e-03 9.99995355e-01 2.66437017e-03 1.89339252e-01] [ 1.18350536e-02 -2.68170309e-03 9.99926367e-01 1.26788805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04255784400002 meters Centerline goodness : 0.114766 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99929011e-01 -1.43848349e-03 -1.18281175e-02 3.25837426e+00] [ 1.47241327e-03 9.99994825e-01 2.86036192e-03 1.88329311e-01] [ 1.18239418e-02 -2.87757474e-03 9.99925954e-01 1.26810183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07255784400002 meters Centerline goodness : 0.142469 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99927622e-01 -1.47558676e-03 -1.19403703e-02 3.25860027e+00] [ 1.51215829e-03 9.99994192e-01 3.05439902e-03 1.87163557e-01] [ 1.19357939e-02 -3.07223368e-03 9.99924046e-01 1.26815876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10255784400002 meters Centerline goodness : 0.143451 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99925793e-01 -1.49656822e-03 -1.20900124e-02 3.25898682e+00] [ 1.53599811e-03 9.99993530e-01 3.25273359e-03 1.85993776e-01] [ 1.20850663e-02 -3.27106245e-03 9.99921623e-01 1.26808222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13255784400002 meters Centerline goodness : 0.151312 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99919792e-01 -1.96474747e-03 -1.25119321e-02 3.26009784e+00] [ 2.00342348e-03 9.99993252e-01 3.07934687e-03 1.85510684e-01] [ 1.25057975e-02 -3.10416658e-03 9.99916981e-01 1.26802111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16255784400002 meters Centerline goodness : 0.132504 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99917109e-01 -2.01410800e-03 -1.27168956e-02 3.26053276e+00] [ 2.05362849e-03 9.99993100e-01 3.09542231e-03 1.85230281e-01] [ 1.27105733e-02 -3.12128150e-03 9.99914346e-01 1.26810180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19255784400002 meters Centerline goodness : 0.158003 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99913376e-01 -2.11712757e-03 -1.29906971e-02 3.26133852e+00] [ 2.15668182e-03 9.99993079e-01 3.03156029e-03 1.85356550e-01] [ 1.29841890e-02 -3.05931449e-03 9.99911022e-01 1.26784088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22255784400002 meters Centerline goodness : 0.123659 Centerline is valid? [False, False] Translation: X:3.28, Y:0.18, Z:1.27 [[ 9.99899481e-01 5.62253783e-03 -1.30159875e-02 3.28289982e+00] [-5.61311599e-03 9.99983957e-01 7.60285782e-04 1.83149846e-01] [ 1.30200534e-02 -6.87149111e-04 9.99914999e-01 1.26747878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25255784400002 meters Centerline goodness : 0.122061 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99900685e-01 -3.99046551e-03 -1.35165561e-02 3.26337096e+00] [ 4.01571716e-03 9.99990241e-01 1.84157604e-03 1.88055912e-01] [ 1.35090755e-02 -1.89567181e-03 9.99906951e-01 1.26639342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28255784400002 meters Centerline goodness : 0.128947 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:1.27 [[ 9.99919166e-01 4.83937111e-03 -1.17576406e-02 3.28189249e+00] [-4.83510244e-03 9.99988234e-01 3.91454085e-04 1.85263281e-01] [ 1.17593967e-02 -3.34573045e-04 9.99930800e-01 1.26700858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31255784400003 meters Centerline goodness : 0.119178 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:1.27 [[ 9.99922460e-01 4.78688085e-03 -1.14960624e-02 3.28100392e+00] [-4.78457844e-03 9.99988528e-01 2.27773006e-04 1.86182358e-01] [ 1.14970208e-02 -1.72751532e-04 9.99933892e-01 1.26737695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34255784400003 meters Centerline goodness : 0.119120 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:1.27 [[ 9.99926216e-01 4.75440787e-03 -1.11784346e-02 3.27994093e+00] [-4.75363862e-03 9.99988697e-01 9.53840272e-05 1.87006880e-01] [ 1.11787618e-02 -4.22387509e-05 9.99937515e-01 1.26781882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37255784400003 meters Centerline goodness : 0.106251 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:1.27 [[ 9.99932108e-01 4.63980832e-03 -1.06888703e-02 3.27827978e+00] [-4.64177685e-03 9.99989214e-01 -1.59365177e-04 1.88291080e-01] [ 1.06880156e-02 2.08969708e-04 9.99942860e-01 1.26858233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.402557844 meters Centerline goodness : 0.119075 Centerline is valid? [False, False] Translation: X:3.30, Y:0.19, Z:1.27 [[ 9.99936904e-01 -2.43624146e-03 -1.09659657e-02 3.29733146e+00] [ 2.44481262e-03 9.99996716e-01 7.68277075e-04 1.93143249e-01] [ 1.09640580e-02 -7.95038332e-04 9.99939577e-01 1.27082150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.432557844 meters Centerline goodness : 0.112795 Centerline is valid? [False, False] Translation: X:3.30, Y:0.19, Z:1.27 [[ 9.99936488e-01 -2.56976172e-03 -1.09734119e-02 3.29742303e+00] [ 2.57468078e-03 9.99996591e-01 4.34166638e-04 1.94673868e-01] [ 1.09722587e-02 -4.62392096e-04 9.99939696e-01 1.27067009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.462557844 meters Centerline goodness : 0.144147 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:1.27 [[ 9.99925853e-01 6.59044080e-03 -1.02398211e-02 3.31840663e+00] [-6.60133704e-03 9.99977680e-01 -1.03066987e-03 1.96580381e-01] [ 1.02328000e-02 1.09818996e-03 9.99947040e-01 1.27033130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.492557844 meters Centerline goodness : 0.165462 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:1.27 [[ 9.99925757e-01 6.36903951e-03 -1.03882795e-02 3.31914129e+00] [-6.38613055e-03 9.99978308e-01 -1.61288152e-03 1.99292864e-01] [ 1.03777816e-02 1.67910269e-03 9.99944740e-01 1.26981758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.522557844 meters Centerline goodness : 0.162753 Centerline is valid? [False, False] Translation: X:3.30, Y:0.21, Z:1.27 [[ 9.99935253e-01 -2.61289995e-03 -1.10753071e-02 3.30152958e+00] [ 2.60833868e-03 9.99996507e-01 -4.26266185e-04 2.06814771e-01] [ 1.10763822e-02 3.97350434e-04 9.99938576e-01 1.26798490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.552557844 meters Centerline goodness : 0.117312 Centerline is valid? [False, False] Translation: X:3.30, Y:0.21, Z:1.27 [[ 9.99932827e-01 -2.79069456e-03 -1.12496342e-02 3.30215143e+00] [ 2.78008471e-03 9.99995676e-01 -9.58655452e-04 2.09436403e-01] [ 1.12522608e-02 9.27316120e-04 9.99936261e-01 1.26766213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.582557844 meters Centerline goodness : 0.133042 Centerline is valid? [False, False] Translation: X:3.30, Y:0.21, Z:1.27 [[ 9.99933007e-01 -2.92132818e-03 -1.12003463e-02 3.30211590e+00] [ 2.90571683e-03 9.99994785e-01 -1.40984702e-03 2.11777121e-01] [ 1.12044065e-02 1.37720753e-03 9.99936280e-01 1.26748995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.612557844 meters Centerline goodness : 0.120658 Centerline is valid? [False, False] Translation: X:3.30, Y:0.22, Z:1.27 [[ 9.99934629e-01 -3.13869557e-03 -1.09948363e-02 3.30138416e+00] [ 3.11514755e-03 9.99992819e-01 -2.15820618e-03 2.15713445e-01] [ 1.10015313e-02 2.12381456e-03 9.99937226e-01 1.26787118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.642557844 meters Centerline goodness : 0.157670 Centerline is valid? [False, False] Translation: X:3.30, Y:0.22, Z:1.27 [[ 9.99934237e-01 -3.33346914e-03 -1.09731646e-02 3.30132780e+00] [ 3.30509465e-03 9.99991151e-01 -2.60292712e-03 2.17559092e-01] [ 1.09817443e-02 2.56648860e-03 9.99936405e-01 1.26792472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.672557844 meters Centerline goodness : 0.133748 Centerline is valid? [False, False] Translation: X:3.30, Y:0.22, Z:1.27 [[ 9.99933252e-01 -3.47764838e-03 -1.10180601e-02 3.30143853e+00] [ 3.44528582e-03 9.99989699e-01 -2.95484886e-03 2.19140253e-01] [ 1.10282226e-02 2.91669126e-03 9.99934933e-01 1.26790459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.702557844 meters Centerline goodness : 0.135557 Centerline is valid? [False, False] Translation: X:3.30, Y:0.22, Z:1.27 [[ 9.99933156e-01 -3.58772917e-03 -1.09914050e-02 3.30138612e+00] [ 3.55205956e-03 9.99988368e-01 -3.26303159e-03 2.20689475e-01] [ 1.10029840e-02 3.22377135e-03 9.99934269e-01 1.26784706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.732557844 meters Centerline goodness : 0.132394 Centerline is valid? [False, False] Translation: X:3.30, Y:0.22, Z:1.27 [[ 0.99993167 -0.0037885 -0.01105926 3.30177955] [ 0.00374659 0.99998573 -0.00380849 0.22342428] [ 0.01107353 0.00376679 0.99993159 1.2674952 ] [ 0. 0. 0. 1. ]] SLAMing on 251.762557844 meters Centerline goodness : 0.142654 Centerline is valid? [False, False] Translation: X:3.30, Y:0.22, Z:1.27 [[ 0.99992794 -0.00391164 -0.01134929 3.3027656 ] [ 0.00386546 0.99998418 -0.00408748 0.22455283] [ 0.0113651 0.00404332 0.99992724 1.26707374] [ 0. 0. 0. 1. ]] SLAMing on 251.79255784400002 meters Centerline goodness : 0.164622 Centerline is valid? [False, False] Translation: X:3.30, Y:0.23, Z:1.27 [[ 0.99992236 -0.0040449 -0.01178637 3.30423073] [ 0.00399368 0.99998249 -0.00436626 0.2255964 ] [ 0.01180382 0.00431885 0.99992101 1.26645404] [ 0. 0. 0. 1. ]] SLAMing on 251.82255784400002 meters Centerline goodness : 0.146490 Centerline is valid? [False, False] Translation: X:3.31, Y:0.23, Z:1.27 [[ 0.99991901 -0.00413908 -0.01203521 3.3051594 ] [ 0.00408367 0.99998097 -0.00462514 0.22678584] [ 0.01205413 0.00457562 0.99991688 1.26593376] [ 0. 0. 0. 1. ]] SLAMing on 251.85255784400002 meters Centerline goodness : 0.142845 Centerline is valid? [False, False] Translation: X:3.31, Y:0.23, Z:1.27 [[ 9.99924846e-01 -1.09769414e-04 -1.22592861e-02 3.30501948e+00] [ 1.03373085e-04 9.99999858e-01 -5.22386235e-04 2.25945234e-01] [ 1.22593417e-02 5.21079695e-04 9.99924716e-01 1.26691436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88255784400002 meters Centerline goodness : 0.170275 Centerline is valid? [False, False] Translation: X:3.30, Y:0.23, Z:1.27 [[ 9.99927510e-01 -5.39531049e-05 -1.20404204e-02 3.30417737e+00] [ 4.84197493e-05 9.99999893e-01 -4.59856017e-04 2.25767319e-01] [ 1.20404440e-02 4.59239688e-04 9.99927406e-01 1.26747957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91255784400002 meters Centerline goodness : 0.149495 Centerline is valid? [False, False] Translation: X:3.35, Y:0.23, Z:1.27 [[ 9.99952202e-01 9.42781999e-04 -9.73164795e-03 3.34643282e+00] [-9.57332654e-04 9.99998431e-01 -1.49063917e-03 2.25458921e-01] [ 9.73022733e-03 1.49988434e-03 9.99951535e-01 1.26761756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94255784400002 meters Centerline goodness : 0.131554 Centerline is valid? [False, False] Translation: X:3.35, Y:0.22, Z:1.27 [[ 9.99952941e-01 1.20516307e-03 -9.62617368e-03 3.34588881e+00] [-1.21329904e-03 9.99998912e-01 -8.39397273e-04 2.22276300e-01] [ 9.62515159e-03 8.51037200e-04 9.99953315e-01 1.26811593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97255784400002 meters Centerline goodness : 0.143850 Centerline is valid? [False, False] Translation: X:3.35, Y:0.22, Z:1.27 [[ 9.99953909e-01 1.33898959e-03 -9.50718596e-03 3.34534692e+00] [-1.34439030e-03 9.99998939e-01 -5.61698022e-04 2.21135208e-01] [ 9.50642376e-03 5.74453501e-04 9.99954648e-01 1.26853584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00255784400002 meters Centerline goodness : 0.130195 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:1.27 [[ 9.99955654e-01 1.46121758e-03 -9.30348652e-03 3.34468604e+00] [-1.46433618e-03 9.99998874e-01 -3.28404708e-04 2.20155013e-01] [ 9.30299617e-03 3.42013576e-04 9.99956668e-01 1.26882898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03255784400002 meters Centerline goodness : 0.163280 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:1.27 [[ 9.99956404e-01 1.51623987e-03 -9.21368134e-03 3.34435404e+00] [-1.51839899e-03 9.99998821e-01 -2.27348011e-04 2.19644175e-01] [ 9.21332576e-03 2.41328144e-04 9.99957527e-01 1.26908947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06255784400003 meters Centerline goodness : 0.113727 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:1.27 [[ 9.99959247e-01 1.76331872e-03 -8.85410861e-03 3.34326346e+00] [-1.76278032e-03 9.99998444e-01 6.86115866e-05 2.18738886e-01] [ 8.85421581e-03 -5.30009421e-05 9.99960799e-01 1.26948270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09255784400003 meters Centerline goodness : 0.127216 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:1.27 [[ 9.99958183e-01 1.81179467e-03 -8.96378603e-03 3.34373127e+00] [-1.81080092e-03 9.99998353e-01 1.18977177e-04 2.18624546e-01] [ 8.96398683e-03 -1.02740570e-04 9.99959817e-01 1.26913958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12255784400003 meters Centerline goodness : 0.141369 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:1.27 [[ 9.99934736e-01 -4.60463344e-03 -1.04556837e-02 3.36306176e+00] [ 4.61465589e-03 9.99988916e-01 9.34641449e-04 2.22919660e-01] [ 1.04512641e-02 -9.82829833e-04 9.99944901e-01 1.27056366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.152557844 meters Centerline goodness : 0.131072 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:1.27 [[ 9.99931831e-01 -4.50995838e-03 -1.07700165e-02 3.36386691e+00] [ 4.52350271e-03 9.99989008e-01 1.23356801e-03 2.21021592e-01] [ 1.07643348e-02 -1.28220212e-03 9.99941241e-01 1.27059887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.182557844 meters Centerline goodness : 0.130395 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:1.27 [[ 9.99932574e-01 -4.36898561e-03 -1.07591229e-02 3.36362131e+00] [ 4.38602351e-03 9.99989164e-01 1.56049100e-03 2.19527330e-01] [ 1.07521886e-02 -1.60757555e-03 9.99940901e-01 1.27098805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.212557844 meters Centerline goodness : 0.130395 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:1.27 [[ 9.99932574e-01 -4.36898561e-03 -1.07591229e-02 3.36362131e+00] [ 4.38602351e-03 9.99989164e-01 1.56049100e-03 2.19527330e-01] [ 1.07521886e-02 -1.60757555e-03 9.99940901e-01 1.27098805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.242557844 meters Centerline goodness : 0.120933 Centerline is valid? [False, False] Translation: X:3.38, Y:0.21, Z:1.27 [[ 9.99939671e-01 4.81772784e-03 -9.87133289e-03 3.38279220e+00] [-4.81061984e-03 9.99988152e-01 7.43682365e-04 2.14277293e-01] [ 9.87479880e-03 -6.96150270e-04 9.99951001e-01 1.27188147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.272557844 meters Centerline goodness : 0.143792 Centerline is valid? [False, False] Translation: X:3.38, Y:0.21, Z:1.27 [[ 9.99939576e-01 4.98825631e-03 -9.79601905e-03 3.38251205e+00] [-4.97743660e-03 9.99986976e-01 1.12857044e-03 2.12659463e-01] [ 9.80152106e-03 -1.07974319e-03 9.99951381e-01 1.27201030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.302557844 meters Centerline goodness : 0.146272 Centerline is valid? [False, False] Translation: X:3.38, Y:0.21, Z:1.27 [[ 9.99938477e-01 5.13685267e-03 -9.83129923e-03 3.38236127e+00] [-5.12188613e-03 9.99985687e-01 1.54690871e-03 2.10608087e-01] [ 9.83910475e-03 -1.49645874e-03 9.99950475e-01 1.27242899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.332557844 meters Centerline goodness : 0.081421 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.27 [[ 9.99955400e-01 -2.74399182e-03 -9.03702867e-03 3.40292928e+00] [ 2.76319599e-03 9.99993949e-01 2.11325358e-03 2.09004919e-01] [ 9.03117524e-03 -2.13813041e-03 9.99956932e-01 1.27306854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.362557844 meters Centerline goodness : 0.129114 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.27 [[ 9.99956680e-01 -2.59631791e-03 -8.93851486e-03 3.40256564e+00] [ 2.61863462e-03 9.99993482e-01 2.48589346e-03 2.07231591e-01] [ 8.93200242e-03 -2.50919247e-03 9.99956961e-01 1.27326800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.392557844 meters Centerline goodness : 0.170931 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.27 [[ 9.99957584e-01 -2.43010452e-03 -8.88400065e-03 3.40241761e+00] [ 2.45542778e-03 9.99992951e-01 2.84063950e-03 2.05736223e-01] [ 8.87703497e-03 -2.86233303e-03 9.99956502e-01 1.27329672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.422557844 meters Centerline goodness : 0.132686 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.27 [[ 9.99957135e-01 -2.28860842e-03 -8.97159513e-03 3.40266342e+00] [ 2.31658264e-03 9.99992484e-01 3.10893702e-03 2.04642243e-01] [ 8.96441256e-03 -3.12958720e-03 9.99954921e-01 1.27328577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.452557844 meters Centerline goodness : 0.154223 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.27 [[ 9.99956493e-01 -2.05907378e-03 -9.09791656e-03 3.40283614e+00] [ 2.09129678e-03 9.99991570e-01 3.53370740e-03 2.02795966e-01] [ 9.09056370e-03 -3.55258011e-03 9.99952369e-01 1.27362702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.482557844 meters Centerline goodness : 0.152929 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.27 [[ 9.99955669e-01 -1.97891532e-03 -9.20565052e-03 3.40312914e+00] [ 2.01358232e-03 9.99990911e-01 3.75809645e-03 2.01546115e-01] [ 9.19812990e-03 -3.77646619e-03 9.99950565e-01 1.27363557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.512557844 meters SLAMing on 252.54255784400002 meters Centerline goodness : 0.108893 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.27 [[ 9.99952167e-01 -1.79299849e-03 -9.61498472e-03 3.40455935e+00] [ 1.83589288e-03 9.99988395e-01 4.45423278e-03 1.97259067e-01] [ 9.60688670e-03 -4.47167181e-03 9.99943854e-01 1.27317664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57255784400002 meters Centerline goodness : 0.139041 Centerline is valid? [False, False] Translation: X:3.43, Y:0.19, Z:1.27 [[ 9.99944688e-01 6.22264674e-03 -8.47940860e-03 3.42541315e+00] [-6.20459192e-03 9.99978432e-01 2.15389997e-03 1.94073901e-01] [ 8.49262867e-03 -2.10116956e-03 9.99961729e-01 1.27239565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60255784400002 meters Centerline goodness : 0.106384 Centerline is valid? [False, False] Translation: X:3.38, Y:0.19, Z:1.27 [[ 9.99924140e-01 4.61675944e-03 -1.14192324e-02 3.38089632e+00] [-4.58132630e-03 9.99984616e-01 3.12714963e-03 1.90754774e-01] [ 1.14334940e-02 -3.07459718e-03 9.99929909e-01 1.27395428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63255784400002 meters Centerline goodness : 0.281127 Centerline is valid? [False, False] Translation: X:3.38, Y:0.19, Z:1.27 [[ 9.99924407e-01 4.71886283e-03 -1.13539651e-02 3.38084995e+00] [-4.68185243e-03 9.99983647e-01 3.28406421e-03 1.90233885e-01] [ 1.13692765e-02 -3.23065837e-03 9.99930149e-01 1.27376810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66255784400002 meters Centerline goodness : 0.378887 Centerline is valid? [False, False] Translation: X:3.38, Y:0.19, Z:1.27 [[ 0.99992473 0.00490318 -0.01124719 3.38078958] [-0.00486426 0.9999821 0.00348515 0.18964701] [ 0.01126408 -0.00343017 0.99993067 1.27344993] [ 0. 0. 0. 1. ]] SLAMing on 252.69255784400002 meters Centerline goodness : 0.107871 Centerline is valid? [False, False] Translation: X:3.38, Y:0.19, Z:1.27 [[ 0.99992272 0.00489056 -0.01143004 3.38156414] [-0.00485089 0.99998212 0.00349551 0.18936053] [ 0.01144693 -0.0034398 0.99992857 1.27295015] [ 0. 0. 0. 1. ]] SLAMing on 252.72255784400002 meters Centerline goodness : 0.285865 Centerline is valid? [False, False] Translation: X:3.38, Y:0.19, Z:1.27 [[ 0.99992054 0.0049026 -0.0116139 3.38229526] [-0.00486105 0.9999817 0.00360242 0.18856148] [ 0.01163135 -0.00354568 0.99992607 1.27254467] [ 0. 0. 0. 1. ]] SLAMing on 252.75255784400002 meters Centerline goodness : 0.125005 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.27 [[ 9.99921726e-01 -2.11807978e-03 -1.23310601e-02 3.40212603e+00] [ 2.16890218e-03 9.99989204e-01 4.10958213e-03 1.92308128e-01] [ 1.23222225e-02 -4.13600532e-03 9.99915525e-01 1.27362595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78255784400002 meters Centerline goodness : 0.371838 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.27 [[ 9.99920881e-01 -2.05134652e-03 -1.24106198e-02 3.40245016e+00] [ 2.10438976e-03 9.99988701e-01 4.26247213e-03 1.91591237e-01] [ 1.24017358e-02 -4.28825167e-03 9.99913900e-01 1.27341222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81255784400003 meters Centerline goodness : 0.369711 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.27 [[ 9.99926159e-01 -1.78971024e-03 -1.20196736e-02 3.40131829e+00] [ 1.84535923e-03 9.99987624e-01 4.62033160e-03 1.90637948e-01] [ 1.20112558e-02 -4.64217105e-03 9.99917087e-01 1.27365609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84255784400003 meters Centerline goodness : 0.145031 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.27 [[ 9.99928464e-01 -1.67499514e-03 -1.18431670e-02 3.40066671e+00] [ 1.73247529e-03 9.99986763e-01 4.84485107e-03 1.89736331e-01] [ 1.18348951e-02 -4.86502249e-03 9.99918130e-01 1.27399900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87255784400003 meters Centerline goodness : 0.377890 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:1.28 [[ 9.99915952e-01 7.25948320e-03 -1.07419125e-02 3.41897760e+00] [-7.22487611e-03 9.99968596e-01 3.25699450e-03 1.85248102e-01] [ 1.07652193e-02 -3.17911177e-03 9.99937000e-01 1.27535799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.902557844 meters Centerline goodness : 0.119354 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.27 [[ 9.99934666e-01 -2.18428333e-03 -1.12201957e-02 3.39998329e+00] [ 2.23552891e-03 9.99987119e-01 4.55675266e-03 1.88060141e-01] [ 1.12100979e-02 -4.58153802e-03 9.99926669e-01 1.27432662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.932557844 meters Centerline goodness : 0.154401 Centerline is valid? [False, False] Translation: X:3.42, Y:0.18, Z:1.28 [[ 9.99929670e-01 6.74670216e-03 -9.75386444e-03 3.41916469e+00] [-6.71887231e-03 9.99973272e-01 2.88317051e-03 1.84667420e-01] [ 9.77305563e-03 -2.81743276e-03 9.99948273e-01 1.27525590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.962557844 meters SLAMing on 252.992557844 meters Centerline goodness : 0.151652 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:1.28 [[ 9.99932492e-01 6.76865822e-03 -9.44437971e-03 3.41825887e+00] [-6.74330279e-03 9.99973581e-01 2.71397709e-03 1.85613738e-01] [ 9.46250018e-03 -2.65010757e-03 9.99951718e-01 1.27549857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.022557844 meters SLAMing on 253.052557844 meters Centerline goodness : 0.095209 Centerline is valid? [False, False] Translation: X:3.38, Y:0.18, Z:1.28 [[ 0.99988174 0.00665623 -0.01386345 3.37703556] [-0.00659195 0.99996734 0.00467667 0.18469492] [ 0.01389413 -0.00458473 0.99989296 1.27594822] [ 0. 0. 0. 1. ]] SLAMing on 253.082557844 meters Centerline goodness : 0.148975 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.28 [[ 9.99890074e-01 -1.45754230e-04 -1.48262865e-02 3.39665032e+00] [ 2.21805320e-04 9.99986827e-01 5.12796161e-03 1.89882342e-01] [ 1.48253438e-02 -5.13068647e-03 9.99876935e-01 1.27706531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.112557844 meters Centerline goodness : 0.154874 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.28 [[ 9.99893053e-01 -8.60037494e-05 -1.46244727e-02 3.39553582e+00] [ 1.63394643e-04 9.99985990e-01 5.29076334e-03 1.89038712e-01] [ 1.46238127e-02 -5.29258707e-03 9.99879059e-01 1.27810920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.142557844 meters Centerline goodness : 0.154187 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99895400e-01 -6.07888074e-05 -1.44632500e-02 3.39479173e+00] [ 1.38225698e-04 9.99985662e-01 5.35310549e-03 1.88769079e-01] [ 1.44627173e-02 -5.35454475e-03 9.99881072e-01 1.27868121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.172557844 meters Centerline goodness : 0.153639 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99896482e-01 -5.55463123e-05 -1.43882439e-02 3.39453558e+00] [ 1.32522144e-04 9.99985685e-01 5.34901331e-03 1.88792966e-01] [ 1.43877408e-02 -5.35036636e-03 9.99882176e-01 1.27878123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.202557844 meters Centerline goodness : 0.153932 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99895793e-01 -7.48314862e-05 -1.44359516e-02 3.39496922e+00] [ 1.51518221e-04 9.99985884e-01 5.31118448e-03 1.89021431e-01] [ 1.44353503e-02 -5.31281833e-03 9.99881690e-01 1.27823624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.232557844 meters Centerline goodness : 0.094368 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:1.28 [[ 9.99838533e-01 -1.23880406e-03 -1.79268621e-02 3.35384570e+00] [ 1.36386595e-03 9.99974809e-01 6.96568477e-03 1.84219514e-01] [ 1.79177814e-02 -6.98900988e-03 9.99815036e-01 1.27792390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.262557844 meters Centerline goodness : 0.111388 Centerline is valid? [False, False] Translation: X:3.37, Y:0.18, Z:1.28 [[ 0.99983726 0.00681311 -0.01670413 3.37432821] [-0.00673708 0.99996671 0.00460344 0.18196093] [ 0.01673494 -0.00449015 0.99984988 1.27782455] [ 0. 0. 0. 1. ]] SLAMing on 253.29255784400002 meters Centerline goodness : 0.149866 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99863701e-01 -3.43788714e-04 -1.65063741e-02 3.39337024e+00] [ 4.30699009e-04 9.99986063e-01 5.26199046e-03 1.85740681e-01] [ 1.65043350e-02 -5.26838253e-03 9.99849914e-01 1.27951419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32255784400002 meters Centerline goodness : 0.093862 Centerline is valid? [False, False] Translation: X:3.37, Y:0.18, Z:1.28 [[ 0.99985176 0.00673211 -0.01584724 3.37323804] [-0.00665778 0.99996661 0.00473837 0.17943589] [ 0.01587861 -0.00463216 0.9998632 1.27842271] [ 0. 0. 0. 1. ]] SLAMing on 253.35255784400002 meters Centerline goodness : 0.148634 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99854232e-01 4.02884159e-04 -1.70690295e-02 3.39221898e+00] [-3.09345692e-04 9.99984924e-01 5.48229682e-03 1.85407923e-01] [ 1.70709809e-02 -5.47621745e-03 9.99839283e-01 1.28000186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38255784400002 meters Centerline goodness : 0.093979 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99855492e-01 3.27839334e-04 -1.69966684e-02 3.39227844e+00] [-2.38729300e-04 9.99986219e-01 5.24455803e-03 1.86602346e-01] [ 1.69981535e-02 -5.23974255e-03 9.99841791e-01 1.27958189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41255784400002 meters SLAMing on 253.44255784400002 meters Centerline goodness : 0.087302 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99876490e-01 7.05514295e-04 -1.57005434e-02 3.38851623e+00] [-6.30483608e-04 9.99988361e-01 4.78329603e-03 1.91324988e-01] [ 1.57037354e-02 -4.77280631e-03 9.99865297e-01 1.28022802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47255784400002 meters Centerline goodness : 0.108279 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99882172e-01 5.80911832e-04 -1.53396585e-02 3.38750588e+00] [-5.15133777e-04 9.99990658e-01 4.29170741e-03 1.94002383e-01] [ 1.53420083e-02 -4.28329974e-03 9.99873130e-01 1.28032492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50255784400002 meters SLAMing on 253.53255784400002 meters Centerline goodness : 0.116211 Centerline is valid? [False, False] Translation: X:3.43, Y:0.20, Z:1.28 [[ 9.99916210e-01 2.62236228e-03 -1.26765625e-02 3.43069655e+00] [-2.58294167e-03 9.99991781e-01 3.12509583e-03 2.03962528e-01] [ 1.26846534e-02 -3.09209116e-03 9.99914766e-01 1.27874881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56255784400003 meters Centerline goodness : 0.119706 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.28 [[ 9.99928630e-01 1.95462457e-03 -1.17862058e-02 3.42851032e+00] [-1.92483975e-03 9.99994927e-01 2.53790561e-03 2.06172558e-01] [ 1.17911066e-02 -2.51503792e-03 9.99927320e-01 1.27807449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59255784400003 meters Centerline goodness : 0.108594 Centerline is valid? [False, False] Translation: X:3.38, Y:0.20, Z:1.28 [[ 9.99893980e-01 -5.56653307e-04 -1.45505463e-02 3.38249816e+00] [ 5.97937876e-04 9.99995808e-01 2.83312447e-03 2.03919322e-01] [ 1.45489083e-02 -2.84152443e-03 9.99890121e-01 1.28006949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62255784400003 meters Centerline goodness : 0.118131 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.28 [[ 9.99927008e-01 5.00760568e-04 -1.20718118e-02 3.42596751e+00] [-4.81241373e-04 9.99998572e-01 1.61977404e-03 2.08295980e-01] [ 1.20726057e-02 -1.61384636e-03 9.99925821e-01 1.27934400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65255784400003 meters Centerline goodness : 0.093988 Centerline is valid? [False, False] Translation: X:3.38, Y:0.21, Z:1.28 [[ 9.99877585e-01 -2.28042825e-03 -1.54795235e-02 3.38336024e+00] [ 2.30693882e-03 9.99995903e-01 1.69498175e-03 2.07857681e-01] [ 1.54755947e-02 -1.73048458e-03 9.99878748e-01 1.27983101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.682557844 meters Centerline goodness : 0.191274 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.28 [[ 9.99907332e-01 -8.43380747e-04 -1.35873345e-02 3.42814417e+00] [ 8.50266145e-04 9.99999513e-01 5.00982504e-04 2.12533263e-01] [ 1.35869054e-02 -5.12488930e-04 9.99907562e-01 1.27858850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.712557844 meters Centerline goodness : 0.148349 Centerline is valid? [False, False] Translation: X:3.38, Y:0.21, Z:1.28 [[ 9.99859711e-01 -2.67967921e-03 -1.65341184e-02 3.38319173e+00] [ 2.69699750e-03 9.99995838e-01 1.02521853e-03 2.11272746e-01] [ 1.65313023e-02 -1.06966718e-03 9.99862777e-01 1.28003742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.742557844 meters Centerline goodness : 0.155426 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.28 [[ 9.99867002e-01 6.18044941e-03 -1.50923934e-02 3.40271277e+00] [-6.18921865e-03 9.99980704e-01 -5.34398318e-04 2.10147184e-01] [ 1.50887994e-02 6.27737367e-04 9.99885961e-01 1.28033243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.772557844 meters Centerline goodness : 0.143913 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.28 [[ 9.99871191e-01 6.08058692e-03 -1.48535139e-02 3.40195803e+00] [-6.09364419e-03 9.99981086e-01 -8.33968796e-04 2.11806576e-01] [ 1.48481620e-02 9.24373403e-04 9.99889333e-01 1.28054657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.802557844 meters SLAMing on 253.832557844 meters SLAMing on 253.862557844 meters Centerline goodness : 0.148113 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.28 [[ 9.99864705e-01 5.96783694e-03 -1.53282876e-02 3.40240745e+00] [-5.97673795e-03 9.99981996e-01 -5.34947369e-04 2.09678282e-01] [ 1.53248191e-02 6.26488151e-04 9.99882372e-01 1.28173211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.892557844 meters Centerline goodness : 0.114268 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.28 [[ 9.99863111e-01 6.09767869e-03 -1.53810632e-02 3.40224642e+00] [-6.09731098e-03 9.99981409e-01 7.08008728e-05 2.06568217e-01] [ 1.53812090e-02 2.29919448e-05 9.99881702e-01 1.28223697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.922557844 meters Centerline goodness : 0.107247 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.28 [[ 9.99861600e-01 6.17350352e-03 -1.54489145e-02 3.40255775e+00] [-6.16970413e-03 9.99980924e-01 2.93581702e-04 2.05387281e-01] [ 1.54504323e-02 -1.98225838e-04 9.99880615e-01 1.28200098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.952557844 meters Centerline goodness : 0.113333 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.28 [[ 9.99868016e-01 -5.68525550e-04 -1.62366094e-02 3.42182738e+00] [ 5.85966358e-04 9.99999256e-01 1.06942847e-03 2.09069908e-01] [ 1.62359893e-02 -1.07880143e-03 9.99867606e-01 1.28338925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.982557844 meters Centerline goodness : 0.143411 Centerline is valid? [False, False] Translation: X:3.38, Y:0.21, Z:1.28 [[ 9.99811619e-01 -1.96213844e-03 -1.93100283e-02 3.37786934e+00] [ 2.00240965e-03 9.99995860e-01 2.06639370e-03 2.05226681e-01] [ 1.93058938e-02 -2.10467102e-03 9.99811409e-01 1.28435177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.012557844 meters SLAMing on 254.04255784400002 meters Centerline goodness : 0.375106 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.29 [[ 9.99784722e-01 7.60097817e-03 -1.93063392e-02 3.39833231e+00] [-7.57780500e-03 9.99970478e-01 1.27316273e-03 1.98214265e-01] [ 1.93154465e-02 -1.12658898e-03 9.99812805e-01 1.28606049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07255784400002 meters SLAMing on 254.10255784400002 meters Centerline goodness : 0.121272 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.29 [[ 9.99784584e-01 7.83106247e-03 -1.92213418e-02 3.39826443e+00] [-7.79885710e-03 9.99968057e-01 1.74988899e-03 1.95898020e-01] [ 1.92344314e-02 -1.59960753e-03 9.99813722e-01 1.28586521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13255784400002 meters Centerline goodness : 0.121272 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.29 [[ 9.99784584e-01 7.83106247e-03 -1.92213418e-02 3.39826443e+00] [-7.79885710e-03 9.99968057e-01 1.74988899e-03 1.95898020e-01] [ 1.92344314e-02 -1.59960753e-03 9.99813722e-01 1.28586521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16255784400002 meters Centerline goodness : 0.119883 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.29 [[ 9.99784848e-01 8.05864157e-03 -1.91132442e-02 3.39786596e+00] [-8.01790828e-03 9.99965421e-01 2.20683100e-03 1.93882925e-01] [ 1.91303673e-02 -2.05310795e-03 9.99814890e-01 1.28609355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19255784400002 meters Centerline goodness : 0.120323 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99824281e-01 9.10130325e-04 -1.87237750e-02 3.41727652e+00] [-8.55599423e-04 9.99995370e-01 2.92019283e-03 1.97411242e-01] [ 1.87263461e-02 -2.90365964e-03 9.99820430e-01 1.28725750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22255784400002 meters SLAMing on 254.25255784400002 meters Centerline goodness : 0.133673 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99823407e-01 1.06552029e-03 -1.87621569e-02 3.41718917e+00] [-1.00294455e-03 9.99993905e-01 3.34430394e-03 1.95146574e-01] [ 1.87656060e-02 -3.32489595e-03 9.99818382e-01 1.28761016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28255784400002 meters Centerline goodness : 0.122828 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:1.29 [[ 9.99824047e-01 1.11476356e-03 -1.87251703e-02 3.41698137e+00] [-1.04988921e-03 9.99993414e-01 3.47402642e-03 1.94539435e-01] [ 1.87289197e-02 -3.45375580e-03 9.99818633e-01 1.28780195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31255784400003 meters Centerline goodness : 0.144311 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:1.29 [[ 9.99823797e-01 1.11447911e-03 -1.87385256e-02 3.41696108e+00] [-1.04947140e-03 9.99993399e-01 3.47867688e-03 1.94524223e-01] [ 1.87422789e-02 -3.45839838e-03 9.99818367e-01 1.28785494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34255784400003 meters Centerline goodness : 0.122881 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:1.29 [[ 9.99822832e-01 1.09157120e-03 -1.87912881e-02 3.41715850e+00] [-1.02675652e-03 9.99993492e-01 3.45849063e-03 1.94554639e-01] [ 1.87949410e-02 -3.43858382e-03 9.99817447e-01 1.28774348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37255784400003 meters Centerline goodness : 0.125195 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:1.29 [[ 9.99820087e-01 1.01308249e-03 -1.89411729e-02 3.41773180e+00] [-9.49654460e-04 9.99993913e-01 3.35738013e-03 1.94886732e-01] [ 1.89444589e-02 -3.33878853e-03 9.99814963e-01 1.28737289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40255784400003 meters Centerline goodness : 0.121609 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99818416e-01 8.96729782e-04 -1.90349891e-02 3.41806846e+00] [-8.34459440e-04 9.99994276e-01 3.27905275e-03 1.95010468e-01] [ 1.90378206e-02 -3.26257340e-03 9.99813441e-01 1.28715595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.432557844 meters Centerline goodness : 0.370803 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99821474e-01 8.83204504e-04 -1.88743394e-02 3.41746994e+00] [-8.21655476e-04 9.99994321e-01 3.26849582e-03 1.95110841e-01] [ 1.88771190e-02 -3.25240411e-03 9.99816521e-01 1.28745915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.462557844 meters Centerline goodness : 0.104828 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99822728e-01 8.41959026e-04 -1.88096928e-02 3.41728468e+00] [-7.81693036e-04 9.99994539e-01 3.21110853e-03 1.95364511e-01] [ 1.88122937e-02 -3.19583588e-03 9.99817926e-01 1.28747684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.492557844 meters Centerline goodness : 0.121599 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99823505e-01 7.74264424e-04 -1.87712165e-02 3.41726347e+00] [-7.16892301e-04 9.99995052e-01 3.06292455e-03 1.96038247e-01] [ 1.87734951e-02 -3.04892702e-03 9.99819114e-01 1.28731953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.522557844 meters SLAMing on 254.552557844 meters SLAMing on 254.582557844 meters Centerline goodness : 0.125175 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99815912e-01 6.01135939e-04 -1.91776258e-02 3.41903979e+00] [-5.63505540e-04 9.99997906e-01 1.96754675e-03 2.01979148e-01] [ 1.91787684e-02 -1.95637785e-03 9.99814156e-01 1.28602152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.612557844 meters SLAMing on 254.642557844 meters Centerline goodness : 0.156094 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.29 [[ 9.99823361e-01 8.04160195e-04 -1.87776529e-02 3.41833342e+00] [-7.76845148e-04 9.99998630e-01 1.46190612e-03 2.06416340e-01] [ 1.87788028e-02 -1.44706056e-03 9.99822616e-01 1.28531330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.672557844 meters Centerline goodness : 0.150494 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.29 [[ 9.99824674e-01 7.72743829e-04 -1.87089306e-02 3.41796019e+00] [-7.46984353e-04 9.99998764e-01 1.38380361e-03 2.06844756e-01] [ 1.87099768e-02 -1.36958571e-03 9.99824015e-01 1.28563335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.702557844 meters Centerline goodness : 0.147752 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.29 [[ 9.99816871e-01 5.94440497e-04 -1.91277749e-02 3.41928717e+00] [-5.70125866e-04 9.99999023e-01 1.27659685e-03 2.06770280e-01] [ 1.91285151e-02 -1.26545783e-03 9.99816232e-01 1.28517882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.732557844 meters Centerline goodness : 0.161558 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.28 [[ 9.99813955e-01 6.09385575e-04 -1.92791092e-02 3.41982744e+00] [-5.82667812e-04 9.99998862e-01 1.39142695e-03 2.06098383e-01] [ 1.92799352e-02 -1.37993476e-03 9.99813172e-01 1.28488941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.762557844 meters SLAMing on 254.79255784400002 meters SLAMing on 254.82255784400002 meters SLAMing on 254.85255784400002 meters Centerline goodness : 0.118809 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.29 [[ 9.99831734e-01 9.97713868e-04 -1.83168868e-02 3.41694648e+00] [-9.70276283e-04 9.99998394e-01 1.50676518e-03 2.06883873e-01] [ 1.83183607e-02 -1.48873920e-03 9.99831096e-01 1.28569997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88255784400002 meters Centerline goodness : 0.152323 Centerline is valid? [False, False] Translation: X:3.37, Y:0.21, Z:1.29 [[ 9.99768170e-01 1.01326395e-03 -2.15076585e-02 3.37300685e+00] [-9.38661554e-04 9.99993510e-01 3.47845533e-03 2.05871615e-01] [ 2.15110435e-02 -3.45746051e-03 9.99762632e-01 1.28653204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91255784400002 meters Centerline goodness : 0.167609 Centerline is valid? [False, False] Translation: X:3.37, Y:0.21, Z:1.29 [[ 9.99770772e-01 1.38377852e-03 -2.13655996e-02 3.37254743e+00] [-1.32163212e-03 9.99994856e-01 2.92255949e-03 2.10263255e-01] [ 2.13695338e-02 -2.89365210e-03 9.99767458e-01 1.28641185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94255784400002 meters Centerline goodness : 0.106112 Centerline is valid? [False, False] Translation: X:3.37, Y:0.21, Z:1.29 [[ 9.99778754e-01 1.32137858e-03 -2.09927688e-02 3.37144977e+00] [-1.26819736e-03 9.99995954e-01 2.54642213e-03 2.12298359e-01] [ 2.09960487e-02 -2.51923578e-03 9.99776385e-01 1.28666992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97255784400002 meters Centerline goodness : 0.116240 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:1.29 [[ 9.99740354e-01 1.07026867e-02 -2.01165872e-02 3.39001840e+00] [-1.06652216e-02 9.99941187e-01 1.96876910e-03 2.09936148e-01] [ 2.01364752e-02 -1.75371006e-03 9.99795703e-01 1.28745610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00255784400002 meters Centerline goodness : 0.172197 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:1.29 [[ 9.99742728e-01 1.06152191e-02 -2.00447992e-02 3.39025213e+00] [-1.05840771e-02 9.99942611e-01 1.65907155e-03 2.11771909e-01] [ 2.00612603e-02 -1.44648902e-03 9.99797706e-01 1.28664404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03255784400002 meters Centerline goodness : 0.156864 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:1.29 [[ 9.99740144e-01 1.05658736e-02 -2.01991816e-02 3.39095390e+00] [-1.05353606e-02 9.99943195e-01 1.61642766e-03 2.12009722e-01] [ 2.02151132e-02 -1.40320196e-03 9.99794669e-01 1.28600928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06255784400003 meters Centerline goodness : 0.158793 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:1.29 [[ 9.99767950e-01 7.81457968e-03 -2.00743472e-02 3.39068933e+00] [-7.83297629e-03 9.99968971e-01 -8.37957261e-04 2.09513315e-01] [ 2.00671760e-02 9.95004698e-04 9.99798139e-01 1.28546440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09255784400003 meters Centerline goodness : 0.161880 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:1.29 [[ 9.99766263e-01 7.75596172e-03 -2.01808106e-02 3.39075904e+00] [-7.77333990e-03 9.99969481e-01 -7.82821213e-04 2.08994733e-01] [ 2.01741231e-02 9.39510539e-04 9.99796040e-01 1.28579490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12255784400003 meters Centerline goodness : 0.149225 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:1.29 [[ 9.99787937e-01 7.38814028e-03 -1.92222772e-02 3.38769403e+00] [-7.40437450e-03 9.99972288e-01 -7.73517321e-04 2.08123696e-01] [ 1.92160297e-02 9.15682226e-04 9.99814936e-01 1.28713958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15255784400003 meters Centerline goodness : 0.217357 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99831973e-01 3.08030337e-05 -1.83309810e-02 3.40730730e+00] [-2.74690727e-05 9.99999983e-01 1.82127514e-04 2.12570300e-01] [ 1.83309863e-02 -1.81593376e-04 9.99831957e-01 1.28872048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.182557844 meters Centerline goodness : 0.199524 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99830587e-01 7.08621622e-05 -1.84062961e-02 3.40741488e+00] [-6.50325373e-05 9.99999948e-01 3.17317431e-04 2.11978433e-01] [ 1.84063176e-02 -3.16066665e-04 9.99830539e-01 1.28882173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.212557844 meters Centerline goodness : 0.117852 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99824095e-01 3.62642702e-05 -1.87557631e-02 3.40858092e+00] [-2.90338328e-05 9.99999925e-01 3.85776992e-04 2.11328774e-01] [ 1.87557757e-02 -3.85164580e-04 9.99824021e-01 1.28834935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.242557844 meters Centerline goodness : 0.267293 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99807921e-01 -2.33176520e-04 -1.95976334e-02 3.41148483e+00] [ 2.38600229e-04 9.99999934e-01 2.74415510e-04 2.10497705e-01] [ 1.95975681e-02 -2.79038800e-04 9.99807910e-01 1.28710692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.272557844 meters Centerline goodness : 0.125000 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99811249e-01 -1.62253231e-04 -1.94277923e-02 3.41107310e+00] [ 1.70408669e-04 9.99999898e-01 4.18127252e-04 2.09855957e-01] [ 1.94277225e-02 -4.21358994e-04 9.99811175e-01 1.28709350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.302557844 meters Centerline goodness : 0.260898 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99818700e-01 -4.98322176e-06 -1.90411992e-02 3.40966986e+00] [ 1.79065681e-05 9.99999770e-01 6.78533998e-04 2.08934851e-01] [ 1.90411914e-02 -6.78751943e-04 9.99818470e-01 1.28785058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.332557844 meters Centerline goodness : 0.287741 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99825242e-01 1.36245621e-04 -1.86940443e-02 3.40838201e+00] [-1.19773191e-04 9.99999604e-01 8.82276015e-04 2.08304896e-01] [ 1.86941571e-02 -8.79882785e-04 9.99824862e-01 1.28859881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.362557844 meters Centerline goodness : 0.283003 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.29 [[ 9.99807389e-01 9.22925216e-03 -1.73206793e-02 3.42759198e+00] [-9.24155170e-03 9.99957097e-01 -6.30198631e-04 2.05222265e-01] [ 1.73141199e-02 7.90147201e-04 9.99849787e-01 1.29031088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.392557844 meters Centerline goodness : 0.130448 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99825170e-01 -6.96183200e-05 -1.86982740e-02 3.40881918e+00] [ 7.99808175e-05 9.99999844e-01 5.53448161e-04 2.09670690e-01] [ 1.86982325e-02 -5.54846904e-04 9.99825019e-01 1.28931049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.422557844 meters Centerline goodness : 0.100949 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.29 [[ 9.99765891e-01 8.65196059e-03 -1.98319755e-02 3.42788429e+00] [-8.64413971e-03 9.99962523e-01 4.80048393e-04 2.05130996e-01] [ 1.98353856e-02 -3.08505642e-04 9.99803212e-01 1.28944978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.452557844 meters Centerline goodness : 0.301722 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.29 [[ 9.99777382e-01 8.74192343e-03 -1.92032564e-02 3.42658008e+00] [-8.73975729e-03 9.99961788e-01 1.96723329e-04 2.07052872e-01] [ 1.92042423e-02 -2.88477349e-05 9.99815581e-01 1.28897145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.482557844 meters Centerline goodness : 0.145309 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.29 [[ 9.99785497e-01 8.72824012e-03 -1.87823702e-02 3.42532276e+00] [-8.72961409e-03 9.99961896e-01 8.83682566e-06 2.08178058e-01] [ 1.87817317e-02 1.55127914e-04 9.99823596e-01 1.28934352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.512557844 meters Centerline goodness : 0.116830 Centerline is valid? [False, False] Translation: X:3.44, Y:0.22, Z:1.29 [[ 9.99843672e-01 2.27817425e-04 -1.76799490e-02 3.44187583e+00] [-2.13040094e-04 9.99999626e-01 8.37703204e-04 2.16203122e-01] [ 1.76801333e-02 -8.33805709e-04 9.99843347e-01 1.29030434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54255784400002 meters Centerline goodness : 0.122830 Centerline is valid? [False, False] Translation: X:3.44, Y:0.22, Z:1.29 [[ 9.99842449e-01 1.52814607e-04 -1.77497511e-02 3.44208213e+00] [-1.41912569e-04 9.99999801e-01 6.15465888e-04 2.17344239e-01] [ 1.77498416e-02 -6.12850008e-04 9.99842271e-01 1.29021873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57255784400002 meters Centerline goodness : 0.156357 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.29 [[ 9.99778629e-01 7.32760500e-03 -1.97230523e-02 3.42306642e+00] [-7.34280596e-03 9.99972797e-01 -6.98411530e-04 2.14518011e-01] [ 1.97173981e-02 8.43079468e-04 9.99805238e-01 1.28887018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60255784400002 meters Centerline goodness : 0.170080 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99780052e-01 7.26403075e-03 -1.96743900e-02 3.42321699e+00] [-7.28053459e-03 9.99973202e-01 -7.67350942e-04 2.15002820e-01] [ 1.96682887e-02 9.10422241e-04 9.99806146e-01 1.28832704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63255784400002 meters Centerline goodness : 0.122568 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99787224e-01 7.05390858e-03 -1.93842263e-02 3.42246352e+00] [-7.07362363e-03 9.99974532e-01 -9.48689265e-04 2.15673053e-01] [ 1.93770407e-02 1.08560413e-03 9.99811658e-01 1.28819523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66255784400002 meters Centerline goodness : 0.119691 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99796752e-01 6.68766958e-03 -1.90191706e-02 3.42121383e+00] [-6.71273148e-03 9.99976683e-01 -1.25418145e-03 2.16486801e-01] [ 1.90103396e-02 1.38159712e-03 9.99818333e-01 1.28842721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69255784400002 meters Centerline goodness : 0.270939 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99798591e-01 6.59874143e-03 -1.89534829e-02 3.42104854e+00] [-6.62446289e-03 9.99977220e-01 -1.29461969e-03 2.16666183e-01] [ 1.89445083e-02 1.41991558e-03 9.99819528e-01 1.28823969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72255784400002 meters Centerline goodness : 0.138389 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99796286e-01 6.53759495e-03 -1.90957169e-02 3.42155143e+00] [-6.56432606e-03 9.99977560e-01 -1.33750200e-03 2.16861041e-01] [ 1.90865444e-02 1.46258004e-03 9.99816766e-01 1.28789599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75255784400002 meters Centerline goodness : 0.139191 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99792974e-01 6.46215354e-03 -1.92937497e-02 3.42215121e+00] [-6.49083646e-03 9.99977920e-01 -1.42439058e-03 2.17147774e-01] [ 1.92841191e-02 1.54932826e-03 9.99812844e-01 1.28770841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78255784400002 meters Centerline goodness : 0.196078 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99791083e-01 6.31286110e-03 -1.94406120e-02 3.42259085e+00] [-6.34632712e-03 9.99978484e-01 -1.66023574e-03 2.18175345e-01] [ 1.94297129e-02 1.78326538e-03 9.99809635e-01 1.28752797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81255784400003 meters Centerline goodness : 0.167905 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99795090e-01 6.28564163e-03 -1.92423670e-02 3.42188399e+00] [-6.32025539e-03 9.99978516e-01 -1.73854502e-03 2.18733794e-01] [ 1.92310257e-02 1.85980545e-03 9.99813337e-01 1.28785404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84255784400003 meters Centerline goodness : 0.134536 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99799475e-01 6.23686094e-03 -1.90292297e-02 3.42108455e+00] [-6.27386178e-03 9.99978542e-01 -1.88534214e-03 2.19555861e-01] [ 1.90170627e-02 2.00435084e-03 9.99817150e-01 1.28828160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87255784400003 meters Centerline goodness : 0.141199 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99828134e-01 -1.07436963e-03 -1.85080632e-02 3.44054910e+00] [ 1.05230132e-03 9.99998724e-01 -1.20205939e-03 2.25449632e-01] [ 1.85093310e-02 1.18237674e-03 9.99827989e-01 1.28955992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90255784400003 meters Centerline goodness : 0.141579 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99824806e-01 -1.19975577e-03 -1.86793247e-02 3.44089138e+00] [ 1.17540257e-03 9.99998445e-01 -1.31467585e-03 2.25791870e-01] [ 1.86808730e-02 1.29248980e-03 9.99824662e-01 1.28965462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.932557844 meters Centerline goodness : 0.117295 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99824004e-01 -1.21197194e-03 -1.87214344e-02 3.44080742e+00] [ 1.18827487e-03 9.99998479e-01 -1.27684414e-03 2.25533189e-01] [ 1.87229535e-02 1.25437321e-03 9.99823923e-01 1.28994878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.962557844 meters Centerline goodness : 0.142459 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99824189e-01 -1.23467942e-03 -1.87100860e-02 3.44044677e+00] [ 1.21153877e-03 9.99998487e-01 -1.24808511e-03 2.25305725e-01] [ 1.87115987e-02 1.22519769e-03 9.99824172e-01 1.29047695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.992557844 meters Centerline goodness : 0.140237 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99831184e-01 -1.19061535e-03 -1.83353886e-02 3.43856542e+00] [ 1.16910660e-03 9.99998616e-01 -1.18374741e-03 2.25485679e-01] [ 1.83367726e-02 1.16211155e-03 9.99831192e-01 1.29196530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02255784400006 meters Centerline goodness : 0.142044 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99832333e-01 -1.21426496e-03 -1.82710594e-02 3.43840975e+00] [ 1.19173165e-03 9.99998516e-01 -1.24411625e-03 2.25852623e-01] [ 1.82725429e-02 1.22213346e-03 9.99832296e-01 1.29191899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05255784400003 meters Centerline goodness : 0.142044 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99832333e-01 -1.21426496e-03 -1.82710594e-02 3.43840975e+00] [ 1.19173165e-03 9.99998516e-01 -1.24411625e-03 2.25852623e-01] [ 1.82725429e-02 1.22213346e-03 9.99832296e-01 1.29191899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08255784400006 meters Centerline goodness : 0.140213 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99830191e-01 -1.28997211e-03 -1.83827614e-02 3.43898397e+00] [ 1.26465476e-03 9.99998236e-01 -1.38879168e-03 2.26401042e-01] [ 1.83845205e-02 1.36530800e-03 9.99830058e-01 1.29143937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11255784400004 meters Centerline goodness : 0.125783 Centerline is valid? [False, False] Translation: X:3.40, Y:0.22, Z:1.29 [[ 9.99766132e-01 -2.86159995e-03 -2.14357644e-02 3.39505740e+00] [ 2.84448762e-03 9.99995611e-01 -8.28755237e-04 2.24390698e-01] [ 2.14380419e-02 7.67587651e-04 9.99769884e-01 1.29181412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14255784400007 meters Centerline goodness : 0.130652 Centerline is valid? [False, False] Translation: X:3.39, Y:0.23, Z:1.29 [[ 9.99770199e-01 -2.86914833e-03 -2.12442220e-02 3.39428919e+00] [ 2.84973205e-03 9.99995494e-01 -9.44172920e-04 2.25214779e-01] [ 2.12468352e-02 8.83415608e-04 9.99773870e-01 1.29226782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17255784400004 meters Centerline goodness : 0.133579 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99816729e-01 -1.27652402e-03 -1.91018215e-02 3.43644190e+00] [ 1.24382034e-03 9.99997741e-01 -1.72385421e-03 2.28362498e-01] [ 1.91039789e-02 1.69977904e-03 9.99816057e-01 1.29294529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20255784400007 meters Centerline goodness : 0.135396 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99816796e-01 -1.31464803e-03 -1.90956844e-02 3.43634129e+00] [ 1.28101774e-03 9.99997607e-01 -1.77327133e-03 2.28520215e-01] [ 1.90979699e-02 1.74848455e-03 9.99816088e-01 1.29307246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23255784400004 meters Centerline goodness : 0.111448 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99811534e-01 -1.50037559e-03 -1.93557391e-02 3.43706044e+00] [ 1.46592115e-03 9.99997316e-01 -1.79412887e-03 2.27851484e-01] [ 1.93583790e-02 1.76541675e-03 9.99811050e-01 1.29291971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26255784400007 meters Centerline goodness : 0.144761 Centerline is valid? [False, False] Translation: X:3.48, Y:0.23, Z:1.29 [[ 9.99849623e-01 -8.11620793e-04 -1.73225905e-02 3.48189751e+00] [ 7.62300217e-04 9.99995638e-01 -2.85359557e-03 2.29106213e-01] [ 1.73248310e-02 2.83996144e-03 9.99845881e-01 1.29210124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29255784400004 meters Centerline goodness : 0.144937 Centerline is valid? [False, False] Translation: X:3.44, Y:0.22, Z:1.29 [[ 9.99798390e-01 -3.29846710e-03 -1.98065466e-02 3.43623379e+00] [ 3.25116368e-03 9.99991787e-01 -2.41999774e-03 2.24179707e-01] [ 1.98143662e-02 2.35511552e-03 9.99800902e-01 1.29350520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.322557844 meters Centerline goodness : 0.144475 Centerline is valid? [False, False] Translation: X:3.44, Y:0.22, Z:1.29 [[ 9.99802678e-01 -3.32405979e-03 -1.95845854e-02 3.43511418e+00] [ 3.28790482e-03 9.99992831e-01 -1.87800317e-03 2.21056833e-01] [ 1.95906876e-02 1.81324035e-03 9.99806440e-01 1.29445483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35255784400005 meters Centerline goodness : 0.130182 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.30 [[ 0.99979672 -0.00655483 -0.01906709 3.4323171 ] [ 0.00647943 0.99997095 -0.00401365 0.21411906] [ 0.01909284 0.00388929 0.99981015 1.2964143 ] [ 0. 0. 0. 1. ]] SLAMing on 256.382557844 meters Centerline goodness : 0.128886 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.30 [[ 9.99788754e-01 -6.48584733e-03 -1.95033785e-02 3.43328139e+00] [ 6.42279143e-03 9.99973948e-01 -3.29397919e-03 2.10284742e-01] [ 1.95242347e-02 3.16801721e-03 9.99804365e-01 1.29650227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41255784400005 meters Centerline goodness : 0.143034 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.30 [[ 9.99778039e-01 -6.41162011e-03 -2.00689984e-02 3.43479418e+00] [ 6.36159391e-03 9.99976499e-01 -2.55556100e-03 2.06287405e-01] [ 2.00849120e-02 2.42732294e-03 9.99795331e-01 1.29622520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442557844 meters Centerline goodness : 0.128773 Centerline is valid? [False, False] Translation: X:3.44, Y:0.20, Z:1.30 [[ 9.99766460e-01 -6.39850076e-03 -2.06418158e-02 3.43628524e+00] [ 6.36120300e-03 9.99978015e-01 -1.87205817e-03 2.02198391e-01] [ 2.06533404e-02 1.74031419e-03 9.99785182e-01 1.29605296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47255784400005 meters Centerline goodness : 0.125615 Centerline is valid? [False, False] Translation: X:3.44, Y:0.20, Z:1.30 [[ 0.9997345 -0.01018213 -0.02066995 3.43658865] [ 0.01008744 0.99993817 -0.00467993 0.19557199] [ 0.02071632 0.00447018 0.9997754 1.29578571] [ 0. 0. 0. 1. ]] SLAMing on 256.502557844 meters Centerline goodness : 0.100898 Centerline is valid? [False, False] Translation: X:3.45, Y:0.19, Z:1.30 [[ 9.99778933e-01 -1.76458970e-03 -2.09516208e-02 3.45495037e+00] [ 1.63498784e-03 9.99979435e-01 -6.20128689e-03 1.87975955e-01] [ 2.09621327e-02 6.16566035e-03 9.99761258e-01 1.29786978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53255784400005 meters Centerline goodness : 0.145626 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:1.30 [[ 9.99771672e-01 -1.47479506e-03 -2.13173246e-02 3.45617823e+00] [ 1.35342317e-03 9.99982800e-01 -5.70688629e-03 1.86122315e-01] [ 2.13253744e-02 5.67673189e-03 9.99756472e-01 1.29734281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562557844 meters Centerline goodness : 0.147191 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:1.30 [[ 9.99768442e-01 -1.40527426e-03 -2.14729480e-02 3.45676601e+00] [ 1.28309115e-03 9.99982916e-01 -5.70281317e-03 1.86363297e-01] [ 2.14805951e-02 5.67394089e-03 9.99753165e-01 1.29706386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59255784400005 meters Centerline goodness : 0.144720 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:1.30 [[ 9.99764817e-01 -1.38511159e-03 -2.16423556e-02 3.45732504e+00] [ 1.25856600e-03 9.99982040e-01 -5.85965348e-03 1.87260961e-01] [ 2.16500832e-02 5.83103705e-03 9.99748605e-01 1.29687049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622557844 meters Centerline goodness : 0.123101 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:1.30 [[ 9.99766584e-01 -1.42129269e-03 -2.15582371e-02 3.45721173e+00] [ 1.28951211e-03 9.99980408e-01 -6.12544173e-03 1.88641417e-01] [ 2.15665207e-02 6.09621235e-03 9.99748829e-01 1.29679835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65255784400006 meters Centerline goodness : 0.144298 Centerline is valid? [False, False] Translation: X:3.50, Y:0.19, Z:1.30 [[ 9.99812981e-01 1.10152614e-03 -1.93077585e-02 3.49891501e+00] [-1.22459027e-03 9.99979005e-01 -6.36315345e-03 1.91632410e-01] [ 1.93003439e-02 6.38560751e-03 9.99793339e-01 1.29731728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68255784400003 meters Centerline goodness : 0.137927 Centerline is valid? [False, False] Translation: X:3.49, Y:0.20, Z:1.30 [[ 9.99837909e-01 2.77083164e-03 -1.77898205e-02 3.49267391e+00] [-2.86172316e-03 9.99982973e-01 -5.08576481e-03 1.95398502e-01] [ 1.77754258e-02 5.13585000e-03 9.99828814e-01 1.30008807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71255784400006 meters Centerline goodness : 0.122677 Centerline is valid? [False, False] Translation: X:3.49, Y:0.20, Z:1.30 [[ 9.99840381e-01 2.63637310e-03 -1.76709563e-02 3.49233896e+00] [-2.73284929e-03 9.99981481e-01 -5.43766823e-03 1.97109426e-01] [ 1.76562934e-02 5.48509233e-03 9.99829070e-01 1.30011717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74255784400003 meters Centerline goodness : 0.110808 Centerline is valid? [False, False] Translation: X:3.51, Y:0.20, Z:1.30 [[ 0.99982281 -0.00452445 -0.01827242 3.51228651] [ 0.00443573 0.99997819 -0.00489278 0.20317838] [ 0.01829416 0.00481086 0.99982107 1.30182036] [ 0. 0. 0. 1. ]] SLAMing on 256.77255784400006 meters Centerline goodness : 0.142866 Centerline is valid? [False, False] Translation: X:3.51, Y:0.20, Z:1.30 [[ 0.9998179 -0.00469666 -0.01849619 3.51290476] [ 0.00460206 0.99997613 -0.00515349 0.20421702] [ 0.01851995 0.00506744 0.99981565 1.30167278] [ 0. 0. 0. 1. ]] SLAMing on 256.80255784400003 meters Centerline goodness : 0.106843 Centerline is valid? [False, False] Translation: X:3.51, Y:0.20, Z:1.30 [[ 0.99981321 -0.00482988 -0.01871433 3.51334108] [ 0.00473161 0.9999748 -0.00529203 0.2047018 ] [ 0.01873942 0.00520249 0.99981087 1.3017246 ] [ 0. 0. 0. 1. ]] SLAMing on 256.83255784400006 meters Centerline goodness : 0.134657 Centerline is valid? [False, False] Translation: X:3.51, Y:0.21, Z:1.30 [[ 0.99981245 -0.00536376 -0.01860901 3.51279979] [ 0.00525879 0.99997001 -0.00568521 0.20580315] [ 0.01863894 0.00558628 0.99981067 1.30207825] [ 0. 0. 0. 1. ]] SLAMing on 256.86255784400004 meters Centerline goodness : 0.119292 Centerline is valid? [False, False] Translation: X:3.51, Y:0.21, Z:1.30 [[ 0.99981247 -0.00545895 -0.01858016 3.51270204] [ 0.0053519 0.99996882 -0.00580625 0.20648706] [ 0.01861128 0.00570572 0.99981051 1.30203095] [ 0. 0. 0. 1. ]] SLAMing on 256.89255784400007 meters Centerline goodness : 0.121469 Centerline is valid? [False, False] Translation: X:3.51, Y:0.21, Z:1.30 [[ 0.99981264 -0.00556235 -0.01854011 3.51265562] [ 0.00545211 0.99996719 -0.00599136 0.20741579] [ 0.01857283 0.00588915 0.99981017 1.30186026] [ 0. 0. 0. 1. ]] SLAMing on 256.92255784400004 meters Centerline goodness : 0.154530 Centerline is valid? [False, False] Translation: X:3.56, Y:0.21, Z:1.30 [[ 0.99985319 -0.00458203 -0.01651071 3.55630992] [ 0.00446642 0.9999653 -0.00703241 0.20950483] [ 0.01654236 0.00695764 0.99983896 1.30139922] [ 0. 0. 0. 1. ]] SLAMing on 256.95255784400007 meters Centerline goodness : 0.195317 Centerline is valid? [False, False] Translation: X:3.56, Y:0.21, Z:1.30 [[ 0.99984705 -0.0049154 -0.01678456 3.55709576] [ 0.00478902 0.99995994 -0.00756162 0.21158616] [ 0.01682106 0.00748008 0.99983054 1.3011523 ] [ 0. 0. 0. 1. ]] SLAMing on 256.98255784400004 meters Centerline goodness : 0.113129 Centerline is valid? [False, False] Translation: X:3.56, Y:0.21, Z:1.30 [[ 0.99984626 -0.00501112 -0.01680338 3.55707192] [ 0.00488063 0.99995769 -0.00779762 0.21276318] [ 0.01684174 0.00771441 0.99982841 1.30125259] [ 0. 0. 0. 1. ]] SLAMing on 257.01255784400007 meters Centerline goodness : 0.199233 Centerline is valid? [False, False] Translation: X:3.56, Y:0.21, Z:1.30 [[ 0.99984784 -0.00513344 -0.01667183 3.55672539] [ 0.00499773 0.99995412 -0.00817183 0.21467301] [ 0.01671301 0.00808726 0.99982762 1.30127575] [ 0. 0. 0. 1. ]] SLAMing on 257.04255784400004 meters Centerline goodness : 0.114348 Centerline is valid? [False, False] Translation: X:3.56, Y:0.22, Z:1.30 [[ 0.99985085 -0.00525317 -0.01645263 3.55616108] [ 0.00511249 0.99995011 -0.00858096 0.21690631] [ 0.01649689 0.00849557 0.99982782 1.3013344 ] [ 0. 0. 0. 1. ]] SLAMing on 257.072557844 meters Centerline goodness : 0.134028 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:1.30 [[ 9.99896503e-01 -2.96900087e-03 -1.40772288e-02 3.59769384e+00] [ 2.84375967e-03 9.99956276e-01 -8.90840810e-03 2.22429186e-01] [ 1.41030623e-02 8.86745385e-03 9.99861226e-01 1.30168218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10255784400005 meters Centerline goodness : 0.130547 Centerline is valid? [False, False] Translation: X:3.55, Y:0.23, Z:1.30 [[ 0.99984884 -0.0038762 -0.01694931 3.5533251 ] [ 0.00373422 0.99995775 -0.0084001 0.22553649] [ 0.01698115 0.00833554 0.99982106 1.30231406] [ 0. 0. 0. 1. ]] SLAMing on 257.132557844 meters Centerline goodness : 0.139163 Centerline is valid? [False, False] Translation: X:3.56, Y:0.23, Z:1.30 [[ 9.99845456e-01 -1.00268656e-03 -1.75516152e-02 3.55597210e+00] [ 8.91144755e-04 9.99979367e-01 -6.36174137e-03 2.31698690e-01] [ 1.75576319e-02 6.34511717e-03 9.99825719e-01 1.30085860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16255784400005 meters Centerline goodness : 0.130459 Centerline is valid? [False, False] Translation: X:3.56, Y:0.23, Z:1.30 [[ 9.99837770e-01 2.76519767e-03 -1.77984963e-02 3.55636971e+00] [-2.81818587e-03 9.99991670e-01 -2.95272417e-03 2.33819677e-01] [ 1.77901832e-02 3.00240462e-03 9.99837234e-01 1.30111666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.192557844 meters Centerline goodness : 0.137962 Centerline is valid? [False, False] Translation: X:3.56, Y:0.24, Z:1.30 [[ 9.99839203e-01 2.62002612e-03 -1.77398857e-02 3.55651140e+00] [-2.68831599e-03 9.99989064e-01 -3.82675811e-03 2.38799281e-01] [ 1.77296655e-02 3.87383320e-03 9.99835313e-01 1.30075299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22255784400005 meters Centerline goodness : 0.105328 Centerline is valid? [False, False] Translation: X:3.56, Y:0.24, Z:1.30 [[ 9.99840718e-01 2.38112310e-03 -1.76880820e-02 3.55671672e+00] [-2.46639957e-03 9.99985434e-01 -4.80087679e-03 2.43917854e-01] [ 1.76763929e-02 4.84373797e-03 9.99832028e-01 1.30024416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.252557844 meters Centerline goodness : 0.141022 Centerline is valid? [False, False] Translation: X:3.56, Y:0.25, Z:1.30 [[ 9.99822065e-01 5.71698117e-03 -1.79764918e-02 3.55781943e+00] [-5.76516405e-03 9.99979924e-01 -2.62964680e-03 2.52888379e-01] [ 1.79610973e-02 2.73281632e-03 9.99834952e-01 1.29973877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28255784400005 meters Centerline goodness : 0.154392 Centerline is valid? [False, False] Translation: X:3.56, Y:0.26, Z:1.30 [[ 0.99982702 0.00542118 -0.0177914 3.55763946] [-0.0054856 0.99997857 -0.00357431 0.25803805] [ 0.01777164 0.00367129 0.99983533 1.29929899] [ 0. 0. 0. 1. ]] SLAMing on 257.312557844 meters SLAMing on 257.34255784400005 meters Centerline goodness : 0.140064 Centerline is valid? [False, False] Translation: X:3.56, Y:0.27, Z:1.30 [[ 0.99983246 0.00475247 -0.01767656 3.55779735] [-0.0048432 0.9999753 -0.00509353 0.26715227] [ 0.01765191 0.00517829 0.99983078 1.29872825] [ 0. 0. 0. 1. ]] SLAMing on 257.372557844 meters Centerline goodness : 0.181473 Centerline is valid? [False, False] Translation: X:3.58, Y:0.28, Z:1.30 [[ 9.99808697e-01 -2.80704054e-03 -1.93569337e-02 3.57850474e+00] [ 2.70400750e-03 9.99982049e-01 -5.34691830e-03 2.77230210e-01] [ 1.93715953e-02 5.29355412e-03 9.99798339e-01 1.30048673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40255784400006 meters SLAMing on 257.43255784400003 meters Centerline goodness : 0.152132 Centerline is valid? [False, False] Translation: X:3.58, Y:0.28, Z:1.30 [[ 9.99810783e-01 -3.31797659e-03 -1.91673769e-02 3.57758960e+00] [ 3.20092053e-03 9.99976061e-01 -6.13450135e-03 2.81058915e-01] [ 1.91872722e-02 6.07198735e-03 9.99797469e-01 1.30106438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46255784400006 meters Centerline goodness : 0.225083 Centerline is valid? [False, False] Translation: X:3.58, Y:0.28, Z:1.30 [[ 0.9998144 -0.0039 -0.01886691 3.57655125] [ 0.00376918 0.99996864 -0.00696468 0.28461894] [ 0.01889348 0.00689227 0.99979775 1.30146955] [ 0. 0. 0. 1. ]] SLAMing on 257.49255784400003 meters Centerline goodness : 0.218893 Centerline is valid? [False, False] Translation: X:3.58, Y:0.29, Z:1.30 [[ 0.99981457 -0.00410531 -0.01881401 3.57637935] [ 0.00396647 0.99996467 -0.00741068 0.28693968] [ 0.01884377 0.00733468 0.99979554 1.30149651] [ 0. 0. 0. 1. ]] SLAMing on 257.52255784400006 meters Centerline goodness : 0.147947 Centerline is valid? [False, False] Translation: X:3.58, Y:0.29, Z:1.30 [[ 9.99822032e-01 -1.29957259e-03 -1.88206289e-02 3.57636671e+00] [ 1.21264814e-03 9.99988550e-01 -4.62924898e-03 2.88994813e-01] [ 1.88264295e-02 4.60560232e-03 9.99812159e-01 1.30150403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55255784400003 meters Centerline goodness : 0.162392 Centerline is valid? [False, False] Translation: X:3.58, Y:0.29, Z:1.30 [[ 9.99820047e-01 -1.54724480e-03 -1.89071217e-02 3.57683387e+00] [ 1.44858595e-03 9.99985271e-01 -5.23066084e-03 2.91966915e-01] [ 1.89149363e-02 5.20233098e-03 9.99807562e-01 1.30108328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58255784400006 meters Centerline goodness : 0.152230 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:1.30 [[ 9.99808066e-01 4.52831512e-04 -1.95863936e-02 3.58054504e+00] [-5.26585859e-04 9.99992790e-01 -3.76059748e-03 2.98233223e-01] [ 1.95845495e-02 3.77018961e-03 9.99801096e-01 1.29882005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61255784400004 meters Centerline goodness : 0.170159 Centerline is valid? [False, False] Translation: X:3.53, Y:0.30, Z:1.30 [[ 9.99760624e-01 -2.03807088e-05 -2.18790757e-02 3.53408452e+00] [-4.98674500e-05 9.99994846e-01 -3.21019579e-03 3.02834995e-01] [ 2.18790284e-02 3.21051840e-03 9.99755470e-01 1.30001444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64255784400007 meters Centerline goodness : 0.114320 Centerline is valid? [False, False] Translation: X:3.53, Y:0.31, Z:1.30 [[ 9.99761716e-01 -2.56678692e-04 -2.18276153e-02 3.53377809e+00] [ 1.74356849e-04 9.99992866e-01 -3.77327331e-03 3.05872729e-01] [ 2.18284281e-02 3.76856840e-03 9.99754629e-01 1.30035148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67255784400004 meters Centerline goodness : 0.167075 Centerline is valid? [False, False] Translation: X:3.53, Y:0.31, Z:1.30 [[ 9.99764397e-01 -4.71636359e-04 -2.17008583e-02 3.53338560e+00] [ 3.78263719e-04 9.99990655e-01 -4.30662011e-03 3.08480401e-01] [ 2.17026867e-02 4.29739681e-03 9.99755233e-01 1.30050707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70255784400007 meters Centerline goodness : 0.145373 Centerline is valid? [False, False] Translation: X:3.53, Y:0.31, Z:1.30 [[ 9.99764710e-01 -9.24286720e-04 -2.16718649e-02 3.53339196e+00] [ 8.11717637e-04 9.99986138e-01 -5.20247144e-03 3.12381119e-01] [ 2.16763731e-02 5.18365591e-03 9.99751601e-01 1.30042951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73255784400004 meters Centerline goodness : 0.131845 Centerline is valid? [False, False] Translation: X:3.53, Y:0.31, Z:1.30 [[ 9.99765840e-01 -1.05156174e-03 -2.16138623e-02 3.53327563e+00] [ 9.32753828e-04 9.99984406e-01 -5.50618510e-03 3.13931577e-01] [ 2.16193154e-02 5.48473536e-03 9.99751230e-01 1.30034315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76255784400007 meters Centerline goodness : 0.164091 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99769198e-01 -1.13007645e-03 -2.14539912e-02 3.53287148e+00] [ 1.00684171e-03 9.99982938e-01 -5.75407366e-03 3.15369675e-01] [ 2.14601277e-02 5.73114483e-03 9.99753278e-01 1.30030763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79255784400004 meters Centerline goodness : 0.144874 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99774572e-01 -1.31036381e-03 -2.11917072e-02 3.53217265e+00] [ 1.17902804e-03 9.99980030e-01 -6.20881491e-03 3.17772792e-01] [ 2.11994198e-02 6.18242965e-03 9.99756151e-01 1.30041014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.822557844 meters Centerline goodness : 0.146190 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99773503e-01 -1.40443538e-03 -2.12360674e-02 3.53217486e+00] [ 1.26940592e-03 9.99978902e-01 -6.37064061e-03 3.18437555e-01] [ 2.12445665e-02 6.34224049e-03 9.99754192e-01 1.30056070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85255784400005 meters Centerline goodness : 0.145674 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99772514e-01 -1.49829603e-03 -2.12761528e-02 3.53213784e+00] [ 1.35945771e-03 9.99977700e-01 -6.53850210e-03 3.19125423e-01] [ 2.12854750e-02 6.50809065e-03 9.99752256e-01 1.30075294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.882557844 meters Centerline goodness : 0.163899 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99769497e-01 -1.56379225e-03 -2.14127824e-02 3.53257343e+00] [ 1.42139167e-03 9.99976786e-01 -6.66386573e-03 3.19798806e-01] [ 2.14227062e-02 6.63189373e-03 9.99748511e-01 1.30054955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91255784400005 meters Centerline goodness : 0.135204 Centerline is valid? [False, False] Translation: X:3.51, Y:0.33, Z:1.30 [[ 0.99968903 -0.01014084 -0.02278183 3.51384643] [ 0.01002273 0.99993576 -0.00529281 0.32555203] [ 0.02283404 0.00506283 0.99972645 1.29888856] [ 0. 0. 0. 1. ]] SLAMing on 257.942557844 meters Centerline goodness : 0.135204 Centerline is valid? [False, False] Translation: X:3.51, Y:0.33, Z:1.30 [[ 0.99968903 -0.01014084 -0.02278183 3.51384643] [ 0.01002273 0.99993576 -0.00529281 0.32555203] [ 0.02283404 0.00506283 0.99972645 1.29888856] [ 0. 0. 0. 1. ]] SLAMing on 257.97255784400005 meters Centerline goodness : 0.130277 Centerline is valid? [False, False] Translation: X:3.51, Y:0.33, Z:1.30 [[ 0.99968304 -0.01024279 -0.02299809 3.51485542] [ 0.01012185 0.99993436 -0.005369 0.32587882] [ 0.02305157 0.00513452 0.99972109 1.29802889] [ 0. 0. 0. 1. ]] SLAMing on 258.002557844 meters Centerline goodness : 0.151385 Centerline is valid? [False, False] Translation: X:3.51, Y:0.33, Z:1.30 [[ 0.99968265 -0.01029148 -0.02299303 3.51477269] [ 0.01016981 0.99993369 -0.00540227 0.32587805] [ 0.02304711 0.00516672 0.99972103 1.29809749] [ 0. 0. 0. 1. ]] SLAMing on 258.03255784400005 meters Centerline goodness : 0.114518 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99748309e-01 -1.86283182e-03 -2.23572788e-02 3.53393592e+00] [ 1.71707459e-03 9.99977160e-01 -6.53688048e-03 3.21421876e-01] [ 2.23689453e-02 6.49684609e-03 9.99728674e-01 1.29948001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062557844 meters Centerline goodness : 0.108343 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99746120e-01 -1.88393798e-03 -2.24532184e-02 3.53412200e+00] [ 1.73621919e-03 9.99976735e-01 -6.59663814e-03 3.21891118e-01] [ 2.24651237e-02 6.55597968e-03 9.99726131e-01 1.29954977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09255784400005 meters Centerline goodness : 0.109937 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99743828e-01 -1.91435765e-03 -2.25524643e-02 3.53450508e+00] [ 1.76336642e-03 9.99975912e-01 -6.71309521e-03 3.22752809e-01] [ 2.25647723e-02 6.67160724e-03 9.99723122e-01 1.29930943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122557844 meters Centerline goodness : 0.118527 Centerline is valid? [False, False] Translation: X:3.53, Y:0.33, Z:1.30 [[ 9.99746587e-01 -2.15732765e-03 -2.24077427e-02 3.53432159e+00] [ 1.99257760e-03 9.99970840e-01 -7.37209897e-03 3.26146134e-01] [ 2.24229934e-02 7.32558162e-03 9.99721734e-01 1.29911624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15255784400006 meters Centerline goodness : 0.145332 Centerline is valid? [False, False] Translation: X:3.53, Y:0.33, Z:1.30 [[ 9.99750938e-01 -2.32547803e-03 -2.21958130e-02 3.53354215e+00] [ 2.15389698e-03 9.99967640e-01 -7.75111251e-03 3.27722220e-01] [ 2.22131198e-02 7.70137450e-03 9.99723595e-01 1.29952916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18255784400003 meters Centerline goodness : 0.117238 Centerline is valid? [False, False] Translation: X:3.49, Y:0.33, Z:1.30 [[ 9.99694699e-01 -3.27322176e-03 -2.44906983e-02 3.48636782e+00] [ 3.07693218e-03 9.99962878e-01 -8.04825839e-03 3.31253701e-01] [ 2.45161329e-02 7.97044503e-03 9.99667660e-01 1.30096794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21255784400006 meters Centerline goodness : 0.131349 Centerline is valid? [False, False] Translation: X:3.49, Y:0.33, Z:1.30 [[ 9.99700069e-01 4.51558076e-04 -2.44860766e-02 3.48620649e+00] [-5.64088301e-04 9.99989312e-01 -4.58896974e-03 3.33582074e-01] [ 2.44837427e-02 4.60140567e-03 9.99689639e-01 1.30104190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24255784400003 meters Centerline goodness : 0.107327 Centerline is valid? [False, False] Translation: X:3.49, Y:0.34, Z:1.30 [[ 9.99698593e-01 3.12474897e-04 -2.45484370e-02 3.48660773e+00] [-4.36464276e-04 9.99987176e-01 -5.04560975e-03 3.36145333e-01] [ 2.45465456e-02 5.05480348e-03 9.99685909e-01 1.30071714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27255784400006 meters Centerline goodness : 0.123439 Centerline is valid? [False, False] Translation: X:3.49, Y:0.34, Z:1.30 [[ 9.99699587e-01 8.91812877e-05 -2.45097575e-02 3.48678088e+00] [-2.26834200e-04 9.99984218e-01 -5.61352659e-03 3.38871948e-01] [ 2.45088700e-02 5.61739987e-03 9.99683830e-01 1.30037077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30255784400003 meters Centerline goodness : 0.104479 Centerline is valid? [False, False] Translation: X:3.49, Y:0.34, Z:1.30 [[ 9.99702170e-01 -1.87583416e-04 -2.44036182e-02 3.48653270e+00] [ 3.43935536e-05 9.99980295e-01 -6.27761046e-03 3.41896002e-01] [ 2.44043150e-02 6.27490147e-03 9.99682477e-01 1.30040856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33255784400006 meters Centerline goodness : 0.105364 Centerline is valid? [False, False] Translation: X:3.49, Y:0.35, Z:1.30 [[ 9.99699562e-01 3.33144893e-03 -2.42834628e-02 3.48611073e+00] [-3.42016550e-03 9.99987625e-01 -3.61275695e-03 3.47971163e-01] [ 2.42711266e-02 3.69472501e-03 9.99698585e-01 1.30064253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36255784400004 meters Centerline goodness : 0.105412 Centerline is valid? [False, False] Translation: X:3.48, Y:0.35, Z:1.30 [[ 9.99704203e-01 5.26568087e-03 -2.37440121e-02 3.48374891e+00] [-5.32208359e-03 9.99983163e-01 -2.31288320e-03 3.54444657e-01] [ 2.37314334e-02 2.43856668e-03 9.99715396e-01 1.30174774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39255784400007 meters Centerline goodness : 0.130673 Centerline is valid? [False, False] Translation: X:3.48, Y:0.36, Z:1.30 [[ 9.99705446e-01 4.93543503e-03 -2.37626308e-02 3.48387377e+00] [-5.01449005e-03 9.99982086e-01 -3.26842587e-03 3.59401726e-01] [ 2.37460741e-02 3.38662062e-03 9.99712286e-01 1.30175629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42255784400004 meters SLAMing on 258.45255784400007 meters Centerline goodness : 0.098959 Centerline is valid? [False, False] Translation: X:3.46, Y:0.38, Z:1.30 [[ 9.99809709e-01 3.55176663e-05 -1.95075582e-02 3.46273060e+00] [-8.78082564e-05 9.99996406e-01 -2.67967975e-03 3.78528443e-01] [ 1.95073929e-02 2.68088275e-03 9.99806118e-01 1.30029228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48255784400004 meters SLAMing on 258.51255784400007 meters Centerline goodness : 0.186113 Centerline is valid? [False, False] Translation: X:3.48, Y:0.39, Z:1.30 [[ 9.99758652e-01 -7.57610829e-03 -2.06213656e-02 3.48242256e+00] [ 7.52714417e-03 9.99968667e-01 -2.45102092e-03 3.90170351e-01] [ 2.06392887e-02 2.29520938e-03 9.99784353e-01 1.30236958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54255784400004 meters Centerline goodness : 0.103308 Centerline is valid? [False, False] Translation: X:3.46, Y:0.39, Z:1.30 [[ 9.99763995e-01 3.58297273e-05 -2.17244766e-02 3.46460276e+00] [-1.24936399e-04 9.99991586e-01 -4.10032835e-03 3.89207823e-01] [ 2.17241469e-02 4.10207483e-03 9.99755587e-01 1.30014806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.572557844 meters Centerline goodness : 0.190344 Centerline is valid? [False, False] Translation: X:3.47, Y:0.39, Z:1.30 [[ 9.99734485e-01 -8.14767943e-04 -2.30281467e-02 3.46855977e+00] [ 6.99021517e-04 9.99987086e-01 -5.03390511e-03 3.92229204e-01] [ 2.30319508e-02 5.01647136e-03 9.99722144e-01 1.29877231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60255784400005 meters Centerline goodness : 0.195704 Centerline is valid? [False, False] Translation: X:3.47, Y:0.39, Z:1.30 [[ 9.99729229e-01 -9.01244871e-04 -2.32520251e-02 3.46929034e+00] [ 7.81804859e-04 9.99986457e-01 -5.14533662e-03 3.92886919e-01] [ 2.32563474e-02 5.12576487e-03 9.99716394e-01 1.29843856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.632557844 meters Centerline goodness : 0.167757 Centerline is valid? [False, False] Translation: X:3.47, Y:0.39, Z:1.30 [[ 9.99728586e-01 -9.55090905e-04 -2.32775052e-02 3.46938540e+00] [ 8.33665491e-04 9.99985999e-01 -5.22557331e-03 3.93426769e-01] [ 2.32821702e-02 5.20474936e-03 9.99715385e-01 1.29835099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66255784400005 meters Centerline goodness : 0.181798 Centerline is valid? [False, False] Translation: X:3.47, Y:0.39, Z:1.30 [[ 9.99732151e-01 -9.86083964e-04 -2.31225783e-02 3.46872520e+00] [ 8.64459797e-04 9.99985743e-01 -5.26938007e-03 3.93607743e-01] [ 2.31274447e-02 5.24798013e-03 9.99718750e-01 1.29878365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.692557844 meters Centerline goodness : 0.181593 Centerline is valid? [False, False] Translation: X:3.47, Y:0.39, Z:1.30 [[ 9.99737560e-01 -1.06243323e-03 -2.28840943e-02 3.46771749e+00] [ 9.39701016e-04 9.99985122e-01 -5.37329634e-03 3.93779412e-01] [ 2.28894626e-02 5.35038196e-03 9.99723685e-01 1.29945543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72255784400005 meters Centerline goodness : 0.166501 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99744107e-01 -1.25554970e-03 -2.25863664e-02 3.46645788e+00] [ 1.12561830e-03 9.99982752e-01 -5.76444128e-03 3.95198492e-01] [ 2.25932144e-02 5.73754257e-03 9.99728277e-01 1.30034836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.752557844 meters Centerline goodness : 0.103677 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99743687e-01 -1.28838879e-03 -2.26030880e-02 3.46662956e+00] [ 1.15520540e-03 9.99981902e-01 -5.90433309e-03 3.95983810e-01] [ 2.26102860e-02 5.87670853e-03 9.99727082e-01 1.30018881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78255784400005 meters Centerline goodness : 0.178675 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99738033e-01 -1.33332429e-03 -2.28492332e-02 3.46759844e+00] [ 1.19424005e-03 9.99980684e-01 -6.09960666e-03 3.97128575e-01] [ 2.28569246e-02 6.07072129e-03 9.99720315e-01 1.29965524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.812557844 meters Centerline goodness : 0.131725 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99728450e-01 -1.25463312e-03 -2.32691198e-02 3.46902448e+00] [ 1.10593985e-03 9.99978896e-01 -6.40192266e-03 3.99308988e-01] [ 2.32766608e-02 6.37444997e-03 9.99708739e-01 1.29912488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84255784400005 meters Centerline goodness : 0.185254 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99734159e-01 -1.33179308e-03 -2.30181897e-02 3.46802892e+00] [ 1.17727620e-03 9.99976693e-01 -6.72506467e-03 4.00909432e-01] [ 2.30266096e-02 6.69617810e-03 9.99712427e-01 1.29983113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.872557844 meters Centerline goodness : 0.163115 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:1.30 [[ 0.99976629 -0.00699366 -0.02045601 3.48977486] [ 0.00691692 0.99996878 -0.00381998 0.40241442] [ 0.02048208 0.0036776 0.99978346 1.29975449] [ 0. 0. 0. 1. ]] SLAMing on 258.90255784400006 meters Centerline goodness : 0.100948 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99798103e-01 1.88891467e-03 -2.00046446e-02 3.46682114e+00] [-1.97560321e-03 9.99988741e-01 -4.31454523e-03 4.01448504e-01] [ 1.99962696e-02 4.35319538e-03 9.99790578e-01 1.29900328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93255784400003 meters Centerline goodness : 0.111856 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99794781e-01 1.76957166e-03 -2.01808158e-02 3.46746197e+00] [-1.86621680e-03 9.99986877e-01 -4.77113406e-03 4.03887759e-01] [ 2.01721081e-02 4.80781670e-03 9.99784962e-01 1.29873460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96255784400006 meters Centerline goodness : 0.183464 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:1.30 [[ 9.99761198e-01 3.39359656e-03 -2.15877176e-02 3.47412658e+00] [-3.47300053e-03 9.99987338e-01 -3.64177359e-03 4.07967133e-01] [ 2.15750855e-02 3.71587809e-03 9.99760325e-01 1.29505600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99255784400003 meters Centerline goodness : 0.091939 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:1.29 [[ 9.99759050e-01 3.22655125e-03 -2.17124666e-02 3.47469832e+00] [-3.31694160e-03 9.99985977e-01 -4.12833677e-03 4.10461495e-01] [ 2.16988418e-02 4.19936103e-03 9.99755733e-01 1.29468199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02255784400006 meters Centerline goodness : 0.187109 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.30 [[ 0.99970492 0.00366321 -0.02401363 3.42803734] [-0.00375654 0.99998556 -0.00384232 0.41631108] [ 0.02399921 0.00393139 0.99970425 1.29557237] [ 0. 0. 0. 1. ]] SLAMing on 259.05255784400003 meters Centerline goodness : 0.181816 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.30 [[ 0.99970831 0.00349575 -0.02389704 3.42749154] [-0.00360178 0.99998385 -0.00439539 0.41931709] [ 0.02388129 0.00448018 0.99970476 1.29608697] [ 0. 0. 0. 1. ]] SLAMing on 259.08255784400006 meters Centerline goodness : 0.186455 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.30 [[ 9.99746286e-01 -2.49617275e-03 -2.23860048e-02 3.44960238e+00] [ 2.45968091e-03 9.99995601e-01 -1.65750468e-03 4.23088001e-01] [ 2.23900437e-02 1.60202172e-03 9.99748028e-01 1.29629781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11255784400004 meters Centerline goodness : 0.180654 Centerline is valid? [False, False] Translation: X:3.45, Y:0.43, Z:1.30 [[ 9.99746947e-01 -2.71717621e-03 -2.23306799e-02 3.44939225e+00] [ 2.66887428e-03 9.99994035e-01 -2.19254803e-03 4.25655205e-01] [ 2.23365043e-02 2.13239542e-03 9.99748235e-01 1.29643909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14255784400007 meters Centerline goodness : 0.096984 Centerline is valid? [False, False] Translation: X:3.45, Y:0.43, Z:1.30 [[ 9.99749637e-01 -3.20916016e-03 -2.21441566e-02 3.44912156e+00] [ 3.13826490e-03 9.99989841e-01 -3.23554244e-03 4.30249081e-01] [ 2.21543150e-02 3.16523815e-03 9.99749552e-01 1.29620073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17255784400004 meters Centerline goodness : 0.185574 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:1.30 [[ 9.99698866e-01 -3.14280288e-03 -2.43372250e-02 3.40256261e+00] [ 3.06088869e-03 9.99989528e-01 -3.40231975e-03 4.35257428e-01] [ 2.43476630e-02 3.32680166e-03 9.99698016e-01 1.29648128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20255784400007 meters Centerline goodness : 0.181895 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.30 [[ 9.99748631e-01 -3.17947203e-03 -2.21938393e-02 3.44662535e+00] [ 3.10095848e-03 9.99988815e-01 -3.57114747e-03 4.36199692e-01] [ 2.22049454e-02 3.50142762e-03 9.99747308e-01 1.29676937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23255784400004 meters Centerline goodness : 0.099484 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.30 [[ 9.99749109e-01 -3.35300669e-03 -2.21466983e-02 3.44665928e+00] [ 3.26504843e-03 9.99986643e-01 -4.00658578e-03 4.38348630e-01] [ 2.21598367e-02 3.93327052e-03 9.99746703e-01 1.29654351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26255784400007 meters Centerline goodness : 0.180684 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.30 [[ 9.99745110e-01 -3.54049593e-03 -2.22975451e-02 3.44723852e+00] [ 3.44263240e-03 9.99984280e-01 -4.42584007e-03 4.40359320e-01] [ 2.23128642e-02 4.34794971e-03 9.99741582e-01 1.29620551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29255784400004 meters Centerline goodness : 0.111342 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.30 [[ 0.99973626 -0.00384509 -0.02264129 3.44837498] [ 0.00372862 0.99997961 -0.00518379 0.44432553] [ 0.02266076 0.005098 0.99973021 1.29586072] [ 0. 0. 0. 1. ]] SLAMing on 259.322557844 meters Centerline goodness : 0.183770 Centerline is valid? [False, False] Translation: X:3.45, Y:0.45, Z:1.30 [[ 0.99973589 -0.00402428 -0.02262654 3.44845055] [ 0.00389686 0.99997632 -0.00567266 0.44689073] [ 0.02264883 0.00558299 0.99972789 1.2957206 ] [ 0. 0. 0. 1. ]] SLAMing on 259.35255784400005 meters Centerline goodness : 0.172801 Centerline is valid? [False, False] Translation: X:3.47, Y:0.44, Z:1.30 [[ 0.99975559 0.00423483 -0.02169862 3.46803815] [-0.004383 0.99996737 -0.0067855 0.4447017 ] [ 0.02166918 0.00687894 0.99974153 1.29666476] [ 0. 0. 0. 1. ]] SLAMing on 259.382557844 meters Centerline goodness : 0.182972 Centerline is valid? [False, False] Translation: X:3.47, Y:0.45, Z:1.30 [[ 0.9997586 0.00404108 -0.02159651 3.46779701] [-0.00419879 0.99996482 -0.00726201 0.44686214] [ 0.02156641 0.00735093 0.99974039 1.29669471] [ 0. 0. 0. 1. ]] SLAMing on 259.41255784400005 meters Centerline goodness : 0.181525 Centerline is valid? [False, False] Translation: X:3.47, Y:0.45, Z:1.30 [[ 0.99975819 0.00383657 -0.02165259 3.4680303 ] [-0.00400515 0.99996197 -0.00774754 0.44905391] [ 0.02162205 0.00783239 0.99973554 1.29661237] [ 0. 0. 0. 1. ]] SLAMing on 259.442557844 meters Centerline goodness : 0.181307 Centerline is valid? [False, False] Translation: X:3.47, Y:0.45, Z:1.30 [[ 0.99975435 0.00365131 -0.02186118 3.46875774] [-0.00383245 0.99995863 -0.00824952 0.45162073] [ 0.02183015 0.00833127 0.99972698 1.29634057] [ 0. 0. 0. 1. ]] SLAMing on 259.47255784400005 meters Centerline goodness : 0.182533 Centerline is valid? [False, False] Translation: X:3.47, Y:0.45, Z:1.30 [[ 0.99972166 0.00732919 -0.02242504 3.47075483] [-0.00744114 0.99996025 -0.00491282 0.454647 ] [ 0.02238814 0.00507832 0.99973646 1.29544916] [ 0. 0. 0. 1. ]] SLAMing on 259.502557844 meters Centerline goodness : 0.181953 Centerline is valid? [False, False] Translation: X:3.47, Y:0.46, Z:1.30 [[ 0.99972344 0.00715163 -0.02240329 3.47081716] [-0.00727342 0.99995919 -0.00535923 0.45683735] [ 0.02236405 0.0055207 0.99973465 1.29533054] [ 0. 0. 0. 1. ]] SLAMing on 259.53255784400005 meters Centerline goodness : 0.116883 Centerline is valid? [False, False] Translation: X:3.49, Y:0.46, Z:1.30 [[ 9.99751601e-01 -1.02825027e-03 -2.22638689e-02 3.49023813e+00] [ 9.28388187e-04 9.99989465e-01 -4.49525921e-03 4.62325415e-01] [ 2.22682566e-02 4.47347307e-03 9.99742023e-01 1.29716495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562557844 meters Centerline goodness : 0.178167 Centerline is valid? [False, False] Translation: X:3.49, Y:0.47, Z:1.30 [[ 9.99757993e-01 -1.37884972e-03 -2.19557222e-02 3.48952639e+00] [ 1.26287166e-03 9.99985182e-01 -5.29535095e-03 4.65961554e-01] [ 2.19626984e-02 5.26634218e-03 9.99744920e-01 1.29713812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59255784400005 meters Centerline goodness : 0.179126 Centerline is valid? [False, False] Translation: X:3.44, Y:0.47, Z:1.30 [[ 9.99697722e-01 -1.19548536e-03 -2.45567922e-02 3.44300153e+00] [ 1.05937046e-03 9.99984009e-01 -5.55512329e-03 4.70507868e-01] [ 2.45630406e-02 5.52742935e-03 9.99683002e-01 1.29797954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622557844 meters Centerline goodness : 0.110402 Centerline is valid? [False, False] Translation: X:3.46, Y:0.48, Z:1.30 [[ 0.99966668 -0.00945555 -0.02402316 3.46291099] [ 0.00934663 0.99994554 -0.00464206 0.4754092 ] [ 0.02406574 0.00441598 0.99970062 1.29965698] [ 0. 0. 0. 1. ]] SLAMing on 259.65255784400006 meters Centerline goodness : 0.115480 Centerline is valid? [False, False] Translation: X:3.44, Y:0.47, Z:1.30 [[ 9.99682473e-01 -7.60085047e-04 -2.51868277e-02 3.44202043e+00] [ 6.19453340e-04 9.99984179e-01 -5.59087380e-03 4.73912521e-01] [ 2.51906788e-02 5.57349648e-03 9.99667128e-01 1.29862429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68255784400003 meters Centerline goodness : 0.181351 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99678783e-01 -8.84381119e-04 -2.53288076e-02 3.44259016e+00] [ 7.35365699e-04 9.99982372e-01 -5.89194899e-03 4.75375320e-01] [ 2.53335718e-02 5.87143046e-03 9.99661811e-01 1.29828475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71255784400006 meters Centerline goodness : 0.184816 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99671499e-01 -1.16668683e-03 -2.56033772e-02 3.44389371e+00] [ 1.00061416e-03 9.99978386e-01 -6.49821136e-03 4.78257263e-01] [ 2.56104051e-02 6.47045759e-03 9.99651059e-01 1.29725539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74255784400003 meters Centerline goodness : 0.133620 Centerline is valid? [False, False] Translation: X:3.46, Y:0.48, Z:1.30 [[ 0.99962779 -0.00949968 -0.02557405 3.46476399] [ 0.00935736 0.99994009 -0.00567912 0.48286598] [ 0.02562647 0.0054377 0.9996568 1.2986152 ] [ 0. 0. 0. 1. ]] SLAMing on 259.77255784400006 meters Centerline goodness : 0.156960 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99665733e-01 -8.03865257e-04 -2.58413560e-02 3.44317232e+00] [ 6.35545627e-04 9.99978535e-01 -6.52112901e-03 4.80804226e-01] [ 2.58460434e-02 6.50252585e-03 9.99644787e-01 1.29763204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80255784400003 meters Centerline goodness : 0.141890 Centerline is valid? [False, False] Translation: X:3.46, Y:0.48, Z:1.30 [[ 0.99965692 -0.00925339 -0.02450343 3.46291343] [ 0.00912074 0.99994317 -0.00551985 0.48437859] [ 0.02455311 0.00529446 0.99968451 1.29931396] [ 0. 0. 0. 1. ]] SLAMing on 259.83255784400006 meters Centerline goodness : 0.149247 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99709362e-01 -1.10164506e-03 -2.40827493e-02 3.44111787e+00] [ 9.41765444e-04 9.99977451e-01 -6.64909486e-03 4.81898330e-01] [ 2.40895312e-02 6.62448208e-03 9.99687857e-01 1.29789928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86255784400004 meters Centerline goodness : 0.149247 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99709362e-01 -1.10164506e-03 -2.40827493e-02 3.44111787e+00] [ 9.41765444e-04 9.99977451e-01 -6.64909486e-03 4.81898330e-01] [ 2.40895312e-02 6.62448208e-03 9.99687857e-01 1.29789928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89255784400007 meters Centerline goodness : 0.179901 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99708685e-01 -1.15919941e-03 -2.41081246e-02 3.44138075e+00] [ 9.97624627e-04 9.99976970e-01 -6.71303595e-03 4.82094379e-01] [ 2.41153512e-02 6.68702948e-03 9.99686818e-01 1.29755221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92255784400004 meters Centerline goodness : 0.153354 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99710797e-01 -1.20571932e-03 -2.40180713e-02 3.44123113e+00] [ 1.04230375e-03 9.99976233e-01 -6.81521635e-03 4.82530998e-01] [ 2.40257177e-02 6.78821124e-03 9.99688294e-01 1.29744447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95255784400007 meters Centerline goodness : 0.146588 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99714575e-01 -1.27669468e-03 -2.38566093e-02 3.44071250e+00] [ 1.11007374e-03 9.99974910e-01 -6.99620591e-03 4.83367034e-01] [ 2.38649428e-02 6.96772642e-03 9.99690910e-01 1.29765595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98255784400004 meters Centerline goodness : 0.146387 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99718107e-01 -1.34955201e-03 -2.37041277e-02 3.44014207e+00] [ 1.17866359e-03 9.99973228e-01 -7.22171896e-03 4.84461205e-01] [ 2.37132391e-02 7.19174401e-03 9.99692933e-01 1.29799690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01255784400007 meters Centerline goodness : 0.148181 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.30 [[ 9.99718615e-01 -1.38043713e-03 -2.36809223e-02 3.43983496e+00] [ 1.20598472e-03 9.99972044e-01 -7.37949163e-03 4.85400305e-01] [ 2.36904472e-02 7.34885632e-03 9.99692331e-01 1.29845453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04255784400004 meters Centerline goodness : 0.181894 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.30 [[ 9.99714014e-01 -1.57237295e-03 -2.38624825e-02 3.44047858e+00] [ 1.38323541e-03 9.99967516e-01 -7.94058434e-03 4.88030393e-01] [ 2.38741929e-02 7.90530601e-03 9.99683715e-01 1.29823300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.072557844 meters Centerline goodness : 0.111447 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.30 [[ 9.99710973e-01 -1.65135477e-03 -2.39842493e-02 3.44102590e+00] [ 1.45483734e-03 9.99965249e-01 -8.20874270e-03 4.89368551e-01] [ 2.39969714e-02 8.17147697e-03 9.99678635e-01 1.29786928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10255784400005 meters Centerline goodness : 0.146160 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.30 [[ 9.99708784e-01 -1.71000264e-03 -2.40712255e-02 3.44139160e+00] [ 1.50656601e-03 9.99963019e-01 -8.46704413e-03 4.90866817e-01] [ 2.40848140e-02 8.42831350e-03 9.99674390e-01 1.29767314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.132557844 meters Centerline goodness : 0.145777 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.30 [[ 9.99710038e-01 -1.78281250e-03 -2.40137821e-02 3.44118401e+00] [ 1.57271130e-03 9.99960348e-01 -8.76523887e-03 4.92445672e-01] [ 2.40284567e-02 8.72493054e-03 9.99673201e-01 1.29783708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16255784400005 meters Centerline goodness : 0.132734 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.30 [[ 9.99711520e-01 -1.86464259e-03 -2.39457899e-02 3.44082110e+00] [ 1.64865640e-03 9.99957812e-01 -9.03637481e-03 4.93740762e-01] [ 2.39616293e-02 8.99428961e-03 9.99672418e-01 1.29820366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.192557844 meters Centerline goodness : 0.101696 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:1.30 [[ 9.99711293e-01 -2.00222658e-03 -2.39441570e-02 3.44053968e+00] [ 1.77774437e-03 9.99954306e-01 -9.39285378e-03 4.95356448e-01] [ 2.39618695e-02 9.34757540e-03 9.99669171e-01 1.29867232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22255784400005 meters Centerline goodness : 0.143521 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.30 [[ 0.9996488 -0.00806558 -0.02524331 3.41873745] [ 0.00790592 0.99994815 -0.00641858 0.4996457 ] [ 0.02529377 0.00621675 0.99966073 1.29863032] [ 0. 0. 0. 1. ]] SLAMing on 260.252557844 meters Centerline goodness : 0.149119 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.30 [[ 9.99669831e-01 -4.84184631e-03 -2.52345931e-02 3.41894739e+00] [ 4.76689320e-03 9.99984049e-01 -3.02956154e-03 4.98902322e-01] [ 2.52488593e-02 2.90827067e-03 9.99676966e-01 1.29824503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28255784400005 meters Centerline goodness : 0.148377 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.30 [[ 9.99671591e-01 -4.88427852e-03 -2.51565755e-02 3.41874885e+00] [ 4.80564269e-03 9.99983379e-01 -3.18536467e-03 4.99714217e-01] [ 2.51717156e-02 3.06342505e-03 9.99678448e-01 1.29827541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.312557844 meters Centerline goodness : 0.145612 Centerline is valid? [False, False] Translation: X:3.37, Y:0.50, Z:1.30 [[ 0.99962461 -0.00453748 -0.0270195 3.37072796] [ 0.00443579 0.99998286 -0.0038223 0.50392485] [ 0.02703638 0.00370101 0.9996276 1.29941316] [ 0. 0. 0. 1. ]] SLAMing on 260.34255784400005 meters Centerline goodness : 0.143773 Centerline is valid? [False, False] Translation: X:3.37, Y:0.51, Z:1.30 [[ 9.99645916e-01 -8.26264351e-04 -2.65962437e-02 3.36938252e+00] [ 8.16977441e-04 9.99999601e-01 -3.60045534e-04 5.05018194e-01] [ 2.65965306e-02 3.38189517e-04 9.99646193e-01 1.29968994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.372557844 meters Centerline goodness : 0.126739 Centerline is valid? [False, False] Translation: X:3.37, Y:0.51, Z:1.30 [[ 9.99632549e-01 -7.32198580e-04 -2.70967028e-02 3.37082370e+00] [ 7.16783178e-04 9.99999576e-01 -5.78611863e-04 5.07053404e-01] [ 2.70971150e-02 5.58976791e-04 9.99632649e-01 1.29943087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40255784400006 meters Centerline goodness : 0.145396 Centerline is valid? [False, False] Translation: X:3.33, Y:0.51, Z:1.30 [[ 9.99541146e-01 6.79881890e-04 -3.02825841e-02 3.32715689e+00] [-6.81627389e-04 9.99999767e-01 -4.73172927e-05 5.12033310e-01] [ 3.02825448e-02 6.79370196e-05 9.99541376e-01 1.29872956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43255784400003 meters Centerline goodness : 0.145500 Centerline is valid? [False, False] Translation: X:3.33, Y:0.51, Z:1.30 [[ 9.99532540e-01 5.81035287e-04 -3.05673795e-02 3.32807011e+00] [-5.92999364e-04 9.99999751e-01 -3.82336287e-04 5.13728552e-01] [ 3.05671497e-02 4.00283997e-04 9.99532635e-01 1.29843218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46255784400006 meters Centerline goodness : 0.144788 Centerline is valid? [False, False] Translation: X:3.33, Y:0.52, Z:1.30 [[ 9.99531879e-01 4.34601991e-04 -3.05913926e-02 3.32826244e+00] [-4.56902519e-04 9.99999635e-01 -7.21993969e-04 5.15226343e-01] [ 3.05910676e-02 7.35633273e-04 9.99531713e-01 1.29819819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49255784400003 meters Centerline goodness : 0.139863 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.30 [[ 9.99556451e-01 -5.82320017e-03 -2.92060050e-02 3.34997392e+00] [ 5.88860217e-03 9.99980343e-01 2.15382400e-03 5.19182261e-01] [ 2.91928887e-02 -2.32485122e-03 9.99571093e-01 1.29853499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52255784400006 meters Centerline goodness : 0.147483 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.30 [[ 9.99557746e-01 -5.98382350e-03 -2.91291384e-02 3.34963353e+00] [ 6.03755926e-03 9.99980230e-01 1.75713822e-03 5.21216302e-01] [ 2.91180481e-02 -1.93223001e-03 9.99574112e-01 1.29876598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55255784400003 meters Centerline goodness : 0.141119 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.30 [[ 9.99557609e-01 -6.09771223e-03 -2.91102233e-02 3.34951724e+00] [ 6.14308891e-03 9.99980051e-01 1.46960981e-03 5.22741441e-01] [ 2.91006813e-02 -1.64778636e-03 9.99575127e-01 1.29887732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58255784400006 meters Centerline goodness : 0.156685 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.30 [[ 9.99556158e-01 -6.19683957e-03 -2.91390998e-02 3.34963274e+00] [ 6.23665758e-03 9.99979738e-01 1.27579342e-03 5.23613991e-01] [ 2.91306035e-02 -1.45695775e-03 9.99574552e-01 1.29878461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61255784400004 meters Centerline goodness : 0.141836 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.30 [[ 9.99555272e-01 -6.30275547e-03 -2.91467565e-02 3.34978055e+00] [ 6.33885545e-03 9.99979252e-01 1.14632586e-03 5.24002621e-01] [ 2.91389267e-02 -1.33057314e-03 9.99574486e-01 1.29853491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64255784400007 meters Centerline goodness : 0.143843 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.30 [[ 9.99553550e-01 -6.34526194e-03 -2.91965379e-02 3.35007279e+00] [ 6.38022358e-03 9.99979036e-01 1.10445320e-03 5.24231247e-01] [ 2.91889178e-02 -1.29024055e-03 9.99573080e-01 1.29820952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67255784400004 meters Centerline goodness : 0.143526 Centerline is valid? [False, False] Translation: X:3.35, Y:0.53, Z:1.30 [[ 0.99959135 -0.00385448 -0.0283244 3.34704319] [ 0.00395747 0.99998576 0.00358096 0.52694121] [ 0.02831019 -0.00369158 0.99959237 1.29901478] [ 0. 0. 0. 1. ]] SLAMing on 260.70255784400007 meters Centerline goodness : 0.155359 Centerline is valid? [False, False] Translation: X:3.35, Y:0.53, Z:1.30 [[ 9.99596499e-01 -3.98633140e-03 -2.81238104e-02 3.34650662e+00] [ 4.08045693e-03 9.99986262e-01 3.29023086e-03 5.28329330e-01] [ 2.81103080e-02 -3.40366125e-03 9.99599032e-01 1.29909082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73255784400004 meters Centerline goodness : 0.128246 Centerline is valid? [False, False] Translation: X:3.35, Y:0.53, Z:1.30 [[ 9.99594740e-01 -4.12844716e-03 -2.81657925e-02 3.34673744e+00] [ 4.21367714e-03 9.99986720e-01 2.96732904e-03 5.29736873e-01] [ 2.81531680e-02 -3.08480806e-03 9.99598861e-01 1.29888619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76255784400007 meters Centerline goodness : 0.141114 Centerline is valid? [False, False] Translation: X:3.35, Y:0.53, Z:1.30 [[ 9.99589912e-01 -4.28836167e-03 -2.83128664e-02 3.34723045e+00] [ 4.36364788e-03 9.99987105e-01 2.59783060e-03 5.31348273e-01] [ 2.83013608e-02 -2.72031264e-03 9.99595735e-01 1.29867423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79255784400004 meters Centerline goodness : 0.151988 Centerline is valid? [False, False] Translation: X:3.37, Y:0.53, Z:1.30 [[ 9.99578061e-01 3.78471900e-03 -2.87988969e-02 3.36864063e+00] [-3.74964079e-03 9.99992161e-01 1.27194680e-03 5.32020274e-01] [ 2.88034851e-02 -1.16342460e-03 9.99584416e-01 1.30002970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.822557844 meters Centerline goodness : 0.142745 Centerline is valid? [False, False] Translation: X:3.37, Y:0.54, Z:1.30 [[ 9.99576853e-01 3.58921775e-03 -2.88657719e-02 3.36879228e+00] [-3.57372078e-03 9.99993441e-01 5.88435424e-04 5.35544667e-01] [ 2.88676946e-02 -4.85028220e-04 9.99583124e-01 1.30018995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85255784400005 meters Centerline goodness : 0.143681 Centerline is valid? [False, False] Translation: X:3.37, Y:0.54, Z:1.30 [[ 9.99580600e-01 3.39189289e-03 -2.87596734e-02 3.36855253e+00] [-3.39601158e-03 9.99994229e-01 -9.43674678e-05 5.39056987e-01] [ 2.87591874e-02 1.91996074e-04 9.99586351e-01 1.30021066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.882557844 meters Centerline goodness : 0.144669 Centerline is valid? [False, False] Translation: X:3.37, Y:0.54, Z:1.30 [[ 9.99585505e-01 3.18253330e-03 -2.86127459e-02 3.36813791e+00] [-3.20661492e-03 9.99994542e-01 -7.95794405e-04 5.42587781e-01] [ 2.86100571e-02 8.87214610e-04 9.99590255e-01 1.30036668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91255784400005 meters Centerline goodness : 0.145137 Centerline is valid? [False, False] Translation: X:3.37, Y:0.55, Z:1.30 [[ 9.99591150e-01 2.96579945e-03 -2.84382983e-02 3.36763449e+00] [-3.00890275e-03 9.99994388e-01 -1.47300460e-03 5.45946816e-01] [ 2.84337700e-02 1.55797044e-03 9.99594464e-01 1.30054122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942557844 meters Centerline goodness : 0.141283 Centerline is valid? [False, False] Translation: X:3.37, Y:0.55, Z:1.30 [[ 9.99591955e-01 2.73855538e-03 -2.84328082e-02 3.36749230e+00] [-2.79839085e-03 9.99993953e-01 -2.06487387e-03 5.48810593e-01] [ 2.84269814e-02 2.14359741e-03 9.99593573e-01 1.30076609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97255784400005 meters Centerline goodness : 0.154185 Centerline is valid? [False, False] Translation: X:3.37, Y:0.55, Z:1.30 [[ 9.99586251e-01 2.41410034e-03 -2.86617863e-02 3.36835082e+00] [-2.50110689e-03 9.99992372e-01 -3.00016656e-03 5.53923878e-01] [ 2.86543250e-02 3.07061144e-03 9.99584664e-01 1.30048358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002557844 meters Centerline goodness : 0.140514 Centerline is valid? [False, False] Translation: X:3.37, Y:0.56, Z:1.30 [[ 9.99582865e-01 2.22007403e-03 -2.87952503e-02 3.36893946e+00] [-2.32131551e-03 9.99991240e-01 -3.48295718e-03 5.56300208e-01] [ 2.87872657e-02 3.54834718e-03 9.99579263e-01 1.30008981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03255784400005 meters Centerline goodness : 0.139934 Centerline is valid? [False, False] Translation: X:3.37, Y:0.56, Z:1.30 [[ 9.99574331e-01 1.85020950e-03 -2.91158686e-02 3.37027023e+00] [-1.98065699e-03 9.99988128e-01 -4.45208602e-03 5.61168801e-01] [ 2.91072856e-02 4.50785945e-03 9.99566128e-01 1.29932839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062557844 meters Centerline goodness : 0.157231 Centerline is valid? [False, False] Translation: X:3.37, Y:0.56, Z:1.30 [[ 9.99568312e-01 1.65507934e-03 -2.93334489e-02 3.37093288e+00] [-1.80068548e-03 9.99986186e-01 -4.93810546e-03 5.63612142e-01] [ 2.93248707e-02 4.98879405e-03 9.99557484e-01 1.29919978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09255784400005 meters Centerline goodness : 0.149729 Centerline is valid? [False, False] Translation: X:3.37, Y:0.57, Z:1.30 [[ 9.99562638e-01 1.49268073e-03 -2.95347907e-02 3.37153891e+00] [-1.65233472e-03 9.99984152e-01 -5.38195706e-03 5.65963248e-01] [ 2.95262891e-02 5.42840456e-03 9.99549264e-01 1.29911124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122557844 meters Centerline goodness : 0.142777 Centerline is valid? [False, False] Translation: X:3.37, Y:0.57, Z:1.30 [[ 9.99559492e-01 1.32142658e-03 -2.96492150e-02 3.37189443e+00] [-1.49472351e-03 9.99981926e-01 -5.82350589e-03 5.68231961e-01] [ 2.96409838e-02 5.86525796e-03 9.99543401e-01 1.29908017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15255784400006 meters Centerline goodness : 0.145308 Centerline is valid? [False, False] Translation: X:3.37, Y:0.57, Z:1.30 [[ 9.99560379e-01 1.09504597e-03 -2.96285293e-02 3.37189269e+00] [-1.28429741e-03 9.99978892e-01 -6.36919713e-03 5.70799088e-01] [ 2.96209293e-02 6.40444894e-03 9.99540686e-01 1.29904531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18255784400003 meters Centerline goodness : 0.149121 Centerline is valid? [False, False] Translation: X:3.39, Y:0.58, Z:1.30 [[ 0.99954393 -0.00765666 -0.02921126 3.39235743] [ 0.00749209 0.99995546 -0.00573926 0.57660936] [ 0.0292539 0.00551779 0.99955678 1.30050509] [ 0. 0. 0. 1. ]] SLAMing on 261.21255784400006 meters Centerline goodness : 0.165503 Centerline is valid? [False, False] Translation: X:3.37, Y:0.58, Z:1.30 [[ 9.99533160e-01 1.21750234e-03 -3.05283337e-02 3.37179665e+00] [-1.43294445e-03 9.99974219e-01 -7.03623541e-03 5.79025226e-01] [ 3.05189800e-02 7.07669602e-03 9.99509136e-01 1.29988487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24255784400003 meters Centerline goodness : 0.133014 Centerline is valid? [False, False] Translation: X:3.39, Y:0.58, Z:1.30 [[ 0.99949159 -0.00729823 -0.03103717 3.39236423] [ 0.00711618 0.99995685 -0.00597168 0.58463007] [ 0.03107942 0.00574777 0.99950039 1.30177488] [ 0. 0. 0. 1. ]] SLAMing on 261.27255784400006 meters Centerline goodness : 0.154192 Centerline is valid? [False, False] Translation: X:3.39, Y:0.59, Z:1.30 [[ 0.99948595 -0.00745005 -0.03118212 3.39305485] [ 0.0072583 0.99995408 -0.00625819 0.58596532] [ 0.03122731 0.00602865 0.99949413 1.30135616] [ 0. 0. 0. 1. ]] SLAMing on 261.30255784400003 meters Centerline goodness : 0.131411 Centerline is valid? [False, False] Translation: X:3.39, Y:0.59, Z:1.30 [[ 0.99948213 -0.00760989 -0.03126586 3.39351241] [ 0.0074076 0.99995091 -0.00658081 0.58742979] [ 0.03131441 0.0063458 0.99948944 1.30095398] [ 0. 0. 0. 1. ]] SLAMing on 261.33255784400006 meters Centerline goodness : 0.149119 Centerline is valid? [False, False] Translation: X:3.37, Y:0.59, Z:1.30 [[ 9.99493655e-01 1.37561627e-03 -3.17890011e-02 3.37254942e+00] [-1.62254218e-03 9.99968705e-01 -7.74316226e-03 5.86205777e-01] [ 3.17773547e-02 7.79082054e-03 9.99464608e-01 1.29965275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36255784400004 meters Centerline goodness : 0.148423 Centerline is valid? [False, False] Translation: X:3.39, Y:0.59, Z:1.30 [[ 0.99949943 -0.00744563 -0.03074834 3.39220762] [ 0.00723989 0.99995069 -0.00679709 0.59058301] [ 0.03079743 0.00657107 0.99950405 1.30146019] [ 0. 0. 0. 1. ]] SLAMing on 261.39255784400007 meters Centerline goodness : 0.132462 Centerline is valid? [False, False] Translation: X:3.39, Y:0.59, Z:1.30 [[ 0.99950642 -0.00771261 -0.03045378 3.39105857] [ 0.00749218 0.99994495 -0.00734576 0.59319785] [ 0.03050876 0.00711397 0.99950918 1.30217752] [ 0. 0. 0. 1. ]] SLAMing on 261.42255784400004 meters Centerline goodness : 0.164349 Centerline is valid? [False, False] Translation: X:3.39, Y:0.59, Z:1.30 [[ 0.99950688 -0.00781707 -0.03041193 3.39095203] [ 0.0075913 0.99994282 -0.00753228 0.59403895] [ 0.03046907 0.0072977 0.99950907 1.30224839] [ 0. 0. 0. 1. ]] SLAMing on 261.45255784400007 meters Centerline goodness : 0.167994 Centerline is valid? [False, False] Translation: X:3.39, Y:0.59, Z:1.30 [[ 0.99950877 -0.00790736 -0.03032642 3.39068884] [ 0.00767678 0.99994079 -0.00771237 0.59482026] [ 0.03038561 0.00747577 0.99951029 1.30234402] [ 0. 0. 0. 1. ]] SLAMing on 261.48255784400004 meters Centerline goodness : 0.153427 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.99951104 -0.00801372 -0.03022361 3.39021233] [ 0.00777791 0.99993845 -0.00791175 0.59561482] [ 0.03028515 0.0076728 0.99951185 1.30273324] [ 0. 0. 0. 1. ]] SLAMing on 261.51255784400007 meters Centerline goodness : 0.162682 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.9995166 -0.0081219 -0.03000995 3.38931631] [ 0.00788191 0.99993608 -0.00810659 0.596341 ] [ 0.03007387 0.00786614 0.99951673 1.30330806] [ 0. 0. 0. 1. ]] SLAMing on 261.54255784400004 meters Centerline goodness : 0.161423 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.99952177 -0.00819875 -0.0298162 3.38848305] [ 0.00795525 0.99993411 -0.00827617 0.59703991] [ 0.02988209 0.00803502 0.99952113 1.30384542] [ 0. 0. 0. 1. ]] SLAMing on 261.572557844 meters Centerline goodness : 0.163256 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.99952325 -0.00831895 -0.02973318 3.38809877] [ 0.00806705 0.99993063 -0.00858193 0.59859073] [ 0.02980251 0.00833798 0.99952103 1.30416704] [ 0. 0. 0. 1. ]] SLAMing on 261.60255784400005 meters Centerline goodness : 0.124887 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.99952142 -0.00833037 -0.02979144 3.38830272] [ 0.0080764 0.9999301 -0.00863513 0.59887251] [ 0.02986129 0.00839039 0.99951884 1.30404963] [ 0. 0. 0. 1. ]] SLAMing on 261.632557844 meters Centerline goodness : 0.117641 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.99951679 -0.00833379 -0.02994567 3.38892102] [ 0.00807849 0.99993008 -0.00863613 0.59878483] [ 0.03001554 0.00839004 0.99951422 1.30369834] [ 0. 0. 0. 1. ]] SLAMing on 261.66255784400005 meters Centerline goodness : 0.158831 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.99950789 -0.00832258 -0.03024407 3.38988785] [ 0.00806372 0.99992989 -0.00867105 0.59885826] [ 0.03031412 0.0084229 0.99950493 1.30334933] [ 0. 0. 0. 1. ]] SLAMing on 261.692557844 meters Centerline goodness : 0.120942 Centerline is valid? [False, False] Translation: X:3.34, Y:0.60, Z:1.30 [[ 0.99943569 -0.0059727 -0.0330549 3.34483307] [ 0.00570981 0.99995136 -0.00804179 0.60246579] [ 0.03310133 0.00784851 0.99942118 1.30331055] [ 0. 0. 0. 1. ]] SLAMing on 261.72255784400005 meters Centerline goodness : 0.146268 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:1.30 [[ 9.99462471e-01 2.59566201e-03 -3.26807589e-02 3.36678654e+00] [-2.86374813e-03 9.99962614e-01 -8.15904620e-03 5.99106622e-01] [ 3.26583590e-02 8.24824994e-03 9.99432538e-01 1.30390465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.752557844 meters Centerline goodness : 0.146268 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:1.30 [[ 9.99462471e-01 2.59566201e-03 -3.26807589e-02 3.36678654e+00] [-2.86374813e-03 9.99962614e-01 -8.15904620e-03 5.99106622e-01] [ 3.26583590e-02 8.24824994e-03 9.99432538e-01 1.30390465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78255784400005 meters Centerline goodness : 0.053694 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 9.99496971e-01 -2.73724669e-03 -3.15960906e-02 3.38792748e+00] [ 2.60337203e-03 9.99987463e-01 -4.27742519e-03 6.00699049e-01] [ 3.16074028e-02 4.19301714e-03 9.99491566e-01 1.30419711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.812557844 meters Centerline goodness : 0.149829 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 9.99501307e-01 -2.68330158e-03 -3.14632752e-02 3.38758555e+00] [ 2.53779775e-03 9.99985905e-01 -4.66358293e-03 6.02963881e-01] [ 3.14753455e-02 4.58140980e-03 9.99494029e-01 1.30437067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84255784400005 meters Centerline goodness : 0.149433 Centerline is valid? [False, False] Translation: X:3.41, Y:0.60, Z:1.31 [[ 0.99952519 0.00537085 -0.03034041 3.40812186] [-0.00555115 0.99996741 -0.00586151 0.60093253] [ 0.03030794 0.00602716 0.99952244 1.30588861] [ 0. 0. 0. 1. ]] SLAMing on 261.872557844 meters Centerline goodness : 0.081372 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:1.31 [[ 9.99494065e-01 9.27318964e-03 -3.04240455e-02 3.40858577e+00] [-9.36133919e-03 9.99952383e-01 -2.75620397e-03 6.05262782e-01] [ 3.03970380e-02 3.03961932e-03 9.99533281e-01 1.30557283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90255784400006 meters Centerline goodness : 0.107566 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:1.31 [[ 9.99466757e-01 9.70787371e-03 -3.11762639e-02 3.41072020e+00] [-9.79885923e-03 9.99948162e-01 -2.76696353e-03 6.07222700e-01] [ 3.11477864e-02 3.07097989e-03 9.99510072e-01 1.30512917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93255784400003 meters Centerline goodness : 0.167333 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:1.30 [[ 9.99458346e-01 9.71605698e-03 -3.14422175e-02 3.41155213e+00] [-9.82281783e-03 9.99946497e-01 -3.24277766e-03 6.09953760e-01] [ 3.14090282e-02 3.54987237e-03 9.99500311e-01 1.30478654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96255784400006 meters Centerline goodness : 0.074296 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:1.30 [[ 0.99945983 0.00956739 -0.03144057 3.41157541] [-0.00969626 0.99994519 -0.00394889 0.61296889] [ 0.03140106 0.00425161 0.99949782 1.304574 ] [ 0. 0. 0. 1. ]] SLAMing on 261.99255784400003 meters Centerline goodness : 0.078513 Centerline is valid? [False, False] Translation: X:3.41, Y:0.62, Z:1.30 [[ 0.9994655 0.00938099 -0.0313163 3.41104173] [-0.0095282 0.99994423 -0.00455492 0.61547831] [ 0.03127183 0.00485087 0.99949915 1.30478994] [ 0. 0. 0. 1. ]] SLAMing on 262.02255784400006 meters Centerline goodness : 0.072018 Centerline is valid? [False, False] Translation: X:3.41, Y:0.62, Z:1.31 [[ 0.99947231 0.00929251 -0.03112471 3.41010392] [-0.00945349 0.99994267 -0.00502918 0.6178094 ] [ 0.03107619 0.00532076 0.99950286 1.3054216 ] [ 0. 0. 0. 1. ]] SLAMing on 262.05255784400003 meters Centerline goodness : 0.149288 Centerline is valid? [False, False] Translation: X:3.41, Y:0.62, Z:1.30 [[ 9.99444736e-01 1.29690319e-02 -3.06924086e-02 3.40936678e+00] [-1.30424356e-02 9.99912540e-01 -2.19259394e-03 6.22336370e-01] [ 3.06612885e-02 2.59168023e-03 9.99526472e-01 1.30497061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08255784400006 meters Centerline goodness : 0.138691 Centerline is valid? [False, False] Translation: X:3.41, Y:0.63, Z:1.30 [[ 9.99454418e-01 1.28330971e-02 -3.04331671e-02 3.40870454e+00] [-1.29269445e-02 9.99912270e-01 -2.88897211e-03 6.25270575e-01] [ 3.03934227e-02 3.28080380e-03 9.99532629e-01 1.30473092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11255784400004 meters Centerline goodness : 0.141244 Centerline is valid? [False, False] Translation: X:3.41, Y:0.63, Z:1.30 [[ 0.99946687 0.01270826 -0.03007436 3.40777785] [-0.01282253 0.99991127 -0.00360964 0.62808978] [ 0.03002582 0.00399334 0.99954115 1.30448391] [ 0. 0. 0. 1. ]] SLAMing on 262.14255784400007 meters Centerline goodness : 0.145874 Centerline is valid? [False, False] Translation: X:3.41, Y:0.63, Z:1.30 [[ 0.99947488 0.0126037 -0.02985139 3.40703176] [-0.01273823 0.99990953 -0.00432089 0.63101569] [ 0.02979423 0.00469887 0.99954501 1.30447781] [ 0. 0. 0. 1. ]] SLAMing on 262.17255784400004 meters Centerline goodness : 0.161955 Centerline is valid? [False, False] Translation: X:3.39, Y:0.64, Z:1.30 [[ 9.99592619e-01 7.22255515e-03 -2.76121440e-02 3.39092092e+00] [-7.29720172e-03 9.99969986e-01 -2.60358672e-03 6.43561781e-01] [ 2.75925107e-02 2.80401745e-03 9.99615321e-01 1.30211432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20255784400007 meters SLAMing on 262.23255784400004 meters Centerline goodness : 0.072430 Centerline is valid? [False, False] Translation: X:3.41, Y:0.65, Z:1.30 [[ 9.99582917e-01 6.42749259e-04 -2.88717748e-02 3.41498476e+00] [-6.53651798e-04 9.99999719e-01 -3.68182862e-04 6.50074317e-01] [ 2.88715301e-02 3.86901387e-04 9.99583056e-01 1.30177100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26255784400007 meters Centerline goodness : 0.143350 Centerline is valid? [False, False] Translation: X:3.42, Y:0.65, Z:1.30 [[ 9.99581231e-01 5.55127809e-04 -2.89318979e-02 3.41526730e+00] [-5.72837915e-04 9.99999654e-01 -6.03846017e-04 6.51166949e-01] [ 2.89315527e-02 6.20166433e-04 9.99581203e-01 1.30150971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29255784400004 meters Centerline goodness : 0.078103 Centerline is valid? [False, False] Translation: X:3.46, Y:0.65, Z:1.30 [[ 9.99634131e-01 1.17791654e-04 -2.70479083e-02 3.45862294e+00] [-1.08592800e-04 9.99999936e-01 3.41563485e-04 6.51070848e-01] [ 2.70479468e-02 -3.38501310e-04 9.99634080e-01 1.30232409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.322557844 meters Centerline goodness : 0.089849 Centerline is valid? [False, False] Translation: X:3.46, Y:0.65, Z:1.30 [[ 9.99631234e-01 1.68859191e-05 -2.71550356e-02 3.45880414e+00] [-1.52551094e-05 9.99999998e-01 6.02626786e-05 6.52511958e-01] [ 2.71550366e-02 -5.98262027e-05 9.99631232e-01 1.30250606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35255784400005 meters Centerline goodness : 0.153663 Centerline is valid? [False, False] Translation: X:3.46, Y:0.65, Z:1.30 [[ 9.99623931e-01 -8.70294742e-05 -2.74224324e-02 3.45954269e+00] [ 7.58914494e-05 9.99999914e-01 -4.07205227e-04 6.54878269e-01] [ 2.74224655e-02 4.04970962e-04 9.99623851e-01 1.30237172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.382557844 meters Centerline goodness : 0.172645 Centerline is valid? [False, False] Translation: X:3.46, Y:0.66, Z:1.30 [[ 9.99622879e-01 -1.84951921e-04 -2.74602645e-02 3.45964846e+00] [ 1.66646676e-04 9.99999762e-01 -6.68895489e-04 6.56062419e-01] [ 2.74603816e-02 6.64067073e-04 9.99622672e-01 1.30231898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41255784400005 meters Centerline goodness : 0.142198 Centerline is valid? [False, False] Translation: X:3.46, Y:0.66, Z:1.30 [[ 9.99623403e-01 -2.18582896e-04 -2.74409093e-02 3.45945119e+00] [ 1.96494855e-04 9.99999655e-01 -8.07625047e-04 6.56812933e-01] [ 2.74410763e-02 8.01928901e-04 9.99623101e-01 1.30251616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442557844 meters Centerline goodness : 0.076867 Centerline is valid? [False, False] Translation: X:3.50, Y:0.66, Z:1.30 [[ 9.99702472e-01 -2.00237095e-04 -2.43911295e-02 3.50215285e+00] [ 2.15578024e-04 9.99999781e-01 6.26327395e-04 6.55280488e-01] [ 2.43909987e-02 -6.31399237e-04 9.99702296e-01 1.30280721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47255784400005 meters Centerline goodness : 0.129103 Centerline is valid? [False, False] Translation: X:3.50, Y:0.65, Z:1.30 [[ 9.99701937e-01 -1.44667154e-04 -2.44134576e-02 3.50236405e+00] [ 1.64094514e-04 9.99999672e-01 7.93762884e-04 6.54340602e-01] [ 2.44133347e-02 -7.97532407e-04 9.99701632e-01 1.30251691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502557844 meters Centerline goodness : 0.078502 Centerline is valid? [False, False] Translation: X:3.50, Y:0.65, Z:1.30 [[ 9.99699147e-01 -5.35009230e-05 -2.45277957e-02 3.50283229e+00] [ 7.83983106e-05 9.99999483e-01 1.01410780e-03 6.53168453e-01] [ 2.45277288e-02 -1.01572564e-03 9.99698634e-01 1.30219897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53255784400005 meters Centerline goodness : 0.154847 Centerline is valid? [False, False] Translation: X:3.50, Y:0.65, Z:1.30 [[ 9.99696700e-01 5.70688781e-05 -2.46273364e-02 3.50302940e+00] [-2.76267615e-05 9.99999285e-01 1.19584410e-03 6.52376959e-01] [ 2.46273870e-02 -1.19480103e-03 9.99695986e-01 1.30223010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562557844 meters Centerline goodness : 0.139628 Centerline is valid? [False, False] Translation: X:3.50, Y:0.65, Z:1.30 [[ 9.99695584e-01 1.52142459e-04 -2.46721656e-02 3.50303502e+00] [-1.20240633e-04 9.99999155e-01 1.29450737e-03 6.52097066e-01] [ 2.46723417e-02 -1.29114670e-03 9.99694758e-01 1.30240667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59255784400005 meters Centerline goodness : 0.197641 Centerline is valid? [False, False] Translation: X:3.50, Y:0.65, Z:1.30 [[ 9.99699712e-01 2.34924597e-04 -2.45036978e-02 3.50236367e+00] [-2.02575382e-04 9.99999105e-01 1.32265078e-03 6.52179131e-01] [ 2.45039866e-02 -1.31728976e-03 9.99698864e-01 1.30280168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622557844 meters Centerline goodness : 0.143144 Centerline is valid? [False, False] Translation: X:3.50, Y:0.65, Z:1.30 [[ 9.99720443e-01 5.98414120e-04 -2.36363452e-02 3.49969471e+00] [-5.64525180e-04 9.99998803e-01 1.44041052e-03 6.52020106e-01] [ 2.36371788e-02 -1.42666454e-03 9.99719585e-01 1.30356966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65255784400006 meters Centerline goodness : 0.130870 Centerline is valid? [False, False] Translation: X:3.52, Y:0.65, Z:1.31 [[ 9.99696739e-01 8.45307499e-03 -2.31295452e-02 3.51965190e+00] [-8.44521403e-03 9.99964243e-01 4.37527386e-04 6.48152373e-01] [ 2.31324166e-02 -2.42060742e-04 9.99732381e-01 1.30548793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68255784400003 meters SLAMing on 262.71255784400006 meters Centerline goodness : 0.139480 Centerline is valid? [False, False] Translation: X:3.52, Y:0.65, Z:1.31 [[ 9.99686753e-01 9.29768436e-03 -2.32367940e-02 3.52007844e+00] [-9.27544184e-03 9.99956415e-01 1.06481085e-03 6.47324291e-01] [ 2.32456815e-02 -8.48945770e-04 9.99729422e-01 1.30521282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74255784400003 meters Centerline goodness : 0.146904 Centerline is valid? [False, False] Translation: X:3.52, Y:0.65, Z:1.31 [[ 9.99686634e-01 9.34575828e-03 -2.32226309e-02 3.52011112e+00] [-9.32366980e-03 9.99955973e-01 1.05925711e-03 6.47358300e-01] [ 2.32315081e-02 -8.42405032e-04 9.99729757e-01 1.30504371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77255784400006 meters Centerline goodness : 0.072672 Centerline is valid? [False, False] Translation: X:3.52, Y:0.65, Z:1.30 [[ 9.99711137e-01 5.97319300e-03 -2.32801212e-02 3.52023566e+00] [-6.03576469e-03 9.99978356e-01 -2.61843375e-03 6.47172943e-01] [ 2.32639769e-02 2.75819071e-03 9.99725552e-01 1.30485632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80255784400003 meters Centerline goodness : 0.135374 Centerline is valid? [False, False] Translation: X:3.54, Y:0.65, Z:1.31 [[ 9.99741460e-01 -2.74319479e-03 -2.25718203e-02 3.53917067e+00] [ 2.70718700e-03 9.99995014e-01 -1.62565654e-03 6.50856481e-01] [ 2.25761673e-02 1.56413011e-03 9.99743902e-01 1.30599757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83255784400006 meters Centerline goodness : 0.072380 Centerline is valid? [False, False] Translation: X:3.54, Y:0.65, Z:1.31 [[ 9.99739314e-01 -2.68337950e-03 -2.26738578e-02 3.53927240e+00] [ 2.64813224e-03 9.99995239e-01 -1.58441558e-03 6.50866618e-01] [ 2.26780014e-02 1.52395918e-03 9.99741660e-01 1.30616687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86255784400004 meters Centerline goodness : 0.147334 Centerline is valid? [False, False] Translation: X:3.54, Y:0.65, Z:1.31 [[ 9.99738646e-01 -2.59274674e-03 -2.27138137e-02 3.53923996e+00] [ 2.56015962e-03 9.99995652e-01 -1.46364485e-03 6.50610908e-01] [ 2.27175098e-02 1.40511133e-03 9.99740937e-01 1.30636396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89255784400007 meters Centerline goodness : 0.073859 Centerline is valid? [False, False] Translation: X:3.54, Y:0.65, Z:1.31 [[ 9.99739085e-01 -2.42539164e-03 -2.27129595e-02 3.53933064e+00] [ 2.40225360e-03 9.99996568e-01 -1.04594476e-03 6.48785042e-01] [ 2.27154184e-02 9.91109566e-04 9.99741480e-01 1.30626884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92255784400004 meters Centerline goodness : 0.115136 Centerline is valid? [False, False] Translation: X:3.54, Y:0.65, Z:1.31 [[ 9.99739505e-01 -2.39157791e-03 -2.26980606e-02 3.53937970e+00] [ 2.37292329e-03 9.99996824e-01 -8.48758277e-04 6.47510104e-01] [ 2.27000184e-02 7.94676424e-04 9.99742006e-01 1.30611877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95255784400007 meters Centerline goodness : 0.072755 Centerline is valid? [False, False] Translation: X:3.54, Y:0.65, Z:1.31 [[ 9.99739743e-01 -2.30853251e-03 -2.26961800e-02 3.53954316e+00] [ 2.29563276e-03 9.99997188e-01 -5.94404470e-04 6.46175562e-01] [ 2.26974884e-02 5.42147677e-04 9.99742232e-01 1.30583489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98255784400004 meters Centerline goodness : 0.137825 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.31 [[ 9.99738074e-01 -2.23364396e-03 -2.27770487e-02 3.53982492e+00] [ 2.22619201e-03 9.99997460e-01 -3.52520337e-04 6.44807399e-01] [ 2.27777782e-02 3.01721919e-04 9.99740507e-01 1.30567062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01255784400007 meters Centerline goodness : 0.119482 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.31 [[ 9.99733733e-01 -2.09293290e-03 -2.29800354e-02 3.54047052e+00] [ 2.09295612e-03 9.99997809e-01 -2.30409231e-05 6.43280293e-01] [ 2.29800332e-02 -2.50614175e-05 9.99735924e-01 1.30547527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04255784400004 meters Centerline goodness : 0.072335 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.31 [[ 9.99729153e-01 -1.97370162e-03 -2.31889172e-02 3.54106429e+00] [ 1.97948419e-03 9.99998015e-01 2.26416187e-04 6.42089828e-01] [ 2.31884243e-02 -2.72256958e-04 9.99731075e-01 1.30534465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.072557844 meters Centerline goodness : 0.144590 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.31 [[ 9.99721243e-01 -1.75205991e-03 -2.35449765e-02 3.54210184e+00] [ 1.76598610e-03 9.99998278e-01 5.70691783e-04 6.40525724e-01] [ 2.35439360e-02 -6.12112800e-04 9.99722616e-01 1.30504973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10255784400005 meters Centerline goodness : 0.120220 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.31 [[ 9.99721933e-01 -1.64219928e-03 -2.35235964e-02 3.54202259e+00] [ 1.66060377e-03 9.99998330e-01 7.62871066e-04 6.39695775e-01] [ 2.35223043e-02 -8.01722309e-04 9.99722991e-01 1.30505759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.132557844 meters Centerline goodness : 0.140905 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.30 [[ 9.99725214e-01 -1.53251191e-03 -2.33911817e-02 3.54173750e+00] [ 1.55594683e-03 9.99998306e-01 9.83702485e-04 6.38762053e-01] [ 2.33896346e-02 -1.01982761e-03 9.99725905e-01 1.30494885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16255784400005 meters Centerline goodness : 0.140715 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.30 [[ 9.99729525e-01 -1.43540735e-03 -2.32124034e-02 3.54128936e+00] [ 1.46292746e-03 9.99998247e-01 1.16864020e-03 6.37937128e-01] [ 2.32106852e-02 -1.20228218e-03 9.99729873e-01 1.30493039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.192557844 meters Centerline goodness : 0.114156 Centerline is valid? [False, False] Translation: X:3.56, Y:0.63, Z:1.31 [[ 9.99735086e-01 6.85059727e-03 -2.19733410e-02 3.56207487e+00] [-6.83981835e-03 9.99976448e-01 5.65664808e-04 6.32749767e-01] [ 2.19766986e-02 -4.15221295e-04 9.99758397e-01 1.30566846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22255784400005 meters Centerline goodness : 0.150787 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.30 [[ 9.99747692e-01 -1.28875900e-03 -2.24252480e-02 3.54108204e+00] [ 1.31118887e-03 9.99998655e-01 9.85531391e-04 6.36052271e-01] [ 2.24239477e-02 -1.01468647e-03 9.99748037e-01 1.30496145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.252557844 meters Centerline goodness : 0.137146 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.30 [[ 9.99745670e-01 -1.20789545e-03 -2.25196787e-02 3.54128829e+00] [ 1.23333560e-03 9.99998617e-01 1.11583042e-03 6.35426536e-01] [ 2.25182997e-02 -1.14332095e-03 9.99745777e-01 1.30494529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28255784400005 meters Centerline goodness : 0.115053 Centerline is valid? [False, False] Translation: X:3.54, Y:0.63, Z:1.30 [[ 9.99740532e-01 -1.04311913e-03 -2.27547926e-02 3.54219848e+00] [ 1.07456158e-03 9.99998485e-01 1.36961110e-03 6.34474353e-01] [ 2.27533294e-02 -1.39370716e-03 9.99740138e-01 1.30436340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.312557844 meters Centerline goodness : 0.111957 Centerline is valid? [False, False] Translation: X:3.54, Y:0.63, Z:1.30 [[ 9.99735033e-01 -8.45170137e-04 -2.30032629e-02 3.54335521e+00] [ 8.85819623e-04 9.99998064e-01 1.75698593e-03 6.32835279e-01] [ 2.30017334e-02 -1.77689712e-03 9.99733846e-01 1.30349033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34255784400005 meters Centerline goodness : 0.111826 Centerline is valid? [False, False] Translation: X:3.54, Y:0.63, Z:1.30 [[ 9.99731280e-01 -6.61750283e-04 -2.31717630e-02 3.54428623e+00] [ 7.12028537e-04 9.99997410e-01 2.16162364e-03 6.30972671e-01] [ 2.31702725e-02 -2.17754173e-03 9.99729162e-01 1.30265334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.372557844 meters Centerline goodness : 0.135630 Centerline is valid? [False, False] Translation: X:3.55, Y:0.63, Z:1.30 [[ 9.99730454e-01 -3.99626321e-04 -2.32133670e-02 3.54500463e+00] [ 4.70401004e-04 9.99995258e-01 3.04349571e-03 6.25542529e-01] [ 2.32120406e-02 -3.05359493e-03 9.99725901e-01 1.30187628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40255784400006 meters Centerline goodness : 0.113885 Centerline is valid? [False, False] Translation: X:3.54, Y:0.62, Z:1.30 [[ 9.99730972e-01 -1.87836291e-04 -2.31936995e-02 3.54498137e+00] [ 2.71724551e-04 9.99993433e-01 3.61375694e-03 6.22740112e-01] [ 2.31928684e-02 -3.61908703e-03 9.99724459e-01 1.30187392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43255784400003 meters Centerline goodness : 0.109141 Centerline is valid? [False, False] Translation: X:3.55, Y:0.62, Z:1.30 [[ 9.99730424e-01 2.29787080e-05 -2.32180773e-02 3.54501752e+00] [ 7.35261726e-05 9.99991363e-01 4.15559222e-03 6.20237705e-01] [ 2.32179722e-02 -4.15617911e-03 9.99721787e-01 1.30198117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46255784400006 meters Centerline goodness : 0.113837 Centerline is valid? [False, False] Translation: X:3.55, Y:0.62, Z:1.30 [[ 9.99730926e-01 2.25076819e-04 -2.31953777e-02 3.54508059e+00] [-1.16565971e-04 9.99989045e-01 4.67936972e-03 6.17838682e-01] [ 2.31961768e-02 -4.67540683e-03 9.99720000e-01 1.30184497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49255784400003 meters Centerline goodness : 0.137542 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99728204e-01 5.35351838e-04 -2.33073275e-02 3.54588811e+00] [-4.04600374e-04 9.99984158e-01 5.61424094e-03 6.12873833e-01] [ 2.33099638e-02 -5.60328486e-03 9.99712583e-01 1.30111769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52255784400006 meters Centerline goodness : 0.140723 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99724206e-01 6.73156547e-04 -2.34746234e-02 3.54657158e+00] [-5.32947571e-04 9.99981986e-01 5.97853396e-03 6.11055390e-01] [ 2.34782250e-02 -5.96437437e-03 9.99706557e-01 1.30072098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55255784400003 meters Centerline goodness : 0.118056 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99720395e-01 7.88471151e-04 -2.36328092e-02 3.54704052e+00] [-6.40390674e-04 9.99980121e-01 6.27279888e-03 6.09637004e-01] [ 2.36372854e-02 -6.25591074e-03 9.99701026e-01 1.30063859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58255784400006 meters Centerline goodness : 0.112835 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99717445e-01 9.13166372e-04 -2.37527956e-02 3.54734519e+00] [-7.57759453e-04 9.99978256e-01 6.55085715e-03 6.08362969e-01] [ 2.37582612e-02 -6.53100727e-03 9.99696399e-01 1.30064083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61255784400004 meters Centerline goodness : 0.150540 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99717122e-01 1.08749642e-03 -2.37590875e-02 3.54711481e+00] [-9.22599991e-04 9.99975421e-01 6.95021162e-03 6.06476302e-01] [ 2.37660619e-02 -6.92632542e-03 9.99693553e-01 1.30106035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64255784400007 meters Centerline goodness : 0.116625 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99716022e-01 1.13203747e-03 -2.38032450e-02 3.54728429e+00] [-9.65757246e-04 9.99975062e-01 6.99594733e-03 6.06371268e-01] [ 2.38105710e-02 -6.97097248e-03 9.99692184e-01 1.30094704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67255784400004 meters Centerline goodness : 0.116625 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99716022e-01 1.13203747e-03 -2.38032450e-02 3.54728429e+00] [-9.65757246e-04 9.99975062e-01 6.99594733e-03 6.06371268e-01] [ 2.38105710e-02 -6.97097248e-03 9.99692184e-01 1.30094704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70255784400007 meters Centerline goodness : 0.115411 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99716210e-01 1.15690425e-03 -2.37941565e-02 3.54724883e+00] [-9.90592617e-04 9.99975008e-01 7.00019920e-03 6.06495346e-01] [ 2.38016604e-02 -6.97464229e-03 9.99692370e-01 1.30092408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73255784400004 meters Centerline goodness : 0.109724 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99718797e-01 1.19281625e-03 -2.36834311e-02 3.54683000e+00] [-1.02576687e-03 9.99974521e-01 7.06432430e-03 6.06209561e-01] [ 2.36912541e-02 -7.03804411e-03 9.99694549e-01 1.30115635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76255784400007 meters Centerline goodness : 0.110909 Centerline is valid? [False, False] Translation: X:3.57, Y:0.60, Z:1.30 [[ 0.999736 0.00873491 -0.02125186 3.56500894] [-0.00861472 0.99994642 0.00574047 0.6011148 ] [ 0.02130086 -0.00555588 0.99975767 1.30330305] [ 0. 0. 0. 1. ]] SLAMing on 263.79255784400004 meters Centerline goodness : 0.105337 Centerline is valid? [False, False] Translation: X:3.56, Y:0.60, Z:1.30 [[ 0.9997363 0.00883587 -0.02119557 3.56477739] [-0.00870966 0.99994383 0.00603946 0.59963276] [ 0.02124774 -0.00585327 0.99975711 1.30349326] [ 0. 0. 0. 1. ]] SLAMing on 263.822557844 meters Centerline goodness : 0.107394 Centerline is valid? [False, False] Translation: X:3.57, Y:0.60, Z:1.30 [[ 0.99973351 0.00896895 -0.02127124 3.56508312] [-0.0088347 0.99994051 0.00639732 0.59800719] [ 0.02132735 -0.00620769 0.99975327 1.30333152] [ 0. 0. 0. 1. ]] SLAMing on 263.85255784400005 meters Centerline goodness : 0.108241 Centerline is valid? [False, False] Translation: X:3.57, Y:0.60, Z:1.30 [[ 0.99973403 0.00909299 -0.02119415 3.56505907] [-0.00895116 0.99993697 0.0067773 0.59619158] [ 0.02125444 -0.00658579 0.99975241 1.30310044] [ 0. 0. 0. 1. ]] SLAMing on 263.882557844 meters Centerline goodness : 0.112870 Centerline is valid? [False, False] Translation: X:3.56, Y:0.60, Z:1.30 [[ 0.99976958 0.00602837 -0.02060213 3.56310656] [-0.0059532 0.99997541 0.00370792 0.59542281] [ 0.02062397 -0.00358442 0.99978088 1.3036136 ] [ 0. 0. 0. 1. ]] SLAMing on 263.91255784400005 meters Centerline goodness : 0.124858 Centerline is valid? [False, False] Translation: X:3.56, Y:0.59, Z:1.31 [[ 9.99791656e-01 4.13369633e-03 -1.99889130e-02 3.55946747e+00] [-4.09409481e-03 9.99989576e-01 2.02169120e-03 5.91876365e-01] [ 1.99970617e-02 -1.93943349e-03 9.99798158e-01 1.30581799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942557844 meters Centerline goodness : 0.122030 Centerline is valid? [False, False] Translation: X:3.58, Y:0.60, Z:1.31 [[ 9.99793667e-01 -3.57504634e-03 -1.99960662e-02 3.57736502e+00] [ 3.64754948e-03 9.99986901e-01 3.59057403e-03 5.96480190e-01] [ 1.99829679e-02 -3.66276982e-03 9.99793611e-01 1.30778290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97255784400005 meters Centerline goodness : 0.122428 Centerline is valid? [False, False] Translation: X:3.58, Y:0.60, Z:1.31 [[ 9.99791857e-01 -3.49288242e-03 -2.01008192e-02 3.57779602e+00] [ 3.56564519e-03 9.99987216e-01 3.58518983e-03 5.96921548e-01] [ 2.00880396e-02 -3.65611599e-03 9.99791530e-01 1.30744121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002557844 meters Centerline goodness : 0.120672 Centerline is valid? [False, False] Translation: X:3.56, Y:0.59, Z:1.31 [[ 9.99768472e-01 5.69827697e-03 -2.07492471e-02 3.55752833e+00] [-5.64108496e-03 9.99980130e-01 2.81382968e-03 5.93163809e-01] [ 2.07648688e-02 -2.69612993e-03 9.99780752e-01 1.30596762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03255784400005 meters Centerline goodness : 0.116803 Centerline is valid? [False, False] Translation: X:3.58, Y:0.60, Z:1.31 [[ 9.99778707e-01 -1.74374853e-03 -2.09641521e-02 3.57707530e+00] [ 1.82788776e-03 9.99990349e-01 3.99498889e-03 5.99847937e-01] [ 2.09569835e-02 -4.03242495e-03 9.99772246e-01 1.30701551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062557844 meters Centerline goodness : 0.124940 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.31 [[ 9.99789125e-01 2.26685414e-03 -2.04099612e-02 3.54169729e+00] [-2.21087312e-03 9.99993733e-01 2.76497490e-03 5.99432824e-01] [ 2.04161011e-02 -2.71926801e-03 9.99787872e-01 1.30508527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09255784400005 meters Centerline goodness : 0.102932 Centerline is valid? [False, False] Translation: X:3.56, Y:0.60, Z:1.31 [[ 9.99734337e-01 1.18828818e-02 -1.97497543e-02 3.56427054e+00] [-1.18370881e-02 9.99926977e-01 2.43399077e-03 6.02526425e-01] [ 1.97772350e-02 -2.19956456e-03 9.99801992e-01 1.30519233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122557844 meters Centerline goodness : 0.115451 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99817372e-01 5.97232206e-03 -1.81536386e-02 3.54789529e+00] [-5.90755058e-03 9.99976000e-01 3.61949638e-03 6.09542273e-01] [ 1.81748197e-02 -3.51159182e-03 9.99828658e-01 1.30189985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15255784400006 meters Centerline goodness : 0.102012 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99817591e-01 5.84058413e-03 -1.81843711e-02 3.54799581e+00] [-5.78358967e-03 9.99978202e-01 3.18526928e-03 6.11697622e-01] [ 1.82025786e-02 -3.07951731e-03 9.99829577e-01 1.30173434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18255784400003 meters Centerline goodness : 0.108185 Centerline is valid? [False, False] Translation: X:3.53, Y:0.62, Z:1.30 [[ 9.99813428e-01 -2.87655669e-03 -1.91006428e-02 3.52610827e+00] [ 2.93969344e-03 9.99990306e-01 3.27822293e-03 6.15996108e-01] [ 1.90910277e-02 -3.33376134e-03 9.99812192e-01 1.30136726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21255784400006 meters Centerline goodness : 0.103947 Centerline is valid? [False, False] Translation: X:3.53, Y:0.62, Z:1.30 [[ 9.99810697e-01 -2.92096384e-03 -1.92363929e-02 3.52642716e+00] [ 2.98567185e-03 9.99989978e-01 3.33597273e-03 6.15348158e-01] [ 1.92264559e-02 -3.39277477e-03 9.99809398e-01 1.30141382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24255784400003 meters Centerline goodness : 0.135466 Centerline is valid? [False, False] Translation: X:3.53, Y:0.61, Z:1.30 [[ 9.99807176e-01 -2.92440535e-03 -1.94179893e-02 3.52685779e+00] [ 2.99451308e-03 9.99989100e-01 3.58235785e-03 6.13837756e-01] [ 1.94073014e-02 -3.63981451e-03 9.99805035e-01 1.30148879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27255784400006 meters Centerline goodness : 0.154000 Centerline is valid? [False, False] Translation: X:3.53, Y:0.61, Z:1.30 [[ 9.99803702e-01 -3.33509093e-03 -1.95303359e-02 3.52713959e+00] [ 3.41165394e-03 9.99986621e-01 3.88820396e-03 6.10959700e-01] [ 1.95171071e-02 -3.95407147e-03 9.99801704e-01 1.30171612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30255784400003 meters Centerline goodness : 0.151030 Centerline is valid? [False, False] Translation: X:3.53, Y:0.61, Z:1.30 [[ 9.99803995e-01 -3.32652532e-03 -1.95168177e-02 3.52719511e+00] [ 3.40838964e-03 9.99985527e-01 4.16278929e-03 6.09314496e-01] [ 1.95026876e-02 -4.22849428e-03 9.99800863e-01 1.30167649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33255784400006 meters Centerline goodness : 0.149226 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 9.99861546e-01 3.61189724e-03 -1.62432381e-02 3.54444704e+00] [-3.56895412e-03 9.99990062e-01 2.67196459e-03 6.03744953e-01] [ 1.62527275e-02 -2.61362328e-03 9.99864500e-01 1.30342608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36255784400004 meters Centerline goodness : 0.133837 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 9.99864235e-01 3.68892064e-03 -1.60594020e-02 3.54355430e+00] [-3.64382899e-03 9.99989339e-01 2.83615980e-03 6.03174155e-01] [ 1.60696932e-02 -2.77725704e-03 9.99867017e-01 1.30419552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39255784400007 meters Centerline goodness : 0.130274 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 9.99865198e-01 3.74125843e-03 -1.59871560e-02 3.54306965e+00] [-3.69458655e-03 9.99988830e-01 2.94787434e-03 6.02752953e-01] [ 1.59980061e-02 -2.88841103e-03 9.99867852e-01 1.30468941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42255784400004 meters Centerline goodness : 0.111244 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 9.99863926e-01 3.80448756e-03 -1.60516352e-02 3.54320156e+00] [-3.75507453e-03 9.99988122e-01 3.10739734e-03 6.01973172e-01] [ 1.60632665e-02 -3.04669942e-03 9.99866336e-01 1.30475987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45255784400007 meters Centerline goodness : 0.143158 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 9.99860459e-01 3.81188526e-03 -1.62644303e-02 3.54391920e+00] [-3.76065645e-03 9.99987875e-01 3.17916806e-03 6.01438337e-01] [ 1.62763517e-02 -3.11755950e-03 9.99862671e-01 1.30441086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48255784400004 meters Centerline goodness : 0.119986 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 9.99861322e-01 3.93916497e-03 -1.61808226e-02 3.54378873e+00] [-3.88257302e-03 9.99986241e-01 3.52739677e-03 5.99644785e-01] [ 1.61944950e-02 -3.46408437e-03 9.99862860e-01 1.30428034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51255784400007 meters Centerline goodness : 0.144372 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 0.99986756 0.00404127 -0.01576475 3.54231932] [-0.00398135 0.99998474 0.00383047 0.59818755] [ 0.01577999 -0.0037672 0.99986839 1.30498893] [ 0. 0. 0. 1. ]] SLAMing on 264.54255784400004 meters Centerline goodness : 0.098984 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.31 [[ 0.99987241 0.00415061 -0.01542504 3.54105732] [-0.00408613 0.99998279 0.00420944 0.5962554 ] [ 0.01544225 -0.00414587 0.99987217 1.30574258] [ 0. 0. 0. 1. ]] SLAMing on 264.572557844 meters Centerline goodness : 0.101802 Centerline is valid? [False, False] Translation: X:3.54, Y:0.59, Z:1.31 [[ 0.99987427 0.00427028 -0.01527142 3.54051967] [-0.0041998 0.9999804 0.00464374 0.59393094] [ 0.01529095 -0.00457902 0.9998726 1.30605982] [ 0. 0. 0. 1. ]] SLAMing on 264.60255784400005 meters Centerline goodness : 0.100026 Centerline is valid? [False, False] Translation: X:3.54, Y:0.59, Z:1.31 [[ 9.99877943e-01 8.33179915e-04 -1.56014357e-02 3.54131087e+00] [-8.13971653e-04 9.99998903e-01 1.23749501e-03 5.93141805e-01] [ 1.56024496e-02 -1.22464483e-03 9.99877524e-01 1.30595208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.632557844 meters Centerline goodness : 0.110798 Centerline is valid? [False, False] Translation: X:3.54, Y:0.59, Z:1.30 [[ 9.99865480e-01 1.16146253e-03 -1.63606900e-02 3.54415747e+00] [-1.12619360e-03 9.99997023e-01 2.16476037e-03 5.88643475e-01] [ 1.63631556e-02 -2.14604387e-03 9.99863812e-01 1.30441478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66255784400005 meters Centerline goodness : 0.117638 Centerline is valid? [False, False] Translation: X:3.54, Y:0.59, Z:1.30 [[ 9.99864952e-01 1.37505589e-03 -1.63764278e-02 3.54433686e+00] [-1.33231555e-03 9.99995679e-01 2.62049351e-03 5.86721398e-01] [ 1.63799603e-02 -2.59832105e-03 9.99862463e-01 1.30420588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.692557844 meters Centerline goodness : 0.118128 Centerline is valid? [False, False] Translation: X:3.54, Y:0.58, Z:1.30 [[ 9.99866392e-01 1.53942924e-03 -1.62735429e-02 3.54393472e+00] [-1.49066053e-03 9.99994363e-01 3.00851443e-03 5.84906298e-01] [ 1.62780826e-02 -2.98385414e-03 9.99863051e-01 1.30447148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72255784400005 meters Centerline goodness : 0.100270 Centerline is valid? [False, False] Translation: X:3.54, Y:0.58, Z:1.30 [[ 9.99866962e-01 1.69410589e-03 -1.62230934e-02 3.54364521e+00] [-1.63916186e-03 9.99992878e-01 3.39947682e-03 5.82987432e-01] [ 1.62287370e-02 -3.37243228e-03 9.99862618e-01 1.30474574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.752557844 meters Centerline goodness : 0.129613 Centerline is valid? [False, False] Translation: X:3.54, Y:0.58, Z:1.30 [[ 9.99861023e-01 1.89244853e-03 -1.65635867e-02 3.54478414e+00] [-1.82817743e-03 9.99990745e-01 3.89454654e-03 5.80346621e-01] [ 1.65708037e-02 -3.86372411e-03 9.99855230e-01 1.30425871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78255784400005 meters Centerline goodness : 0.093765 Centerline is valid? [False, False] Translation: X:3.55, Y:0.58, Z:1.30 [[ 9.99856707e-01 1.99116302e-03 -1.68107448e-02 3.54583546e+00] [-1.92282117e-03 9.99989826e-01 4.08055224e-03 5.79493462e-01] [ 1.68186988e-02 -4.04764346e-03 9.99850363e-01 1.30345524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.812557844 meters Centerline goodness : 0.102370 Centerline is valid? [False, False] Translation: X:3.55, Y:0.58, Z:1.30 [[ 9.99855457e-01 2.08215048e-03 -1.68739663e-02 3.54643382e+00] [-2.01057267e-03 9.99988914e-01 4.25776316e-03 5.78640394e-01] [ 1.68826445e-02 -4.22322140e-03 9.99848559e-01 1.30266102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84255784400005 meters Centerline goodness : 0.142888 Centerline is valid? [False, False] Translation: X:3.55, Y:0.58, Z:1.30 [[ 9.99857754e-01 2.17738685e-03 -1.67251317e-02 3.54613816e+00] [-2.10222044e-03 9.99987618e-01 4.51048695e-03 5.77377197e-01] [ 1.67347457e-02 -4.47468544e-03 9.99849951e-01 1.30251820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.872557844 meters Centerline goodness : 0.131214 Centerline is valid? [False, False] Translation: X:3.57, Y:0.57, Z:1.30 [[ 9.99826527e-01 1.01808609e-02 -1.55969725e-02 3.56563813e+00] [-1.01254220e-02 9.99942150e-01 3.62932089e-03 5.72273329e-01] [ 1.56330199e-02 -3.47076537e-03 9.99871773e-01 1.30400665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90255784400006 meters Centerline goodness : 0.122086 Centerline is valid? [False, False] Translation: X:3.54, Y:0.57, Z:1.30 [[ 9.99872078e-01 1.79404216e-03 -1.58936784e-02 3.54390701e+00] [-1.71092298e-03 9.99984798e-01 5.24175555e-03 5.69454315e-01] [ 1.59028407e-02 -5.21389215e-03 9.99859948e-01 1.30286932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93255784400003 meters Centerline goodness : 0.251526 Centerline is valid? [False, False] Translation: X:3.50, Y:0.56, Z:1.30 [[ 9.99824396e-01 9.24401305e-04 -1.87169229e-02 3.49965533e+00] [-8.39748274e-04 9.99989386e-01 4.53016149e-03 5.63189599e-01] [ 1.87209119e-02 -4.51364848e-03 9.99814560e-01 1.30300318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96255784400006 meters Centerline goodness : 0.135233 Centerline is valid? [False, False] Translation: X:3.52, Y:0.56, Z:1.30 [[ 9.99805322e-01 6.21877496e-03 -1.87255075e-02 3.52286296e+00] [-6.19396501e-03 9.99979861e-01 1.38263484e-03 5.59040342e-01] [ 1.87337287e-02 -1.26638054e-03 9.99823706e-01 1.30305931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99255784400003 meters Centerline goodness : 0.099812 Centerline is valid? [False, False] Translation: X:3.52, Y:0.56, Z:1.30 [[ 9.99817039e-01 2.84935289e-03 -1.89147846e-02 3.52353569e+00] [-2.88506863e-03 9.99994106e-01 -1.86122526e-03 5.57460729e-01] [ 1.89093698e-02 1.91545518e-03 9.99819367e-01 1.30263872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02255784400006 meters Centerline goodness : 0.110726 Centerline is valid? [False, False] Translation: X:3.52, Y:0.55, Z:1.30 [[ 9.99810601e-01 3.28286411e-03 -1.91829098e-02 3.52438774e+00] [-3.29919831e-03 9.99994222e-01 -8.19912350e-04 5.52646948e-01] [ 1.91801073e-02 8.83045283e-04 9.99815655e-01 1.30239936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05255784400003 meters Centerline goodness : 0.100054 Centerline is valid? [False, False] Translation: X:3.52, Y:0.55, Z:1.30 [[ 9.99808043e-01 3.40199914e-03 -1.92951674e-02 3.52466434e+00] [-3.41322377e-03 9.99994024e-01 -5.48830034e-04 5.51339429e-01] [ 1.92931849e-02 6.14583407e-04 9.99813680e-01 1.30242922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08255784400006 meters Centerline goodness : 0.108978 Centerline is valid? [False, False] Translation: X:3.52, Y:0.55, Z:1.30 [[ 9.99808771e-01 3.51703952e-03 -1.92367464e-02 3.52458022e+00] [-3.52280539e-03 9.99993760e-01 -2.65853418e-04 5.49971490e-01] [ 1.92356914e-02 3.33569893e-04 9.99814921e-01 1.30229483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11255784400004 meters Centerline goodness : 0.177746 Centerline is valid? [False, False] Translation: X:3.54, Y:0.55, Z:1.30 [[ 9.99834670e-01 -4.11452712e-03 -1.77116647e-02 3.54274630e+00] [ 4.14433972e-03 9.99990056e-01 1.64684283e-03 5.52245153e-01] [ 1.77047126e-02 -1.71997372e-03 9.99841780e-01 1.30353924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14255784400007 meters Centerline goodness : 0.174829 Centerline is valid? [False, False] Translation: X:3.54, Y:0.55, Z:1.30 [[ 9.99837673e-01 -3.99215809e-03 -1.75695916e-02 3.54232834e+00] [ 4.02666753e-03 9.99990032e-01 1.92921985e-03 5.50975363e-01] [ 1.75617148e-02 -1.99965359e-03 9.99843782e-01 1.30366269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17255784400004 meters Centerline goodness : 0.091597 Centerline is valid? [False, False] Translation: X:3.52, Y:0.54, Z:1.30 [[ 9.99833762e-01 3.93108454e-03 -1.78043657e-02 3.52298812e+00] [-3.91945758e-03 9.99992082e-01 6.87887759e-04 5.43193203e-01] [ 1.78069289e-02 -6.17989950e-04 9.99841253e-01 1.30224335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20255784400007 meters Centerline goodness : 0.175082 Centerline is valid? [False, False] Translation: X:3.54, Y:0.55, Z:1.30 [[ 9.99834402e-01 -4.37904600e-03 -1.76633289e-02 3.54302204e+00] [ 4.40830839e-03 9.99988974e-01 1.61807924e-03 5.46627994e-01] [ 1.76560485e-02 -1.69567668e-03 9.99842682e-01 1.30329064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23255784400004 meters Centerline goodness : 0.311033 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:1.30 [[ 9.99831601e-01 -4.24418132e-03 -1.78537467e-02 3.54364657e+00] [ 4.28052479e-03 9.99988843e-01 1.99789942e-03 5.44641473e-01] [ 1.78450680e-02 -2.07398638e-03 9.99838613e-01 1.30309203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26255784400007 meters Centerline goodness : 0.109686 Centerline is valid? [False, False] Translation: X:3.52, Y:0.54, Z:1.30 [[ 9.99830899e-01 4.31786299e-03 -1.78754146e-02 3.52292400e+00] [-4.29586222e-03 9.99989968e-01 1.26899936e-03 5.38879325e-01] [ 1.78807147e-02 -1.19199445e-03 9.99839417e-01 1.30203919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29255784400004 meters Centerline goodness : 0.177996 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:1.30 [[ 9.99857649e-01 -3.30729693e-03 -1.65451934e-02 3.54071497e+00] [ 3.35525264e-03 9.99990248e-01 2.87154949e-03 5.44643746e-01] [ 1.65355350e-02 -2.92665403e-03 9.99858995e-01 1.30372989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.322557844 meters Centerline goodness : 0.173755 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:1.31 [[ 9.99870309e-01 5.10202721e-03 -1.52753118e-02 3.56005224e+00] [-5.07581822e-03 9.99985580e-01 1.75405309e-03 5.43429523e-01] [ 1.52840408e-02 -1.67629090e-03 9.99881787e-01 1.30532441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35255784400005 meters Centerline goodness : 0.172833 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:1.31 [[ 9.99873635e-01 5.06263172e-03 -1.50692811e-02 3.55926573e+00] [-5.03997565e-03 9.99986112e-01 1.54105812e-03 5.44620792e-01] [ 1.50768736e-02 -1.46491458e-03 9.99885264e-01 1.30571988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.382557844 meters Centerline goodness : 0.179727 Centerline is valid? [False, False] Translation: X:3.54, Y:0.55, Z:1.30 [[ 9.99900117e-01 -2.84293076e-03 -1.38446253e-02 3.53615692e+00] [ 2.87587171e-03 9.99993080e-01 2.36000414e-03 5.50122744e-01] [ 1.38378202e-02 -2.39958378e-03 9.99901374e-01 1.30494944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41255784400005 meters Centerline goodness : 0.099803 Centerline is valid? [False, False] Translation: X:3.54, Y:0.55, Z:1.31 [[ 9.99902318e-01 -2.81151797e-03 -1.36912008e-02 3.53555275e+00] [ 2.84474308e-03 9.99993055e-01 2.40787917e-03 5.49995934e-01] [ 1.36843360e-02 -2.44659191e-03 9.99903372e-01 1.30531498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442557844 meters Centerline goodness : 0.130981 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:1.31 [[ 9.99869037e-01 -3.05646487e-03 -1.58923710e-02 3.48904700e+00] [ 3.09161004e-03 9.99992829e-01 2.18735188e-03 5.46313093e-01] [ 1.58855714e-02 -2.23619843e-03 9.99871316e-01 1.30636101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47255784400005 meters Centerline goodness : 0.091993 Centerline is valid? [False, False] Translation: X:3.53, Y:0.55, Z:1.31 [[ 9.99897401e-01 -3.43611086e-03 -1.39061027e-02 3.53180592e+00] [ 3.46308370e-03 9.99992168e-01 1.91602511e-03 5.48577519e-01] [ 1.38994101e-02 -1.96398653e-03 9.99901470e-01 1.30725132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502557844 meters Centerline goodness : 0.176074 Centerline is valid? [False, False] Translation: X:3.53, Y:0.55, Z:1.31 [[ 9.99895684e-01 -3.29095142e-03 -1.40638188e-02 3.53221194e+00] [ 3.32476744e-03 9.99991637e-01 2.38176492e-03 5.46415841e-01] [ 1.40558629e-02 -2.42827539e-03 9.99898263e-01 1.30730672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53255784400005 meters Centerline goodness : 0.128592 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:1.31 [[ 9.99883345e-01 4.90943571e-03 -1.44635685e-02 3.51416604e+00] [-4.88926662e-03 9.99987026e-01 1.42950583e-03 5.39320281e-01] [ 1.44703990e-02 -1.35862283e-03 9.99894375e-01 1.30522517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562557844 meters Centerline goodness : 0.128592 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:1.31 [[ 9.99883345e-01 4.90943571e-03 -1.44635685e-02 3.51416604e+00] [-4.88926662e-03 9.99987026e-01 1.42950583e-03 5.39320281e-01] [ 1.44703990e-02 -1.35862283e-03 9.99894375e-01 1.30522517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59255784400005 meters Centerline goodness : 0.132274 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:1.30 [[ 9.99880251e-01 5.02481559e-03 -1.46367588e-02 3.51490036e+00] [-4.99884221e-03 9.99985867e-01 1.81057633e-03 5.37415197e-01] [ 1.46456497e-02 -1.73719267e-03 9.99891238e-01 1.30473054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622557844 meters Centerline goodness : 0.174230 Centerline is valid? [False, False] Translation: X:3.52, Y:0.54, Z:1.30 [[ 9.99886866e-01 1.52831167e-03 -1.49639301e-02 3.51605286e+00] [-1.55373932e-03 9.99997369e-01 -1.68778457e-03 5.36619083e-01] [ 1.49613112e-02 1.71084367e-03 9.99886610e-01 1.30417829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65255784400006 meters Centerline goodness : 0.172518 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.30 [[ 9.99883875e-01 1.64257843e-03 -1.51505139e-02 3.51671993e+00] [-1.66217881e-03 9.99997798e-01 -1.28120861e-03 5.34324987e-01] [ 1.51483761e-02 1.30624270e-03 9.99884404e-01 1.30389957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68255784400003 meters Centerline goodness : 0.178098 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.30 [[ 9.99882819e-01 1.80225518e-03 -1.52019613e-02 3.51697597e+00] [-1.81513535e-03 9.99998005e-01 -8.33515031e-04 5.32065577e-01] [ 1.52004288e-02 8.61010976e-04 9.99884096e-01 1.30370925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71255784400006 meters Centerline goodness : 0.104702 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.30 [[ 9.99878814e-01 2.15055826e-03 -1.54185576e-02 3.51783924e+00] [-2.15126733e-03 9.99997686e-01 -2.94027260e-05 5.28444422e-01] [ 1.54184587e-02 6.25686020e-05 9.99881127e-01 1.30321642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74255784400003 meters Centerline goodness : 0.173616 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.30 [[ 9.99876285e-01 2.33156612e-03 -1.55556582e-02 3.51828180e+00] [-2.32619193e-03 9.99997228e-01 3.63566470e-04 5.26778800e-01] [ 1.55564628e-02 -3.27336044e-04 9.99878937e-01 1.30304001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77255784400006 meters Centerline goodness : 0.172400 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.30 [[ 9.99875381e-01 2.50423796e-03 -1.55869176e-02 3.51854473e+00] [-2.49299075e-03 9.99996618e-01 7.40968579e-04 5.25109143e-01] [ 1.55887205e-02 -7.02018199e-04 9.99878242e-01 1.30272970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80255784400003 meters Centerline goodness : 0.106875 Centerline is valid? [False, False] Translation: X:3.52, Y:0.52, Z:1.30 [[ 9.99877059e-01 2.86391664e-03 -1.54163600e-02 3.51830530e+00] [-2.83904565e-03 9.99994633e-01 1.63492883e-03 5.20557778e-01] [ 1.54209596e-02 -1.59096008e-03 9.99879824e-01 1.30248801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83255784400006 meters Centerline goodness : 0.170422 Centerline is valid? [False, False] Translation: X:3.52, Y:0.52, Z:1.30 [[ 9.99876560e-01 3.07303662e-03 -1.54084679e-02 3.51822445e+00] [-3.03956405e-03 9.99992971e-01 2.19529802e-03 5.17726715e-01] [ 1.54151058e-02 -2.14819201e-03 9.99878873e-01 1.30264341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86255784400004 meters Centerline goodness : 0.168271 Centerline is valid? [False, False] Translation: X:3.56, Y:0.52, Z:1.30 [[ 9.99906233e-01 2.82446489e-03 -1.33995572e-02 3.56257359e+00] [-2.79899408e-03 9.99994241e-01 1.91924212e-03 5.17284798e-01] [ 1.34049009e-02 -1.88155688e-03 9.99908380e-01 1.30260054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89255784400007 meters Centerline goodness : 0.170638 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.30 [[ 9.99906010e-01 3.09274454e-03 -1.33568588e-02 3.56233447e+00] [-3.05885501e-03 9.99992053e-01 2.55692253e-03 5.14339128e-01] [ 1.33646605e-02 -2.51582552e-03 9.99907524e-01 1.30286228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92255784400004 meters Centerline goodness : 0.167823 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.30 [[ 9.99906194e-01 3.35349128e-03 -1.32799247e-02 3.56213637e+00] [-3.31135526e-03 9.99989418e-01 3.19362898e-03 5.11448187e-01] [ 1.32904940e-02 -3.14935485e-03 9.99906718e-01 1.30293320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95255784400007 meters Centerline goodness : 0.170205 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.30 [[ 0.99990739 0.00374728 -0.01308342 3.56176283] [-0.00369374 0.99998472 0.00411403 0.50721694] [ 0.01309863 -0.00406533 0.99990595 1.302809 ] [ 0. 0. 0. 1. ]] SLAMing on 265.98255784400004 meters Centerline goodness : 0.113620 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.30 [[ 0.99990738 0.00390825 -0.01303713 3.56165076] [-0.00384987 0.99998247 0.00449958 0.50546888] [ 0.01305449 -0.00444897 0.99990489 1.30283373] [ 0. 0. 0. 1. ]] SLAMing on 266.01255784400007 meters Centerline goodness : 0.167436 Centerline is valid? [False, False] Translation: X:3.56, Y:0.50, Z:1.30 [[ 0.99990596 0.00407051 -0.0130962 3.56202541] [-0.00400727 0.9999802 0.00485122 0.50386418] [ 0.01311569 -0.00479828 0.99990247 1.3024568 ] [ 0. 0. 0. 1. ]] SLAMing on 266.04255784400004 meters Centerline goodness : 0.169978 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986154 0.00396209 -0.0161615 3.51790342] [-0.00387978 0.99997936 0.00512102 0.49861693] [ 0.01618145 -0.00505761 0.99985628 1.30258647] [ 0. 0. 0. 1. ]] SLAMing on 266.072557844 meters Centerline goodness : 0.164668 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99985807 0.00409222 -0.01634327 3.51868589] [-0.00400477 0.99997751 0.00537988 0.49737857] [ 0.01636492 -0.00531366 0.99985197 1.30204096] [ 0. 0. 0. 1. ]] SLAMing on 266.10255784400005 meters Centerline goodness : 0.171905 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99985351 0.00429962 -0.01656722 3.51949525] [-0.00420464 0.99997455 0.00576358 0.49551705] [ 0.01659158 -0.00569308 0.99984614 1.30158673] [ 0. 0. 0. 1. ]] SLAMing on 266.132557844 meters Centerline goodness : 0.163866 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99985577 0.00435417 -0.01641575 3.51897498] [-0.00425818 0.99997366 0.00587769 0.49499354] [ 0.01644091 -0.00580694 0.99984798 1.30179701] [ 0. 0. 0. 1. ]] SLAMing on 266.16255784400005 meters Centerline goodness : 0.169103 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99985867 0.0044139 -0.01622231 3.51814224] [-0.00431708 0.99997269 0.00599858 0.49455053] [ 0.01624834 -0.0059277 0.99985042 1.30237628] [ 0. 0. 0. 1. ]] SLAMing on 266.192557844 meters Centerline goodness : 0.171758 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986377 0.00450561 -0.01587887 3.51708483] [-0.00440715 0.99997088 0.00623003 0.49366589] [ 0.01590648 -0.0061592 0.99985451 1.30274184] [ 0. 0. 0. 1. ]] SLAMing on 266.22255784400005 meters Centerline goodness : 0.166027 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986473 0.00452167 -0.01581385 3.51705596] [-0.00442223 0.99997027 0.00631761 0.49318304] [ 0.01584194 -0.00624682 0.99985499 1.30250652] [ 0. 0. 0. 1. ]] SLAMing on 266.252557844 meters Centerline goodness : 0.170998 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986521 0.00452609 -0.01578194 3.5170908 ] [-0.00442606 0.99996993 0.0063676 0.49291342] [ 0.01581029 -0.00629689 0.99985518 1.30231334] [ 0. 0. 0. 1. ]] SLAMing on 266.28255784400005 meters Centerline goodness : 0.169021 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986518 0.00457847 -0.01576876 3.51705195] [-0.00447641 0.99996885 0.00650158 0.4923378 ] [ 0.01579804 -0.00643011 0.99985453 1.30233243] [ 0. 0. 0. 1. ]] SLAMing on 266.312557844 meters Centerline goodness : 0.168975 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986627 0.00461268 -0.01568937 3.51668933] [-0.00450937 0.99996796 0.00661376 0.49192441] [ 0.01571937 -0.00654212 0.99985504 1.30260678] [ 0. 0. 0. 1. ]] SLAMing on 266.34255784400005 meters Centerline goodness : 0.171029 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986678 0.00457567 -0.01566772 3.51665759] [-0.00447363 0.99996859 0.00654184 0.49226295] [ 0.01569716 -0.00647088 0.99985585 1.30259705] [ 0. 0. 0. 1. ]] SLAMing on 266.372557844 meters Centerline goodness : 0.168820 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986824 0.00452652 -0.01558868 3.51636539] [-0.00442614 0.99996929 0.00646813 0.49250112] [ 0.01561747 -0.00639828 0.99985757 1.30274186] [ 0. 0. 0. 1. ]] SLAMing on 266.40255784400006 meters Centerline goodness : 0.104077 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986995 0.00445861 -0.01549846 3.51607104] [-0.0043608 0.9999704 0.00633897 0.49302504] [ 0.01552626 -0.00627056 0.9998598 1.30282242] [ 0. 0. 0. 1. ]] SLAMing on 266.43255784400003 meters Centerline goodness : 0.169763 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99987128 0.00435379 -0.01544236 3.51606881] [-0.00426002 0.99997232 0.00609992 0.4941576 ] [ 0.01546849 -0.00603335 0.99986215 1.30250555] [ 0. 0. 0. 1. ]] SLAMing on 266.46255784400006 meters Centerline goodness : 0.171152 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99987042 0.00427699 -0.01551946 3.5163827 ] [-0.00418516 0.99997357 0.00594512 0.49480618] [ 0.01554447 -0.0058794 0.99986189 1.30228364] [ 0. 0. 0. 1. ]] SLAMing on 266.49255784400003 meters Centerline goodness : 0.172284 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986983 0.00421177 -0.01557517 3.51661607] [-0.0041212 0.99997444 0.00584266 0.49512785] [ 0.01559938 -0.00577771 0.99986163 1.30214963] [ 0. 0. 0. 1. ]] SLAMing on 266.52255784400006 meters Centerline goodness : 0.123547 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986848 0.00400962 -0.01571431 3.51701913] [-0.00392179 0.99997654 0.00561607 0.49566051] [ 0.01573646 -0.0055537 0.99986075 1.30205994] [ 0. 0. 0. 1. ]] SLAMing on 266.55255784400003 meters Centerline goodness : 0.172162 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986664 0.00397007 -0.01584132 3.51753579] [-0.00388238 0.99997699 0.00556217 0.49591007] [ 0.01586304 -0.00549992 0.99985905 1.30172167] [ 0. 0. 0. 1. ]] SLAMing on 266.58255784400006 meters Centerline goodness : 0.169840 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986394 0.00393235 -0.01602011 3.51824879] [-0.00384433 0.99997737 0.00552108 0.49609273] [ 0.01604146 -0.00545875 0.99985643 1.30128118] [ 0. 0. 0. 1. ]] SLAMing on 266.61255784400004 meters Centerline goodness : 0.171916 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986264 0.00391834 -0.01610436 3.51852134] [-0.00382939 0.99997727 0.00554992 0.49584582] [ 0.01612574 -0.00548749 0.99985491 1.30121209] [ 0. 0. 0. 1. ]] SLAMing on 266.64255784400007 meters Centerline goodness : 0.172611 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986247 0.00389034 -0.01612185 3.51845064] [-0.00380029 0.99997703 0.00561232 0.49530989] [ 0.01614331 -0.00555028 0.99985428 1.30143088] [ 0. 0. 0. 1. ]] SLAMing on 266.67255784400004 meters Centerline goodness : 0.174013 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986037 0.00384678 -0.01626174 3.51847798] [-0.00375136 0.99997559 0.00589446 0.49361903] [ 0.01628401 -0.00583263 0.99985039 1.30209168] [ 0. 0. 0. 1. ]] SLAMing on 266.70255784400007 meters Centerline goodness : 0.173777 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.9998599 0.00394433 -0.01626751 3.51839653] [-0.00384398 0.99997342 0.00619565 0.4922242 ] [ 0.01629152 -0.00613225 0.99984848 1.30229481] [ 0. 0. 0. 1. ]] SLAMing on 266.73255784400004 meters Centerline goodness : 0.091075 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99985937 0.00405718 -0.01627198 3.51848304] [-0.00395134 0.99997087 0.00653096 0.49062073] [ 0.016298 -0.00646574 0.99984627 1.30223292] [ 0. 0. 0. 1. ]] SLAMing on 266.76255784400007 meters Centerline goodness : 0.119160 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 9.99874730e-01 1.17863586e-03 -1.57840178e-02 3.51720298e+00] [-1.12127309e-03 9.99992737e-01 3.64258791e-03 4.89547221e-01] [ 1.57881964e-02 -3.62443341e-03 9.99868790e-01 1.30223065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79255784400004 meters Centerline goodness : 0.178879 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 9.99874475e-01 1.40677995e-03 -1.57815105e-02 3.51732892e+00] [-1.34044091e-03 9.99990225e-01 4.21338297e-03 4.86958799e-01] [ 1.57872835e-02 -4.19169990e-03 9.99866587e-01 1.30204016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.822557844 meters Centerline goodness : 0.098063 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:1.30 [[ 9.99839798e-01 9.63332937e-03 -1.50856439e-02 3.53726391e+00] [-9.58481790e-03 9.99948670e-01 3.28474453e-03 4.82320699e-01] [ 1.51165126e-02 -3.13962516e-03 9.99880810e-01 1.30329739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85255784400005 meters Centerline goodness : 0.177246 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:1.30 [[ 9.99873587e-01 4.63069076e-04 -1.58932655e-02 3.51481047e+00] [-3.99570492e-04 9.99991927e-01 3.99825678e-03 4.82794590e-01] [ 1.58949887e-02 -3.99140087e-03 9.99865700e-01 1.30290933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.882557844 meters Centerline goodness : 0.173015 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:1.30 [[ 9.99874121e-01 6.29219739e-03 -1.45654172e-02 3.53726032e+00] [-6.27885271e-03 9.99979825e-01 9.61738332e-04 4.80097850e-01] [ 1.45711748e-02 -8.70163160e-04 9.99893456e-01 1.30286040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91255784400005 meters Centerline goodness : 0.177037 Centerline is valid? [False, False] Translation: X:3.53, Y:0.47, Z:1.31 [[ 9.99895511e-01 3.95013458e-03 -1.39055290e-02 3.53354851e+00] [-3.95811808e-03 9.99992017e-01 -5.46650055e-04 4.73543562e-01] [ 1.39032587e-02 6.01632662e-04 9.99903164e-01 1.30514774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942557844 meters Centerline goodness : 0.175661 Centerline is valid? [False, False] Translation: X:3.53, Y:0.47, Z:1.31 [[ 9.99895210e-01 4.18961183e-03 -1.38569892e-02 3.53332195e+00] [-4.18800872e-03 9.99991220e-01 1.44705563e-04 4.70244468e-01] [ 1.38574738e-02 -8.66572073e-05 9.99903977e-01 1.30541199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97255784400005 meters Centerline goodness : 0.175718 Centerline is valid? [False, False] Translation: X:3.53, Y:0.47, Z:1.31 [[ 9.99892676e-01 4.39456258e-03 -1.39758319e-02 3.53361705e+00] [-4.38471016e-03 9.99990117e-01 7.35524865e-04 4.67332328e-01] [ 1.39789261e-02 -6.74165954e-04 9.99902063e-01 1.30545555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002557844 meters Centerline goodness : 0.180592 Centerline is valid? [False, False] Translation: X:3.53, Y:0.47, Z:1.31 [[ 9.99890674e-01 4.55769925e-03 -1.40665504e-02 3.53394675e+00] [-4.54155588e-03 9.99988992e-01 1.17937321e-03 4.65200226e-01] [ 1.40717708e-02 -1.11536025e-03 9.99900366e-01 1.30531448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03255784400005 meters Centerline goodness : 0.173420 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:1.30 [[ 9.99888504e-01 4.80788859e-03 -1.41373125e-02 3.53455867e+00] [-4.78366862e-03 9.99987033e-01 1.74651235e-03 4.62492256e-01] [ 1.41455262e-02 -1.67868940e-03 9.99898538e-01 1.30458620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062557844 meters Centerline goodness : 0.175006 Centerline is valid? [False, False] Translation: X:3.54, Y:0.46, Z:1.30 [[ 9.99886132e-01 4.88606042e-03 -1.42775772e-02 3.53518407e+00] [-4.85971468e-03 9.99986425e-01 1.87936443e-03 4.61858508e-01] [ 1.42865660e-02 -1.80976548e-03 9.99896304e-01 1.30409287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09255784400005 meters Centerline goodness : 0.127401 Centerline is valid? [False, False] Translation: X:3.54, Y:0.46, Z:1.30 [[ 9.99883581e-01 4.93835664e-03 -1.44373361e-02 3.53577220e+00] [-4.91082673e-03 9.99986057e-01 1.94168482e-03 4.61525246e-01] [ 1.44467235e-02 -1.87055951e-03 9.99893891e-01 1.30372824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122557844 meters Centerline goodness : 0.176445 Centerline is valid? [False, False] Translation: X:3.54, Y:0.46, Z:1.30 [[ 9.99883106e-01 4.97029829e-03 -1.44592524e-02 3.53599017e+00] [-4.94260079e-03 9.99985883e-01 1.95066031e-03 4.61495478e-01] [ 1.44687436e-02 -1.87896598e-03 9.99893557e-01 1.30339744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15255784400006 meters Centerline goodness : 0.122586 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:1.30 [[ 9.99890923e-01 5.11179388e-03 -1.38568212e-02 3.53440198e+00] [-5.08441822e-03 9.99985054e-01 2.01011832e-03 4.61527880e-01] [ 1.38668894e-02 -1.93944519e-03 9.99901969e-01 1.30352261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18255784400003 meters Centerline goodness : 0.153205 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:1.30 [[ 9.99893526e-01 5.10685263e-03 -1.36695852e-02 3.53387504e+00] [-5.08041950e-03 9.99985159e-01 1.96774588e-03 4.61722844e-01] [ 1.36794313e-02 -1.89808913e-03 9.99904631e-01 1.30357816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21255784400006 meters Centerline goodness : 0.173448 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:1.30 [[ 9.99893112e-01 5.09425698e-03 -1.37045062e-02 3.53406812e+00] [-5.06771060e-03 9.99985216e-01 1.97108501e-03 4.61544897e-01] [ 1.37143448e-02 -1.90142385e-03 9.99904146e-01 1.30336882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24255784400003 meters Centerline goodness : 0.166794 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:1.30 [[ 9.99889984e-01 5.09248160e-03 -1.39315203e-02 3.53480257e+00] [-5.06510748e-03 9.99985173e-01 1.99948435e-03 4.61273644e-01] [ 1.39414961e-02 -1.92869973e-03 9.99900952e-01 1.30305692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27255784400006 meters Centerline goodness : 0.149681 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:1.30 [[ 9.99889449e-01 5.25043625e-03 -1.39112459e-02 3.53458351e+00] [-5.21724011e-03 9.99983458e-01 2.42149851e-03 4.59421634e-01] [ 1.39237297e-02 -2.34865250e-03 9.99900302e-01 1.30336467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30255784400003 meters Centerline goodness : 0.162181 Centerline is valid? [False, False] Translation: X:3.55, Y:0.46, Z:1.30 [[ 9.99926251e-01 -2.70008208e-03 -1.18407122e-02 3.55383996e+00] [ 2.74286901e-03 9.99989763e-01 3.59879402e-03 4.62365102e-01] [ 1.18308740e-02 -3.63100614e-03 9.99923420e-01 1.30460695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33255784400006 meters Centerline goodness : 0.166727 Centerline is valid? [False, False] Translation: X:3.55, Y:0.46, Z:1.31 [[ 9.99930976e-01 -2.56639369e-03 -1.14654327e-02 3.55249099e+00] [ 2.61291941e-03 9.99988406e-01 4.04477796e-03 4.60188080e-01] [ 1.14549193e-02 -4.07445703e-03 9.99926089e-01 1.30535807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36255784400004 meters Centerline goodness : 0.158895 Centerline is valid? [False, False] Translation: X:3.55, Y:0.46, Z:1.31 [[ 9.99931970e-01 -2.41832495e-03 -1.14108675e-02 3.55224603e+00] [ 2.46977375e-03 9.99986839e-01 4.49681908e-03 4.57929060e-01] [ 1.13998425e-02 -4.52469542e-03 9.99924783e-01 1.30562375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39255784400007 meters Centerline goodness : 0.152556 Centerline is valid? [False, False] Translation: X:3.56, Y:0.45, Z:1.30 [[ 9.99921452e-01 -2.24589918e-03 -1.23306735e-02 3.55549477e+00] [ 2.31048142e-03 9.99983676e-01 5.22578261e-03 4.53979465e-01] [ 1.23187357e-02 -5.25386193e-03 9.99910319e-01 1.30410705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42255784400004 meters Centerline goodness : 0.164128 Centerline is valid? [False, False] Translation: X:3.56, Y:0.45, Z:1.30 [[ 9.99917546e-01 -2.08028979e-03 -1.26717959e-02 3.55695477e+00] [ 2.15187555e-03 9.99981790e-01 5.63820723e-03 4.52021733e-01] [ 1.26598361e-02 -5.66501046e-03 9.99903813e-01 1.30311421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45255784400007 meters Centerline goodness : 0.176798 Centerline is valid? [False, False] Translation: X:3.51, Y:0.45, Z:1.30 [[ 9.99871537e-01 -2.48690540e-03 -1.58342735e-02 3.51321628e+00] [ 2.58408711e-03 9.99977934e-01 6.11992853e-03 4.45918374e-01] [ 1.58187044e-02 -6.16005949e-03 9.99855901e-01 1.30327073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48255784400004 meters Centerline goodness : 0.176798 Centerline is valid? [False, False] Translation: X:3.51, Y:0.45, Z:1.30 [[ 9.99871537e-01 -2.48690540e-03 -1.58342735e-02 3.51321628e+00] [ 2.58408711e-03 9.99977934e-01 6.11992853e-03 4.45918374e-01] [ 1.58187044e-02 -6.16005949e-03 9.99855901e-01 1.30327073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51255784400007 meters Centerline goodness : 0.152947 Centerline is valid? [False, False] Translation: X:3.53, Y:0.44, Z:1.30 [[ 0.99986695 0.00582766 -0.01523556 3.53314792] [-0.00575154 0.99997078 0.00503509 0.43974828] [ 0.01526446 -0.00494679 0.99987125 1.30484252] [ 0. 0. 0. 1. ]] SLAMing on 267.54255784400004 meters Centerline goodness : 0.148776 Centerline is valid? [False, False] Translation: X:3.53, Y:0.43, Z:1.31 [[ 9.99885996e-01 2.98463132e-03 -1.48015737e-02 3.53137221e+00] [-2.94559962e-03 9.99992129e-01 2.65809750e-03 4.34352093e-01] [ 1.48093907e-02 -2.61419496e-03 9.99886918e-01 1.30563355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.572557844 meters Centerline goodness : 0.132374 Centerline is valid? [False, False] Translation: X:3.53, Y:0.43, Z:1.31 [[ 9.99880166e-01 3.23851145e-03 -1.51381965e-02 3.53246082e+00] [-3.18993923e-03 9.99989690e-01 3.23163320e-03 4.31688380e-01] [ 1.51485061e-02 -3.18295602e-03 9.99880189e-01 1.30526695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60255784400005 meters Centerline goodness : 0.147504 Centerline is valid? [False, False] Translation: X:3.49, Y:0.43, Z:1.31 [[ 9.99819960e-01 3.01038914e-03 -1.87345903e-02 3.48944947e+00] [-2.93715915e-03 9.99987944e-01 3.93510083e-03 4.25270437e-01] [ 1.87462107e-02 -3.87936588e-03 9.99816748e-01 1.30501037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.632557844 meters Centerline goodness : 0.147513 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:1.30 [[ 9.99822575e-01 3.53827253e-03 -1.85013533e-02 3.48911759e+00] [-3.44912843e-03 9.99982300e-01 4.84793919e-03 4.21366663e-01] [ 1.85181791e-02 -4.78326550e-03 9.99817082e-01 1.30464980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66255784400005 meters Centerline goodness : 0.159797 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:1.30 [[ 0.99982683 0.0037497 -0.01822751 3.48826387] [-0.00365515 0.99997971 0.0052177 0.41973576] [ 0.01824671 -0.00515017 0.99982025 1.30490256] [ 0. 0. 0. 1. ]] SLAMing on 267.692557844 meters Centerline goodness : 0.150709 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:1.30 [[ 0.99982721 0.00388844 -0.01817773 3.48812852] [-0.00378929 0.99997777 0.00548588 0.41845001] [ 0.01819865 -0.00541605 0.99981972 1.30490444] [ 0. 0. 0. 1. ]] SLAMing on 267.72255784400005 meters Centerline goodness : 0.155541 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:1.30 [[ 0.99982386 0.00399293 -0.01833848 3.48880906] [-0.00388847 0.99997603 0.00572822 0.41714489] [ 0.01836091 -0.0056559 0.99981543 1.30448531] [ 0. 0. 0. 1. ]] SLAMing on 267.752557844 meters Centerline goodness : 0.144212 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:1.31 [[ 9.99836506e-01 1.93135145e-03 -1.79786401e-02 3.48644725e+00] [-1.85905697e-03 9.99990123e-01 4.03697702e-03 4.12517352e-01] [ 1.79862593e-02 -4.00289368e-03 9.99830221e-01 1.30584523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78255784400005 meters Centerline goodness : 0.159375 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:1.31 [[ 9.99835660e-01 2.10505767e-03 -1.80061448e-02 3.48639657e+00] [-2.02389187e-03 9.99987715e-01 4.52470773e-03 4.10300098e-01] [ 1.80154484e-02 -4.48752165e-03 9.99827638e-01 1.30610209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.812557844 meters Centerline goodness : 0.157337 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:1.31 [[ 9.99833857e-01 2.25166421e-03 -1.80883441e-02 3.48664852e+00] [-2.16129760e-03 9.99985095e-01 5.01384407e-03 4.07903959e-01] [ 1.80993640e-02 -4.97391676e-03 9.99823821e-01 1.30611553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84255784400005 meters Centerline goodness : 0.151068 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:1.31 [[ 9.99837103e-01 -1.70824748e-03 -1.79680112e-02 3.48648666e+00] [ 1.73332926e-03 9.99997545e-01 1.38043193e-03 4.05937527e-01] [ 1.79656089e-02 -1.41135154e-03 9.99837609e-01 1.30593715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.872557844 meters Centerline goodness : 0.154270 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:1.31 [[ 9.99779912e-01 -2.79759204e-03 -2.07918558e-02 3.44117481e+00] [ 2.83352721e-03 9.99994542e-01 1.69906945e-03 4.00485572e-01] [ 2.07869890e-02 -1.75760980e-03 9.99782382e-01 1.30677722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90255784400006 meters Centerline goodness : 0.124508 Centerline is valid? [False, False] Translation: X:3.46, Y:0.40, Z:1.31 [[ 9.99787193e-01 6.04529074e-03 -1.97236802e-02 3.46187674e+00] [-6.02738032e-03 9.99981367e-01 9.67387825e-04 3.97826102e-01] [ 1.97291609e-02 -8.48299835e-04 9.99805001e-01 1.30730891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93255784400003 meters Centerline goodness : 0.145999 Centerline is valid? [False, False] Translation: X:3.46, Y:0.40, Z:1.31 [[ 9.99787961e-01 6.05490971e-03 -1.96817614e-02 3.46196269e+00] [-6.03780533e-03 9.99981341e-01 9.28354491e-04 3.98178696e-01] [ 1.96870152e-02 -8.09323000e-04 9.99805864e-01 1.30697182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96255784400006 meters Centerline goodness : 0.147191 Centerline is valid? [False, False] Translation: X:3.46, Y:0.40, Z:1.31 [[ 9.99790565e-01 5.93206253e-03 -1.95866357e-02 3.46211125e+00] [-5.92491711e-03 9.99982358e-01 4.22821224e-04 4.00641809e-01] [ 1.95887984e-02 -3.06683477e-04 9.99808074e-01 1.30622191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99255784400003 meters Centerline goodness : 0.143808 Centerline is valid? [False, False] Translation: X:3.46, Y:0.40, Z:1.31 [[ 9.99790504e-01 5.76112727e-03 -1.96407249e-02 3.46232454e+00] [-5.76424990e-03 9.99983381e-01 -1.02378366e-04 4.03104496e-01] [ 1.96398087e-02 2.15570964e-04 9.99807097e-01 1.30600545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02255784400006 meters Centerline goodness : 0.157162 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99791484e-01 5.61969465e-03 -1.96318216e-02 3.46242717e+00] [-5.63397051e-03 9.99983903e-01 -6.71947007e-04 4.05980904e-01] [ 1.96277295e-02 7.82411999e-04 9.99807051e-01 1.30564497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05255784400003 meters Centerline goodness : 0.128160 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99791560e-01 5.48828831e-03 -1.96650916e-02 3.46253632e+00] [-5.51320275e-03 9.99984067e-01 -1.21294722e-03 4.08835405e-01] [ 1.96581212e-02 1.32111203e-03 9.99805888e-01 1.30543348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08255784400006 meters Centerline goodness : 0.157791 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99793531e-01 5.35553004e-03 -1.96013620e-02 3.46238294e+00] [-5.38896093e-03 9.99984113e-01 -1.65311593e-03 4.11149735e-01] [ 1.95921973e-02 1.75840559e-03 9.99806508e-01 1.30531967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11255784400004 meters Centerline goodness : 0.155268 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99800499e-01 5.15616252e-03 -1.92970581e-02 3.46132415e+00] [-5.19757341e-03 9.99984295e-01 -2.09643067e-03 4.13161404e-01] [ 1.92859455e-02 2.19631030e-03 9.99811597e-01 1.30575966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14255784400007 meters Centerline goodness : 0.142671 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99803339e-01 5.03926350e-03 -1.91804210e-02 3.46064277e+00] [-5.08176716e-03 9.99984738e-01 -2.16789753e-03 4.13102358e-01] [ 1.91692037e-02 2.26494163e-03 9.99813688e-01 1.30642122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17255784400004 meters Centerline goodness : 0.162752 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99803043e-01 4.96366467e-03 -1.92155253e-02 3.46050798e+00] [-5.00607849e-03 9.99985137e-01 -2.15979590e-03 4.12778178e-01] [ 1.92045192e-02 2.25556494e-03 9.99813032e-01 1.30683454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20255784400007 meters Centerline goodness : 0.137365 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99799519e-01 4.90997336e-03 -1.94116731e-02 3.46101575e+00] [-4.95344306e-03 9.99985329e-01 -2.19191121e-03 4.12841777e-01] [ 1.94006261e-02 2.28762639e-03 9.99809173e-01 1.30678212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23255784400004 meters Centerline goodness : 0.157996 Centerline is valid? [False, False] Translation: X:3.48, Y:0.42, Z:1.31 [[ 9.99819145e-01 -1.52177487e-03 -1.89568201e-02 3.48380291e+00] [ 1.52055351e-03 9.99998841e-01 -7.88421608e-05 4.18728339e-01] [ 1.89569181e-02 5.00030424e-05 9.99820300e-01 1.30606165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26255784400007 meters Centerline goodness : 0.149525 Centerline is valid? [False, False] Translation: X:3.48, Y:0.42, Z:1.31 [[ 9.99821167e-01 -1.63259808e-03 -1.88405991e-02 3.48340957e+00] [ 1.62645965e-03 9.99998619e-01 -3.41127226e-04 4.19968583e-01] [ 1.88411300e-02 3.10422747e-04 9.99822442e-01 1.30622387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29255784400004 meters Centerline goodness : 0.159850 Centerline is valid? [False, False] Translation: X:3.48, Y:0.42, Z:1.31 [[ 9.99820942e-01 -1.74691093e-03 -1.88423099e-02 3.48332117e+00] [ 1.73487351e-03 9.99998280e-01 -6.55177929e-04 4.21486835e-01] [ 1.88434220e-02 6.22371590e-04 9.99822253e-01 1.30634599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.322557844 meters Centerline goodness : 0.154708 Centerline is valid? [False, False] Translation: X:3.48, Y:0.42, Z:1.31 [[ 9.99817856e-01 -1.84649702e-03 -1.89959125e-02 3.48378919e+00] [ 1.82799850e-03 9.99997838e-01 -9.91133346e-04 4.23212484e-01] [ 1.89977015e-02 9.56228318e-04 9.99819070e-01 1.30614256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35255784400005 meters Centerline goodness : 0.153059 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:1.31 [[ 9.99812152e-01 -1.79372652e-03 -1.92987942e-02 3.48467868e+00] [ 1.76493027e-03 9.99997304e-01 -1.50905562e-03 4.26743932e-01] [ 1.93014490e-02 1.47471112e-03 9.99812622e-01 1.30569174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.382557844 meters Centerline goodness : 0.154037 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:1.31 [[ 9.99813584e-01 -1.89378766e-03 -1.92148654e-02 3.48449533e+00] [ 1.85917888e-03 9.99996618e-01 -1.81885000e-03 4.28363344e-01] [ 1.92182449e-02 1.78278706e-03 9.99813723e-01 1.30556309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41255784400005 meters Centerline goodness : 0.155857 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:1.31 [[ 9.99815871e-01 -1.98493082e-03 -1.90862227e-02 3.48416194e+00] [ 1.94542780e-03 9.99995928e-01 -2.08805805e-03 4.29759146e-01] [ 1.90902897e-02 2.05054271e-03 9.99815661e-01 1.30549847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442557844 meters Centerline goodness : 0.155363 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:1.31 [[ 9.99821588e-01 -2.20146067e-03 -1.87602407e-02 3.48270741e+00] [ 2.15197797e-03 9.99994154e-01 -2.65741637e-03 4.32573653e-01] [ 1.87659812e-02 2.61657063e-03 9.99820480e-01 1.30649897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47255784400005 meters Centerline goodness : 0.142076 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:1.31 [[ 9.99821988e-01 -2.32827491e-03 -1.87235456e-02 3.48226237e+00] [ 2.27353486e-03 9.99993081e-01 -2.94434921e-03 4.33893260e-01] [ 1.87302713e-02 2.90125644e-03 9.99820364e-01 1.30708302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502557844 meters Centerline goodness : 0.137003 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:1.31 [[ 9.99821682e-01 -2.44374429e-03 -1.87251905e-02 3.48220407e+00] [ 2.38365507e-03 9.99991941e-01 -3.23065211e-03 4.35248126e-01] [ 1.87329345e-02 3.18544163e-03 9.99819449e-01 1.30714207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53255784400005 meters Centerline goodness : 0.119925 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:1.31 [[ 9.99823511e-01 -2.57923831e-03 -1.86090039e-02 3.48190484e+00] [ 2.51314034e-03 9.99990454e-01 -3.57444639e-03 4.36917605e-01] [ 1.86180456e-02 3.52704850e-03 9.99820448e-01 1.30707809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562557844 meters Centerline goodness : 0.139066 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:1.31 [[ 9.99826174e-01 -2.86162745e-03 -1.84237065e-02 3.48156239e+00] [ 2.78153329e-03 9.99986576e-01 -4.37150079e-03 4.40998924e-01] [ 1.84359688e-02 4.31949476e-03 9.99820712e-01 1.30674510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59255784400005 meters Centerline goodness : 0.144880 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:1.31 [[ 9.99822958e-01 -3.06689439e-03 -1.85646495e-02 3.48223274e+00] [ 2.97664374e-03 9.99983628e-01 -4.88710706e-03 4.43382666e-01] [ 1.85793337e-02 4.83098149e-03 9.99815718e-01 1.30613873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622557844 meters Centerline goodness : 0.159015 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99816259e-01 -3.29242468e-03 -1.88840980e-02 3.48340392e+00] [ 3.18979495e-03 9.99979994e-01 -5.46226540e-03 4.46028952e-01] [ 1.89017044e-02 5.40102536e-03 9.99806759e-01 1.30543964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65255784400006 meters Centerline goodness : 0.174130 Centerline is valid? [False, False] Translation: X:3.46, Y:0.44, Z:1.30 [[ 0.9997734 0.00483811 -0.0207302 3.46328715] [-0.00497657 0.99996562 -0.00663277 0.44350987] [ 0.0206974 0.00673443 0.9997631 1.30468261] [ 0. 0. 0. 1. ]] SLAMing on 268.68255784400003 meters Centerline goodness : 0.138759 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99792144e-01 -2.66131533e-03 -2.02135366e-02 3.48147381e+00] [ 2.54449391e-03 9.99979926e-01 -5.80288800e-03 4.53989705e-01] [ 2.02285741e-02 5.75024861e-03 9.99778845e-01 1.30704129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71255784400006 meters Centerline goodness : 0.122063 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99793206e-01 -2.73049775e-03 -2.01516549e-02 3.48097106e+00] [ 2.61152155e-03 9.99979019e-01 -5.92799714e-03 4.54571868e-01] [ 2.01674185e-02 5.87414479e-03 9.99779360e-01 1.30763502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74255784400003 meters Centerline goodness : 0.137543 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99793181e-01 -2.78375540e-03 -2.01455947e-02 3.48078522e+00] [ 2.66447854e-03 9.99978778e-01 -5.94516279e-03 4.54557710e-01] [ 2.01617171e-02 5.89025572e-03 9.99779381e-01 1.30793150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77255784400006 meters Centerline goodness : 0.103072 Centerline is valid? [False, False] Translation: X:3.43, Y:0.45, Z:1.31 [[ 0.99972311 -0.00432249 -0.02313036 3.43366602] [ 0.00417273 0.99997005 -0.006519 0.45058054] [ 0.02315785 0.00642067 0.9997112 1.30927441] [ 0. 0. 0. 1. ]] SLAMing on 268.80255784400003 meters Centerline goodness : 0.148855 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99774246e-01 -3.60032660e-03 -2.09402596e-02 3.47805799e+00] [ 3.46681187e-03 9.99973454e-01 -6.40879324e-03 4.53695320e-01] [ 2.09627775e-02 6.33475049e-03 9.99760188e-01 1.30933455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83255784400006 meters Centerline goodness : 0.211760 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99773672e-01 -3.57148535e-03 -2.09726071e-02 3.47801483e+00] [ 3.44021984e-03 9.99974290e-01 -6.29165020e-03 4.53058511e-01] [ 2.09945384e-02 6.21807585e-03 9.99760254e-01 1.30957968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86255784400004 meters Centerline goodness : 0.129107 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99776093e-01 -3.53604955e-03 -2.08628672e-02 3.47758218e+00] [ 3.40943588e-03 9.99975575e-01 -6.10130407e-03 4.51979328e-01] [ 2.08839321e-02 6.02880734e-03 9.99763730e-01 1.30987044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89255784400007 meters Centerline goodness : 0.151972 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99788912e-01 -3.46583100e-03 -2.02513892e-02 3.47565762e+00] [ 3.35436484e-03 9.99979053e-01 -5.53550291e-03 4.49107376e-01] [ 2.02701501e-02 5.46640388e-03 9.99779595e-01 1.31063306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92255784400004 meters Centerline goodness : 0.142422 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99788818e-01 -3.32159388e-03 -2.02801807e-02 3.47571218e+00] [ 3.21871498e-03 9.99981797e-01 -5.10341447e-03 4.47086457e-01] [ 2.02967630e-02 5.03706060e-03 9.99781311e-01 1.31070565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95255784400007 meters Centerline goodness : 0.086909 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99786386e-01 -3.19353074e-03 -2.04201894e-02 3.47618427e+00] [ 3.09829325e-03 9.99984184e-01 -4.69382602e-03 4.45063833e-01] [ 2.04348563e-02 4.62955562e-03 9.99780468e-01 1.31059111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98255784400004 meters Centerline goodness : 0.144236 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:1.31 [[ 9.99776903e-01 -3.12778389e-03 -2.08892569e-02 3.47765916e+00] [ 3.03737597e-03 9.99985890e-01 -4.35828894e-03 4.43127374e-01] [ 2.09025939e-02 4.29386809e-03 9.99772296e-01 1.31016699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01255784400007 meters Centerline goodness : 0.124224 Centerline is valid? [False, False] Translation: X:3.46, Y:0.44, Z:1.31 [[ 9.99699432e-01 2.33989634e-03 -2.44043017e-02 3.45610646e+00] [-2.51487762e-03 9.99971334e-01 -7.14187467e-03 4.37810334e-01] [ 2.43868909e-02 7.20110188e-03 9.99676660e-01 1.31040537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04255784400004 meters Centerline goodness : 0.154191 Centerline is valid? [False, False] Translation: X:3.47, Y:0.44, Z:1.31 [[ 0.99969725 -0.00502349 -0.02408669 3.47495689] [ 0.00489047 0.99997248 -0.00557856 0.44193621] [ 0.02411405 0.00545907 0.99969431 1.31215758] [ 0. 0. 0. 1. ]] SLAMing on 269.072557844 meters Centerline goodness : 0.165713 Centerline is valid? [False, False] Translation: X:3.47, Y:0.44, Z:1.31 [[ 0.99970177 -0.00488493 -0.02392697 3.47434678] [ 0.00475963 0.99997467 -0.0052912 0.44069145] [ 0.02395221 0.00517574 0.99969971 1.31253275] [ 0. 0. 0. 1. ]] SLAMing on 269.10255784400005 meters Centerline goodness : 0.155380 Centerline is valid? [False, False] Translation: X:3.47, Y:0.44, Z:1.31 [[ 0.99970488 -0.00469956 -0.02383405 3.4738185 ] [ 0.00458695 0.99997807 -0.00477723 0.43793817] [ 0.02385598 0.00466649 0.99970451 1.31308937] [ 0. 0. 0. 1. ]] SLAMing on 269.132557844 meters Centerline goodness : 0.137097 Centerline is valid? [False, False] Translation: X:3.47, Y:0.44, Z:1.31 [[ 0.99970427 -0.00459621 -0.02387979 3.47392521] [ 0.00448896 0.9999796 -0.00454307 0.43677507] [ 0.02390018 0.00443453 0.99970451 1.3131043 ] [ 0. 0. 0. 1. ]] SLAMing on 269.16255784400005 meters Centerline goodness : 0.161571 Centerline is valid? [False, False] Translation: X:3.49, Y:0.43, Z:1.31 [[ 0.9997178 0.00411788 -0.02339582 3.49476322] [-0.0042472 0.99997596 -0.00548058 0.4341591 ] [ 0.02337269 0.0055784 0.99971126 1.31394277] [ 0. 0. 0. 1. ]] SLAMing on 269.192557844 meters Centerline goodness : 0.127922 Centerline is valid? [False, False] Translation: X:3.50, Y:0.44, Z:1.31 [[ 0.99971315 0.00413758 -0.02359042 3.49559471] [-0.00427112 0.99997513 -0.00561302 0.43506021] [ 0.02356661 0.00571217 0.99970595 1.31334636] [ 0. 0. 0. 1. ]] SLAMing on 269.22255784400005 meters Centerline goodness : 0.152875 Centerline is valid? [False, False] Translation: X:3.50, Y:0.44, Z:1.31 [[ 0.99970443 0.00423384 -0.02393996 3.49669029] [-0.00438198 0.99997156 -0.00613899 0.43813823] [ 0.02391329 0.00624208 0.99969455 1.3128163 ] [ 0. 0. 0. 1. ]] SLAMing on 269.252557844 meters Centerline goodness : 0.165679 Centerline is valid? [False, False] Translation: X:3.50, Y:0.44, Z:1.31 [[ 0.99970789 0.00407785 -0.02382233 3.49629904] [-0.0042382 0.99996868 -0.00668429 0.44071549] [ 0.02379432 0.00678331 0.99969386 1.31288137] [ 0. 0. 0. 1. ]] SLAMing on 269.28255784400005 meters Centerline goodness : 0.131498 Centerline is valid? [False, False] Translation: X:3.50, Y:0.44, Z:1.31 [[ 0.999708 0.00394997 -0.02383915 3.49620179] [-0.00412427 0.99996509 -0.00726668 0.44385795] [ 0.02380962 0.00736287 0.9996894 1.31297366] [ 0. 0. 0. 1. ]] SLAMing on 269.312557844 meters Centerline goodness : 0.173905 Centerline is valid? [False, False] Translation: X:3.50, Y:0.45, Z:1.31 [[ 0.99970631 0.00381063 -0.02393262 3.49645834] [-0.00399902 0.99996136 -0.00782904 0.44695632] [ 0.02390186 0.00792245 0.99968292 1.31280342] [ 0. 0. 0. 1. ]] SLAMing on 269.34255784400005 meters Centerline goodness : 0.120961 Centerline is valid? [False, False] Translation: X:3.50, Y:0.45, Z:1.31 [[ 9.99706379e-01 3.48949050e-03 -2.39787155e-02 3.49673630e+00] [-3.69744147e-03 9.99955895e-01 -8.63345785e-03 4.50783700e-01] [ 2.39475316e-02 8.71958278e-03 9.99675190e-01 1.31246058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.372557844 meters Centerline goodness : 0.120961 Centerline is valid? [False, False] Translation: X:3.50, Y:0.45, Z:1.31 [[ 9.99706379e-01 3.48949050e-03 -2.39787155e-02 3.49673630e+00] [-3.69744147e-03 9.99955895e-01 -8.63345785e-03 4.50783700e-01] [ 2.39475316e-02 8.71958278e-03 9.99675190e-01 1.31246058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40255784400006 meters Centerline goodness : 0.167320 Centerline is valid? [False, False] Translation: X:3.47, Y:0.45, Z:1.31 [[ 0.99970955 -0.00577895 -0.02339691 3.47458071] [ 0.00558688 0.99995023 -0.00826604 0.45424921] [ 0.02344351 0.00813293 0.99969208 1.31147583] [ 0. 0. 0. 1. ]] SLAMing on 269.43255784400003 meters Centerline goodness : 0.162775 Centerline is valid? [False, False] Translation: X:3.52, Y:0.46, Z:1.31 [[ 0.99976879 -0.00601854 -0.02064311 3.51685466] [ 0.00583559 0.99994326 -0.00891164 0.45830092] [ 0.02069557 0.00878912 0.99974719 1.31241324] [ 0. 0. 0. 1. ]] SLAMing on 269.46255784400006 meters Centerline goodness : 0.153776 Centerline is valid? [False, False] Translation: X:3.47, Y:0.46, Z:1.31 [[ 0.99972432 -0.007346 -0.02230055 3.46897407] [ 0.00715394 0.99993674 -0.00867979 0.4550792 ] [ 0.02236291 0.00851786 0.99971363 1.31394076] [ 0. 0. 0. 1. ]] SLAMing on 269.49255784400003 meters Centerline goodness : 0.150452 Centerline is valid? [False, False] Translation: X:3.47, Y:0.46, Z:1.31 [[ 0.99972157 -0.00741695 -0.02240016 3.46919897] [ 0.007222 0.99993545 -0.00877163 0.45546978] [ 0.02246378 0.00860742 0.9997106 1.31402284] [ 0. 0. 0. 1. ]] SLAMing on 269.52255784400006 meters Centerline goodness : 0.156011 Centerline is valid? [False, False] Translation: X:3.47, Y:0.46, Z:1.31 [[ 0.99971827 -0.00755217 -0.02250203 3.46948924] [ 0.00735003 0.99993201 -0.00905255 0.4566188 ] [ 0.02256887 0.00888461 0.99970581 1.31396376] [ 0. 0. 0. 1. ]] SLAMing on 269.55255784400003 meters Centerline goodness : 0.091780 Centerline is valid? [False, False] Translation: X:3.47, Y:0.46, Z:1.31 [[ 0.99971401 -0.00772286 -0.02263291 3.46988611] [ 0.0075093 0.99992662 -0.0095056 0.4586677 ] [ 0.02270466 0.00933293 0.99969865 1.31378904] [ 0. 0. 0. 1. ]] SLAMing on 269.58255784400006 meters Centerline goodness : 0.157243 Centerline is valid? [False, False] Translation: X:3.47, Y:0.46, Z:1.31 [[ 0.99972532 -0.00388897 -0.02311173 3.47134963] [ 0.0037435 0.99997293 -0.00633377 0.46285692] [ 0.02313573 0.00624552 0.99971282 1.31312715] [ 0. 0. 0. 1. ]] SLAMing on 269.61255784400004 meters Centerline goodness : 0.133610 Centerline is valid? [False, False] Translation: X:3.47, Y:0.47, Z:1.31 [[ 0.99972524 -0.00393399 -0.02310788 3.47147127] [ 0.00377564 0.99996912 -0.00689261 0.46611108] [ 0.02313429 0.00680347 0.99970922 1.31278266] [ 0. 0. 0. 1. ]] SLAMing on 269.64255784400007 meters Centerline goodness : 0.140457 Centerline is valid? [False, False] Translation: X:3.47, Y:0.47, Z:1.31 [[ 0.99973004 -0.00406386 -0.02287626 3.47076144] [ 0.00389491 0.99996485 -0.00742489 0.4688513 ] [ 0.02290562 0.00733378 0.99971073 1.31286089] [ 0. 0. 0. 1. ]] SLAMing on 269.67255784400004 meters Centerline goodness : 0.138207 Centerline is valid? [False, False] Translation: X:3.47, Y:0.47, Z:1.31 [[ 0.99973775 -0.00421802 -0.0225087 3.46953839] [ 0.00404166 0.99996082 -0.00787489 0.47097046] [ 0.02254103 0.00778185 0.99971563 1.31326376] [ 0. 0. 0. 1. ]] SLAMing on 269.70255784400007 meters Centerline goodness : 0.168419 Centerline is valid? [False, False] Translation: X:3.49, Y:0.47, Z:1.31 [[ 0.99977917 0.00445277 -0.02053762 3.48917715] [-0.0046473 0.9999447 -0.00943396 0.47474123] [ 0.02049448 0.00952732 0.99974457 1.31440456] [ 0. 0. 0. 1. ]] SLAMing on 269.73255784400004 meters Centerline goodness : 0.152140 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 0.99977777 0.00423172 -0.02065173 3.48971189] [-0.00443943 0.99993992 -0.01002235 0.47760319] [ 0.02060807 0.0101118 0.99973649 1.31392431] [ 0. 0. 0. 1. ]] SLAMing on 269.76255784400007 meters Centerline goodness : 0.166598 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 0.99977564 0.00403338 -0.02079451 3.49019835] [-0.00425297 0.99993555 -0.01052689 0.48002054] [ 0.02075071 0.01061297 0.99972835 1.31366388] [ 0. 0. 0. 1. ]] SLAMing on 269.79255784400004 meters Centerline goodness : 0.159115 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 0.99977502 0.00389607 -0.0208501 3.49024933] [-0.00412256 0.99993284 -0.01083104 0.48144206] [ 0.0208065 0.01091456 0.99972394 1.31380582] [ 0. 0. 0. 1. ]] SLAMing on 269.822557844 meters Centerline goodness : 0.135048 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.32 [[ 0.99978548 0.00364107 -0.02038982 3.48831635] [-0.00386509 0.99993249 -0.01095789 0.48174383] [ 0.02034855 0.01103435 0.99973205 1.3151874 ] [ 0. 0. 0. 1. ]] SLAMing on 269.85255784400005 meters Centerline goodness : 0.149545 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:1.32 [[ 0.99978929 -0.00455574 -0.02001536 3.50776128] [ 0.0043601 0.9999424 -0.00980709 0.48648838] [ 0.02005889 0.00971776 0.99975157 1.31736736] [ 0. 0. 0. 1. ]] SLAMing on 269.882557844 meters Centerline goodness : 0.176758 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.32 [[ 9.99803662e-01 2.61604651e-03 -1.96416500e-02 3.48999689e+00] [-2.83518873e-03 9.99933957e-01 -1.11374723e-02 4.79607976e-01] [ 1.96112167e-02 1.11909734e-02 9.99745049e-01 1.31511952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91255784400005 meters Centerline goodness : 0.176513 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 9.99796163e-01 2.56365860e-03 -2.00264849e-02 3.49113134e+00] [-2.78421810e-03 9.99935696e-01 -1.09932834e-02 4.78567020e-01] [ 1.99970141e-02 1.10468007e-02 9.99739010e-01 1.31487815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942557844 meters Centerline goodness : 0.158977 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 9.99787769e-01 2.49430066e-03 -2.04498443e-02 3.49286325e+00] [-2.71660428e-03 9.99937446e-01 -1.08501117e-02 4.77496487e-01] [ 2.04215016e-02 1.09033631e-02 9.99732004e-01 1.31384779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97255784400005 meters Centerline goodness : 0.159841 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 9.99788903e-01 2.44664936e-03 -2.04000622e-02 3.49273832e+00] [-2.67114972e-03 9.99936096e-01 -1.09849095e-02 4.78180715e-01] [ 2.03718823e-02 1.10370823e-02 9.99731549e-01 1.31384076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002557844 meters Centerline goodness : 0.158785 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 9.99791436e-01 2.37962759e-03 -2.02835307e-02 3.49228972e+00] [-2.60759874e-03 9.99933652e-01 -1.12201957e-02 4.79405886e-01] [ 2.02554850e-02 1.12707469e-02 9.99731307e-01 1.31409933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03255784400005 meters Centerline goodness : 0.175134 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 9.99793497e-01 2.42245415e-03 -2.01765822e-02 3.49200857e+00] [-2.66038360e-03 9.99927146e-01 -1.17738751e-02 4.82690991e-01] [ 2.01465906e-02 1.18251212e-02 9.99727103e-01 1.31401487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062557844 meters Centerline goodness : 0.179789 Centerline is valid? [False, False] Translation: X:3.49, Y:0.49, Z:1.31 [[ 9.99793178e-01 2.34784808e-03 -2.02012211e-02 3.49219131e+00] [-2.59570069e-03 9.99921576e-01 -1.22517293e-02 4.85305598e-01] [ 2.01708716e-02 1.23016317e-02 9.99720864e-01 1.31366773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09255784400005 meters Centerline goodness : 0.170736 Centerline is valid? [False, False] Translation: X:3.49, Y:0.49, Z:1.31 [[ 9.99790745e-01 2.28501856e-03 -2.03284493e-02 3.49277775e+00] [-2.54355651e-03 9.99916100e-01 -1.27012841e-02 4.87763620e-01] [ 2.02977211e-02 1.27503328e-02 9.99712674e-01 1.31310122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122557844 meters Centerline goodness : 0.159224 Centerline is valid? [False, False] Translation: X:3.49, Y:0.49, Z:1.31 [[ 9.99790138e-01 2.19398197e-03 -2.03682807e-02 3.49309022e+00] [-2.46002382e-03 9.99911875e-01 -1.30457218e-02 4.89564622e-01] [ 2.03378636e-02 1.30930904e-02 9.99707428e-01 1.31267716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15255784400006 meters Centerline goodness : 0.154491 Centerline is valid? [False, False] Translation: X:3.49, Y:0.49, Z:1.31 [[ 9.99788233e-01 2.12903285e-03 -2.04684334e-02 3.49341472e+00] [-2.40022789e-03 9.99909546e-01 -1.32340044e-02 4.90482599e-01] [ 2.04384063e-02 1.32803307e-02 9.99702908e-01 1.31250070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18255784400003 meters Centerline goodness : 0.092066 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:1.31 [[ 0.99976665 -0.00694498 -0.02045524 3.47128798] [ 0.00668787 0.99989811 -0.0126113 0.4929874 ] [ 0.02054074 0.01247156 0.99971123 1.31164605] [ 0. 0. 0. 1. ]] SLAMing on 270.21255784400006 meters Centerline goodness : 0.130643 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:1.31 [[ 0.9997693 -0.00693475 -0.02032865 3.4706182 ] [ 0.00668382 0.99990095 -0.01238591 0.49166377] [ 0.02041253 0.01224718 0.99971663 1.31231198] [ 0. 0. 0. 1. ]] SLAMing on 270.24255784400003 meters Centerline goodness : 0.168372 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:1.31 [[ 0.99976723 -0.0072409 -0.02032384 3.4705189 ] [ 0.00699647 0.99990265 -0.01207222 0.48878222] [ 0.02040927 0.01192721 0.99972056 1.31261685] [ 0. 0. 0. 1. ]] SLAMing on 270.27255784400006 meters Centerline goodness : 0.161464 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:1.31 [[ 0.9997609 -0.00710179 -0.02068099 3.47160463] [ 0.00686252 0.99990896 -0.01161785 0.48656872] [ 0.02076161 0.01147315 0.99971862 1.31235495] [ 0. 0. 0. 1. ]] SLAMing on 270.30255784400003 meters Centerline goodness : 0.105654 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 0.99975491 -0.00694387 -0.02102132 3.47263824] [ 0.00671058 0.99991534 -0.01114781 0.48425928] [ 0.02109695 0.01100402 0.99971688 1.3121176 ] [ 0. 0. 0. 1. ]] SLAMing on 270.33255784400006 meters Centerline goodness : 0.122675 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 0.99975487 -0.00680111 -0.02107002 3.47274401] [ 0.00657493 0.99992022 -0.01078518 0.48255064] [ 0.02114169 0.010644 0.99971983 1.31219102] [ 0. 0. 0. 1. ]] SLAMing on 270.36255784400004 meters Centerline goodness : 0.134884 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 0.99976799 -0.00660708 -0.02050161 3.4705469 ] [ 0.00639697 0.99992652 -0.01029699 0.48024807] [ 0.02056814 0.01016345 0.99973679 1.31356434] [ 0. 0. 0. 1. ]] SLAMing on 270.39255784400007 meters Centerline goodness : 0.121877 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 0.99977291 -0.00651755 -0.02028913 3.46964543] [ 0.00631227 0.99992841 -0.01016531 0.4797711 ] [ 0.02035393 0.01003493 0.99974248 1.31419876] [ 0. 0. 0. 1. ]] SLAMing on 270.42255784400004 meters Centerline goodness : 0.183021 Centerline is valid? [False, False] Translation: X:3.45, Y:0.47, Z:1.31 [[ 9.99796647e-01 1.89043725e-03 -2.00771423e-02 3.44936076e+00] [-2.10927060e-03 9.99938542e-01 -1.08840496e-02 4.74201459e-01] [ 2.00553328e-02 1.09241844e-02 9.99739189e-01 1.31276191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45255784400007 meters Centerline goodness : 0.087297 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99780446e-01 -2.86486234e-03 -2.07569907e-02 3.47168569e+00] [ 2.71159300e-03 9.99968881e-01 -7.40837291e-03 4.79022489e-01] [ 2.07775688e-02 7.35046186e-03 9.99757102e-01 1.31280849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48255784400004 meters Centerline goodness : 0.150773 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99779705e-01 -2.91062443e-03 -2.07863095e-02 3.47194362e+00] [ 2.75280466e-03 9.99967201e-01 -7.61706772e-03 4.80130346e-01] [ 2.08077981e-02 7.55816907e-03 9.99754925e-01 1.31242383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51255784400007 meters Centerline goodness : 0.180619 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99778089e-01 -3.02903212e-03 -2.08470128e-02 3.47216880e+00] [ 2.86406535e-03 9.99964388e-01 -7.93852192e-03 4.81604213e-01] [ 2.08703165e-02 7.87705307e-03 9.99751160e-01 1.31223198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54255784400004 meters Centerline goodness : 0.158970 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99783272e-01 -3.16738351e-03 -2.05761301e-02 3.47123081e+00] [ 2.99658304e-03 9.99960845e-01 -8.32643939e-03 4.83455067e-01] [ 2.06016975e-02 8.26297674e-03 9.99753616e-01 1.31258770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.572557844 meters Centerline goodness : 0.136430 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99787411e-01 -3.16563275e-03 -2.03742804e-02 3.47043111e+00] [ 2.99607000e-03 9.99960670e-01 -8.34754248e-03 4.83724503e-01] [ 2.03999043e-02 8.28472512e-03 9.99757574e-01 1.31304068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60255784400005 meters Centerline goodness : 0.133997 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99789772e-01 -3.13769987e-03 -2.02624666e-02 3.46987988e+00] [ 2.97088068e-03 9.99961491e-01 -8.25777675e-03 4.83365247e-01] [ 2.02875967e-02 8.19584336e-03 9.99760592e-01 1.31349883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.632557844 meters Centerline goodness : 0.089441 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99781261e-01 -3.29281302e-03 -2.06539811e-02 3.47105254e+00] [ 3.12659184e-03 9.99962508e-01 -8.07503541e-03 4.81681864e-01] [ 2.06797963e-02 8.00869252e-03 9.99754073e-01 1.31327440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66255784400005 meters Centerline goodness : 0.164030 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99774406e-01 -3.26230786e-03 -2.09879783e-02 3.47222330e+00] [ 3.09815579e-03 9.99964397e-01 -7.84900996e-03 4.80319236e-01] [ 2.10128369e-02 7.78221524e-03 9.99748917e-01 1.31271170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.692557844 meters Centerline goodness : 0.161534 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99767902e-01 -3.20692507e-03 -2.13039188e-02 3.47322390e+00] [ 3.04554211e-03 9.99966456e-01 -7.60340188e-03 4.78975448e-01] [ 2.13275877e-02 7.53675517e-03 9.99744133e-01 1.31238284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72255784400005 meters Centerline goodness : 0.137440 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99760451e-01 -3.06832268e-03 -2.16708346e-02 3.47431806e+00] [ 2.91142502e-03 9.99969350e-01 -7.26788125e-03 4.77481875e-01] [ 2.16924706e-02 7.20304723e-03 9.99738742e-01 1.31218299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.752557844 meters Centerline goodness : 0.181547 Centerline is valid? [False, False] Translation: X:3.48, Y:0.48, Z:1.31 [[ 9.99756125e-01 -3.08220925e-03 -2.18675861e-02 3.47505612e+00] [ 2.92209218e-03 9.99968717e-01 -7.35029817e-03 4.77844461e-01] [ 2.18895571e-02 7.28460651e-03 9.99733855e-01 1.31173845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78255784400005 meters Centerline goodness : 0.156995 Centerline is valid? [False, False] Translation: X:3.48, Y:0.48, Z:1.31 [[ 9.99750415e-01 -3.08652303e-03 -2.21264810e-02 3.47591220e+00] [ 2.92063628e-03 9.99967417e-01 -7.52560396e-03 4.78700136e-01] [ 2.21489880e-02 7.45910228e-03 9.99726855e-01 1.31133786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.812557844 meters Centerline goodness : 0.153149 Centerline is valid? [False, False] Translation: X:3.48, Y:0.48, Z:1.31 [[ 9.99756679e-01 -2.52154884e-03 -2.19140287e-02 3.47536164e+00] [ 2.35339721e-03 9.99967619e-01 -7.69564607e-03 4.81271513e-01] [ 2.19327240e-02 7.64220114e-03 9.99730240e-01 1.31114076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84255784400005 meters Centerline goodness : 0.200266 Centerline is valid? [False, False] Translation: X:3.48, Y:0.48, Z:1.31 [[ 9.99756158e-01 -2.40095593e-03 -2.19512926e-02 3.47543758e+00] [ 2.22389620e-03 9.99964828e-01 -8.08688466e-03 4.83872714e-01] [ 2.19699367e-02 8.03609535e-03 9.99726334e-01 1.31098000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.872557844 meters Centerline goodness : 0.103738 Centerline is valid? [False, False] Translation: X:3.48, Y:0.48, Z:1.31 [[ 9.99751397e-01 1.53914595e-03 -2.22435500e-02 3.47635613e+00] [-1.63751895e-03 9.99988957e-01 -4.40500291e-03 4.84852553e-01] [ 2.22365244e-02 4.44033205e-03 9.99742877e-01 1.31067055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90255784400006 meters Centerline goodness : 0.162106 Centerline is valid? [False, False] Translation: X:3.48, Y:0.49, Z:1.31 [[ 9.99741769e-01 1.72040148e-03 -2.26591076e-02 3.47753214e+00] [-1.83065604e-03 9.99986583e-01 -4.84595039e-03 4.87983020e-01] [ 2.26504666e-02 4.88618005e-03 9.99731505e-01 1.31022675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93255784400003 meters Centerline goodness : 0.154479 Centerline is valid? [False, False] Translation: X:3.48, Y:0.49, Z:1.31 [[ 9.99748148e-01 2.17984366e-03 -2.23358069e-02 3.47634975e+00] [-2.30046771e-03 9.99982902e-01 -5.37620807e-03 4.93854632e-01] [ 2.23237057e-02 5.42623687e-03 9.99736069e-01 1.31034373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96255784400006 meters Centerline goodness : 0.164078 Centerline is valid? [False, False] Translation: X:3.47, Y:0.50, Z:1.31 [[ 9.99758453e-01 1.98391837e-03 -2.18883669e-02 3.47477865e+00] [-2.11479152e-03 9.99980017e-01 -5.95759264e-03 4.96785501e-01] [ 2.18761101e-02 6.00244293e-03 9.99742670e-01 1.31101079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99255784400003 meters Centerline goodness : 0.166742 Centerline is valid? [False, False] Translation: X:3.49, Y:0.51, Z:1.31 [[ 0.99978051 -0.00556756 -0.02019754 3.49197409] [ 0.00547469 0.9999742 -0.00465051 0.50578916] [ 0.02022291 0.00453891 0.99978519 1.31326472] [ 0. 0. 0. 1. ]] SLAMing on 271.02255784400006 meters Centerline goodness : 0.176205 Centerline is valid? [False, False] Translation: X:3.47, Y:0.50, Z:1.31 [[ 9.99795428e-01 2.77995575e-03 -2.00343157e-02 3.47070506e+00] [-2.88948873e-03 9.99981026e-01 -5.44039637e-03 5.02232754e-01] [ 2.00188116e-02 5.49717235e-03 9.99784491e-01 1.31303987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05255784400003 meters Centerline goodness : 0.172275 Centerline is valid? [False, False] Translation: X:3.49, Y:0.51, Z:1.32 [[ 0.99977701 -0.00501328 -0.02051317 3.48971303] [ 0.00491967 0.99997727 -0.00461134 0.51276266] [ 0.02053582 0.0045094 0.99977895 1.31529235] [ 0. 0. 0. 1. ]] SLAMing on 271.08255784400006 meters Centerline goodness : 0.179564 Centerline is valid? [False, False] Translation: X:3.49, Y:0.51, Z:1.32 [[ 0.99977498 -0.00518414 -0.02056994 3.4898671 ] [ 0.00508379 0.99997494 -0.00492784 0.51413848] [ 0.02059497 0.00482216 0.99977627 1.31527725] [ 0. 0. 0. 1. ]] SLAMing on 271.11255784400004 meters Centerline goodness : 0.162178 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:1.32 [[ 0.99981288 -0.00549104 -0.01854875 3.53409153] [ 0.00539094 0.99997066 -0.00544212 0.52011534] [ 0.01857809 0.00534111 0.99981315 1.31551809] [ 0. 0. 0. 1. ]] SLAMing on 271.14255784400007 meters Centerline goodness : 0.234940 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:1.32 [[ 0.99981003 -0.00588094 -0.01858299 3.53379007] [ 0.00576605 0.99996397 -0.00623 0.52377986] [ 0.01861896 0.00612167 0.99980791 1.31608914] [ 0. 0. 0. 1. ]] SLAMing on 271.17255784400004 meters Centerline goodness : 0.123458 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:1.32 [[ 0.99980802 -0.00606136 -0.01863291 3.53379292] [ 0.00593792 0.99996011 -0.00667268 0.52600324] [ 0.01867261 0.00656075 0.99980413 1.31623714] [ 0. 0. 0. 1. ]] SLAMing on 271.20255784400007 meters Centerline goodness : 0.177453 Centerline is valid? [False, False] Translation: X:3.51, Y:0.52, Z:1.32 [[ 9.99806063e-01 2.35440191e-03 -1.95523378e-02 3.51378890e+00] [-2.50741492e-03 9.99966397e-01 -7.80499241e-03 5.22930930e-01] [ 1.95333047e-02 7.85250456e-03 9.99778370e-01 1.31523756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23255784400004 meters Centerline goodness : 0.173013 Centerline is valid? [False, False] Translation: X:3.51, Y:0.53, Z:1.31 [[ 9.99803243e-01 2.15048989e-03 -1.97192856e-02 3.51440668e+00] [-2.31463148e-03 9.99962835e-01 -8.30486947e-03 5.25330246e-01] [ 1.97006932e-02 8.34887831e-03 9.99771063e-01 1.31485106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26255784400007 meters Centerline goodness : 0.161671 Centerline is valid? [False, False] Translation: X:3.51, Y:0.53, Z:1.31 [[ 9.99802016e-01 1.90657952e-03 -1.98064157e-02 3.51484545e+00] [-2.08341700e-03 9.99958121e-01 -8.91149859e-03 5.28187524e-01] [ 1.97885957e-02 8.95099927e-03 9.99764118e-01 1.31444854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29255784400004 meters Centerline goodness : 0.161671 Centerline is valid? [False, False] Translation: X:3.51, Y:0.53, Z:1.31 [[ 9.99802016e-01 1.90657952e-03 -1.98064157e-02 3.51484545e+00] [-2.08341700e-03 9.99958121e-01 -8.91149859e-03 5.28187524e-01] [ 1.97885957e-02 8.95099927e-03 9.99764118e-01 1.31444854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.322557844 meters Centerline goodness : 0.162209 Centerline is valid? [False, False] Translation: X:3.51, Y:0.53, Z:1.31 [[ 9.99802581e-01 1.46799959e-03 -1.98152232e-02 3.51484804e+00] [-1.66813935e-03 9.99947728e-01 -1.00875559e-02 5.33883470e-01] [ 1.97993789e-02 1.01186190e-02 9.99752769e-01 1.31435114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35255784400005 meters Centerline goodness : 0.177084 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:1.31 [[ 9.99806250e-01 1.26129380e-03 -1.96436014e-02 3.51418059e+00] [-1.46943910e-03 9.99942895e-01 -1.05852600e-02 5.36202876e-01] [ 1.96291286e-02 1.06120741e-02 9.99751010e-01 1.31466721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.382557844 meters Centerline goodness : 0.158545 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:1.32 [[ 9.99809604e-01 1.12157999e-03 -1.94807180e-02 3.51338417e+00] [-1.33545458e-03 9.99938944e-01 -1.09692465e-02 5.38199445e-01] [ 1.94672257e-02 1.09931736e-02 9.99750057e-01 1.31527940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41255784400005 meters Centerline goodness : 0.184714 Centerline is valid? [False, False] Translation: X:3.47, Y:0.54, Z:1.32 [[ 9.99769686e-01 1.17427746e-03 -2.14288594e-02 3.46569996e+00] [-1.41162314e-03 9.99937793e-01 -1.10642196e-02 5.37228687e-01] [ 2.14145339e-02 1.10919209e-02 9.99709151e-01 1.31697006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442557844 meters Centerline goodness : 0.177454 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:1.32 [[ 0.9997511 -0.00738875 -0.02105103 3.48557723] [ 0.00716777 0.99991862 -0.01055375 0.54511301] [ 0.0211273 0.01040024 0.9997227 1.31870264] [ 0. 0. 0. 1. ]] SLAMing on 271.47255784400005 meters Centerline goodness : 0.162882 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:1.32 [[ 0.99974937 -0.00747795 -0.02110171 3.48581314] [ 0.00725444 0.99991698 -0.01064879 0.54534702] [ 0.02117959 0.01049304 0.99972062 1.31856104] [ 0. 0. 0. 1. ]] SLAMing on 271.502557844 meters Centerline goodness : 0.164972 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:1.32 [[ 0.99974816 -0.00750865 -0.02114785 3.48590227] [ 0.00728405 0.99991646 -0.01067749 0.54541447] [ 0.02122625 0.01052076 0.99971934 1.31862762] [ 0. 0. 0. 1. ]] SLAMing on 271.53255784400005 meters Centerline goodness : 0.182802 Centerline is valid? [False, False] Translation: X:3.46, Y:0.54, Z:1.32 [[ 9.99772690e-01 1.32633958e-03 -2.12793010e-02 3.46432491e+00] [-1.56786098e-03 9.99934500e-01 -1.13373972e-02 5.41046778e-01] [ 2.12628700e-02 1.13681831e-02 9.99709285e-01 1.31842230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562557844 meters Centerline goodness : 0.184445 Centerline is valid? [False, False] Translation: X:3.46, Y:0.54, Z:1.32 [[ 9.99772985e-01 1.26620033e-03 -2.12691277e-02 3.46419942e+00] [-1.51311402e-03 9.99931608e-01 -1.15969396e-02 5.42424664e-01] [ 2.12529890e-02 1.16264895e-02 9.99706525e-01 1.31854086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59255784400005 meters Centerline goodness : 0.160967 Centerline is valid? [False, False] Translation: X:3.46, Y:0.54, Z:1.32 [[ 9.99773896e-01 1.18175017e-03 -2.12311107e-02 3.46396927e+00] [-1.43405149e-03 9.99928494e-01 -1.18722747e-02 5.43817478e-01] [ 2.12155625e-02 1.19000369e-02 9.99704101e-01 1.31873731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622557844 meters Centerline goodness : 0.184506 Centerline is valid? [False, False] Translation: X:3.42, Y:0.54, Z:1.32 [[ 9.99717291e-01 1.13507353e-03 -2.37497102e-02 3.41774317e+00] [-1.42614522e-03 9.99924041e-01 -1.22424537e-02 5.41661878e-01] [ 2.37340101e-02 1.22728632e-02 9.99642973e-01 1.31944581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65255784400006 meters Centerline goodness : 0.164330 Centerline is valid? [False, False] Translation: X:3.44, Y:0.55, Z:1.32 [[ 0.99967837 -0.00739849 -0.02425744 3.43789043] [ 0.00711446 0.99990537 -0.01177421 0.54648792] [ 0.02434225 0.01159785 0.99963641 1.32059975] [ 0. 0. 0. 1. ]] SLAMing on 271.68255784400003 meters Centerline goodness : 0.183268 Centerline is valid? [False, False] Translation: X:3.44, Y:0.55, Z:1.32 [[ 0.99967348 -0.00732621 -0.02447962 3.43860121] [ 0.00704569 0.99990875 -0.01152613 0.5452335 ] [ 0.02456183 0.01134989 0.99963388 1.32036324] [ 0. 0. 0. 1. ]] SLAMing on 271.71255784400006 meters Centerline goodness : 0.152484 Centerline is valid? [False, False] Translation: X:3.44, Y:0.54, Z:1.32 [[ 0.99966071 -0.00727912 -0.0250095 3.44005969] [ 0.00700157 0.99991313 -0.01116745 0.5433104 ] [ 0.02508862 0.01098856 0.99962484 1.32020922] [ 0. 0. 0. 1. ]] SLAMing on 271.74255784400003 meters Centerline goodness : 0.102693 Centerline is valid? [False, False] Translation: X:3.44, Y:0.54, Z:1.32 [[ 0.99965853 -0.00732861 -0.0250821 3.44026639] [ 0.00706971 0.99992098 -0.01039493 0.53887459] [ 0.0251563 0.01021406 0.99963135 1.32039096] [ 0. 0. 0. 1. ]] SLAMing on 271.77255784400006 meters Centerline goodness : 0.163739 Centerline is valid? [False, False] Translation: X:3.44, Y:0.54, Z:1.32 [[ 0.99966081 -0.00720591 -0.02502698 3.43995502] [ 0.00695951 0.99992659 -0.00991868 0.53640587] [ 0.02509662 0.00974114 0.99963757 1.32078374] [ 0. 0. 0. 1. ]] SLAMing on 271.80255784400003 meters Centerline goodness : 0.161649 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99966529 -0.00710564 -0.02487606 3.43942021] [ 0.0068717 0.99993148 -0.00947708 0.53398594] [ 0.0249417 0.00930297 0.99964562 1.32114124] [ 0. 0. 0. 1. ]] SLAMing on 271.83255784400006 meters Centerline goodness : 0.189651 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99966529 -0.00697026 -0.02491451 3.43951202] [ 0.00674589 0.99993604 -0.00907833 0.53198013] [ 0.02497619 0.00890723 0.99964836 1.32119113] [ 0. 0. 0. 1. ]] SLAMing on 271.86255784400004 meters Centerline goodness : 0.179617 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99965629 -0.00671502 -0.02534196 3.4409035 ] [ 0.00649681 0.9999412 -0.00868305 0.53091601] [ 0.02539878 0.00851543 0.99964113 1.32064314] [ 0. 0. 0. 1. ]] SLAMing on 271.89255784400007 meters Centerline goodness : 0.182284 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99965629 -0.00667423 -0.02535248 3.44101124] [ 0.00645557 0.99994135 -0.00869663 0.53132904] [ 0.02540903 0.00852997 0.99964075 1.32046936] [ 0. 0. 0. 1. ]] SLAMing on 271.92255784400004 meters Centerline goodness : 0.127339 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99965785 -0.00667426 -0.02529086 3.44075556] [ 0.00645505 0.99994098 -0.00873942 0.53154702] [ 0.0253477 0.00857318 0.99964193 1.32061894] [ 0. 0. 0. 1. ]] SLAMing on 271.95255784400007 meters Centerline goodness : 0.102361 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99966265 -0.00670495 -0.0250924 3.43996821] [ 0.00648796 0.99994094 -0.00871911 0.53106947] [ 0.02514938 0.00855337 0.99964711 1.32107458] [ 0. 0. 0. 1. ]] SLAMing on 271.98255784400004 meters Centerline goodness : 0.145684 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99966961 -0.00668647 -0.02481872 3.43881229] [ 0.00647897 0.99994346 -0.00843184 0.52922907] [ 0.02487369 0.00826826 0.99965641 1.32186681] [ 0. 0. 0. 1. ]] SLAMing on 272.01255784400007 meters Centerline goodness : 0.181257 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99966667 -0.00657392 -0.02496676 3.43940794] [ 0.00637276 0.99994666 -0.00812833 0.5278667 ] [ 0.02501887 0.00796651 0.99965524 1.32148864] [ 0. 0. 0. 1. ]] SLAMing on 272.04255784400004 meters Centerline goodness : 0.279244 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99965875 -0.0064768 -0.0253067 3.44060259] [ 0.00628157 0.99994995 -0.00778673 0.52615063] [ 0.02535587 0.00762511 0.99964941 1.32096778] [ 0. 0. 0. 1. ]] SLAMing on 272.072557844 meters Centerline goodness : 0.186073 Centerline is valid? [False, False] Translation: X:3.42, Y:0.52, Z:1.32 [[ 9.99662013e-01 -1.70083197e-03 -2.59416200e-02 3.42129940e+00] [ 1.39706080e-03 9.99930302e-01 -1.17234319e-02 5.17667914e-01] [ 2.59597515e-02 1.16832275e-02 9.99594715e-01 1.31892820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10255784400005 meters Centerline goodness : 0.191705 Centerline is valid? [False, False] Translation: X:3.42, Y:0.51, Z:1.32 [[ 9.99662605e-01 -1.55874715e-03 -2.59277249e-02 3.42117271e+00] [ 1.27057081e-03 9.99937282e-01 -1.11273653e-02 5.14558608e-01] [ 2.59434435e-02 1.10906679e-02 9.99601888e-01 1.31912625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.132557844 meters Centerline goodness : 0.189318 Centerline is valid? [False, False] Translation: X:3.44, Y:0.52, Z:1.32 [[ 0.99964148 -0.00995398 -0.02485604 3.4415257 ] [ 0.00970896 0.99990327 -0.00995886 0.51637666] [ 0.02495277 0.00971396 0.99964143 1.32029925] [ 0. 0. 0. 1. ]] SLAMing on 272.16255784400005 meters Centerline goodness : 0.276747 Centerline is valid? [False, False] Translation: X:3.44, Y:0.51, Z:1.32 [[ 0.99964652 -0.00953831 -0.02481629 3.44143964] [ 0.00932068 0.99991722 -0.00887042 0.51128177] [ 0.02489884 0.00863598 0.99965267 1.32041275] [ 0. 0. 0. 1. ]] SLAMing on 272.192557844 meters Centerline goodness : 0.188534 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.32 [[ 9.99694512e-01 -1.52157044e-03 -2.46691581e-02 3.42272055e+00] [ 1.28012332e-03 9.99951157e-01 -9.80024792e-03 5.02967072e-01] [ 2.46828650e-02 9.76567450e-03 9.99647632e-01 1.31814606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22255784400005 meters Centerline goodness : 0.195196 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.32 [[ 9.99693744e-01 -1.31219896e-03 -2.47122710e-02 3.42285570e+00] [ 1.08251985e-03 9.99956120e-01 -9.30521778e-03 5.00603724e-01] [ 2.47233969e-02 9.27561648e-03 9.99651297e-01 1.31811706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.252557844 meters Centerline goodness : 0.124283 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.32 [[ 9.99696252e-01 -8.75568327e-04 -2.46300075e-02 3.42248988e+00] [ 6.67350192e-04 9.99963984e-01 -8.46078939e-03 4.96787639e-01] [ 2.46365285e-02 8.44178260e-03 9.99660831e-01 1.31839713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28255784400005 meters Centerline goodness : 0.106145 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99696921e-01 -6.62995327e-04 -2.46094957e-02 3.42245480e+00] [ 4.65246804e-04 9.99967568e-01 -8.04031212e-03 4.94977725e-01] [ 2.46140283e-02 8.02642578e-03 9.99664807e-01 1.31837962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.312557844 meters Centerline goodness : 0.181436 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:1.32 [[ 0.99967239 -0.00840955 -0.02417437 3.44215102] [ 0.0082479 0.99994301 -0.00677858 0.49758927] [ 0.02423 0.00657698 0.99968478 1.3192934 ] [ 0. 0. 0. 1. ]] SLAMing on 272.34255784400005 meters Centerline goodness : 0.138270 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99704430e-01 -5.03076901e-04 -2.43063717e-02 3.42323558e+00] [ 3.10359004e-04 9.99968494e-01 -7.93182063e-03 4.89053515e-01] [ 2.43095962e-02 7.92193252e-03 9.99673090e-01 1.31701994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.372557844 meters Centerline goodness : 0.187225 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99699422e-01 -1.87909452e-04 -2.45159313e-02 3.42405808e+00] [ 6.93050534e-06 9.99972753e-01 -7.38197167e-03 4.86584817e-01] [ 2.45166504e-02 7.37958290e-03 9.99672184e-01 1.31648626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40255784400006 meters Centerline goodness : 0.118228 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99696631e-01 -1.40103386e-05 -2.46301704e-02 3.42455568e+00] [-1.66437371e-04 9.99973164e-01 -7.32422221e-03 4.86829230e-01] [ 2.46296121e-02 7.32609965e-03 9.99669801e-01 1.31603882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43255784400003 meters Centerline goodness : 0.126418 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99700307e-01 1.09966426e-04 -2.44802777e-02 3.42448201e+00] [-2.89797047e-04 9.99973001e-01 -7.34251229e-03 4.87348766e-01] [ 2.44788094e-02 7.34740611e-03 9.99673348e-01 1.31549404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46255784400006 meters Centerline goodness : 0.204482 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99704146e-01 1.97118868e-04 -2.43224574e-02 3.42419748e+00] [-3.75715107e-04 9.99973002e-01 -7.33850205e-03 4.87548191e-01] [ 2.43203542e-02 7.34546923e-03 9.99677230e-01 1.31523424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49255784400003 meters Centerline goodness : 0.176247 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.31 [[ 9.99704496e-01 3.38001335e-04 -2.43065230e-02 3.42428797e+00] [-5.12951056e-04 9.99974007e-01 -7.19177018e-03 4.86760776e-01] [ 2.43034604e-02 7.20211304e-03 9.99678684e-01 1.31496148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52255784400006 meters Centerline goodness : 0.155280 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.31 [[ 9.99700942e-01 4.13395170e-04 -2.44511059e-02 3.42481642e+00] [-5.87042052e-04 9.99974658e-01 -7.09504918e-03 4.86422487e-01] [ 2.44475531e-02 7.10728117e-03 9.99675849e-01 1.31465376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55255784400003 meters Centerline goodness : 0.102896 Centerline is valid? [False, False] Translation: X:3.43, Y:0.49, Z:1.31 [[ 9.99699108e-01 4.94147505e-04 -2.45244447e-02 3.42513866e+00] [-6.66188205e-04 9.99975226e-01 -7.00739581e-03 4.86230275e-01] [ 2.45203745e-02 7.02162524e-03 9.99674671e-01 1.31437249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58255784400006 meters Centerline goodness : 0.151727 Centerline is valid? [False, False] Translation: X:3.45, Y:0.49, Z:1.31 [[ 0.99969683 -0.00502608 -0.02410379 3.4471228 ] [ 0.00493947 0.99998114 -0.00365105 0.4892921 ] [ 0.02412168 0.00353088 0.99970279 1.31443434] [ 0. 0. 0. 1. ]] SLAMing on 272.61255784400004 meters Centerline goodness : 0.173704 Centerline is valid? [False, False] Translation: X:3.45, Y:0.49, Z:1.31 [[ 0.99970664 -0.00501394 -0.02369594 3.44575839] [ 0.00492836 0.99998113 -0.00366872 0.48945474] [ 0.02371388 0.00355086 0.99971248 1.31497697] [ 0. 0. 0. 1. ]] SLAMing on 272.64255784400007 meters Centerline goodness : 0.151991 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.32 [[ 0.99971338 -0.00502865 -0.0234068 3.4447537 ] [ 0.00494223 0.99998076 -0.00374848 0.48996114] [ 0.0234252 0.00363172 0.999719 1.31541025] [ 0. 0. 0. 1. ]] SLAMing on 272.67255784400004 meters Centerline goodness : 0.106479 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.32 [[ 9.99672718e-01 -4.70530146e-03 -2.51459322e-02 3.39702661e+00] [ 4.63054169e-03 9.99984687e-01 -3.03043885e-03 4.86161029e-01] [ 2.51598063e-02 2.91300775e-03 9.99679198e-01 1.31646767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70255784400007 meters Centerline goodness : 0.115348 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.32 [[ 9.99736569e-01 -3.64323431e-03 -2.26609873e-02 3.43963294e+00] [ 3.59060703e-03 9.99990763e-01 -2.36262929e-03 4.89739579e-01] [ 2.26693856e-02 2.28064020e-03 9.99740415e-01 1.31743695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73255784400004 meters Centerline goodness : 0.140434 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.32 [[ 9.99735029e-01 -3.69567391e-03 -2.27203467e-02 3.43992851e+00] [ 3.64108053e-03 9.99990385e-01 -2.44374031e-03 4.89999407e-01] [ 2.27291595e-02 2.36036618e-03 9.99738873e-01 1.31720886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76255784400007 meters Centerline goodness : 0.176315 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.32 [[ 9.99661346e-01 -4.42556779e-03 -2.56438468e-02 3.39515646e+00] [ 4.35083823e-03 9.99986127e-01 -2.96919534e-03 4.86751931e-01] [ 2.56566314e-02 2.85661758e-03 9.99666733e-01 1.31725518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79255784400004 meters Centerline goodness : 0.173720 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 0.99968224 0.00390926 -0.02490269 3.41541073] [-0.00401235 0.99998358 -0.00409104 0.48540003] [ 0.02488628 0.00418966 0.99968151 1.31852227] [ 0. 0. 0. 1. ]] SLAMing on 272.822557844 meters Centerline goodness : 0.172909 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 0.999684 0.00383939 -0.02484257 3.41535127] [-0.00394873 0.99998273 -0.0043539 0.48693678] [ 0.02482543 0.00445062 0.99968189 1.31833397] [ 0. 0. 0. 1. ]] SLAMing on 272.85255784400005 meters Centerline goodness : 0.174643 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 0.99968492 0.00371421 -0.02482472 3.41564605] [-0.00384211 0.99997958 -0.00510633 0.49121574] [ 0.02480525 0.00520011 0.99967878 1.31764838] [ 0. 0. 0. 1. ]] SLAMing on 272.882557844 meters Centerline goodness : 0.108155 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 0.99968633 0.00354345 -0.02479296 3.41560049] [-0.00368361 0.99997748 -0.00560959 0.49358606] [ 0.02477253 0.00569915 0.99967687 1.31750723] [ 0. 0. 0. 1. ]] SLAMing on 272.91255784400005 meters Centerline goodness : 0.121731 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.32 [[ 9.99687830e-01 3.36556112e-03 -2.47571229e-02 3.41542591e+00] [-3.51749787e-03 9.99975232e-01 -6.09610620e-03 4.95875162e-01] [ 2.47359929e-02 6.18128631e-03 9.99674908e-01 1.31757392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942557844 meters Centerline goodness : 0.159343 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99973338 -0.00415804 -0.02271295 3.43178978] [ 0.00404809 0.99997988 -0.00488461 0.5063502 ] [ 0.02273281 0.00479136 0.99973009 1.32023205] [ 0. 0. 0. 1. ]] SLAMing on 272.97255784400005 meters Centerline goodness : 0.151368 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99973943 -0.00430712 -0.02241706 3.4306671 ] [ 0.00419147 0.99997768 -0.00520326 0.50786122] [ 0.02243897 0.00510795 0.99973517 1.32078767] [ 0. 0. 0. 1. ]] SLAMing on 273.002557844 meters Centerline goodness : 0.102138 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99974177 -0.00444243 -0.02228574 3.43016404] [ 0.00432194 0.9999758 -0.00545179 0.5089449 ] [ 0.02230942 0.00535406 0.99973678 1.32106125] [ 0. 0. 0. 1. ]] SLAMing on 273.03255784400005 meters Centerline goodness : 0.114982 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99972371 -0.00478248 -0.02301392 3.43232815] [ 0.00464734 0.99997167 -0.00592205 0.51067262] [ 0.02304159 0.00581346 0.9997176 1.3204693 ] [ 0. 0. 0. 1. ]] SLAMing on 273.062557844 meters Centerline goodness : 0.111643 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99971905 -0.00484863 -0.02320163 3.43298851] [ 0.00470813 0.99997027 -0.00610643 0.51171764] [ 0.02323055 0.00599548 0.99971216 1.32012617] [ 0. 0. 0. 1. ]] SLAMing on 273.09255784400005 meters Centerline goodness : 0.124264 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.32 [[ 9.99719575e-01 3.32122496e-03 -2.34465549e-02 3.45311449e+00] [-3.48498092e-03 9.99969798e-01 -6.94681953e-03 5.09845273e-01] [ 2.34227748e-02 7.02658226e-03 9.99700956e-01 1.32176250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122557844 meters Centerline goodness : 0.104942 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99971511 -0.00505744 -0.02332653 3.43287352] [ 0.00492054 0.99997036 -0.00592259 0.51348465] [ 0.02335579 0.00580612 0.99971036 1.31975568] [ 0. 0. 0. 1. ]] SLAMing on 273.15255784400006 meters Centerline goodness : 0.176716 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.999718 -0.00516527 -0.02317844 3.43217768] [ 0.00503062 0.99997015 -0.00586365 0.51261225] [ 0.02320804 0.00574539 0.99971415 1.32031724] [ 0. 0. 0. 1. ]] SLAMing on 273.18255784400003 meters Centerline goodness : 0.176716 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.999718 -0.00516527 -0.02317844 3.43217768] [ 0.00503062 0.99997015 -0.00586365 0.51261225] [ 0.02320804 0.00574539 0.99971415 1.32031724] [ 0. 0. 0. 1. ]] SLAMing on 273.21255784400006 meters Centerline goodness : 0.107637 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99972003 -0.00509457 -0.02310652 3.43172627] [ 0.00496605 0.9999719 -0.005616 0.51144874] [ 0.02313448 0.00549968 0.99971723 1.32081445] [ 0. 0. 0. 1. ]] SLAMing on 273.24255784400003 meters Centerline goodness : 0.106849 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99972296 -0.00499816 -0.02300053 3.43129221] [ 0.00487729 0.99997402 -0.00530784 0.51007163] [ 0.02302647 0.00519419 0.99972136 1.32116364] [ 0. 0. 0. 1. ]] SLAMing on 273.27255784400006 meters Centerline goodness : 0.177333 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99972106 -0.00517283 -0.02304428 3.43141939] [ 0.0050625 0.99997546 -0.00484337 0.50688045] [ 0.02306877 0.00472535 0.99972271 1.32129283] [ 0. 0. 0. 1. ]] SLAMing on 273.30255784400003 meters Centerline goodness : 0.180898 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.32 [[ 9.99752883e-01 1.21838640e-03 -2.21965786e-02 3.41534345e+00] [-1.36429619e-03 9.99977555e-01 -6.55956908e-03 4.98384761e-01] [ 2.21880883e-02 6.58823081e-03 9.99732106e-01 1.31773941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33255784400006 meters Centerline goodness : 0.124252 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:1.32 [[ 0.99972126 -0.00750501 -0.02238468 3.43742459] [ 0.0073757 0.99995566 -0.00585392 0.50011133] [ 0.02242763 0.00568718 0.99973229 1.31810954] [ 0. 0. 0. 1. ]] SLAMing on 273.36255784400004 meters Centerline goodness : 0.183992 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99721919e-01 -1.43703000e-03 -2.35376398e-02 3.41536876e+00] [ 1.23902618e-03 9.99963744e-01 -8.42464535e-03 4.93252849e-01] [ 2.35488929e-02 8.39313886e-03 9.99687454e-01 1.31796970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39255784400007 meters Centerline goodness : 0.163064 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99708392e-01 -1.64412354e-03 -2.40920696e-02 3.41694812e+00] [ 1.45846985e-03 9.99969125e-01 -7.72155425e-03 4.88176750e-01] [ 2.41040209e-02 7.68416502e-03 9.99679924e-01 1.31772355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42255784400004 meters Centerline goodness : 0.183876 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99710215e-01 -1.48704945e-03 -2.40265540e-02 3.41670482e+00] [ 1.31578557e-03 9.99973627e-01 -7.14234557e-03 4.85286572e-01] [ 2.40365414e-02 7.10866203e-03 9.99685806e-01 1.31793156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45255784400007 meters Centerline goodness : 0.183897 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.32 [[ 0.99970251 -0.00982213 -0.02232548 3.43664285] [ 0.00969081 0.99993515 -0.00598281 0.48682337] [ 0.0223828 0.00576468 0.99973285 1.31919908] [ 0. 0. 0. 1. ]] SLAMing on 273.48255784400004 meters Centerline goodness : 0.279252 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:1.32 [[ 0.99971431 -0.00970066 -0.02184469 3.43498163] [ 0.00958285 0.999939 -0.0054915 0.48445523] [ 0.02189663 0.0052806 0.99974629 1.32004591] [ 0. 0. 0. 1. ]] SLAMing on 273.51255784400007 meters Centerline goodness : 0.101746 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:1.32 [[ 0.99972573 -0.00955982 -0.02137933 3.43364638] [ 0.00945892 0.99994367 -0.00481552 0.48106427] [ 0.02142416 0.00461197 0.99975984 1.32047383] [ 0. 0. 0. 1. ]] SLAMing on 273.54255784400004 meters Centerline goodness : 0.183369 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:1.32 [[ 0.9997245 -0.00948164 -0.02147163 3.43402945] [ 0.00938535 0.99994546 -0.0045811 0.47987727] [ 0.02151389 0.00437832 0.99975896 1.3202184 ] [ 0. 0. 0. 1. ]] SLAMing on 273.572557844 meters Centerline goodness : 0.114548 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:1.32 [[ 0.99972518 -0.0094254 -0.02146457 3.43417379] [ 0.00933255 0.99994667 -0.00442208 0.47907409] [ 0.0215051 0.00422054 0.99975983 1.31995326] [ 0. 0. 0. 1. ]] SLAMing on 273.60255784400005 meters Centerline goodness : 0.179477 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:1.32 [[ 0.99972581 -0.009403 -0.02144481 3.43414242] [ 0.00931202 0.99994723 -0.00433832 0.47858406] [ 0.02148447 0.00413744 0.99976062 1.3199247 ] [ 0. 0. 0. 1. ]] SLAMing on 273.632557844 meters Centerline goodness : 0.134630 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:1.32 [[ 0.99973564 -0.0093398 -0.0210099 3.43263493] [ 0.00925907 0.99994939 -0.00393635 0.47627432] [ 0.0210456 0.00374078 0.99977152 1.32060602] [ 0. 0. 0. 1. ]] SLAMing on 273.66255784400005 meters Centerline goodness : 0.177957 Centerline is valid? [False, False] Translation: X:3.43, Y:0.47, Z:1.32 [[ 9.99736958e-01 -9.23967841e-03 -2.09915070e-02 3.43249390e+00] [ 9.16695612e-03 9.99951653e-01 -3.55795652e-03 4.74288351e-01] [ 2.10233664e-02 3.36459240e-03 9.99773323e-01 1.32078066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.692557844 meters Centerline goodness : 0.279757 Centerline is valid? [False, False] Translation: X:3.41, Y:0.47, Z:1.32 [[ 9.99764365e-01 -1.50462844e-03 -2.16552571e-02 3.41452594e+00] [ 1.40166706e-03 9.99987646e-01 -4.76896113e-03 4.66403837e-01] [ 2.16621651e-02 4.73748393e-03 9.99754123e-01 1.31851863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72255784400005 meters Centerline goodness : 0.179683 Centerline is valid? [False, False] Translation: X:3.42, Y:0.46, Z:1.32 [[ 0.99974022 -0.0039874 -0.02244088 3.41917557] [ 0.00384176 0.9999713 -0.00652922 0.46096576] [ 0.02246627 0.00644131 0.99972685 1.31543162] [ 0. 0. 0. 1. ]] SLAMing on 273.752557844 meters Centerline goodness : 0.110788 Centerline is valid? [False, False] Translation: X:3.42, Y:0.46, Z:1.32 [[ 0.99974072 -0.00381317 -0.02244897 3.41928739] [ 0.0036802 0.99997546 -0.00596147 0.45824267] [ 0.02247116 0.00587731 0.99973022 1.31528035] [ 0. 0. 0. 1. ]] SLAMing on 273.78255784400005 meters Centerline goodness : 0.194819 Centerline is valid? [False, False] Translation: X:3.42, Y:0.46, Z:1.32 [[ 0.99974426 -0.00363855 -0.02231979 3.41884456] [ 0.00351874 0.9999792 -0.00540494 0.45554947] [ 0.02233899 0.00532502 0.99973627 1.3155082 ] [ 0. 0. 0. 1. ]] SLAMing on 273.812557844 meters Centerline goodness : 0.195313 Centerline is valid? [False, False] Translation: X:3.42, Y:0.45, Z:1.32 [[ 0.99974044 -0.0035654 -0.02250205 3.41906982] [ 0.00346111 0.9999831 -0.00467195 0.45095263] [ 0.02251832 0.00459286 0.99973588 1.3158593 ] [ 0. 0. 0. 1. ]] SLAMing on 273.84255784400005 meters Centerline goodness : 0.191428 Centerline is valid? [False, False] Translation: X:3.42, Y:0.45, Z:1.32 [[ 9.99733102e-01 -3.44349960e-03 -2.28444307e-02 3.42018642e+00] [ 3.34701862e-03 9.99985324e-01 -4.26028391e-03 4.48773378e-01] [ 2.28587657e-02 4.18268611e-03 9.99729955e-01 1.31542798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.872557844 meters Centerline goodness : 0.194117 Centerline is valid? [False, False] Translation: X:3.42, Y:0.45, Z:1.32 [[ 9.99732226e-01 -3.26570703e-03 -2.29087763e-02 3.42053321e+00] [ 3.17884395e-03 9.99987624e-01 -3.82708689e-03 4.46728618e-01] [ 2.29209909e-02 3.75323867e-03 9.99730234e-01 1.31510206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90255784400006 meters Centerline goodness : 0.196036 Centerline is valid? [False, False] Translation: X:3.42, Y:0.44, Z:1.32 [[ 9.99736147e-01 -3.08437323e-03 -2.27623067e-02 3.42003373e+00] [ 3.00777119e-03 9.99989701e-01 -3.39877172e-03 4.44814419e-01] [ 2.27725553e-02 3.32941113e-03 9.99735128e-01 1.31528902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93255784400003 meters Centerline goodness : 0.197386 Centerline is valid? [False, False] Translation: X:3.42, Y:0.44, Z:1.32 [[ 9.99752497e-01 -2.86715711e-03 -2.20618206e-02 3.41789327e+00] [ 2.81274448e-03 9.99992927e-01 -2.49700656e-03 4.40327244e-01] [ 2.20688238e-02 2.43433428e-03 9.99753490e-01 1.31600324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96255784400006 meters Centerline goodness : 0.168654 Centerline is valid? [False, False] Translation: X:3.42, Y:0.44, Z:1.32 [[ 9.99745053e-01 -2.74498100e-03 -2.24119184e-02 3.41891918e+00] [ 2.70128402e-03 9.99994392e-01 -1.97976254e-03 4.37623759e-01] [ 2.24172271e-02 1.91871685e-03 9.99746861e-01 1.31570274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99255784400003 meters Centerline goodness : 0.149763 Centerline is valid? [False, False] Translation: X:3.42, Y:0.43, Z:1.32 [[ 9.99732662e-01 -2.65130731e-03 -2.29690070e-02 3.42060988e+00] [ 2.61811334e-03 9.99995485e-01 -1.47511497e-03 4.34827785e-01] [ 2.29728143e-02 1.41458515e-03 9.99735089e-01 1.31518778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02255784400006 meters Centerline goodness : 0.185352 Centerline is valid? [False, False] Translation: X:3.40, Y:0.43, Z:1.32 [[ 9.99690515e-01 3.21965044e-03 -2.46679562e-02 3.39686988e+00] [-3.31897840e-03 9.99986545e-01 -3.98671474e-03 4.29632507e-01] [ 2.46547885e-02 4.06735332e-03 9.99687750e-01 1.31545377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05255784400003 meters Centerline goodness : 0.192914 Centerline is valid? [False, False] Translation: X:3.42, Y:0.43, Z:1.32 [[ 9.99701943e-01 -5.13169206e-03 -2.38682092e-02 3.41784247e+00] [ 5.06470746e-03 9.99983067e-01 -2.86604147e-03 4.31081564e-01] [ 2.38825127e-02 2.74430173e-03 9.99711005e-01 1.31643727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08255784400006 meters Centerline goodness : 0.101591 Centerline is valid? [False, False] Translation: X:3.44, Y:0.43, Z:1.32 [[ 9.99669166e-01 -1.36271389e-02 -2.18142048e-02 3.43838033e+00] [ 1.35962600e-02 9.99906345e-01 -1.56323365e-03 4.30567210e-01] [ 2.18334642e-02 1.26612487e-03 9.99760820e-01 1.31696997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11255784400004 meters Centerline goodness : 0.183433 Centerline is valid? [False, False] Translation: X:3.42, Y:0.42, Z:1.31 [[ 9.99774813e-01 -5.60779565e-03 -2.04664450e-02 3.41913318e+00] [ 5.56180474e-03 9.99981880e-01 -2.30336744e-03 4.22996876e-01] [ 2.04789910e-02 2.18901839e-03 9.99787887e-01 1.31464975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14255784400007 meters Centerline goodness : 0.109479 Centerline is valid? [False, False] Translation: X:3.42, Y:0.42, Z:1.31 [[ 9.99777531e-01 -5.49727826e-03 -2.03634201e-02 3.41883836e+00] [ 5.45762087e-03 9.99983102e-01 -2.00254436e-03 4.21623546e-01] [ 2.03740846e-02 1.89096303e-03 9.99790639e-01 1.31470980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17255784400004 meters Centerline goodness : 0.189973 Centerline is valid? [False, False] Translation: X:3.42, Y:0.42, Z:1.31 [[ 9.99778343e-01 -5.42048160e-03 -2.03441174e-02 3.41871876e+00] [ 5.38455019e-03 9.99983846e-01 -1.82054429e-03 4.20794662e-01] [ 2.03536570e-02 1.71059683e-03 9.99791379e-01 1.31480886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20255784400007 meters Centerline goodness : 0.183451 Centerline is valid? [False, False] Translation: X:3.42, Y:0.42, Z:1.31 [[ 9.99771671e-01 -5.45141905e-03 -2.06612433e-02 3.41959203e+00] [ 5.41202572e-03 9.99983430e-01 -1.96206559e-03 4.21476245e-01] [ 2.06715969e-02 1.84979841e-03 9.99784608e-01 1.31471467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23255784400004 meters Centerline goodness : 0.128279 Centerline is valid? [False, False] Translation: X:3.42, Y:0.42, Z:1.31 [[ 9.99769542e-01 -5.48010459e-03 -2.07564696e-02 3.41997040e+00] [ 5.43697800e-03 9.99982943e-01 -2.13360500e-03 4.22532221e-01] [ 2.07678079e-02 2.02026083e-03 9.99782285e-01 1.31450833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26255784400007 meters Centerline goodness : 0.184831 Centerline is valid? [False, False] Translation: X:3.42, Y:0.42, Z:1.31 [[ 9.99770264e-01 -5.56126249e-03 -2.07000302e-02 3.41974797e+00] [ 5.51304426e-03 9.99981957e-01 -2.38571793e-03 4.23837898e-01] [ 2.07129243e-02 2.27104966e-03 9.99782885e-01 1.31463939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29255784400004 meters Centerline goodness : 0.188668 Centerline is valid? [False, False] Translation: X:3.44, Y:0.42, Z:1.32 [[ 9.99810927e-01 2.69555576e-03 -1.92573083e-02 3.43810177e+00] [-2.76639648e-03 9.99989501e-01 -3.65294922e-03 4.21707121e-01] [ 1.92472594e-02 3.70553190e-03 9.99807888e-01 1.31599672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.322557844 meters Centerline goodness : 0.116475 Centerline is valid? [False, False] Translation: X:3.44, Y:0.43, Z:1.32 [[ 9.99813372e-01 2.39385294e-03 -1.91700676e-02 3.43773703e+00] [-2.48004174e-03 9.99986919e-01 -4.47349849e-03 4.25549557e-01] [ 1.91591080e-02 4.52020618e-03 9.99806229e-01 1.31622799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35255784400005 meters Centerline goodness : 0.098225 Centerline is valid? [False, False] Translation: X:3.44, Y:0.43, Z:1.32 [[ 9.99807191e-01 2.19741042e-03 -1.95128856e-02 3.43909615e+00] [-2.29478838e-03 9.99985019e-01 -4.96945616e-03 4.27957795e-01] [ 1.95016733e-02 5.01327594e-03 9.99797255e-01 1.31538984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.382557844 meters Centerline goodness : 0.205283 Centerline is valid? [False, False] Translation: X:3.42, Y:0.43, Z:1.31 [[ 0.99975292 -0.00606361 -0.02138538 3.42101385] [ 0.0059833 0.99997481 -0.00381737 0.43467399] [ 0.02140799 0.00368847 0.99976402 1.31313216] [ 0. 0. 0. 1. ]] SLAMing on 274.41255784400005 meters Centerline goodness : 0.279146 Centerline is valid? [False, False] Translation: X:3.42, Y:0.44, Z:1.31 [[ 0.99974968 -0.00626037 -0.02147988 3.42148816] [ 0.00617008 0.99997186 -0.00426674 0.43674277] [ 0.02150599 0.00413314 0.99976018 1.31267039] [ 0. 0. 0. 1. ]] SLAMing on 274.442557844 meters Centerline goodness : 0.256874 Centerline is valid? [False, False] Translation: X:3.46, Y:0.44, Z:1.32 [[ 0.99980697 -0.00619033 -0.01864696 3.45876518] [ 0.00611582 0.9999731 -0.00405008 0.44091761] [ 0.01867153 0.00393526 0.99981793 1.31578138] [ 0. 0. 0. 1. ]] SLAMing on 274.47255784400005 meters Centerline goodness : 0.187377 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.32 [[ 9.99831426e-01 2.16766531e-03 -1.82324351e-02 3.43774084e+00] [-2.25791863e-03 9.99985293e-01 -4.93102387e-03 4.36901703e-01] [ 1.82214782e-02 4.97135998e-03 9.99821616e-01 1.31505870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502557844 meters Centerline goodness : 0.100795 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.31 [[ 9.99827889e-01 2.06730576e-03 -1.84368595e-02 3.43829553e+00] [-2.16089116e-03 9.99984876e-01 -5.05751837e-03 4.37487606e-01] [ 1.84261253e-02 5.09648797e-03 9.99817235e-01 1.31496884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53255784400005 meters Centerline goodness : 0.206729 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.31 [[ 9.99821025e-01 1.97029288e-03 -1.88158160e-02 3.43956647e+00] [-2.06745261e-03 9.99984624e-01 -5.14567092e-03 4.37568014e-01] [ 1.88053882e-02 5.18365078e-03 9.99809725e-01 1.31441246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562557844 meters Centerline goodness : 0.298753 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.31 [[ 9.99815916e-01 1.92660586e-03 -1.90898568e-02 3.44040881e+00] [-2.02480789e-03 9.99984811e-01 -5.12620722e-03 4.37211420e-01] [ 1.90796906e-02 5.16391686e-03 9.99804631e-01 1.31410772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59255784400005 meters SLAMing on 274.622557844 meters Centerline goodness : 0.200269 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.32 [[ 9.99833307e-01 1.88383910e-03 -1.81606439e-02 3.43717785e+00] [-1.97184915e-03 9.99986394e-01 -4.82950870e-03 4.35598715e-01] [ 1.81512988e-02 4.86451370e-03 9.99823418e-01 1.31567684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65255784400006 meters Centerline goodness : 0.184439 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.32 [[ 9.99833012e-01 1.90586991e-03 -1.81745758e-02 3.43700487e+00] [-1.99297697e-03 9.99986609e-01 -4.77589037e-03 4.35316986e-01] [ 1.81652302e-02 4.81131436e-03 9.99823422e-01 1.31607877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68255784400003 meters Centerline goodness : 0.116767 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.32 [[ 9.99827152e-01 1.91119738e-03 -1.84936005e-02 3.43796120e+00] [-2.00107314e-03 9.99986273e-01 -4.84254592e-03 4.35675012e-01] [ 1.84840916e-02 4.87871594e-03 9.99817252e-01 1.31585855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71255784400006 meters Centerline goodness : 0.112442 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.32 [[ 9.99816382e-01 1.95953885e-03 -1.90620871e-02 3.43966441e+00] [-2.05671443e-03 9.99984984e-01 -5.07957754e-03 4.37143263e-01] [ 1.90518472e-02 5.11785011e-03 9.99805398e-01 1.31535923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74255784400003 meters Centerline goodness : 0.110000 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.32 [[ 9.99809277e-01 2.91465994e-03 -1.93109975e-02 3.44033880e+00] [-3.00929031e-03 9.99983598e-01 -4.87309021e-03 4.39366739e-01] [ 1.92964773e-02 4.93027319e-03 9.99801650e-01 1.31522898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77255784400006 meters Centerline goodness : 0.182425 Centerline is valid? [False, False] Translation: X:3.46, Y:0.44, Z:1.32 [[ 9.99817729e-01 -2.79552376e-03 -1.88863260e-02 3.45936154e+00] [ 2.75828420e-03 9.99994201e-01 -1.99753485e-03 4.43912614e-01] [ 1.88918007e-02 1.94507691e-03 9.99819642e-01 1.31699437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80255784400003 meters Centerline goodness : 0.179832 Centerline is valid? [False, False] Translation: X:3.46, Y:0.45, Z:1.32 [[ 9.99822354e-01 -2.75482785e-03 -1.86459562e-02 3.45850191e+00] [ 2.71493215e-03 9.99993972e-01 -2.16461883e-03 4.45016346e-01] [ 1.86518070e-02 2.11361178e-03 9.99823806e-01 1.31744423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83255784400006 meters Centerline goodness : 0.097956 Centerline is valid? [False, False] Translation: X:3.46, Y:0.45, Z:1.32 [[ 9.99827294e-01 -2.70304980e-03 -1.83868195e-02 3.45759102e+00] [ 2.66237733e-03 9.99993956e-01 -2.23616394e-03 4.45549193e-01] [ 1.83927528e-02 2.18682509e-03 9.99828448e-01 1.31789523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86255784400004 meters Centerline goodness : 0.281028 Centerline is valid? [False, False] Translation: X:3.46, Y:0.45, Z:1.32 [[ 9.99832576e-01 -2.68613214e-03 -1.80998644e-02 3.45651244e+00] [ 2.64480533e-03 9.99993842e-01 -2.30681710e-03 4.46007609e-01] [ 1.81059494e-02 2.25856026e-03 9.99833523e-01 1.31845550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89255784400007 meters Centerline goodness : 0.179804 Centerline is valid? [False, False] Translation: X:3.45, Y:0.45, Z:1.32 [[ 9.99842742e-01 -2.53810411e-03 -1.75513325e-02 3.45469671e+00] [ 2.49940552e-03 9.99994398e-01 -2.22646475e-03 4.46024992e-01] [ 1.75568851e-02 2.18224673e-03 9.99843485e-01 1.31918168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92255784400004 meters Centerline goodness : 0.183415 Centerline is valid? [False, False] Translation: X:3.45, Y:0.45, Z:1.32 [[ 9.99842577e-01 -2.47753109e-03 -1.75693837e-02 3.45486739e+00] [ 2.44012175e-03 9.99994711e-01 -2.15035212e-03 4.45715871e-01] [ 1.75746183e-02 2.10714217e-03 9.99843334e-01 1.31896057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95255784400007 meters Centerline goodness : 0.111575 Centerline is valid? [False, False] Translation: X:3.46, Y:0.45, Z:1.32 [[ 9.99840030e-01 -2.43911865e-03 -1.77190695e-02 3.45543780e+00] [ 2.40262436e-03 9.99994949e-01 -2.08060111e-03 4.45369663e-01] [ 1.77240549e-02 2.03769601e-03 9.99840840e-01 1.31861765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98255784400004 meters Centerline goodness : 0.102796 Centerline is valid? [False, False] Translation: X:3.46, Y:0.45, Z:1.32 [[ 9.99837597e-01 -2.38602367e-03 -1.78630127e-02 3.45592548e+00] [ 2.35051485e-03 9.99995220e-01 -2.00857173e-03 4.45106500e-01] [ 1.78677198e-02 1.96625825e-03 9.99838426e-01 1.31838705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01255784400007 meters Centerline goodness : 0.179581 Centerline is valid? [False, False] Translation: X:3.43, Y:0.44, Z:1.32 [[ 9.99805827e-01 6.49350889e-03 -1.86048900e-02 3.43484582e+00] [-6.53828285e-03 9.99975872e-01 -2.34675305e-03 4.39250266e-01] [ 1.85892025e-02 2.46794141e-03 9.99824160e-01 1.31745495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04255784400004 meters Centerline goodness : 0.186910 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.32 [[ 9.99821279e-01 -1.33873111e-03 -1.88578086e-02 3.45383926e+00] [ 1.31261549e-03 9.99998162e-01 -1.39717968e-03 4.43053902e-01] [ 1.88596444e-02 1.37217692e-03 9.99821199e-01 1.31904937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0725578440001 meters Centerline goodness : 0.177357 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.32 [[ 9.99820303e-01 -1.28948362e-03 -1.89129112e-02 3.45403509e+00] [ 1.26559850e-03 9.99998387e-01 -1.27481514e-03 4.42299325e-01] [ 1.89145246e-02 1.25064991e-03 9.99820322e-01 1.31895071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10255784400005 meters Centerline goodness : 0.177357 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.32 [[ 9.99820303e-01 -1.28948362e-03 -1.89129112e-02 3.45403509e+00] [ 1.26559850e-03 9.99998387e-01 -1.27481514e-03 4.42299325e-01] [ 1.89145246e-02 1.25064991e-03 9.99820322e-01 1.31895071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.132557844 meters Centerline goodness : 0.182673 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.32 [[ 9.99819548e-01 -1.21463686e-03 -1.89577499e-02 3.45413143e+00] [ 1.19359626e-03 9.99998659e-01 -1.12114349e-03 4.41590094e-01] [ 1.89590863e-02 1.09831328e-03 9.99819657e-01 1.31897491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16255784400005 meters Centerline goodness : 0.182332 Centerline is valid? [False, False] Translation: X:3.41, Y:0.44, Z:1.32 [[ 9.99767837e-01 -7.80874644e-04 -2.15328400e-02 3.40892662e+00] [ 7.82957353e-04 9.99999690e-01 8.82919454e-05 4.36823617e-01] [ 2.15327644e-02 -1.05130743e-04 9.99768138e-01 1.31944848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.192557844 meters Centerline goodness : 0.186803 Centerline is valid? [False, False] Translation: X:3.43, Y:0.43, Z:1.32 [[ 9.99762414e-01 5.50636629e-03 -2.10901715e-02 3.43197971e+00] [-5.56455335e-03 9.99980869e-01 -2.70127430e-03 4.34029261e-01] [ 2.10748938e-02 2.81798989e-03 9.99773928e-01 1.31886271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22255784400005 meters Centerline goodness : 0.164749 Centerline is valid? [False, False] Translation: X:3.43, Y:0.43, Z:1.32 [[ 9.99756967e-01 5.59348272e-03 -2.13241677e-02 3.43278862e+00] [-5.64414815e-03 9.99981388e-01 -2.31651802e-03 4.31738421e-01] [ 2.13108134e-02 2.43631179e-03 9.99769930e-01 1.31850204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.252557844 meters Centerline goodness : 0.103098 Centerline is valid? [False, False] Translation: X:3.45, Y:0.43, Z:1.32 [[ 9.99755982e-01 -2.71192394e-03 -2.19230977e-02 3.45355800e+00] [ 2.67939231e-03 9.99995266e-01 -1.51313516e-03 4.33017996e-01] [ 2.19270974e-02 1.45402534e-03 9.99758515e-01 1.31984951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28255784400005 meters Centerline goodness : 0.166536 Centerline is valid? [False, False] Translation: X:3.45, Y:0.43, Z:1.32 [[ 9.99753243e-01 -2.48101054e-03 -2.20748212e-02 3.45403587e+00] [ 2.46170531e-03 9.99996563e-01 -9.01667684e-04 4.30162815e-01] [ 2.20769824e-02 8.47103486e-04 9.99755915e-01 1.31969358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.312557844 meters Centerline goodness : 0.102224 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.32 [[ 9.99758919e-01 -2.09699139e-03 -2.18565078e-02 3.45337206e+00] [ 2.10479496e-03 9.99997729e-01 3.34037838e-04 4.24126535e-01] [ 2.18557577e-02 -3.79960775e-04 9.99761062e-01 1.32004851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34255784400005 meters Centerline goodness : 0.164972 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:1.32 [[ 9.99788686e-01 3.83614317e-03 -2.01957446e-02 3.47429212e+00] [-3.89469180e-03 9.99988324e-01 -2.86052391e-03 4.19714678e-01] [ 2.01845354e-02 2.93857564e-03 9.99791953e-01 1.32041184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.372557844 meters Centerline goodness : 0.158180 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:1.32 [[ 9.99788225e-01 4.06437885e-03 -2.01738829e-02 3.47389481e+00] [-4.10938947e-03 9.99989158e-01 -2.19017905e-03 4.16326808e-01] [ 2.01647624e-02 2.27261757e-03 9.99794088e-01 1.32101848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40255784400006 meters Centerline goodness : 0.131956 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:1.32 [[ 9.99785625e-01 4.33819725e-03 -2.02455953e-02 3.47400135e+00] [-4.37039746e-03 9.99989254e-01 -1.54650550e-03 4.13321479e-01] [ 2.02386687e-02 1.63465527e-03 9.99793841e-01 1.32124735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43255784400003 meters Centerline goodness : 0.126921 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:1.32 [[ 9.99782864e-01 4.65087451e-03 -2.03123995e-02 3.47430170e+00] [-4.67039146e-03 9.99988676e-01 -9.13506298e-04 4.10620027e-01] [ 2.03079209e-02 1.00817480e-03 9.99793265e-01 1.32109508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46255784400006 meters Centerline goodness : 0.166479 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:1.32 [[ 9.99778372e-01 5.17433188e-03 -2.04067051e-02 3.47489735e+00] [-5.17221057e-03 9.99986612e-01 1.56729938e-04 4.05690948e-01] [ 2.04072428e-02 -5.11474262e-05 9.99791749e-01 1.32078755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49255784400003 meters Centerline goodness : 0.134760 Centerline is valid? [False, False] Translation: X:3.48, Y:0.40, Z:1.32 [[ 9.99773254e-01 5.40311125e-03 -2.05972360e-02 3.47541176e+00] [-5.39180979e-03 9.99985282e-01 6.04183104e-04 4.03606566e-01] [ 2.06001973e-02 -4.92989729e-04 9.99787672e-01 1.32085951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52255784400006 meters Centerline goodness : 0.131724 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:1.32 [[ 9.99799292e-01 -1.99426518e-03 -1.99348772e-02 3.49460088e+00] [ 2.03930392e-03 9.99995414e-01 2.23921999e-03 4.06895821e-01] [ 1.99303202e-02 -2.27942384e-03 9.99798773e-01 1.32239051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55255784400003 meters Centerline goodness : 0.134539 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.32 [[ 9.99798896e-01 7.48755775e-03 -1.86038578e-02 3.47145106e+00] [-7.43012944e-03 9.99967422e-01 3.15410934e-03 3.99047080e-01] [ 1.86268683e-02 -3.01524597e-03 9.99821958e-01 1.32208082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58255784400006 meters Centerline goodness : 0.131795 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:1.32 [[ 9.99843613e-01 9.51972460e-05 -1.76844531e-02 3.48986040e+00] [-1.99531234e-05 9.99990947e-01 4.25494534e-03 4.02830073e-01] [ 1.76846981e-02 -4.25392706e-03 9.99834564e-01 1.32307870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61255784400004 meters Centerline goodness : 0.137036 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:1.32 [[ 9.99847235e-01 2.47725091e-04 -1.74770143e-02 3.48932709e+00] [-1.69496999e-04 9.99989962e-01 4.47739510e-03 4.01854065e-01] [ 1.74779480e-02 -4.47374881e-03 9.99837240e-01 1.32312617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64255784400007 meters Centerline goodness : 0.123627 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:1.32 [[ 9.99849446e-01 3.97499451e-04 -1.73472711e-02 3.48898992e+00] [-3.14543566e-04 9.99988505e-01 4.78453761e-03 4.00416727e-01] [ 1.73489736e-02 -4.77836081e-03 9.99838077e-01 1.32317511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67255784400004 meters Centerline goodness : 0.128490 Centerline is valid? [False, False] Translation: X:3.51, Y:0.40, Z:1.32 [[ 0.99981118 0.00921468 -0.01710856 3.5097033 ] [-0.00914779 0.99995022 0.00398399 0.39557071] [ 0.01714442 -0.00382673 0.9998457 1.32429957] [ 0. 0. 0. 1. ]] SLAMing on 275.70255784400007 meters Centerline goodness : 0.122362 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:1.32 [[ 9.99822489e-01 8.05313119e-04 -1.88239770e-02 3.49173464e+00] [-7.01101436e-04 9.99984397e-01 5.54205793e-03 3.97697703e-01] [ 1.88281464e-02 -5.52787664e-03 9.99807453e-01 1.32271085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73255784400004 meters Centerline goodness : 0.136839 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:1.32 [[ 9.99805637e-01 1.20886822e-03 -1.96780825e-02 3.49454561e+00] [-1.08863290e-03 9.99980682e-01 6.11967943e-03 3.95093530e-01] [ 1.96851002e-02 -6.09706778e-03 9.99787639e-01 1.32160882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76255784400007 meters Centerline goodness : 0.125214 Centerline is valid? [False, False] Translation: X:3.45, Y:0.39, Z:1.32 [[ 9.99741103e-01 3.15981182e-04 -2.27514379e-02 3.45023420e+00] [-1.74743607e-04 9.99980705e-01 6.20957317e-03 3.89828767e-01] [ 2.27529610e-02 -6.20398986e-03 9.99721868e-01 1.32193331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79255784400004 meters Centerline goodness : 0.125398 Centerline is valid? [False, False] Translation: X:3.45, Y:0.39, Z:1.32 [[ 9.99740949e-01 3.94310025e-04 -2.27569448e-02 3.45023726e+00] [-2.47948125e-04 9.99979271e-01 6.43399012e-03 3.88683366e-01] [ 2.27590100e-02 -6.42668085e-03 9.99720324e-01 1.32198247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8225578440001 meters Centerline goodness : 0.145228 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:1.32 [[ 0.9997227 0.00897363 -0.02177161 3.46962183] [-0.00885602 0.9999457 0.00549254 0.38391995] [ 0.02181971 -0.00529821 0.99974788 1.32353391] [ 0. 0. 0. 1. ]] SLAMing on 275.85255784400005 meters Centerline goodness : 0.124959 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:1.32 [[ 9.99758049e-01 5.14064019e-03 -2.13873007e-02 3.46863052e+00] [-5.10122596e-03 9.99985189e-01 1.89702956e-03 3.82660245e-01] [ 2.13967359e-02 -1.78746912e-03 9.99769466e-01 1.32353220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.882557844 meters Centerline goodness : 0.123605 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:1.32 [[ 9.99756916e-01 5.19860131e-03 -2.14262355e-02 3.46855042e+00] [-5.15111316e-03 9.99984154e-01 2.27095068e-03 3.80500785e-01] [ 2.14377018e-02 -2.16002969e-03 9.99767853e-01 1.32387924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91255784400005 meters Centerline goodness : 0.121283 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:1.32 [[ 9.99758247e-01 5.27924571e-03 -2.13442406e-02 3.46818553e+00] [-5.22294178e-03 9.99982735e-01 2.69278442e-03 3.78296612e-01] [ 2.13580880e-02 -2.58065371e-03 9.99768559e-01 1.32422286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942557844 meters Centerline goodness : 0.123054 Centerline is valid? [False, False] Translation: X:3.49, Y:0.38, Z:1.33 [[ 9.99795145e-01 -2.66247676e-03 -2.00643542e-02 3.48836701e+00] [ 2.74084891e-03 9.99988718e-01 3.87955224e-03 3.80928945e-01] [ 2.00537986e-02 -3.93375086e-03 9.99791164e-01 1.32532560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97255784400005 meters Centerline goodness : 0.122976 Centerline is valid? [False, False] Translation: X:3.49, Y:0.38, Z:1.33 [[ 9.99799614e-01 -2.46728191e-03 -1.98656664e-02 3.48761120e+00] [ 2.55659327e-03 9.99986734e-01 4.47162393e-03 3.78321257e-01] [ 1.98543701e-02 -4.52151630e-03 9.99792658e-01 1.32580823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002557844 meters Centerline goodness : 0.120432 Centerline is valid? [False, False] Translation: X:3.49, Y:0.38, Z:1.33 [[ 9.99800301e-01 -2.36724729e-03 -1.98432378e-02 3.48737503e+00] [ 2.46702218e-03 9.99984431e-01 5.00518559e-03 3.75634320e-01] [ 1.98310803e-02 -5.05313977e-03 9.99790575e-01 1.32624701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03255784400005 meters Centerline goodness : 0.122138 Centerline is valid? [False, False] Translation: X:3.49, Y:0.37, Z:1.33 [[ 9.99790270e-01 -2.32707703e-03 -2.03469844e-02 3.48859454e+00] [ 2.43817119e-03 9.99982248e-01 5.43687997e-03 3.73108522e-01] [ 2.03339712e-02 -5.48534912e-03 9.99778196e-01 1.32644708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062557844 meters Centerline goodness : 0.127549 Centerline is valid? [False, False] Translation: X:3.50, Y:0.37, Z:1.32 [[ 0.99975313 -0.00406601 -0.02184346 3.49542251] [ 0.004157 0.99998286 0.00412183 0.36887905] [ 0.02182633 -0.00421162 0.99975291 1.32306244] [ 0. 0. 0. 1. ]] SLAMing on 276.09255784400005 meters Centerline goodness : 0.129567 Centerline is valid? [False, False] Translation: X:3.50, Y:0.37, Z:1.32 [[ 0.99974949 -0.00390741 -0.02203816 3.49631298] [ 0.00400826 0.99998169 0.00453363 0.3668502 ] [ 0.02202004 -0.00462083 0.99974685 1.32243306] [ 0. 0. 0. 1. ]] SLAMing on 276.122557844 meters Centerline goodness : 0.131246 Centerline is valid? [False, False] Translation: X:3.50, Y:0.37, Z:1.32 [[ 0.99974971 -0.00373512 -0.02205838 3.49638118] [ 0.00384469 0.99998047 0.00492733 0.36502234] [ 0.02203954 -0.00501091 0.99974454 1.32244578] [ 0. 0. 0. 1. ]] SLAMing on 276.15255784400006 meters Centerline goodness : 0.116800 Centerline is valid? [False, False] Translation: X:3.52, Y:0.36, Z:1.32 [[ 9.99761884e-01 4.56621199e-03 -2.13383654e-02 3.51551835e+00] [-4.49527477e-03 9.99984214e-01 3.37118319e-03 3.58147694e-01] [ 2.13534220e-02 -3.27445864e-03 9.99766627e-01 1.32492324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18255784400003 meters Centerline goodness : 0.127348 Centerline is valid? [False, False] Translation: X:3.52, Y:0.36, Z:1.32 [[ 9.99760011e-01 4.62417573e-03 -2.14134779e-02 3.51571935e+00] [-4.55128439e-03 9.99983686e-01 3.45147823e-03 3.57811519e-01] [ 2.14290889e-02 -3.35319109e-03 9.99764747e-01 1.32490189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21255784400006 meters Centerline goodness : 0.131872 Centerline is valid? [False, False] Translation: X:3.52, Y:0.36, Z:1.32 [[ 9.99762286e-01 4.73839351e-03 -2.12819137e-02 3.51553583e+00] [-4.66442974e-03 9.99982913e-01 3.52372503e-03 3.57848934e-01] [ 2.12982469e-02 -3.42361940e-03 9.99767305e-01 1.32461973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24255784400003 meters Centerline goodness : 0.116216 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.32 [[ 9.99766493e-01 4.89418261e-03 -2.10476994e-02 3.51498998e+00] [-4.81942086e-03 9.99981902e-01 3.60127442e-03 3.58042568e-01] [ 2.10649438e-02 -3.49899578e-03 9.99771987e-01 1.32454941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27255784400006 meters Centerline goodness : 0.115025 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.32 [[ 0.99977391 0.0050033 -0.02066638 3.51382208] [-0.00492845 0.99998112 0.00367096 0.3580476 ] [ 0.02068436 -0.00356827 0.99977969 1.32490804] [ 0. 0. 0. 1. ]] SLAMing on 276.30255784400003 meters Centerline goodness : 0.115949 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.99978478 0.0050833 -0.02011368 3.51203419] [-0.0050089 0.99998043 0.00374732 0.35749569] [ 0.02013233 -0.00364576 0.99979068 1.32557648] [ 0. 0. 0. 1. ]] SLAMing on 276.33255784400006 meters Centerline goodness : 0.163578 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.99978566 0.00510484 -0.02006433 3.5118144 ] [-0.00503005 0.99998022 0.00377597 0.3572549 ] [ 0.02008321 -0.00367424 0.99979156 1.32573396] [ 0. 0. 0. 1. ]] SLAMing on 276.36255784400004 meters Centerline goodness : 0.127167 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.99978686 0.00513028 -0.01999772 3.51163905] [-0.00505596 0.99998013 0.00376506 0.3574438 ] [ 0.02001664 -0.00366315 0.99979294 1.32573156] [ 0. 0. 0. 1. ]] SLAMing on 276.39255784400007 meters Centerline goodness : 0.110375 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.9997867 0.0051379 -0.02000407 3.51172887] [-0.00506437 0.99998024 0.00372478 0.3577592 ] [ 0.02002281 -0.00362268 0.99979296 1.32557419] [ 0. 0. 0. 1. ]] SLAMing on 276.42255784400004 meters Centerline goodness : 0.149554 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 9.99784110e-01 5.13085558e-03 -2.01347242e-02 3.51211356e+00] [-5.05931832e-03 9.99980713e-01 3.60226189e-03 3.58541434e-01] [ 2.01528186e-02 -3.49961622e-03 9.99790786e-01 1.32539315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45255784400007 meters Centerline goodness : 0.160434 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 9.99784971e-01 5.11528075e-03 -2.00959261e-02 3.51199767e+00] [-5.04439946e-03 9.99980882e-01 3.57625636e-03 3.58646178e-01] [ 2.01138354e-02 -3.47411548e-03 9.99791660e-01 1.32540590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48255784400004 meters Centerline goodness : 0.114448 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 9.99785798e-01 5.11052108e-03 -2.00559275e-02 3.51176155e+00] [-5.03915211e-03 9.99980797e-01 3.60742356e-03 3.58399199e-01] [ 2.00739782e-02 -3.50558597e-03 9.99792352e-01 1.32562909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51255784400007 meters Centerline goodness : 0.143453 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.99978523 0.00508649 -0.0200903 3.51196411] [-0.00501483 0.99998089 0.00361566 0.3581874 ] [ 0.02010831 -0.00351413 0.99979163 1.3254398 ] [ 0. 0. 0. 1. ]] SLAMing on 276.54255784400004 meters Centerline goodness : 0.111861 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.99977993 0.00507195 -0.02035579 3.51288566] [-0.00499839 0.9999808 0.00366315 0.35777745] [ 0.02037398 -0.0035606 0.99978609 1.32500226] [ 0. 0. 0. 1. ]] SLAMing on 276.5725578440001 meters Centerline goodness : 0.117442 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.32 [[ 0.99977586 0.00507714 -0.02055358 3.51365858] [-0.00500143 0.99998052 0.00373367 0.35736365] [ 0.02057214 -0.00363004 0.99978178 1.32452043] [ 0. 0. 0. 1. ]] SLAMing on 276.60255784400005 meters Centerline goodness : 0.147934 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.32 [[ 0.99977456 0.00507807 -0.02061665 3.51372812] [-0.0049981 0.99997979 0.00392846 0.35629798] [ 0.02063618 -0.00382453 0.99977974 1.32467794] [ 0. 0. 0. 1. ]] SLAMing on 276.632557844 meters Centerline goodness : 0.162866 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.99977827 0.00513254 -0.02042204 3.51279425] [-0.00504869 0.99997862 0.00415516 0.35519007] [ 0.02044293 -0.00405113 0.99978281 1.3254909 ] [ 0. 0. 0. 1. ]] SLAMing on 276.66255784400005 meters Centerline goodness : 0.127942 Centerline is valid? [False, False] Translation: X:3.51, Y:0.35, Z:1.33 [[ 0.99978128 0.00520176 -0.02025693 3.51194641] [-0.00511292 0.99997709 0.00443497 0.35378573] [ 0.02027954 -0.00433042 0.99978497 1.32625484] [ 0. 0. 0. 1. ]] SLAMing on 276.692557844 meters Centerline goodness : 0.114909 Centerline is valid? [False, False] Translation: X:3.51, Y:0.35, Z:1.33 [[ 0.99977898 0.00529567 -0.02034558 3.51204704] [-0.00520024 0.99997524 0.00474063 0.35226209] [ 0.02037018 -0.00463378 0.99978177 1.32650723] [ 0. 0. 0. 1. ]] SLAMing on 276.72255784400005 meters Centerline goodness : 0.113925 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:1.32 [[ 9.99700435e-01 3.19467443e-03 -2.42658983e-02 3.47217079e+00] [-3.08584517e-03 9.99985019e-01 4.52098711e-03 3.45159280e-01] [ 2.42799778e-02 -4.44475198e-03 9.99695317e-01 1.32472232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.752557844 meters Centerline goodness : 0.172835 Centerline is valid? [False, False] Translation: X:3.47, Y:0.34, Z:1.32 [[ 9.99690883e-01 3.28495092e-03 -2.46444220e-02 3.47344377e+00] [-3.16526768e-03 9.99983016e-01 4.89384132e-03 3.43065933e-01] [ 2.46600795e-02 -4.81432236e-03 9.99684302e-01 1.32419033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78255784400005 meters Centerline goodness : 0.116248 Centerline is valid? [False, False] Translation: X:3.47, Y:0.34, Z:1.32 [[ 9.99686143e-01 3.43404018e-03 -2.48157616e-02 3.47382528e+00] [-3.30262664e-03 9.99980317e-01 5.33461360e-03 3.40822845e-01] [ 2.48335924e-02 -5.25098210e-03 9.99677808e-01 1.32429279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.812557844 meters Centerline goodness : 0.117479 Centerline is valid? [False, False] Translation: X:3.49, Y:0.34, Z:1.33 [[ 0.9996465 0.01196589 -0.02374219 3.49327699] [-0.01187098 0.99992099 0.00413453 0.33561387] [ 0.02378979 -0.00385122 0.99970956 1.32587808] [ 0. 0. 0. 1. ]] SLAMing on 276.84255784400005 meters SLAMing on 276.872557844 meters Centerline goodness : 0.166750 Centerline is valid? [False, False] Translation: X:3.49, Y:0.33, Z:1.33 [[ 0.9996514 0.01220736 -0.02341077 3.49177573] [-0.0121082 0.99991713 0.00437257 0.33480982] [ 0.02346221 -0.00408759 0.99971637 1.32717125] [ 0. 0. 0. 1. ]] SLAMing on 276.90255784400006 meters Centerline goodness : 0.162784 Centerline is valid? [False, False] Translation: X:3.49, Y:0.34, Z:1.33 [[ 0.9996298 0.01260618 -0.02411115 3.49416001] [-0.01250301 0.99991204 0.00442527 0.33524817] [ 0.02416481 -0.00412217 0.99969949 1.32634466] [ 0. 0. 0. 1. ]] SLAMing on 276.93255784400003 meters Centerline goodness : 0.159526 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 0.99967096 0.00568328 -0.02501334 3.51392153] [-0.00555088 0.99997023 0.00535928 0.3434061 ] [ 0.02504305 -0.00521867 0.99967275 1.32729345] [ 0. 0. 0. 1. ]] SLAMing on 276.96255784400006 meters Centerline goodness : 0.101320 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 0.99967331 0.00572347 -0.02491011 3.51361109] [-0.00559364 0.99997043 0.00527824 0.34408964] [ 0.02493958 -0.00513718 0.99967576 1.32730524] [ 0. 0. 0. 1. ]] SLAMing on 276.99255784400003 meters Centerline goodness : 0.101320 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 0.99967331 0.00572347 -0.02491011 3.51361109] [-0.00559364 0.99997043 0.00527824 0.34408964] [ 0.02493958 -0.00513718 0.99967576 1.32730524] [ 0. 0. 0. 1. ]] SLAMing on 277.02255784400006 meters Centerline goodness : 0.160265 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 0.99967961 0.00580965 -0.02463577 3.51244619] [-0.00567919 0.9999695 0.00536223 0.34407999] [ 0.02466617 -0.0052206 0.99968211 1.32810011] [ 0. 0. 0. 1. ]] SLAMing on 277.05255784400003 meters Centerline goodness : 0.161016 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 0.99968445 0.00588107 -0.02442139 3.51148553] [-0.00574931 0.99996855 0.00546222 0.34386604] [ 0.02445274 -0.00532009 0.99968683 1.32883334] [ 0. 0. 0. 1. ]] SLAMing on 277.08255784400006 meters Centerline goodness : 0.150112 Centerline is valid? [False, False] Translation: X:3.53, Y:0.35, Z:1.33 [[ 9.99738146e-01 -2.24848726e-03 -2.27724176e-02 3.53197491e+00] [ 2.38385100e-03 9.99979642e-01 5.91879576e-03 3.46686818e-01] [ 2.27586457e-02 -5.97153195e-03 9.99723154e-01 1.32940017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11255784400004 meters Centerline goodness : 0.119842 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 9.99739598e-01 2.83812978e-03 -2.26424448e-02 3.50830919e+00] [-2.77425439e-03 9.99992085e-01 2.85196017e-03 3.41546135e-01] [ 2.26503598e-02 -2.78840161e-03 9.99739559e-01 1.32936429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14255784400007 meters Centerline goodness : 0.120367 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 9.99737441e-01 2.92384663e-03 -2.27266191e-02 3.50841973e+00] [-2.85167700e-03 9.99990790e-01 3.20731528e-03 3.39684508e-01] [ 2.27357875e-02 -3.14166419e-03 9.99736572e-01 1.32954791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17255784400004 meters Centerline goodness : 0.154081 Centerline is valid? [False, False] Translation: X:3.53, Y:0.34, Z:1.33 [[ 0.99973586 -0.0047853 -0.02247927 3.5286634 ] [ 0.00488189 0.99997908 0.00424375 0.34263628] [ 0.02245849 -0.00435237 0.9997383 1.33091718] [ 0. 0. 0. 1. ]] SLAMing on 277.20255784400007 meters Centerline goodness : 0.152727 Centerline is valid? [False, False] Translation: X:3.53, Y:0.34, Z:1.33 [[ 0.99972908 -0.00465688 -0.02280531 3.52944964] [ 0.00476556 0.99997754 0.0047136 0.34026327] [ 0.02278285 -0.004821 0.99972881 1.33102304] [ 0. 0. 0. 1. ]] SLAMing on 277.23255784400004 meters Centerline goodness : 0.132110 Centerline is valid? [False, False] Translation: X:3.53, Y:0.34, Z:1.33 [[ 0.99972029 -0.00452161 -0.02321423 3.53054686] [ 0.00464385 0.99997562 0.00521468 0.33768297] [ 0.02319009 -0.00532102 0.99971691 1.33099802] [ 0. 0. 0. 1. ]] SLAMing on 277.26255784400007 meters Centerline goodness : 0.159174 Centerline is valid? [False, False] Translation: X:3.53, Y:0.33, Z:1.33 [[ 0.99971504 -0.00429809 -0.02348131 3.53116731] [ 0.00443931 0.99997236 0.00596494 0.33378263] [ 0.02345502 -0.00606748 0.99970648 1.33123545] [ 0. 0. 0. 1. ]] SLAMing on 277.29255784400004 meters Centerline goodness : 0.130903 Centerline is valid? [False, False] Translation: X:3.53, Y:0.33, Z:1.33 [[ 0.99971795 -0.00417521 -0.02337929 3.53061743] [ 0.00432236 0.99997114 0.00624722 0.33248128] [ 0.02335254 -0.00634651 0.99970715 1.33174993] [ 0. 0. 0. 1. ]] SLAMing on 277.3225578440001 meters Centerline goodness : 0.135243 Centerline is valid? [False, False] Translation: X:3.53, Y:0.33, Z:1.33 [[ 0.99972262 -0.00407689 -0.02319632 3.52989575] [ 0.00422736 0.99997032 0.00644153 0.33170404] [ 0.02316937 -0.0065378 0.99971018 1.33217769] [ 0. 0. 0. 1. ]] SLAMing on 277.35255784400005 meters Centerline goodness : 0.147555 Centerline is valid? [False, False] Translation: X:3.53, Y:0.33, Z:1.33 [[ 0.99972549 -0.00397963 -0.023089 3.52951627] [ 0.00413329 0.9999696 0.00661105 0.33111584] [ 0.02306199 -0.00670467 0.99971155 1.33235788] [ 0. 0. 0. 1. ]] SLAMing on 277.382557844 meters Centerline goodness : 0.125539 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.33 [[ 9.99747462e-01 3.27670103e-03 -2.22323107e-02 3.50993285e+00] [-3.13900458e-03 9.99975694e-01 6.22560237e-03 3.22449139e-01] [ 2.22521697e-02 -6.15424284e-03 9.99733448e-01 1.33085139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41255784400005 meters Centerline goodness : 0.161307 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.33 [[ 9.99770806e-01 6.04763602e-04 -2.14002483e-02 3.50696695e+00] [-5.24912312e-04 9.99992881e-01 3.73674597e-03 3.20489861e-01] [ 2.14023558e-02 -3.72465627e-03 9.99764005e-01 1.33183767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442557844 meters Centerline goodness : 0.155677 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.33 [[ 9.99764513e-01 7.15733993e-03 -2.04863801e-02 3.52924095e+00] [-7.14339271e-03 9.99974201e-01 7.53902941e-04 3.17988328e-01] [ 2.04912475e-02 -6.07383148e-04 9.99789848e-01 1.33156629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47255784400005 meters Centerline goodness : 0.110828 Centerline is valid? [False, False] Translation: X:3.48, Y:0.31, Z:1.33 [[ 9.99712682e-01 5.27188016e-03 -2.33828968e-02 3.48365983e+00] [-5.25308270e-03 9.99985828e-01 8.65250078e-04 3.11944397e-01] [ 2.33871269e-02 -7.42169186e-04 9.99726208e-01 1.33248515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502557844 meters Centerline goodness : 0.156835 Centerline is valid? [False, False] Translation: X:3.50, Y:0.32, Z:1.33 [[ 9.99732654e-01 -2.69149343e-03 -2.29646601e-02 3.50352827e+00] [ 2.73490094e-03 9.99994532e-01 1.85898967e-03 3.17848314e-01] [ 2.29595311e-02 -1.92129875e-03 9.99734549e-01 1.33289104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53255784400005 meters Centerline goodness : 0.141534 Centerline is valid? [False, False] Translation: X:3.48, Y:0.31, Z:1.33 [[ 9.99710173e-01 4.84242560e-03 -2.35822210e-02 3.48411078e+00] [-4.82227686e-03 9.99987958e-01 9.11197311e-04 3.11473333e-01] [ 2.35863495e-02 -7.97213222e-04 9.99721485e-01 1.33114679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562557844 meters Centerline goodness : 0.119230 Centerline is valid? [False, False] Translation: X:3.49, Y:0.31, Z:1.33 [[ 9.99700327e-01 4.83133126e-03 -2.39982283e-02 3.48572234e+00] [-4.81349352e-03 9.99988094e-01 8.01004846e-04 3.11783028e-01] [ 2.40018125e-02 -6.85249490e-04 9.99711680e-01 1.33035692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59255784400005 meters Centerline goodness : 0.154885 Centerline is valid? [False, False] Translation: X:3.49, Y:0.31, Z:1.33 [[ 9.99693849e-01 4.79158728e-03 -2.42744429e-02 3.48646557e+00] [-4.77791761e-03 9.99988393e-01 6.21098484e-04 3.12506718e-01] [ 2.42771372e-02 -5.04927046e-04 9.99705139e-01 1.33034091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622557844 meters Centerline goodness : 0.122205 Centerline is valid? [False, False] Translation: X:3.49, Y:0.31, Z:1.33 [[ 9.99691560e-01 4.87391319e-03 -2.43522011e-02 3.48632621e+00] [-4.85615429e-03 9.99987898e-01 7.88337234e-04 3.11873522e-01] [ 2.43557486e-02 -6.69836034e-04 9.99703130e-01 1.33086538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65255784400006 meters Centerline goodness : 0.160633 Centerline is valid? [False, False] Translation: X:3.49, Y:0.31, Z:1.33 [[ 9.99690141e-01 5.01800842e-03 -2.43811762e-02 3.48644536e+00] [-4.98867971e-03 9.99986758e-01 1.26359976e-03 3.09687258e-01] [ 2.43871941e-02 -1.14157835e-03 9.99701936e-01 1.33074678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68255784400003 meters Centerline goodness : 0.162308 Centerline is valid? [False, False] Translation: X:3.49, Y:0.31, Z:1.33 [[ 9.99707881e-01 1.39550836e-03 -2.41289198e-02 3.48628632e+00] [-1.44296494e-03 9.99997059e-01 -1.94949361e-03 3.07415788e-01] [ 2.41261283e-02 1.98374132e-03 9.99706954e-01 1.32998312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71255784400006 meters Centerline goodness : 0.161413 Centerline is valid? [False, False] Translation: X:3.49, Y:0.30, Z:1.33 [[ 9.99700954e-01 1.28245036e-03 -2.44204450e-02 3.48687012e+00] [-1.32037037e-03 9.99997948e-01 -1.53673663e-03 3.04473550e-01] [ 2.44184241e-02 1.56852111e-03 9.99700595e-01 1.33033124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74255784400003 meters Centerline goodness : 0.158056 Centerline is valid? [False, False] Translation: X:3.48, Y:0.30, Z:1.33 [[ 9.99717150e-01 -1.42348610e-03 -2.37401087e-02 3.48427218e+00] [ 1.34607506e-03 9.99993727e-01 -3.27643139e-03 2.98397763e-01] [ 2.37446238e-02 3.24354868e-03 9.99712795e-01 1.33079110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77255784400006 meters Centerline goodness : 0.116303 Centerline is valid? [False, False] Translation: X:3.45, Y:0.29, Z:1.33 [[ 9.99742681e-01 1.01319845e-03 -2.26615384e-02 3.45091720e+00] [-1.08889748e-03 9.99993868e-01 -3.32832837e-03 2.88859215e-01] [ 2.26580271e-02 3.35214802e-03 9.99737654e-01 1.33026896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80255784400003 meters Centerline goodness : 0.127078 Centerline is valid? [False, False] Translation: X:3.47, Y:0.28, Z:1.33 [[ 9.99763793e-01 -8.45075660e-03 -2.00235824e-02 3.47064441e+00] [ 8.39016231e-03 9.99959971e-01 -3.10822673e-03 2.84201720e-01] [ 2.00490477e-02 2.93949144e-03 9.99794676e-01 1.33130461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83255784400006 meters Centerline goodness : 0.125580 Centerline is valid? [False, False] Translation: X:3.47, Y:0.28, Z:1.33 [[ 9.99773596e-01 -8.59734448e-03 -1.94638657e-02 3.46872508e+00] [ 8.55502245e-03 9.99960859e-01 -2.25661296e-03 2.80594910e-01] [ 1.94825048e-02 2.08958825e-03 9.99808014e-01 1.33149848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86255784400004 meters Centerline goodness : 0.157096 Centerline is valid? [False, False] Translation: X:3.47, Y:0.28, Z:1.33 [[ 9.99777665e-01 -8.67398752e-03 -1.92193427e-02 3.46764357e+00] [ 8.64881964e-03 9.99961629e-01 -1.39224281e-03 2.76994383e-01] [ 1.92306815e-02 1.22570864e-03 9.99814322e-01 1.33155349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89255784400007 meters Centerline goodness : 0.132423 Centerline is valid? [False, False] Translation: X:3.47, Y:0.27, Z:1.33 [[ 9.99780201e-01 -8.60744220e-03 -1.91170289e-02 3.46709354e+00] [ 8.60010872e-03 9.99962910e-01 -4.65789861e-04 2.73297578e-01] [ 1.91203291e-02 3.01278954e-04 9.99817144e-01 1.33143202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92255784400004 meters Centerline goodness : 0.165402 Centerline is valid? [False, False] Translation: X:3.47, Y:0.27, Z:1.33 [[ 9.99777229e-01 -8.64259893e-03 -1.92561248e-02 3.46709833e+00] [ 8.64826934e-03 9.99962581e-01 2.11217367e-04 2.70136298e-01] [ 1.92535787e-02 -3.77702467e-04 9.99814561e-01 1.33146145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95255784400007 meters Centerline goodness : 0.131570 Centerline is valid? [False, False] Translation: X:3.47, Y:0.26, Z:1.33 [[ 9.99746658e-01 -1.23352946e-02 -1.88271235e-02 3.46549182e+00] [ 1.22958775e-02 9.99921965e-01 -2.20796364e-03 2.63834363e-01] [ 1.88528902e-02 1.97590826e-03 9.99820316e-01 1.33191957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98255784400004 meters Centerline goodness : 0.113350 Centerline is valid? [False, False] Translation: X:3.45, Y:0.25, Z:1.33 [[ 9.99863216e-01 -5.22190985e-03 -1.56933627e-02 3.44727061e+00] [ 5.17575844e-03 9.99982165e-01 -2.98000180e-03 2.54951444e-01] [ 1.57086441e-02 2.89836913e-03 9.99872411e-01 1.32958558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01255784400007 meters Centerline goodness : 0.149707 Centerline is valid? [False, False] Translation: X:3.46, Y:0.25, Z:1.33 [[ 0.99988452 0.003547 -0.01477735 3.46490923] [-0.00360649 0.99998549 -0.00400121 0.24741525] [ 0.01476295 0.00405404 0.9998828 1.33151391] [ 0. 0. 0. 1. ]] SLAMing on 278.04255784400004 meters Centerline goodness : 0.109259 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 0.99988394 0.00373782 -0.0147693 3.46485832] [-0.00378959 0.99998677 -0.00347894 0.24488116] [ 0.0147561 0.0035345 0.99988488 1.33155563] [ 0. 0. 0. 1. ]] SLAMing on 278.0725578440001 meters Centerline goodness : 0.137522 Centerline is valid? [False, False] Translation: X:3.47, Y:0.24, Z:1.33 [[ 9.99880734e-01 3.90357493e-03 -1.49425399e-02 3.46553251e+00] [-3.94913108e-03 9.99987641e-01 -3.02046410e-03 2.42596152e-01] [ 1.49305646e-02 3.07911391e-03 9.99883792e-01 1.33116852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10255784400005 meters Centerline goodness : 0.155181 Centerline is valid? [False, False] Translation: X:3.47, Y:0.24, Z:1.33 [[ 9.99870197e-01 4.13655719e-03 -1.55717166e-02 3.46794467e+00] [-4.17284583e-03 9.99988652e-01 -2.29865059e-03 2.38786656e-01] [ 1.55620314e-02 2.36333059e-03 9.99876111e-01 1.32975775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.132557844 meters Centerline goodness : 0.128393 Centerline is valid? [False, False] Translation: X:3.47, Y:0.24, Z:1.33 [[ 9.99864723e-01 4.26731218e-03 -1.58847860e-02 3.46896491e+00] [-4.29948074e-03 9.99988774e-01 -1.99151886e-03 2.37341532e-01] [ 1.58761093e-02 2.05954578e-03 9.99871846e-01 1.32937141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16255784400005 meters Centerline goodness : 0.109152 Centerline is valid? [False, False] Translation: X:3.47, Y:0.24, Z:1.33 [[ 9.99862497e-01 4.39149184e-03 -1.59906616e-02 3.46937504e+00] [-4.41927157e-03 9.99988786e-01 -1.70232549e-03 2.35988483e-01] [ 1.59830065e-02 1.77275850e-03 9.99870692e-01 1.32913923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.192557844 meters Centerline goodness : 0.117750 Centerline is valid? [False, False] Translation: X:3.49, Y:0.24, Z:1.33 [[ 9.99853592e-01 -2.46223755e-03 -1.69331669e-02 3.48847770e+00] [ 2.44938327e-03 9.99996696e-01 -7.79815705e-04 2.38937008e-01] [ 1.69350310e-02 7.38225718e-04 9.99856320e-01 1.33088543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22255784400005 meters Centerline goodness : 0.130749 Centerline is valid? [False, False] Translation: X:3.49, Y:0.24, Z:1.33 [[ 9.99852200e-01 -2.38213435e-03 -1.70265300e-02 3.48874900e+00] [ 2.37279534e-03 9.99997023e-01 -5.68678714e-04 2.37846895e-01] [ 1.70278340e-02 5.28194193e-04 9.99854876e-01 1.33083206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.252557844 meters Centerline goodness : 0.151292 Centerline is valid? [False, False] Translation: X:3.49, Y:0.24, Z:1.33 [[ 9.99850094e-01 -2.29150740e-03 -1.71621001e-02 3.48910123e+00] [ 2.28657985e-03 9.99997339e-01 -3.06735166e-04 2.36548402e-01] [ 1.71627573e-02 2.67446673e-04 9.99852673e-01 1.33078113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28255784400005 meters Centerline goodness : 0.116545 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99849610e-01 -2.06183887e-03 -1.72193515e-02 3.48942513e+00] [ 2.06670222e-03 9.99997829e-01 2.64645381e-04 2.34101525e-01] [ 1.72187684e-02 -3.00192853e-04 9.99851701e-01 1.33043202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.312557844 meters Centerline goodness : 0.116757 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99848656e-01 -1.95089986e-03 -1.72875506e-02 3.48950118e+00] [ 1.96125031e-03 9.99997908e-01 5.81788559e-04 2.32590551e-01] [ 1.72863794e-02 -6.15605722e-04 9.99850390e-01 1.33060111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34255784400005 meters Centerline goodness : 0.130707 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99846310e-01 -1.87788576e-03 -1.74306898e-02 3.48976633e+00] [ 1.89308692e-03 9.99997842e-01 8.55632558e-04 2.31130957e-01] [ 1.74290454e-02 -8.88498867e-04 9.99847708e-01 1.33075834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.372557844 meters Centerline goodness : 0.159115 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99843560e-01 -1.81899499e-03 -1.75939496e-02 3.49002273e+00] [ 1.83841358e-03 9.99997719e-01 1.08759762e-03 2.29905015e-01] [ 1.75919312e-02 -1.11977243e-03 9.99844623e-01 1.33099931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40255784400006 meters Centerline goodness : 0.130009 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99842242e-01 -1.81897075e-03 -1.76686704e-02 3.49010303e+00] [ 1.83954368e-03 9.99997649e-01 1.14819098e-03 2.29553670e-01] [ 1.76665403e-02 -1.18051213e-03 9.99843238e-01 1.33115628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43255784400003 meters Centerline goodness : 0.147108 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99842983e-01 -1.83358121e-03 -1.76251726e-02 3.48996070e+00] [ 1.85347196e-03 9.99997664e-01 1.11227315e-03 2.29748724e-01] [ 1.76230920e-02 -1.14476626e-03 9.99844046e-01 1.33122041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46255784400006 meters Centerline goodness : 0.115227 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99845087e-01 -2.06536985e-03 -1.74796156e-02 3.48967605e+00] [ 2.07558270e-03 9.99997686e-01 5.66150588e-04 2.32287856e-01] [ 1.74784058e-02 -6.02343272e-04 9.99847060e-01 1.33103490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49255784400003 meters Centerline goodness : 0.135049 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99847664e-01 -2.20605122e-03 -1.73142429e-02 3.48920493e+00] [ 2.20962003e-03 9.99997541e-01 1.86992446e-04 2.34149681e-01] [ 1.73137878e-02 -2.25221858e-04 9.99850080e-01 1.33108253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52255784400006 meters Centerline goodness : 0.157233 Centerline is valid? [False, False] Translation: X:3.51, Y:0.23, Z:1.33 [[ 9.99852669e-01 6.66863388e-03 -1.58167708e-02 3.50816637e+00] [-6.68782610e-03 9.99976962e-01 -1.16082682e-03 2.32888378e-01] [ 1.58086653e-02 1.26643560e-03 9.99874233e-01 1.33159024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55255784400003 meters Centerline goodness : 0.130075 Centerline is valid? [False, False] Translation: X:3.51, Y:0.23, Z:1.33 [[ 9.99850271e-01 6.36319887e-03 -1.60917743e-02 3.50855851e+00] [-6.39029050e-03 9.99978249e-01 -1.63271135e-03 2.34829842e-01] [ 1.60810350e-02 1.73529800e-03 9.99869186e-01 1.33198816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58255784400006 meters Centerline goodness : 0.152774 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:1.33 [[ 9.99878305e-01 -1.78914318e-03 -1.54975387e-02 3.52961884e+00] [ 1.76853456e-03 9.99997534e-01 -1.34340197e-03 2.38560632e-01] [ 1.54999040e-02 1.31583055e-03 9.99879003e-01 1.33302581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61255784400004 meters Centerline goodness : 0.160572 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:1.33 [[ 9.99884944e-01 -2.01552048e-03 -1.50345032e-02 3.52810107e+00] [ 1.99673699e-03 9.99997207e-01 -1.26426489e-03 2.37610453e-01] [ 1.50370094e-02 1.23409948e-03 9.99886176e-01 1.33361429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64255784400007 meters Centerline goodness : 0.114832 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:1.33 [[ 9.99894117e-01 -2.29279047e-03 -1.43700570e-02 3.52601872e+00] [ 2.27809799e-03 9.99996866e-01 -1.03872279e-03 2.35821520e-01] [ 1.43723935e-02 1.00587641e-03 9.99896206e-01 1.33433430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67255784400004 meters Centerline goodness : 0.118526 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:1.33 [[ 9.99898274e-01 -2.74652991e-03 -1.39963988e-02 3.52476769e+00] [ 2.73369112e-03 9.99995825e-01 -9.36341518e-04 2.34125374e-01] [ 1.39989120e-02 8.97984436e-04 9.99901607e-01 1.33489250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70255784400007 meters Centerline goodness : 0.129713 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:1.34 [[ 9.99899095e-01 -3.12177495e-03 -1.38584018e-02 3.52433309e+00] [ 3.11085048e-03 9.99994833e-01 -8.09779259e-04 2.32425046e-01] [ 1.38608582e-02 7.66586132e-04 9.99903640e-01 1.33502937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73255784400004 meters Centerline goodness : 0.167122 Centerline is valid? [False, False] Translation: X:3.53, Y:0.23, Z:1.33 [[ 9.99889937e-01 -4.40468777e-03 -1.41672836e-02 3.52564717e+00] [ 4.38470230e-03 9.99989348e-01 -1.44142982e-03 2.31136480e-01] [ 1.41734818e-02 1.37915185e-03 9.99898600e-01 1.33437792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76255784400007 meters Centerline goodness : 0.162087 Centerline is valid? [False, False] Translation: X:3.53, Y:0.23, Z:1.33 [[ 9.99886466e-01 -4.43692706e-03 -1.44002918e-02 3.52636655e+00] [ 4.41772607e-03 9.99989310e-01 -1.36491139e-03 2.30668583e-01] [ 1.44061939e-02 1.30113989e-03 9.99895379e-01 1.33406991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79255784400004 meters Centerline goodness : 0.173462 Centerline is valid? [False, False] Translation: X:3.53, Y:0.23, Z:1.33 [[ 9.99887298e-01 -4.44609930e-03 -1.43395752e-02 3.52639397e+00] [ 4.42586755e-03 9.99989166e-01 -1.44232896e-03 2.31271903e-01] [ 1.43458326e-02 1.37870135e-03 9.99896143e-01 1.33371405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8225578440001 meters Centerline goodness : 0.160299 Centerline is valid? [False, False] Translation: X:3.53, Y:0.23, Z:1.33 [[ 9.99888559e-01 -4.47828751e-03 -1.42412834e-02 3.52624713e+00] [ 4.45597624e-03 9.99988795e-01 -1.59800727e-03 2.32251009e-01] [ 1.42482802e-02 1.53437037e-03 9.99897311e-01 1.33351079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85255784400005 meters Centerline goodness : 0.124002 Centerline is valid? [False, False] Translation: X:3.53, Y:0.23, Z:1.33 [[ 9.99889508e-01 -4.56552987e-03 -1.41466432e-02 3.52609934e+00] [ 4.53995433e-03 9.99988003e-01 -1.83947491e-03 2.33444430e-01] [ 1.41548717e-02 1.77504655e-03 9.99898239e-01 1.33335783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.882557844 meters Centerline goodness : 0.110253 Centerline is valid? [False, False] Translation: X:3.55, Y:0.23, Z:1.33 [[ 9.99909184e-01 4.27625633e-03 -1.27803430e-02 3.54512825e+00] [-4.31657815e-03 9.99985788e-01 -3.12906929e-03 2.30815352e-01] [ 1.27667806e-02 3.18395247e-03 9.99913432e-01 1.33391580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91255784400005 meters Centerline goodness : 0.110253 Centerline is valid? [False, False] Translation: X:3.55, Y:0.23, Z:1.33 [[ 9.99909184e-01 4.27625633e-03 -1.27803430e-02 3.54512825e+00] [-4.31657815e-03 9.99985788e-01 -3.12906929e-03 2.30815352e-01] [ 1.27667806e-02 3.18395247e-03 9.99913432e-01 1.33391580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942557844 meters Centerline goodness : 0.177016 Centerline is valid? [False, False] Translation: X:3.54, Y:0.23, Z:1.33 [[ 9.99912589e-01 4.09404802e-03 -1.25719052e-02 3.54445089e+00] [-4.13712011e-03 9.99985655e-01 -3.40196555e-03 2.32052591e-01] [ 1.25577971e-02 3.45367966e-03 9.99915183e-01 1.33405972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97255784400005 meters Centerline goodness : 0.177046 Centerline is valid? [False, False] Translation: X:3.54, Y:0.23, Z:1.33 [[ 9.99913618e-01 4.02449460e-03 -1.25123619e-02 3.54412579e+00] [-4.06740787e-03 9.99985927e-01 -3.40611623e-03 2.32178464e-01] [ 1.24984779e-02 3.45671489e-03 9.99915916e-01 1.33422766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002557844 meters Centerline goodness : 0.142935 Centerline is valid? [False, False] Translation: X:3.52, Y:0.24, Z:1.33 [[ 9.99903714e-01 -5.03647882e-03 -1.29304846e-02 3.52487942e+00] [ 5.01004725e-03 9.99985295e-01 -2.07570800e-03 2.37349464e-01] [ 1.29407488e-02 2.01072580e-03 9.99914243e-01 1.33304387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03255784400005 meters Centerline goodness : 0.122661 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:1.33 [[ 9.99900108e-01 -5.10669064e-03 -1.31793427e-02 3.52558819e+00] [ 5.08014457e-03 9.99985001e-01 -2.04691088e-03 2.37229825e-01] [ 1.31895979e-02 1.97975344e-03 9.99911054e-01 1.33276918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062557844 meters Centerline goodness : 0.141510 Centerline is valid? [False, False] Translation: X:3.49, Y:0.24, Z:1.33 [[ 9.99827473e-01 -7.33138058e-03 -1.70667678e-02 3.48627431e+00] [ 7.29078178e-03 9.99970445e-01 -2.43982838e-03 2.40510984e-01] [ 1.70841507e-02 2.31497737e-03 9.99851375e-01 1.33088372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09255784400005 meters SLAMing on 279.122557844 meters Centerline goodness : 0.124182 Centerline is valid? [False, False] Translation: X:3.49, Y:0.24, Z:1.33 [[ 9.99820464e-01 -7.59211128e-03 -1.73608672e-02 3.48744034e+00] [ 7.54071327e-03 9.99966996e-01 -3.02411578e-03 2.43207029e-01] [ 1.73832536e-02 2.89265952e-03 9.99844715e-01 1.33013569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15255784400006 meters Centerline goodness : 0.144519 Centerline is valid? [False, False] Translation: X:3.49, Y:0.24, Z:1.33 [[ 9.99818297e-01 -7.68182129e-03 -1.74459772e-02 3.48762889e+00] [ 7.62454734e-03 9.99965331e-01 -3.34707685e-03 2.44991593e-01] [ 1.74710840e-02 3.21345100e-03 9.99842205e-01 1.33019675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18255784400003 meters Centerline goodness : 0.123212 Centerline is valid? [False, False] Translation: X:3.49, Y:0.25, Z:1.33 [[ 0.99981294 -0.00782285 -0.01768889 3.48829592] [ 0.00775799 0.99996294 -0.00373276 0.24691397] [ 0.01771744 0.00359483 0.99983657 1.33014212] [ 0. 0. 0. 1. ]] SLAMing on 279.21255784400006 meters Centerline goodness : 0.138068 Centerline is valid? [False, False] Translation: X:3.49, Y:0.25, Z:1.33 [[ 0.99979772 -0.0080414 -0.01843489 3.49062667] [ 0.00796273 0.99995889 -0.00433686 0.24976988] [ 0.018469 0.00418919 0.99982066 1.32934235] [ 0. 0. 0. 1. ]] SLAMing on 279.24255784400003 meters Centerline goodness : 0.115213 Centerline is valid? [False, False] Translation: X:3.49, Y:0.25, Z:1.33 [[ 0.99979697 -0.00813723 -0.01843355 3.49083753] [ 0.00805453 0.99995718 -0.004556 0.25075127] [ 0.01846984 0.0044066 0.99981971 1.32892991] [ 0. 0. 0. 1. ]] SLAMing on 279.27255784400006 meters SLAMing on 279.30255784400003 meters Centerline goodness : 0.109081 Centerline is valid? [False, False] Translation: X:3.49, Y:0.25, Z:1.33 [[ 0.99981236 -0.00816713 -0.01756554 3.48810782] [ 0.00808799 0.99995684 -0.00457148 0.25088425] [ 0.01760212 0.00442855 0.99983526 1.3298335 ] [ 0. 0. 0. 1. ]] SLAMing on 279.33255784400006 meters Centerline goodness : 0.146475 Centerline is valid? [False, False] Translation: X:3.49, Y:0.25, Z:1.33 [[ 0.99981802 -0.00814184 -0.01725202 3.48689299] [ 0.00806541 0.99995737 -0.00449531 0.25056971] [ 0.01728788 0.00435534 0.99984107 1.33054212] [ 0. 0. 0. 1. ]] SLAMing on 279.36255784400004 meters Centerline goodness : 0.188297 Centerline is valid? [False, False] Translation: X:3.49, Y:0.25, Z:1.33 [[ 0.99981524 -0.00809437 -0.01743475 3.4871117 ] [ 0.00802185 0.9999589 -0.00422568 0.24941281] [ 0.01746824 0.00408504 0.99983907 1.3308536 ] [ 0. 0. 0. 1. ]] SLAMing on 279.39255784400007 meters Centerline goodness : 0.132933 Centerline is valid? [False, False] Translation: X:3.47, Y:0.24, Z:1.33 [[ 9.99830880e-01 -1.05410382e-04 -1.83902106e-02 3.46645417e+00] [ 1.91877432e-05 9.99989008e-01 -4.68862087e-03 2.44873584e-01] [ 1.83905027e-02 4.68747506e-03 9.99819892e-01 1.32972479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42255784400004 meters Centerline goodness : 0.145213 Centerline is valid? [False, False] Translation: X:3.47, Y:0.24, Z:1.33 [[ 9.99830367e-01 4.51866874e-06 -1.84184061e-02 3.46650645e+00] [-8.61806302e-05 9.99990171e-01 -4.43292358e-03 2.43757631e-01] [ 1.84182050e-02 4.43375892e-03 9.99820540e-01 1.32967322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45255784400007 meters SLAMing on 279.48255784400004 meters Centerline goodness : 0.126733 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 9.99842590e-01 3.43040851e-04 -1.77391294e-02 3.46395201e+00] [-4.10361216e-04 9.99992728e-01 -3.79152008e-03 2.40982042e-01] [ 1.77376997e-02 3.79820271e-03 9.99835460e-01 1.33108479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51255784400007 meters Centerline goodness : 0.132508 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 9.99843985e-01 4.05451231e-04 -1.76590008e-02 3.46346836e+00] [-4.70911995e-04 9.99993033e-01 -3.70293430e-03 2.40823440e-01] [ 1.76573764e-02 3.71067242e-03 9.99837211e-01 1.33158498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54255784400004 meters Centerline goodness : 0.177204 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 9.99841415e-01 4.27014645e-04 -1.78034412e-02 3.46379378e+00] [-4.93171303e-04 9.99992990e-01 -3.71172301e-03 2.40966307e-01] [ 1.78017314e-02 3.71991453e-03 9.99834617e-01 1.33167273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5725578440001 meters SLAMing on 279.60255784400005 meters Centerline goodness : 0.129666 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 9.99843920e-01 5.41329278e-04 -1.76590538e-02 3.46324804e+00] [-6.04272201e-04 9.99993483e-01 -3.55920181e-03 2.40457853e-01] [ 1.76570120e-02 3.56931716e-03 9.99837732e-01 1.33195125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.632557844 meters Centerline goodness : 0.101349 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 9.99847794e-01 5.71142884e-04 -1.74373801e-02 3.46245708e+00] [-6.31869361e-04 9.99993755e-01 -3.47723507e-03 2.40008452e-01] [ 1.74352852e-02 3.48772396e-03 9.99841911e-01 1.33228018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66255784400005 meters SLAMing on 279.692557844 meters Centerline goodness : 0.129294 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 9.99852232e-01 5.37411715e-04 -1.71821373e-02 3.46174345e+00] [-5.96785317e-04 9.99993869e-01 -3.45060167e-03 2.39904686e-01] [ 1.71801776e-02 3.46034583e-03 9.99846422e-01 1.33223770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72255784400005 meters Centerline goodness : 0.136473 Centerline is valid? [False, False] Translation: X:3.44, Y:0.24, Z:1.33 [[ 9.99795010e-01 -6.93743902e-03 -1.90213230e-02 3.44162244e+00] [ 6.92619096e-03 9.99975798e-01 -6.57155273e-04 2.43950044e-01] [ 1.90254216e-02 5.25275247e-04 9.99818862e-01 1.33215509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.752557844 meters Centerline goodness : 0.129241 Centerline is valid? [False, False] Translation: X:3.44, Y:0.24, Z:1.33 [[ 9.99790570e-01 -6.97819297e-03 -1.92385424e-02 3.44238268e+00] [ 6.96767110e-03 9.99975537e-01 -6.13892776e-04 2.43707369e-01] [ 1.92423556e-02 4.79716373e-04 9.99814734e-01 1.33170390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78255784400005 meters SLAMing on 279.812557844 meters Centerline goodness : 0.139689 Centerline is valid? [False, False] Translation: X:3.44, Y:0.24, Z:1.33 [[ 9.99787230e-01 -8.07134501e-03 -1.89828235e-02 3.44179029e+00] [ 8.04749872e-03 9.99966731e-01 -1.33225859e-03 2.44086777e-01] [ 1.89929450e-02 1.17921087e-03 9.99818922e-01 1.33157462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84255784400005 meters Centerline goodness : 0.122570 Centerline is valid? [False, False] Translation: X:3.44, Y:0.24, Z:1.33 [[ 9.99789030e-01 -8.15815558e-03 -1.88504676e-02 3.44142138e+00] [ 8.13182513e-03 9.99965851e-01 -1.47303680e-03 2.44872178e-01] [ 1.88618411e-02 1.31943733e-03 9.99821229e-01 1.33150716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.872557844 meters Centerline goodness : 0.144012 Centerline is valid? [False, False] Translation: X:3.44, Y:0.25, Z:1.33 [[ 9.99790409e-01 -8.26005909e-03 -1.87325561e-02 3.44125782e+00] [ 8.22908243e-03 9.99964644e-01 -1.73010868e-03 2.46330205e-01] [ 1.87461846e-02 1.57559432e-03 9.99823033e-01 1.33117174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90255784400006 meters Centerline goodness : 0.147430 Centerline is valid? [False, False] Translation: X:3.44, Y:0.25, Z:1.33 [[ 9.99810739e-01 -5.65057158e-03 -1.86160260e-02 3.44099042e+00] [ 5.66824652e-03 9.99983533e-01 8.96819065e-04 2.48447396e-01] [ 1.86106520e-02 -1.00216956e-03 9.99826305e-01 1.33101809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93255784400003 meters Centerline goodness : 0.147955 Centerline is valid? [False, False] Translation: X:3.42, Y:0.25, Z:1.33 [[ 9.99814922e-01 1.83259987e-03 -1.91510687e-02 3.42176873e+00] [-1.84209731e-03 9.99998189e-01 -4.78293133e-04 2.48308449e-01] [ 1.91501575e-02 5.13482743e-04 9.99816487e-01 1.32885351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96255784400006 meters Centerline goodness : 0.141227 Centerline is valid? [False, False] Translation: X:3.42, Y:0.25, Z:1.33 [[ 9.99808156e-01 1.28963918e-03 -1.95445190e-02 3.42350100e+00] [-1.32046133e-03 9.99997905e-01 -1.56419984e-03 2.52887340e-01] [ 1.95424608e-02 1.58970754e-03 9.99807764e-01 1.32760892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99255784400003 meters Centerline goodness : 0.099411 Centerline is valid? [False, False] Translation: X:3.42, Y:0.26, Z:1.33 [[ 9.99802802e-01 1.08976919e-03 -1.98285051e-02 3.42478423e+00] [-1.13205600e-03 9.99997109e-01 -2.12152744e-03 2.55922440e-01] [ 1.98261358e-02 2.14355606e-03 9.99801145e-01 1.32668514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02255784400006 meters Centerline goodness : 0.157604 Centerline is valid? [False, False] Translation: X:3.43, Y:0.26, Z:1.33 [[ 9.99800155e-01 8.94652467e-04 -1.99712116e-02 3.42556794e+00] [-9.48775551e-04 9.99995903e-01 -2.70074458e-03 2.59119680e-01] [ 1.99687136e-02 2.71915304e-03 9.99796908e-01 1.32606082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05255784400003 meters Centerline goodness : 0.109060 Centerline is valid? [False, False] Translation: X:3.43, Y:0.26, Z:1.33 [[ 9.99798823e-01 6.80519168e-04 -2.00462020e-02 3.42589869e+00] [-7.46428904e-04 9.99994340e-01 -3.28059269e-03 2.61928780e-01] [ 2.00438561e-02 3.29489577e-03 9.99793672e-01 1.32593116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08255784400006 meters Centerline goodness : 0.132997 Centerline is valid? [False, False] Translation: X:3.43, Y:0.26, Z:1.33 [[ 9.99796996e-01 4.38569894e-04 -2.01438288e-02 3.42610491e+00] [-5.15902565e-04 9.99992517e-01 -3.83398918e-03 2.64325896e-01] [ 2.01419966e-02 3.84360312e-03 9.99789741e-01 1.32610146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11255784400004 meters Centerline goodness : 0.086939 Centerline is valid? [False, False] Translation: X:3.43, Y:0.27, Z:1.33 [[ 9.99792490e-01 5.50148017e-05 -2.03709047e-02 3.42676586e+00] [-1.51062233e-04 9.99988880e-01 -4.71342325e-03 2.68289240e-01] [ 2.03704188e-02 4.71552244e-03 9.99781381e-01 1.32603613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14255784400007 meters Centerline goodness : 0.128801 Centerline is valid? [False, False] Translation: X:3.42, Y:0.27, Z:1.33 [[ 9.99797557e-01 1.98070945e-03 -2.00230453e-02 3.42477502e+00] [-2.04009932e-03 9.99993579e-01 -2.94608422e-03 2.71961425e-01] [ 2.00170814e-02 2.98633680e-03 9.99795178e-01 1.32708858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17255784400004 meters Centerline goodness : 0.129614 Centerline is valid? [False, False] Translation: X:3.42, Y:0.27, Z:1.33 [[ 9.99798833e-01 1.90824050e-03 -1.99662841e-02 3.42493053e+00] [-1.97208679e-03 9.99993004e-01 -3.17850431e-03 2.73319412e-01] [ 1.99600791e-02 3.21724014e-03 9.99795601e-01 1.32661518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20255784400007 meters Centerline goodness : 0.110470 Centerline is valid? [False, False] Translation: X:3.44, Y:0.28, Z:1.33 [[ 9.99777482e-01 -5.56210406e-03 -2.03482165e-02 3.44482280e+00] [ 5.51335555e-03 9.99981798e-01 -2.45103012e-03 2.77531892e-01] [ 2.03614790e-02 2.33829777e-03 9.99789949e-01 1.32833764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23255784400004 meters Centerline goodness : 0.106245 Centerline is valid? [False, False] Translation: X:3.44, Y:0.28, Z:1.33 [[ 9.99776017e-01 -5.78304657e-03 -2.03586114e-02 3.44437559e+00] [ 5.72447030e-03 9.99979310e-01 -2.93432586e-03 2.79373939e-01] [ 2.03751595e-02 2.81712636e-03 9.99788436e-01 1.32916817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26255784400007 meters Centerline goodness : 0.167499 Centerline is valid? [False, False] Translation: X:3.44, Y:0.28, Z:1.33 [[ 9.99781788e-01 -5.82223866e-03 -2.00618693e-02 3.44323518e+00] [ 5.75850325e-03 9.99978193e-01 -3.23324894e-03 2.81121506e-01] [ 2.00802566e-02 3.11701707e-03 9.99793512e-01 1.32993013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29255784400004 meters Centerline goodness : 0.149129 Centerline is valid? [False, False] Translation: X:3.44, Y:0.28, Z:1.33 [[ 0.9997892 -0.00586372 -0.01967686 3.44207429] [ 0.00579301 0.99997656 -0.00364863 0.28357293] [ 0.01969779 0.00353387 0.99979973 1.33039264] [ 0. 0. 0. 1. ]] SLAMing on 280.3225578440001 meters Centerline goodness : 0.145365 Centerline is valid? [False, False] Translation: X:3.44, Y:0.29, Z:1.33 [[ 0.99979208 -0.0059799 -0.01949465 3.44158883] [ 0.00590131 0.99997424 -0.00408635 0.2858498 ] [ 0.01951859 0.00397046 0.99980161 1.33054605] [ 0. 0. 0. 1. ]] SLAMing on 280.35255784400005 meters Centerline goodness : 0.146269 Centerline is valid? [False, False] Translation: X:3.44, Y:0.29, Z:1.33 [[ 0.99979071 -0.00610292 -0.01952672 3.44187421] [ 0.00601619 0.99997179 -0.00449732 0.28787458] [ 0.01955362 0.0043789 0.99979922 1.33024191] [ 0. 0. 0. 1. ]] SLAMing on 280.382557844 meters Centerline goodness : 0.152315 Centerline is valid? [False, False] Translation: X:3.44, Y:0.29, Z:1.33 [[ 0.99979104 -0.0062566 -0.01946093 3.44186301] [ 0.00616197 0.99996892 -0.00491903 0.28985924] [ 0.0194911 0.00479808 0.99979852 1.33002992] [ 0. 0. 0. 1. ]] SLAMing on 280.41255784400005 meters Centerline goodness : 0.121798 Centerline is valid? [False, False] Translation: X:3.44, Y:0.29, Z:1.33 [[ 9.99824316e-01 -3.92968842e-03 -1.83274451e-02 3.43710336e+00] [ 3.87408311e-03 9.99987788e-01 -3.06850907e-03 2.94443418e-01] [ 1.83392795e-02 2.99696794e-03 9.99827330e-01 1.33222047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442557844 meters Centerline goodness : 0.154894 Centerline is valid? [False, False] Translation: X:3.44, Y:0.30, Z:1.33 [[ 9.99827714e-01 -4.02454604e-03 -1.81202881e-02 3.43638718e+00] [ 3.96345012e-03 9.99986344e-01 -3.40633692e-03 2.96172529e-01] [ 1.81337496e-02 3.33393120e-03 9.99830012e-01 1.33264027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47255784400005 meters Centerline goodness : 0.152532 Centerline is valid? [False, False] Translation: X:3.44, Y:0.30, Z:1.33 [[ 0.99982853 -0.00411812 -0.01805395 3.43608315] [ 0.00405227 0.99998501 -0.00368218 0.29749838] [ 0.01806885 0.00360839 0.99983023 1.33292747] [ 0. 0. 0. 1. ]] SLAMing on 280.502557844 meters Centerline goodness : 0.155524 Centerline is valid? [False, False] Translation: X:3.42, Y:0.30, Z:1.33 [[ 0.99981855 0.00368257 -0.01868967 3.41582168] [-0.00377464 0.9999809 -0.00489373 0.29567298] [ 0.01867129 0.00496339 0.99981336 1.33133892] [ 0. 0. 0. 1. ]] SLAMing on 280.53255784400005 meters Centerline goodness : 0.219125 Centerline is valid? [False, False] Translation: X:3.42, Y:0.30, Z:1.33 [[ 0.99981835 0.0036259 -0.01871175 3.41613449] [-0.00372007 0.99998058 -0.0050005 0.29627907] [ 0.01869326 0.00506921 0.99981242 1.33086126] [ 0. 0. 0. 1. ]] SLAMing on 280.562557844 meters Centerline goodness : 0.085221 Centerline is valid? [False, False] Translation: X:3.42, Y:0.30, Z:1.33 [[ 0.99981976 0.00356515 -0.01864754 3.41623545] [-0.00366207 0.99997995 -0.00516637 0.29721194] [ 0.01862875 0.00523373 0.99981277 1.33041197] [ 0. 0. 0. 1. ]] SLAMing on 280.59255784400005 meters Centerline goodness : 0.120107 Centerline is valid? [False, False] Translation: X:3.42, Y:0.30, Z:1.33 [[ 0.99982167 0.00349159 -0.01855877 3.41603579] [-0.00359218 0.99997902 -0.00538949 0.29842641] [ 0.01853956 0.0054552 0.99981325 1.33041597] [ 0. 0. 0. 1. ]] SLAMing on 280.622557844 meters Centerline goodness : 0.151301 Centerline is valid? [False, False] Translation: X:3.42, Y:0.30, Z:1.33 [[ 9.99823918e-01 3.39559065e-03 -1.84554408e-02 3.41565747e+00] [-3.50053767e-03 9.99977871e-01 -5.65718164e-03 2.99764189e-01] [ 1.84358229e-02 5.72078948e-03 9.99813679e-01 1.33064542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65255784400006 meters Centerline goodness : 0.119225 Centerline is valid? [False, False] Translation: X:3.42, Y:0.30, Z:1.33 [[ 9.99823711e-01 3.27752989e-03 -1.84879676e-02 3.41562867e+00] [-3.38872937e-03 9.99976338e-01 -5.98657705e-03 3.01428648e-01] [ 1.84679089e-02 6.04817240e-03 9.99811160e-01 1.33089027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68255784400003 meters Centerline goodness : 0.105817 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:1.33 [[ 9.99817963e-01 2.95384698e-03 -1.88498187e-02 3.41694629e+00] [-3.08282037e-03 9.99972014e-01 -6.81676942e-03 3.05432314e-01] [ 1.88291554e-02 6.87363912e-03 9.99799088e-01 1.33029404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71255784400006 meters Centerline goodness : 0.113275 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:1.33 [[ 9.99815526e-01 2.76327930e-03 -1.90073188e-02 3.41774113e+00] [-2.90244479e-03 9.99969157e-01 -7.29799356e-03 3.07731052e-01] [ 1.89865662e-02 7.35181496e-03 9.99792709e-01 1.32966582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74255784400003 meters Centerline goodness : 0.105103 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:1.33 [[ 9.99815976e-01 2.57460157e-03 -1.90101379e-02 3.41812959e+00] [-2.72233678e-03 9.99966266e-01 -7.74960621e-03 3.09842881e-01] [ 1.89895444e-02 7.79993210e-03 9.99789257e-01 1.32905012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77255784400006 meters Centerline goodness : 0.104507 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:1.33 [[ 9.99817742e-01 2.42096795e-03 -1.89372994e-02 3.41806725e+00] [-2.57559392e-03 9.99963512e-01 -8.14503101e-03 3.11773272e-01] [ 1.89168895e-02 8.19232131e-03 9.99787496e-01 1.32884829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80255784400003 meters Centerline goodness : 0.104507 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:1.33 [[ 9.99817742e-01 2.42096795e-03 -1.89372994e-02 3.41806725e+00] [-2.57559392e-03 9.99963512e-01 -8.14503101e-03 3.11773272e-01] [ 1.89168895e-02 8.19232131e-03 9.99787496e-01 1.32884829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83255784400006 meters Centerline goodness : 0.104930 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:1.33 [[ 9.99818723e-01 2.27720041e-03 -1.89033101e-02 3.41814722e+00] [-2.43819493e-03 9.99960918e-01 -8.49806316e-03 3.13511087e-01] [ 1.88832196e-02 8.54261262e-03 9.99785201e-01 1.32860726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86255784400004 meters Centerline goodness : 0.090376 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:1.33 [[ 9.99809013e-01 2.03737372e-03 -1.94367208e-02 3.41999286e+00] [-2.21515854e-03 9.99955870e-01 -9.12971189e-03 3.16672932e-01] [ 1.94172624e-02 9.17102365e-03 9.99769405e-01 1.32781791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89255784400007 meters Centerline goodness : 0.151744 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:1.33 [[ 9.99801931e-01 1.91372875e-03 -1.98100292e-02 3.42145717e+00] [-2.10177850e-03 9.99952891e-01 -9.47619022e-03 3.18505018e-01] [ 1.97909611e-02 9.51594957e-03 9.99758853e-01 1.32702186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92255784400004 meters Centerline goodness : 0.095044 Centerline is valid? [False, False] Translation: X:3.40, Y:0.33, Z:1.33 [[ 0.99976848 -0.00398924 -0.02114417 3.39984688] [ 0.00385805 0.99997308 -0.00624181 0.32649553] [ 0.0211685 0.00615879 0.99975695 1.32699557] [ 0. 0. 0. 1. ]] SLAMing on 280.95255784400007 meters Centerline goodness : 0.100283 Centerline is valid? [False, False] Translation: X:3.40, Y:0.33, Z:1.33 [[ 0.9997684 -0.00420683 -0.02110576 3.39980189] [ 0.0040628 0.9999682 -0.00686227 0.32950325] [ 0.02113396 0.00677494 0.9997537 1.32704576] [ 0. 0. 0. 1. ]] SLAMing on 280.98255784400004 meters Centerline goodness : 0.122643 Centerline is valid? [False, False] Translation: X:3.40, Y:0.33, Z:1.33 [[ 9.99779152e-01 -9.43026284e-04 -2.09942336e-02 3.39909727e+00] [ 8.62840649e-04 9.99992300e-01 -3.82814312e-03 3.30983429e-01] [ 2.09976820e-02 3.80918301e-03 9.99772268e-01 1.32751992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01255784400007 meters Centerline goodness : 0.141581 Centerline is valid? [False, False] Translation: X:3.40, Y:0.33, Z:1.33 [[ 9.99780401e-01 -1.17768957e-03 -2.09227735e-02 3.39892182e+00] [ 1.08257880e-03 9.99989033e-01 -4.55654632e-03 3.34618227e-01] [ 2.09279102e-02 4.53289515e-03 9.99770711e-01 1.32761803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04255784400004 meters Centerline goodness : 0.093766 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:1.33 [[ 9.99784238e-01 -1.34979520e-03 -2.07281296e-02 3.39821048e+00] [ 1.24162223e-03 9.99985549e-01 -5.23063884e-03 3.38059264e-01] [ 2.07348903e-02 5.20377376e-03 9.99771466e-01 1.32815049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0725578440001 meters Centerline goodness : 0.109569 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:1.33 [[ 9.99791854e-01 -1.52246021e-03 -2.03452859e-02 3.39688954e+00] [ 1.40284567e-03 9.99981657e-01 -5.89220555e-03 3.41443752e-01] [ 2.03538834e-02 5.86243781e-03 9.99775650e-01 1.32892555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10255784400005 meters Centerline goodness : 0.139042 Centerline is valid? [False, False] Translation: X:3.39, Y:0.35, Z:1.33 [[ 9.99816526e-01 1.37858555e-04 -1.91544900e-02 3.39118387e+00] [-2.32675903e-04 9.99987732e-01 -4.94799651e-03 3.47576768e-01] [ 1.91535728e-02 4.95154547e-03 9.99804292e-01 1.33213954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.132557844 meters Centerline goodness : 0.124578 Centerline is valid? [False, False] Translation: X:3.39, Y:0.35, Z:1.33 [[ 9.99816723e-01 -6.25310703e-05 -1.91446314e-02 3.39126844e+00] [-4.30227008e-05 9.99984802e-01 -5.51303044e-03 3.50431047e-01] [ 1.91446852e-02 5.51284368e-03 9.99801525e-01 1.33197687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16255784400005 meters Centerline goodness : 0.101897 Centerline is valid? [False, False] Translation: X:3.39, Y:0.35, Z:1.33 [[ 9.99815821e-01 -2.43485326e-04 -1.91902404e-02 3.39163305e+00] [ 1.28338573e-04 9.99981984e-01 -6.00127984e-03 3.52994157e-01] [ 1.91913559e-02 5.99771168e-03 9.99797839e-01 1.33157511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.192557844 meters Centerline goodness : 0.094643 Centerline is valid? [False, False] Translation: X:3.39, Y:0.36, Z:1.33 [[ 9.99814767e-01 -4.45900142e-04 -1.92414548e-02 3.39198848e+00] [ 3.20595208e-04 9.99978727e-01 -6.51483138e-03 3.55511231e-01] [ 1.92439504e-02 6.50745590e-03 9.99793640e-01 1.33122788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22255784400005 meters Centerline goodness : 0.107628 Centerline is valid? [False, False] Translation: X:3.39, Y:0.36, Z:1.33 [[ 9.99817682e-01 -9.25999519e-04 -1.90721180e-02 3.39132083e+00] [ 7.78949688e-04 9.99969926e-01 -7.71618547e-03 3.61171470e-01] [ 1.90786896e-02 7.69992245e-03 9.99788335e-01 1.33182782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.252557844 meters Centerline goodness : 0.094264 Centerline is valid? [False, False] Translation: X:3.39, Y:0.36, Z:1.33 [[ 9.99820079e-01 -1.16393241e-03 -1.89328798e-02 3.39064724e+00] [ 1.00622730e-03 9.99964740e-01 -8.33708905e-03 3.64149004e-01] [ 1.89419160e-02 8.31653825e-03 9.99785997e-01 1.33243439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28255784400005 meters Centerline goodness : 0.108850 Centerline is valid? [False, False] Translation: X:3.39, Y:0.37, Z:1.33 [[ 9.99821798e-01 -1.42222200e-03 -1.88241900e-02 3.39016485e+00] [ 1.25340072e-03 9.99958920e-01 -8.97707751e-03 3.67281931e-01] [ 1.88361841e-02 8.95188352e-03 9.99782507e-01 1.33281814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.312557844 meters Centerline goodness : 0.121629 Centerline is valid? [False, False] Translation: X:3.39, Y:0.37, Z:1.33 [[ 9.99822785e-01 -1.67987470e-03 -1.87503666e-02 3.39007398e+00] [ 1.50026810e-03 9.99952901e-01 -9.58879101e-03 3.70254579e-01] [ 1.87655914e-02 9.55896116e-03 9.99778215e-01 1.33270894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34255784400005 meters Centerline goodness : 0.101755 Centerline is valid? [False, False] Translation: X:3.39, Y:0.37, Z:1.33 [[ 9.99823987e-01 -1.92922990e-03 -1.86620523e-02 3.39012397e+00] [ 1.73966755e-03 9.99946786e-01 -1.01685439e-02 3.73041999e-01] [ 1.86806766e-02 1.01342883e-02 9.99774139e-01 1.33230791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.372557844 meters Centerline goodness : 0.135595 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.33 [[ 9.99824281e-01 -2.38447741e-03 -1.85935841e-02 3.39039599e+00] [ 2.17710658e-03 9.99935298e-01 -1.11650936e-02 3.77696399e-01] [ 1.86190040e-02 1.11226515e-02 9.99764782e-01 1.33168010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40255784400006 meters Centerline goodness : 0.175051 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.33 [[ 9.99824943e-01 -2.60400207e-03 -1.85284470e-02 3.39023879e+00] [ 2.38837793e-03 9.99929283e-01 -1.16500912e-02 3.79937578e-01] [ 1.85574736e-02 1.16037988e-02 9.99760457e-01 1.33168856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43255784400003 meters Centerline goodness : 0.105694 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.33 [[ 9.99825063e-01 -2.80273081e-03 -1.84929203e-02 3.39008225e+00] [ 2.57974240e-03 9.99923816e-01 -1.20708993e-02 3.81881339e-01] [ 1.85253429e-02 1.20210807e-02 9.99756123e-01 1.33182123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46255784400006 meters Centerline goodness : 0.102280 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.33 [[ 9.99824031e-01 -2.97619789e-03 -1.85215699e-02 3.39012377e+00] [ 2.74600129e-03 9.99918830e-01 -1.24416148e-02 3.83593722e-01] [ 1.85570952e-02 1.23885652e-02 9.99751048e-01 1.33187203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49255784400003 meters Centerline goodness : 0.113284 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:1.33 [[ 9.99816671e-01 -3.36664746e-03 -1.88491609e-02 3.39140039e+00] [ 3.11753536e-03 9.99907621e-01 -1.32299064e-02 3.87188533e-01] [ 1.88919600e-02 1.31687180e-02 9.99734804e-01 1.33117118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52255784400006 meters Centerline goodness : 0.176542 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:1.33 [[ 9.99811856e-01 -3.54169036e-03 -1.90711607e-02 3.39234495e+00] [ 3.28188763e-03 9.99901627e-01 -1.36369146e-02 3.89132341e-01] [ 1.91175823e-02 1.35717595e-02 9.99725125e-01 1.33058174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55255784400003 meters Centerline goodness : 0.171992 Centerline is valid? [False, False] Translation: X:3.41, Y:0.40, Z:1.33 [[ 0.99974613 -0.01123861 -0.01952874 3.4125729 ] [ 0.01099156 0.99985878 -0.01271244 0.39501405] [ 0.01966886 0.01249456 0.99972847 1.33267525] [ 0. 0. 0. 1. ]] SLAMing on 281.58255784400006 meters Centerline goodness : 0.174373 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.33 [[ 9.99810217e-01 -2.37317060e-03 -1.93364331e-02 3.39014147e+00] [ 2.11663510e-03 9.99909621e-01 -1.32766330e-02 3.95183682e-01] [ 1.93661932e-02 1.32331851e-02 9.99724879e-01 1.33193283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61255784400004 meters Centerline goodness : 0.131677 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.33 [[ 9.99813512e-01 1.27117748e-03 -1.92697945e-02 3.39026756e+00] [-1.46713427e-03 9.99947326e-01 -1.01583926e-02 3.98521927e-01] [ 1.92558664e-02 1.01847695e-02 9.99762713e-01 1.33165255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64255784400007 meters Centerline goodness : 0.173570 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.33 [[ 9.99811667e-01 1.06906946e-03 -1.93774779e-02 3.39070826e+00] [-1.27604083e-03 9.99942240e-01 -1.06718121e-02 4.00894074e-01] [ 1.93649497e-02 1.06945287e-02 9.99755283e-01 1.33144364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67255784400004 meters Centerline goodness : 0.173692 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.33 [[ 9.99809830e-01 8.97270471e-04 -1.94807049e-02 3.39104761e+00] [-1.11447128e-03 9.99937310e-01 -1.11415432e-02 4.03144594e-01] [ 1.94694867e-02 1.11611352e-02 9.99748152e-01 1.33138201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70255784400007 meters Centerline goodness : 0.127161 Centerline is valid? [False, False] Translation: X:3.39, Y:0.41, Z:1.33 [[ 9.99807753e-01 7.56297047e-04 -1.95929972e-02 3.39146850e+00] [-9.82568526e-04 9.99932911e-01 -1.15415381e-02 4.05215368e-01] [ 1.95829539e-02 1.15585707e-02 9.99741420e-01 1.33122154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73255784400004 meters Centerline goodness : 0.113277 Centerline is valid? [False, False] Translation: X:3.39, Y:0.41, Z:1.33 [[ 9.99806451e-01 6.35619313e-04 -1.96636015e-02 3.39179328e+00] [-8.69536645e-04 9.99928937e-01 -1.18896939e-02 4.07017626e-01] [ 1.96546468e-02 1.19044909e-02 9.99735954e-01 1.33098807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76255784400007 meters Centerline goodness : 0.175341 Centerline is valid? [False, False] Translation: X:3.41, Y:0.41, Z:1.33 [[ 0.99978159 -0.00743131 -0.01953332 3.41233278] [ 0.00721614 0.99991276 -0.01106313 0.41167577] [ 0.01961383 0.01091976 0.999748 1.33246759] [ 0. 0. 0. 1. ]] SLAMing on 281.79255784400004 meters Centerline goodness : 0.121795 Centerline is valid? [False, False] Translation: X:3.37, Y:0.42, Z:1.33 [[ 0.99972062 -0.008578 -0.02202492 3.3664838 ] [ 0.00830987 0.9998906 -0.01223689 0.41692915] [ 0.02212748 0.01205045 0.99968253 1.33309859] [ 0. 0. 0. 1. ]] SLAMing on 281.8225578440001 meters Centerline goodness : 0.174553 Centerline is valid? [False, False] Translation: X:3.41, Y:0.41, Z:1.33 [[ 0.99976647 -0.00860622 -0.01982269 3.41083403] [ 0.00836677 0.99989141 -0.01213081 0.41469728] [ 0.01992494 0.01196213 0.99972992 1.3332639 ] [ 0. 0. 0. 1. ]] SLAMing on 281.85255784400005 meters Centerline goodness : 0.174268 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.33 [[ 0.99976536 -0.00878316 -0.01980105 3.41076479] [ 0.0085348 0.99988428 -0.01259266 0.41705089] [ 0.01990937 0.01242071 0.99972463 1.3333844 ] [ 0. 0. 0. 1. ]] SLAMing on 281.882557844 meters Centerline goodness : 0.171699 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.33 [[ 0.9997641 -0.00887622 -0.01982303 3.41090155] [ 0.00862265 0.99988038 -0.01284053 0.41823518] [ 0.01993463 0.01266658 0.99972105 1.33327872] [ 0. 0. 0. 1. ]] SLAMing on 281.91255784400005 meters Centerline goodness : 0.175684 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.33 [[ 0.99976331 -0.00897016 -0.0198208 3.41079155] [ 0.0087114 0.99987621 -0.01310275 0.41942233] [ 0.01993588 0.01292698 0.99971769 1.33353935] [ 0. 0. 0. 1. ]] SLAMing on 281.942557844 meters Centerline goodness : 0.174980 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.33 [[ 0.99976544 -0.00904167 -0.01968038 3.41020537] [ 0.00877976 0.99987229 -0.01335388 0.42064661] [ 0.01979861 0.01317796 0.99971714 1.33400153] [ 0. 0. 0. 1. ]] SLAMing on 281.97255784400005 meters Centerline goodness : 0.176396 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.33 [[ 0.99976926 -0.00912051 -0.01944864 3.40927694] [ 0.00885603 0.99986772 -0.01364222 0.42204699] [ 0.01957049 0.01346684 0.99971778 1.33468051] [ 0. 0. 0. 1. ]] SLAMing on 282.002557844 meters Centerline goodness : 0.169462 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.34 [[ 0.99979564 -0.00588723 -0.01933939 3.4084229 ] [ 0.00568463 0.99992857 -0.0105141 0.42259432] [ 0.01939991 0.01040201 0.99975769 1.33523891] [ 0. 0. 0. 1. ]] SLAMing on 282.03255784400005 meters Centerline goodness : 0.172735 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.34 [[ 0.9997918 -0.00597774 -0.01950964 3.40900404] [ 0.00576835 0.99992535 -0.01077104 0.42388683] [ 0.01957257 0.01065626 0.99975165 1.33504605] [ 0. 0. 0. 1. ]] SLAMing on 282.062557844 meters Centerline goodness : 0.175541 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.34 [[ 0.9997894 -0.00606711 -0.01960498 3.40930063] [ 0.00585194 0.99992222 -0.01101405 0.4251283 ] [ 0.01967028 0.010897 0.99974714 1.33500827] [ 0. 0. 0. 1. ]] SLAMing on 282.09255784400005 meters Centerline goodness : 0.175512 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.34 [[ 0.99979031 -0.00615153 -0.01953207 3.40908307] [ 0.00593294 0.99991934 -0.0112298 0.42614004] [ 0.01959958 0.01111156 0.99974616 1.33508012] [ 0. 0. 0. 1. ]] SLAMing on 282.122557844 meters Centerline goodness : 0.104973 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.34 [[ 0.99979156 -0.00621902 -0.0194461 3.4086637 ] [ 0.00599772 0.99991683 -0.01141741 0.42702561] [ 0.01951549 0.0112984 0.99974571 1.33543338] [ 0. 0. 0. 1. ]] SLAMing on 282.15255784400006 meters Centerline goodness : 0.170652 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.34 [[ 0.99979455 -0.00630231 -0.019265 3.40801041] [ 0.00607913 0.99991399 -0.011621 0.4281347 ] [ 0.01933659 0.0115015 0.99974687 1.33575461] [ 0. 0. 0. 1. ]] SLAMing on 282.18255784400003 meters Centerline goodness : 0.174735 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.34 [[ 0.99979513 -0.00631982 -0.01922885 3.40807937] [ 0.00609708 0.99991389 -0.01162032 0.4280511 ] [ 0.01930063 0.0115007 0.99974758 1.33545342] [ 0. 0. 0. 1. ]] SLAMing on 282.21255784400006 meters Centerline goodness : 0.171722 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.34 [[ 0.99979533 -0.00632785 -0.01921603 3.40822068] [ 0.00610609 0.99991434 -0.01157718 0.42777474] [ 0.01928764 0.01145748 0.99974832 1.3350964 ] [ 0. 0. 0. 1. ]] SLAMing on 282.24255784400003 meters Centerline goodness : 0.175825 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99979538 -0.00634073 -0.01920899 3.40830146] [ 0.00611901 0.99991424 -0.01157901 0.42776119] [ 0.01928076 0.0114591 0.99974844 1.33490375] [ 0. 0. 0. 1. ]] SLAMing on 282.27255784400006 meters Centerline goodness : 0.174844 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 9.99817443e-01 -3.31447761e-03 -1.88174285e-02 3.40724780e+00] [ 3.15519023e-03 9.99958996e-01 -8.48827339e-03 4.29054966e-01] [ 1.88447911e-02 8.42735122e-03 9.99786904e-01 1.33485086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30255784400003 meters Centerline goodness : 0.098804 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 9.99815324e-01 -3.36970564e-03 -1.89199160e-02 3.40782152e+00] [ 3.20669886e-03 9.99957538e-01 -8.63935662e-03 4.29947788e-01] [ 1.89482247e-02 8.57709066e-03 9.99783676e-01 1.33432208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33255784400006 meters Centerline goodness : 0.102160 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 9.99811284e-01 -3.42212013e-03 -1.91228923e-02 3.40859377e+00] [ 3.25516416e-03 9.99956376e-01 -8.75500346e-03 4.30562637e-01] [ 1.91520188e-02 8.69110310e-03 9.99778808e-01 1.33389301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36255784400004 meters Centerline goodness : 0.172703 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 9.99808138e-01 -3.46034802e-03 -1.92798522e-02 3.40917726e+00] [ 3.29113092e-03 9.99955848e-01 -8.80171496e-03 4.30717863e-01] [ 1.93094579e-02 8.73657373e-03 9.99775383e-01 1.33351426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39255784400007 meters Centerline goodness : 0.175387 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 9.99806468e-01 -3.47869385e-03 -1.93629951e-02 3.40952997e+00] [ 3.30872313e-03 9.99955777e-01 -8.80324660e-03 4.30722555e-01] [ 1.93927626e-02 8.73747610e-03 9.99773763e-01 1.33320265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42255784400004 meters Centerline goodness : 0.175490 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 9.99806443e-01 -3.53887199e-03 -1.93533681e-02 3.40980196e+00] [ 3.36724833e-03 9.99954784e-01 -8.89330497e-03 4.31269075e-01] [ 1.93839652e-02 8.82641601e-03 9.99773152e-01 1.33270101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45255784400007 meters Centerline goodness : 0.173353 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99980689 -0.00359395 -0.01931991 3.40980481] [ 0.00342097 0.99995384 -0.00897889 0.43164503] [ 0.01935129 0.00891107 0.99977303 1.33253917] [ 0. 0. 0. 1. ]] SLAMing on 282.48255784400004 meters Centerline goodness : 0.102626 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99980826 -0.00362042 -0.01924407 3.40956727] [ 0.00344702 0.99995323 -0.00903591 0.43186942] [ 0.01927589 0.00896785 0.99977398 1.33260044] [ 0. 0. 0. 1. ]] SLAMing on 282.51255784400007 meters Centerline goodness : 0.171460 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99980786 -0.00368397 -0.01925305 3.40948955] [ 0.00350893 0.99995228 -0.00911732 0.43211758] [ 0.01928572 0.00904801 0.99977307 1.33274207] [ 0. 0. 0. 1. ]] SLAMing on 282.54255784400004 meters Centerline goodness : 0.170283 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99980303 -0.00367113 -0.01950431 3.41039636] [ 0.00349537 0.99995305 -0.00903822 0.43162895] [ 0.01953657 0.00896827 0.99976892 1.3322452 ] [ 0. 0. 0. 1. ]] SLAMing on 282.5725578440001 meters Centerline goodness : 0.098279 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99979978 -0.00365535 -0.01967354 3.41087633] [ 0.00347933 0.99995368 -0.00897389 0.43126645] [ 0.01970543 0.00890364 0.99976618 1.33210985] [ 0. 0. 0. 1. ]] SLAMing on 282.60255784400005 meters Centerline goodness : 0.173263 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99980116 -0.00362549 -0.01960844 3.41064685] [ 0.00345079 0.99995412 -0.00893568 0.43111626] [ 0.01963994 0.00886624 0.9997678 1.33221254] [ 0. 0. 0. 1. ]] SLAMing on 282.632557844 meters Centerline goodness : 0.105534 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99980557 -0.00360675 -0.01938589 3.40973222] [ 0.00343289 0.99995366 -0.0089945 0.43154922] [ 0.01941743 0.0089262 0.99977162 1.33287771] [ 0. 0. 0. 1. ]] SLAMing on 282.66255784400005 meters Centerline goodness : 0.095455 Centerline is valid? [False, False] Translation: X:3.40, Y:0.43, Z:1.34 [[ 9.99840250e-01 -1.60757512e-03 -1.78013956e-02 3.40284283e+00] [ 1.47746405e-03 9.99972119e-01 -7.31977882e-03 4.32886994e-01] [ 1.78126664e-02 7.29230856e-03 9.99814748e-01 1.33643260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.692557844 meters Centerline goodness : 0.178026 Centerline is valid? [False, False] Translation: X:3.40, Y:0.43, Z:1.34 [[ 9.99840409e-01 -1.69190226e-03 -1.77846623e-02 3.40260823e+00] [ 1.55604627e-03 9.99969528e-01 -7.65000547e-03 4.34401188e-01] [ 1.77970634e-02 7.62111084e-03 9.99812574e-01 1.33686813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72255784400005 meters Centerline goodness : 0.178026 Centerline is valid? [False, False] Translation: X:3.40, Y:0.43, Z:1.34 [[ 9.99840409e-01 -1.69190226e-03 -1.77846623e-02 3.40260823e+00] [ 1.55604627e-03 9.99969528e-01 -7.65000547e-03 4.34401188e-01] [ 1.77970634e-02 7.62111084e-03 9.99812574e-01 1.33686813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.752557844 meters Centerline goodness : 0.102196 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:1.34 [[ 9.99835192e-01 -1.77904056e-03 -1.80672230e-02 3.40339074e+00] [ 1.63473384e-03 9.99966673e-01 -7.99884097e-03 4.36112787e-01] [ 1.80808512e-02 7.96798760e-03 9.99804778e-01 1.33681032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78255784400005 meters Centerline goodness : 0.173678 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:1.34 [[ 9.99830443e-01 -1.81350478e-03 -1.83247677e-02 3.40417787e+00] [ 1.66241394e-03 9.99964528e-01 -8.25704280e-03 4.37606466e-01] [ 1.83390918e-02 8.22517941e-03 9.99797992e-01 1.33659887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.812557844 meters Centerline goodness : 0.113679 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:1.34 [[ 9.99829773e-01 1.61249475e-03 -1.83800172e-02 3.40432781e+00] [-1.69966865e-03 9.99987377e-01 -4.72822895e-03 4.37398394e-01] [ 1.83721609e-02 4.75866401e-03 9.99819893e-01 1.33642420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84255784400005 meters Centerline goodness : 0.103198 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:1.34 [[ 9.99831713e-01 1.59642390e-03 -1.82755969e-02 3.40400519e+00] [-1.68484610e-03 9.99986946e-01 -4.82389174e-03 4.38029204e-01] [ 1.82676574e-02 4.85387151e-03 9.99821350e-01 1.33655768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.872557844 meters Centerline goodness : 0.171814 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:1.34 [[ 9.99837648e-01 1.53867969e-03 -1.79530089e-02 3.40292679e+00] [-1.62688587e-03 9.99986673e-01 -4.89959999e-03 4.38254822e-01] [ 1.79452308e-02 4.92801203e-03 9.99826827e-01 1.33697581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90255784400006 meters Centerline goodness : 0.108047 Centerline is valid? [False, False] Translation: X:3.38, Y:0.44, Z:1.34 [[ 0.99980684 -0.00690148 -0.01840266 3.38294829] [ 0.00682669 0.9999682 -0.0041237 0.44435847] [ 0.01843053 0.00399728 0.99982215 1.33591442] [ 0. 0. 0. 1. ]] SLAMing on 282.93255784400003 meters Centerline goodness : 0.176948 Centerline is valid? [False, False] Translation: X:3.38, Y:0.45, Z:1.34 [[ 0.9998042 -0.00697002 -0.01851951 3.38332871] [ 0.00689187 0.99996709 -0.00428048 0.44507997] [ 0.01854874 0.00415201 0.99981934 1.33577183] [ 0. 0. 0. 1. ]] SLAMing on 282.96255784400006 meters Centerline goodness : 0.129454 Centerline is valid? [False, False] Translation: X:3.38, Y:0.45, Z:1.34 [[ 0.99980129 -0.00705184 -0.01864521 3.38374411] [ 0.00696873 0.99996551 -0.00451876 0.44634608] [ 0.01867643 0.00438793 0.99981595 1.33560239] [ 0. 0. 0. 1. ]] SLAMing on 282.99255784400003 meters Centerline goodness : 0.174832 Centerline is valid? [False, False] Translation: X:3.38, Y:0.45, Z:1.34 [[ 9.99823340e-01 -3.23725001e-03 -1.85151094e-02 3.38339556e+00] [ 3.22012628e-03 9.99994360e-01 -9.54589602e-04 4.47978375e-01] [ 1.85180952e-02 8.94799974e-04 9.99828125e-01 1.33553204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02255784400006 meters Centerline goodness : 0.111762 Centerline is valid? [False, False] Translation: X:3.38, Y:0.45, Z:1.34 [[ 9.99824125e-01 -3.32889845e-03 -1.84563689e-02 3.38319195e+00] [ 3.30574971e-03 9.99993711e-01 -1.28460820e-03 4.49779468e-01] [ 1.84605292e-02 1.22337013e-03 9.99828841e-01 1.33565183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05255784400003 meters Centerline goodness : 0.103469 Centerline is valid? [False, False] Translation: X:3.38, Y:0.45, Z:1.34 [[ 9.99825766e-01 -3.41550253e-03 -1.83513491e-02 3.38282734e+00] [ 3.38850957e-03 9.99993131e-01 -1.50179077e-03 4.50897341e-01] [ 1.83563524e-02 1.43934539e-03 9.99830472e-01 1.33579749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08255784400006 meters Centerline goodness : 0.171359 Centerline is valid? [False, False] Translation: X:3.38, Y:0.45, Z:1.34 [[ 9.99828094e-01 -3.44224062e-03 -1.82190382e-02 3.38258977e+00] [ 3.41519667e-03 9.99993020e-01 -1.51528390e-03 4.50918501e-01] [ 1.82241270e-02 1.45280181e-03 9.99832871e-01 1.33559011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11255784400004 meters Centerline goodness : 0.120106 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.34 [[ 9.99773085e-01 -3.74173467e-03 -2.09708657e-02 3.33826541e+00] [ 3.70600169e-03 9.99991615e-01 -1.74253925e-03 4.53128501e-01] [ 2.09772099e-02 1.66442578e-03 9.99778569e-01 1.33525809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14255784400007 meters Centerline goodness : 0.175438 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99745630e-01 -4.09621072e-03 -2.21787369e-02 3.34205489e+00] [ 4.06571250e-03 9.99990727e-01 -1.42002802e-03 4.50324358e-01] [ 2.21843480e-02 1.32949444e-03 9.99753013e-01 1.33353609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17255784400004 meters Centerline goodness : 0.171173 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99742583e-01 -4.02461619e-03 -2.23286770e-02 3.34266313e+00] [ 4.00216283e-03 9.99991440e-01 -1.05017999e-03 4.48418902e-01] [ 2.23327125e-02 9.60546650e-04 9.99750132e-01 1.33303096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20255784400007 meters Centerline goodness : 0.128386 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99741337e-01 -3.95913185e-03 -2.23960725e-02 3.34294477e+00] [ 3.94241028e-03 9.99991916e-01 -7.90732988e-04 4.47006289e-01] [ 2.23990221e-02 7.02233948e-04 9.99748864e-01 1.33280038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23255784400004 meters Centerline goodness : 0.170922 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99739918e-01 -3.91761008e-03 -2.24665981e-02 3.34304556e+00] [ 3.90277953e-03 9.99992136e-01 -7.03924323e-04 4.46597792e-01] [ 2.24691791e-02 6.16059066e-04 9.99747346e-01 1.33294250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26255784400007 meters Centerline goodness : 0.104100 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99735026e-01 -3.92887660e-03 -2.26813281e-02 3.34352611e+00] [ 3.91065806e-03 9.99991994e-01 -8.47539267e-04 4.47399424e-01] [ 2.26844764e-02 7.58615772e-04 9.99742386e-01 1.33311895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29255784400004 meters Centerline goodness : 0.096856 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99740388e-01 9.23894786e-05 -2.27848356e-02 3.34407286e+00] [-2.92413315e-05 9.99996158e-01 2.77181651e-03 4.49158853e-01] [ 2.27850042e-02 -2.77043066e-03 9.99736549e-01 1.33278173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3225578440001 meters Centerline goodness : 0.174521 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99739314e-01 1.12727823e-04 -2.28318229e-02 3.34425930e+00] [-5.82704074e-05 9.99997152e-01 2.38580534e-03 4.51475779e-01] [ 2.28320268e-02 -2.38385297e-03 9.99736473e-01 1.33278017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35255784400005 meters Centerline goodness : 0.097803 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99742979e-01 2.94196520e-05 -2.26710288e-02 3.34398845e+00] [ 1.40796276e-05 9.99998159e-01 1.91855460e-03 4.53881876e-01] [ 2.26710435e-02 -1.91838069e-03 9.99741138e-01 1.33264535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.382557844 meters Centerline goodness : 0.179027 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99747612e-01 -5.88455297e-05 -2.24657449e-02 3.34344389e+00] [ 9.19687914e-05 9.99998910e-01 1.47335929e-03 4.56095050e-01] [ 2.24656337e-02 -1.47505358e-03 9.99746528e-01 1.33278291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41255784400005 meters Centerline goodness : 0.172785 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99749244e-01 -1.48299915e-04 -2.23925489e-02 3.34318833e+00] [ 1.66869065e-04 9.99999644e-01 8.27389473e-04 4.59581135e-01] [ 2.23924182e-02 -8.30918624e-04 9.99748913e-01 1.33301154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442557844 meters Centerline goodness : 0.105675 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99744095e-01 -2.64061379e-04 -2.26202482e-02 3.34390816e+00] [ 2.75463654e-04 9.99999837e-01 5.00959409e-04 4.61252240e-01] [ 2.26201123e-02 -5.07062267e-04 9.99744004e-01 1.33278024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47255784400005 meters Centerline goodness : 0.098754 Centerline is valid? [False, False] Translation: X:3.35, Y:0.46, Z:1.33 [[ 9.99733872e-01 -3.66790882e-04 -2.30662174e-02 3.34545912e+00] [ 3.71521329e-04 9.99999911e-01 2.00796158e-04 4.62769829e-01] [ 2.30661417e-02 -2.09312312e-04 9.99733919e-01 1.33207717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502557844 meters Centerline goodness : 0.280045 Centerline is valid? [False, False] Translation: X:3.35, Y:0.46, Z:1.33 [[ 9.99727416e-01 -5.06186837e-04 -2.33417372e-02 3.34651169e+00] [ 5.04001132e-04 9.99999868e-01 -9.95221602e-05 4.64144910e-01] [ 2.33417845e-02 8.77307701e-05 9.99727540e-01 1.33143940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53255784400005 meters Centerline goodness : 0.121213 Centerline is valid? [False, False] Translation: X:3.35, Y:0.47, Z:1.33 [[ 9.99731577e-01 -6.66384146e-04 -2.31588004e-02 3.34596913e+00] [ 6.56326101e-04 9.99999687e-01 -4.41905844e-04 4.65702517e-01] [ 2.31590876e-02 4.26587501e-04 9.99731701e-01 1.33157428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562557844 meters Centerline goodness : 0.100081 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99740952e-01 -6.98443587e-04 -2.27495306e-02 3.34469498e+00] [ 6.88214879e-04 9.99999659e-01 -4.57449014e-04 4.65765805e-01] [ 2.27498423e-02 4.41673948e-04 9.99741091e-01 1.33199142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59255784400005 meters Centerline goodness : 0.099315 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99747166e-01 -7.57968133e-04 -2.24728592e-02 3.34382025e+00] [ 7.49054316e-04 9.99999637e-01 -4.05063204e-04 4.65285956e-01] [ 2.24731581e-02 3.88127398e-04 9.99747371e-01 1.33221413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622557844 meters Centerline goodness : 0.155788 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99751153e-01 -7.63920739e-04 -2.22945976e-02 3.34333390e+00] [ 7.58057202e-04 9.99999676e-01 -2.71452760e-04 4.64399583e-01] [ 2.22947977e-02 2.54484630e-04 9.99751408e-01 1.33222646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65255784400006 meters Centerline goodness : 0.101108 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99751705e-01 -7.43591415e-04 -2.22704892e-02 3.34343306e+00] [ 7.41472023e-04 9.99999720e-01 -1.03423285e-04 4.63458367e-01] [ 2.22705599e-02 8.68846614e-05 9.99751977e-01 1.33187101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68255784400003 meters Centerline goodness : 0.174348 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99750513e-01 -7.10617853e-04 -2.23250271e-02 3.34363528e+00] [ 7.11487677e-04 9.99999746e-01 3.10188815e-05 4.62775791e-01] [ 2.23249994e-02 -4.68951244e-05 9.99750765e-01 1.33171855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71255784400006 meters Centerline goodness : 0.173529 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99746289e-01 -6.67602460e-04 -2.25147057e-02 3.34422066e+00] [ 6.70701856e-04 9.99999767e-01 1.30109946e-04 4.62411234e-01] [ 2.25146136e-02 -1.45177590e-04 9.99746503e-01 1.33154295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74255784400003 meters Centerline goodness : 0.099415 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99747450e-01 -6.92567929e-04 -2.24623380e-02 3.34396554e+00] [ 6.93786134e-04 9.99999758e-01 4.64402413e-05 4.62827640e-01] [ 2.24623005e-02 -6.20125715e-05 9.99747689e-01 1.33178117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77255784400006 meters Centerline goodness : 0.174305 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99753123e-01 -7.46713918e-04 -2.22066335e-02 3.34301794e+00] [ 7.43895490e-04 9.99999714e-01 -1.35178776e-04 4.63683197e-01] [ 2.22067281e-02 1.18625989e-04 9.99753393e-01 1.33229675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80255784400003 meters Centerline goodness : 0.176854 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99759555e-01 -8.30439000e-04 -2.19121498e-02 3.34191847e+00] [ 8.22088337e-04 9.99999586e-01 -3.90102585e-04 4.64876929e-01] [ 2.19124647e-02 3.71995064e-04 9.99759824e-01 1.33294222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83255784400006 meters Centerline goodness : 0.176535 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99761681e-01 -8.65113165e-04 -2.18136112e-02 3.34134365e+00] [ 8.49661774e-04 9.99999382e-01 -7.17595412e-04 4.66875082e-01] [ 2.18142185e-02 6.98890204e-04 9.99761797e-01 1.33357811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86255784400004 meters Centerline goodness : 0.107952 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99759978e-01 -8.85215639e-04 -2.18907087e-02 3.34168640e+00] [ 8.67796045e-04 9.99999299e-01 -8.05239533e-04 4.67463951e-01] [ 2.18914062e-02 7.86049587e-04 9.99760045e-01 1.33332964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89255784400007 meters Centerline goodness : 0.103353 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99768594e-01 -9.56065673e-04 -2.14905493e-02 3.34049247e+00] [ 9.38715499e-04 9.99999225e-01 -8.17413110e-04 4.67068628e-01] [ 2.14913142e-02 7.97050444e-04 9.99768717e-01 1.33361439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92255784400004 meters Centerline goodness : 0.107441 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99774002e-01 -9.87968138e-04 -2.12360358e-02 3.33950840e+00] [ 9.71670187e-04 9.99999225e-01 -7.77771432e-04 4.66651219e-01] [ 2.12367878e-02 7.56961234e-04 9.99774187e-01 1.33413554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95255784400007 meters Centerline goodness : 0.101817 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99777188e-01 -9.65300367e-04 -2.10865600e-02 3.33891249e+00] [ 9.51085635e-04 9.99999314e-01 -6.84131651e-04 4.66229864e-01] [ 2.10872059e-02 6.63924094e-04 9.99777420e-01 1.33448354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98255784400004 meters Centerline goodness : 0.099809 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99778887e-01 -9.42062811e-04 -2.10069145e-02 3.33868446e+00] [ 9.29847996e-04 9.99999393e-01 -5.91226510e-04 4.65920088e-01] [ 2.10074587e-02 5.71562545e-04 9.99779156e-01 1.33449470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01255784400007 meters Centerline goodness : 0.163322 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99777138e-01 -9.40486113e-04 -2.10900440e-02 3.33915042e+00] [ 9.30139926e-04 9.99999442e-01 -5.00376202e-04 4.65448246e-01] [ 2.10905028e-02 4.80647996e-04 9.99777455e-01 1.33401552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04255784400004 meters Centerline goodness : 0.101950 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99771466e-01 -9.70611275e-04 -2.13558755e-02 3.34022491e+00] [ 9.63045503e-04 9.99999470e-01 -3.64552871e-04 4.64533137e-01] [ 2.13562180e-02 3.43902879e-04 9.99771871e-01 1.33322379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0725578440001 meters Centerline goodness : 0.100758 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99741686e-01 -1.54756731e-03 -2.26752389e-02 3.34430988e+00] [ 1.54161214e-03 9.99998772e-01 -2.80106607e-04 4.61886866e-01] [ 2.26756445e-02 2.45077828e-04 9.99742844e-01 1.33162337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10255784400005 meters Centerline goodness : 0.102233 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99740185e-01 -1.44438414e-03 -2.27481159e-02 3.34459085e+00] [ 1.44717881e-03 9.99998947e-01 1.06390949e-04 4.59999995e-01] [ 2.27479383e-02 -1.39283898e-04 9.99741222e-01 1.33135330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.132557844 meters Centerline goodness : 0.166880 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99741474e-01 -1.35498388e-03 -2.26969138e-02 3.34445970e+00] [ 1.36280857e-03 9.99999017e-01 3.29282619e-04 4.58978274e-01] [ 2.26964453e-02 -3.60129039e-04 9.99742338e-01 1.33134266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16255784400005 meters Centerline goodness : 0.170567 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99741929e-01 -1.33899485e-03 -2.26777834e-02 3.34432302e+00] [ 1.34736791e-03 9.99999030e-01 3.53943066e-04 4.58808259e-01] [ 2.26772875e-02 -3.84407041e-04 9.99742763e-01 1.33151550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.192557844 meters Centerline goodness : 0.100002 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99740312e-01 -1.29804233e-03 -2.27513364e-02 3.34443291e+00] [ 1.29889005e-03 9.99999156e-01 2.24825859e-05 4.60403476e-01] [ 2.27512880e-02 -5.20282318e-05 9.99741155e-01 1.33177770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22255784400005 meters Centerline goodness : 0.096950 Centerline is valid? [False, False] Translation: X:3.35, Y:0.46, Z:1.33 [[ 9.99734289e-01 -1.19708153e-03 -2.30199639e-02 3.34524507e+00] [ 1.19281898e-03 9.99999269e-01 -1.98897811e-04 4.61956601e-01] [ 2.30201852e-02 1.71386312e-04 9.99734986e-01 1.33166897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.252557844 meters Centerline goodness : 0.176649 Centerline is valid? [False, False] Translation: X:3.35, Y:0.46, Z:1.33 [[ 9.99730374e-01 -9.64505482e-04 -2.32001967e-02 3.34585737e+00] [ 9.57179816e-04 9.99999488e-01 -3.26861578e-04 4.63453776e-01] [ 2.32005001e-02 3.04566688e-04 9.99730786e-01 1.33152519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28255784400005 meters Centerline goodness : 0.172890 Centerline is valid? [False, False] Translation: X:3.35, Y:0.47, Z:1.33 [[ 9.99725681e-01 -6.75119139e-04 -2.34116684e-02 3.34637868e+00] [ 6.63872026e-04 9.99999660e-01 -4.88175221e-04 4.65279219e-01] [ 2.34119900e-02 4.72498954e-04 9.99725790e-01 1.33170032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.312557844 meters Centerline goodness : 0.180057 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99745269e-01 1.82344472e-03 -2.24960588e-02 3.34214490e+00] [-1.79571373e-03 9.99997603e-01 1.25284369e-03 4.69469566e-01] [ 2.24982893e-02 -1.21212807e-03 9.99746147e-01 1.33407634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34255784400005 meters Centerline goodness : 0.100617 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99752498e-01 1.85140144e-03 -2.21701581e-02 3.34095386e+00] [-1.82998725e-03 9.99997839e-01 9.86151050e-04 4.71029530e-01] [ 2.21719360e-02 -9.45335868e-04 9.99753725e-01 1.33475885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.372557844 meters Centerline goodness : 0.100648 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.34 [[ 9.99756563e-01 1.84923973e-03 -2.19862384e-02 3.34038837e+00] [-1.83317679e-03 9.99998038e-01 7.50723280e-04 4.72404712e-01] [ 2.19875835e-02 -7.10235865e-04 9.99757992e-01 1.33500444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40255784400006 meters Centerline goodness : 0.180248 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.34 [[ 9.99758767e-01 1.80692345e-03 -2.18893163e-02 3.34014280e+00] [-1.79653916e-03 9.99998264e-01 4.94055454e-04 4.73739929e-01] [ 2.18901711e-02 -4.54611258e-04 9.99760278e-01 1.33506981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43255784400003 meters Centerline goodness : 0.129909 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.34 [[ 9.99760031e-01 1.73465095e-03 -2.18373946e-02 3.34003279e+00] [-1.72954126e-03 9.99998472e-01 2.52872467e-04 4.74875757e-01] [ 2.18377999e-02 -2.15043111e-04 9.99761504e-01 1.33506176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46255784400006 meters Centerline goodness : 0.176016 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:1.33 [[ 9.99752533e-01 1.71544478e-03 -2.21794830e-02 3.34103792e+00] [-1.71983344e-03 9.99998505e-01 -1.78797281e-04 4.77339619e-01] [ 2.21791432e-02 2.16898051e-04 9.99753989e-01 1.33488116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49255784400003 meters Centerline goodness : 0.181761 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:1.33 [[ 9.99745757e-01 1.73506830e-03 -2.24813613e-02 3.34186647e+00] [-1.74531930e-03 9.99998382e-01 -4.36364885e-04 4.79116641e-01] [ 2.24805678e-02 4.75491096e-04 9.99747167e-01 1.33481332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52255784400006 meters Centerline goodness : 0.172989 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:1.33 [[ 9.99739747e-01 1.81963941e-03 -2.27404273e-02 3.34257192e+00] [-1.83602323e-03 9.99998070e-01 -6.99613152e-04 4.81131010e-01] [ 2.27391104e-02 7.41183028e-04 9.99741158e-01 1.33479572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55255784400003 meters Centerline goodness : 0.171808 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:1.33 [[ 9.99743999e-01 1.86949283e-03 -2.25486389e-02 3.34209899e+00] [-1.89369981e-03 9.99997653e-01 -1.05223991e-03 4.83360519e-01] [ 2.25466188e-02 1.09467088e-03 9.99745193e-01 1.33490868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58255784400006 meters Centerline goodness : 0.101673 Centerline is valid? [False, False] Translation: X:3.34, Y:0.49, Z:1.34 [[ 9.99753018e-01 2.44668186e-03 -2.20888171e-02 3.34066982e+00] [-2.47628922e-03 9.99996072e-01 -1.31312470e-03 4.86864781e-01] [ 2.20855175e-02 1.36749868e-03 9.99755150e-01 1.33552424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61255784400004 meters Centerline goodness : 0.101673 Centerline is valid? [False, False] Translation: X:3.34, Y:0.49, Z:1.34 [[ 9.99753018e-01 2.44668186e-03 -2.20888171e-02 3.34066982e+00] [-2.47628922e-03 9.99996072e-01 -1.31312470e-03 4.86864781e-01] [ 2.20855175e-02 1.36749868e-03 9.99755150e-01 1.33552424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64255784400007 meters Centerline goodness : 0.180856 Centerline is valid? [False, False] Translation: X:3.34, Y:0.49, Z:1.34 [[ 9.99748984e-01 2.48993256e-03 -2.22658954e-02 3.34123890e+00] [-2.52918259e-03 9.99995297e-01 -1.73480026e-03 4.89459107e-01] [ 2.22614711e-02 1.79067931e-03 9.99750579e-01 1.33535495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67255784400004 meters Centerline goodness : 0.164243 Centerline is valid? [False, False] Translation: X:3.32, Y:0.50, Z:1.33 [[ 9.99753736e-01 -4.02135395e-03 -2.18241932e-02 3.32420479e+00] [ 4.02658138e-03 9.99991874e-01 1.95586068e-04 4.96905605e-01] [ 2.18232293e-02 -2.83414792e-04 9.99761805e-01 1.33204630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70255784400007 meters Centerline goodness : 0.122479 Centerline is valid? [False, False] Translation: X:3.35, Y:0.49, Z:1.33 [[ 9.99751580e-01 4.50421101e-03 -2.18286767e-02 3.34516768e+00] [-4.52089802e-03 9.99989525e-01 -7.15165028e-04 4.94608124e-01] [ 2.18252268e-02 8.13672587e-04 9.99761470e-01 1.33316529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73255784400004 meters Centerline goodness : 0.182889 Centerline is valid? [False, False] Translation: X:3.35, Y:0.50, Z:1.33 [[ 9.99747649e-01 4.49159007e-03 -2.20105556e-02 3.34571599e+00] [-4.51374410e-03 9.99989355e-01 -9.56940387e-04 4.96132111e-01] [ 2.20060231e-02 1.05604892e-03 9.99757280e-01 1.33303387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76255784400007 meters Centerline goodness : 0.105146 Centerline is valid? [False, False] Translation: X:3.35, Y:0.50, Z:1.33 [[ 9.99744053e-01 4.45889150e-03 -2.21798527e-02 3.34613359e+00] [-4.48634234e-03 9.99989231e-01 -1.18804187e-03 4.97370163e-01] [ 2.21743164e-02 1.28724420e-03 9.99753291e-01 1.33304903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79255784400004 meters Centerline goodness : 0.179818 Centerline is valid? [False, False] Translation: X:3.35, Y:0.50, Z:1.33 [[ 9.99738655e-01 4.37216432e-03 -2.24389288e-02 3.34690480e+00] [-4.41120971e-03 9.99988841e-01 -1.69087093e-03 4.99856428e-01] [ 2.24312857e-02 1.78941185e-03 9.99746786e-01 1.33284122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8225578440001 meters Centerline goodness : 0.103086 Centerline is valid? [False, False] Translation: X:3.35, Y:0.50, Z:1.33 [[ 9.99737462e-01 4.28032063e-03 -2.25096810e-02 3.34731668e+00] [-4.32630863e-03 9.99988652e-01 -1.99473089e-03 5.01343699e-01] [ 2.25008875e-02 2.09159103e-03 9.99744635e-01 1.33245190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85255784400005 meters Centerline goodness : 0.174001 Centerline is valid? [False, False] Translation: X:3.35, Y:0.50, Z:1.33 [[ 9.99735182e-01 4.23914665e-03 -2.26184830e-02 3.34782102e+00] [-4.29197959e-03 9.99988172e-01 -2.28779618e-03 5.03028539e-01] [ 2.26085172e-02 2.38426840e-03 9.99741552e-01 1.33207277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.882557844 meters Centerline goodness : 0.106942 Centerline is valid? [False, False] Translation: X:3.35, Y:0.51, Z:1.33 [[ 9.99738670e-01 4.69356752e-03 -2.23732424e-02 3.34720240e+00] [-4.75075230e-03 9.99985581e-01 -2.50347917e-03 5.06022633e-01] [ 2.23611696e-02 2.60911467e-03 9.99746553e-01 1.33208829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91255784400005 meters Centerline goodness : 0.119316 Centerline is valid? [False, False] Translation: X:3.35, Y:0.51, Z:1.33 [[ 9.99744898e-01 4.64586611e-03 -2.21032756e-02 3.34629579e+00] [-4.71196197e-03 9.99984579e-01 -2.93917860e-03 5.08352055e-01] [ 2.20892797e-02 3.04257860e-03 9.99751372e-01 1.33248506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942557844 meters Centerline goodness : 0.107137 Centerline is valid? [False, False] Translation: X:3.35, Y:0.51, Z:1.33 [[ 0.99975066 0.00460747 -0.02184915 3.34544312] [-0.004682 0.99998339 -0.00336151 0.51067184] [ 0.0218333 0.00346297 0.99975563 1.33279452] [ 0. 0. 0. 1. ]] SLAMing on 284.97255784400005 meters Centerline goodness : 0.227269 Centerline is valid? [False, False] Translation: X:3.36, Y:0.52, Z:1.34 [[ 9.99742813e-01 -1.89664867e-03 -2.25989071e-02 3.36214657e+00] [ 1.85216061e-03 9.99996306e-01 -1.98936222e-03 5.18215385e-01] [ 2.26025967e-02 1.94699378e-03 9.99742633e-01 1.33541657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002557844 meters Centerline goodness : 0.136483 Centerline is valid? [False, False] Translation: X:3.36, Y:0.52, Z:1.33 [[ 9.99741605e-01 -1.53881959e-03 -2.26794187e-02 3.36263611e+00] [ 1.48747534e-03 9.99996293e-01 -2.28060994e-03 5.21136458e-01] [ 2.26828440e-02 2.24628557e-03 9.99740188e-01 1.33488457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03255784400005 meters Centerline goodness : 0.111468 Centerline is valid? [False, False] Translation: X:3.36, Y:0.52, Z:1.33 [[ 9.99742708e-01 -1.63103101e-03 -2.26242820e-02 3.36247288e+00] [ 1.57388882e-03 9.99995527e-01 -2.54327818e-03 5.22230462e-01] [ 2.26283290e-02 2.50701571e-03 9.99740803e-01 1.33484522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062557844 meters Centerline goodness : 0.100119 Centerline is valid? [False, False] Translation: X:3.36, Y:0.52, Z:1.34 [[ 9.99743799e-01 -1.70486244e-03 -2.25705567e-02 3.36218261e+00] [ 1.64565541e-03 9.99995157e-01 -2.64151192e-03 5.22379951e-01] [ 2.25749508e-02 2.60369180e-03 9.99741763e-01 1.33502498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09255784400005 meters Centerline goodness : 0.109299 Centerline is valid? [False, False] Translation: X:3.36, Y:0.52, Z:1.34 [[ 9.99744224e-01 -1.67340175e-03 -2.25540938e-02 3.36188028e+00] [ 1.61696781e-03 9.99995517e-01 -2.52016410e-03 5.21709267e-01] [ 2.25582099e-02 2.48305025e-03 9.99742448e-01 1.33541460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122557844 meters Centerline goodness : 0.103364 Centerline is valid? [False, False] Translation: X:3.36, Y:0.52, Z:1.34 [[ 9.99739388e-01 -1.55180432e-03 -2.27760609e-02 3.36241547e+00] [ 1.50241473e-03 9.99996483e-01 -2.18543842e-03 5.20168292e-01] [ 2.27793722e-02 2.15064978e-03 9.99738203e-01 1.33548097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15255784400006 meters Centerline goodness : 0.183860 Centerline is valid? [False, False] Translation: X:3.32, Y:0.52, Z:1.34 [[ 9.99678000e-01 -1.64775400e-03 -2.53215456e-02 3.31697560e+00] [ 1.58060698e-03 9.99995182e-01 -2.67156049e-03 5.19186417e-01] [ 2.53258256e-02 2.63067684e-03 9.99675788e-01 1.33570080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18255784400003 meters Centerline goodness : 0.112719 Centerline is valid? [False, False] Translation: X:3.32, Y:0.52, Z:1.34 [[ 9.99681271e-01 -1.61995571e-03 -2.51938908e-02 3.31649509e+00] [ 1.55482738e-03 9.99995400e-01 -2.60445867e-03 5.18609784e-01] [ 2.51979940e-02 2.56445640e-03 9.99679191e-01 1.33596504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21255784400006 meters Centerline goodness : 0.109854 Centerline is valid? [False, False] Translation: X:3.30, Y:0.51, Z:1.33 [[ 0.99966782 0.00689613 -0.02483324 3.29510537] [-0.00698676 0.99996924 -0.00356499 0.5142767 ] [ 0.02480789 0.00373731 0.99968525 1.33465636] [ 0. 0. 0. 1. ]] SLAMing on 285.24255784400003 meters Centerline goodness : 0.104726 Centerline is valid? [False, False] Translation: X:3.32, Y:0.52, Z:1.33 [[ 9.99737289e-01 1.12242085e-03 -2.28930793e-02 3.31597784e+00] [-1.13758178e-03 9.99999142e-01 -6.49237202e-04 5.16880764e-01] [ 2.28923310e-02 6.75109390e-04 9.99737708e-01 1.33434121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27255784400006 meters SLAMing on 285.30255784400003 meters Centerline goodness : 0.119048 Centerline is valid? [False, False] Translation: X:3.29, Y:0.52, Z:1.33 [[ 9.99668725e-01 1.23053712e-02 -2.26057056e-02 3.29176943e+00] [-1.23050753e-02 9.99924278e-01 1.52194218e-04 5.17801771e-01] [ 2.26058667e-02 1.26021110e-04 9.99744447e-01 1.33459792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33255784400006 meters Centerline goodness : 0.110684 Centerline is valid? [False, False] Translation: X:3.29, Y:0.52, Z:1.33 [[ 9.99669268e-01 1.23320941e-02 -2.25670887e-02 3.29163328e+00] [-1.23422664e-02 9.99923783e-01 -3.11523074e-04 5.20241141e-01] [ 2.25615270e-02 5.89949063e-04 9.99745282e-01 1.33446214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36255784400004 meters Centerline goodness : 0.133859 Centerline is valid? [False, False] Translation: X:3.27, Y:0.53, Z:1.33 [[ 9.99738943e-01 4.20398920e-03 -2.24582522e-02 3.27252114e+00] [-4.19553065e-03 9.99991109e-01 4.23739289e-04 5.27586866e-01] [ 2.24598339e-02 -3.29404384e-04 9.99747692e-01 1.33232985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39255784400007 meters Centerline goodness : 0.122919 Centerline is valid? [False, False] Translation: X:3.27, Y:0.53, Z:1.33 [[ 9.99726483e-01 4.65663801e-03 -2.29188824e-02 3.27413556e+00] [-4.65704863e-03 9.99989155e-01 3.54581409e-05 5.31714939e-01] [ 2.29187989e-02 7.12859073e-05 9.99737327e-01 1.33136644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42255784400004 meters Centerline goodness : 0.178434 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99727391e-01 -2.41315990e-03 -2.32232563e-02 3.29326306e+00] [ 2.45013869e-03 9.99995775e-01 1.56399476e-03 5.39367906e-01] [ 2.32193840e-02 -1.62046860e-03 9.99729080e-01 1.33327403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45255784400007 meters Centerline goodness : 0.125702 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99725212e-01 -2.56688461e-03 -2.33004686e-02 3.29351337e+00] [ 2.59413279e-03 9.99995986e-01 1.13927507e-03 5.41450045e-01] [ 2.32974506e-02 -1.19940652e-03 9.99727858e-01 1.33310233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48255784400004 meters Centerline goodness : 0.093718 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99720042e-01 -2.72016177e-03 -2.35039892e-02 3.29418339e+00] [ 2.73893722e-03 9.99995955e-01 7.66663973e-04 5.43178117e-01] [ 2.35018087e-02 -8.30825291e-04 9.99723449e-01 1.33278484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51255784400007 meters Centerline goodness : 0.114875 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99710004e-01 -2.92398847e-03 -2.39031123e-02 3.29580934e+00] [ 2.93262948e-03 9.99995647e-01 3.26454949e-04 5.45054563e-01] [ 2.39020537e-02 -3.96459250e-04 9.99714226e-01 1.33166717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54255784400004 meters Centerline goodness : 0.104052 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99707167e-01 -2.99173380e-03 -2.40131055e-02 3.29630949e+00] [ 2.99646443e-03 9.99995498e-01 1.61022029e-04 5.45849363e-01] [ 2.40125157e-02 -2.32929293e-04 9.99711631e-01 1.33127489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5725578440001 meters Centerline goodness : 0.147291 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99705486e-01 -3.03943837e-03 -2.40770164e-02 3.29662711e+00] [ 3.04116935e-03 9.99995375e-01 3.52770556e-05 5.46556552e-01] [ 2.40767978e-02 -1.08488950e-04 9.99710106e-01 1.33099033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60255784400005 meters Centerline goodness : 0.117901 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99705206e-01 -3.05896888e-03 -2.40861669e-02 3.29673692e+00] [ 3.05949958e-03 9.99995320e-01 -1.48179504e-05 5.46912275e-01] [ 2.40860995e-02 -5.88780353e-05 9.99709886e-01 1.33083702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.632557844 meters Centerline goodness : 0.100440 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99705459e-01 -3.09285415e-03 -2.40713467e-02 3.29676709e+00] [ 3.09158486e-03 9.99995217e-01 -8.99448924e-05 5.47290243e-01] [ 2.40715098e-02 1.54997890e-05 9.99710239e-01 1.33073152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66255784400005 meters Centerline goodness : 0.186633 Centerline is valid? [False, False] Translation: X:3.32, Y:0.54, Z:1.33 [[ 9.99704300e-01 4.59242264e-03 -2.38793250e-02 3.31603099e+00] [-4.62671579e-03 9.99988343e-01 -1.38105082e-03 5.44197429e-01] [ 2.38727042e-02 1.49112529e-03 9.99713894e-01 1.33261756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.692557844 meters Centerline goodness : 0.132477 Centerline is valid? [False, False] Translation: X:3.32, Y:0.55, Z:1.33 [[ 9.99701474e-01 4.47124063e-03 -2.40202187e-02 3.31635884e+00] [-4.51384360e-03 9.99988334e-01 -1.71970288e-03 5.45860866e-01] [ 2.40122493e-02 1.82761302e-03 9.99709994e-01 1.33260811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72255784400005 meters Centerline goodness : 0.106648 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99709863e-01 -3.70997217e-03 -2.37997175e-02 3.29604291e+00] [ 3.68889087e-03 9.99992764e-01 -9.29622018e-04 5.50760803e-01] [ 2.38029942e-02 8.41557740e-04 9.99716314e-01 1.33091922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.752557844 meters Centerline goodness : 0.115963 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99708712e-01 -3.72396051e-03 -2.38458145e-02 3.29610139e+00] [ 3.70077187e-03 9.99992635e-01 -1.01649702e-03 5.51269798e-01] [ 2.38494243e-02 9.27953010e-04 9.99715131e-01 1.33098476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78255784400005 meters Centerline goodness : 0.112285 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99706806e-01 -3.67462670e-03 -2.39332051e-02 3.29643556e+00] [ 3.65189951e-03 9.99992839e-01 -9.93247415e-04 5.51446746e-01] [ 2.39366835e-02 9.05554542e-04 9.99713066e-01 1.33079523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.812557844 meters Centerline goodness : 0.093874 Centerline is valid? [False, False] Translation: X:3.28, Y:0.55, Z:1.33 [[ 9.99693574e-01 4.74857025e-03 -2.42942053e-02 3.27634698e+00] [-4.80054261e-03 9.99986311e-01 -2.08141611e-03 5.45915449e-01] [ 2.42839890e-02 2.19740367e-03 9.99702685e-01 1.32933013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84255784400005 meters Centerline goodness : 0.121176 Centerline is valid? [False, False] Translation: X:3.28, Y:0.55, Z:1.33 [[ 9.99695437e-01 4.75805225e-03 -2.42155831e-02 3.27600092e+00] [-4.80829440e-03 9.99986406e-01 -2.01698260e-03 5.45449815e-01] [ 2.42056570e-02 2.13280395e-03 9.99704725e-01 1.32955389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.872557844 meters Centerline goodness : 0.103195 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.33 [[ 9.99698722e-01 4.75322057e-03 -2.40805323e-02 3.27536725e+00] [-4.80172633e-03 9.99986557e-01 -1.95689186e-03 5.44915162e-01] [ 2.40709070e-02 2.07193042e-03 9.99708107e-01 1.33002094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90255784400006 meters Centerline goodness : 0.098348 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.33 [[ 9.99699545e-01 4.75756832e-03 -2.40454757e-02 3.27506040e+00] [-4.80545181e-03 9.99986584e-01 -1.93398114e-03 5.44726956e-01] [ 2.40359520e-02 2.04894944e-03 9.99708995e-01 1.33037987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93255784400003 meters Centerline goodness : 0.190216 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.33 [[ 9.99700416e-01 4.77266482e-03 -2.40062609e-02 3.27512346e+00] [-4.82138210e-03 9.99986433e-01 -1.97188653e-03 5.44903622e-01] [ 2.39965241e-02 2.08703914e-03 9.99709863e-01 1.33008987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96255784400006 meters Centerline goodness : 0.125534 Centerline is valid? [False, False] Translation: X:3.28, Y:0.55, Z:1.33 [[ 9.99701709e-01 4.76554868e-03 -2.39537444e-02 3.27509053e+00] [-4.81526199e-03 9.99986370e-01 -2.01813607e-03 5.45040773e-01] [ 2.39438004e-02 2.13287763e-03 9.99711031e-01 1.32988482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99255784400003 meters Centerline goodness : 0.180816 Centerline is valid? [False, False] Translation: X:3.29, Y:0.55, Z:1.33 [[ 9.99713234e-01 -2.97370387e-03 -2.37614737e-02 3.29282354e+00] [ 2.95991014e-03 9.99995430e-01 -6.15657889e-04 5.49399222e-01] [ 2.37631959e-02 5.45149512e-04 9.99717467e-01 1.33187756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02255784400006 meters Centerline goodness : 0.105648 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99695063e-01 5.59502826e-03 -2.40515526e-02 3.27238549e+00] [-5.63370905e-03 9.99982944e-01 -1.54078586e-03 5.43791024e-01] [ 2.40425216e-02 1.67581546e-03 9.99709532e-01 1.33044120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05255784400003 meters Centerline goodness : 0.091605 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99689400e-01 5.73877081e-03 -2.42521983e-02 3.27288647e+00] [-5.77301208e-03 9.99982435e-01 -1.34210433e-03 5.42957647e-01] [ 2.42440702e-02 1.48169571e-03 9.99704971e-01 1.33039860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08255784400006 meters Centerline goodness : 0.096580 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99685202e-01 5.82847033e-03 -2.44034039e-02 3.27330980e+00] [-5.85811477e-03 9.99982187e-01 -1.14345236e-03 5.41956193e-01] [ 2.43963046e-02 1.28605034e-03 9.99701539e-01 1.33031091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11255784400004 meters Centerline goodness : 0.107410 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99684324e-01 5.93488854e-03 -2.44137002e-02 3.27338321e+00] [-5.95799617e-03 9.99981869e-01 -8.73871322e-04 5.40553606e-01] [ 2.44080712e-02 1.01905219e-03 9.99701559e-01 1.33020368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14255784400007 meters Centerline goodness : 0.091080 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99686860e-01 6.06566177e-03 -2.42773393e-02 3.27283805e+00] [-6.08069847e-03 9.99981364e-01 -5.45596816e-04 5.38950068e-01] [ 2.42735774e-02 6.93049148e-04 9.99705113e-01 1.33054862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17255784400004 meters SLAMing on 286.20255784400007 meters Centerline goodness : 0.074706 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99697479e-01 6.42588443e-03 -2.37414835e-02 3.27114851e+00] [-6.42312126e-03 9.99979353e-01 1.92642541e-04 5.35930787e-01] [ 2.37422312e-02 -4.00898353e-05 9.99718113e-01 1.33113422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23255784400004 meters Centerline goodness : 0.131181 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99696898e-01 6.44190732e-03 -2.37616041e-02 3.27134494e+00] [-6.43782839e-03 9.99979246e-01 2.48154501e-04 5.35568073e-01] [ 2.37627095e-02 -9.51061555e-05 9.99717622e-01 1.33088541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26255784400007 meters Centerline goodness : 0.178266 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99719397e-01 -1.65476650e-03 -2.36302556e-02 3.29136815e+00] [ 1.68035122e-03 9.99998023e-01 1.06289504e-03 5.40616029e-01] [ 2.36284500e-02 -1.10230392e-03 9.99720201e-01 1.33173735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29255784400004 meters Centerline goodness : 0.302313 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99712142e-01 -1.56336512e-03 -2.39413524e-02 3.29230678e+00] [ 1.58578458e-03 9.99998322e-01 9.17475389e-04 5.41828639e-01] [ 2.39398779e-02 -9.55177114e-04 9.99712944e-01 1.33138400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3225578440001 meters Centerline goodness : 0.142685 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99710894e-01 -1.56272274e-03 -2.39934765e-02 3.29249339e+00] [ 1.58236795e-03 9.99998428e-01 7.99808875e-04 5.42588497e-01] [ 2.39921889e-02 -8.37544154e-04 9.99711795e-01 1.33123705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35255784400005 meters Centerline goodness : 0.178182 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99711385e-01 -1.61484165e-03 -2.39695560e-02 3.29244679e+00] [ 1.63157737e-03 9.99998439e-01 6.78666564e-04 5.43069472e-01] [ 2.39684226e-02 -7.17578876e-04 9.99712459e-01 1.33117393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.382557844 meters Centerline goodness : 0.101148 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99687485e-01 6.10532557e-03 -2.42416278e-02 3.27323496e+00] [-6.13079462e-03 9.99980730e-01 -9.76450123e-04 5.36984813e-01] [ 2.42351991e-02 1.12476541e-03 9.99705652e-01 1.32952315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41255784400005 meters Centerline goodness : 0.176467 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99686921e-01 6.10453070e-03 -2.42650981e-02 3.27322732e+00] [-6.12919213e-03 9.99980773e-01 -9.42088998e-04 5.36802249e-01] [ 2.42588806e-02 1.09051950e-03 9.99705115e-01 1.32964287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442557844 meters Centerline goodness : 0.182497 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99705269e-01 -1.73444393e-03 -2.42150166e-02 3.29174508e+00] [ 1.74509594e-03 9.99998390e-01 4.18767675e-04 5.41996125e-01] [ 2.42142513e-02 -4.60901778e-04 9.99706686e-01 1.33152754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47255784400005 meters SLAMing on 286.502557844 meters Centerline goodness : 0.179532 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99703197e-01 -1.77189636e-03 -2.42976965e-02 3.29225050e+00] [ 1.77849532e-03 9.99998387e-01 2.49980828e-04 5.42797641e-01] [ 2.42972144e-02 -2.93119973e-04 9.99704736e-01 1.33098492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53255784400005 meters Centerline goodness : 0.179532 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99703197e-01 -1.77189636e-03 -2.42976965e-02 3.29225050e+00] [ 1.77849532e-03 9.99998387e-01 2.49980828e-04 5.42797641e-01] [ 2.42972144e-02 -2.93119973e-04 9.99704736e-01 1.33098492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562557844 meters Centerline goodness : 0.179447 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99703017e-01 -1.77144684e-03 -2.43051540e-02 3.29200962e+00] [ 1.76943756e-03 9.99998429e-01 -1.04175084e-04 5.44729759e-01] [ 2.43053004e-02 6.11376928e-05 9.99704581e-01 1.33125675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59255784400005 meters Centerline goodness : 0.162306 Centerline is valid? [False, False] Translation: X:3.29, Y:0.55, Z:1.33 [[ 9.99704135e-01 -1.76601340e-03 -2.42594916e-02 3.29172347e+00] [ 1.76087328e-03 9.99998422e-01 -2.33241281e-04 5.45623756e-01] [ 2.42598652e-02 1.90454383e-04 9.99705668e-01 1.33149637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622557844 meters Centerline goodness : 0.166159 Centerline is valid? [False, False] Translation: X:3.29, Y:0.55, Z:1.33 [[ 9.99704807e-01 -1.73424690e-03 -2.42340919e-02 3.29167643e+00] [ 1.72832291e-03 9.99998471e-01 -2.65391850e-04 5.45944987e-01] [ 2.42345151e-02 2.23429172e-04 9.99706276e-01 1.33139517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65255784400006 meters Centerline goodness : 0.186429 Centerline is valid? [False, False] Translation: X:3.29, Y:0.55, Z:1.33 [[ 9.99705569e-01 -1.72899983e-03 -2.42030309e-02 3.29184479e+00] [ 1.72255890e-03 9.99998475e-01 -2.86966801e-04 5.45939553e-01] [ 2.42034901e-02 2.45191163e-04 9.99707023e-01 1.33093022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68255784400003 meters Centerline goodness : 0.164847 Centerline is valid? [False, False] Translation: X:3.31, Y:0.54, Z:1.33 [[ 9.99713640e-01 4.83088244e-03 -2.34371699e-02 3.31404699e+00] [-4.90423805e-03 9.99983251e-01 -3.07341445e-03 5.44722659e-01] [ 2.34219301e-02 3.18747580e-03 9.99720588e-01 1.33084917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71255784400006 meters Centerline goodness : 0.180366 Centerline is valid? [False, False] Translation: X:3.31, Y:0.54, Z:1.33 [[ 9.99709410e-01 4.89573922e-03 -2.36035387e-02 3.31465287e+00] [-4.96807379e-03 9.99983138e-01 -3.00689868e-03 5.44381523e-01] [ 2.35884197e-02 3.12328902e-03 9.99716876e-01 1.33045602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74255784400003 meters Centerline goodness : 0.127924 Centerline is valid? [False, False] Translation: X:3.31, Y:0.54, Z:1.33 [[ 9.99710349e-01 4.97016764e-03 -2.35481535e-02 3.31430308e+00] [-5.04048470e-03 9.99983011e-01 -2.92768244e-03 5.44348244e-01] [ 2.35332024e-02 3.04552855e-03 9.99718417e-01 1.33077027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77255784400006 meters Centerline goodness : 0.181557 Centerline is valid? [False, False] Translation: X:3.31, Y:0.54, Z:1.33 [[ 9.99713052e-01 5.01628787e-03 -2.34232952e-02 3.31384032e+00] [-5.08475186e-03 9.99982971e-01 -2.86425812e-03 5.44174524e-01] [ 2.34085284e-02 2.98253787e-03 9.99721534e-01 1.33101777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80255784400003 meters Centerline goodness : 0.162193 Centerline is valid? [False, False] Translation: X:3.31, Y:0.54, Z:1.33 [[ 9.99712622e-01 4.98147599e-03 -2.34490721e-02 3.31412215e+00] [-5.05050617e-03 9.99983083e-01 -2.88553194e-03 5.43871204e-01] [ 2.34343012e-02 3.00313239e-03 9.99720868e-01 1.33064871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83255784400006 meters Centerline goodness : 0.183051 Centerline is valid? [False, False] Translation: X:3.31, Y:0.54, Z:1.33 [[ 9.99709272e-01 4.94728884e-03 -2.35986383e-02 3.31472215e+00] [-5.01942911e-03 9.99982906e-01 -2.99871298e-03 5.44313853e-01] [ 2.35833994e-02 3.11629286e-03 9.99717016e-01 1.33019399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86255784400004 meters Centerline goodness : 0.162763 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99714476e-01 -2.12416857e-03 -2.38002909e-02 3.33234682e+00] [ 2.09833166e-03 9.99997182e-01 -1.11049242e-03 5.50719425e-01] [ 2.38025827e-02 1.06023444e-03 9.99716116e-01 1.33269271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89255784400007 meters Centerline goodness : 0.159525 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99717426e-01 -2.07604651e-03 -2.36803536e-02 3.33187345e+00] [ 2.05038874e-03 9.99997284e-01 -1.10773328e-03 5.51184192e-01] [ 2.36825890e-02 1.05886633e-03 9.99718967e-01 1.33294027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92255784400004 meters Centerline goodness : 0.167577 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99719996e-01 -2.09039687e-03 -2.35703107e-02 3.33145172e+00] [ 2.06837813e-03 9.99997402e-01 -9.58513287e-04 5.50201939e-01] [ 2.35722531e-02 9.09492585e-04 9.99721722e-01 1.33328352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95255784400007 meters Centerline goodness : 0.172805 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99712874e-01 -2.23951920e-03 -2.38569702e-02 3.33231093e+00] [ 2.21649454e-03 9.99997052e-01 -9.91511657e-04 5.49465406e-01] [ 2.38591204e-02 9.38348124e-04 9.99714890e-01 1.33306460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98255784400004 meters Centerline goodness : 0.162625 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99706328e-01 -2.29208584e-03 -2.41247705e-02 3.33324374e+00] [ 2.26993139e-03 9.99996977e-01 -9.45672723e-04 5.48819250e-01] [ 2.41268651e-02 8.90633431e-04 9.99708508e-01 1.33264887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01255784400007 meters Centerline goodness : 0.167050 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99701657e-01 -2.29559855e-03 -2.43172190e-02 3.33382472e+00] [ 2.27364635e-03 9.99996982e-01 -9.30353123e-04 5.48845337e-01] [ 2.43192814e-02 8.74786803e-04 9.99703860e-01 1.33249242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04255784400004 meters Centerline goodness : 0.166462 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99702638e-01 -2.22750550e-03 -2.42832112e-02 3.33358930e+00] [ 2.20736064e-03 9.99997197e-01 -8.56353100e-04 5.49036297e-01] [ 2.42850506e-02 8.02496648e-04 9.99704753e-01 1.33276874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0725578440001 meters Centerline goodness : 0.169283 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.33 [[ 9.99690734e-01 -2.84334020e-03 -2.47053019e-02 3.28345716e+00] [ 2.82309540e-03 9.99995650e-01 -8.54291174e-04 5.44919173e-01] [ 2.47076235e-02 7.84281546e-04 9.99694412e-01 1.33494891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10255784400005 meters Centerline goodness : 0.168745 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99690922e-01 -2.78622794e-03 -2.47041862e-02 3.28319976e+00] [ 2.77354723e-03 9.99996004e-01 -5.47551789e-04 5.43204875e-01] [ 2.47056131e-02 4.78864326e-04 9.99694655e-01 1.33544244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.132557844 meters Centerline goodness : 0.168108 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99688826e-01 -2.71679286e-03 -2.47965748e-02 3.28345420e+00] [ 2.71178415e-03 9.99996295e-01 -2.35616139e-04 5.41539962e-01] [ 2.47971231e-02 1.68299863e-04 9.99692490e-01 1.33548975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16255784400005 meters Centerline goodness : 0.173549 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99687397e-01 -2.59369036e-03 -2.48672742e-02 3.28378751e+00] [ 2.59729581e-03 9.99996621e-01 1.12689912e-04 5.39823046e-01] [ 2.48668979e-02 -1.77242352e-04 9.99690755e-01 1.33529258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.192557844 meters Centerline goodness : 0.127315 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.33 [[ 9.99685940e-01 -2.41852528e-03 -2.49433930e-02 3.28425226e+00] [ 2.43610613e-03 9.99996805e-01 6.74467035e-04 5.36829534e-01] [ 2.49416821e-02 -7.35019964e-04 9.99688638e-01 1.33492702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22255784400005 meters Centerline goodness : 0.168165 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99685587e-01 -2.30962732e-03 -2.49678347e-02 3.28421651e+00] [ 2.33258917e-03 9.99996883e-01 8.90571785e-04 5.35898637e-01] [ 2.49657000e-02 -9.48531478e-04 9.99687858e-01 1.33508551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.252557844 meters Centerline goodness : 0.184738 Centerline is valid? [False, False] Translation: X:3.26, Y:0.53, Z:1.33 [[ 9.99655198e-01 6.40748193e-03 -2.54642889e-02 3.26371047e+00] [-6.40243417e-03 9.99979465e-01 2.79754738e-04 5.30479502e-01] [ 2.54655585e-02 -1.16624845e-04 9.99675693e-01 1.33414251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28255784400005 meters Centerline goodness : 0.126552 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99679480e-01 -1.23018093e-03 -2.52868241e-02 3.28263824e+00] [ 1.27498909e-03 9.99997646e-01 1.75595001e-03 5.35397886e-01] [ 2.52846044e-02 -1.78762762e-03 9.99678695e-01 1.33604493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.312557844 meters Centerline goodness : 0.183009 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99675696e-01 -1.18163927e-03 -2.54382809e-02 3.28309145e+00] [ 1.22771740e-03 9.99997634e-01 1.79582775e-03 5.35287089e-01] [ 2.54360987e-02 -1.82647638e-03 9.99674782e-01 1.33589518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34255784400005 meters Centerline goodness : 0.181808 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99674708e-01 -1.16425364e-03 -2.54778724e-02 3.28324652e+00] [ 1.21121088e-03 9.99997596e-01 1.82770558e-03 5.35047471e-01] [ 2.54756833e-02 -1.85797012e-03 9.99673716e-01 1.33577132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.372557844 meters Centerline goodness : 0.181243 Centerline is valid? [False, False] Translation: X:3.28, Y:0.53, Z:1.34 [[ 9.99677303e-01 -1.14280782e-03 -2.53768316e-02 3.28299786e+00] [ 1.19257847e-03 9.99997395e-01 1.94621570e-03 5.34111100e-01] [ 2.53745414e-02 -1.97585153e-03 9.99676062e-01 1.33572608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40255784400006 meters Centerline goodness : 0.160873 Centerline is valid? [False, False] Translation: X:3.30, Y:0.53, Z:1.34 [[ 9.99671954e-01 7.09392350e-03 -2.46101905e-02 3.30296422e+00] [-7.07091805e-03 9.99974479e-01 1.02169009e-03 5.30333512e-01] [ 2.46168102e-02 -8.47338290e-04 9.99696601e-01 1.33717426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43255784400003 meters Centerline goodness : 0.167091 Centerline is valid? [False, False] Translation: X:3.30, Y:0.53, Z:1.34 [[ 9.99672673e-01 7.19258442e-03 -2.45522686e-02 3.30277011e+00] [-7.16301133e-03 9.99973510e-01 1.29223108e-03 5.29060930e-01] [ 2.45609127e-02 -1.11593992e-03 9.99697712e-01 1.33725448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46255784400006 meters Centerline goodness : 0.121900 Centerline is valid? [False, False] Translation: X:3.30, Y:0.53, Z:1.34 [[ 9.99672187e-01 7.32266516e-03 -2.45335915e-02 3.30260696e+00] [-7.28341321e-03 9.99972049e-01 1.68890388e-03 5.27049290e-01] [ 2.45452730e-02 -1.50966195e-03 9.99697580e-01 1.33748365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49255784400003 meters Centerline goodness : 0.186682 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99668562e-01 7.47714423e-03 -2.46344944e-02 3.30273591e+00] [-7.42722991e-03 9.99970177e-01 2.11707195e-03 5.24877464e-01] [ 2.46495894e-02 -1.93340422e-03 9.99694283e-01 1.33771521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52255784400006 meters Centerline goodness : 0.167442 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99682761e-01 3.92983643e-03 -2.48783614e-02 3.30323282e+00] [-3.95855852e-03 9.99991554e-01 -1.10535702e-03 5.22661009e-01] [ 2.48738075e-02 1.20348881e-03 9.99689875e-01 1.33769395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55255784400003 meters Centerline goodness : 0.179431 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99676905e-01 4.10111419e-03 -2.50852008e-02 3.30403568e+00] [-4.11975340e-03 9.99991275e-01 -6.91400781e-04 5.20701244e-01] [ 2.50821465e-02 7.94522234e-04 9.99685078e-01 1.33724590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58255784400006 meters Centerline goodness : 0.099887 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99674064e-01 4.23076646e-03 -2.51766992e-02 3.30455035e+00] [-4.24160721e-03 9.99990933e-01 -3.77198754e-04 5.19159657e-01] [ 2.51748751e-02 4.83865481e-04 9.99682946e-01 1.33678015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61255784400004 meters Centerline goodness : 0.277463 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99674510e-01 4.29460454e-03 -2.51481755e-02 3.30464871e+00] [-4.30155768e-03 9.99990724e-01 -2.22396205e-04 5.18305089e-01] [ 2.51469871e-02 3.30500144e-04 9.99683710e-01 1.33650015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64255784400007 meters Centerline goodness : 0.106005 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99682477e-01 4.46502720e-03 -2.47993761e-02 3.30382030e+00] [-4.46639173e-03 9.99990026e-01 3.67885814e-07 5.17339694e-01] [ 2.47991304e-02 1.10395959e-04 9.99692448e-01 1.33635753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67255784400004 meters Centerline goodness : 0.175027 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99684135e-01 4.55349846e-03 -2.47163179e-02 3.30362011e+00] [-4.55432902e-03 9.99989629e-01 2.26881433e-05 5.17616716e-01] [ 2.47161649e-02 8.98852671e-05 9.99694505e-01 1.33628195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70255784400007 meters Centerline goodness : 0.150360 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99685298e-01 4.63630832e-03 -2.46538145e-02 3.30362354e+00] [-4.63961858e-03 9.99989234e-01 -7.70701809e-05 5.18579443e-01] [ 2.46531918e-02 1.91430223e-04 9.99696046e-01 1.33597441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73255784400004 meters Centerline goodness : 0.162372 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99687114e-01 4.66227491e-03 -2.45751317e-02 3.30355742e+00] [-4.67104260e-03 9.99989046e-01 -2.99378430e-04 5.19968734e-01] [ 2.45734668e-02 4.14076246e-04 9.99697941e-01 1.33567022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76255784400007 meters Centerline goodness : 0.171752 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99689342e-01 4.75763365e-03 -2.44660046e-02 3.30345219e+00] [-4.77529522e-03 9.99988378e-01 -6.63507432e-04 5.22000395e-01] [ 2.44625636e-02 7.80133703e-04 9.99700442e-01 1.33519189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79255784400004 meters Centerline goodness : 0.174032 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99690170e-01 4.71518406e-03 -2.44403429e-02 3.30342892e+00] [-4.73656440e-03 9.99988449e-01 -8.16980322e-04 5.22737055e-01] [ 2.44362083e-02 9.32490455e-04 9.99700956e-01 1.33503065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8225578440001 meters Centerline goodness : 0.172349 Centerline is valid? [False, False] Translation: X:3.33, Y:0.53, Z:1.33 [[ 9.99713133e-01 -1.41090248e-03 -2.39094294e-02 3.32516320e+00] [ 1.45469579e-03 9.99997296e-01 1.81433964e-03 5.27333016e-01] [ 2.39068049e-02 -1.84860011e-03 9.99712482e-01 1.33485986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85255784400005 meters Centerline goodness : 0.121688 Centerline is valid? [False, False] Translation: X:3.32, Y:0.53, Z:1.33 [[ 9.99714676e-01 -1.43245816e-03 -2.38435598e-02 3.32490637e+00] [ 1.47375105e-03 9.99997445e-01 1.71434376e-03 5.27999561e-01] [ 2.38410431e-02 -1.74899408e-03 9.99714232e-01 1.33494944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.882557844 meters Centerline goodness : 0.174070 Centerline is valid? [False, False] Translation: X:3.32, Y:0.53, Z:1.34 [[ 9.99719480e-01 -1.47405950e-03 -2.36386983e-02 3.32429722e+00] [ 1.51318315e-03 9.99997515e-01 1.63726561e-03 5.28368001e-01] [ 2.36362261e-02 -1.67257600e-03 9.99719226e-01 1.33510371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91255784400005 meters Centerline goodness : 0.173247 Centerline is valid? [False, False] Translation: X:3.32, Y:0.53, Z:1.34 [[ 9.99736895e-01 -1.78740411e-03 -2.28680205e-02 3.32193409e+00] [ 1.82204644e-03 9.99997224e-01 1.49413508e-03 5.28109092e-01] [ 2.28652864e-02 -1.53540856e-03 9.99737376e-01 1.33597042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942557844 meters Centerline goodness : 0.153610 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99731875e-01 6.04939366e-03 -2.23513620e-02 3.34185294e+00] [-6.04286636e-03 9.99981677e-01 3.59562139e-04 5.25257987e-01] [ 2.23531276e-02 -2.24399438e-04 9.99750112e-01 1.33744823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97255784400005 meters Centerline goodness : 0.174158 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99726897e-01 6.06302028e-03 -2.25692480e-02 3.34281080e+00] [-6.05548363e-03 9.99981584e-01 4.02262649e-04 5.25259317e-01] [ 2.25712714e-02 -2.65485078e-04 9.99745201e-01 1.33679308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002557844 meters Centerline goodness : 0.172933 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99719269e-01 6.05389686e-03 -2.29070794e-02 3.34422420e+00] [-6.04741344e-03 9.99981652e-01 3.52294649e-04 5.25758403e-01] [ 2.29087919e-02 -2.13667169e-04 9.99737536e-01 1.33589379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03255784400005 meters Centerline goodness : 0.274180 Centerline is valid? [False, False] Translation: X:3.35, Y:0.53, Z:1.34 [[ 9.99713054e-01 5.91977097e-03 -2.32113285e-02 3.34550322e+00] [-5.91982120e-03 9.99982475e-01 6.65492887e-05 5.26982782e-01] [ 2.32113157e-02 7.08767222e-05 9.99730579e-01 1.33503721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062557844 meters Centerline goodness : 0.177327 Centerline is valid? [False, False] Translation: X:3.32, Y:0.53, Z:1.33 [[ 9.99731245e-01 -3.02723875e-03 -2.29842074e-02 3.32276447e+00] [ 3.03298389e-03 9.99995377e-01 2.15104305e-04 5.30987418e-01] [ 2.29834499e-02 -2.84757225e-04 9.99735805e-01 1.33448192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09255784400005 meters Centerline goodness : 0.173267 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99756096e-01 4.95914990e-03 -2.15210521e-02 3.34151658e+00] [-4.98996713e-03 9.99986600e-01 -1.37849217e-03 5.29298272e-01] [ 2.15139276e-02 1.48554529e-03 9.99767445e-01 1.33666104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122557844 meters Centerline goodness : 0.171711 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99761369e-01 4.92797116e-03 -2.12819020e-02 3.34049267e+00] [-4.96045632e-03 9.99986611e-01 -1.47390172e-03 5.29848229e-01] [ 2.12743537e-02 1.57911795e-03 9.99772428e-01 1.33733881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15255784400006 meters Centerline goodness : 0.123761 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99770672e-01 4.97339243e-03 -2.08295040e-02 3.33866636e+00] [-5.00384267e-03 9.99986487e-01 -1.41001537e-03 5.29942641e-01] [ 2.08222100e-02 1.51391957e-03 9.99782048e-01 1.33846364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18255784400003 meters Centerline goodness : 0.107430 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99772290e-01 5.00597489e-03 -2.07438770e-02 3.33837378e+00] [-5.03376485e-03 9.99986501e-01 -1.28767149e-03 5.29337836e-01] [ 2.07371509e-02 1.39179807e-03 9.99783993e-01 1.33860483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21255784400006 meters Centerline goodness : 0.173535 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99770515e-01 5.00581673e-03 -2.08292785e-02 3.33872447e+00] [-5.03261949e-03 9.99986574e-01 -1.23456328e-03 5.28933169e-01] [ 2.08228189e-02 1.33910580e-03 9.99782285e-01 1.33837573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24255784400003 meters Centerline goodness : 0.102835 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99768773e-01 5.00240088e-03 -2.09135447e-02 3.33916844e+00] [-5.02893921e-03 9.99986615e-01 -1.21655421e-03 5.28763522e-01] [ 2.09071791e-02 1.32144586e-03 9.99780548e-01 1.33798707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27255784400006 meters Centerline goodness : 0.158554 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99767385e-01 4.99072743e-03 -2.09825973e-02 3.33956658e+00] [-5.01794776e-03 9.99986635e-01 -1.24483096e-03 5.28906459e-01] [ 2.09761043e-02 1.34983097e-03 9.99779066e-01 1.33760500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30255784400003 meters Centerline goodness : 0.171226 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99763639e-01 5.00524712e-03 -2.11569038e-02 3.34034227e+00] [-5.03233241e-03 9.99986585e-01 -1.22716423e-03 5.28800953e-01] [ 2.11504777e-02 1.33334275e-03 9.99775415e-01 1.33701783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33255784400006 meters Centerline goodness : 0.156586 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99759566e-01 5.03782163e-03 -2.13408271e-02 3.34097379e+00] [-5.06217485e-03 9.99986596e-01 -1.08728787e-03 5.27954725e-01] [ 2.13350635e-02 1.19505745e-03 9.99771667e-01 1.33676194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36255784400004 meters Centerline goodness : 0.171530 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99755202e-01 5.09739095e-03 -2.15302801e-02 3.34147238e+00] [-5.11725748e-03 9.99986530e-01 -8.67731301e-04 5.26688430e-01] [ 2.15255670e-02 9.77694869e-04 9.99767820e-01 1.33673141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39255784400007 meters Centerline goodness : 0.178222 Centerline is valid? [False, False] Translation: X:3.34, Y:0.52, Z:1.34 [[ 9.99782494e-01 3.14398399e-03 -2.06174789e-02 3.33704265e+00] [-3.19510293e-03 9.99991902e-01 -2.44692605e-03 5.23544396e-01] [ 2.06096189e-02 2.51226880e-03 9.99784443e-01 1.33901532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42255784400004 meters Centerline goodness : 0.178222 Centerline is valid? [False, False] Translation: X:3.34, Y:0.52, Z:1.34 [[ 9.99782494e-01 3.14398399e-03 -2.06174789e-02 3.33704265e+00] [-3.19510293e-03 9.99991902e-01 -2.44692605e-03 5.23544396e-01] [ 2.06096189e-02 2.51226880e-03 9.99784443e-01 1.33901532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45255784400007 meters Centerline goodness : 0.152979 Centerline is valid? [False, False] Translation: X:3.36, Y:0.53, Z:1.34 [[ 9.99795156e-01 -5.05930760e-03 -1.95971769e-02 3.35667854e+00] [ 5.03452033e-03 9.99986463e-01 -1.31396855e-03 5.26971277e-01] [ 1.96035594e-02 1.21503701e-03 9.99807093e-01 1.33997998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48255784400004 meters Centerline goodness : 0.179921 Centerline is valid? [False, False] Translation: X:3.33, Y:0.52, Z:1.34 [[ 9.99808880e-01 1.16844071e-03 -1.95150962e-02 3.33317124e+00] [-1.24479062e-03 9.99991618e-01 -3.90066223e-03 5.21119184e-01] [ 1.95103749e-02 3.92420895e-03 9.99801953e-01 1.34013632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51255784400007 meters Centerline goodness : 0.159487 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.34 [[ 9.99801182e-01 -6.99500083e-03 -1.86726044e-02 3.35314989e+00] [ 6.94358399e-03 9.99971925e-01 -2.81701302e-03 5.24036194e-01] [ 1.86917852e-02 2.68679815e-03 9.99821683e-01 1.34080098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54255784400004 meters Centerline goodness : 0.174220 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.34 [[ 9.99800259e-01 -6.78809650e-03 -1.87979535e-02 3.35365209e+00] [ 6.74573970e-03 9.99974566e-01 -2.31575955e-03 5.21746366e-01] [ 1.88131950e-02 2.18849090e-03 9.99820621e-01 1.34052493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5725578440001 meters Centerline goodness : 0.182036 Centerline is valid? [False, False] Translation: X:3.31, Y:0.52, Z:1.34 [[ 9.99738111e-01 -6.84380653e-03 -2.18373701e-02 3.31009145e+00] [ 6.80559740e-03 9.99975179e-01 -1.82355110e-03 5.15304305e-01] [ 2.18493081e-02 1.67445718e-03 9.99759873e-01 1.34012992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60255784400005 meters Centerline goodness : 0.279635 Centerline is valid? [False, False] Translation: X:3.31, Y:0.51, Z:1.34 [[ 9.99721837e-01 -6.69617316e-03 -2.26143916e-02 3.31290084e+00] [ 6.67488653e-03 9.99977206e-01 -1.01664071e-03 5.10160340e-01] [ 2.26206837e-02 8.65409421e-04 9.99743745e-01 1.33887512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.632557844 meters Centerline goodness : 0.177109 Centerline is valid? [False, False] Translation: X:3.33, Y:0.50, Z:1.34 [[ 9.99726038e-01 3.68900773e-04 -2.34032705e-02 3.33174643e+00] [-4.31541785e-04 9.99996338e-01 -2.67159825e-03 5.03301804e-01] [ 2.34021993e-02 2.68096582e-03 9.99722536e-01 1.34173235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66255784400005 meters Centerline goodness : 0.140996 Centerline is valid? [False, False] Translation: X:3.33, Y:0.50, Z:1.34 [[ 9.99727309e-01 5.92275794e-04 -2.33443247e-02 3.33142929e+00] [-6.39449474e-04 9.99997769e-01 -2.01336427e-03 4.99993357e-01] [ 2.33430801e-02 2.02774276e-03 9.99725457e-01 1.34206390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.692557844 meters Centerline goodness : 0.085860 Centerline is valid? [False, False] Translation: X:3.33, Y:0.50, Z:1.34 [[ 9.99730709e-01 8.51463963e-04 -2.31901776e-02 3.33069388e+00] [-8.83515710e-04 9.99998669e-01 -1.37191523e-03 4.97011641e-01] [ 2.31889786e-02 1.39203468e-03 9.99730130e-01 1.34268020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72255784400005 meters Centerline goodness : 0.183004 Centerline is valid? [False, False] Translation: X:3.28, Y:0.49, Z:1.34 [[ 9.99680956e-01 4.20794742e-04 -2.52548792e-02 3.28373591e+00] [-4.43473115e-04 9.99999503e-01 -8.92385738e-04 4.89927303e-01] [ 2.52544912e-02 9.03300888e-04 9.99680646e-01 1.34363541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.752557844 meters Centerline goodness : 0.186336 Centerline is valid? [False, False] Translation: X:3.28, Y:0.48, Z:1.34 [[ 9.99682423e-01 7.73334135e-04 -2.51883793e-02 3.28378065e+00] [-7.68375811e-04 9.99999683e-01 2.06527683e-04 4.84184707e-01] [ 2.51885310e-02 -1.87107953e-04 9.99682701e-01 1.34342158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78255784400005 meters Centerline goodness : 0.169880 Centerline is valid? [False, False] Translation: X:3.28, Y:0.48, Z:1.34 [[ 9.99672523e-01 9.49358265e-04 -2.55723534e-02 3.28499352e+00] [-9.32491585e-04 9.99999340e-01 6.71483871e-04 4.81913652e-01] [ 2.55729740e-02 -6.47417972e-04 9.99672748e-01 1.34302386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.812557844 meters Centerline goodness : 0.124773 Centerline is valid? [False, False] Translation: X:3.29, Y:0.48, Z:1.34 [[ 9.99661823e-01 1.09782050e-03 -2.59814200e-02 3.28653093e+00] [-1.07186795e-03 9.99998913e-01 1.01279438e-03 4.80331478e-01] [ 2.59825036e-02 -9.84603221e-04 9.99661913e-01 1.34222500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84255784400005 meters Centerline goodness : 0.178504 Centerline is valid? [False, False] Translation: X:3.29, Y:0.48, Z:1.34 [[ 9.99654312e-01 1.22117267e-03 -2.62633809e-02 3.28755581e+00] [-1.18790915e-03 9.99998473e-01 1.28210074e-03 4.79100067e-01] [ 2.62649064e-02 -1.25045903e-03 9.99654236e-01 1.34171372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.872557844 meters Centerline goodness : 0.181255 Centerline is valid? [False, False] Translation: X:3.29, Y:0.48, Z:1.34 [[ 9.99654164e-01 1.33664909e-03 -2.62633797e-02 3.28764717e+00] [-1.29654771e-03 9.99997968e-01 1.54386296e-03 4.77886537e-01] [ 2.62653900e-02 -1.50927731e-03 9.99653866e-01 1.34156759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90255784400006 meters Centerline goodness : 0.176994 Centerline is valid? [False, False] Translation: X:3.31, Y:0.47, Z:1.34 [[ 9.99714818e-01 8.07895707e-03 -2.24725030e-02 3.30724303e+00] [-8.09604974e-03 9.99967002e-01 -6.69725888e-04 4.74745594e-01] [ 2.24663507e-02 8.51473396e-04 9.99747237e-01 1.34180300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93255784400003 meters Centerline goodness : 0.155806 Centerline is valid? [False, False] Translation: X:3.31, Y:0.47, Z:1.34 [[ 9.99719095e-01 8.19688926e-03 -2.22383019e-02 3.30632888e+00] [-8.20792742e-03 9.99966232e-01 -4.05125596e-04 4.73653879e-01] [ 2.22342302e-02 5.87542162e-04 9.99752616e-01 1.34235023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96255784400006 meters Centerline goodness : 0.126523 Centerline is valid? [False, False] Translation: X:3.33, Y:0.48, Z:1.34 [[ 9.99775662e-01 3.84688326e-04 -2.11772791e-02 3.32559690e+00] [-3.66124384e-04 9.99999545e-01 8.80467333e-04 4.77902592e-01] [ 2.11776082e-02 -8.72516292e-04 9.99775349e-01 1.34347444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99255784400003 meters Centerline goodness : 0.170466 Centerline is valid? [False, False] Translation: X:3.33, Y:0.48, Z:1.34 [[ 9.99771456e-01 5.59178773e-04 -2.13710959e-02 3.32620292e+00] [-5.29227297e-04 9.99998870e-01 1.40712466e-03 4.75373271e-01] [ 2.13718585e-02 -1.39549290e-03 9.99770622e-01 1.34333697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02255784400006 meters Centerline goodness : 0.129663 Centerline is valid? [False, False] Translation: X:3.33, Y:0.47, Z:1.34 [[ 9.99770158e-01 5.99570849e-04 -2.14306064e-02 3.32640651e+00] [-5.64842862e-04 9.99998518e-01 1.62650190e-03 4.74043729e-01] [ 2.14315499e-02 -1.61402314e-03 9.99769015e-01 1.34328662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05255784400003 meters Centerline goodness : 0.109700 Centerline is valid? [False, False] Translation: X:3.33, Y:0.47, Z:1.34 [[ 9.99772263e-01 6.82346230e-04 -2.13297163e-02 3.32602474e+00] [-6.41670637e-04 9.99997963e-01 1.91377768e-03 4.72559801e-01] [ 2.13309787e-02 -1.89965519e-03 9.99770664e-01 1.34350770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08255784400006 meters Centerline goodness : 0.100436 Centerline is valid? [False, False] Translation: X:3.33, Y:0.47, Z:1.34 [[ 9.99774871e-01 7.95686686e-04 -2.12031588e-02 3.32546577e+00] [-7.46656828e-04 9.99997030e-01 2.32020090e-03 4.70633692e-01] [ 2.12049420e-02 -2.30384707e-03 9.99772495e-01 1.34396883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11255784400004 meters Centerline goodness : 0.130545 Centerline is valid? [False, False] Translation: X:3.33, Y:0.47, Z:1.34 [[ 9.99775558e-01 9.37488567e-04 -2.11649559e-02 3.32533151e+00] [-8.79283636e-04 9.99995807e-01 2.75920006e-03 4.68581199e-01] [ 2.11674539e-02 -2.73997078e-03 9.99772190e-01 1.34409892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14255784400007 meters Centerline goodness : 0.182579 Centerline is valid? [False, False] Translation: X:3.33, Y:0.47, Z:1.34 [[ 9.99769854e-01 1.06336606e-03 -2.14267988e-02 3.32619039e+00] [-9.95762878e-04 9.99994494e-01 3.16549860e-03 4.66447704e-01] [ 2.14300469e-02 -3.14343406e-03 9.99765408e-01 1.34380351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17255784400004 meters Centerline goodness : 0.155210 Centerline is valid? [False, False] Translation: X:3.33, Y:0.46, Z:1.34 [[ 9.99738458e-01 -1.25983977e-03 -2.28347914e-02 3.33159590e+00] [ 1.28883016e-03 9.99998382e-01 1.25489845e-03 4.61372493e-01] [ 2.28331735e-02 -1.28400041e-03 9.99738465e-01 1.34166609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20255784400007 meters Centerline goodness : 0.150557 Centerline is valid? [False, False] Translation: X:3.33, Y:0.46, Z:1.34 [[ 9.99736848e-01 -1.09500819e-03 -2.29136585e-02 3.33177546e+00] [ 1.13249595e-03 9.99998041e-01 1.62313181e-03 4.59621521e-01] [ 2.29118362e-02 -1.64865431e-03 9.99736130e-01 1.34174969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23255784400004 meters Centerline goodness : 0.151350 Centerline is valid? [False, False] Translation: X:3.33, Y:0.46, Z:1.34 [[ 9.99738212e-01 -9.24880398e-04 -2.28615896e-02 3.33152737e+00] [ 9.70531909e-04 9.99997557e-01 1.98585041e-03 4.58075224e-01] [ 2.28596971e-02 -2.00751844e-03 9.99736667e-01 1.34195568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26255784400007 meters Centerline goodness : 0.179971 Centerline is valid? [False, False] Translation: X:3.33, Y:0.46, Z:1.34 [[ 9.99742786e-01 -7.88916249e-04 -2.26657992e-02 3.33094566e+00] [ 8.40087855e-04 9.99997120e-01 2.24822411e-03 4.56961352e-01] [ 2.26639603e-02 -2.26668710e-03 9.99740570e-01 1.34213427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29255784400004 meters Centerline goodness : 0.158655 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.34 [[ 9.99743315e-01 7.82935876e-03 -2.12604251e-02 3.35051343e+00] [-7.80892918e-03 9.99968965e-01 1.04377162e-03 4.52649326e-01] [ 2.12679373e-02 -8.77482546e-04 9.99773427e-01 1.34413989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3225578440001 meters Centerline goodness : 0.120157 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.34 [[ 9.99742506e-01 7.91144644e-03 -2.12680671e-02 3.35055148e+00] [-7.88849688e-03 9.99968209e-01 1.16274305e-03 4.52196668e-01] [ 2.12765899e-02 -9.94670566e-04 9.99773133e-01 1.34406973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35255784400005 meters Centerline goodness : 0.148979 Centerline is valid? [False, False] Translation: X:3.33, Y:0.46, Z:1.34 [[ 9.99751258e-01 -6.26562012e-04 -2.22941531e-02 3.33047668e+00] [ 6.80141082e-04 9.99996899e-01 2.39577768e-03 4.55103852e-01] [ 2.22925828e-02 -2.41034491e-03 9.99748584e-01 1.34283052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.382557844 meters Centerline goodness : 0.146459 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:1.34 [[ 9.99750319e-01 -5.30967346e-04 -2.23386979e-02 3.33088458e+00] [ 5.88105211e-04 9.99996572e-01 2.55130567e-03 4.54530641e-01] [ 2.23372667e-02 -2.56380617e-03 9.99747205e-01 1.34231030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41255784400005 meters Centerline goodness : 0.139956 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:1.34 [[ 9.99750209e-01 -4.23730325e-04 -2.23458989e-02 3.33090303e+00] [ 4.87336185e-04 9.99995845e-01 2.84105325e-03 4.53085926e-01] [ 2.23446022e-02 -2.85123355e-03 9.99746262e-01 1.34232303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442557844 meters Centerline goodness : 0.138438 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:1.34 [[ 9.99758955e-01 -6.57590986e-04 -2.19453745e-02 3.32944759e+00] [ 7.32926029e-04 9.99993866e-01 3.42497724e-03 4.48127910e-01] [ 2.19429877e-02 -3.44023600e-03 9.99753305e-01 1.34321141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47255784400005 meters Centerline goodness : 0.135717 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:1.34 [[ 9.99760162e-01 -4.96245656e-04 -2.18945747e-02 3.32890283e+00] [ 5.84800903e-04 9.99991675e-01 4.03840322e-03 4.45034207e-01] [ 2.18923884e-02 -4.05023863e-03 9.99752129e-01 1.34400629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502557844 meters Centerline goodness : 0.146219 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:1.34 [[ 9.99762788e-01 -3.19534509e-04 -2.17776579e-02 3.32826078e+00] [ 4.20632741e-04 9.99989157e-01 4.63786866e-03 4.42145842e-01] [ 2.17759398e-02 -4.64592890e-03 9.99752081e-01 1.34471236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53255784400005 meters Centerline goodness : 0.152527 Centerline is valid? [False, False] Translation: X:3.35, Y:0.44, Z:1.34 [[ 9.99772916e-01 6.14510058e-03 -2.04047801e-02 3.35000787e+00] [-6.10755957e-03 9.99979541e-01 1.90162372e-03 4.39442346e-01] [ 2.04160483e-02 -1.77656848e-03 9.99789992e-01 1.34473678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562557844 meters Centerline goodness : 0.150505 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:1.34 [[ 9.99753018e-01 -2.43601769e-03 -2.20900155e-02 3.33094535e+00] [ 2.51564668e-03 9.99990436e-01 3.57767823e-03 4.38193148e-01] [ 2.20810890e-02 -3.63236528e-03 9.99749584e-01 1.34300584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59255784400005 meters Centerline goodness : 0.147502 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:1.34 [[ 9.99752129e-01 -2.30684009e-03 -2.21440366e-02 3.33130225e+00] [ 2.39336563e-03 9.99989602e-01 3.88169004e-03 4.36827845e-01] [ 2.21348519e-02 -3.93372666e-03 9.99747255e-01 1.34263088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622557844 meters Centerline goodness : 0.138614 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.34 [[ 9.99750274e-01 -2.13608164e-03 -2.22446846e-02 3.33162237e+00] [ 2.23228593e-03 9.99988260e-01 4.30088838e-03 4.34978125e-01] [ 2.22352364e-02 -4.34947084e-03 9.99743305e-01 1.34256502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65255784400006 meters Centerline goodness : 0.155229 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.34 [[ 9.99749330e-01 -1.89914387e-03 -2.23085257e-02 3.33150125e+00] [ 2.00859858e-03 9.99986051e-01 4.88502512e-03 4.32299078e-01] [ 2.22989372e-02 -4.92860947e-03 9.99739199e-01 1.34309080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68255784400003 meters Centerline goodness : 0.127297 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.34 [[ 9.99741603e-01 -5.60089129e-03 -2.20308061e-02 3.33006016e+00] [ 5.64668955e-03 9.99982023e-01 2.01716924e-03 4.26695128e-01] [ 2.20191121e-02 -2.14104913e-03 9.99755257e-01 1.34437085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71255784400006 meters Centerline goodness : 0.140765 Centerline is valid? [False, False] Translation: X:3.33, Y:0.42, Z:1.34 [[ 9.99738682e-01 -5.47218404e-03 -2.21950930e-02 3.33046588e+00] [ 5.53535621e-03 9.99980799e-01 2.78578468e-03 4.22481084e-01] [ 2.21794225e-02 -2.90791445e-03 9.99749777e-01 1.34451273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74255784400003 meters Centerline goodness : 0.144748 Centerline is valid? [False, False] Translation: X:3.33, Y:0.42, Z:1.34 [[ 0.99973372 -0.00527309 -0.0224651 3.33128676] [ 0.00535556 0.99997913 0.00361248 0.41825991] [ 0.02244559 -0.00373183 0.9997411 1.3443833 ] [ 0. 0. 0. 1. ]] SLAMing on 289.77255784400006 meters Centerline goodness : 0.142164 Centerline is valid? [False, False] Translation: X:3.35, Y:0.41, Z:1.35 [[ 9.99728425e-01 1.95685174e-03 -2.32216710e-02 3.35040591e+00] [-1.90508701e-03 9.99995652e-01 2.25106960e-03 4.10028427e-01] [ 2.32259750e-02 -2.20621896e-03 9.99727806e-01 1.34657540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80255784400003 meters Centerline goodness : 0.147891 Centerline is valid? [False, False] Translation: X:3.35, Y:0.41, Z:1.35 [[ 9.99725643e-01 2.19132563e-03 -2.33203125e-02 3.35049020e+00] [-2.12124655e-03 9.99993162e-01 3.02937924e-03 4.06033730e-01] [ 2.33267914e-02 -2.97907998e-03 9.99723455e-01 1.34692378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83255784400006 meters Centerline goodness : 0.142062 Centerline is valid? [False, False] Translation: X:3.35, Y:0.40, Z:1.35 [[ 9.99724559e-01 2.39656845e-03 -2.33465911e-02 3.35037684e+00] [-2.31055635e-03 9.99990447e-01 3.71041888e-03 4.02486592e-01] [ 2.33552604e-02 -3.65545326e-03 9.99720546e-01 1.34729684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86255784400004 meters Centerline goodness : 0.141637 Centerline is valid? [False, False] Translation: X:3.35, Y:0.40, Z:1.35 [[ 9.99714896e-01 2.82140055e-03 -2.37100328e-02 3.35139429e+00] [-2.70825746e-03 9.99984800e-01 4.80270690e-03 3.97234480e-01] [ 2.37232228e-02 -4.73712476e-03 9.99707341e-01 1.34715687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89255784400007 meters Centerline goodness : 0.141478 Centerline is valid? [False, False] Translation: X:3.35, Y:0.40, Z:1.35 [[ 9.99703477e-01 2.96273434e-03 -2.41698127e-02 3.35312167e+00] [-2.84195183e-03 9.99983311e-01 5.03006663e-03 3.96232888e-01] [ 2.41843121e-02 -4.95988566e-03 9.99695213e-01 1.34620952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92255784400004 meters Centerline goodness : 0.137354 Centerline is valid? [False, False] Translation: X:3.36, Y:0.40, Z:1.34 [[ 9.99682333e-01 3.28257375e-03 -2.49891680e-02 3.35612791e+00] [-3.15129321e-03 9.99981037e-01 5.29106689e-03 3.95117743e-01] [ 2.50060625e-02 -5.21063789e-03 9.99673720e-01 1.34453713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95255784400007 meters Centerline goodness : 0.136500 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.35 [[ 0.99963445 0.01199324 -0.02423072 3.37662654] [-0.0118994 0.99992114 0.00401364 0.39203141] [ 0.02427695 -0.00372385 0.99969834 1.34573928] [ 0. 0. 0. 1. ]] SLAMing on 289.98255784400004 meters Centerline goodness : 0.134929 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.35 [[ 0.99963685 0.012022 -0.02411739 3.37622738] [-0.01193018 0.99992104 0.0039475 0.39250827] [ 0.02416294 -0.00365834 0.99970134 1.34591794] [ 0. 0. 0. 1. ]] SLAMing on 290.01255784400007 meters Centerline goodness : 0.132214 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.35 [[ 0.9997188 0.00483702 -0.02321458 3.39366382] [-0.00470735 0.99997303 0.00563709 0.39933215] [ 0.02324122 -0.00552622 0.99971461 1.34776326] [ 0. 0. 0. 1. ]] SLAMing on 290.04255784400004 meters Centerline goodness : 0.129107 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.35 [[ 0.99972159 0.00494124 -0.02307238 3.39311648] [-0.00480828 0.99997153 0.00581484 0.39874932] [ 0.02310046 -0.00570229 0.99971689 1.34808033] [ 0. 0. 0. 1. ]] SLAMing on 290.0725578440001 meters Centerline goodness : 0.130878 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.35 [[ 0.99972221 0.00510806 -0.02300905 3.3928767 ] [-0.00496577 0.99996822 0.00623731 0.39680877] [ 0.02304018 -0.00612132 0.9997158 1.34824201] [ 0. 0. 0. 1. ]] SLAMing on 290.10255784400005 meters Centerline goodness : 0.137354 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:1.35 [[ 9.99742742e-01 1.45268280e-03 -2.26349282e-02 3.39261700e+00] [-1.37685064e-03 9.99993389e-01 3.36545172e-03 3.91908886e-01] [ 2.26396675e-02 -3.33342102e-03 9.99738133e-01 1.34747461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.132557844 meters Centerline goodness : 0.123916 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:1.35 [[ 9.99743512e-01 1.64590024e-03 -2.25876311e-02 3.39245655e+00] [-1.55254632e-03 9.99990184e-01 4.14988062e-03 3.87885742e-01] [ 2.25942396e-02 -4.11374789e-03 9.99736254e-01 1.34763542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16255784400005 meters Centerline goodness : 0.158621 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99740485e-01 1.81537037e-03 -2.27082986e-02 3.39276230e+00] [-1.70575358e-03 9.99986805e-01 4.84560775e-03 3.84252745e-01] [ 2.27167955e-02 -4.80561548e-03 9.99730390e-01 1.34770786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.192557844 meters Centerline goodness : 0.152494 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99734683e-01 2.05077121e-03 -2.29425088e-02 3.39348196e+00] [-1.92554677e-03 9.99983137e-01 5.47894483e-03 3.81183007e-01] [ 2.29533579e-02 -5.43331429e-03 9.99721773e-01 1.34757887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22255784400005 meters Centerline goodness : 0.133376 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99727735e-01 2.38274587e-03 -2.32115845e-02 3.39445582e+00] [-2.23769961e-03 9.99977822e-01 6.27284477e-03 3.77347100e-01] [ 2.32260163e-02 -6.21919635e-03 9.99710895e-01 1.34716742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.252557844 meters Centerline goodness : 0.137289 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99726153e-01 2.48021852e-03 -2.32694438e-02 3.39476281e+00] [-2.33039689e-03 9.99976396e-01 6.46346593e-03 3.76424006e-01] [ 2.32849254e-02 -6.40746889e-03 9.99708336e-01 1.34694893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28255784400005 meters Centerline goodness : 0.118649 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99725345e-01 2.56623800e-03 -2.32948105e-02 3.39495851e+00] [-2.41497964e-03 9.99975835e-01 6.51903272e-03 3.76294027e-01] [ 2.33109770e-02 -6.46098574e-03 9.99707384e-01 1.34671040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.312557844 meters Centerline goodness : 0.135979 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99725894e-01 2.65851276e-03 -2.32609030e-02 3.39496013e+00] [-2.50892628e-03 9.99976002e-01 6.45763377e-03 3.76879059e-01] [ 2.32775125e-02 -6.39750380e-03 9.99708572e-01 1.34652368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34255784400005 meters Centerline goodness : 0.135979 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99725894e-01 2.65851276e-03 -2.32609030e-02 3.39496013e+00] [-2.50892628e-03 9.99976002e-01 6.45763377e-03 3.76879059e-01] [ 2.32775125e-02 -6.39750380e-03 9.99708572e-01 1.34652368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.372557844 meters Centerline goodness : 0.153159 Centerline is valid? [False, False] Translation: X:3.35, Y:0.37, Z:1.35 [[ 9.99656315e-01 2.56672954e-03 -2.60895228e-02 3.34892099e+00] [-2.37204354e-03 9.99969133e-01 7.49043989e-03 3.73436528e-01] [ 2.61079434e-02 -7.42598005e-03 9.99631547e-01 1.34779512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40255784400006 meters Centerline goodness : 0.133707 Centerline is valid? [False, False] Translation: X:3.37, Y:0.37, Z:1.35 [[ 0.99961121 0.01165969 -0.02532757 3.3698354 ] [-0.0115015 0.99991349 0.00638248 0.3722391 ] [ 0.0253998 -0.00608869 0.99965883 1.3490027 ] [ 0. 0. 0. 1. ]] SLAMing on 290.43255784400003 meters Centerline goodness : 0.133075 Centerline is valid? [False, False] Translation: X:3.37, Y:0.37, Z:1.35 [[ 0.99961402 0.01153919 -0.0252717 3.36953536] [-0.0113925 0.99991746 0.00594087 0.37434381] [ 0.02533816 -0.00565067 0.99966297 1.34920359] [ 0. 0. 0. 1. ]] SLAMing on 290.46255784400006 meters Centerline goodness : 0.132350 Centerline is valid? [False, False] Translation: X:3.35, Y:0.38, Z:1.35 [[ 9.99694436e-01 1.99832490e-03 -2.46382063e-02 3.34687935e+00] [-1.84502262e-03 9.99978808e-01 6.24329947e-03 3.78290413e-01] [ 2.46501603e-02 -6.19593369e-03 9.99676938e-01 1.34836924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49255784400003 meters Centerline goodness : 0.160867 Centerline is valid? [False, False] Translation: X:3.37, Y:0.38, Z:1.35 [[ 0.99971875 0.01007632 -0.0214681 3.36523605] [-0.00997812 0.99993928 0.00467623 0.37717768] [ 0.02151392 -0.0044607 0.9997586 1.34906017] [ 0. 0. 0. 1. ]] SLAMing on 290.52255784400006 meters Centerline goodness : 0.139039 Centerline is valid? [False, False] Translation: X:3.36, Y:0.38, Z:1.35 [[ 0.99973138 0.01003403 -0.02089223 3.3632654 ] [-0.00993697 0.99993937 0.00474442 0.37689728] [ 0.02093857 -0.00453554 0.99977048 1.34978164] [ 0. 0. 0. 1. ]] SLAMing on 290.55255784400003 meters Centerline goodness : 0.142654 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.35 [[ 9.99785898e-01 1.52965238e-03 -2.06353760e-02 3.38295649e+00] [-1.41103619e-03 9.99982407e-01 5.76153231e-03 3.81620501e-01] [ 2.06438261e-02 -5.73118149e-03 9.99770467e-01 1.35109963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58255784400006 meters Centerline goodness : 0.128992 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.35 [[ 9.99772311e-01 1.44625053e-03 -2.12893167e-02 3.38496228e+00] [-1.32276729e-03 9.99982228e-01 5.81318432e-03 3.81007620e-01] [ 2.12973457e-02 -5.78369991e-03 9.99756456e-01 1.35050022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61255784400004 meters Centerline goodness : 0.134196 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99758268e-01 1.37748718e-03 -2.19432748e-02 3.38685997e+00] [-1.24798879e-03 9.99981733e-01 5.91410834e-03 3.80168284e-01] [ 2.19510206e-02 -5.88529375e-03 9.99741725e-01 1.35005931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64255784400007 meters Centerline goodness : 0.151459 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99749651e-01 1.33620215e-03 -2.23349658e-02 3.38797756e+00] [-1.20120846e-03 9.99980939e-01 6.05637537e-03 3.79196871e-01] [ 2.23426326e-02 -6.02803021e-03 9.99732199e-01 1.34984318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67255784400004 meters Centerline goodness : 0.041998 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99748850e-01 1.38404111e-03 -2.23678710e-02 3.38786678e+00] [-1.24232314e-03 9.99979077e-01 6.34843708e-03 3.77698501e-01] [ 2.23761894e-02 -6.31905454e-03 9.99729651e-01 1.35023552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70255784400007 meters Centerline goodness : 0.134098 Centerline is valid? [False, False] Translation: X:3.41, Y:0.38, Z:1.35 [[ 0.99976865 -0.0074564 -0.02017535 3.40770827] [ 0.00759465 0.99994814 0.00678452 0.37792345] [ 0.02012372 -0.00693617 0.99977344 1.35108946] [ 0. 0. 0. 1. ]] SLAMing on 290.73255784400004 meters Centerline goodness : 0.131003 Centerline is valid? [False, False] Translation: X:3.41, Y:0.38, Z:1.35 [[ 0.99977199 -0.00734134 -0.02005188 3.40726174] [ 0.00748824 0.9999456 0.00726061 0.37547056] [ 0.01999748 -0.00740911 0.99977258 1.35140401] [ 0. 0. 0. 1. ]] SLAMing on 290.76255784400007 meters Centerline goodness : 0.130742 Centerline is valid? [False, False] Translation: X:3.41, Y:0.37, Z:1.35 [[ 0.99977556 -0.00721653 -0.01991861 3.40675018] [ 0.00737246 0.99994267 0.007766 0.37293528] [ 0.01986142 -0.00791111 0.99977144 1.35180086] [ 0. 0. 0. 1. ]] SLAMing on 290.79255784400004 meters Centerline goodness : 0.213299 Centerline is valid? [False, False] Translation: X:3.42, Y:0.37, Z:1.35 [[ 9.99837014e-01 9.51982845e-04 -1.80288669e-02 3.42493158e+00] [-8.38014351e-04 9.99979627e-01 6.32794536e-03 3.67331591e-01] [ 1.80345237e-02 -6.31180554e-03 9.99817442e-01 1.35342547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8225578440001 meters Centerline goodness : 0.221825 Centerline is valid? [False, False] Translation: X:3.42, Y:0.36, Z:1.35 [[ 9.99840801e-01 1.24519698e-03 -1.77994940e-02 3.42402335e+00] [-1.11826654e-03 9.99973890e-01 7.13930199e-03 3.63482885e-01] [ 1.78079191e-02 -7.11826084e-03 9.99816087e-01 1.35409209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85255784400005 meters Centerline goodness : 0.152629 Centerline is valid? [False, False] Translation: X:3.42, Y:0.36, Z:1.35 [[ 9.99837650e-01 1.34237157e-03 -1.79686083e-02 3.42458613e+00] [-1.20954171e-03 9.99971880e-01 7.40115625e-03 3.62204648e-01] [ 1.79780382e-02 -7.37822089e-03 9.99811158e-01 1.35389316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.882557844 meters Centerline goodness : 0.149239 Centerline is valid? [False, False] Translation: X:3.45, Y:0.36, Z:1.35 [[ 0.99979847 0.00898468 -0.01795256 3.4475832 ] [-0.008894 0.99994732 0.00512469 0.35958761] [ 0.01799766 -0.00496399 0.99982571 1.3534626 ] [ 0. 0. 0. 1. ]] SLAMing on 290.91255784400005 meters Centerline goodness : 0.126792 Centerline is valid? [False, False] Translation: X:3.45, Y:0.36, Z:1.35 [[ 0.99976602 0.00938406 -0.01948976 3.45202324] [-0.00928589 0.99994377 0.00512128 0.35974217] [ 0.01953672 -0.0049391 0.99979694 1.35285079] [ 0. 0. 0. 1. ]] SLAMing on 290.942557844 meters Centerline goodness : 0.166507 Centerline is valid? [False, False] Translation: X:3.45, Y:0.36, Z:1.35 [[ 0.9997581 0.00945534 -0.01985772 3.45317431] [-0.0093581 0.99994379 0.00498408 0.36063924] [ 0.01990373 -0.00479704 0.99979039 1.35255032] [ 0. 0. 0. 1. ]] SLAMing on 290.97255784400005 meters Centerline goodness : 0.167963 Centerline is valid? [False, False] Translation: X:3.45, Y:0.36, Z:1.35 [[ 0.99975238 0.00950611 -0.02012017 3.45407414] [-0.00941044 0.99994399 0.00484411 0.36151372] [ 0.02016509 -0.00465357 0.99978583 1.35222634] [ 0. 0. 0. 1. ]] SLAMing on 291.002557844 meters Centerline goodness : 0.161416 Centerline is valid? [False, False] Translation: X:3.45, Y:0.36, Z:1.35 [[ 0.99974779 0.00957084 -0.02031619 3.45478736] [-0.00947592 0.99994376 0.00476341 0.36207726] [ 0.02036064 -0.0045697 0.99978226 1.35195723] [ 0. 0. 0. 1. ]] SLAMing on 291.03255784400005 meters Centerline goodness : 0.111684 Centerline is valid? [False, False] Translation: X:3.45, Y:0.36, Z:1.35 [[ 0.99974924 0.009504 -0.02027639 3.45468163] [-0.00941362 0.99994535 0.00454843 0.36306248] [ 0.02031851 -0.00435642 0.99978407 1.3519756 ] [ 0. 0. 0. 1. ]] SLAMing on 291.062557844 meters Centerline goodness : 0.219275 Centerline is valid? [False, False] Translation: X:3.47, Y:0.37, Z:1.35 [[ 9.99815322e-01 1.62601380e-03 -1.91488388e-02 3.47372454e+00] [-1.52326645e-03 9.99984372e-01 5.37908619e-03 3.70056352e-01] [ 1.91572861e-02 -5.34892401e-03 9.99802174e-01 1.35270610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09255784400005 meters Centerline goodness : 0.117811 Centerline is valid? [False, False] Translation: X:3.47, Y:0.37, Z:1.35 [[ 9.99816666e-01 1.79592236e-03 -1.90632897e-02 3.47335045e+00] [-1.68525905e-03 9.99981646e-01 5.81952632e-03 3.67890421e-01] [ 1.90733912e-02 -5.78633282e-03 9.99801342e-01 1.35300538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.122557844 meters Centerline goodness : 0.136789 Centerline is valid? [False, False] Translation: X:3.47, Y:0.37, Z:1.35 [[ 9.99814272e-01 1.88242738e-03 -1.91801366e-02 3.47343243e+00] [-1.76416797e-03 9.99979343e-01 6.18077866e-03 3.65944662e-01] [ 1.91913752e-02 -6.14579374e-03 9.99796940e-01 1.35336616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15255784400006 meters Centerline goodness : 0.117615 Centerline is valid? [False, False] Translation: X:3.43, Y:0.36, Z:1.35 [[ 9.99769979e-01 -1.60990198e-04 -2.14467361e-02 3.42750034e+00] [ 2.94482041e-04 9.99980604e-01 6.22133030e-03 3.60376176e-01] [ 2.14453185e-02 -6.22621495e-03 9.99750635e-01 1.35431952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18255784400003 meters Centerline goodness : 0.137395 Centerline is valid? [False, False] Translation: X:3.47, Y:0.36, Z:1.35 [[ 9.99814025e-01 2.76291597e-04 -1.92831283e-02 3.47097220e+00] [-1.73296596e-04 9.99985713e-01 5.34266437e-03 3.62566409e-01] [ 1.92843290e-02 -5.33832907e-03 9.99799788e-01 1.35458303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21255784400006 meters Centerline goodness : 0.164972 Centerline is valid? [False, False] Translation: X:3.47, Y:0.36, Z:1.35 [[ 9.99810226e-01 4.49634451e-04 -1.94758607e-02 3.47146148e+00] [-3.34570210e-04 9.99982475e-01 5.91089942e-03 3.59881606e-01] [ 1.94781771e-02 -5.90326164e-03 9.99792855e-01 1.35464641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24255784400003 meters Centerline goodness : 0.119723 Centerline is valid? [False, False] Translation: X:3.47, Y:0.36, Z:1.35 [[ 9.99806045e-01 5.40113733e-04 -1.96870536e-02 3.47208172e+00] [-4.16969688e-04 9.99980328e-01 6.25864565e-03 3.58033171e-01] [ 1.96900467e-02 -6.24922286e-03 9.99786602e-01 1.35450585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27255784400006 meters Centerline goodness : 0.121081 Centerline is valid? [False, False] Translation: X:3.47, Y:0.36, Z:1.35 [[ 9.99803326e-01 6.59761784e-04 -1.98210271e-02 3.47240223e+00] [-5.28709998e-04 9.99977972e-01 6.61626845e-03 3.56249457e-01] [ 1.98249557e-02 -6.60448763e-03 9.99781652e-01 1.35456887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30255784400003 meters Centerline goodness : 0.160051 Centerline is valid? [False, False] Translation: X:3.47, Y:0.36, Z:1.35 [[ 9.99805566e-01 7.84673188e-04 -1.97031746e-02 3.47198338e+00] [-6.49018261e-04 9.99976050e-01 6.89037827e-03 3.55112091e-01] [ 1.97081094e-02 -6.87625082e-03 9.99782130e-01 1.35477764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33255784400006 meters Centerline goodness : 0.126524 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:1.36 [[ 9.99810158e-01 9.10904149e-04 -1.94632573e-02 3.47114863e+00] [-7.71946198e-04 9.99974170e-01 7.14582191e-03 3.54176671e-01] [ 1.94692637e-02 -7.12944074e-03 9.99785036e-01 1.35517269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36255784400004 meters Centerline goodness : 0.125897 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:1.36 [[ 9.99812342e-01 1.02008274e-03 -1.93452707e-02 3.47075988e+00] [-8.77628825e-04 9.99972450e-01 7.37081969e-03 3.53246317e-01] [ 1.93522566e-02 -7.35245854e-03 9.99785693e-01 1.35535337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39255784400007 meters Centerline goodness : 0.157448 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:1.36 [[ 9.99809841e-01 1.04143533e-03 -1.94729628e-02 3.47131201e+00] [-8.95458128e-04 9.99971446e-01 7.50362188e-03 3.52361611e-01] [ 1.94802213e-02 -7.48475778e-03 9.99782226e-01 1.35502501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42255784400004 meters Centerline goodness : 0.128395 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:1.35 [[ 9.99797146e-01 -2.62213542e-03 -1.99697376e-02 3.47334541e+00] [ 2.69890347e-03 9.99989068e-01 3.81823903e-03 3.51878665e-01] [ 1.99595074e-02 -3.87136088e-03 9.99793294e-01 1.35373889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45255784400007 meters Centerline goodness : 0.141527 Centerline is valid? [False, False] Translation: X:3.43, Y:0.35, Z:1.35 [[ 0.99973293 -0.00365433 -0.02281896 3.42928037] [ 0.00376686 0.99998095 0.00489052 0.34666649] [ 0.02280065 -0.00497517 0.99972765 1.35384968] [ 0. 0. 0. 1. ]] SLAMing on 291.48255784400004 meters Centerline goodness : 0.133814 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:1.35 [[ 9.99784784e-01 -2.67228659e-03 -2.05728980e-02 3.47320130e+00] [ 2.77250556e-03 9.99984422e-01 4.84442738e-03 3.46037010e-01] [ 2.05596318e-02 -4.90042326e-03 9.99776619e-01 1.35420715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51255784400007 meters Centerline goodness : 0.121593 Centerline is valid? [False, False] Translation: X:3.45, Y:0.34, Z:1.35 [[ 9.99830255e-01 1.79645671e-03 -1.83367069e-02 3.45003486e+00] [-1.76298994e-03 9.99996751e-01 1.84112655e-03 3.40165057e-01] [ 1.83399548e-02 -1.80848660e-03 9.99830173e-01 1.35343177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54255784400004 meters Centerline goodness : 0.134679 Centerline is valid? [False, False] Translation: X:3.45, Y:0.34, Z:1.35 [[ 9.99834474e-01 1.74852634e-03 -1.81098592e-02 3.44890520e+00] [-1.71198903e-03 9.99996468e-01 2.03284384e-03 3.38760353e-01] [ 1.81133497e-02 -2.00150347e-03 9.99833936e-01 1.35439617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5725578440001 meters Centerline goodness : 0.119680 Centerline is valid? [False, False] Translation: X:3.45, Y:0.34, Z:1.35 [[ 9.99836282e-01 1.89592643e-03 -1.79948241e-02 3.44846178e+00] [-1.85303421e-03 9.99995403e-01 2.39996132e-03 3.37068260e-01] [ 1.79992915e-02 -2.36622338e-03 9.99835200e-01 1.35466890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60255784400005 meters Centerline goodness : 0.120895 Centerline is valid? [False, False] Translation: X:3.45, Y:0.34, Z:1.35 [[ 9.99834799e-01 2.06515409e-03 -1.80584853e-02 3.44889933e+00] [-2.01599839e-03 9.99994215e-01 2.73980909e-03 3.35844202e-01] [ 1.80640390e-02 -2.70295059e-03 9.99833178e-01 1.35430069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.632557844 meters Centerline goodness : 0.155381 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99833024e-01 2.16343615e-03 -1.81450819e-02 3.44946773e+00] [-2.10980427e-03 9.99993351e-01 2.97434739e-03 3.34677174e-01] [ 1.81513960e-02 -2.93556817e-03 9.99830940e-01 1.35372475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66255784400005 meters Centerline goodness : 0.165397 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99830974e-01 2.35555950e-03 -1.82338823e-02 3.44988199e+00] [-2.29406480e-03 9.99991613e-01 3.39273344e-03 3.32488766e-01] [ 1.82417211e-02 -3.35033027e-03 9.99827993e-01 1.35350513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.692557844 meters Centerline goodness : 0.159325 Centerline is valid? [False, False] Translation: X:3.47, Y:0.34, Z:1.36 [[ 0.99983542 -0.00441665 -0.01759613 3.46790619] [ 0.00450307 0.99997798 0.00487498 0.336836 ] [ 0.01757421 -0.00495341 0.99983329 1.35523352] [ 0. 0. 0. 1. ]] SLAMing on 291.72255784400005 meters Centerline goodness : 0.127281 Centerline is valid? [False, False] Translation: X:3.47, Y:0.34, Z:1.36 [[ 0.99983969 -0.00424672 -0.01739423 3.46734715] [ 0.00433627 0.99997752 0.00511349 0.33613589] [ 0.01737212 -0.00518809 0.99983563 1.35531205] [ 0. 0. 0. 1. ]] SLAMing on 291.752557844 meters Centerline goodness : 0.155381 Centerline is valid? [False, False] Translation: X:3.47, Y:0.34, Z:1.35 [[ 0.99984234 -0.00413985 -0.01726747 3.46727609] [ 0.00423145 0.99997715 0.00527156 0.33553051] [ 0.01724525 -0.0053438 0.99983701 1.35494913] [ 0. 0. 0. 1. ]] SLAMing on 291.78255784400005 meters Centerline goodness : 0.137477 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99808293e-01 2.54905680e-03 -1.94133658e-02 3.45090149e+00] [-2.48717646e-03 9.99991752e-01 3.21098961e-03 3.27683260e-01] [ 1.94213906e-02 -3.16208958e-03 9.99806387e-01 1.35163544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.812557844 meters Centerline goodness : 0.159494 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99803652e-01 2.58542870e-03 -1.96461750e-02 3.45175162e+00] [-2.51950338e-03 9.99991115e-01 3.37964253e-03 3.26748899e-01] [ 1.96547383e-02 -3.32948034e-03 9.99801283e-01 1.35116578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84255784400005 meters Centerline goodness : 0.163143 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99805298e-01 2.69739741e-03 -1.95471088e-02 3.45149709e+00] [-2.62761848e-03 9.99990087e-01 3.59458761e-03 3.26102399e-01] [ 1.95566110e-02 -3.54252540e-03 9.99802475e-01 1.35114170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.872557844 meters Centerline goodness : 0.155038 Centerline is valid? [False, False] Translation: X:3.49, Y:0.33, Z:1.35 [[ 0.99985235 0.00442631 -0.01660392 3.49360253] [-0.00436475 0.99998347 0.00374166 0.32866359] [ 0.01662021 -0.00366864 0.99985514 1.35123242] [ 0. 0. 0. 1. ]] SLAMing on 291.90255784400006 meters Centerline goodness : 0.153195 Centerline is valid? [False, False] Translation: X:3.49, Y:0.33, Z:1.35 [[ 0.99985679 0.00454588 -0.01630143 3.4924619 ] [-0.00448036 0.99998175 0.00405334 0.32730042] [ 0.01631955 -0.00397972 0.99985891 1.35187973] [ 0. 0. 0. 1. ]] SLAMing on 291.93255784400003 meters Centerline goodness : 0.158363 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.35 [[ 9.99883531e-01 1.42189814e-03 -1.51955062e-02 3.48822939e+00] [-1.40376693e-03 9.99998290e-01 1.20379494e-03 3.24621975e-01] [ 1.51971919e-02 -1.18232379e-03 9.99883817e-01 1.35361770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96255784400006 meters Centerline goodness : 0.114333 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.35 [[ 9.99879196e-01 1.43482187e-03 -1.54769310e-02 3.48900128e+00] [-1.41463186e-03 9.99998134e-01 1.31539188e-03 3.24000692e-01] [ 1.54787895e-02 -1.29333882e-03 9.99879360e-01 1.35350797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99255784400003 meters Centerline goodness : 0.154378 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.35 [[ 9.99873326e-01 1.45157373e-03 -1.58500949e-02 3.49018613e+00] [-1.42968575e-03 9.99998009e-01 1.39218066e-03 3.23672842e-01] [ 1.58520842e-02 -1.36934365e-03 9.99873410e-01 1.35307097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02255784400006 meters Centerline goodness : 0.122913 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.35 [[ 9.99866778e-01 1.40331092e-03 -1.62621585e-02 3.49159687e+00] [-1.38073496e-03 9.99998068e-01 1.39939563e-03 3.23491908e-01] [ 1.62640909e-02 -1.37675547e-03 9.99866783e-01 1.35244410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05255784400003 meters Centerline goodness : 0.128473 Centerline is valid? [False, False] Translation: X:3.45, Y:0.32, Z:1.35 [[ 9.99816968e-01 -1.40298957e-03 -1.90803961e-02 3.44694088e+00] [ 1.42122261e-03 9.99998546e-01 9.42063860e-04 3.18824056e-01] [ 1.90790466e-02 -9.69008923e-04 9.99817509e-01 1.35294954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08255784400006 meters Centerline goodness : 0.130438 Centerline is valid? [False, False] Translation: X:3.45, Y:0.32, Z:1.35 [[ 9.99821118e-01 -1.37994812e-03 -1.88634087e-02 3.44620086e+00] [ 1.40160875e-03 9.99998374e-01 1.13511530e-03 3.17785154e-01] [ 1.88618116e-02 -1.16135137e-03 9.99821426e-01 1.35330758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11255784400004 meters Centerline goodness : 0.158644 Centerline is valid? [False, False] Translation: X:3.47, Y:0.32, Z:1.35 [[ 9.99844477e-01 5.44942702e-03 -1.67727495e-02 3.46730827e+00] [-5.47866983e-03 9.99983550e-01 -1.69801538e-03 3.16854473e-01] [ 1.67632203e-02 1.78964366e-03 9.99857886e-01 1.35253408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14255784400007 meters Centerline goodness : 0.135060 Centerline is valid? [False, False] Translation: X:3.47, Y:0.32, Z:1.35 [[ 9.99845687e-01 5.46325869e-03 -1.66959319e-02 3.46693590e+00] [-5.49032412e-03 9.99983687e-01 -1.57567298e-03 3.16401536e-01] [ 1.66870512e-02 1.66709591e-03 9.99859372e-01 1.35279124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17255784400004 meters Centerline goodness : 0.117500 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.35 [[ 9.99869680e-01 -2.48609224e-03 -1.59512756e-02 3.48683335e+00] [ 2.47923438e-03 9.99996826e-01 -4.49686075e-04 3.20160095e-01] [ 1.59523429e-02 4.10080521e-04 9.99872669e-01 1.35470582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20255784400007 meters Centerline goodness : 0.151569 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.35 [[ 0.99989423 0.0035786 -0.01409711 3.50872353] [-0.00363355 0.9999859 -0.00387385 0.31945362] [ 0.01408305 0.00392466 0.99989313 1.35363907] [ 0. 0. 0. 1. ]] SLAMing on 292.23255784400004 meters Centerline goodness : 0.151569 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.35 [[ 0.99989423 0.0035786 -0.01409711 3.50872353] [-0.00363355 0.9999859 -0.00387385 0.31945362] [ 0.01408305 0.00392466 0.99989313 1.35363907] [ 0. 0. 0. 1. ]] SLAMing on 292.26255784400007 meters Centerline goodness : 0.152754 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.35 [[ 0.99989445 0.00350919 -0.01409895 3.50861877] [-0.00356307 0.99998644 -0.00379869 0.31870601] [ 0.01408543 0.00384852 0.99989339 1.35380601] [ 0. 0. 0. 1. ]] SLAMing on 292.29255784400004 meters Centerline goodness : 0.085285 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.35 [[ 9.99894617e-01 3.44499453e-03 -1.41027215e-02 3.50858549e+00] [-3.49891466e-03 9.99986657e-01 -3.80049838e-03 3.18554804e-01] [ 1.40894406e-02 3.84944209e-03 9.99893329e-01 1.35384666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3225578440001 meters Centerline goodness : 0.131990 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.35 [[ 9.99895540e-01 3.42542916e-03 -1.40419482e-02 3.50844929e+00] [-3.47923745e-03 9.99986692e-01 -3.80933089e-03 3.18742394e-01] [ 1.40287127e-02 3.85778823e-03 9.99894151e-01 1.35379555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35255784400005 meters Centerline goodness : 0.134726 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.35 [[ 9.99896758e-01 3.39796317e-03 -1.39616317e-02 3.50825836e+00] [-3.45207291e-03 9.99986617e-01 -3.85333269e-03 3.19053563e-01] [ 1.39483514e-02 3.90113143e-03 9.99895107e-01 1.35371332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.382557844 meters Centerline goodness : 0.069722 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.35 [[ 9.99901431e-01 -4.62596432e-03 -1.32562933e-02 3.52898075e+00] [ 4.57974100e-03 9.99983335e-01 -3.51513433e-03 3.24517785e-01] [ 1.32723333e-02 3.45407745e-03 9.99905953e-01 1.35474785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41255784400005 meters Centerline goodness : 0.146413 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.36 [[ 0.99990679 -0.00487193 -0.01275476 3.52737811] [ 0.00482625 0.99998184 -0.00360964 0.32464334] [ 0.01277212 0.00354775 0.99991214 1.3550287 ] [ 0. 0. 0. 1. ]] SLAMing on 292.442557844 meters Centerline goodness : 0.156643 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.36 [[ 9.99905887e-01 -4.99719551e-03 -1.27767532e-02 3.52724939e+00] [ 4.95264187e-03 9.99981553e-01 -3.51635264e-03 3.24000499e-01] [ 1.27940895e-02 3.45274302e-03 9.99912191e-01 1.35526589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47255784400005 meters Centerline goodness : 0.155483 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.35 [[ 9.99904378e-01 -5.02503098e-03 -1.28834453e-02 3.52766726e+00] [ 4.98074932e-03 9.99981586e-01 -3.46688271e-03 3.23671466e-01] [ 1.29006293e-02 3.40238198e-03 9.99910995e-01 1.35496579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.502557844 meters Centerline goodness : 0.129370 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.35 [[ 9.99903223e-01 -5.05629252e-03 -1.29606576e-02 3.52789239e+00] [ 5.01248749e-03 9.99981623e-01 -3.41010501e-03 3.23178502e-01] [ 1.29776619e-02 3.34480985e-03 9.99910192e-01 1.35489204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53255784400005 meters Centerline goodness : 0.140255 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.35 [[ 9.99902719e-01 -5.09805000e-03 -1.29831799e-02 3.52785538e+00] [ 5.05500197e-03 9.99981624e-01 -3.34633758e-03 3.22518702e-01] [ 1.30000011e-02 3.28038204e-03 9.99910115e-01 1.35499000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.562557844 meters Centerline goodness : 0.148181 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.36 [[ 9.99897692e-01 -5.75710360e-03 -1.30943224e-02 3.52779947e+00] [ 5.71073894e-03 9.99977302e-01 -3.57546027e-03 3.21408079e-01] [ 1.31146094e-02 3.50031621e-03 9.99907873e-01 1.35546737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59255784400005 meters Centerline goodness : 0.151737 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.36 [[ 9.99894936e-01 -5.73785525e-03 -1.33114025e-02 3.52824309e+00] [ 5.69400812e-03 9.99978246e-01 -3.32951677e-03 3.20182028e-01] [ 1.33302172e-02 3.25337172e-03 9.99905856e-01 1.35549172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.622557844 meters Centerline goodness : 0.154560 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.36 [[ 9.99891166e-01 -5.69490462e-03 -1.36097442e-02 3.52916563e+00] [ 5.65391804e-03 9.99979371e-01 -3.04814279e-03 3.18916807e-01] [ 1.36268224e-02 2.97086267e-03 9.99902737e-01 1.35508513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65255784400006 meters Centerline goodness : 0.157713 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.35 [[ 9.99887350e-01 -5.67161571e-03 -1.38967765e-02 3.53012895e+00] [ 5.63443336e-03 9.99980445e-01 -2.71330257e-03 3.17173461e-01] [ 1.39118936e-02 2.63469646e-03 9.99899754e-01 1.35458550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68255784400003 meters SLAMing on 292.71255784400006 meters Centerline goodness : 0.142243 Centerline is valid? [False, False] Translation: X:3.53, Y:0.31, Z:1.36 [[ 0.9998605 -0.00982993 -0.01350379 3.5287558 ] [ 0.00974855 0.999934 -0.00607906 0.31284413] [ 0.01356265 0.00594657 0.99989034 1.35530408] [ 0. 0. 0. 1. ]] SLAMing on 292.74255784400003 meters Centerline goodness : 0.138897 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:1.36 [[ 0.99989772 -0.0087201 -0.011336 3.57249715] [ 0.00865127 0.99994393 -0.0061067 0.31143496] [ 0.01138861 0.006008 0.9999171 1.35512649] [ 0. 0. 0. 1. ]] SLAMing on 292.77255784400006 meters SLAMing on 292.80255784400003 meters Centerline goodness : 0.147670 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:1.35 [[ 0.9998922 -0.00868398 -0.01183921 3.57413487] [ 0.00861949 0.99994779 -0.00548761 0.30839513] [ 0.01188625 0.00538497 0.99991486 1.35427372] [ 0. 0. 0. 1. ]] SLAMing on 292.83255784400006 meters Centerline goodness : 0.123730 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:1.35 [[ 0.9998926 -0.00859845 -0.01186808 3.57416966] [ 0.00853827 0.99995048 -0.005112 0.30651711] [ 0.01191144 0.00501011 0.9999165 1.35427454] [ 0. 0. 0. 1. ]] SLAMing on 292.86255784400004 meters Centerline goodness : 0.135860 Centerline is valid? [False, False] Translation: X:3.57, Y:0.30, Z:1.35 [[ 0.99988835 -0.00855845 -0.01224879 3.57490988] [ 0.008503 0.99995339 -0.00457243 0.30345536] [ 0.01228735 0.00446777 0.99991453 1.35449408] [ 0. 0. 0. 1. ]] SLAMing on 292.89255784400007 meters Centerline goodness : 0.130382 Centerline is valid? [False, False] Translation: X:3.59, Y:0.30, Z:1.36 [[ 9.99929470e-01 6.73551645e-04 -1.18575282e-02 3.59498401e+00] [-7.34422722e-04 9.99986572e-01 -5.12993283e-03 2.98298140e-01] [ 1.18539137e-02 5.13827945e-03 9.99916538e-01 1.35515441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92255784400004 meters Centerline goodness : 0.142923 Centerline is valid? [False, False] Translation: X:3.60, Y:0.30, Z:1.36 [[ 9.99928270e-01 7.10479621e-04 -1.19561738e-02 3.59521268e+00] [-7.71445235e-04 9.99986722e-01 -5.09525149e-03 2.98283236e-01] [ 1.19523949e-02 5.10410955e-03 9.99915541e-01 1.35518441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95255784400007 meters Centerline goodness : 0.131408 Centerline is valid? [False, False] Translation: X:3.60, Y:0.30, Z:1.36 [[ 9.99928616e-01 7.07698654e-04 -1.19273296e-02 3.59507117e+00] [-7.69243543e-04 9.99986411e-01 -5.15619140e-03 2.98663363e-01] [ 1.19235185e-02 5.16499835e-03 9.99915573e-01 1.35533027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98255784400004 meters SLAMing on 293.01255784400007 meters SLAMing on 293.04255784400004 meters Centerline goodness : 0.143048 Centerline is valid? [False, False] Translation: X:3.62, Y:0.30, Z:1.36 [[ 9.99946312e-01 -3.41875388e-03 -9.78189129e-03 3.61707342e+00] [ 3.40061426e-03 9.99992469e-01 -1.87044095e-03 3.03691182e-01] [ 9.78821220e-03 1.83707609e-03 9.99950407e-01 1.35510567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0725578440001 meters Centerline goodness : 0.138181 Centerline is valid? [False, False] Translation: X:3.62, Y:0.30, Z:1.35 [[ 9.99945812e-01 -3.46919828e-03 -9.81522255e-03 3.61747930e+00] [ 3.44969115e-03 9.99992042e-01 -2.00366944e-03 3.04458264e-01] [ 9.82209558e-03 1.96970137e-03 9.99949822e-01 1.35455106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10255784400005 meters Centerline goodness : 0.144108 Centerline is valid? [False, False] Translation: X:3.62, Y:0.30, Z:1.35 [[ 9.99944588e-01 -3.55925818e-03 -9.90723941e-03 3.61800630e+00] [ 3.53844640e-03 9.99991498e-01 -2.11740064e-03 3.04824605e-01] [ 9.91469155e-03 2.08222708e-03 9.99948680e-01 1.35398767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.132557844 meters Centerline goodness : 0.122715 Centerline is valid? [False, False] Translation: X:3.62, Y:0.30, Z:1.35 [[ 9.99935069e-01 -4.19700680e-03 -1.05944621e-02 3.61988918e+00] [ 4.17158094e-03 9.99988369e-01 -2.42087895e-03 3.04387661e-01] [ 1.06044994e-02 2.37652611e-03 9.99940947e-01 1.35360170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16255784400005 meters Centerline goodness : 0.153092 Centerline is valid? [False, False] Translation: X:3.62, Y:0.30, Z:1.35 [[ 9.99932237e-01 -4.38432326e-03 -1.07841825e-02 3.62019553e+00] [ 4.35857835e-03 9.99987598e-01 -2.40962960e-03 3.03856238e-01] [ 1.07946134e-02 2.36246261e-03 9.99938946e-01 1.35371695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.192557844 meters Centerline goodness : 0.139393 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:1.36 [[ 9.99887430e-01 -6.25536780e-03 -1.36380973e-02 3.57524684e+00] [ 6.22627264e-03 9.99978252e-01 -2.17479118e-03 3.04284727e-01] [ 1.36514048e-02 2.08963185e-03 9.99904632e-01 1.35513894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22255784400005 meters Centerline goodness : 0.147270 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:1.35 [[ 9.99885713e-01 -6.32893680e-03 -1.37297387e-02 3.57558498e+00] [ 6.30048933e-03 9.99977917e-01 -2.11422611e-03 3.04112668e-01] [ 1.37428163e-02 2.02748041e-03 9.99903508e-01 1.35477404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.252557844 meters Centerline goodness : 0.195658 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:1.35 [[ 9.99885567e-01 -6.39512844e-03 -1.37096986e-02 3.57553383e+00] [ 6.36654717e-03 9.99977470e-01 -2.12738018e-03 3.04254386e-01] [ 1.37229946e-02 2.03985329e-03 9.99903755e-01 1.35465426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28255784400005 meters Centerline goodness : 0.141416 Centerline is valid? [False, False] Translation: X:3.57, Y:0.30, Z:1.36 [[ 9.99893128e-01 -6.65877430e-03 -1.30150840e-02 3.57354679e+00] [ 6.62880671e-03 9.99975281e-01 -2.34431230e-03 3.04789254e-01] [ 1.30303726e-02 2.25778729e-03 9.99912552e-01 1.35510748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.312557844 meters Centerline goodness : 0.120672 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:1.36 [[ 9.99894099e-01 -6.69582996e-03 -1.29211966e-02 3.57315622e+00] [ 6.66554115e-03 9.99974939e-01 -2.38576187e-03 3.05016597e-01] [ 1.29368474e-02 2.29938244e-03 9.99913672e-01 1.35528677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34255784400005 meters Centerline goodness : 0.119072 Centerline is valid? [False, False] Translation: X:3.55, Y:0.30, Z:1.35 [[ 9.99930483e-01 6.76921155e-04 -1.17716134e-02 3.55387013e+00] [-7.13844518e-04 9.99994838e-01 -3.13272540e-03 3.01750458e-01] [ 1.17694320e-02 3.14091073e-03 9.99925805e-01 1.35299307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.372557844 meters Centerline goodness : 0.120663 Centerline is valid? [False, False] Translation: X:3.51, Y:0.30, Z:1.35 [[ 9.99890594e-01 -4.78956139e-04 -1.47841144e-02 3.50976445e+00] [ 4.39955004e-04 9.99996415e-01 -2.64118300e-03 3.03125392e-01] [ 1.47853264e-02 2.63438969e-03 9.99887221e-01 1.35377507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40255784400006 meters Centerline goodness : 0.126517 Centerline is valid? [False, False] Translation: X:3.53, Y:0.31, Z:1.35 [[ 9.99837919e-01 -7.92437142e-03 -1.61660126e-02 3.53129060e+00] [ 7.89337079e-03 9.99966886e-01 -1.98054944e-03 3.05909266e-01] [ 1.61811719e-02 1.85262409e-03 9.99867360e-01 1.35498338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43255784400003 meters Centerline goodness : 0.127295 Centerline is valid? [False, False] Translation: X:3.51, Y:0.30, Z:1.35 [[ 9.99848633e-01 -1.10009234e-04 -1.73982443e-02 3.51107668e+00] [ 6.03683810e-05 9.99995926e-01 -2.85370993e-03 3.01850566e-01] [ 1.73984874e-02 2.85222766e-03 9.99844567e-01 1.35392878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46255784400006 meters Centerline goodness : 0.157917 Centerline is valid? [False, False] Translation: X:3.51, Y:0.30, Z:1.35 [[ 9.99851971e-01 -1.37374405e-04 -1.72051769e-02 3.51026779e+00] [ 8.47270289e-05 9.99995313e-01 -3.06066449e-03 3.03057875e-01] [ 1.72055167e-02 3.05875368e-03 9.99847295e-01 1.35449662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49255784400003 meters Centerline goodness : 0.143087 Centerline is valid? [False, False] Translation: X:3.51, Y:0.31, Z:1.35 [[ 9.99858599e-01 -1.38470692e-04 -1.68155532e-02 3.50904890e+00] [ 8.11738959e-05 9.99994189e-01 -3.40800379e-03 3.05330481e-01] [ 1.68159274e-02 3.40615691e-03 9.99852801e-01 1.35498920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52255784400006 meters Centerline goodness : 0.177946 Centerline is valid? [False, False] Translation: X:3.51, Y:0.31, Z:1.36 [[ 9.99857914e-01 3.71150576e-03 -1.64431492e-02 3.50790896e+00] [-3.71746823e-03 9.99993035e-01 -3.32060786e-04 3.10435459e-01] [ 1.64418022e-02 3.93140490e-04 9.99864747e-01 1.35556131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55255784400003 meters Centerline goodness : 0.124480 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.36 [[ 9.99865857e-01 -2.98442411e-03 -1.61047060e-02 3.48585002e+00] [ 3.02001392e-03 9.99993050e-01 2.18603432e-03 3.18301416e-01] [ 1.60980700e-02 -2.23437751e-03 9.99867921e-01 1.35539511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58255784400006 meters Centerline goodness : 0.157539 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.36 [[ 9.99866970e-01 -3.24248567e-03 -1.59852680e-02 3.48557381e+00] [ 3.26639073e-03 9.99993586e-01 1.46956115e-03 3.21627771e-01] [ 1.59804005e-02 -1.52157979e-03 9.99871147e-01 1.35540872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61255784400004 meters Centerline goodness : 0.151950 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.36 [[ 9.99867307e-01 -3.47554651e-03 -1.59150658e-02 3.48546088e+00] [ 3.49026659e-03 9.99993506e-01 8.97232537e-04 3.24300437e-01] [ 1.59118441e-02 -9.52661303e-04 9.99872945e-01 1.35530177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64255784400007 meters Centerline goodness : 0.136499 Centerline is valid? [False, False] Translation: X:3.49, Y:0.33, Z:1.36 [[ 9.99865865e-01 -3.61171914e-03 -1.59752176e-02 3.48569989e+00] [ 3.62187661e-03 9.99993257e-01 6.06940537e-04 3.25963969e-01] [ 1.59729177e-02 -6.64719392e-04 9.99872204e-01 1.35506046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67255784400004 meters Centerline goodness : 0.154064 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:1.36 [[ 9.99807642e-01 -4.34179534e-03 -1.91266028e-02 3.44197012e+00] [ 4.37220344e-03 9.99989243e-01 1.54830291e-03 3.28194752e-01] [ 1.91196746e-02 -1.63163048e-03 9.99815871e-01 1.35543119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70255784400007 meters Centerline goodness : 0.137737 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99778749e-01 -5.65234323e-03 -2.02608885e-02 3.44556828e+00] [ 5.66800378e-03 9.99983681e-01 7.15602659e-04 3.28689931e-01] [ 2.02565130e-02 -8.30283124e-04 9.99794471e-01 1.35412550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73255784400004 meters Centerline goodness : 0.161953 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99771832e-01 -6.08784493e-03 -2.04749204e-02 3.44604676e+00] [ 6.10254380e-03 9.99981164e-01 6.55491403e-04 3.27559031e-01] [ 2.04705442e-02 -7.80290939e-04 9.99790152e-01 1.35410332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76255784400007 meters Centerline goodness : 0.127566 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99765223e-01 -6.32451828e-03 -2.07243430e-02 3.44661260e+00] [ 6.34184304e-03 9.99979594e-01 7.70345482e-04 3.26281938e-01] [ 2.07190481e-02 -9.01595153e-04 9.99784931e-01 1.35405212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79255784400004 meters Centerline goodness : 0.103922 Centerline is valid? [False, False] Translation: X:3.40, Y:0.33, Z:1.35 [[ 9.99701338e-01 -7.28231252e-03 -2.33281712e-02 3.40125040e+00] [ 7.31653116e-03 9.99972279e-01 1.38182060e-03 3.27454559e-01] [ 2.33174616e-02 -1.55208919e-03 9.99726906e-01 1.35442568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8225578440001 meters Centerline goodness : 0.136973 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:1.35 [[ 9.99736821e-01 1.15534973e-03 -2.29118543e-02 3.42098142e+00] [-1.14331314e-03 9.99999201e-01 5.38435844e-04 3.22091330e-01] [ 2.29124581e-02 -5.12098716e-04 9.99737344e-01 1.35468357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85255784400005 meters Centerline goodness : 0.115526 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:1.35 [[ 9.99733264e-01 1.12615388e-03 -2.30680077e-02 3.42161180e+00] [-1.11475408e-03 9.99999250e-01 5.07035307e-04 3.22227579e-01] [ 2.30685614e-02 -4.81184907e-04 9.99733770e-01 1.35428617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.882557844 meters Centerline goodness : 0.106878 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:1.35 [[ 9.99727165e-01 1.05330085e-03 -2.33342425e-02 3.42238965e+00] [-1.04809709e-03 9.99999423e-01 2.35238390e-04 3.23446485e-01] [ 2.33344768e-02 -2.10717657e-04 9.99727692e-01 1.35422465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91255784400005 meters Centerline goodness : 0.178647 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:1.35 [[ 9.99734651e-01 1.07247048e-03 -2.30103775e-02 3.42137441e+00] [-1.07321741e-03 9.99999424e-01 -2.01114030e-05 3.24950673e-01] [ 2.30103427e-02 4.48012043e-05 9.99735226e-01 1.35470194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.942557844 meters Centerline goodness : 0.156264 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:1.36 [[ 9.99747477e-01 1.19728108e-03 -2.24398833e-02 3.41969989e+00] [-1.20323801e-03 9.99999244e-01 -2.51961771e-04 3.26811554e-01] [ 2.24395646e-02 2.78898665e-04 9.99748162e-01 1.35527054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97255784400005 meters Centerline goodness : 0.122799 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:1.36 [[ 9.99760748e-01 1.34089688e-03 -2.18322968e-02 3.41798433e+00] [-1.35268678e-03 9.99998947e-01 -5.25262289e-04 3.28919386e-01] [ 2.18315694e-02 5.54668878e-04 9.99761509e-01 1.35583965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.002557844 meters Centerline goodness : 0.142060 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:1.36 [[ 9.99765316e-01 1.29666026e-03 -2.16248010e-02 3.41743455e+00] [-1.31825068e-03 9.99998647e-01 -9.84185209e-04 3.31324321e-01] [ 2.16234956e-02 1.01246115e-03 9.99765672e-01 1.35604216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03255784400005 meters Centerline goodness : 0.085180 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:1.36 [[ 9.99761927e-01 1.16754815e-03 -2.17882030e-02 3.41802353e+00] [-1.19881127e-03 9.99998271e-01 -1.42185805e-03 3.33333579e-01] [ 2.17865052e-02 1.44763949e-03 9.99761598e-01 1.35582244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.062557844 meters Centerline goodness : 0.157960 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.35 [[ 9.99749672e-01 1.04317281e-03 -2.23496158e-02 3.41996701e+00] [-1.08553791e-03 9.99997637e-01 -1.88351457e-03 3.35730105e-01] [ 2.23475982e-02 1.90730443e-03 9.99748442e-01 1.35491221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09255784400005 meters Centerline goodness : 0.118614 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.35 [[ 9.99748979e-01 1.06755289e-03 -2.23794400e-02 3.42004493e+00] [-1.10921924e-03 9.99997675e-01 -1.84948295e-03 3.35861406e-01] [ 2.23774136e-02 1.87384239e-03 9.99747838e-01 1.35482592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.122557844 meters Centerline goodness : 0.146827 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99753896e-01 1.09658621e-03 -2.21572582e-02 3.41918429e+00] [-1.13606722e-03 9.99997789e-01 -1.76934538e-03 3.35544527e-01] [ 2.21552690e-02 1.79408207e-03 9.99752932e-01 1.35526823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15255784400006 meters Centerline goodness : 0.146827 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99753896e-01 1.09658621e-03 -2.21572582e-02 3.41918429e+00] [-1.13606722e-03 9.99997789e-01 -1.76934538e-03 3.35544527e-01] [ 2.21552690e-02 1.79408207e-03 9.99752932e-01 1.35526823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18255784400003 meters Centerline goodness : 0.139770 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:1.35 [[ 9.99723310e-01 -7.93717689e-03 -2.21428220e-02 3.39816287e+00] [ 7.91921326e-03 9.99968239e-01 -8.98832982e-04 3.40976492e-01] [ 2.21492529e-02 7.23230555e-04 9.99754414e-01 1.35466410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21255784400006 meters Centerline goodness : 0.133791 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:1.35 [[ 9.99725705e-01 -7.96786215e-03 -2.20233464e-02 3.39770987e+00] [ 7.94992868e-03 9.99967992e-01 -9.01727793e-04 3.40908229e-01] [ 2.20298263e-02 7.26396421e-04 9.99757050e-01 1.35486714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24255784400003 meters Centerline goodness : 0.150024 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:1.35 [[ 9.99720624e-01 -8.05440904e-03 -2.22216389e-02 3.39866086e+00] [ 8.03290428e-03 9.99967177e-01 -1.05683435e-03 3.41842790e-01] [ 2.22294217e-02 8.78034800e-04 9.99752510e-01 1.35404110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27255784400006 meters Centerline goodness : 0.128337 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:1.35 [[ 9.99715732e-01 -8.15405510e-03 -2.24046323e-02 3.39947619e+00] [ 8.12769134e-03 9.99966166e-01 -1.26752022e-03 3.42816950e-01] [ 2.24142097e-02 1.08506197e-03 9.99748181e-01 1.35343041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30255784400003 meters Centerline goodness : 0.111562 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99746742e-01 3.82413921e-05 -2.25044464e-02 3.41806465e+00] [-1.00096158e-04 9.99996221e-01 -2.74743751e-03 3.38963308e-01] [ 2.25042563e-02 2.74899431e-03 9.99742968e-01 1.35505916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33255784400006 meters Centerline goodness : 0.143385 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99748097e-01 -1.73462442e-04 -2.24435570e-02 3.41781570e+00] [ 9.94360184e-05 9.99994552e-01 -3.29941136e-03 3.41802377e-01] [ 2.24440071e-02 3.29634853e-03 9.99742667e-01 1.35520605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36255784400004 meters Centerline goodness : 0.126224 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99752034e-01 -2.38337775e-04 -2.22668719e-02 3.41731280e+00] [ 1.60041078e-04 9.99993799e-01 -3.51800217e-03 3.43147512e-01] [ 2.22675723e-02 3.51356621e-03 9.99745873e-01 1.35529954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39255784400007 meters Centerline goodness : 0.118302 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99755379e-01 -3.18836973e-04 -2.21151497e-02 3.41679154e+00] [ 2.36759363e-04 9.99993075e-01 -3.71389386e-03 3.44178450e-01] [ 2.21161807e-02 3.70774940e-03 9.99748532e-01 1.35552276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42255784400004 meters Centerline goodness : 0.118302 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99755379e-01 -3.18836973e-04 -2.21151497e-02 3.41679154e+00] [ 2.36759363e-04 9.99993075e-01 -3.71389386e-03 3.44178450e-01] [ 2.21161807e-02 3.70774940e-03 9.99748532e-01 1.35552276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45255784400007 meters Centerline goodness : 0.132288 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:1.36 [[ 9.99754943e-01 -5.61362214e-04 -2.21300487e-02 3.41692613e+00] [ 4.70279036e-04 9.99991399e-01 -4.12080408e-03 3.45726483e-01] [ 2.21321716e-02 4.10938695e-03 9.99746608e-01 1.35531799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48255784400004 meters Centerline goodness : 0.150792 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:1.35 [[ 9.99751755e-01 -6.56528335e-04 -2.22710155e-02 3.41754034e+00] [ 5.59224805e-04 9.99990273e-01 -4.37501239e-03 3.47020300e-01] [ 2.22736712e-02 4.36147181e-03 9.99742397e-01 1.35492045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51255784400007 meters Centerline goodness : 0.129845 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:1.35 [[ 9.99748883e-01 -7.78349235e-04 -2.23956700e-02 3.41821316e+00] [ 6.72949199e-04 9.99988665e-01 -4.71342021e-03 3.48770017e-01] [ 2.23990848e-02 4.69716544e-03 9.99738075e-01 1.35434282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54255784400004 meters Centerline goodness : 0.102844 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:1.35 [[ 9.99747361e-01 -8.75393592e-04 -2.24598999e-02 3.41852435e+00] [ 7.61418525e-04 9.99986793e-01 -5.08265267e-03 3.50806458e-01] [ 2.24640526e-02 5.06426721e-03 9.99734825e-01 1.35417100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5725578440001 meters Centerline goodness : 0.147024 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:1.35 [[ 9.99748831e-01 -1.02402115e-03 -2.23880846e-02 3.41827890e+00] [ 9.00134315e-04 9.99984232e-01 -5.54298305e-03 3.53134437e-01] [ 2.23934077e-02 5.52143854e-03 9.99733989e-01 1.35439272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60255784400005 meters Centerline goodness : 0.105397 Centerline is valid? [False, False] Translation: X:3.42, Y:0.36, Z:1.35 [[ 9.99746717e-01 -1.38758487e-03 -2.24627852e-02 3.41822518e+00] [ 1.24068749e-03 9.99977764e-01 -6.55220474e-03 3.57798413e-01] [ 2.24713775e-02 6.52267588e-03 9.99726208e-01 1.35498986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.632557844 meters Centerline goodness : 0.092634 Centerline is valid? [False, False] Translation: X:3.42, Y:0.36, Z:1.35 [[ 9.99743053e-01 -1.56570979e-03 -2.26136507e-02 3.41879097e+00] [ 1.40672642e-03 9.99974197e-01 -7.04461332e-03 3.60276100e-01] [ 2.26240970e-02 7.01099201e-03 9.99719459e-01 1.35474419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66255784400005 meters Centerline goodness : 0.105857 Centerline is valid? [False, False] Translation: X:3.44, Y:0.36, Z:1.35 [[ 0.99971192 -0.00713268 -0.02291735 3.4428501 ] [ 0.00703646 0.9999661 -0.00427685 0.36301641] [ 0.02294707 0.00411436 0.99972821 1.3545079 ] [ 0. 0. 0. 1. ]] SLAMing on 294.692557844 meters Centerline goodness : 0.113217 Centerline is valid? [False, False] Translation: X:3.44, Y:0.36, Z:1.35 [[ 9.99737224e-01 -4.11581316e-03 -2.25509018e-02 3.44165638e+00] [ 4.08792445e-03 9.99990822e-01 -1.28266023e-03 3.64144240e-01] [ 2.25559740e-02 1.19013680e-03 9.99744873e-01 1.35474465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72255784400005 meters Centerline goodness : 0.146612 Centerline is valid? [False, False] Translation: X:3.44, Y:0.37, Z:1.35 [[ 9.99740153e-01 -4.31177076e-03 -2.23837915e-02 3.44113238e+00] [ 4.27266446e-03 9.99989262e-01 -1.79461257e-03 3.66564413e-01] [ 2.23912891e-02 1.69850782e-03 9.99747841e-01 1.35496175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.752557844 meters Centerline goodness : 0.105718 Centerline is valid? [False, False] Translation: X:3.44, Y:0.37, Z:1.36 [[ 9.99743259e-01 -4.48678784e-03 -2.22100221e-02 3.44055437e+00] [ 4.43726644e-03 9.99987560e-01 -2.27846723e-03 3.68900679e-01] [ 2.22199688e-02 2.17933047e-03 9.99750731e-01 1.35525474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78255784400005 meters Centerline goodness : 0.126553 Centerline is valid? [False, False] Translation: X:3.44, Y:0.38, Z:1.36 [[ 9.99767807e-01 -2.10412093e-03 -2.14454134e-02 3.43751245e+00] [ 2.09278159e-03 9.99997658e-01 -5.51182544e-04 3.75257848e-01] [ 2.14465230e-02 5.06173997e-04 9.99769869e-01 1.35642206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.812557844 meters Centerline goodness : 0.112858 Centerline is valid? [False, False] Translation: X:3.44, Y:0.38, Z:1.36 [[ 9.99761305e-01 -2.28652602e-03 -2.17279640e-02 3.43860119e+00] [ 2.26261382e-03 9.99996807e-01 -1.12504648e-03 3.78247834e-01] [ 2.17304671e-02 1.07561595e-03 9.99763287e-01 1.35586864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84255784400005 meters Centerline goodness : 0.114526 Centerline is valid? [False, False] Translation: X:3.44, Y:0.38, Z:1.36 [[ 9.99756143e-01 -2.50878733e-03 -2.19399437e-02 3.43949984e+00] [ 2.47240209e-03 9.99995523e-01 -1.68536989e-03 3.80839393e-01] [ 2.19440737e-02 1.63071454e-03 9.99757870e-01 1.35533123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.872557844 meters Centerline goodness : 0.101736 Centerline is valid? [False, False] Translation: X:3.44, Y:0.38, Z:1.36 [[ 9.99755025e-01 -2.71259716e-03 -2.19666111e-02 3.43973642e+00] [ 2.66406602e-03 9.99993946e-01 -2.23827678e-03 3.83409984e-01] [ 2.19725496e-02 2.17920795e-03 9.99756199e-01 1.35509819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90255784400006 meters Centerline goodness : 0.112004 Centerline is valid? [False, False] Translation: X:3.44, Y:0.39, Z:1.36 [[ 9.99757285e-01 -2.90861379e-03 -2.18383073e-02 3.43930809e+00] [ 2.84791256e-03 9.99991996e-01 -2.81016207e-03 3.86262776e-01] [ 2.18463062e-02 2.74728641e-03 9.99757566e-01 1.35534841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93255784400003 meters Centerline goodness : 0.173574 Centerline is valid? [False, False] Translation: X:3.44, Y:0.39, Z:1.36 [[ 9.99778048e-01 -1.22051720e-03 -2.10324555e-02 3.43505809e+00] [ 1.19118792e-03 9.99998301e-01 -1.40694914e-03 3.89499463e-01] [ 2.10341369e-02 1.38158326e-03 9.99777803e-01 1.35766975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96255784400006 meters SLAMing on 294.99255784400003 meters Centerline goodness : 0.180549 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:1.36 [[ 9.99771394e-01 -1.77800951e-03 -2.13072307e-02 3.43620245e+00] [ 1.71956496e-03 9.99994710e-01 -2.76095212e-03 3.96754001e-01] [ 2.13120270e-02 2.72368178e-03 9.99769163e-01 1.35714952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02255784400006 meters Centerline goodness : 0.306801 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:1.36 [[ 9.99772303e-01 -1.91448305e-03 -2.12526863e-02 3.43619473e+00] [ 1.84922980e-03 9.99993517e-01 -3.08958160e-03 3.98269862e-01] [ 2.12584635e-02 3.04957701e-03 9.99769362e-01 1.35693276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05255784400003 meters SLAMing on 295.08255784400006 meters Centerline goodness : 0.324695 Centerline is valid? [False, False] Translation: X:3.43, Y:0.40, Z:1.36 [[ 9.99796387e-01 4.97887094e-04 -2.01726505e-02 3.43218305e+00] [-5.18017961e-04 9.99999373e-01 -9.92715577e-04 4.02750899e-01] [ 2.01721436e-02 1.00296324e-03 9.99796019e-01 1.35842856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11255784400004 meters Centerline goodness : 0.107709 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99795996e-01 1.73930167e-04 -2.01974069e-02 3.43219967e+00] [-2.10023536e-04 9.99998385e-01 -1.78492243e-03 4.06422660e-01] [ 2.01970638e-02 1.78880023e-03 9.99794418e-01 1.35860261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14255784400007 meters Centerline goodness : 0.181470 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99794227e-01 -1.44981012e-05 -2.02855527e-02 3.43231525e+00] [-2.99845211e-05 9.99997596e-01 -2.19251692e-03 4.08066568e-01] [ 2.02855357e-02 2.19267401e-03 9.99791823e-01 1.35881185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17255784400004 meters Centerline goodness : 0.156797 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99795954e-01 -1.98941959e-04 -2.01992545e-02 3.43198407e+00] [ 1.46077694e-04 9.99996561e-01 -2.61858115e-03 4.09878487e-01] [ 2.01997060e-02 2.61509618e-03 9.99792545e-01 1.35902868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20255784400007 meters Centerline goodness : 0.147166 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99799003e-01 -3.22599861e-04 -2.00461851e-02 3.43139379e+00] [ 2.63407763e-04 9.99995598e-01 -2.95535646e-03 4.11550002e-01] [ 2.00470502e-02 2.94948212e-03 9.99794687e-01 1.35939609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23255784400004 meters Centerline goodness : 0.101639 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99790019e-01 -8.19282487e-03 -1.87828477e-02 3.45102637e+00] [ 8.16064472e-03 9.99965101e-01 -1.78928168e-03 4.15967283e-01] [ 1.87968515e-02 1.63562582e-03 9.99821986e-01 1.36106188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26255784400007 meters Centerline goodness : 0.184170 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99792582e-01 -8.26572097e-03 -1.86137094e-02 3.45049964e+00] [ 8.23108354e-03 9.99964249e-01 -1.93670101e-03 4.16743128e-01] [ 1.86290522e-02 1.78308831e-03 9.99824874e-01 1.36119480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29255784400004 meters Centerline goodness : 0.182487 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99793139e-01 -8.31523489e-03 -1.85617098e-02 3.45038013e+00] [ 8.28073340e-03 9.99963842e-01 -1.93483222e-03 4.16551717e-01] [ 1.85771272e-02 1.78072741e-03 9.99825845e-01 1.36111342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3225578440001 meters Centerline goodness : 0.179037 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99788853e-01 -8.43766834e-03 -1.87364802e-02 3.45082892e+00] [ 8.40241925e-03 9.99962780e-01 -1.95923611e-03 4.16177293e-01] [ 1.87523142e-02 1.80139066e-03 9.99822537e-01 1.36099318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35255784400005 meters Centerline goodness : 0.182869 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99797921e-01 -2.23014046e-04 -2.01014252e-02 3.43051269e+00] [ 1.64604558e-04 9.99995760e-01 -2.90734639e-03 4.13098584e-01] [ 2.01019883e-02 2.90345009e-03 9.99793719e-01 1.35972044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.382557844 meters Centerline goodness : 0.257791 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99745611e-01 -8.14993209e-03 -2.10307266e-02 3.45261887e+00] [ 8.11037562e-03 9.99965179e-01 -1.96549895e-03 4.16403588e-01] [ 2.10460129e-02 1.79443186e-03 9.99776898e-01 1.36091869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41255784400005 meters Centerline goodness : 0.179677 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99777200e-01 5.27376729e-05 -2.11080125e-02 3.43242784e+00] [-1.17734137e-04 9.99995256e-01 -3.07800100e-03 4.14151244e-01] [ 2.11077500e-02 3.07980035e-03 9.99772463e-01 1.35876557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.442557844 meters Centerline goodness : 0.179279 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99774347e-01 4.24991783e-05 -2.12427384e-02 3.43283603e+00] [-1.09389664e-04 9.99995040e-01 -3.14771151e-03 4.14546874e-01] [ 2.12424993e-02 3.14932496e-03 9.99769392e-01 1.35866712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47255784400005 meters Centerline goodness : 0.176932 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99766847e-01 2.62162494e-05 -2.15928563e-02 3.43387384e+00] [-9.90834790e-05 9.99994305e-01 -3.37353597e-03 4.15969392e-01] [ 2.15926448e-02 3.37488891e-03 9.99761155e-01 1.35847363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.502557844 meters Centerline goodness : 0.181442 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99766165e-01 1.55555927e-05 -2.16244165e-02 3.43391501e+00] [-8.99715461e-05 9.99994078e-01 -3.44032436e-03 4.16365901e-01] [ 2.16242350e-02 3.44146547e-03 9.99760246e-01 1.35855608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53255784400005 meters Centerline goodness : 0.185280 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99769724e-01 2.22449864e-05 -2.14592289e-02 3.43338965e+00] [-9.66618159e-05 9.99993986e-01 -3.46679299e-03 4.16473534e-01] [ 2.14590228e-02 3.46806896e-03 9.99763714e-01 1.35878275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.562557844 meters Centerline goodness : 0.176096 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99771406e-01 -8.19150238e-03 -1.97493131e-02 3.45373547e+00] [ 8.13933272e-03 9.99963174e-01 -2.72053028e-03 4.18349619e-01] [ 1.97708711e-02 2.55916216e-03 9.99801262e-01 1.35962699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59255784400005 meters Centerline goodness : 0.105698 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99836172e-01 -3.19357885e-04 -1.80976913e-02 3.43246911e+00] [ 2.54952395e-04 9.99993627e-01 -3.56096377e-03 4.14655533e-01] [ 1.80987132e-02 3.55576633e-03 9.99829882e-01 1.35764684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.622557844 meters Centerline goodness : 0.177292 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99837832e-01 -2.97625833e-04 -1.80061263e-02 3.43216139e+00] [ 2.34009458e-04 9.99993724e-01 -3.53504442e-03 4.14671548e-01] [ 1.80070654e-02 3.53025754e-03 9.99831627e-01 1.35774635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65255784400006 meters Centerline goodness : 0.148801 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99835986e-01 -2.36004397e-04 -1.81092694e-02 3.43285197e+00] [ 1.71209131e-04 9.99993579e-01 -3.57948349e-03 4.15540461e-01] [ 1.81099979e-02 3.57579594e-03 9.99829606e-01 1.35710482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68255784400003 meters Centerline goodness : 0.182458 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99835806e-01 -2.63738214e-04 -1.81187981e-02 3.43303102e+00] [ 1.97543388e-04 9.99993301e-01 -3.65507106e-03 4.15871935e-01] [ 1.81196407e-02 3.65089167e-03 9.99829160e-01 1.35686506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71255784400006 meters Centerline goodness : 0.176508 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99837156e-01 -3.24701026e-04 -1.80431608e-02 3.43283065e+00] [ 2.56881564e-04 9.99992895e-01 -3.76092565e-03 4.16128567e-01] [ 1.80442538e-02 3.75567825e-03 9.99830135e-01 1.35686656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74255784400003 meters Centerline goodness : 0.177323 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99837935e-01 -3.62225980e-04 -1.79992382e-02 3.43267823e+00] [ 2.93843649e-04 9.99992730e-01 -3.80167864e-03 4.16084858e-01] [ 1.80004844e-02 3.79577356e-03 9.99830773e-01 1.35688528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77255784400006 meters Centerline goodness : 0.175108 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99837648e-01 -3.29334586e-04 -1.80157825e-02 3.43271478e+00] [ 2.62674001e-04 9.99993112e-01 -3.70236279e-03 4.15657276e-01] [ 1.80168777e-02 3.69702942e-03 9.99830848e-01 1.35682397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80255784400003 meters Centerline goodness : 0.177063 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99805822e-01 -8.40535820e-03 -1.78232399e-02 3.45370091e+00] [ 8.36353962e-03 9.99962098e-01 -2.41953881e-03 4.17583961e-01] [ 1.78429015e-02 2.27000362e-03 9.99838226e-01 1.35835548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83255784400006 meters Centerline goodness : 0.178946 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99804005e-01 -8.32598856e-03 -1.79618947e-02 3.45410761e+00] [ 8.28953947e-03 9.99963430e-01 -2.10274704e-03 4.16156391e-01] [ 1.79787453e-02 1.95343907e-03 9.99836461e-01 1.35811647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86255784400004 meters Centerline goodness : 0.175488 Centerline is valid? [False, False] Translation: X:3.45, Y:0.41, Z:1.36 [[ 9.99802557e-01 -8.33354360e-03 -1.80388460e-02 3.45439843e+00] [ 8.30221038e-03 9.99963896e-01 -1.81117803e-03 4.14413671e-01] [ 1.80532883e-02 1.66105813e-03 9.99835646e-01 1.35779863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89255784400007 meters Centerline goodness : 0.175002 Centerline is valid? [False, False] Translation: X:3.45, Y:0.41, Z:1.36 [[ 9.99803755e-01 -8.90659551e-03 -1.76953159e-02 3.45359063e+00] [ 8.87413560e-03 9.99958796e-01 -1.91205518e-03 4.13001967e-01] [ 1.77116167e-02 1.75464931e-03 9.99841597e-01 1.35755111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92255784400004 meters Centerline goodness : 0.172669 Centerline is valid? [False, False] Translation: X:3.45, Y:0.41, Z:1.36 [[ 9.99805416e-01 -8.87254006e-03 -1.76183902e-02 3.45340690e+00] [ 8.84243626e-03 9.99959310e-01 -1.78582556e-03 4.12480190e-01] [ 1.76335182e-02 1.62968857e-03 9.99843189e-01 1.35746265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95255784400007 meters Centerline goodness : 0.175730 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99838895e-01 -9.39664295e-05 -1.79492635e-02 3.43122880e+00] [ 5.65560620e-05 9.99997825e-01 -2.08472479e-03 4.09778193e-01] [ 1.79494203e-02 2.08337379e-03 9.99836726e-01 1.35661256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98255784400004 meters Centerline goodness : 0.176875 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99840366e-01 -1.19367365e-04 -1.78669471e-02 3.43101762e+00] [ 8.17347082e-05 9.99997777e-01 -2.10698775e-03 4.09799871e-01] [ 1.78671589e-02 2.10519105e-03 9.99838153e-01 1.35660423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01255784400007 meters Centerline goodness : 0.177548 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99841413e-01 -1.62671171e-04 -1.78079068e-02 3.43078424e+00] [ 1.23745270e-04 9.99997601e-01 -2.18695751e-03 4.10010844e-01] [ 1.78082198e-02 2.18440704e-03 9.99839035e-01 1.35675015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04255784400004 meters Centerline goodness : 0.177548 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99841413e-01 -1.62671171e-04 -1.78079068e-02 3.43078424e+00] [ 1.23745270e-04 9.99997601e-01 -2.18695751e-03 4.10010844e-01] [ 1.78082198e-02 2.18440704e-03 9.99839035e-01 1.35675015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0725578440001 meters Centerline goodness : 0.172764 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99840546e-01 -2.08223440e-04 -1.78560433e-02 3.43102160e+00] [ 1.67607642e-04 9.99997396e-01 -2.27609107e-03 4.10388385e-01] [ 1.78564708e-02 2.27273533e-03 9.99837977e-01 1.35651245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10255784400005 meters Centerline goodness : 0.171582 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99834366e-01 -2.16159212e-04 -1.81987129e-02 3.43260378e+00] [ 1.73117557e-04 9.99997185e-01 -2.36663558e-03 4.11222112e-01] [ 1.81991732e-02 2.36309307e-03 9.99831589e-01 1.35535751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.132557844 meters Centerline goodness : 0.170894 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99833613e-01 -2.02680704e-04 -1.82402341e-02 3.43286899e+00] [ 1.59312244e-04 9.99997157e-01 -2.37904797e-03 4.11378074e-01] [ 1.82406644e-02 2.37574623e-03 9.99830803e-01 1.35510558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16255784400005 meters Centerline goodness : 0.173813 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99833744e-01 -2.31533209e-04 -1.82326799e-02 3.43279906e+00] [ 1.87077771e-04 9.99997006e-01 -2.43989625e-03 4.11534990e-01] [ 1.82331902e-02 2.43607967e-03 9.99830794e-01 1.35521530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.192557844 meters Centerline goodness : 0.173571 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99833730e-01 -2.55490222e-04 -1.82331252e-02 3.43267921e+00] [ 2.10065132e-04 9.99996870e-01 -2.49322140e-03 4.11653045e-01] [ 1.82337051e-02 2.48897671e-03 9.99830654e-01 1.35541748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22255784400005 meters Centerline goodness : 0.173999 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99831995e-01 -2.95874525e-04 -1.83274097e-02 3.43283263e+00] [ 2.47779153e-04 9.99996520e-01 -2.62644702e-03 4.12274681e-01] [ 1.83281230e-02 2.62146462e-03 9.99828589e-01 1.35557812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.252557844 meters Centerline goodness : 0.176408 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99833132e-01 -3.30787652e-04 -1.82646814e-02 3.43264985e+00] [ 2.80229054e-04 9.99996123e-01 -2.77059729e-03 4.13054711e-01] [ 1.82655271e-02 2.76501667e-03 9.99829348e-01 1.35566457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28255784400005 meters Centerline goodness : 0.175020 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99837520e-01 -3.75509295e-04 -1.80220240e-02 3.43181979e+00] [ 3.19716786e-04 9.99995148e-01 -3.09857730e-03 4.14905538e-01] [ 1.80231001e-02 3.09231190e-03 9.99832789e-01 1.35618511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.312557844 meters Centerline goodness : 0.170889 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99837730e-01 -4.24327646e-04 -1.80092582e-02 3.43161405e+00] [ 3.65172029e-04 9.99994528e-01 -3.28789508e-03 4.15831381e-01] [ 1.80105548e-02 3.28078508e-03 9.99832414e-01 1.35653057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34255784400005 meters Centerline goodness : 0.173643 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99838599e-01 -4.84192385e-04 -1.79594535e-02 3.43138409e+00] [ 4.21773611e-04 9.99993859e-01 -3.47916353e-03 4.16758908e-01] [ 1.79610278e-02 3.47102716e-03 9.99832663e-01 1.35675140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.372557844 meters Centerline goodness : 0.176696 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99840116e-01 -5.28223946e-04 -1.78735149e-02 3.43115197e+00] [ 4.63206274e-04 9.99993262e-01 -3.64159889e-03 4.17622497e-01] [ 1.78753180e-02 3.63273753e-03 9.99833624e-01 1.35682473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40255784400006 meters Centerline goodness : 0.182660 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99839529e-01 -5.61632595e-04 -1.79053191e-02 3.43115816e+00] [ 4.94436882e-04 9.99992820e-01 -3.75704126e-03 4.18250754e-01] [ 1.79073006e-02 3.74758532e-03 9.99832628e-01 1.35697005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43255784400003 meters Centerline goodness : 0.173155 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99837944e-01 -5.62971366e-04 -1.79935995e-02 3.43136142e+00] [ 4.94351752e-04 9.99992590e-01 -3.81777723e-03 4.18614186e-01] [ 1.79956155e-02 3.80826336e-03 9.99830813e-01 1.35702455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46255784400006 meters Centerline goodness : 0.171286 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99838533e-01 -5.35341822e-04 -1.79616482e-02 3.43105779e+00] [ 4.63773458e-04 9.99991939e-01 -3.98843869e-03 4.19580440e-01] [ 1.79636386e-02 3.97946456e-03 9.99830721e-01 1.35748202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49255784400003 meters Centerline goodness : 0.174321 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99839573e-01 -5.79768110e-04 -1.79022962e-02 3.43081842e+00] [ 5.05149804e-04 9.99991168e-01 -4.17232655e-03 4.20504733e-01] [ 1.79045571e-02 4.16261386e-03 9.99831035e-01 1.35769167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52255784400006 meters Centerline goodness : 0.170433 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99837499e-01 -5.98953718e-04 -1.80171045e-02 3.43110694e+00] [ 5.21331931e-04 9.99990565e-01 -4.31261599e-03 4.21339383e-01] [ 1.80195176e-02 4.30252230e-03 9.99828378e-01 1.35776033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55255784400003 meters Centerline goodness : 0.174693 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99833805e-01 -6.11626965e-04 -1.82205492e-02 3.43171284e+00] [ 5.31248682e-04 9.99990109e-01 -4.41592198e-03 4.22026243e-01] [ 1.82230699e-02 4.40550843e-03 9.99824240e-01 1.35762324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58255784400006 meters Centerline goodness : 0.173177 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99825998e-01 -5.58319254e-04 -1.86456783e-02 3.43299252e+00] [ 4.76554445e-04 9.99990253e-01 -4.38934358e-03 4.22184745e-01] [ 1.86479472e-02 4.37969415e-03 9.99816519e-01 1.35727537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61255784400004 meters Centerline goodness : 0.174799 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99822225e-01 -5.41212010e-04 -1.88474347e-02 3.43362698e+00] [ 4.58311619e-04 9.99990204e-01 -4.40253899e-03 4.22240452e-01] [ 1.88496328e-02 4.39311833e-03 9.99812678e-01 1.35708420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64255784400007 meters Centerline goodness : 0.116050 Centerline is valid? [False, False] Translation: X:3.39, Y:0.43, Z:1.36 [[ 9.99783310e-01 -7.39159156e-04 -2.08035389e-02 3.38613089e+00] [ 6.46614444e-04 9.99989868e-01 -4.45488329e-03 4.25723714e-01] [ 2.08066210e-02 4.44046609e-03 9.99773658e-01 1.35823563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67255784400004 meters Centerline goodness : 0.139757 Centerline is valid? [False, False] Translation: X:3.39, Y:0.43, Z:1.36 [[ 9.99787812e-01 -7.25129618e-04 -2.05865274e-02 3.38543190e+00] [ 6.33969468e-04 9.99989967e-01 -4.43432709e-03 4.25606434e-01] [ 2.05895363e-02 4.42033495e-03 9.99778241e-01 1.35847487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70255784400007 meters Centerline goodness : 0.173053 Centerline is valid? [False, False] Translation: X:3.38, Y:0.43, Z:1.36 [[ 9.99791798e-01 -7.16784200e-04 -2.03923451e-02 3.38478897e+00] [ 6.27311220e-04 9.99990151e-01 -4.39363534e-03 4.25418815e-01] [ 2.03952935e-02 4.37992823e-03 9.99782400e-01 1.35869881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73255784400004 meters Centerline goodness : 0.177421 Centerline is valid? [False, False] Translation: X:3.38, Y:0.42, Z:1.36 [[ 9.99792857e-01 -6.48260832e-04 -2.03426555e-02 3.38461585e+00] [ 5.62188874e-04 9.99990868e-01 -4.23654089e-03 4.24728393e-01] [ 2.03452161e-02 4.22422690e-03 9.99784091e-01 1.35875499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76255784400007 meters Centerline goodness : 0.175565 Centerline is valid? [False, False] Translation: X:3.38, Y:0.42, Z:1.36 [[ 9.99791557e-01 -5.56675523e-04 -2.04091456e-02 3.38487430e+00] [ 4.75553902e-04 9.99991969e-01 -3.97940601e-03 4.23486950e-01] [ 2.04111969e-02 3.96887089e-03 9.99783792e-01 1.35850572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79255784400004 meters Centerline goodness : 0.169794 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.36 [[ 9.99741711e-01 -9.08210641e-03 -2.08333253e-02 3.40725170e+00] [ 9.02101125e-03 9.99954735e-01 -3.02467753e-03 4.21238799e-01] [ 2.08598527e-02 2.83595862e-03 9.99778387e-01 1.35948012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8225578440001 meters Centerline goodness : 0.175784 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.36 [[ 9.99744554e-01 -8.97266940e-03 -2.07441224e-02 3.40686832e+00] [ 8.91819706e-03 9.99956541e-01 -2.71693898e-03 4.19673777e-01] [ 2.07675990e-02 2.53124478e-03 9.99781126e-01 1.35965553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85255784400005 meters Centerline goodness : 0.176973 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.36 [[ 9.99749845e-01 -8.85418868e-03 -2.05389995e-02 3.40615390e+00] [ 8.80671321e-03 9.99958338e-01 -2.40078043e-03 4.18096419e-01] [ 2.05594008e-02 2.21929879e-03 9.99786170e-01 1.35994451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.882557844 meters Centerline goodness : 0.176169 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.36 [[ 9.99753696e-01 -8.74786568e-03 -2.03966249e-02 3.40562014e+00] [ 8.70617921e-03 9.99959828e-01 -2.13169685e-03 4.16768484e-01] [ 2.04144533e-02 1.95359513e-03 9.99789695e-01 1.36021278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91255784400005 meters Centerline goodness : 0.169446 Centerline is valid? [False, False] Translation: X:3.42, Y:0.41, Z:1.36 [[ 9.99810119e-01 -2.80053972e-04 -1.94845646e-02 3.42490512e+00] [ 2.24513439e-04 9.99995906e-01 -2.85261787e-03 4.09912103e-01] [ 1.94852837e-02 2.84770167e-03 9.99806088e-01 1.36127203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.942557844 meters Centerline goodness : 0.172995 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99801129e-01 -1.08670270e-04 -1.99421886e-02 3.42620710e+00] [ 5.72826269e-05 9.99996677e-01 -2.57738380e-03 4.08980415e-01] [ 1.99424024e-02 2.57572889e-03 9.99797813e-01 1.36104298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97255784400005 meters Centerline goodness : 0.171353 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99797077e-01 -4.07461371e-05 -2.01445412e-02 3.42684197e+00] [-9.79339332e-06 9.99996853e-01 -2.50873994e-03 4.08752528e-01] [ 2.01445800e-02 2.50842814e-03 9.99793931e-01 1.36085698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.002557844 meters Centerline goodness : 0.171412 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99797660e-01 1.66246979e-05 -2.01156143e-02 3.42660236e+00] [-6.59427162e-05 9.99996994e-01 -2.45106736e-03 4.08450074e-01] [ 2.01155130e-02 2.45189789e-03 9.99794656e-01 1.36114638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03255784400005 meters Centerline goodness : 0.133750 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99802013e-01 9.54127544e-05 -1.98978969e-02 3.42581940e+00] [-1.42431453e-04 9.99997201e-01 -2.36159462e-03 4.07975528e-01] [ 1.98976159e-02 2.36396115e-03 9.99799228e-01 1.36155291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.062557844 meters Centerline goodness : 0.150472 Centerline is valid? [False, False] Translation: X:3.42, Y:0.41, Z:1.36 [[ 9.99806652e-01 3.08658199e-04 -1.96611992e-02 3.42493612e+00] [-3.46409360e-04 9.99998103e-01 -1.91670756e-03 4.06025325e-01] [ 1.96605703e-02 1.92314780e-03 9.99804863e-01 1.36195086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09255784400005 meters Centerline goodness : 0.149514 Centerline is valid? [False, False] Translation: X:3.41, Y:0.41, Z:1.36 [[ 9.99747114e-01 -8.12657248e-03 -2.09682275e-02 3.40523156e+00] [ 8.11607600e-03 9.99966893e-01 -5.85642092e-04 4.10025411e-01] [ 2.09722925e-02 4.15314263e-04 9.99779971e-01 1.36101298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.122557844 meters Centerline goodness : 0.171833 Centerline is valid? [False, False] Translation: X:3.42, Y:0.40, Z:1.36 [[ 9.99782794e-01 5.79185202e-05 -2.08413597e-02 3.42485198e+00] [-8.53894283e-05 9.99999129e-01 -1.31720827e-03 4.02679499e-01] [ 2.08412653e-02 1.31870180e-03 9.99781928e-01 1.36190119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15255784400006 meters Centerline goodness : 0.173447 Centerline is valid? [False, False] Translation: X:3.43, Y:0.40, Z:1.36 [[ 9.99780953e-01 1.30308514e-04 -2.09291603e-02 3.42506388e+00] [-1.52772077e-04 9.99999414e-01 -1.07171883e-03 4.01357595e-01] [ 2.09290083e-02 1.07468146e-03 9.99780387e-01 1.36182813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18255784400003 meters Centerline goodness : 0.092943 Centerline is valid? [False, False] Translation: X:3.42, Y:0.40, Z:1.36 [[ 9.99781463e-01 2.21472717e-04 -2.09040073e-02 3.42483115e+00] [-2.38610135e-04 9.99999638e-01 -8.17324331e-04 4.00093030e-01] [ 2.09038187e-02 8.22133623e-04 9.99781153e-01 1.36204318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21255784400006 meters Centerline goodness : 0.143296 Centerline is valid? [False, False] Translation: X:3.42, Y:0.40, Z:1.36 [[ 9.99785391e-01 2.71319197e-04 -2.07146842e-02 3.42416294e+00] [-2.85322916e-04 9.99999733e-01 -6.73076069e-04 3.99415626e-01] [ 2.07144960e-02 6.78841995e-04 9.99785201e-01 1.36231652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24255784400003 meters Centerline goodness : 0.171719 Centerline is valid? [False, False] Translation: X:3.42, Y:0.40, Z:1.36 [[ 9.99795318e-01 4.67838201e-04 -2.02263229e-02 3.42264276e+00] [-4.73569684e-04 9.99999849e-01 -2.78578638e-04 3.97956296e-01] [ 2.02261895e-02 2.88100191e-04 9.99795388e-01 1.36273347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27255784400006 meters Centerline goodness : 0.168291 Centerline is valid? [False, False] Translation: X:3.42, Y:0.40, Z:1.36 [[ 9.99794847e-01 5.53287868e-04 -2.02474086e-02 3.42280676e+00] [-5.53847824e-04 9.99999846e-01 -2.20481252e-05 3.96663792e-01] [ 2.02473933e-02 3.32575851e-05 9.99795000e-01 1.36248814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30255784400003 meters Centerline goodness : 0.129630 Centerline is valid? [False, False] Translation: X:3.42, Y:0.40, Z:1.36 [[ 9.99790627e-01 5.67663030e-04 -2.04543199e-02 3.42354907e+00] [-5.64071012e-04 9.99999824e-01 1.81380723e-04 3.95305178e-01] [ 2.04544192e-02 -1.69805058e-04 9.99790772e-01 1.36206797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33255784400006 meters Centerline goodness : 0.101179 Centerline is valid? [False, False] Translation: X:3.42, Y:0.39, Z:1.36 [[ 9.99791756e-01 6.64084583e-04 -2.03961666e-02 3.42352480e+00] [-6.54314833e-04 9.99999668e-01 4.85669061e-04 3.93675781e-01] [ 2.03964823e-02 -4.72222409e-04 9.99791859e-01 1.36179029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36255784400004 meters Centerline goodness : 0.093584 Centerline is valid? [False, False] Translation: X:3.42, Y:0.39, Z:1.36 [[ 9.99797044e-01 7.82091742e-04 -2.01310678e-02 3.42269491e+00] [-7.65342142e-04 9.99999355e-01 8.39718312e-04 3.91870657e-01] [ 2.01317116e-02 -8.24140731e-04 9.99796997e-01 1.36196372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39255784400007 meters Centerline goodness : 0.095397 Centerline is valid? [False, False] Translation: X:3.42, Y:0.39, Z:1.36 [[ 9.99802062e-01 9.45563155e-04 -1.98731433e-02 3.42183364e+00] [-9.19951522e-04 9.99998735e-01 1.29785856e-03 3.89670910e-01] [ 1.98743454e-02 -1.27931934e-03 9.99801667e-01 1.36222787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42255784400004 meters Centerline goodness : 0.092100 Centerline is valid? [False, False] Translation: X:3.42, Y:0.39, Z:1.36 [[ 9.99801826e-01 1.25279627e-03 -1.98680669e-02 3.42173955e+00] [-1.20969790e-03 9.99996890e-01 2.18109790e-03 3.85350844e-01] [ 1.98707376e-02 -2.15663131e-03 9.99800231e-01 1.36220541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45255784400007 meters Centerline goodness : 0.112046 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:1.36 [[ 9.99795906e-01 1.38874724e-03 -2.01548343e-02 3.42254857e+00] [-1.33695616e-03 9.99995771e-01 2.58290712e-03 3.83339652e-01] [ 2.01583361e-02 -2.55543383e-03 9.99793534e-01 1.36195781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48255784400004 meters Centerline goodness : 0.095747 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:1.36 [[ 9.99788619e-01 1.49746861e-03 -2.05054962e-02 3.42366406e+00] [-1.43844891e-03 9.99994782e-01 2.89268516e-03 3.81814358e-01] [ 2.05097209e-02 -2.86257759e-03 9.99785556e-01 1.36149765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51255784400007 meters Centerline goodness : 0.093411 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:1.36 [[ 9.99781825e-01 1.60767099e-03 -2.08258686e-02 3.42472581e+00] [-1.54213197e-03 9.99993810e-01 3.16267790e-03 3.80607718e-01] [ 2.08308243e-02 -3.12987165e-03 9.99778116e-01 1.36101377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54255784400004 meters Centerline goodness : 0.098725 Centerline is valid? [False, False] Translation: X:3.43, Y:0.38, Z:1.36 [[ 9.99778436e-01 1.72459267e-03 -2.09786771e-02 3.42527616e+00] [-1.65356270e-03 9.99992844e-01 3.40269308e-03 3.79585031e-01] [ 2.09843952e-02 -3.36724961e-03 9.99774133e-01 1.36071223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5725578440001 meters Centerline goodness : 0.109823 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:1.36 [[ 9.99780565e-01 1.79655195e-03 -2.08708711e-02 3.42491713e+00] [-1.72309040e-03 9.99992259e-01 3.53726225e-03 3.78945940e-01] [ 2.08770644e-02 -3.50052366e-03 9.99775922e-01 1.36086603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60255784400005 meters Centerline goodness : 0.137970 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:1.36 [[ 9.99793768e-01 1.87468170e-03 -2.02214346e-02 3.42267525e+00] [-1.80386431e-03 9.99992179e-01 3.51976684e-03 3.78771709e-01] [ 2.02278749e-02 -3.48256423e-03 9.99789330e-01 1.36196220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.632557844 meters Centerline goodness : 0.150092 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:1.36 [[ 9.99795962e-01 1.87085964e-03 -2.01130163e-02 3.42225209e+00] [-1.80254949e-03 9.99992548e-01 3.41390835e-03 3.79311076e-01] [ 2.01192534e-02 -3.37695707e-03 9.99791884e-01 1.36223213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66255784400005 meters Centerline goodness : 0.132990 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.36 [[ 9.99740115e-01 1.95715097e-03 -2.27128354e-02 3.37654622e+00] [-1.86768215e-03 9.99990416e-01 3.95967484e-03 3.83165425e-01] [ 2.27203674e-02 -3.91622542e-03 9.99734189e-01 1.36270403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.692557844 meters Centerline goodness : 0.094245 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.36 [[ 9.99737286e-01 1.93316904e-03 -2.28390625e-02 3.37707101e+00] [-1.84583590e-03 9.99990907e-01 3.84431245e-03 3.83869050e-01] [ 2.28462866e-02 -3.80114533e-03 9.99731763e-01 1.36234987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72255784400005 meters Centerline goodness : 0.090050 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.36 [[ 9.99734284e-01 1.93048341e-03 -2.29702817e-02 3.37766726e+00] [-1.84335581e-03 9.99991029e-01 3.81362742e-03 3.84049585e-01] [ 2.29774378e-02 -3.77027167e-03 9.99728874e-01 1.36189340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.752557844 meters Centerline goodness : 0.096820 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.36 [[ 9.99731177e-01 1.90211342e-03 -2.31074673e-02 3.37837400e+00] [-1.81598496e-03 9.99991328e-01 3.74771263e-03 3.84328004e-01] [ 2.31143955e-02 -3.70474235e-03 9.99725962e-01 1.36128666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78255784400005 meters Centerline goodness : 0.105400 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.36 [[ 9.99730775e-01 1.87158340e-03 -2.31273595e-02 3.37862180e+00] [-1.78709153e-03 9.99991656e-01 3.67345806e-03 3.84716808e-01] [ 2.31340417e-02 -3.63113836e-03 9.99725778e-01 1.36094623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.812557844 meters Centerline goodness : 0.091939 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.36 [[ 9.99731975e-01 1.86454407e-03 -2.30759837e-02 3.37846463e+00] [-1.78113320e-03 9.99991808e-01 3.63464376e-03 3.84916413e-01] [ 2.30825716e-02 -3.59256819e-03 9.99727107e-01 1.36100475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84255784400005 meters Centerline goodness : 0.095298 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.36 [[ 9.99730296e-01 1.81345522e-03 -2.31526656e-02 3.37866418e+00] [-1.73742226e-03 9.99993034e-01 3.30367654e-03 3.86718715e-01] [ 2.31584954e-02 -3.26255957e-03 9.99726482e-01 1.36108575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.872557844 meters Centerline goodness : 0.107209 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.36 [[ 9.99729282e-01 1.72215032e-03 -2.32033714e-02 3.37895245e+00] [-1.65380766e-03 9.99994239e-01 2.96424363e-03 3.88515213e-01] [ 2.32083426e-02 -2.92506725e-03 9.99726371e-01 1.36088766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90255784400006 meters Centerline goodness : 0.150281 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.36 [[ 9.99727323e-01 1.60208152e-03 -2.32962064e-02 3.37940138e+00] [-1.54218679e-03 9.99995460e-01 2.58874670e-03 3.90347163e-01] [ 2.33002480e-02 -2.55211371e-03 9.99725255e-01 1.36058983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93255784400003 meters Centerline goodness : 0.091449 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.36 [[ 9.99727541e-01 1.46882659e-03 -2.32956487e-02 3.37961689e+00] [-1.41752678e-03 9.99996534e-01 2.21848055e-03 3.92083032e-01] [ 2.32988265e-02 -2.18485390e-03 9.99726158e-01 1.36026996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96255784400006 meters Centerline goodness : 0.091449 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.36 [[ 9.99727541e-01 1.46882659e-03 -2.32956487e-02 3.37961689e+00] [-1.41752678e-03 9.99996534e-01 2.21848055e-03 3.92083032e-01] [ 2.32988265e-02 -2.18485390e-03 9.99726158e-01 1.36026996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99255784400003 meters Centerline goodness : 0.092920 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.36 [[ 9.99727929e-01 1.35570486e-03 -2.32858524e-02 3.37961282e+00] [-1.31236677e-03 9.99997379e-01 1.87631516e-03 3.93830110e-01] [ 2.32883351e-02 -1.84524509e-03 9.99727087e-01 1.36029422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02255784400006 meters Centerline goodness : 0.097482 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99731216e-01 1.25048119e-03 -2.31502188e-02 3.37927865e+00] [-1.21512866e-03 9.99998074e-01 1.54109690e-03 3.95673280e-01] [ 2.31521013e-02 -1.51255219e-03 9.99730810e-01 1.36031966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05255784400003 meters Centerline goodness : 0.097247 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99739726e-01 1.03388844e-03 -2.27905782e-02 3.37828571e+00] [-1.01280615e-03 9.99999049e-01 9.36567242e-04 3.98697731e-01] [ 2.27915248e-02 -9.13241041e-04 9.99739822e-01 1.36054216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08255784400006 meters Centerline goodness : 0.096723 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99742230e-01 8.69093588e-04 -2.26874002e-02 3.37803003e+00] [-8.54747458e-04 9.99999429e-01 6.42028684e-04 3.99775066e-01] [ 2.26879452e-02 -6.22471191e-04 9.99742402e-01 1.36053581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11255784400004 meters Centerline goodness : 0.143721 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99744155e-01 7.74411576e-04 -2.26058511e-02 3.37780229e+00] [-7.63793176e-04 9.99999594e-01 4.78349524e-04 4.00394479e-01] [ 2.26062124e-02 -4.60960946e-04 9.99744341e-01 1.36052605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14255784400007 meters Centerline goodness : 0.126705 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99745568e-01 7.26250335e-04 -2.25448820e-02 3.37770701e+00] [-7.17951499e-04 9.99999672e-01 3.76194805e-04 4.00979727e-01] [ 2.25451478e-02 -3.59912958e-04 9.99745761e-01 1.36037095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17255784400004 meters Centerline goodness : 0.139978 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99745222e-01 6.76772607e-04 -2.25617712e-02 3.37791493e+00] [-6.71035927e-04 9.99999741e-01 2.61835371e-04 4.01696444e-01] [ 2.25619426e-02 -2.46628902e-04 9.99745417e-01 1.36005635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20255784400007 meters Centerline goodness : 0.178995 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99744489e-01 6.27576660e-04 -2.25956418e-02 3.37813994e+00] [-6.24063421e-04 9.99999792e-01 1.62534144e-04 4.02266535e-01] [ 2.25957391e-02 -1.48391501e-04 9.99744673e-01 1.35981563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23255784400004 meters Centerline goodness : 0.174254 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99748001e-01 5.16990226e-04 -2.24425493e-02 3.37772693e+00] [-5.18806441e-04 9.99999863e-01 -7.51049720e-05 4.03372704e-01] [ 2.24425074e-02 8.67293847e-05 9.99748131e-01 1.35985482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26255784400007 meters Centerline goodness : 0.135979 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99749902e-01 4.63841326e-04 -2.23588536e-02 3.37744696e+00] [-4.68890585e-04 9.99999866e-01 -2.20586089e-04 4.04058288e-01] [ 2.23587483e-02 2.31014777e-04 9.99749985e-01 1.36000283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29255784400004 meters Centerline goodness : 0.123616 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99751412e-01 3.85413881e-04 -2.22927053e-02 3.37729892e+00] [-3.94713603e-04 9.99999837e-01 -4.12765687e-04 4.04877193e-01] [ 2.22925426e-02 4.21462313e-04 9.99751402e-01 1.35995188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3225578440001 meters Centerline goodness : 0.167083 Centerline is valid? [False, False] Translation: X:3.38, Y:0.41, Z:1.36 [[ 9.99752635e-01 3.07474041e-04 -2.22390460e-02 3.37726799e+00] [-3.21045405e-04 9.99999764e-01 -6.06681667e-04 4.05741778e-01] [ 2.22388542e-02 6.13671338e-04 9.99752498e-01 1.35976054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35255784400005 meters Centerline goodness : 0.178416 Centerline is valid? [False, False] Translation: X:3.38, Y:0.41, Z:1.36 [[ 9.99752224e-01 2.55439554e-04 -2.22581322e-02 3.37741995e+00] [-2.71852203e-04 9.99999693e-01 -7.34354925e-04 4.06319221e-01] [ 2.22579378e-02 7.40223893e-04 9.99751987e-01 1.35960334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.382557844 meters Centerline goodness : 0.173912 Centerline is valid? [False, False] Translation: X:3.38, Y:0.41, Z:1.36 [[ 9.99752041e-01 2.37961785e-04 -2.22665530e-02 3.37750016e+00] [-2.53486235e-04 9.99999727e-01 -6.94389515e-04 4.06059915e-01] [ 2.22663816e-02 6.99861599e-04 9.99751828e-01 1.35944046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41255784400005 meters Centerline goodness : 0.142746 Centerline is valid? [False, False] Translation: X:3.38, Y:0.41, Z:1.36 [[ 9.99752244e-01 2.94075111e-04 -2.22567568e-02 3.37741653e+00] [-3.05350809e-04 9.99999827e-01 -5.03222301e-04 4.05078431e-01] [ 2.22566049e-02 5.09893744e-04 9.99752161e-01 1.35946014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.442557844 meters Centerline goodness : 0.100497 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99753473e-01 3.73271160e-04 -2.22003014e-02 3.37730456e+00] [-3.78920662e-04 9.99999897e-01 -2.50272593e-04 4.03793764e-01] [ 2.22002057e-02 2.58623047e-04 9.99753512e-01 1.35932626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47255784400005 meters Centerline goodness : 0.116123 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99753591e-01 4.24363830e-04 -2.21940704e-02 3.37719212e+00] [-4.26242995e-04 9.99999906e-01 -7.99391372e-05 4.02854947e-01] [ 2.21940344e-02 8.93795065e-05 9.99753678e-01 1.35942877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.502557844 meters Centerline goodness : 0.093530 Centerline is valid? [False, False] Translation: X:3.33, Y:0.41, Z:1.36 [[ 9.99703890e-01 3.46015790e-04 -2.43313093e-02 3.33043186e+00] [-3.39392703e-04 9.99999904e-01 2.76333334e-04 4.05216117e-01] [ 2.43314026e-02 -2.67993640e-04 9.99703912e-01 1.36021215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53255784400005 meters Centerline goodness : 0.092144 Centerline is valid? [False, False] Translation: X:3.33, Y:0.41, Z:1.36 [[ 9.99704196e-01 3.64505492e-04 -2.43184510e-02 3.33036011e+00] [-3.58066952e-04 9.99999900e-01 2.69113394e-04 4.05317288e-01] [ 2.43185467e-02 -2.60326156e-04 9.99704227e-01 1.36030619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.562557844 meters Centerline goodness : 0.105623 Centerline is valid? [False, False] Translation: X:3.33, Y:0.41, Z:1.36 [[ 9.99703733e-01 3.69312886e-04 -2.43374128e-02 3.33047901e+00] [-3.64723483e-04 9.99999915e-01 1.93012599e-04 4.05797434e-01] [ 2.43374820e-02 -1.84078990e-04 9.99703783e-01 1.36021752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59255784400005 meters Centerline goodness : 0.179513 Centerline is valid? [False, False] Translation: X:3.33, Y:0.41, Z:1.36 [[ 9.99701206e-01 3.22951970e-04 -2.44416570e-02 3.33090604e+00] [-3.23777590e-04 9.99999947e-01 -2.98217838e-05 4.06929317e-01] [ 2.44416461e-02 3.77265340e-05 9.99701258e-01 1.35999779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.622557844 meters SLAMing on 298.65255784400006 meters Centerline goodness : 0.104331 Centerline is valid? [False, False] Translation: X:3.31, Y:0.41, Z:1.36 [[ 9.99575177e-01 1.07341613e-02 -2.70969119e-02 3.31005149e+00] [-1.07283887e-02 9.99942385e-01 3.58410311e-04 4.10781495e-01] [ 2.70991979e-02 -6.75518472e-05 9.99632747e-01 1.35961052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68255784400003 meters Centerline goodness : 0.104331 Centerline is valid? [False, False] Translation: X:3.31, Y:0.41, Z:1.36 [[ 9.99571104e-01 1.06252606e-02 -2.72893961e-02 3.31071740e+00] [-1.06314985e-02 9.99943481e-01 -8.34968702e-05 4.12960161e-01] [ 2.72869665e-02 3.73588232e-04 9.99627572e-01 1.35939394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71255784400006 meters Centerline goodness : 0.103421 Centerline is valid? [False, False] Translation: X:3.31, Y:0.42, Z:1.36 [[ 9.99571833e-01 1.04351348e-02 -2.73360403e-02 3.31089980e+00] [-1.04555712e-02 9.99945156e-01 -6.04771710e-04 4.15340385e-01] [ 2.73282302e-02 8.90326684e-04 9.99626118e-01 1.35934931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74255784400003 meters Centerline goodness : 0.126210 Centerline is valid? [False, False] Translation: X:3.33, Y:0.42, Z:1.36 [[ 9.99603410e-01 3.09560402e-03 -2.79899972e-02 3.32970634e+00] [-3.08692499e-03 9.99995173e-01 3.53280635e-04 4.20936400e-01] [ 2.79909557e-02 -2.66737505e-04 9.99608141e-01 1.36181317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77255784400006 meters Centerline goodness : 0.147590 Centerline is valid? [False, False] Translation: X:3.33, Y:0.42, Z:1.36 [[ 9.99599827e-01 2.93265616e-03 -2.81351208e-02 3.33036678e+00] [-2.93664117e-03 9.99995683e-01 -1.00319573e-04 4.23164378e-01] [ 2.81347051e-02 1.82902182e-04 9.99604124e-01 1.36138403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80255784400003 meters Centerline goodness : 0.147632 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.36 [[ 9.99596946e-01 2.77568141e-03 -2.82531491e-02 3.33100230e+00] [-2.79212430e-03 9.99995955e-01 -5.42549982e-04 4.25472237e-01] [ 2.82515289e-02 6.21217609e-04 9.99600653e-01 1.36086739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83255784400006 meters Centerline goodness : 0.102615 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.36 [[ 9.99594352e-01 2.43904797e-03 -2.83757546e-02 3.33155784e+00] [-2.47986846e-03 9.99995940e-01 -1.40346715e-03 4.29792793e-01] [ 2.83722162e-02 1.47326598e-03 9.99596342e-01 1.36055360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86255784400004 meters Centerline goodness : 0.152152 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.36 [[ 9.99595247e-01 2.27193633e-03 -2.83580804e-02 3.33144506e+00] [-2.32306792e-03 9.99995735e-01 -1.77025418e-03 4.31416468e-01] [ 2.83539375e-02 1.83541542e-03 9.99596261e-01 1.36070403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89255784400007 meters Centerline goodness : 0.157918 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.36 [[ 9.99597468e-01 2.10869622e-03 -2.82923314e-02 3.33119364e+00] [-2.16926251e-03 9.99995421e-01 -2.11020958e-03 4.32926057e-01] [ 2.82877521e-02 2.17073364e-03 9.99597464e-01 1.36082697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92255784400004 meters Centerline goodness : 0.183932 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.36 [[ 9.99598653e-01 1.96480460e-03 -2.82607825e-02 3.33097498e+00] [-2.03389908e-03 9.99995012e-01 -2.41635127e-03 4.34485775e-01] [ 2.82558939e-02 2.47286105e-03 9.99597664e-01 1.36105966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95255784400007 meters Centerline goodness : 0.181408 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:1.36 [[ 9.99603610e-01 1.83315004e-03 -2.80938025e-02 3.33046058e+00] [-1.91044382e-03 9.99994463e-01 -2.72468111e-03 4.36164952e-01] [ 2.80886522e-02 2.77727270e-03 9.99601578e-01 1.36120796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98255784400004 meters Centerline goodness : 0.176343 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:1.36 [[ 9.99608602e-01 1.68257355e-03 -2.79250963e-02 3.32992292e+00] [-1.76830899e-03 9.99993798e-01 -3.04578217e-03 4.37662377e-01] [ 2.79197984e-02 3.09397026e-03 9.99605378e-01 1.36139938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01255784400007 meters Centerline goodness : 0.178594 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:1.36 [[ 9.99614042e-01 1.39322111e-03 -2.77457285e-02 3.32954085e+00] [-1.49274991e-03 9.99992525e-01 -3.56678606e-03 4.39686149e-01] [ 2.77405517e-02 3.60682686e-03 9.99608650e-01 1.36133164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04255784400004 meters Centerline goodness : 0.177396 Centerline is valid? [False, False] Translation: X:3.35, Y:0.44, Z:1.36 [[ 9.99597579e-01 -6.70290408e-03 -2.75635854e-02 3.34936703e+00] [ 6.63539440e-03 9.99974760e-01 -2.53997113e-03 4.43378909e-01] [ 2.75799149e-02 2.35605373e-03 9.99616825e-01 1.36342913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0725578440001 meters Centerline goodness : 0.184545 Centerline is valid? [False, False] Translation: X:3.35, Y:0.44, Z:1.36 [[ 9.99600041e-01 -6.76938743e-03 -2.74578363e-02 3.34900289e+00] [ 6.69792775e-03 9.99973941e-01 -2.69366332e-03 4.44187216e-01] [ 2.74753552e-02 2.50867536e-03 9.99619333e-01 1.36358286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10255784400005 meters Centerline goodness : 0.179427 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.36 [[ 9.99600368e-01 -6.84536298e-03 -2.74270906e-02 3.34892541e+00] [ 6.76912245e-03 9.99972966e-01 -2.87163632e-03 4.45057480e-01] [ 2.74460066e-02 2.68483139e-03 9.99619682e-01 1.36358306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.132557844 meters Centerline goodness : 0.176798 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.36 [[ 9.99596284e-01 -6.95565336e-03 -2.75479250e-02 3.34922011e+00] [ 6.87328632e-03 9.99971625e-01 -3.08351802e-03 4.45967269e-01] [ 2.75685912e-02 2.89292838e-03 9.99615728e-01 1.36359539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16255784400005 meters Centerline goodness : 0.176575 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.36 [[ 9.99591528e-01 -7.03190102e-03 -2.77007299e-02 3.34977241e+00] [ 6.94404119e-03 9.99970554e-01 -3.26667291e-03 4.46832371e-01] [ 2.77228852e-02 3.07298356e-03 9.99610924e-01 1.36332813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.192557844 meters Centerline goodness : 0.180760 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.36 [[ 9.99585473e-01 -7.11620797e-03 -2.78969944e-02 3.35038471e+00] [ 7.02081780e-03 9.99969173e-01 -3.51583127e-03 4.48084275e-01] [ 2.79211538e-02 3.31851415e-03 9.99604620e-01 1.36316098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22255784400005 meters Centerline goodness : 0.177511 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.36 [[ 0.99958316 -0.00720474 -0.02795695 3.35055303] [ 0.00709934 0.99996732 -0.00386767 0.4500066 ] [ 0.02798391 0.00366758 0.99960165 1.36321302] [ 0. 0. 0. 1. ]] SLAMing on 299.252557844 meters Centerline goodness : 0.107838 Centerline is valid? [False, False] Translation: X:3.37, Y:0.45, Z:1.36 [[ 9.99667649e-01 2.28356116e-03 -2.56783315e-02 3.36997589e+00] [-2.39775612e-03 9.99987369e-01 -4.41722266e-03 4.50033909e-01] [ 2.56679202e-02 4.47732497e-03 9.99660498e-01 1.36362871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28255784400005 meters Centerline goodness : 0.174185 Centerline is valid? [False, False] Translation: X:3.37, Y:0.45, Z:1.36 [[ 9.99671984e-01 2.15402154e-03 -2.55202881e-02 3.36941370e+00] [-2.28208693e-03 9.99984945e-01 -4.99011857e-03 4.52774517e-01] [ 2.55091550e-02 5.04672125e-03 9.99661850e-01 1.36405721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.312557844 meters Centerline goodness : 0.179363 Centerline is valid? [False, False] Translation: X:3.37, Y:0.46, Z:1.36 [[ 9.99675913e-01 2.02572339e-03 -2.53764547e-02 3.36900755e+00] [-2.16907829e-03 9.99981839e-01 -5.62287849e-03 4.55833517e-01] [ 2.53646034e-02 5.67609970e-03 9.99662152e-01 1.36429786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34255784400005 meters Centerline goodness : 0.178400 Centerline is valid? [False, False] Translation: X:3.39, Y:0.46, Z:1.36 [[ 9.99674505e-01 -3.15630853e-03 -2.53164350e-02 3.39149192e+00] [ 3.09220283e-03 9.99991914e-01 -2.57092571e-03 4.59871899e-01] [ 2.53243449e-02 2.49180534e-03 9.99676182e-01 1.36483324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.372557844 meters Centerline goodness : 0.097974 Centerline is valid? [False, False] Translation: X:3.39, Y:0.46, Z:1.36 [[ 9.99676318e-01 7.68527513e-04 -2.54296698e-02 3.39198622e+00] [-7.43663658e-04 9.99999236e-01 9.87192445e-04 4.61786883e-01] [ 2.54304091e-02 -9.67961788e-04 9.99676126e-01 1.36452191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40255784400006 meters Centerline goodness : 0.102679 Centerline is valid? [False, False] Translation: X:3.39, Y:0.47, Z:1.36 [[ 9.99668264e-01 6.80313079e-04 -2.57468406e-02 3.39301105e+00] [-6.73592152e-04 9.99999737e-01 2.69710907e-04 4.65930779e-01] [ 2.57470173e-02 -2.52278564e-04 9.99668459e-01 1.36423915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43255784400003 meters Centerline goodness : 0.175327 Centerline is valid? [False, False] Translation: X:3.39, Y:0.48, Z:1.36 [[ 9.99656322e-01 1.57768819e-03 -2.61676898e-02 3.39416306e+00] [-1.57588826e-03 9.99998754e-01 8.94064431e-05 4.75681642e-01] [ 2.61677983e-02 -4.81383610e-05 9.99657563e-01 1.36422014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46255784400006 meters Centerline goodness : 0.111916 Centerline is valid? [False, False] Translation: X:3.39, Y:0.48, Z:1.36 [[ 9.99656712e-01 1.29264286e-03 -2.61684303e-02 3.39418843e+00] [-1.30857351e-03 9.99998969e-01 -5.91657984e-04 4.78796636e-01] [ 2.61676385e-02 6.25698190e-04 9.99657373e-01 1.36420757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49255784400003 meters Centerline goodness : 0.110686 Centerline is valid? [False, False] Translation: X:3.39, Y:0.48, Z:1.36 [[ 9.99656851e-01 1.06665993e-03 -2.61733197e-02 3.39423470e+00] [-1.09639666e-03 9.99998770e-01 -1.12182240e-03 4.81334090e-01] [ 2.61720909e-02 1.15013378e-03 9.99656791e-01 1.36416166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52255784400006 meters Centerline goodness : 0.175272 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:1.37 [[ 9.99636709e-01 -7.02358556e-03 -2.60215337e-02 3.41446531e+00] [ 7.02144744e-03 9.99975334e-01 -1.73537308e-04 4.87341117e-01] [ 2.60221107e-02 -9.23456817e-06 9.99661367e-01 1.36600693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55255784400003 meters Centerline goodness : 0.177283 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:1.37 [[ 9.99635983e-01 -7.17499621e-03 -2.60080984e-02 3.41451824e+00] [ 7.16427448e-03 9.99974209e-01 -5.05403894e-04 4.88914995e-01] [ 2.60110539e-02 3.18890762e-04 9.99661604e-01 1.36583953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58255784400006 meters Centerline goodness : 0.113753 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:1.37 [[ 9.99631554e-01 -7.34522329e-03 -2.61305273e-02 3.41499152e+00] [ 7.32614612e-03 9.99972823e-01 -8.25732602e-04 4.90252636e-01] [ 2.61358823e-02 6.33992303e-04 9.99658198e-01 1.36555677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61255784400004 meters Centerline goodness : 0.099673 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.36 [[ 9.99617657e-01 -7.68716629e-03 -2.65602472e-02 3.41652394e+00] [ 7.65102443e-03 9.99969662e-01 -1.46210837e-03 4.93091396e-01] [ 2.65706809e-02 1.25833624e-03 9.99646145e-01 1.36481365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64255784400007 meters Centerline goodness : 0.175842 Centerline is valid? [False, False] Translation: X:3.37, Y:0.50, Z:1.36 [[ 9.99555385e-01 -6.92035686e-03 -2.90024261e-02 3.37097346e+00] [ 6.89310469e-03 9.99975702e-01 -1.03952668e-03 4.97961782e-01] [ 2.90089153e-02 8.39147735e-04 9.99578801e-01 1.36482132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67255784400004 meters Centerline goodness : 0.176855 Centerline is valid? [False, False] Translation: X:3.37, Y:0.50, Z:1.36 [[ 9.99585708e-01 -3.72697949e-03 -2.85398269e-02 3.36969198e+00] [ 3.78886329e-03 9.99990587e-01 2.11456048e-03 4.99266620e-01] [ 2.85316773e-02 -2.22181794e-03 9.99590420e-01 1.36496577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70255784400007 meters Centerline goodness : 0.105630 Centerline is valid? [False, False] Translation: X:3.39, Y:0.50, Z:1.37 [[ 9.99615348e-01 4.51183708e-03 -2.73641923e-02 3.38917682e+00] [-4.48570737e-03 9.99989423e-01 1.01619754e-03 4.97425984e-01] [ 2.73684878e-02 -8.93058900e-04 9.99625014e-01 1.36602072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73255784400004 meters Centerline goodness : 0.166204 Centerline is valid? [False, False] Translation: X:3.37, Y:0.51, Z:1.36 [[ 9.99642485e-01 -2.95342200e-03 -2.65740521e-02 3.37058287e+00] [ 3.00885080e-03 9.99993380e-01 2.04608032e-03 5.06707765e-01] [ 2.65678332e-02 -2.12530617e-03 9.99644754e-01 1.36384134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76255784400007 meters Centerline goodness : 0.132369 Centerline is valid? [False, False] Translation: X:3.42, Y:0.51, Z:1.36 [[ 9.99692610e-01 -2.81120741e-03 -2.46329397e-02 3.41500402e+00] [ 2.86139831e-03 9.99993901e-01 2.00254125e-03 5.07460990e-01] [ 2.46271599e-02 -2.07241034e-03 9.99694557e-01 1.36432979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79255784400004 meters Centerline goodness : 0.157490 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:1.36 [[ 9.99638337e-01 5.42505299e-03 -2.63393968e-02 3.39366793e+00] [-5.42386029e-03 9.99985284e-01 1.16725511e-04 5.11389191e-01] [ 2.63396424e-02 2.61779129e-05 9.99653051e-01 1.36371848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8225578440001 meters Centerline goodness : 0.161909 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:1.36 [[ 9.99637612e-01 5.21918287e-03 -2.64084088e-02 3.39386734e+00] [-5.23243864e-03 9.99986217e-01 -4.32874886e-04 5.14064550e-01] [ 2.64057856e-02 5.70898397e-04 9.99651143e-01 1.36375771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85255784400005 meters Centerline goodness : 0.161909 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:1.36 [[ 9.99637612e-01 5.21918287e-03 -2.64084088e-02 3.39386734e+00] [-5.23243864e-03 9.99986217e-01 -4.32874886e-04 5.14064550e-01] [ 2.64057856e-02 5.70898397e-04 9.99651143e-01 1.36375771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.882557844 meters Centerline goodness : 0.145561 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.36 [[ 9.99636926e-01 5.02583236e-03 -2.64718088e-02 3.39395067e+00] [-5.05238697e-03 9.99986798e-01 -9.36338171e-04 5.16529150e-01] [ 2.64667534e-02 1.06974403e-03 9.99649122e-01 1.36393514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91255784400005 meters Centerline goodness : 0.137282 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99645179e-01 -2.98844780e-03 -2.64685891e-02 3.41359611e+00] [ 2.99365625e-03 9.99995507e-01 1.57155059e-04 5.21921216e-01] [ 2.64680005e-02 -2.36337155e-04 9.99649633e-01 1.36609537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.942557844 meters Centerline goodness : 0.159494 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99642202e-01 -3.10777951e-03 -2.65670792e-02 3.41377934e+00] [ 3.10602785e-03 9.99995171e-01 -1.07199531e-04 5.23177429e-01] [ 2.65672840e-02 2.46430874e-05 9.99647027e-01 1.36622575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97255784400005 meters Centerline goodness : 0.157388 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99636956e-01 -3.30745469e-03 -2.67397925e-02 3.41456381e+00] [ 3.29764923e-03 9.99994478e-01 -4.10788354e-04 5.24424833e-01] [ 2.67410035e-02 3.22460764e-04 9.99642343e-01 1.36562065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.002557844 meters Centerline goodness : 0.164138 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99637527e-01 -3.37432860e-03 -2.67100942e-02 3.41450854e+00] [ 3.36293095e-03 9.99994234e-01 -4.71625428e-04 5.24526542e-01] [ 2.67115317e-02 3.81630274e-04 9.99643111e-01 1.36557304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03255784400005 meters Centerline goodness : 0.158282 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99640128e-01 -3.40762243e-03 -2.66083322e-02 3.41415057e+00] [ 3.39492525e-03 9.99994101e-01 -5.22348246e-04 5.24675480e-01] [ 2.66099552e-02 4.31826968e-04 9.99645799e-01 1.36572789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.062557844 meters Centerline goodness : 0.160045 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99644933e-01 -3.46563275e-03 -2.64196251e-02 3.41347197e+00] [ 3.45128964e-03 9.99993871e-01 -5.88475669e-04 5.24851542e-01] [ 2.64215026e-02 4.97084943e-04 9.99650768e-01 1.36601780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09255784400005 meters Centerline goodness : 0.161405 Centerline is valid? [False, False] Translation: X:3.41, Y:0.53, Z:1.37 [[ 9.99645747e-01 -3.52503751e-03 -2.63809480e-02 3.41325139e+00] [ 3.50838038e-03 9.99993616e-01 -6.77666246e-04 5.25134411e-01] [ 2.63831683e-02 5.84871781e-04 9.99651733e-01 1.36623397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.122557844 meters Centerline goodness : 0.157726 Centerline is valid? [False, False] Translation: X:3.41, Y:0.53, Z:1.37 [[ 9.99646188e-01 -3.58376529e-03 -2.63563160e-02 3.41311849e+00] [ 3.56394158e-03 9.99993330e-01 -7.99078880e-04 5.25678835e-01] [ 2.63590039e-02 7.04863786e-04 9.99652293e-01 1.36637217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15255784400006 meters Centerline goodness : 0.161304 Centerline is valid? [False, False] Translation: X:3.41, Y:0.53, Z:1.37 [[ 9.99650474e-01 -3.76413912e-03 -2.61679574e-02 3.41232123e+00] [ 3.73084639e-03 9.99992168e-01 -1.32097711e-03 5.28252882e-01] [ 2.61727248e-02 1.22288676e-03 9.99656688e-01 1.36697037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18255784400003 meters Centerline goodness : 0.125958 Centerline is valid? [False, False] Translation: X:3.43, Y:0.52, Z:1.37 [[ 9.99675101e-01 4.26164350e-03 -2.51302917e-02 3.43190024e+00] [-4.32459463e-03 9.99987645e-01 -2.45117430e-03 5.24774187e-01] [ 2.51195352e-02 2.55905624e-03 9.99681179e-01 1.36817128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21255784400006 meters Centerline goodness : 0.157594 Centerline is valid? [False, False] Translation: X:3.43, Y:0.53, Z:1.37 [[ 9.99673878e-01 4.12898532e-03 -2.52009865e-02 3.43204390e+00] [-4.20071313e-03 9.99987274e-01 -2.79395467e-03 5.26393887e-01] [ 2.51891296e-02 2.89890562e-03 9.99678500e-01 1.36828422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24255784400003 meters Centerline goodness : 0.140301 Centerline is valid? [False, False] Translation: X:3.43, Y:0.53, Z:1.37 [[ 9.99669985e-01 3.99761020e-03 -2.53759846e-02 3.43252066e+00] [-4.07860394e-03 9.99986750e-01 -3.14079241e-03 5.28063640e-01] [ 2.53630927e-02 3.24325449e-03 9.99673044e-01 1.36825981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27255784400006 meters Centerline goodness : 0.163829 Centerline is valid? [False, False] Translation: X:3.41, Y:0.54, Z:1.37 [[ 9.99646214e-01 -3.78912124e-03 -2.63266000e-02 3.41386337e+00] [ 3.73978699e-03 9.99991158e-01 -1.92291577e-03 5.35638847e-01] [ 2.63336534e-02 1.82377960e-03 9.99651546e-01 1.36665751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30255784400003 meters Centerline goodness : 0.159124 Centerline is valid? [False, False] Translation: X:3.41, Y:0.54, Z:1.37 [[ 9.99642701e-01 -3.86546846e-03 -2.64485944e-02 3.41410845e+00] [ 3.80903086e-03 9.99990361e-01 -2.18390804e-03 5.36986360e-01] [ 2.64567812e-02 2.08238422e-03 9.99647789e-01 1.36679440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33255784400006 meters Centerline goodness : 0.124569 Centerline is valid? [False, False] Translation: X:3.43, Y:0.53, Z:1.37 [[ 9.99691697e-01 4.14336354e-03 -2.44814918e-02 3.43324262e+00] [-4.22614788e-03 9.99985523e-01 -3.33073624e-03 5.34630894e-01] [ 2.44673369e-02 3.43317177e-03 9.99694735e-01 1.36782807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36255784400004 meters Centerline goodness : 0.111106 Centerline is valid? [False, False] Translation: X:3.43, Y:0.53, Z:1.37 [[ 9.99698471e-01 4.11056633e-03 -2.42088734e-02 3.43232638e+00] [-4.19371692e-03 9.99985477e-01 -3.38494738e-03 5.34922437e-01] [ 2.41946078e-02 3.48545188e-03 9.99701192e-01 1.36815427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39255784400007 meters Centerline goodness : 0.134609 Centerline is valid? [False, False] Translation: X:3.43, Y:0.53, Z:1.37 [[ 9.99699755e-01 4.11568136e-03 -2.41549390e-02 3.43210152e+00] [-4.19591953e-03 9.99985844e-01 -3.27206896e-03 5.34344903e-01] [ 2.41411302e-02 3.37243871e-03 9.99702872e-01 1.36824653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42255784400004 meters Centerline goodness : 0.116622 Centerline is valid? [False, False] Translation: X:3.43, Y:0.53, Z:1.37 [[ 9.99690556e-01 4.00987759e-03 -2.45502224e-02 3.43329544e+00] [-4.08605149e-03 9.99986990e-01 -3.05340055e-03 5.32780722e-01] [ 2.45376592e-02 3.15276917e-03 9.99693935e-01 1.36775065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45255784400007 meters Centerline goodness : 0.166819 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.37 [[ 9.99668943e-01 3.71037344e-03 -2.54604966e-02 3.43593043e+00] [-3.78436410e-03 9.99988754e-01 -2.85852829e-03 5.30716184e-01] [ 2.54496041e-02 2.95393374e-03 9.99671742e-01 1.36691061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48255784400004 meters Centerline goodness : 0.146783 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.37 [[ 9.99648667e-01 3.47174563e-03 -2.62771831e-02 3.43826519e+00] [-3.53923045e-03 9.99990556e-01 -2.52211802e-03 5.27994380e-01] [ 2.62681788e-02 2.61423293e-03 9.99651514e-01 1.36614340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51255784400007 meters Centerline goodness : 0.120644 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.37 [[ 9.99642270e-01 3.34363744e-03 -2.65358713e-02 3.43913440e+00] [-3.40120359e-03 9.99991959e-01 -2.12453254e-03 5.25425683e-01] [ 2.65285542e-02 2.21402643e-03 9.99645604e-01 1.36556341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54255784400004 meters Centerline goodness : 0.106545 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99571010e-01 2.60035164e-03 -2.91724927e-02 3.39417021e+00] [-2.66604659e-03 9.99993997e-01 -2.21327837e-03 5.24983208e-01] [ 2.91665622e-02 2.29010412e-03 9.99571942e-01 1.36551341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5725578440001 meters Centerline goodness : 0.122513 Centerline is valid? [False, False] Translation: X:3.42, Y:0.52, Z:1.37 [[ 9.99567119e-01 -6.00618661e-03 -2.88010364e-02 3.41621860e+00] [ 5.97637716e-03 9.99981513e-01 -1.12098305e-03 5.24609350e-01] [ 2.88072368e-02 9.48371946e-04 9.99584536e-01 1.36627085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60255784400005 meters Centerline goodness : 0.163616 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.36 [[ 9.99581728e-01 2.45582941e-03 -2.88155690e-02 3.39601743e+00] [-2.51659852e-03 9.99994685e-01 -2.07282190e-03 5.19484480e-01] [ 2.88103254e-02 2.14447212e-03 9.99582596e-01 1.36400379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.632557844 meters Centerline goodness : 0.139095 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.36 [[ 9.99581300e-01 2.56065527e-03 -2.88213146e-02 3.39592599e+00] [-2.61327634e-03 9.99994986e-01 -1.78825053e-03 5.17979087e-01] [ 2.88165910e-02 1.86281985e-03 9.99582980e-01 1.36410574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66255784400005 meters Centerline goodness : 0.123639 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.36 [[ 9.99583709e-01 2.69635851e-03 -2.87252240e-02 3.39544453e+00] [-2.74064171e-03 9.99995116e-01 -1.50235432e-03 5.16596489e-01] [ 2.87210328e-02 1.58045445e-03 9.99586217e-01 1.36447179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.692557844 meters Centerline goodness : 0.157862 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.36 [[ 9.99586392e-01 2.83236314e-03 -2.86185676e-02 3.39492229e+00] [-2.87000008e-03 9.99995070e-01 -1.27413269e-03 5.15661121e-01] [ 2.86148177e-02 1.35574099e-03 9.99589593e-01 1.36486818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72255784400005 meters Centerline goodness : 0.162685 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:1.37 [[ 9.99585993e-01 3.16292250e-03 -2.85978806e-02 3.39474055e+00] [-3.19025901e-03 9.99994497e-01 -9.10316712e-04 5.14331272e-01] [ 2.85948440e-02 1.00117448e-03 9.99590582e-01 1.36516046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.752557844 meters Centerline goodness : 0.164426 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99575745e-01 3.22899379e-03 -2.89465523e-02 3.39571118e+00] [-3.25687166e-03 9.99994277e-01 -9.15985237e-04 5.14360303e-01] [ 2.89434290e-02 1.00987183e-03 9.99580541e-01 1.36507359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78255784400005 meters Centerline goodness : 0.160314 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.37 [[ 9.99566875e-01 3.32888936e-03 -2.92400628e-02 3.39641921e+00] [-3.36047638e-03 9.99993822e-01 -1.03119051e-03 5.15195743e-01] [ 2.92364494e-02 1.12900441e-03 9.99571886e-01 1.36520595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.812557844 meters Centerline goodness : 0.110952 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.37 [[ 9.99562424e-01 3.57157420e-03 -2.93633092e-02 3.39671801e+00] [-3.60684482e-03 9.99992836e-01 -1.14830167e-03 5.16569739e-01] [ 2.93589976e-02 1.25370810e-03 9.99568145e-01 1.36537902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84255784400005 meters Centerline goodness : 0.159938 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.37 [[ 9.99568383e-01 3.90227330e-03 -2.91173465e-02 3.39606535e+00] [-3.94025310e-03 9.99991460e-01 -1.24710693e-03 5.18074798e-01] [ 2.91122313e-02 1.36129837e-03 9.99575222e-01 1.36562803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.872557844 meters Centerline goodness : 0.157405 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99574455e-01 4.75251584e-03 -2.87805798e-02 3.39482456e+00] [-4.78961410e-03 9.99987785e-01 -1.22020166e-03 5.20676083e-01] [ 2.87744292e-02 1.35753028e-03 9.99585009e-01 1.36646347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90255784400006 meters Centerline goodness : 0.156052 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99578394e-01 4.74009911e-03 -2.86455346e-02 3.39442419e+00] [-4.78353967e-03 9.99987510e-01 -1.44814860e-03 5.21917291e-01] [ 2.86383125e-02 1.58456511e-03 9.99588583e-01 1.36662810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93255784400003 meters Centerline goodness : 0.158140 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99580524e-01 4.69433070e-03 -2.85786601e-02 3.39417955e+00] [-4.74311804e-03 9.99987407e-01 -1.63957401e-03 5.22834942e-01] [ 2.85706035e-02 1.77443820e-03 9.99590202e-01 1.36675046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96255784400006 meters Centerline goodness : 0.154368 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99584361e-01 4.66001714e-03 -2.84497819e-02 3.39385949e+00] [-4.71134162e-03 9.99987392e-01 -1.73727190e-03 5.23230740e-01] [ 2.84413275e-02 1.87058646e-03 9.99593713e-01 1.36674308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99255784400003 meters Centerline goodness : 0.161574 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99588914e-01 4.63635129e-03 -2.82932447e-02 3.39338018e+00] [-4.68921626e-03 9.99987381e-01 -1.80240223e-03 5.23509136e-01] [ 2.82845311e-02 1.93433443e-03 9.99598041e-01 1.36685601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02255784400006 meters Centerline goodness : 0.159747 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99595088e-01 4.63586425e-03 -2.80743340e-02 3.39271306e+00] [-4.68828662e-03 9.99987387e-01 -1.80173455e-03 5.23520838e-01] [ 2.80656273e-02 1.93262553e-03 9.99604214e-01 1.36702923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05255784400003 meters Centerline goodness : 0.162560 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99591786e-01 4.68506736e-03 -2.81835496e-02 3.39305746e+00] [-4.73351218e-03 9.99987432e-01 -1.65243238e-03 5.22976505e-01] [ 2.81754536e-02 1.78516500e-03 9.99601399e-01 1.36690219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08255784400006 meters Centerline goodness : 0.155676 Centerline is valid? [False, False] Translation: X:3.41, Y:0.53, Z:1.37 [[ 9.99580670e-01 -3.44484390e-03 -2.87509550e-02 3.41362631e+00] [ 3.43125741e-03 9.99993977e-01 -5.21880691e-04 5.25759318e-01] [ 2.87525796e-02 4.23009923e-04 9.99586470e-01 1.36859550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11255784400004 meters Centerline goodness : 0.159502 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99580099e-01 -3.38109157e-03 -2.87783603e-02 3.41368327e+00] [ 3.37241420e-03 9.99994252e-01 -3.50055178e-04 5.24871655e-01] [ 2.87793785e-02 2.52855639e-04 9.99585756e-01 1.36858445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14255784400007 meters Centerline goodness : 0.159646 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99585740e-01 -3.34733852e-03 -2.85857364e-02 3.41301721e+00] [ 3.34352268e-03 9.99994394e-01 -1.81285013e-04 5.23880862e-01] [ 2.85861830e-02 8.56328559e-05 9.99591328e-01 1.36882178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17255784400004 meters Centerline goodness : 0.104325 Centerline is valid? [False, False] Translation: X:3.43, Y:0.52, Z:1.37 [[ 9.99628134e-01 3.91293654e-03 -2.69867057e-02 3.42989310e+00] [-3.96457482e-03 9.99990411e-01 -1.86023138e-03 5.17409113e-01] [ 2.69791680e-02 1.96653044e-03 9.99634062e-01 1.37112108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20255784400007 meters Centerline goodness : 0.155792 Centerline is valid? [False, False] Translation: X:3.43, Y:0.52, Z:1.37 [[ 9.99657292e-01 3.81027248e-03 -2.58994445e-02 3.42643749e+00] [-3.85265863e-03 9.99991319e-01 -1.58686349e-03 5.15242496e-01] [ 2.58931733e-02 1.68610138e-03 9.99663294e-01 1.37223033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23255784400004 meters Centerline goodness : 0.168094 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.37 [[ 9.99658478e-01 3.91035854e-03 -2.58386743e-02 3.42624861e+00] [-3.94558691e-03 9.99991355e-01 -1.31255448e-03 5.14003003e-01] [ 2.58333183e-02 1.41405495e-03 9.99665264e-01 1.37223491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26255784400007 meters Centerline goodness : 0.160299 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.37 [[ 9.99654653e-01 3.99201491e-03 -2.59738031e-02 3.42671825e+00] [-4.02079305e-03 9.99991359e-01 -1.05583555e-03 5.12772603e-01] [ 2.59693638e-02 1.15990621e-03 9.99662066e-01 1.37197053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29255784400004 meters Centerline goodness : 0.159371 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99633871e-01 -4.22075364e-03 -2.67265698e-02 3.44755097e+00] [ 4.22499000e-03 9.99991069e-01 1.02039123e-04 5.13959701e-01] [ 2.67259004e-02 -2.14921253e-04 9.99642776e-01 1.37360344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3225578440001 meters Centerline goodness : 0.107633 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99629500e-01 -4.13362980e-03 -2.69030855e-02 3.44814473e+00] [ 4.14347735e-03 9.99991368e-01 3.10302008e-04 5.12946569e-01] [ 2.69015705e-02 -4.21659366e-04 9.99637998e-01 1.37335118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35255784400005 meters Centerline goodness : 0.160362 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99624593e-01 -4.10043639e-03 -2.70898561e-02 3.44874118e+00] [ 4.11244007e-03 9.99991469e-01 3.87407618e-04 5.12560688e-01] [ 2.70880364e-02 -4.98667591e-04 9.99632927e-01 1.37314822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.382557844 meters Centerline goodness : 0.107812 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99618112e-01 -4.11769486e-03 -2.73253676e-02 3.44945730e+00] [ 4.12636586e-03 9.99991452e-01 2.60943813e-04 5.13261283e-01] [ 2.73240596e-02 -3.73598626e-04 9.99626558e-01 1.37296374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41255784400005 meters Centerline goodness : 0.119181 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99613869e-01 -4.13531911e-03 -2.74774967e-02 3.45000808e+00] [ 4.14085809e-03 9.99991416e-01 1.44684248e-04 5.14036263e-01] [ 2.74766625e-02 -2.58408795e-04 9.99622412e-01 1.37269388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.442557844 meters Centerline goodness : 0.158940 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99611340e-01 -4.11634387e-03 -2.75721538e-02 3.45047404e+00] [ 4.12134687e-03 9.99991499e-01 1.24625449e-04 5.14425131e-01] [ 2.75714064e-02 -2.38211422e-04 9.99619808e-01 1.37231298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47255784400005 meters Centerline goodness : 0.158369 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99611132e-01 -4.08689878e-03 -2.75840919e-02 3.45077415e+00] [ 4.09334610e-03 9.99991607e-01 1.77270494e-04 5.14414411e-01] [ 2.75831358e-02 -2.90112794e-04 9.99619471e-01 1.37186687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.502557844 meters Centerline goodness : 0.160857 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99612252e-01 -4.05617774e-03 -2.75480187e-02 3.45092640e+00] [ 4.06459956e-03 9.99991708e-01 2.49724141e-04 5.14219368e-01] [ 2.75467773e-02 -3.61598976e-04 9.99620450e-01 1.37144186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53255784400005 meters Centerline goodness : 0.158195 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99649117e-01 3.33690938e-03 -2.62775275e-02 3.46922867e+00] [-3.36683513e-03 9.99993733e-01 -1.09467312e-03 5.07871357e-01] [ 2.62737100e-02 1.18276112e-03 9.99654087e-01 1.37252918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.562557844 meters Centerline goodness : 0.159083 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99654660e-01 3.27577869e-03 -2.60735567e-02 3.46846576e+00] [-3.30657394e-03 9.99993886e-01 -1.13806454e-03 5.07784689e-01] [ 2.60696692e-02 1.22388567e-03 9.99659379e-01 1.37292190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59255784400005 meters Centerline goodness : 0.154645 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99654890e-01 3.22204831e-03 -2.60714209e-02 3.46835820e+00] [-3.25434120e-03 9.99993989e-01 -1.19629632e-03 5.07889377e-01] [ 2.60674096e-02 1.28072877e-03 9.99659367e-01 1.37308715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.622557844 meters Centerline goodness : 0.159836 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99649867e-01 3.18075358e-03 -2.62683435e-02 3.46906109e+00] [-3.21500447e-03 9.99994036e-01 -1.26175387e-03 5.08121880e-01] [ 2.62641735e-02 1.34576493e-03 9.99654131e-01 1.37271176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65255784400006 meters Centerline goodness : 0.159568 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99641212e-01 3.13657783e-03 -2.66009165e-02 3.47017364e+00] [-3.17547871e-03 9.99993950e-01 -1.42027192e-03 5.09079382e-01] [ 2.65963007e-02 1.50423299e-03 9.99645124e-01 1.37229175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68255784400003 meters Centerline goodness : 0.161629 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99634564e-01 3.09504671e-03 -2.68543932e-02 3.47106902e+00] [-3.14249409e-03 9.99993575e-01 -1.72481579e-03 5.10976112e-01] [ 2.68488823e-02 1.80857525e-03 9.99637868e-01 1.37195771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71255784400006 meters Centerline goodness : 0.158579 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99628272e-01 6.98501416e-03 -2.63538961e-02 3.46958844e+00] [-6.94379191e-03 9.99974521e-01 1.65537124e-03 5.13873952e-01] [ 2.63647875e-02 -1.47175992e-03 9.99651305e-01 1.37252026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74255784400003 meters Centerline goodness : 0.158398 Centerline is valid? [False, False] Translation: X:3.47, Y:0.52, Z:1.37 [[ 9.99633457e-01 6.76165346e-03 -2.62151011e-02 3.46904075e+00] [-6.73787410e-03 9.99976805e-01 9.95313536e-04 5.16936387e-01] [ 2.62212230e-02 -8.18314661e-04 9.99655830e-01 1.37296328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77255784400006 meters Centerline goodness : 0.158398 Centerline is valid? [False, False] Translation: X:3.47, Y:0.52, Z:1.37 [[ 9.99633457e-01 6.76165346e-03 -2.62151011e-02 3.46904075e+00] [-6.73787410e-03 9.99976805e-01 9.95313536e-04 5.16936387e-01] [ 2.62212230e-02 -8.18314661e-04 9.99655830e-01 1.37296328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80255784400003 meters Centerline goodness : 0.104102 Centerline is valid? [False, False] Translation: X:3.47, Y:0.52, Z:1.37 [[ 9.99635153e-01 6.53662646e-03 -2.62075189e-02 3.46895250e+00] [-6.52823279e-03 9.99978609e-01 4.05824334e-04 5.19600268e-01] [ 2.62096110e-02 -2.34587485e-04 9.99656442e-01 1.37313049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83255784400006 meters Centerline goodness : 0.115600 Centerline is valid? [False, False] Translation: X:3.47, Y:0.52, Z:1.37 [[ 9.99635358e-01 6.34224073e-03 -2.62474098e-02 3.46888930e+00] [-6.34700045e-03 9.99979853e-01 -9.80331459e-05 5.22015723e-01] [ 2.62462592e-02 2.64589721e-04 9.99655473e-01 1.37348007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86255784400004 meters Centerline goodness : 0.142326 Centerline is valid? [False, False] Translation: X:3.45, Y:0.53, Z:1.37 [[ 9.99664609e-01 -1.19001531e-03 -2.58699143e-02 3.45064282e+00] [ 1.21639643e-03 9.99998756e-01 1.00404765e-03 5.30078060e-01] [ 2.58686873e-02 -1.03517897e-03 9.99664814e-01 1.37121484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89255784400007 meters Centerline goodness : 0.142823 Centerline is valid? [False, False] Translation: X:3.45, Y:0.53, Z:1.37 [[ 9.99661176e-01 -1.29598295e-03 -2.59971699e-02 3.45093952e+00] [ 1.31668170e-03 9.99998830e-01 7.79090199e-04 5.31125567e-01] [ 2.59961298e-02 -8.13056222e-04 9.99661713e-01 1.37125332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92255784400004 meters Centerline goodness : 0.129221 Centerline is valid? [False, False] Translation: X:3.45, Y:0.53, Z:1.37 [[ 9.99649229e-01 -1.52743249e-03 -2.64402392e-02 3.45251769e+00] [ 1.54090041e-03 9.99998693e-01 4.89005109e-04 5.32023488e-01] [ 2.64394577e-02 -5.29575356e-04 9.99650276e-01 1.37041952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95255784400007 meters Centerline goodness : 0.133887 Centerline is valid? [False, False] Translation: X:3.45, Y:0.53, Z:1.37 [[ 9.99648292e-01 -1.60050915e-03 -2.64713108e-02 3.45264115e+00] [ 1.61051596e-03 9.99998639e-01 3.56709153e-04 5.32625525e-01] [ 2.64707038e-02 -3.99216164e-04 9.99649510e-01 1.37035386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98255784400004 meters Centerline goodness : 0.141030 Centerline is valid? [False, False] Translation: X:3.45, Y:0.53, Z:1.37 [[ 9.99650583e-01 -1.70751484e-03 -2.63779459e-02 3.45226174e+00] [ 1.71094917e-03 9.99998531e-01 1.07628256e-04 5.33845402e-01] [ 2.63777233e-02 -1.52721974e-04 9.99652036e-01 1.37059315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01255784400007 meters Centerline goodness : 0.138312 Centerline is valid? [False, False] Translation: X:3.45, Y:0.54, Z:1.37 [[ 9.99653340e-01 -1.80633730e-03 -2.62666528e-02 3.45176728e+00] [ 1.80282869e-03 9.99998363e-01 -1.57257025e-04 5.35217783e-01] [ 2.62668939e-02 1.09848235e-04 9.99654960e-01 1.37098416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04255784400004 meters Centerline goodness : 0.165585 Centerline is valid? [False, False] Translation: X:3.45, Y:0.54, Z:1.37 [[ 9.99656677e-01 -1.85850132e-03 -2.61356718e-02 3.45128832e+00] [ 1.85004282e-03 9.99998228e-01 -3.47814812e-04 5.36317588e-01] [ 2.61362719e-02 2.99343287e-04 9.99658344e-01 1.37126964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0725578440001 meters Centerline goodness : 0.165241 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99724360e-01 -1.78535633e-03 -2.34097503e-02 3.49188486e+00] [ 1.79088561e-03 9.99998373e-01 2.15232663e-04 5.35468855e-01] [ 2.34093280e-02 -2.57097521e-04 9.99725931e-01 1.37321947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10255784400005 meters Centerline goodness : 0.129155 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99726638e-01 -1.85693556e-03 -2.33066734e-02 3.49136632e+00] [ 1.85862243e-03 9.99998271e-01 5.07154711e-05 5.36279578e-01] [ 2.33065390e-02 -9.40199134e-05 9.99728361e-01 1.37365571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.132557844 meters Centerline goodness : 0.120139 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99728144e-01 -1.89319035e-03 -2.32390656e-02 3.49108286e+00] [ 1.89214344e-03 9.99998208e-01 -6.70382860e-05 5.36950056e-01] [ 2.32391508e-02 2.30484157e-05 9.99729934e-01 1.37384238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16255784400005 meters Centerline goodness : 0.121368 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99728749e-01 -1.88384562e-03 -2.32138001e-02 3.49104855e+00] [ 1.88241482e-03 9.99998225e-01 -8.34876783e-05 5.37272809e-01] [ 2.32139162e-02 3.97670309e-05 9.99730520e-01 1.37379062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.192557844 meters Centerline goodness : 0.133057 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99730080e-01 -1.85703745e-03 -2.31585650e-02 3.49092573e+00] [ 1.85719816e-03 9.99998275e-01 -1.45684180e-05 5.37170225e-01] [ 2.31585521e-02 -2.84455585e-05 9.99731804e-01 1.37370408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22255784400005 meters Centerline goodness : 0.118728 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99734869e-01 -1.81018530e-03 -2.29546114e-02 3.49026564e+00] [ 1.81329984e-03 9.99998349e-01 1.14868495e-04 5.36553117e-01] [ 2.29543656e-02 -1.56461633e-04 9.99736502e-01 1.37395232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.252557844 meters Centerline goodness : 0.120241 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99738774e-01 -1.80045891e-03 -2.27846947e-02 3.48970663e+00] [ 1.80658588e-03 9.99998337e-01 2.48325960e-04 5.35685456e-01] [ 2.27842097e-02 -2.89423598e-04 9.99740364e-01 1.37409721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28255784400005 meters Centerline goodness : 0.118678 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99732177e-01 -1.68567111e-03 -2.30810185e-02 3.49063893e+00] [ 1.70361102e-03 9.99998262e-01 7.57617049e-04 5.33076002e-01] [ 2.30797013e-02 -7.96735219e-04 9.99733311e-01 1.37365684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.312557844 meters Centerline goodness : 0.119047 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99728969e-01 -1.55137159e-03 -2.32288867e-02 3.49119231e+00] [ 1.57701071e-03 9.99998167e-01 1.08548249e-03 5.31742677e-01] [ 2.32271602e-02 -1.12182049e-03 9.99729584e-01 1.37330800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34255784400005 meters Centerline goodness : 0.126978 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99729194e-01 -1.46332148e-03 -2.32249363e-02 3.49111876e+00] [ 1.49342058e-03 9.99998067e-01 1.27869068e-03 5.30997036e-01] [ 2.32230203e-02 -1.31302900e-03 9.99729447e-01 1.37339326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.372557844 meters Centerline goodness : 0.131844 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99735414e-01 -1.42422389e-03 -2.29580736e-02 3.49006214e+00] [ 1.45696697e-03 9.99997945e-01 1.40954864e-03 5.30259105e-01] [ 2.29560189e-02 -1.44262485e-03 9.99735435e-01 1.37400173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40255784400006 meters Centerline goodness : 0.145718 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99741095e-01 -1.43865850e-03 -2.27084448e-02 3.48900841e+00] [ 1.47341354e-03 9.99997769e-01 1.51383209e-03 5.29304765e-01] [ 2.27062162e-02 -1.54689908e-03 9.99740984e-01 1.37461461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43255784400003 meters Centerline goodness : 0.158531 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99733395e-01 -1.54681665e-03 -2.30379406e-02 3.48984516e+00] [ 1.58637624e-03 9.99997298e-01 1.69897255e-03 5.27252742e-01] [ 2.30352504e-02 -1.73506644e-03 9.99733148e-01 1.37442254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46255784400006 meters Centerline goodness : 0.123387 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99727053e-01 -1.48031527e-03 -2.33158330e-02 3.49082671e+00] [ 1.52515245e-03 9.99997022e-01 1.90537067e-03 5.26336263e-01] [ 2.33129430e-02 -1.94041081e-03 9.99726333e-01 1.37389735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49255784400003 meters Centerline goodness : 0.129400 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99722684e-01 -1.37834177e-03 -2.35086236e-02 3.49154767e+00] [ 1.43085021e-03 9.99996519e-01 2.21690766e-03 5.25060287e-01] [ 2.35054861e-02 -2.24993019e-03 9.99721176e-01 1.37337753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52255784400006 meters Centerline goodness : 0.117785 Centerline is valid? [False, False] Translation: X:3.49, Y:0.52, Z:1.37 [[ 9.99720838e-01 -1.31953727e-03 -2.35903735e-02 3.49192959e+00] [ 1.38013635e-03 9.99995789e-01 2.55270899e-03 5.23387291e-01] [ 2.35869058e-02 -2.58455430e-03 9.99718449e-01 1.37297973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55255784400003 meters Centerline goodness : 0.122755 Centerline is valid? [False, False] Translation: X:3.45, Y:0.52, Z:1.37 [[ 9.99651964e-01 -2.09058604e-03 -2.62979180e-02 3.44659018e+00] [ 2.13611829e-03 9.99996268e-01 1.70342788e-03 5.24794589e-01] [ 2.62942587e-02 -1.75901048e-03 9.99652699e-01 1.37302403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58255784400006 meters Centerline goodness : 0.161912 Centerline is valid? [False, False] Translation: X:3.45, Y:0.52, Z:1.37 [[ 9.99651198e-01 -2.09679034e-03 -2.63265410e-02 3.44670088e+00] [ 2.15299993e-03 9.99995463e-01 2.10692814e-03 5.22070376e-01] [ 2.63220038e-02 -2.16287427e-03 9.99651176e-01 1.37280310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61255784400004 meters Centerline goodness : 0.166237 Centerline is valid? [False, False] Translation: X:3.45, Y:0.52, Z:1.37 [[ 9.99660146e-01 -2.74126936e-03 -2.59244721e-02 3.44517913e+00] [ 2.79838797e-03 9.99993736e-01 2.16724717e-03 5.17244455e-01] [ 2.59183687e-02 -2.23905735e-03 9.99661555e-01 1.37315190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64255784400007 meters Centerline goodness : 0.104619 Centerline is valid? [False, False] Translation: X:3.44, Y:0.51, Z:1.37 [[ 9.99662625e-01 -2.57581245e-03 -2.58457177e-02 3.44488576e+00] [ 2.64542029e-03 9.99992965e-01 2.65937546e-03 5.14748897e-01] [ 2.58386858e-02 -2.72685104e-03 9.99662406e-01 1.37320808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67255784400004 meters Centerline goodness : 0.128537 Centerline is valid? [False, False] Translation: X:3.44, Y:0.51, Z:1.37 [[ 9.99665350e-01 -2.37616400e-03 -2.57593170e-02 3.44465698e+00] [ 2.45866837e-03 9.99991948e-01 3.17169542e-03 5.12245825e-01] [ 2.57515731e-02 -3.23396763e-03 9.99663142e-01 1.37313705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70255784400007 meters Centerline goodness : 0.163643 Centerline is valid? [False, False] Translation: X:3.44, Y:0.51, Z:1.37 [[ 9.99669821e-01 -2.18461442e-03 -2.56022615e-02 3.44437379e+00] [ 2.28058139e-03 9.99990481e-01 3.71977907e-03 5.09438116e-01] [ 2.55938915e-02 -3.77693892e-03 9.99665288e-01 1.37285344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73255784400004 meters Centerline goodness : 0.161433 Centerline is valid? [False, False] Translation: X:3.44, Y:0.51, Z:1.37 [[ 9.99672805e-01 -1.93669771e-03 -2.55055237e-02 3.44430920e+00] [ 2.04884853e-03 9.99988345e-01 4.37172051e-03 5.06154094e-01] [ 2.54967597e-02 -4.42254706e-03 9.99665122e-01 1.37244553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76255784400007 meters Centerline goodness : 0.160986 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:1.37 [[ 9.99674980e-01 -1.68202061e-03 -2.54382468e-02 3.44428445e+00] [ 1.81218377e-03 9.99985380e-01 5.09464202e-03 5.02519487e-01] [ 2.54293056e-02 -5.13908494e-03 9.99663413e-01 1.37206737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79255784400004 meters Centerline goodness : 0.158578 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.37 [[ 9.99677007e-01 -1.17641742e-03 -2.53869489e-02 3.44382089e+00] [ 1.34194254e-03 9.99977948e-01 6.50403588e-03 4.94608611e-01] [ 2.53787376e-02 -6.53600295e-03 9.99656541e-01 1.37229135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8225578440001 meters Centerline goodness : 0.134395 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.37 [[ 9.99674941e-01 -8.35380435e-04 -2.54816661e-02 3.44391591e+00] [ 1.02194350e-03 9.99972764e-01 7.30931898e-03 4.90938413e-01] [ 2.54748660e-02 -7.33298384e-03 9.99648568e-01 1.37246467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85255784400005 meters Centerline goodness : 0.151117 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.37 [[ 9.99610849e-01 -6.49744481e-04 -2.78877804e-02 3.39793420e+00] [ 8.62597986e-04 9.99970587e-01 7.62114920e-03 4.90967098e-01] [ 2.78820083e-02 -7.64223936e-03 9.99582008e-01 1.37284699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.882557844 meters Centerline goodness : 0.167598 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99960315 0.00515988 -0.02769332 3.42039888] [-0.00502519 0.99997522 0.00493116 0.48361938] [ 0.02771808 -0.00479004 0.9996043 1.37277986] [ 0. 0. 0. 1. ]] SLAMing on 302.91255784400005 meters Centerline goodness : 0.105087 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99959998 0.0055314 -0.02773594 3.42094704] [-0.00537325 0.9999689 0.00577313 0.47943631] [ 0.02776701 -0.00562178 0.99959861 1.3719787 ] [ 0. 0. 0. 1. ]] SLAMing on 302.942557844 meters Centerline goodness : 0.166580 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99959852 0.00571059 -0.02775225 3.42098151] [-0.00554428 0.99996623 0.00606574 0.47832874] [ 0.02778595 -0.00590943 0.99959643 1.37197698] [ 0. 0. 0. 1. ]] SLAMing on 302.97255784400005 meters Centerline goodness : 0.110692 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99959734 0.00585929 -0.02776361 3.42086125] [-0.00568661 0.99996402 0.00629456 0.47752434] [ 0.0277995 -0.00613415 0.9995947 1.37224256] [ 0. 0. 0. 1. ]] SLAMing on 303.002557844 meters Centerline goodness : 0.113216 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99959768 0.00596256 -0.02772949 3.42050564] [-0.00578644 0.9999626 0.00642722 0.47704821] [ 0.02776677 -0.00626418 0.9995948 1.37272346] [ 0. 0. 0. 1. ]] SLAMing on 303.03255784400005 meters Centerline goodness : 0.147685 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99959722 0.0060135 -0.02773517 3.42027234] [-0.00583676 0.99996217 0.00644923 0.47699634] [ 0.0277729 -0.00628475 0.9995945 1.3731692 ] [ 0. 0. 0. 1. ]] SLAMing on 303.062557844 meters Centerline goodness : 0.163345 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99960363 0.00619466 -0.02746297 3.41959243] [-0.00601578 0.99996018 0.00659136 0.47668997] [ 0.02750271 -0.00642354 0.99960109 1.37321562] [ 0. 0. 0. 1. ]] SLAMing on 303.09255784400005 meters Centerline goodness : 0.176578 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99960879 0.00624177 -0.0272635 3.41917515] [-0.00606136 0.99995922 0.00669455 0.47621389] [ 0.02730417 -0.00652667 0.99960586 1.37305162] [ 0. 0. 0. 1. ]] SLAMing on 303.122557844 meters Centerline goodness : 0.122270 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99625218e-01 -1.82978109e-03 -2.73143758e-02 3.40012741e+00] [ 2.05040088e-03 9.99965486e-01 8.05123579e-03 4.80670394e-01] [ 2.72987011e-02 -8.10422375e-03 9.99594469e-01 1.37102275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15255784400006 meters Centerline goodness : 0.171260 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99622225e-01 -1.76697709e-03 -2.74278096e-02 3.40043536e+00] [ 1.99375164e-03 9.99964039e-01 8.24290792e-03 4.79721426e-01] [ 2.74122582e-02 -8.29447820e-03 9.99589801e-01 1.37093870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18255784400003 meters Centerline goodness : 0.168932 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99618155e-01 -1.70362286e-03 -2.75797385e-02 3.40091097e+00] [ 1.93741935e-03 9.99962399e-01 8.45260898e-03 4.78695682e-01] [ 2.75643014e-02 -8.50281491e-03 9.99583869e-01 1.37076251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21255784400006 meters Centerline goodness : 0.104082 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99618027e-01 -1.65275945e-03 -2.75874706e-02 3.40101034e+00] [ 1.89022012e-03 9.99961373e-01 8.58369702e-03 4.78047500e-01] [ 2.75722182e-02 -8.63256467e-03 9.99582539e-01 1.37061096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24255784400003 meters Centerline goodness : 0.159468 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99622873e-01 -1.70890691e-03 -2.74078701e-02 3.40058733e+00] [ 1.94100878e-03 9.99962464e-01 8.44407130e-03 4.78611166e-01] [ 2.73924112e-02 -8.49408573e-03 9.99588669e-01 1.37058933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27255784400006 meters Centerline goodness : 0.151607 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99622731e-01 -1.80551777e-03 -2.74068398e-02 3.40064477e+00] [ 2.02960129e-03 9.99964724e-01 8.15057492e-03 4.80043400e-01] [ 2.73911570e-02 -8.20312492e-03 9.99591133e-01 1.37054080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30255784400003 meters Centerline goodness : 0.152949 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99618053e-01 -1.88514201e-03 -2.75716193e-02 3.40117605e+00] [ 2.10058718e-03 9.99967473e-01 7.78714431e-03 4.81922181e-01] [ 2.75560426e-02 -7.84208662e-03 9.99589499e-01 1.37042582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33255784400006 meters Centerline goodness : 0.146363 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99960659 0.00648417 -0.02728767 3.42181298] [-0.00630341 0.99995765 0.0067052 0.47887642] [ 0.02733 -0.00653055 0.99960513 1.37154741] [ 0. 0. 0. 1. ]] SLAMing on 303.36255784400004 meters Centerline goodness : 0.178668 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.37 [[ 9.99629360e-01 -1.43992976e-04 -2.72235384e-02 3.39937413e+00] [ 3.82783964e-04 9.99961500e-01 8.76648190e-03 4.85944858e-01] [ 2.72212280e-02 -8.77365343e-03 9.99590930e-01 1.37111915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39255784400007 meters Centerline goodness : 0.172985 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.37 [[ 9.99630598e-01 -2.67863123e-04 -2.71771118e-02 3.39906946e+00] [ 4.94449168e-04 9.99965174e-01 8.33100750e-03 4.88048129e-01] [ 2.71739338e-02 -8.34136771e-03 9.99595918e-01 1.37148903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42255784400004 meters Centerline goodness : 0.107618 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.37 [[ 9.99636286e-01 -3.10031315e-04 -2.69666203e-02 3.39854827e+00] [ 5.17538031e-04 9.99970311e-01 7.68830814e-03 4.91623558e-01] [ 2.69634360e-02 -7.69946805e-03 9.99606768e-01 1.37163698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45255784400007 meters Centerline goodness : 0.103216 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.37 [[ 9.99633005e-01 -4.35855288e-04 -2.70862464e-02 3.39897309e+00] [ 6.33751958e-04 9.99973168e-01 7.29801308e-03 4.93603139e-01] [ 2.70823388e-02 -7.31250071e-03 9.99606460e-01 1.37145148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48255784400004 meters Centerline goodness : 0.112470 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99628458e-01 -5.40943324e-04 -2.72516797e-02 3.39960034e+00] [ 7.31839170e-04 9.99975264e-01 6.99543367e-03 4.95135420e-01] [ 2.72472215e-02 -7.01277842e-03 9.99604127e-01 1.37113943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51255784400007 meters Centerline goodness : 0.185255 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99625184e-01 -6.37468207e-04 -2.73694158e-02 3.40006824e+00] [ 8.22528519e-04 9.99976874e-01 6.75084769e-03 4.96404075e-01] [ 2.73644794e-02 -6.77082949e-03 9.99602592e-01 1.37084975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54255784400004 meters Centerline goodness : 0.172588 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99623031e-01 -7.36977643e-04 -2.74454456e-02 3.40037247e+00] [ 9.15358891e-04 9.99978537e-01 6.48748814e-03 4.97730232e-01] [ 2.74400755e-02 -6.51016499e-03 9.99602251e-01 1.37066696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5725578440001 meters Centerline goodness : 0.174574 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99626772e-01 -9.32479913e-04 -2.73028757e-02 3.40025457e+00] [ 1.09408122e-03 9.99981970e-01 5.90449829e-03 5.00699955e-01] [ 2.72968776e-02 -5.93216613e-03 9.99609769e-01 1.37034764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60255784400005 meters Centerline goodness : 0.169944 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99632659e-01 -1.04891667e-03 -2.70822246e-02 3.39964486e+00] [ 1.20068676e-03 9.99983664e-01 5.58839506e-03 5.02172285e-01] [ 2.70759204e-02 -5.61885949e-03 9.99617588e-01 1.37044746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6325578440001 meters Centerline goodness : 0.103073 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99638213e-01 -1.18348420e-03 -2.68708543e-02 3.39894990e+00] [ 1.32416760e-03 9.99985508e-01 5.21834870e-03 5.03914140e-01] [ 2.68642891e-02 -5.25204228e-03 9.99625293e-01 1.37073866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66255784400005 meters Centerline goodness : 0.103073 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99638213e-01 -1.18348420e-03 -2.68708543e-02 3.39894990e+00] [ 1.32416760e-03 9.99985508e-01 5.21834870e-03 5.03914140e-01] [ 2.68642891e-02 -5.25204228e-03 9.99625293e-01 1.37073866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.692557844 meters Centerline goodness : 0.111405 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99643426e-01 -1.32117298e-03 -2.66697573e-02 3.39833851e+00] [ 1.45033529e-03 9.99987311e-01 4.82426259e-03 5.05892751e-01] [ 2.66630452e-02 -4.86122247e-03 9.99632658e-01 1.37092692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72255784400005 meters Centerline goodness : 0.103705 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99641793e-01 -1.46112436e-03 -2.67236029e-02 3.39854546e+00] [ 1.57990168e-03 9.99988966e-01 4.42408583e-03 5.07929605e-01] [ 2.67168439e-02 -4.46472176e-03 9.99633071e-01 1.37084002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.752557844 meters Centerline goodness : 0.114822 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99638594e-01 -1.60438912e-03 -2.68348011e-02 3.39913726e+00] [ 1.70942974e-03 9.99990966e-01 3.89186081e-03 5.11016455e-01] [ 2.68283146e-02 -3.93632648e-03 9.99632306e-01 1.37033459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78255784400005 meters Centerline goodness : 0.168425 Centerline is valid? [False, False] Translation: X:3.42, Y:0.51, Z:1.37 [[ 9.99652588e-01 6.25993153e-03 -2.56030550e-02 3.41802262e+00] [-6.19573914e-03 9.99977463e-01 2.58577673e-03 5.06965955e-01] [ 2.56186648e-02 -2.42624855e-03 9.99668844e-01 1.37159880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.812557844 meters Centerline goodness : 0.111446 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99692179e-01 -1.91559445e-03 -2.47361557e-02 3.39746347e+00] [ 1.99804857e-03 9.99992529e-01 3.30905845e-03 5.13447719e-01] [ 2.47296321e-02 -3.35746389e-03 9.99688538e-01 1.37002166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84255784400005 meters Centerline goodness : 0.169421 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99698649e-01 -2.01258776e-03 -2.44654989e-02 3.39659671e+00] [ 2.09036795e-03 9.99992841e-01 3.15401946e-03 5.13992005e-01] [ 2.44589760e-02 -3.20421089e-03 9.99695699e-01 1.37031256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.872557844 meters Centerline goodness : 0.167279 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99701542e-01 -2.11706918e-03 -2.43381171e-02 3.39611332e+00] [ 2.18915039e-03 9.99993296e-01 2.93539719e-03 5.14976899e-01] [ 2.43317395e-02 -2.98780090e-03 9.99699475e-01 1.37057424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90255784400006 meters Centerline goodness : 0.161411 Centerline is valid? [False, False] Translation: X:3.42, Y:0.51, Z:1.37 [[ 9.99690262e-01 5.71469868e-03 -2.42223523e-02 3.41642751e+00] [-5.67376348e-03 9.99982358e-01 1.75836602e-03 5.13015478e-01] [ 2.42319735e-02 -1.62038948e-03 9.99705049e-01 1.37144533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93255784400003 meters Centerline goodness : 0.168163 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.37 [[ 9.99678961e-01 -2.35387189e-03 -2.52276542e-02 3.39723900e+00] [ 2.42400165e-03 9.99993282e-01 2.74965621e-03 5.20992492e-01] [ 2.52210124e-02 -2.80992534e-03 9.99677951e-01 1.36962350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96255784400006 meters Centerline goodness : 0.102276 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.37 [[ 9.99677796e-01 -2.49623522e-03 -2.52601242e-02 3.39741695e+00] [ 2.55701901e-03 9.99993912e-01 2.37429965e-03 5.22888084e-01] [ 2.52540436e-02 -2.43812526e-03 9.99678093e-01 1.36950511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99255784400003 meters Centerline goodness : 0.138862 Centerline is valid? [False, False] Translation: X:3.40, Y:0.53, Z:1.37 [[ 9.99678787e-01 -2.68889450e-03 -2.52010519e-02 3.39735349e+00] [ 2.73791542e-03 9.99994426e-01 1.91089069e-03 5.25074817e-01] [ 2.51957733e-02 -1.97927523e-03 9.99680577e-01 1.36937410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02255784400006 meters Centerline goodness : 0.133065 Centerline is valid? [False, False] Translation: X:3.40, Y:0.53, Z:1.37 [[ 9.99679154e-01 -2.89025783e-03 -2.51641700e-02 3.39737758e+00] [ 2.92674026e-03 9.99994719e-01 1.41306676e-03 5.27395460e-01] [ 2.51599530e-02 -1.48626237e-03 9.99682333e-01 1.36921202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05255784400003 meters Centerline goodness : 0.158545 Centerline is valid? [False, False] Translation: X:3.40, Y:0.53, Z:1.37 [[ 9.99674212e-01 -3.06966348e-03 -2.53386438e-02 3.39790929e+00] [ 3.09467297e-03 9.99994762e-01 9.47855167e-04 5.29643765e-01] [ 2.53356015e-02 -1.02596118e-03 9.99678476e-01 1.36908137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08255784400006 meters Centerline goodness : 0.108450 Centerline is valid? [False, False] Translation: X:3.36, Y:0.54, Z:1.37 [[ 9.99570831e-01 -2.94533232e-03 -2.91458226e-02 3.35687955e+00] [ 2.95984784e-03 9.99995516e-01 4.54900770e-04 5.37395745e-01] [ 2.91443521e-02 -5.40972741e-04 9.99575067e-01 1.36739039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11255784400004 meters Centerline goodness : 0.154397 Centerline is valid? [False, False] Translation: X:3.36, Y:0.54, Z:1.37 [[ 9.99564372e-01 -3.11826663e-03 -2.93486545e-02 3.35761541e+00] [ 3.11962812e-03 9.99995134e-01 6.02153269e-07 5.39635114e-01] [ 2.93485098e-02 -9.21587789e-05 9.99569235e-01 1.36702128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14255784400007 meters Centerline goodness : 0.145593 Centerline is valid? [False, False] Translation: X:3.40, Y:0.54, Z:1.37 [[ 9.99608674e-01 -3.05697070e-03 -2.78056276e-02 3.40280492e+00] [ 3.06449252e-03 9.99995278e-01 2.27905109e-04 5.40084439e-01] [ 2.78047996e-02 -3.13026062e-04 9.99613323e-01 1.36720637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17255784400004 meters Centerline goodness : 0.145095 Centerline is valid? [False, False] Translation: X:3.40, Y:0.54, Z:1.37 [[ 9.99607520e-01 -3.30114226e-03 -2.78191979e-02 3.40303181e+00] [ 3.29115733e-03 9.99994502e-01 -4.04702566e-04 5.43194172e-01] [ 2.78203810e-02 3.12986371e-04 9.99612889e-01 1.36693903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20255784400007 meters Centerline goodness : 0.135144 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99607888e-01 -3.58876428e-03 -2.77703185e-02 3.40294144e+00] [ 3.55901958e-03 9.99993039e-01 -1.12044997e-03 5.46656878e-01] [ 2.77741463e-02 1.02117552e-03 9.99613702e-01 1.36690596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23255784400004 meters Centerline goodness : 0.133984 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99657433e-01 -1.27302271e-03 -2.61418420e-02 3.39714708e+00] [ 1.28399237e-03 9.99999095e-01 4.02839062e-04 5.54215154e-01] [ 2.61413055e-02 -4.36266988e-04 9.99658162e-01 1.36882837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26255784400007 meters Centerline goodness : 0.136910 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99664000e-01 -1.56430412e-03 -2.58735313e-02 3.39612004e+00] [ 1.55688627e-03 9.99998741e-01 -3.06838691e-04 5.57571116e-01] [ 2.58739787e-02 2.66453448e-04 9.99665177e-01 1.36945256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29255784400004 meters Centerline goodness : 0.132629 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99671016e-01 -1.82041296e-03 -2.55841102e-02 3.39522541e+00] [ 1.79891823e-03 9.99998009e-01 -8.63149723e-04 5.60009264e-01] [ 2.55856306e-02 8.16842038e-04 9.99672300e-01 1.36971990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3225578440001 meters Centerline goodness : 0.148256 Centerline is valid? [False, False] Translation: X:3.39, Y:0.56, Z:1.37 [[ 9.99674619e-01 -2.04899405e-03 -2.54255244e-02 3.39483674e+00] [ 2.01625544e-03 9.99997105e-01 -1.31319745e-03 5.61893278e-01] [ 2.54281416e-02 1.26150581e-03 9.99675857e-01 1.36969188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35255784400005 meters Centerline goodness : 0.147730 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99672655e-01 -2.20097030e-03 -2.54899664e-02 3.39518755e+00] [ 2.16145986e-03 9.99996420e-01 -1.57748768e-03 5.63016059e-01] [ 2.54933471e-02 1.52187576e-03 9.99673833e-01 1.36934251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3825578440001 meters Centerline goodness : 0.129883 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99668965e-01 -2.29960891e-03 -2.56256304e-02 3.39572884e+00] [ 2.25522151e-03 9.99995907e-01 -1.76091438e-03 5.63910143e-01] [ 2.56295749e-02 1.70253998e-03 9.99670059e-01 1.36897729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41255784400005 meters Centerline goodness : 0.137184 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99662655e-01 -2.47368987e-03 -2.58545447e-02 3.39671006e+00] [ 2.42291544e-03 9.99995075e-01 -1.99499195e-03 5.65135599e-01] [ 2.58593523e-02 1.93167558e-03 9.99663725e-01 1.36827854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.442557844 meters Centerline goodness : 0.126708 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99659819e-01 -2.49023754e-03 -2.59623779e-02 3.39716073e+00] [ 2.43937223e-03 9.99995043e-01 -1.99068050e-03 5.65132224e-01] [ 2.59672065e-02 1.92667141e-03 9.99660939e-01 1.36794735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47255784400005 meters Centerline goodness : 0.135868 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99655720e-01 -2.48259060e-03 -2.61204673e-02 3.39773575e+00] [ 2.43247494e-03 9.99995140e-01 -1.95023486e-03 5.65022557e-01] [ 2.61251820e-02 1.88602605e-03 9.99656900e-01 1.36762852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.502557844 meters Centerline goodness : 0.163831 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99653542e-01 -2.47258274e-03 -2.62046203e-02 3.39803215e+00] [ 2.42197126e-03 9.99995140e-01 -1.96295817e-03 5.65230806e-01] [ 2.62093466e-02 1.89881125e-03 9.99654673e-01 1.36749364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53255784400005 meters Centerline goodness : 0.121698 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99657916e-01 -2.40895882e-03 -2.60432023e-02 3.39759311e+00] [ 2.36016912e-03 9.99995402e-01 -1.90399012e-03 5.65043973e-01] [ 2.60476692e-02 1.84187244e-03 9.99659005e-01 1.36753945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.562557844 meters Centerline goodness : 0.125894 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99662771e-01 -2.40444784e-03 -2.58565912e-02 3.39694864e+00] [ 2.35597248e-03 9.99995410e-01 -1.90507830e-03 5.64863289e-01] [ 2.58610532e-02 1.84351843e-03 9.99663847e-01 1.36780377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59255784400005 meters Centerline goodness : 0.124744 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99666249e-01 -2.38709877e-03 -2.57233951e-02 3.39635112e+00] [ 2.33947989e-03 9.99995494e-01 -1.88112507e-03 5.64582696e-01] [ 2.57277697e-02 1.82031787e-03 9.99667329e-01 1.36820130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.622557844 meters Centerline goodness : 0.126831 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99667576e-01 -2.34382570e-03 -2.56757566e-02 3.39603353e+00] [ 2.29743095e-03 9.99995675e-01 -1.83629759e-03 5.64375281e-01] [ 2.56799495e-02 1.77669888e-03 9.99668637e-01 1.36849834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65255784400006 meters Centerline goodness : 0.119818 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99667643e-01 -2.30339094e-03 -2.56768038e-02 3.39596332e+00] [ 2.25731072e-03 9.99995790e-01 -1.82346517e-03 5.64496269e-01] [ 2.56808959e-02 1.76489860e-03 9.99668633e-01 1.36860315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68255784400003 meters Centerline goodness : 0.123786 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99663825e-01 -2.20217121e-03 -2.58338418e-02 3.39642555e+00] [ 2.15883244e-03 9.99996216e-01 -1.70536704e-03 5.64180619e-01] [ 2.58374995e-02 1.64902280e-03 9.99664796e-01 1.36845494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71255784400006 meters Centerline goodness : 0.123267 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99654534e-01 -1.94426124e-03 -2.62113152e-02 3.39785120e+00] [ 1.91281396e-03 9.99997421e-01 -1.22477907e-03 5.62198253e-01] [ 2.62136289e-02 1.17421858e-03 9.99655674e-01 1.36762457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74255784400003 meters Centerline goodness : 0.122787 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99653846e-01 -1.85504253e-03 -2.62439824e-02 3.39811278e+00] [ 1.82969996e-03 9.99997836e-01 -9.89632803e-04 5.60910268e-01] [ 2.62457614e-02 9.41271624e-04 9.99655078e-01 1.36728492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77255784400006 meters Centerline goodness : 0.128292 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99656267e-01 -1.79427735e-03 -2.61558407e-02 3.39771622e+00] [ 1.77377755e-03 9.99998101e-01 -8.06936480e-04 5.59855760e-01] [ 2.61572390e-02 7.60264467e-04 9.99657552e-01 1.36749105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80255784400003 meters Centerline goodness : 0.153126 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99662341e-01 -1.70266971e-03 -2.59288612e-02 3.39683500e+00] [ 1.68702107e-03 9.99998381e-01 -6.25385110e-04 5.59040531e-01] [ 2.59298841e-02 5.81431407e-04 9.99663595e-01 1.36796722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83255784400006 meters Centerline goodness : 0.125190 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99668661e-01 -1.62741096e-03 -2.56888866e-02 3.39586331e+00] [ 1.61411310e-03 9.99998552e-01 -5.38377530e-04 5.58897462e-01] [ 2.56897256e-02 4.96734377e-04 9.99669841e-01 1.36855770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86255784400004 meters Centerline goodness : 0.133638 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99672329e-01 -1.58205363e-03 -2.55486076e-02 3.39533618e+00] [ 1.57066717e-03 9.99998658e-01 -4.65739634e-04 5.58670948e-01] [ 2.55493101e-02 4.25458665e-04 9.99673473e-01 1.36881361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89255784400007 meters Centerline goodness : 0.136251 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99668812e-01 -1.54674814e-03 -2.56879953e-02 3.39605870e+00] [ 1.53833887e-03 9.99998757e-01 -3.47120312e-04 5.58077396e-01] [ 2.56885002e-02 3.07488508e-04 9.99669949e-01 1.36814707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92255784400004 meters Centerline goodness : 0.131615 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99665436e-01 -1.49933655e-03 -2.58218669e-02 3.39666842e+00] [ 1.49587497e-03 9.99998869e-01 -1.53371929e-04 5.57019340e-01] [ 2.58220677e-02 1.14694332e-04 9.99666548e-01 1.36761965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95255784400007 meters Centerline goodness : 0.139355 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99666149e-01 -1.41505563e-03 -2.57989924e-02 3.39665696e+00] [ 1.41800210e-03 9.99998990e-01 9.59147655e-05 5.55829827e-01] [ 2.57988306e-02 -1.32465770e-04 9.99667146e-01 1.36746389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98255784400004 meters Centerline goodness : 0.133919 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99664191e-01 -1.35573899e-03 -2.58779450e-02 3.39671630e+00] [ 1.36552158e-03 9.99999003e-01 3.60360475e-04 5.54525150e-01] [ 2.58774306e-02 -3.95576355e-04 9.99665045e-01 1.36760937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01255784400007 meters Centerline goodness : 0.148750 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99666598e-01 -1.27707433e-03 -2.57887997e-02 3.39645123e+00] [ 1.29321799e-03 9.99998978e-01 6.09326460e-04 5.53391020e-01] [ 2.57879952e-02 -6.42473849e-04 9.99667228e-01 1.36762851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04255784400004 meters Centerline goodness : 0.131359 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99665624e-01 -1.24075290e-03 -2.58282803e-02 3.39677628e+00] [ 1.26669650e-03 9.99998710e-01 9.88128170e-04 5.51106508e-01] [ 2.58270209e-02 -1.02051436e-03 9.99665906e-01 1.36717016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0725578440001 meters Centerline goodness : 0.152988 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99666400e-01 -1.21577409e-03 -2.57994444e-02 3.39682636e+00] [ 1.24533871e-03 9.99998586e-01 1.12990364e-03 5.50178992e-01] [ 2.57980342e-02 -1.16165575e-03 9.99666500e-01 1.36693375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10255784400005 meters Centerline goodness : 0.134096 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99665795e-01 -1.24007681e-03 -2.58217070e-02 3.39683485e+00] [ 1.26884332e-03 9.99998593e-01 1.09768882e-03 5.50124490e-01] [ 2.58203094e-02 -1.13008567e-03 9.99665961e-01 1.36700147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1325578440001 meters Centerline goodness : 0.124849 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99662451e-01 -1.27629121e-03 -2.59490727e-02 3.39720541e+00] [ 1.30141857e-03 9.99998701e-01 9.51468586e-04 5.50908411e-01] [ 2.59478246e-02 -9.84918024e-04 9.99662813e-01 1.36694451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16255784400005 meters Centerline goodness : 0.130969 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99652131e-01 -1.27750436e-03 -2.63435973e-02 3.39834431e+00] [ 1.29841955e-03 9.99998855e-01 7.76848087e-04 5.52163031e-01] [ 2.63425748e-02 -8.10782887e-04 9.99652645e-01 1.36672665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.192557844 meters Centerline goodness : 0.151474 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99636548e-01 -1.21266617e-03 -2.69314354e-02 3.40010130e+00] [ 1.22791078e-03 9.99999095e-01 5.49522207e-04 5.53987931e-01] [ 2.69307446e-02 -5.82391882e-04 9.99637132e-01 1.36630712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22255784400005 meters Centerline goodness : 0.126195 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99617972e-01 -7.51528534e-04 -2.76287120e-02 3.40222082e+00] [ 7.58756132e-04 9.99999681e-01 2.51114556e-04 5.57578994e-01] [ 2.76285145e-02 -2.71982078e-04 9.99618223e-01 1.36590117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.252557844 meters Centerline goodness : 0.135790 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99623682e-01 -8.40978715e-04 -2.74187213e-02 3.40143974e+00] [ 8.34059902e-04 9.99999617e-01 -2.63774634e-04 5.60311658e-01] [ 2.74189327e-02 2.40806514e-04 9.99624001e-01 1.36640849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28255784400005 meters Centerline goodness : 0.143375 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99631187e-01 -9.54698896e-04 -2.71399676e-02 3.40036960e+00] [ 9.31803180e-04 9.99999199e-01 -8.56250583e-04 5.63380310e-01] [ 2.71407633e-02 8.30645679e-04 9.99631277e-01 1.36711356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.312557844 meters Centerline goodness : 0.133460 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99638165e-01 -1.03443151e-03 -2.68787751e-02 3.39942889e+00] [ 9.95130423e-04 9.99998416e-01 -1.47549575e-03 5.66708073e-01] [ 2.68802589e-02 1.44821398e-03 9.99637612e-01 1.36771694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34255784400005 meters Centerline goodness : 0.139603 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99637421e-01 2.38965473e-03 -2.68200685e-02 3.39817885e+00] [-2.36174501e-03 9.99996636e-01 1.07225671e-03 5.72582540e-01] [ 2.68225406e-02 -1.00852577e-03 9.99639702e-01 1.36914090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.372557844 meters Centerline goodness : 0.129748 Centerline is valid? [False, False] Translation: X:3.38, Y:0.58, Z:1.37 [[ 9.99639373e-01 -3.30115527e-03 -2.66500857e-02 3.37516050e+00] [ 3.39826913e-03 9.99987747e-01 3.59956820e-03 5.80317592e-01] [ 2.66378764e-02 -3.68883426e-03 9.99638343e-01 1.36915809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40255784400006 meters Centerline goodness : 0.133590 Centerline is valid? [False, False] Translation: X:3.38, Y:0.58, Z:1.37 [[ 9.99636614e-01 -3.54446873e-03 -2.67222084e-02 3.37516838e+00] [ 3.62176017e-03 9.99989396e-01 2.84456034e-03 5.84019946e-01] [ 2.67118426e-02 -2.94030809e-03 9.99638851e-01 1.36943216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43255784400003 meters Centerline goodness : 0.142276 Centerline is valid? [False, False] Translation: X:3.40, Y:0.58, Z:1.37 [[ 9.99667445e-01 4.54284280e-03 -2.53842950e-02 3.39586932e+00] [-4.50106030e-03 9.99988420e-01 1.70289327e-03 5.83278528e-01] [ 2.53917371e-02 -1.58807072e-03 9.99676316e-01 1.37014483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46255784400006 meters Centerline goodness : 0.128446 Centerline is valid? [False, False] Translation: X:3.40, Y:0.59, Z:1.37 [[ 9.99673870e-01 4.26985234e-03 -2.51778157e-02 3.39506601e+00] [-4.24654187e-03 9.99990504e-01 9.79228892e-04 5.86792101e-01] [ 2.51817578e-02 -8.71990887e-04 9.99682509e-01 1.37063871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49255784400003 meters Centerline goodness : 0.139447 Centerline is valid? [False, False] Translation: X:3.41, Y:0.59, Z:1.37 [[ 9.99703010e-01 -3.79084972e-03 -2.40732554e-02 3.41271286e+00] [ 3.84679708e-03 9.99990006e-01 2.27816224e-03 5.93777615e-01] [ 2.40643786e-02 -2.37009057e-03 9.99707601e-01 1.37323954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52255784400006 meters Centerline goodness : 0.135162 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:1.37 [[ 9.99650710e-01 -2.67933315e-03 -2.62922051e-02 3.36498883e+00] [ 2.72978375e-03 9.99994501e-01 1.88313787e-03 6.03270314e-01] [ 2.62870149e-02 -1.95425214e-03 9.99652527e-01 1.37473019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55255784400003 meters Centerline goodness : 0.126132 Centerline is valid? [False, False] Translation: X:3.37, Y:0.61, Z:1.37 [[ 9.99644420e-01 -2.85913800e-03 -2.65114788e-02 3.36557730e+00] [ 2.89730952e-03 9.99994821e-01 1.40151012e-03 6.05723281e-01] [ 2.65073344e-02 -1.47782374e-03 9.99647527e-01 1.37469244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58255784400006 meters Centerline goodness : 0.126132 Centerline is valid? [False, False] Translation: X:3.37, Y:0.61, Z:1.37 [[ 9.99644420e-01 -2.85913800e-03 -2.65114788e-02 3.36557730e+00] [ 2.89730952e-03 9.99994821e-01 1.40151012e-03 6.05723281e-01] [ 2.65073344e-02 -1.47782374e-03 9.99647527e-01 1.37469244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61255784400004 meters Centerline goodness : 0.140939 Centerline is valid? [False, False] Translation: X:3.37, Y:0.61, Z:1.37 [[ 9.99635639e-01 -3.04840395e-03 -2.68196976e-02 3.36653611e+00] [ 3.07406819e-03 9.99994856e-01 9.15739523e-04 6.08165652e-01] [ 2.68167681e-02 -9.97851442e-04 9.99639868e-01 1.37442507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64255784400007 meters Centerline goodness : 0.134830 Centerline is valid? [False, False] Translation: X:3.37, Y:0.61, Z:1.37 [[ 9.99626415e-01 -3.21480900e-03 -2.71421375e-02 3.36750565e+00] [ 3.22729928e-03 9.99994706e-01 4.16387023e-04 6.10717752e-01] [ 2.71406552e-02 -5.03827268e-04 9.99631498e-01 1.37421230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67255784400004 meters Centerline goodness : 0.129995 Centerline is valid? [False, False] Translation: X:3.37, Y:0.61, Z:1.37 [[ 9.99623546e-01 -3.43684706e-03 -2.72204857e-02 3.36765142e+00] [ 3.43441854e-03 9.99994093e-01 -1.35968196e-04 6.13410547e-01] [ 2.72207922e-02 4.24304693e-05 9.99629445e-01 1.37434187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70255784400007 meters Centerline goodness : 0.131407 Centerline is valid? [False, False] Translation: X:3.37, Y:0.62, Z:1.37 [[ 9.99625306e-01 -3.61387834e-03 -2.71327923e-02 3.36733293e+00] [ 3.59692565e-03 9.99993304e-01 -6.73584821e-04 6.16112431e-01] [ 2.71350448e-02 5.75737796e-04 9.99631611e-01 1.37455482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73255784400004 meters Centerline goodness : 0.115216 Centerline is valid? [False, False] Translation: X:3.37, Y:0.62, Z:1.37 [[ 9.99642613e-01 2.48275413e-05 -2.67328445e-02 3.36634285e+00] [ 3.81430117e-05 9.99997226e-01 2.35503754e-03 6.19937074e-01] [ 2.67328289e-02 -2.35521555e-03 9.99639840e-01 1.37455586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76255784400007 meters Centerline goodness : 0.128902 Centerline is valid? [False, False] Translation: X:3.37, Y:0.62, Z:1.37 [[ 9.99637138e-01 -6.27314931e-05 -2.69367457e-02 3.36680558e+00] [ 1.11520444e-04 9.99998356e-01 1.80974303e-03 6.22923918e-01] [ 2.69365879e-02 -1.81209034e-03 9.99635502e-01 1.37467583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79255784400004 meters Centerline goodness : 0.134538 Centerline is valid? [False, False] Translation: X:3.37, Y:0.63, Z:1.37 [[ 9.99631759e-01 -1.63442768e-04 -2.71352051e-02 3.36716174e+00] [ 1.97907652e-04 9.99999177e-01 1.26743618e-03 6.25847607e-01] [ 2.71349756e-02 -1.27233972e-03 9.99630969e-01 1.37488973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8225578440001 meters Centerline goodness : 0.151125 Centerline is valid? [False, False] Translation: X:3.39, Y:0.63, Z:1.38 [[ 9.99602409e-01 7.91161544e-03 -2.70634466e-02 3.38801013e+00] [-7.91518880e-03 9.99968674e-01 -2.49115440e-05 6.25164216e-01] [ 2.70624017e-02 2.39113929e-04 9.99633718e-01 1.37658938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85255784400005 meters Centerline goodness : 0.120311 Centerline is valid? [False, False] Translation: X:3.37, Y:0.64, Z:1.38 [[ 9.99645773e-01 3.05237704e-03 -2.64388202e-02 3.36868625e+00] [-2.99358592e-03 9.99992959e-01 2.26296157e-03 6.39469621e-01] [ 2.64455414e-02 -2.18301309e-03 9.99647872e-01 1.37512725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8825578440001 meters Centerline goodness : 0.160753 Centerline is valid? [False, False] Translation: X:3.37, Y:0.64, Z:1.37 [[ 9.99640754e-01 3.00649931e-03 -2.66331323e-02 3.36921751e+00] [-2.96195774e-03 9.99994148e-01 1.71170443e-03 6.42275046e-01] [ 2.66381227e-02 -1.63220330e-03 9.99643810e-01 1.37486217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91255784400005 meters Centerline goodness : 0.153163 Centerline is valid? [False, False] Translation: X:3.37, Y:0.64, Z:1.37 [[ 9.99636862e-01 2.86043963e-03 -2.67948263e-02 3.36969047e+00] [-2.82949336e-03 9.99995286e-01 1.19277843e-03 6.44691541e-01] [ 2.67981118e-02 -1.11652950e-03 9.99640243e-01 1.37473484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.942557844 meters Centerline goodness : 0.148605 Centerline is valid? [False, False] Translation: X:3.37, Y:0.65, Z:1.37 [[ 9.99638417e-01 2.69432208e-03 -2.67539887e-02 3.36967104e+00] [-2.67711085e-03 9.99996186e-01 6.79111769e-04 6.46679887e-01] [ 2.67557164e-02 -6.07242821e-04 9.99641817e-01 1.37441251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97255784400005 meters Centerline goodness : 0.159867 Centerline is valid? [False, False] Translation: X:3.37, Y:0.65, Z:1.37 [[ 9.99634573e-01 2.62139334e-03 -2.69044330e-02 3.36997557e+00] [-2.61125349e-03 9.99996506e-01 4.12010402e-04 6.47894580e-01] [ 2.69054191e-02 -3.41605547e-04 9.99637925e-01 1.37449229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.002557844 meters Centerline goodness : 0.160222 Centerline is valid? [False, False] Translation: X:3.37, Y:0.65, Z:1.37 [[ 9.99617636e-01 2.77365742e-03 -2.75116080e-02 3.37137436e+00] [-2.76504952e-03 9.99996116e-01 3.50920218e-04 6.49078211e-01] [ 2.75124745e-02 -2.74715080e-04 9.99621422e-01 1.37458031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03255784400005 meters Centerline goodness : 0.134666 Centerline is valid? [False, False] Translation: X:3.39, Y:0.65, Z:1.37 [[ 9.99629178e-01 -4.18550707e-03 -2.69070401e-02 3.39329143e+00] [ 4.26664172e-03 9.99986521e-01 2.95866400e-03 6.50949414e-01] [ 2.68942940e-02 -3.07236956e-03 9.99633562e-01 1.37479111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.062557844 meters Centerline goodness : 0.153755 Centerline is valid? [False, False] Translation: X:3.39, Y:0.65, Z:1.37 [[ 9.99632450e-01 -4.15456445e-03 -2.67900091e-02 3.39289237e+00] [ 4.23688471e-03 9.99986474e-01 3.01676585e-03 6.50517132e-01] [ 2.67771134e-02 -3.12916322e-03 9.99636531e-01 1.37494201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09255784400005 meters Centerline goodness : 0.142602 Centerline is valid? [False, False] Translation: X:3.39, Y:0.65, Z:1.38 [[ 9.99639200e-01 -4.10564428e-03 -2.65445532e-02 3.39190010e+00] [ 4.19073086e-03 9.99986256e-01 3.15058969e-03 6.49700926e-01] [ 2.65312532e-02 -3.26069404e-03 9.99642666e-01 1.37555045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.122557844 meters Centerline goodness : 0.141112 Centerline is valid? [False, False] Translation: X:3.39, Y:0.65, Z:1.38 [[ 9.99645783e-01 -4.00735028e-03 -2.63106313e-02 3.39097962e+00] [ 4.09656594e-03 9.99986038e-01 3.33783482e-03 6.48783092e-01] [ 2.62968880e-02 -3.44443574e-03 9.99648243e-01 1.37608951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15255784400006 meters Centerline goodness : 0.124424 Centerline is valid? [False, False] Translation: X:3.41, Y:0.64, Z:1.38 [[ 9.99600568e-01 3.68412019e-03 -2.80202041e-02 3.41149622e+00] [-3.59521142e-03 9.99988344e-01 3.22274150e-03 6.40785106e-01] [ 2.80317504e-02 -3.12071568e-03 9.99602162e-01 1.37794151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18255784400003 meters Centerline goodness : 0.126095 Centerline is valid? [False, False] Translation: X:3.41, Y:0.64, Z:1.38 [[ 0.99959364 0.00388037 -0.02824014 3.412351 ] [-0.00377818 0.99998612 0.00367089 0.63865449] [ 0.02825399 -0.0035627 0.99959443 1.37742472] [ 0. 0. 0. 1. ]] SLAMing on 306.21255784400006 meters Centerline goodness : 0.135935 Centerline is valid? [False, False] Translation: X:3.41, Y:0.64, Z:1.38 [[ 0.99959013 0.00403295 -0.02834282 3.4128025 ] [-0.0039187 0.99998398 0.00408531 0.63632553] [ 0.02835884 -0.00397257 0.99958991 1.37710694] [ 0. 0. 0. 1. ]] SLAMing on 306.24255784400003 meters Centerline goodness : 0.133469 Centerline is valid? [False, False] Translation: X:3.43, Y:0.64, Z:1.38 [[ 0.9996171 -0.00467163 -0.02727324 3.43323399] [ 0.00481325 0.99997526 0.00512922 0.63700098] [ 0.0272486 -0.00525853 0.99961486 1.3778146 ] [ 0. 0. 0. 1. ]] SLAMing on 306.27255784400006 meters Centerline goodness : 0.148522 Centerline is valid? [False, False] Translation: X:3.43, Y:0.63, Z:1.38 [[ 0.99962491 -0.00416938 -0.02706775 3.43234325] [ 0.00434212 0.99997056 0.00632599 0.63118044] [ 0.02704058 -0.00644115 0.99961358 1.37845929] [ 0. 0. 0. 1. ]] SLAMing on 306.30255784400003 meters Centerline goodness : 0.148289 Centerline is valid? [False, False] Translation: X:3.45, Y:0.62, Z:1.38 [[ 9.99587964e-01 1.95399879e-03 -2.86371123e-02 3.44810129e+00] [-1.80781200e-03 9.99985208e-01 5.12980368e-03 6.23164158e-01] [ 2.86467124e-02 -5.07591950e-03 9.99576711e-01 1.38236270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33255784400006 meters Centerline goodness : 0.133874 Centerline is valid? [False, False] Translation: X:3.45, Y:0.62, Z:1.38 [[ 9.99588315e-01 2.24143063e-03 -2.86037873e-02 3.44800602e+00] [-2.07473294e-03 9.99980700e-01 5.85616752e-03 6.19448595e-01] [ 2.86163615e-02 -5.79441140e-03 9.99573673e-01 1.38238742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36255784400004 meters Centerline goodness : 0.125731 Centerline is valid? [False, False] Translation: X:3.45, Y:0.62, Z:1.38 [[ 9.99588989e-01 -8.42935948e-04 -2.86555740e-02 3.44808678e+00] [ 9.27425120e-04 9.99995262e-01 2.93527479e-03 6.16964309e-01] [ 2.86529639e-02 -2.96064426e-03 9.99585035e-01 1.38241683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39255784400007 meters Centerline goodness : 0.150144 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99584288e-01 -6.09349902e-04 -2.88249953e-02 3.44846524e+00] [ 7.10192237e-04 9.99993664e-01 3.48832531e-03 6.14135319e-01] [ 2.88226870e-02 -3.50734646e-03 9.99578387e-01 1.38242957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42255784400004 meters Centerline goodness : 0.147419 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99584339e-01 -3.84768017e-04 -2.88270980e-02 3.44834329e+00] [ 4.98211147e-04 9.99992160e-01 3.92821571e-03 6.12071672e-01] [ 2.88253606e-02 -3.94094488e-03 9.99576694e-01 1.38259941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45255784400007 meters Centerline goodness : 0.087279 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99591461e-01 1.97179603e-04 -2.85809790e-02 3.44736659e+00] [-6.45361629e-05 9.99989225e-01 4.64181722e-03 6.09355633e-01] [ 2.85815863e-02 -4.63807635e-03 9.99580703e-01 1.38315819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48255784400004 meters Centerline goodness : 0.118300 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99589735e-01 3.46452138e-04 -2.86398472e-02 3.44754214e+00] [-2.09178842e-04 9.99988478e-01 4.79594466e-03 6.08674859e-01] [ 2.86411787e-02 -4.78798621e-03 9.99578290e-01 1.38306152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51255784400007 meters Centerline goodness : 0.088531 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99583833e-01 5.23241756e-04 -2.88424674e-02 3.44812147e+00] [-3.80271172e-04 9.99987616e-01 4.96220934e-03 6.08093812e-01] [ 2.88447066e-02 -4.94917627e-03 9.99571653e-01 1.38287719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54255784400004 meters Centerline goodness : 0.126566 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99581213e-01 6.93745067e-04 -2.89295264e-02 3.44839522e+00] [-5.43631929e-04 9.99986351e-01 5.19646718e-03 6.07214007e-01] [ 2.89327366e-02 -5.17856395e-03 9.99567946e-01 1.38274042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5725578440001 meters Centerline goodness : 0.111712 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99580861e-01 8.83789218e-04 -2.89364927e-02 3.44836219e+00] [-7.24213467e-04 9.99984476e-01 5.52470472e-03 6.05812170e-01] [ 2.89409261e-02 -5.50143290e-03 9.99565984e-01 1.38277123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60255784400005 meters Centerline goodness : 0.092368 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.38 [[ 9.99580030e-01 1.04257029e-03 -2.89599266e-02 3.44849478e+00] [-8.71991102e-04 9.99982202e-01 5.90218479e-03 6.03872022e-01] [ 2.89655646e-02 -5.87445325e-03 9.99563148e-01 1.38263830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6325578440001 meters Centerline goodness : 0.113633 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.38 [[ 9.99574175e-01 1.33305262e-03 -2.91494559e-02 3.44930348e+00] [-1.14033121e-03 9.99977390e-01 6.62711699e-03 5.99985572e-01] [ 2.91576311e-02 -6.59105497e-03 9.99553095e-01 1.38216389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66255784400005 meters Centerline goodness : 0.113513 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.38 [[ 9.99571655e-01 1.43780961e-03 -2.92307928e-02 3.44959716e+00] [-1.23954464e-03 9.99976113e-01 6.79973259e-03 5.99318137e-01] [ 2.92398713e-02 -6.76058709e-03 9.99549561e-01 1.38201762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.692557844 meters Centerline goodness : 0.146158 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.38 [[ 9.99567198e-01 1.57541462e-03 -2.93757423e-02 3.45010188e+00] [-1.37211122e-03 9.99974979e-01 6.93966577e-03 5.99068685e-01] [ 2.93859401e-02 -6.89635548e-03 9.99544350e-01 1.38175548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72255784400005 meters Centerline goodness : 0.090378 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.38 [[ 9.99563476e-01 1.63029615e-03 -2.94991359e-02 3.45059416e+00] [-1.42620587e-03 9.99974913e-01 6.93823574e-03 5.99174213e-01] [ 2.95097072e-02 -6.89313520e-03 9.99540725e-01 1.38142130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.752557844 meters Centerline goodness : 0.133325 Centerline is valid? [False, False] Translation: X:3.47, Y:0.60, Z:1.38 [[ 0.99950082 0.01011323 -0.02993059 3.47320467] [-0.00994501 0.99993393 0.00576393 0.59655482] [ 0.0299869 -0.00546339 0.99953536 1.38247578] [ 0. 0. 0. 1. ]] SLAMing on 306.78255784400005 meters Centerline goodness : 0.145115 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:1.38 [[ 0.9993999 0.01129077 -0.03274689 3.42758797] [-0.01109488 0.99991949 0.00615765 0.59718805] [ 0.03281378 -0.00579063 0.99944471 1.38289601] [ 0. 0. 0. 1. ]] SLAMing on 306.812557844 meters Centerline goodness : 0.088551 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:1.38 [[ 0.99939519 0.01141497 -0.03284754 3.42777228] [-0.01122874 0.99991985 0.00584828 0.59956905] [ 0.03291167 -0.0054759 0.99944326 1.38288675] [ 0. 0. 0. 1. ]] SLAMing on 306.84255784400005 meters Centerline goodness : 0.148615 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:1.38 [[ 0.99939507 0.01140141 -0.03285576 3.42776608] [-0.01122987 0.99992236 0.00540092 0.60217226] [ 0.03291479 -0.00502869 0.99944551 1.38280085] [ 0. 0. 0. 1. ]] SLAMing on 306.872557844 meters Centerline goodness : 0.169605 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:1.38 [[ 0.99939424 0.01122632 -0.03294112 3.42795378] [-0.0110727 0.99992697 0.00484212 0.60474514] [ 0.03299307 -0.00447444 0.99944556 1.38272037] [ 0. 0. 0. 1. ]] SLAMing on 306.90255784400006 meters Centerline goodness : 0.128004 Centerline is valid? [False, False] Translation: X:3.43, Y:0.61, Z:1.38 [[ 0.99939775 0.01098985 -0.03291456 3.42761061] [-0.01085618 0.99993209 0.00423725 0.60733319] [ 0.03295889 -0.00387738 0.99944919 1.38298157] [ 0. 0. 0. 1. ]] SLAMing on 306.93255784400003 meters Centerline goodness : 0.094507 Centerline is valid? [False, False] Translation: X:3.43, Y:0.61, Z:1.38 [[ 0.99940491 0.01099167 -0.03269568 3.42679167] [-0.01085889 0.99993207 0.00423577 0.60755673] [ 0.03274001 -0.00387821 0.99945638 1.3834146 ] [ 0. 0. 0. 1. ]] SLAMing on 306.96255784400006 meters Centerline goodness : 0.140692 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.39 [[ 9.99491409e-01 2.68737643e-03 -3.17757864e-02 3.44549349e+00] [-2.51497950e-03 9.99981909e-01 5.46414208e-03 6.12144623e-01] [ 3.17898958e-02 -5.38144762e-03 9.99480086e-01 1.38546922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99255784400003 meters Centerline goodness : 0.124275 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.39 [[ 9.99489837e-01 2.68074418e-03 -3.18257555e-02 3.44541598e+00] [-2.50392892e-03 9.99981217e-01 5.59428407e-03 6.11282878e-01] [ 3.18401545e-02 -5.51174065e-03 9.99477776e-01 1.38587480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02255784400006 meters Centerline goodness : 0.087778 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.39 [[ 9.99486039e-01 -1.21822765e-03 -3.20339407e-02 3.44582045e+00] [ 1.27279123e-03 9.99997774e-01 1.68296884e-03 6.11881693e-01] [ 3.20318191e-02 -1.72287638e-03 9.99485365e-01 1.38594153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05255784400003 meters Centerline goodness : 0.115464 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.39 [[ 9.99474889e-01 -1.18091524e-03 -3.23813362e-02 3.44680923e+00] [ 1.24539945e-03 9.99997281e-01 1.97130353e-03 6.10082308e-01] [ 3.23789203e-02 -2.01059608e-03 9.99473643e-01 1.38582724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08255784400006 meters Centerline goodness : 0.116402 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.39 [[ 9.99475605e-01 -9.26108812e-04 -3.23675273e-02 3.44658941e+00] [ 1.01183390e-03 9.99996024e-01 2.63221115e-03 6.07099518e-01] [ 3.23649609e-02 -2.66358139e-03 9.99472568e-01 1.38623090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11255784400004 meters Centerline goodness : 0.146735 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.39 [[ 9.99487567e-01 -7.95328766e-04 -3.19995526e-02 3.44525257e+00] [ 8.90497389e-04 9.99995223e-01 2.95991956e-03 6.05612154e-01] [ 3.19970456e-02 -2.98689832e-03 9.99483500e-01 1.38690119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14255784400007 meters Centerline goodness : 0.227892 Centerline is valid? [False, False] Translation: X:3.44, Y:0.60, Z:1.39 [[ 9.99494867e-01 -6.78852486e-04 -3.17734129e-02 3.44432793e+00] [ 7.83609052e-04 9.99994298e-01 3.28465218e-03 6.03962684e-01] [ 3.17710019e-02 -3.30789093e-03 9.99489700e-01 1.38754185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17255784400004 meters Centerline goodness : 0.127012 Centerline is valid? [False, False] Translation: X:3.44, Y:0.60, Z:1.39 [[ 9.99494057e-01 -5.65288378e-04 -3.18010974e-02 3.44433779e+00] [ 6.79292237e-04 9.99993382e-01 3.57421368e-03 6.02466637e-01] [ 3.17988665e-02 -3.59400757e-03 9.99487826e-01 1.38766608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20255784400007 meters Centerline goodness : 0.123326 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.39 [[ 9.99477131e-01 -4.25246811e-04 -3.23308450e-02 3.44597036e+00] [ 5.48820138e-04 9.99992578e-01 3.81337147e-03 6.01281069e-01] [ 3.23289834e-02 -3.82912140e-03 9.99469947e-01 1.38715250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23255784400004 meters Centerline goodness : 0.118258 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.39 [[ 9.99474975e-01 -3.45336546e-04 -3.23983895e-02 3.44620566e+00] [ 4.73754950e-04 9.99992062e-01 3.95613528e-03 6.00667481e-01] [ 3.23967661e-02 -3.96940710e-03 9.99467205e-01 1.38705354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26255784400007 meters Centerline goodness : 0.113073 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.39 [[ 9.99478826e-01 -2.68526734e-04 -3.22800992e-02 3.44586322e+00] [ 4.01528601e-04 9.99991458e-01 4.11383168e-03 5.99932967e-01] [ 3.22787188e-02 -4.12464904e-03 9.99470396e-01 1.38711754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29255784400004 meters Centerline goodness : 0.110818 Centerline is valid? [False, False] Translation: X:3.46, Y:0.60, Z:1.39 [[ 9.99477355e-01 7.65587234e-03 -3.14070687e-02 3.46490045e+00] [-7.56582194e-03 9.99966923e-01 2.98504183e-03 5.95304326e-01] [ 3.14288830e-02 -2.74586142e-03 9.99502219e-01 1.38905322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3225578440001 meters Centerline goodness : 0.100696 Centerline is valid? [False, False] Translation: X:3.46, Y:0.59, Z:1.39 [[ 9.99477859e-01 7.76599711e-03 -3.13639702e-02 3.46467415e+00] [-7.66709108e-03 9.99965253e-01 3.27252864e-03 5.93883087e-01] [ 3.13882948e-02 -3.03034951e-03 9.99502672e-01 1.38925739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35255784400005 meters Centerline goodness : 0.103142 Centerline is valid? [False, False] Translation: X:3.46, Y:0.59, Z:1.39 [[ 9.99475993e-01 7.85585113e-03 -3.14010490e-02 3.46479281e+00] [-7.74909350e-03 9.99963780e-01 3.52006276e-03 5.92690867e-01] [ 3.14275648e-02 -3.27488855e-03 9.99500667e-01 1.38923733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3825578440001 meters Centerline goodness : 0.122279 Centerline is valid? [False, False] Translation: X:3.47, Y:0.59, Z:1.39 [[ 0.99946214 0.00798616 -0.03180652 3.4662934 ] [-0.00786749 0.99996162 0.00385452 0.59113732] [ 0.03183609 -0.00360221 0.99948661 1.38845771] [ 0. 0. 0. 1. ]] SLAMing on 307.41255784400005 meters Centerline goodness : 0.125820 Centerline is valid? [False, False] Translation: X:3.47, Y:0.59, Z:1.39 [[ 0.99945481 0.00799579 -0.03203366 3.46722756] [-0.00787389 0.99996128 0.00392968 0.59062073] [ 0.03206384 -0.00367531 0.99947907 1.38785013] [ 0. 0. 0. 1. ]] SLAMing on 307.442557844 meters Centerline goodness : 0.131580 Centerline is valid? [False, False] Translation: X:3.47, Y:0.59, Z:1.39 [[ 0.99945264 0.00803741 -0.03209072 3.4674508 ] [-0.00791205 0.99996057 0.00403143 0.59000523] [ 0.03212186 -0.00377532 0.99947683 1.38771287] [ 0. 0. 0. 1. ]] SLAMing on 307.47255784400005 meters Centerline goodness : 0.131580 Centerline is valid? [False, False] Translation: X:3.47, Y:0.59, Z:1.39 [[ 0.99945264 0.00803741 -0.03209072 3.4674508 ] [-0.00791205 0.99996057 0.00403143 0.59000523] [ 0.03212186 -0.00377532 0.99947683 1.38771287] [ 0. 0. 0. 1. ]] SLAMing on 307.502557844 meters Centerline goodness : 0.147037 Centerline is valid? [False, False] Translation: X:3.49, Y:0.59, Z:1.39 [[ 9.99506663e-01 -1.30207523e-04 -3.14072274e-02 3.48729822e+00] [ 2.86146123e-04 9.99987655e-01 4.96061112e-03 5.93997993e-01] [ 3.14061938e-02 -4.96715092e-03 9.99494361e-01 1.38879626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53255784400005 meters Centerline goodness : 0.132657 Centerline is valid? [False, False] Translation: X:3.49, Y:0.59, Z:1.39 [[ 9.99506919e-01 -6.91081927e-05 -3.13992706e-02 3.48732009e+00] [ 2.30297479e-04 9.99986815e-01 5.12994852e-03 5.93110717e-01] [ 3.13985021e-02 -5.13465021e-03 9.99493757e-01 1.38871111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.562557844 meters Centerline goodness : 0.104311 Centerline is valid? [False, False] Translation: X:3.49, Y:0.59, Z:1.39 [[ 9.99503542e-01 7.38334497e-05 -3.15065862e-02 3.48767201e+00] [ 1.03007542e-04 9.99984252e-01 5.61116615e-03 5.90560537e-01] [ 3.15065043e-02 -5.61162586e-03 9.99487794e-01 1.38864937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59255784400005 meters Centerline goodness : 0.094368 Centerline is valid? [False, False] Translation: X:3.49, Y:0.59, Z:1.39 [[ 9.99502210e-01 1.51849656e-04 -3.15485216e-02 3.48778773e+00] [ 3.43408412e-05 9.99982588e-01 5.90109297e-03 5.88888981e-01] [ 3.15488683e-02 -5.89923887e-03 9.99484801e-01 1.38873416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.622557844 meters Centerline goodness : 0.154093 Centerline is valid? [False, False] Translation: X:3.49, Y:0.59, Z:1.39 [[ 9.99501721e-01 2.22120274e-04 -3.15635919e-02 3.48779376e+00] [-2.70439632e-05 9.99980899e-01 6.18071427e-03 5.87249988e-01] [ 3.15643619e-02 -6.17678095e-03 9.99482635e-01 1.38882859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65255784400006 meters Centerline goodness : 0.106233 Centerline is valid? [False, False] Translation: X:3.49, Y:0.58, Z:1.39 [[ 9.99500690e-01 3.99877175e-04 -3.15944656e-02 3.48797766e+00] [-1.86974617e-04 9.99977260e-01 6.74127001e-03 5.84227784e-01] [ 3.15964429e-02 -6.73199667e-03 9.99478036e-01 1.38872954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68255784400003 meters Centerline goodness : 0.099385 Centerline is valid? [False, False] Translation: X:3.49, Y:0.58, Z:1.39 [[ 9.99502125e-01 5.26188319e-04 -3.15471866e-02 3.48770475e+00] [-3.04485320e-04 9.99975228e-01 7.03205529e-03 5.82903230e-01] [ 3.15501053e-02 -7.01894855e-03 9.99477526e-01 1.38899828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71255784400006 meters Centerline goodness : 0.157380 Centerline is valid? [False, False] Translation: X:3.49, Y:0.58, Z:1.39 [[ 9.99505380e-01 6.67929883e-04 -3.14411972e-02 3.48718175e+00] [-4.36431084e-04 9.99972752e-01 7.36919990e-03 5.81371761e-01] [ 3.14452626e-02 -7.35183303e-03 9.99478437e-01 1.38947065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74255784400003 meters Centerline goodness : 0.242753 Centerline is valid? [False, False] Translation: X:3.49, Y:0.58, Z:1.39 [[ 9.99506360e-01 8.06886940e-04 -3.14067586e-02 3.48683451e+00] [-5.66139365e-04 9.99970397e-01 7.67360810e-03 5.79946797e-01] [ 3.14120206e-02 -7.65203950e-03 9.99477229e-01 1.38988868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77255784400006 meters Centerline goodness : 0.102872 Centerline is valid? [False, False] Translation: X:3.49, Y:0.58, Z:1.39 [[ 9.99504855e-01 9.51679562e-04 -3.14505763e-02 3.48695675e+00] [-7.00909212e-04 9.99967885e-01 7.98353697e-03 5.78402036e-01] [ 3.14571641e-02 -7.95753996e-03 9.99473424e-01 1.38988735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80255784400003 meters Centerline goodness : 0.151363 Centerline is valid? [False, False] Translation: X:3.49, Y:0.58, Z:1.39 [[ 9.99502732e-01 1.09066269e-03 -3.15134742e-02 3.48708967e+00] [-8.30921716e-04 9.99965589e-01 8.25414003e-03 5.77026503e-01] [ 3.15213923e-02 -8.22385028e-03 9.99469244e-01 1.38992996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83255784400006 meters Centerline goodness : 0.100384 Centerline is valid? [False, False] Translation: X:3.49, Y:0.57, Z:1.39 [[ 9.99507417e-01 1.43564901e-03 -3.13506313e-02 3.48655409e+00] [-1.16220103e-03 9.99961141e-01 8.73872912e-03 5.74947297e-01] [ 3.13619588e-02 -8.69798884e-03 9.99470246e-01 1.39010716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86255784400004 meters Centerline goodness : 0.169714 Centerline is valid? [False, False] Translation: X:3.51, Y:0.57, Z:1.39 [[ 0.99949627 0.01016854 -0.03006328 3.50710339] [-0.00992732 0.99991741 0.00816226 0.57178644] [ 0.03014379 -0.0078597 0.99951467 1.39136718] [ 0. 0. 0. 1. ]] SLAMing on 307.89255784400007 meters Centerline goodness : 0.234817 Centerline is valid? [False, False] Translation: X:3.51, Y:0.57, Z:1.39 [[ 0.99950047 0.01025988 -0.02989216 3.50644477] [-0.01001733 0.99991577 0.00825263 0.57159203] [ 0.02997432 -0.00794907 0.99951906 1.39169714] [ 0. 0. 0. 1. ]] SLAMing on 307.92255784400004 meters Centerline goodness : 0.093688 Centerline is valid? [False, False] Translation: X:3.51, Y:0.57, Z:1.39 [[ 0.99950361 0.01031237 -0.02976902 3.50593766] [-0.01006802 0.99991448 0.0083462 0.57111532] [ 0.02985255 -0.00804234 0.99952196 1.39194934] [ 0. 0. 0. 1. ]] SLAMing on 307.95255784400007 meters Centerline goodness : 0.109298 Centerline is valid? [False, False] Translation: X:3.51, Y:0.57, Z:1.39 [[ 0.99950459 0.01035228 -0.0297221 3.50568931] [-0.01010501 0.99991318 0.00845743 0.57042386] [ 0.02980708 -0.0081529 0.99952242 1.3921508 ] [ 0. 0. 0. 1. ]] SLAMing on 307.98255784400004 meters Centerline goodness : 0.162508 Centerline is valid? [False, False] Translation: X:3.51, Y:0.57, Z:1.39 [[ 0.99950548 0.01037068 -0.02968578 3.50547168] [-0.0101218 0.99991246 0.00852179 0.56986519] [ 0.02977156 -0.00821711 0.99952295 1.39228696] [ 0. 0. 0. 1. ]] SLAMing on 308.01255784400007 meters Centerline goodness : 0.167813 Centerline is valid? [False, False] Translation: X:3.51, Y:0.57, Z:1.39 [[ 0.99950691 0.01034373 -0.02964685 3.50520259] [-0.01009753 0.99991338 0.00844247 0.57034657] [ 0.02973161 -0.00813894 0.99952478 1.39251745] [ 0. 0. 0. 1. ]] SLAMing on 308.04255784400004 meters SLAMing on 308.0725578440001 meters Centerline goodness : 0.086529 Centerline is valid? [False, False] Translation: X:3.50, Y:0.57, Z:1.39 [[ 0.99951049 0.01026582 -0.02955319 3.50430889] [-0.01002823 0.99991629 0.00817642 0.57221185] [ 0.02963465 -0.00787605 0.99952977 1.39350443] [ 0. 0. 0. 1. ]] SLAMing on 308.10255784400005 meters Centerline goodness : 0.205154 Centerline is valid? [False, False] Translation: X:3.50, Y:0.57, Z:1.39 [[ 0.99951666 0.01014536 -0.02938583 3.50363737] [-0.0099168 0.99991952 0.00791324 0.5734068 ] [ 0.02946375 -0.007618 0.99953682 1.39386829] [ 0. 0. 0. 1. ]] SLAMing on 308.1325578440001 meters Centerline goodness : 0.123639 Centerline is valid? [False, False] Translation: X:3.50, Y:0.58, Z:1.39 [[ 0.99952086 0.00990738 -0.02932411 3.50361413] [-0.00969308 0.99992533 0.00744137 0.57525469] [ 0.02939564 -0.00715356 0.99954226 1.39358628] [ 0. 0. 0. 1. ]] SLAMing on 308.16255784400005 meters Centerline goodness : 0.183114 Centerline is valid? [False, False] Translation: X:3.50, Y:0.58, Z:1.39 [[ 0.99951226 0.0098067 -0.02964916 3.50480701] [-0.00959669 0.99992791 0.00721702 0.57633715] [ 0.02971779 -0.00692897 0.99953431 1.39293295] [ 0. 0. 0. 1. ]] SLAMing on 308.192557844 meters Centerline goodness : 0.168909 Centerline is valid? [False, False] Translation: X:3.51, Y:0.58, Z:1.39 [[ 0.99950461 0.00976391 -0.0299199 3.50579315] [-0.00955518 0.99992906 0.00711131 0.57694331] [ 0.02998721 -0.0068219 0.999527 1.39246689] [ 0. 0. 0. 1. ]] SLAMing on 308.22255784400005 meters Centerline goodness : 0.099575 Centerline is valid? [False, False] Translation: X:3.51, Y:0.58, Z:1.39 [[ 0.99949796 0.00973938 -0.03014906 3.50647455] [-0.00952918 0.99992933 0.00710776 0.57698849] [ 0.03021615 -0.0068169 0.99952014 1.39230848] [ 0. 0. 0. 1. ]] SLAMing on 308.252557844 meters Centerline goodness : 0.241472 Centerline is valid? [False, False] Translation: X:3.51, Y:0.58, Z:1.39 [[ 0.99949513 0.00977283 -0.03023194 3.50654536] [-0.00955531 0.99992747 0.00733129 0.57571951] [ 0.03030139 -0.00703871 0.99951602 1.39260786] [ 0. 0. 0. 1. ]] SLAMing on 308.28255784400005 meters Centerline goodness : 0.240368 Centerline is valid? [False, False] Translation: X:3.48, Y:0.58, Z:1.39 [[ 9.99542914e-01 5.09388741e-04 -3.02275448e-02 3.48373178e+00] [-2.75923588e-04 9.99970106e-01 7.72725830e-03 5.77039816e-01] [ 3.02305774e-02 -7.71538578e-03 9.99513174e-01 1.39211274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.312557844 meters SLAMing on 308.34255784400005 meters Centerline goodness : 0.087057 Centerline is valid? [False, False] Translation: X:3.48, Y:0.57, Z:1.39 [[ 9.99547828e-01 -2.28201282e-03 -2.99821965e-02 3.48138772e+00] [ 2.45422535e-03 9.99980696e-01 5.70828269e-03 5.71806460e-01] [ 2.99685914e-02 -5.77928463e-03 9.99534133e-01 1.39415090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.372557844 meters Centerline goodness : 0.138723 Centerline is valid? [False, False] Translation: X:3.50, Y:0.57, Z:1.40 [[ 0.99954324 0.00579715 -0.02965967 3.50201568] [-0.00565472 0.99997209 0.00488369 0.56695006] [ 0.02968715 -0.00471375 0.99954812 1.39530035] [ 0. 0. 0. 1. ]] SLAMing on 308.40255784400006 meters Centerline goodness : 0.098168 Centerline is valid? [False, False] Translation: X:3.50, Y:0.57, Z:1.39 [[ 0.9995388 0.00588392 -0.02979223 3.50258933] [-0.00573415 0.9999705 0.00511014 0.56573632] [ 0.02982141 -0.00493695 0.99954305 1.3949247 ] [ 0. 0. 0. 1. ]] SLAMing on 308.43255784400003 meters Centerline goodness : 0.143007 Centerline is valid? [False, False] Translation: X:3.50, Y:0.56, Z:1.39 [[ 0.99953852 0.00596698 -0.02978488 3.5025193 ] [-0.00581242 0.9999692 0.00527334 0.56490745] [ 0.02981543 -0.00509779 0.99954242 1.39498294] [ 0. 0. 0. 1. ]] SLAMing on 308.46255784400006 meters Centerline goodness : 0.169145 Centerline is valid? [False, False] Translation: X:3.50, Y:0.56, Z:1.40 [[ 0.99953921 0.00618064 -0.02971819 3.50188821] [-0.00601474 0.99996584 0.00566859 0.56299356] [ 0.02975221 -0.00548723 0.99954224 1.39569194] [ 0. 0. 0. 1. ]] SLAMing on 308.49255784400003 meters Centerline goodness : 0.099175 Centerline is valid? [False, False] Translation: X:3.50, Y:0.56, Z:1.40 [[ 0.99953396 0.00628451 -0.02987249 3.5023431 ] [-0.00611071 0.99996389 0.00590573 0.56167911] [ 0.02990852 -0.00572044 0.99953627 1.39555009] [ 0. 0. 0. 1. ]] SLAMing on 308.52255784400006 meters Centerline goodness : 0.171949 Centerline is valid? [False, False] Translation: X:3.50, Y:0.56, Z:1.40 [[ 0.99952518 0.00641467 -0.03013748 3.50328748] [-0.00622954 0.99996117 0.00623258 0.55987594] [ 0.03017629 -0.00604188 0.99952633 1.39514593] [ 0. 0. 0. 1. ]] SLAMing on 308.55255784400003 meters Centerline goodness : 0.152820 Centerline is valid? [False, False] Translation: X:3.50, Y:0.56, Z:1.39 [[ 0.99951539 0.00658407 -0.03042438 3.50418298] [-0.00638353 0.99995729 0.00668403 0.55749366] [ 0.03046709 -0.00648657 0.99951472 1.39486672] [ 0. 0. 0. 1. ]] SLAMing on 308.58255784400006 meters Centerline goodness : 0.151289 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:1.40 [[ 9.99533963e-01 2.94160452e-03 -3.03842613e-02 3.50375424e+00] [-2.83248544e-03 9.99989386e-01 3.63372031e-03 5.53644768e-01] [ 3.03946277e-02 -3.54596389e-03 9.99531687e-01 1.39521846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61255784400004 meters Centerline goodness : 0.165493 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:1.40 [[ 9.99536310e-01 3.17918517e-03 -3.02829511e-02 3.50316156e+00] [-3.04899051e-03 9.99985914e-01 4.34447964e-03 5.50203304e-01] [ 3.02963364e-02 -4.25013272e-03 9.99531925e-01 1.39588383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64255784400007 meters Centerline goodness : 0.163321 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:1.40 [[ 9.99539267e-01 3.44253210e-03 -3.01563155e-02 3.50246341e+00] [-3.29167495e-03 9.99981827e-01 5.05072235e-03 5.46880700e-01] [ 3.01731548e-02 -4.94913053e-03 9.99532434e-01 1.39660702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67255784400004 meters Centerline goodness : 0.153833 Centerline is valid? [False, False] Translation: X:3.50, Y:0.54, Z:1.40 [[ 0.99953839 0.00367813 -0.03015764 3.5023088 ] [-0.00350807 0.99997766 0.00569005 0.54380868] [ 0.0301779 -0.00558162 0.99952896 1.39697907] [ 0. 0. 0. 1. ]] SLAMing on 308.70255784400007 meters Centerline goodness : 0.143425 Centerline is valid? [False, False] Translation: X:3.52, Y:0.54, Z:1.40 [[ 9.99526526e-01 9.84416381e-03 -2.91515966e-02 3.52456927e+00] [-9.76346648e-03 9.99948104e-01 2.90924744e-03 5.40819973e-01] [ 2.91787228e-02 -2.62324936e-03 9.99570768e-01 1.39699121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73255784400004 meters Centerline goodness : 0.130720 Centerline is valid? [False, False] Translation: X:3.50, Y:0.54, Z:1.40 [[ 9.99556146e-01 1.01327663e-03 -2.97738953e-02 3.50384394e+00] [-9.02192215e-04 9.99992584e-01 3.74413024e-03 5.42004677e-01] [ 2.97774683e-02 -3.71560661e-03 9.99549647e-01 1.39583908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76255784400007 meters Centerline goodness : 0.163976 Centerline is valid? [False, False] Translation: X:3.50, Y:0.54, Z:1.40 [[ 9.99554285e-01 1.24229424e-03 -2.98276340e-02 3.50398571e+00] [-1.11409783e-03 9.99990073e-01 4.31414200e-03 5.39086018e-01] [ 2.98326974e-02 -4.27898822e-03 9.99545747e-01 1.39586742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79255784400004 meters Centerline goodness : 0.116888 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.40 [[ 9.99535565e-01 9.59444693e-03 -2.89240567e-02 3.52377189e+00] [-9.50050051e-03 9.99949144e-01 3.38371812e-03 5.34590077e-01] [ 2.89550507e-02 -3.10735359e-03 9.99575885e-01 1.39758002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8225578440001 meters Centerline goodness : 0.104368 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.40 [[ 9.99535585e-01 9.72845080e-03 -2.88785696e-02 3.52360894e+00] [-9.62575861e-03 9.99946852e-01 3.69289415e-03 5.33119109e-01] [ 2.89129609e-02 -3.41320097e-03 9.99576106e-01 1.39765136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85255784400005 meters Centerline goodness : 0.162581 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.40 [[ 0.99953546 0.00985999 -0.02883818 3.52344346] [-0.00974732 0.99994431 0.00404489 0.53136051] [ 0.02887645 -0.00376192 0.99957591 1.39776981] [ 0. 0. 0. 1. ]] SLAMing on 308.8825578440001 meters Centerline goodness : 0.165403 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.40 [[ 9.99567257e-01 6.86624754e-03 -2.86033659e-02 3.52258212e+00] [-6.83758557e-03 9.99976019e-01 1.09973846e-03 5.30530751e-01] [ 2.86102311e-02 -9.03684594e-04 9.99590235e-01 1.39793097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91255784400005 meters Centerline goodness : 0.158339 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.40 [[ 9.99561426e-01 6.98128657e-03 -2.87787785e-02 3.52312549e+00] [-6.94047877e-03 9.99974763e-01 1.51762958e-03 5.28159751e-01] [ 2.87886472e-02 -1.31722548e-03 9.99584653e-01 1.39778927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.942557844 meters Centerline goodness : 0.166561 Centerline is valid? [False, False] Translation: X:3.52, Y:0.52, Z:1.40 [[ 9.99580740e-01 3.09438829e-03 -2.87883521e-02 3.52323214e+00] [-3.14834758e-03 9.99993371e-01 -1.82920591e-03 5.24843374e-01] [ 2.87825009e-02 1.91907473e-03 9.99583856e-01 1.39761750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97255784400005 meters Centerline goodness : 0.165152 Centerline is valid? [False, False] Translation: X:3.52, Y:0.52, Z:1.40 [[ 9.99580738e-01 3.29166978e-03 -2.87665131e-02 3.52299149e+00] [-3.32960858e-03 9.99993649e-01 -1.27105191e-03 5.22026315e-01] [ 2.87621465e-02 1.36630024e-03 9.99585350e-01 1.39797932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.002557844 meters Centerline goodness : 0.162292 Centerline is valid? [False, False] Translation: X:3.54, Y:0.52, Z:1.40 [[ 9.99598602e-01 -4.35599521e-03 -2.79939244e-02 3.54153330e+00] [ 4.36715064e-03 9.99990407e-01 3.37367661e-04 5.24449653e-01] [ 2.79921863e-02 -4.59485927e-04 9.99608036e-01 1.40014778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03255784400005 meters Centerline goodness : 0.159955 Centerline is valid? [False, False] Translation: X:3.54, Y:0.52, Z:1.40 [[ 9.99606696e-01 -4.02979185e-03 -2.77527217e-02 3.54048322e+00] [ 4.06040464e-03 9.99991209e-01 1.04678903e-03 5.21306726e-01] [ 2.77482594e-02 -1.15906461e-03 9.99614271e-01 1.40095460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.062557844 meters Centerline goodness : 0.156580 Centerline is valid? [False, False] Translation: X:3.54, Y:0.52, Z:1.40 [[ 9.99610594e-01 -3.85054245e-03 -2.76375530e-02 3.54010002e+00] [ 3.89108638e-03 9.99991431e-01 1.41335641e-03 5.19695835e-01] [ 2.76318740e-02 -1.52034614e-03 9.99617011e-01 1.40112936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09255784400005 meters Centerline goodness : 0.150964 Centerline is valid? [False, False] Translation: X:3.54, Y:0.52, Z:1.40 [[ 9.99613713e-01 -3.69974708e-03 -2.75451727e-02 3.53975492e+00] [ 3.74889151e-03 9.99991472e-01 1.73271164e-03 5.18226127e-01] [ 2.75385272e-02 -1.83530618e-03 9.99619058e-01 1.40133234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.122557844 meters Centerline goodness : 0.203624 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.40 [[ 9.99632374e-01 4.67089781e-03 -2.67076593e-02 3.55883264e+00] [-4.65565692e-03 9.99988962e-01 6.32810015e-04 5.13044900e-01] [ 2.67103203e-02 -5.08235679e-04 9.99643087e-01 1.40345199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15255784400006 meters Centerline goodness : 0.116585 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.40 [[ 9.99634966e-01 4.81474517e-03 -2.65848282e-02 3.55831050e+00] [-4.79076755e-03 9.99988058e-01 9.65547434e-04 5.11343829e-01] [ 2.65891596e-02 -8.37833244e-04 9.99646095e-01 1.40377974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18255784400003 meters Centerline goodness : 0.160452 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.40 [[ 9.99628449e-01 5.05739937e-03 -2.67840612e-02 3.55854217e+00] [-5.01787351e-03 9.99986220e-01 1.54272964e-03 5.08359807e-01] [ 2.67914943e-02 -1.40775740e-03 9.99640052e-01 1.40423918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21255784400006 meters Centerline goodness : 0.160189 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.40 [[ 9.99624382e-01 5.14357359e-03 -2.69191137e-02 3.55910775e+00] [-5.09827797e-03 9.99985471e-01 1.75101953e-03 5.07166338e-01] [ 2.69277291e-02 -1.61312069e-03 9.99636081e-01 1.40385751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24255784400003 meters Centerline goodness : 0.148896 Centerline is valid? [False, False] Translation: X:3.51, Y:0.50, Z:1.40 [[ 9.99541001e-01 4.40600572e-03 -2.99728850e-02 3.51490381e+00] [-4.35571132e-03 9.99988995e-01 1.74308123e-03 5.02631760e-01] [ 2.99802352e-02 -1.61172792e-03 9.99549192e-01 1.40365766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27255784400006 meters Centerline goodness : 0.137433 Centerline is valid? [False, False] Translation: X:3.53, Y:0.51, Z:1.40 [[ 9.99554132e-01 -3.20021424e-03 -2.96866210e-02 3.53487224e+00] [ 3.28737014e-03 9.99990428e-01 2.88752290e-03 5.06200119e-01] [ 2.96770961e-02 -2.98382636e-03 9.99555084e-01 1.40458933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30255784400003 meters Centerline goodness : 0.122232 Centerline is valid? [False, False] Translation: X:3.54, Y:0.50, Z:1.40 [[ 9.99551903e-01 -3.05438026e-03 -2.97769037e-02 3.53522522e+00] [ 3.15169976e-03 9.99989843e-01 3.22190162e-03 5.04650446e-01] [ 2.97667604e-02 -3.31430575e-03 9.99551377e-01 1.40439908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33255784400006 meters Centerline goodness : 0.154431 Centerline is valid? [False, False] Translation: X:3.54, Y:0.50, Z:1.40 [[ 9.99550512e-01 -2.89752480e-03 -2.98392171e-02 3.53543724e+00] [ 3.00563019e-03 9.99989079e-01 3.57871457e-03 5.02921811e-01] [ 2.98285218e-02 -3.66679163e-03 9.99548305e-01 1.40431986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36255784400004 meters Centerline goodness : 0.143274 Centerline is valid? [False, False] Translation: X:3.54, Y:0.50, Z:1.40 [[ 9.99548619e-01 -2.76479483e-03 -2.99151081e-02 3.53548951e+00] [ 2.88281023e-03 9.99988229e-01 3.90259989e-03 5.01209652e-01] [ 2.99039661e-02 -3.98707792e-03 9.99544824e-01 1.40458082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39255784400007 meters Centerline goodness : 0.143274 Centerline is valid? [False, False] Translation: X:3.54, Y:0.50, Z:1.40 [[ 9.99548619e-01 -2.76479483e-03 -2.99151081e-02 3.53548951e+00] [ 2.88281023e-03 9.99988229e-01 3.90259989e-03 5.01209652e-01] [ 2.99039661e-02 -3.98707792e-03 9.99544824e-01 1.40458082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42255784400004 meters Centerline goodness : 0.117621 Centerline is valid? [False, False] Translation: X:3.53, Y:0.50, Z:1.41 [[ 9.99553865e-01 -2.57348588e-03 -2.97564827e-02 3.53463979e+00] [ 2.70580265e-03 9.99986627e-01 4.40724237e-03 4.98456715e-01] [ 2.97447428e-02 -4.48579132e-03 9.99547462e-01 1.40536330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45255784400007 meters Centerline goodness : 0.156620 Centerline is valid? [False, False] Translation: X:3.53, Y:0.50, Z:1.41 [[ 9.99560962e-01 -2.48157334e-03 -2.95249939e-02 3.53394666e+00] [ 2.61711036e-03 9.99986211e-01 4.55282815e-03 4.97949029e-01] [ 2.95132887e-02 -4.62809945e-03 9.99553674e-01 1.40553851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48255784400004 meters Centerline goodness : 0.132386 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99566580e-01 6.18275718e-03 -2.87823795e-02 3.55368684e+00] [-6.08694822e-03 9.99975643e-01 3.41516470e-03 4.95633755e-01] [ 2.88027935e-02 -3.23848765e-03 9.99579867e-01 1.40735865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51255784400007 meters Centerline goodness : 0.119301 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99574690e-01 6.46468346e-03 -2.84367221e-02 3.55313109e+00] [-6.37205033e-03 9.99974097e-01 3.34693200e-03 4.97021132e-01] [ 2.84576224e-02 -3.16430829e-03 9.99589991e-01 1.40678344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54255784400004 meters Centerline goodness : 0.147513 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99573532e-01 6.41741923e-03 -2.84880713e-02 3.55352956e+00] [-6.33486314e-03 9.99975473e-01 2.98722580e-03 4.98983351e-01] [ 2.85065429e-02 -2.80548381e-03 9.99589669e-01 1.40624330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5725578440001 meters Centerline goodness : 0.153040 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99570832e-01 6.33833803e-03 -2.86002871e-02 3.55400429e+00] [-6.26666888e-03 9.99976998e-01 2.59482735e-03 5.01023472e-01] [ 2.86160761e-02 -2.41448521e-03 9.99587560e-01 1.40579450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60255784400005 meters Centerline goodness : 0.130796 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99568950e-01 6.24591572e-03 -2.86862982e-02 3.55428457e+00] [-6.18429716e-03 9.99978377e-01 2.23623293e-03 5.02907150e-01] [ 2.86996452e-02 -2.05786441e-03 9.99585962e-01 1.40556510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6325578440001 meters Centerline goodness : 0.149452 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99567551e-01 6.17533642e-03 -2.87502548e-02 3.55455604e+00] [-6.12072288e-03 9.99979294e-01 1.98720261e-03 5.04257029e-01] [ 2.87619312e-02 -1.81037091e-03 9.99584651e-01 1.40528844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66255784400005 meters Centerline goodness : 0.152124 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99566323e-01 6.13007312e-03 -2.88025707e-02 3.55474223e+00] [-6.07836520e-03 9.99979755e-01 1.88246614e-03 5.04846396e-01] [ 2.88135273e-02 -1.70657721e-03 9.99583347e-01 1.40518357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.692557844 meters Centerline goodness : 0.153287 Centerline is valid? [False, False] Translation: X:3.53, Y:0.51, Z:1.40 [[ 9.99545071e-01 -3.06880887e-03 -3.00039058e-02 3.53396213e+00] [ 3.15920897e-03 9.99990611e-01 2.96600348e-03 5.05309584e-01] [ 2.99945220e-02 -3.05944276e-03 9.99545381e-01 1.40415263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72255784400005 meters Centerline goodness : 0.137407 Centerline is valid? [False, False] Translation: X:3.53, Y:0.50, Z:1.40 [[ 9.99533720e-01 -3.09982437e-03 -3.03765304e-02 3.53479826e+00] [ 3.19978424e-03 9.99989623e-01 3.24263621e-03 5.03458458e-01] [ 3.03661636e-02 -3.33832258e-03 9.99533267e-01 1.40439498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.752557844 meters Centerline goodness : 0.113712 Centerline is valid? [False, False] Translation: X:3.54, Y:0.50, Z:1.40 [[ 9.99526746e-01 -3.07577566e-03 -3.06075743e-02 3.53533687e+00] [ 3.18637965e-03 9.99988567e-01 3.56549585e-03 5.01587832e-01] [ 3.05962577e-02 -3.66133582e-03 9.99525119e-01 1.40457097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78255784400005 meters Centerline goodness : 0.137974 Centerline is valid? [False, False] Translation: X:3.54, Y:0.50, Z:1.40 [[ 9.99528380e-01 -2.97853343e-03 -3.05638140e-02 3.53512467e+00] [ 3.09977006e-03 9.99987512e-01 3.92005741e-03 4.99776714e-01] [ 3.05517563e-02 -4.01294943e-03 9.99525130e-01 1.40480551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.812557844 meters Centerline goodness : 0.115084 Centerline is valid? [False, False] Translation: X:3.53, Y:0.50, Z:1.41 [[ 9.99535913e-01 -2.86499709e-03 -3.03274020e-02 3.53425995e+00] [ 2.99470668e-03 9.99986559e-01 4.23241971e-03 4.98379100e-01] [ 3.03148685e-02 -4.32127717e-03 9.99531058e-01 1.40533569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84255784400005 meters Centerline goodness : 0.122099 Centerline is valid? [False, False] Translation: X:3.53, Y:0.50, Z:1.41 [[ 9.99542853e-01 -2.78612696e-03 -3.01051902e-02 3.53339297e+00] [ 2.92036439e-03 9.99985986e-01 4.41589769e-03 4.97538427e-01] [ 3.00924650e-02 -4.50179710e-03 9.99536981e-01 1.40588954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.872557844 meters Centerline goodness : 0.116444 Centerline is valid? [False, False] Translation: X:3.53, Y:0.50, Z:1.41 [[ 9.99548325e-01 -2.71470399e-03 -2.99295254e-02 3.53290349e+00] [ 2.85347518e-03 9.99985372e-01 4.59486286e-03 4.96432632e-01] [ 2.99166139e-02 -4.67819064e-03 9.99541450e-01 1.40598056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90255784400006 meters Centerline goodness : 0.117948 Centerline is valid? [False, False] Translation: X:3.55, Y:0.49, Z:1.41 [[ 9.99525568e-01 5.75295842e-03 -3.02579364e-02 3.55358903e+00] [-5.65098249e-03 9.99978066e-01 3.45465538e-03 4.93391599e-01] [ 3.02771472e-02 -3.28202931e-03 9.99536154e-01 1.40754684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93255784400003 meters Centerline goodness : 0.154820 Centerline is valid? [False, False] Translation: X:3.55, Y:0.49, Z:1.41 [[ 9.99521923e-01 5.75972981e-03 -3.03768167e-02 3.55426249e+00] [-5.65892990e-03 9.99978197e-01 3.40324461e-03 4.93700642e-01] [ 3.03957561e-02 -3.22971733e-03 9.99532724e-01 1.40690353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96255784400006 meters Centerline goodness : 0.117021 Centerline is valid? [False, False] Translation: X:3.55, Y:0.49, Z:1.41 [[ 9.99522601e-01 5.83210895e-03 -3.03406646e-02 3.55443883e+00] [-5.73390502e-03 9.99978041e-01 3.32270955e-03 4.94543383e-01] [ 3.03593768e-02 -3.14715281e-03 9.99534093e-01 1.40637930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99255784400003 meters Centerline goodness : 0.112613 Centerline is valid? [False, False] Translation: X:3.55, Y:0.49, Z:1.41 [[ 9.99525795e-01 5.83374562e-03 -3.02349574e-02 3.55404006e+00] [-5.73718748e-03 9.99978165e-01 3.27936157e-03 4.94814314e-01] [ 3.02534282e-02 -3.10434286e-03 9.99537440e-01 1.40657635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02255784400006 meters Centerline goodness : 0.130788 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99527672e-01 5.80002930e-03 -3.01793493e-02 3.55374796e+00] [-5.70689308e-03 9.99978687e-01 3.17131177e-03 4.95322872e-01] [ 3.01970998e-02 -2.99758355e-03 9.99539469e-01 1.40678094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05255784400003 meters Centerline goodness : 0.113802 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99528055e-01 5.73164283e-03 -3.01797281e-02 3.55375572e+00] [-5.64417471e-03 9.99979623e-01 2.98263347e-03 4.96216691e-01] [ 3.01962086e-02 -2.81088617e-03 9.99540038e-01 1.40674014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08255784400006 meters Centerline goodness : 0.116906 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99528820e-01 5.64049098e-03 -3.01715462e-02 3.55382392e+00] [-5.56041442e-03 9.99980794e-01 2.73728713e-03 4.97429484e-01] [ 3.01864063e-02 -2.56823107e-03 9.99540987e-01 1.40652098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11255784400004 meters Centerline goodness : 0.150676 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99532739e-01 5.59467386e-03 -3.00500204e-02 3.55355343e+00] [-5.51895524e-03 9.99981385e-01 2.60210360e-03 4.98173152e-01] [ 3.00640189e-02 -2.43504302e-03 9.99545009e-01 1.40643144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14255784400007 meters Centerline goodness : 0.112000 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99540550e-01 5.54009326e-03 -2.97992720e-02 3.55268647e+00] [-5.46761155e-03 9.99981894e-01 2.51326614e-03 4.98676084e-01] [ 2.98126562e-02 -2.34918057e-03 9.99552743e-01 1.40680173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17255784400004 meters Centerline goodness : 0.132988 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99537999e-01 5.54070889e-03 -2.98845879e-02 3.55273116e+00] [-5.46572631e-03 9.99981708e-01 2.59017797e-03 4.98191748e-01] [ 2.98983927e-02 -2.42564032e-03 9.99550000e-01 1.40709389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20255784400007 meters Centerline goodness : 0.119534 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99530509e-01 5.55525989e-03 -3.01313769e-02 3.55320209e+00] [-5.47536836e-03 9.99981275e-01 2.73330180e-03 4.97314947e-01] [ 3.01459969e-02 -2.56703815e-03 9.99542210e-01 1.40737349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23255784400004 meters Centerline goodness : 0.139787 Centerline is valid? [False, False] Translation: X:3.57, Y:0.50, Z:1.41 [[ 9.99532360e-01 -2.37792744e-03 -3.04861614e-02 3.57312386e+00] [ 2.49087573e-03 9.99990173e-01 3.66746163e-03 5.01125264e-01] [ 3.04771409e-02 -3.74168382e-03 9.99528461e-01 1.40929974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26255784400007 meters Centerline goodness : 0.122084 Centerline is valid? [False, False] Translation: X:3.57, Y:0.50, Z:1.41 [[ 9.99533545e-01 -2.49956746e-03 -3.04375534e-02 3.57304069e+00] [ 2.62317210e-03 9.99988472e-01 4.02167216e-03 4.98501077e-01] [ 3.04271501e-02 -4.09963917e-03 9.99528580e-01 1.40944258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29255784400004 meters Centerline goodness : 0.122515 Centerline is valid? [False, False] Translation: X:3.59, Y:0.49, Z:1.41 [[ 9.99552790e-01 5.59152945e-03 -2.93761041e-02 3.59241653e+00] [-5.51416387e-03 9.99981114e-01 2.71397331e-03 4.94680864e-01] [ 2.93907245e-02 -2.55077494e-03 9.99564745e-01 1.41096435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3225578440001 meters Centerline goodness : 0.117512 Centerline is valid? [False, False] Translation: X:3.59, Y:0.49, Z:1.41 [[ 9.99555077e-01 5.62059609e-03 -2.92926191e-02 3.59213326e+00] [-5.54059355e-03 9.99980698e-01 2.81160224e-03 4.94148294e-01] [ 2.93078566e-02 -2.64805280e-03 9.99566925e-01 1.41109650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35255784400005 meters Centerline goodness : 0.147842 Centerline is valid? [False, False] Translation: X:3.59, Y:0.49, Z:1.41 [[ 9.99556456e-01 5.63968103e-03 -2.92418566e-02 3.59200009e+00] [-5.56014894e-03 9.99980621e-01 2.80040259e-03 4.94412890e-01] [ 2.92570833e-02 -2.63657141e-03 9.99568443e-01 1.41107644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3825578440001 meters Centerline goodness : 0.146414 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:1.41 [[ 9.99556420e-01 5.63136137e-03 -2.92446623e-02 3.59206499e+00] [-5.55518910e-03 9.99980964e-01 2.68525067e-03 4.95212998e-01] [ 2.92592272e-02 -2.52159992e-03 9.99568677e-01 1.41094049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41255784400005 meters Centerline goodness : 0.121839 Centerline is valid? [False, False] Translation: X:3.62, Y:0.50, Z:1.41 [[ 9.99562545e-01 4.88553679e-04 -2.95716183e-02 3.61540849e+00] [-3.21289930e-04 9.99983926e-01 5.66071308e-03 4.99011809e-01] [ 2.95739086e-02 -5.64873571e-03 9.99546635e-01 1.41096382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.442557844 meters Centerline goodness : 0.153910 Centerline is valid? [False, False] Translation: X:3.62, Y:0.50, Z:1.41 [[ 9.99562164e-01 5.24672997e-04 -2.95838636e-02 3.61541312e+00] [-3.64896249e-04 9.99985321e-01 5.40594742e-03 5.00567965e-01] [ 2.95862657e-02 -5.39278546e-03 9.99547683e-01 1.41086514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47255784400005 meters Centerline goodness : 0.114884 Centerline is valid? [False, False] Translation: X:3.62, Y:0.50, Z:1.41 [[ 9.99564624e-01 5.11933989e-04 -2.95008601e-02 3.61510651e+00] [-3.55563497e-04 9.99985862e-01 5.30554221e-03 5.01148963e-01] [ 2.95031591e-02 -5.29274288e-03 9.99550674e-01 1.41094225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.502557844 meters Centerline goodness : 0.148715 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99569557e-01 5.04916485e-04 -2.93333627e-02 3.61461860e+00] [-3.51252876e-04 9.99986191e-01 5.24344356e-03 5.01573592e-01] [ 2.93356051e-02 -5.23088313e-03 9.99555931e-01 1.41101147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53255784400005 meters Centerline goodness : 0.151560 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99573485e-01 4.67830615e-04 -2.91998213e-02 3.61429323e+00] [-3.17354347e-04 9.99986648e-01 5.15774999e-03 5.01942957e-01] [ 2.92018444e-02 -5.14628344e-03 9.99560287e-01 1.41094992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.562557844 meters Centerline goodness : 0.153753 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99576378e-01 4.35343670e-04 -2.91011253e-02 3.61415127e+00] [-2.85630501e-04 9.99986705e-01 5.14854251e-03 5.01754156e-01] [ 2.91029798e-02 -5.13804930e-03 9.99563213e-01 1.41077055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59255784400005 meters Centerline goodness : 0.147153 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99576675e-01 3.94481650e-04 -2.90914938e-02 3.61390719e+00] [-2.43748280e-04 9.99986530e-01 5.18471967e-03 5.01339724e-01] [ 2.90931472e-02 -5.17543385e-03 9.99563306e-01 1.41112751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.622557844 meters Centerline goodness : 0.157382 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99575432e-01 3.63755135e-04 -2.91345645e-02 3.61393132e+00] [-2.14701595e-04 9.99986875e-01 5.11900296e-03 5.01716717e-01] [ 2.91360441e-02 -5.11057435e-03 9.99562391e-01 1.41126441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65255784400006 meters Centerline goodness : 0.156630 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99574269e-01 3.29252878e-04 -2.91748607e-02 3.61399851e+00] [-1.83924022e-04 9.99987564e-01 4.98384774e-03 5.02488804e-01] [ 2.91761388e-02 -4.97636000e-03 9.99561898e-01 1.41128602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68255784400003 meters Centerline goodness : 0.129007 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99571937e-01 2.32606132e-04 -2.92555875e-02 3.61432146e+00] [-9.56473945e-05 9.99989031e-01 4.68276800e-03 5.03967482e-01] [ 2.92563558e-02 -4.67796525e-03 9.99560995e-01 1.41102101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71255784400006 meters Centerline goodness : 0.139030 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:1.41 [[ 9.99571245e-01 5.40814473e-05 -2.92800931e-02 3.61457767e+00] [ 6.89022959e-05 9.99991181e-01 4.19922585e-03 5.06207030e-01] [ 2.92800620e-02 -4.19944287e-03 9.99562426e-01 1.41063008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74255784400003 meters Centerline goodness : 0.148550 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:1.41 [[ 9.99572174e-01 -1.32495897e-04 -2.92480872e-02 3.61461842e+00] [ 2.38482672e-04 9.99993418e-01 3.62025791e-03 5.09027345e-01] [ 2.92474150e-02 -3.62568423e-03 9.99565627e-01 1.41027315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77255784400006 meters Centerline goodness : 0.115369 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:1.41 [[ 9.99579971e-01 -2.69681698e-04 -2.89794670e-02 3.61403198e+00] [ 3.49363055e-04 9.99996173e-01 2.74455176e-03 5.14410139e-01] [ 2.89786159e-02 -2.75352332e-03 9.99576239e-01 1.40987104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80255784400003 meters Centerline goodness : 0.130322 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99581471e-01 -3.89002867e-04 -2.89262994e-02 3.61405737e+00] [ 4.57908187e-04 9.99997074e-01 2.37551337e-03 5.16525653e-01] [ 2.89252907e-02 -2.38776474e-03 9.99578724e-01 1.40955796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83255784400006 meters Centerline goodness : 0.160944 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99582586e-01 -5.19738636e-04 -2.88857054e-02 3.61388165e+00] [ 5.80831400e-04 9.99997612e-01 2.10663222e-03 5.17798381e-01] [ 2.88845415e-02 -2.12253061e-03 9.99580501e-01 1.40964717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86255784400004 meters Centerline goodness : 0.150488 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99584036e-01 -6.55463363e-04 -2.88327150e-02 3.61355933e+00] [ 7.12161592e-04 9.99997833e-01 1.95622976e-03 5.18201115e-01] [ 2.88313703e-02 -1.97594959e-03 9.99582337e-01 1.40994903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89255784400007 meters Centerline goodness : 0.159318 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99584356e-01 -7.80348285e-04 -2.88184895e-02 3.61320796e+00] [ 8.34622396e-04 9.99997901e-01 1.87132791e-03 5.18212330e-01] [ 2.88169687e-02 -1.89460266e-03 9.99582909e-01 1.41049066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92255784400004 meters Centerline goodness : 0.117184 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99580871e-01 -8.68197195e-04 -2.89366431e-02 3.61328061e+00] [ 9.23337034e-04 9.99997783e-01 1.89222934e-03 5.17862587e-01] [ 2.89349361e-02 -1.91815453e-03 9.99579457e-01 1.41090155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95255784400007 meters Centerline goodness : 0.121004 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99576415e-01 -1.19375905e-03 -2.90786177e-02 3.61365686e+00] [ 1.24239748e-03 9.99997859e-01 1.65464274e-03 5.18385695e-01] [ 2.90765802e-02 -1.69006906e-03 9.99575758e-01 1.41093857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98255784400004 meters Centerline goodness : 0.160426 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99577167e-01 -1.27841930e-03 -2.90491541e-02 3.61362446e+00] [ 1.32176872e-03 9.99998041e-01 1.47312484e-03 5.19296750e-01] [ 2.90472139e-02 -1.51089821e-03 9.99576899e-01 1.41083704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01255784400007 meters Centerline goodness : 0.163002 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99582526e-01 -1.39318892e-03 -2.88588456e-02 3.61311273e+00] [ 1.42758621e-03 9.99998295e-01 1.17134570e-03 5.20894937e-01] [ 2.88571644e-02 -1.21205518e-03 9.99582810e-01 1.41085528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04255784400004 meters Centerline goodness : 0.109481 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99586456e-01 -1.51063885e-03 -2.87164585e-02 3.61252801e+00] [ 1.53287066e-03 9.99998542e-01 7.52185411e-04 5.23263262e-01] [ 2.87152804e-02 -7.95892966e-04 9.99587314e-01 1.41116990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0725578440001 meters Centerline goodness : 0.167320 Centerline is valid? [False, False] Translation: X:3.59, Y:0.52, Z:1.41 [[ 9.99572769e-01 6.73082452e-03 -2.84425004e-02 3.59150714e+00] [-6.74067538e-03 9.99977250e-01 -2.50475892e-04 5.20859144e-01] [ 2.84401674e-02 4.42090543e-04 9.99595399e-01 1.40997770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10255784400005 meters Centerline goodness : 0.110623 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99595869e-01 9.40100940e-04 -2.84115139e-02 3.61338439e+00] [-8.79168717e-04 9.99997287e-01 2.15704705e-03 5.27103421e-01] [ 2.84134646e-02 -2.13119680e-03 9.99593984e-01 1.41076827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1325578440001 meters Centerline goodness : 0.167082 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99591143e-01 6.14113535e-04 -2.85861697e-02 3.61392828e+00] [-5.72910177e-04 9.99998785e-01 1.44954189e-03 5.30155990e-01] [ 2.85870252e-02 -1.43257193e-03 9.99590281e-01 1.41048445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16255784400005 meters Centerline goodness : 0.172560 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99591392e-01 5.13701277e-04 -2.85794643e-02 3.61392231e+00] [-4.78000937e-04 9.99999097e-01 1.25597847e-03 5.31010829e-01] [ 2.85800837e-02 -1.24180425e-03 9.99590735e-01 1.41042785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.192557844 meters Centerline goodness : 0.114227 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99593718e-01 4.49840470e-04 -2.84990719e-02 3.61352998e+00] [-4.17385091e-04 9.99999258e-01 1.14476086e-03 5.31670666e-01] [ 2.84995657e-02 -1.13240068e-03 9.99593163e-01 1.41074383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22255784400005 meters Centerline goodness : 0.172266 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99601369e-01 4.25464431e-04 -2.82298226e-02 3.61257439e+00] [-3.94534176e-04 9.99999316e-01 1.10121971e-03 5.32119489e-01] [ 2.82302718e-02 -1.08964310e-03 9.99600853e-01 1.41116909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.252557844 meters Centerline goodness : 0.169784 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99604405e-01 3.75933103e-04 -2.81227902e-02 3.61208966e+00] [-3.46002301e-04 9.99999369e-01 1.06914857e-03 5.32270773e-01] [ 2.81231744e-02 -1.05899507e-03 9.99603904e-01 1.41155553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28255784400005 meters Centerline goodness : 0.169784 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99604405e-01 3.75933103e-04 -2.81227902e-02 3.61208966e+00] [-3.46002301e-04 9.99999369e-01 1.06914857e-03 5.32270773e-01] [ 2.81231744e-02 -1.05899507e-03 9.99603904e-01 1.41155553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.312557844 meters Centerline goodness : 0.118900 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99602842e-01 2.90826039e-04 -2.81793053e-02 3.61211853e+00] [-2.62671253e-04 9.99999463e-01 1.00282643e-03 5.32272073e-01] [ 2.81795818e-02 -9.95026253e-04 9.99602381e-01 1.41177719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34255784400005 meters Centerline goodness : 0.167684 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99600987e-01 1.80071893e-04 -2.82459547e-02 3.61228245e+00] [-1.54997481e-04 9.99999592e-01 8.89903867e-04 5.32419356e-01] [ 2.82461035e-02 -8.85170733e-04 9.99600607e-01 1.41178861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.372557844 meters Centerline goodness : 0.100946 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99604402e-01 1.48649383e-04 -2.81250460e-02 3.61203334e+00] [-1.26515150e-04 9.99999681e-01 7.88771492e-04 5.33064274e-01] [ 2.81251542e-02 -7.84901211e-04 9.99604101e-01 1.41165503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40255784400006 meters Centerline goodness : 0.170523 Centerline is valid? [False, False] Translation: X:3.57, Y:0.53, Z:1.41 [[ 9.99534396e-01 -1.76861616e-04 -3.05116492e-02 3.56614168e+00] [ 2.08227007e-04 9.99999453e-01 1.02480652e-03 5.30048125e-01] [ 3.05114512e-02 -1.03068272e-03 9.99533886e-01 1.41166603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43255784400003 meters Centerline goodness : 0.100492 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99583086e-01 -1.54275420e-04 -2.88726660e-02 3.61039320e+00] [ 1.63782958e-04 9.99999933e-01 3.26927371e-04 5.32858034e-01] [ 2.88726136e-02 -3.31519921e-04 9.99583044e-01 1.41247451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46255784400006 meters Centerline goodness : 0.166986 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99579183e-01 -1.39076440e-04 -2.90075301e-02 3.61078062e+00] [ 1.51941049e-04 9.99999891e-01 4.41288358e-04 5.31990445e-01] [ 2.90074656e-02 -4.45510091e-04 9.99579096e-01 1.41239735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49255784400003 meters Centerline goodness : 0.175363 Centerline is valid? [False, False] Translation: X:3.57, Y:0.53, Z:1.41 [[ 9.99484306e-01 -7.97608556e-04 -3.21011973e-02 3.56658298e+00] [ 8.14008411e-04 9.99999545e-01 4.97814389e-04 5.27739613e-01] [ 3.21007857e-02 -5.23688314e-04 9.99484500e-01 1.41178696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52255784400006 meters Centerline goodness : 0.169448 Centerline is valid? [False, False] Translation: X:3.57, Y:0.53, Z:1.41 [[ 9.99473075e-01 -6.43807930e-04 -3.24523809e-02 3.56774379e+00] [ 6.75775149e-04 9.99999297e-01 9.74091533e-04 5.25302490e-01] [ 3.24517310e-02 -9.95508773e-04 9.99472808e-01 1.41135456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55255784400003 meters Centerline goodness : 0.172070 Centerline is valid? [False, False] Translation: X:3.57, Y:0.52, Z:1.41 [[ 9.99474403e-01 -5.21934920e-04 -3.24136499e-02 3.56751899e+00] [ 5.66562865e-04 9.99998904e-01 1.36765635e-03 5.23252228e-01] [ 3.24129006e-02 -1.38530188e-03 9.99473604e-01 1.41162693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58255784400006 meters Centerline goodness : 0.170878 Centerline is valid? [False, False] Translation: X:3.57, Y:0.52, Z:1.41 [[ 9.99478113e-01 -4.15895293e-04 -3.23005840e-02 3.56697098e+00] [ 4.72745219e-04 9.99998353e-01 1.75241079e-03 5.21168991e-01] [ 3.22998020e-02 -1.76676617e-03 9.99476664e-01 1.41210428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61255784400004 meters Centerline goodness : 0.170176 Centerline is valid? [False, False] Translation: X:3.57, Y:0.52, Z:1.41 [[ 9.99481762e-01 -2.80720390e-04 -3.21889494e-02 3.56657094e+00] [ 3.49031307e-04 9.99997699e-01 2.11658608e-03 5.19366009e-01] [ 3.21882811e-02 -2.12672413e-03 9.99479560e-01 1.41232493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64255784400007 meters Centerline goodness : 0.100017 Centerline is valid? [False, False] Translation: X:3.59, Y:0.51, Z:1.41 [[ 9.99474414e-01 7.92365386e-03 -3.14342434e-02 3.58614085e+00] [-7.88886224e-03 9.99968125e-01 1.23067488e-03 5.14303707e-01] [ 3.14429929e-02 -9.82047636e-04 9.99505064e-01 1.41406535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67255784400004 meters Centerline goodness : 0.174491 Centerline is valid? [False, False] Translation: X:3.54, Y:0.51, Z:1.41 [[ 9.99404935e-01 7.21188903e-03 -3.37307539e-02 3.54018731e+00] [-7.16390481e-03 9.99973148e-01 1.54320752e-03 5.09359282e-01] [ 3.37409777e-02 -1.30064530e-03 9.99429765e-01 1.41401344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70255784400007 meters Centerline goodness : 0.164218 Centerline is valid? [False, False] Translation: X:3.59, Y:0.51, Z:1.41 [[ 9.99464515e-01 5.99053045e-03 -3.21682545e-02 3.58612696e+00] [-5.98041103e-03 9.99982033e-01 4.10784294e-04 5.06951309e-01] [ 3.21701373e-02 -2.18184942e-04 9.99482383e-01 1.41421294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73255784400004 meters Centerline goodness : 0.166001 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.41 [[ 9.99435471e-01 -3.18738662e-03 -3.34451662e-02 3.56426241e+00] [ 3.22552269e-03 9.99994208e-01 1.08636429e-03 5.06936732e-01] [ 3.34415098e-02 -1.19362915e-03 9.99439964e-01 1.41345847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76255784400007 meters Centerline goodness : 0.132733 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:1.42 [[ 9.99434221e-01 4.69265697e-03 -3.33049104e-02 3.58368849e+00] [-4.70168196e-03 9.99988928e-01 -1.92669147e-04 5.00873375e-01] [ 3.33036376e-02 3.49149235e-04 9.99445219e-01 1.41562555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79255784400004 meters Centerline goodness : 0.162674 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:1.42 [[ 9.99437057e-01 4.86225542e-03 -3.31953010e-02 3.58334635e+00] [-4.85790733e-03 9.99988178e-01 2.11636333e-04 4.98908159e-01] [ 3.31959376e-02 -5.02574974e-05 9.99448862e-01 1.41575620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8225578440001 meters Centerline goodness : 0.131390 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:1.42 [[ 9.99439104e-01 5.02611877e-03 -3.31091408e-02 3.58303517e+00] [-5.01056765e-03 9.99987294e-01 5.52646832e-04 4.97341311e-01] [ 3.31114978e-02 -3.86441265e-04 9.99451589e-01 1.41590109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85255784400005 meters Centerline goodness : 0.162881 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:1.42 [[ 9.99441666e-01 5.13783146e-03 -3.30145222e-02 3.58277994e+00] [-5.11540251e-03 9.99986625e-01 7.63795189e-04 4.96390835e-01] [ 3.30180049e-02 -5.94486167e-04 9.99454580e-01 1.41594965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8825578440001 meters Centerline goodness : 0.119041 Centerline is valid? [False, False] Translation: X:3.58, Y:0.49, Z:1.42 [[ 9.99440566e-01 5.35078153e-03 -3.30139926e-02 3.58276627e+00] [-5.31499470e-03 9.99985189e-01 1.17165373e-03 4.94223641e-01] [ 3.30197729e-02 -9.95529076e-04 9.99454203e-01 1.41597194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91255784400005 meters Centerline goodness : 0.123688 Centerline is valid? [False, False] Translation: X:3.58, Y:0.49, Z:1.42 [[ 9.99440758e-01 5.48906765e-03 -3.29854851e-02 3.58271974e+00] [-5.44174314e-03 9.99984032e-01 1.52431007e-03 4.92374421e-01] [ 3.29933255e-02 -1.34395907e-03 9.99454668e-01 1.41593291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.942557844 meters Centerline goodness : 0.131664 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:1.42 [[ 9.99459280e-01 -2.05780944e-03 -3.28163574e-02 3.60143855e+00] [ 2.15245642e-03 9.99993625e-01 2.84907373e-03 4.94997061e-01] [ 3.28102853e-02 -2.91816896e-03 9.99457337e-01 1.41787458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97255784400005 meters Centerline goodness : 0.127004 Centerline is valid? [False, False] Translation: X:3.58, Y:0.49, Z:1.42 [[ 9.99458172e-01 5.62781399e-03 -3.24297782e-02 3.58214879e+00] [-5.56174401e-03 9.99982271e-01 2.12717179e-03 4.86971767e-01] [ 3.24411746e-02 -1.94565311e-03 9.99471753e-01 1.41567164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.002557844 meters Centerline goodness : 0.125288 Centerline is valid? [False, False] Translation: X:3.58, Y:0.48, Z:1.42 [[ 9.99458244e-01 5.81086422e-03 -3.23952449e-02 3.58215506e+00] [-5.73092172e-03 9.99980301e-01 2.56002973e-03 4.84930320e-01] [ 3.24094828e-02 -2.37298821e-03 9.99471858e-01 1.41555666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03255784400005 meters Centerline goodness : 0.151785 Centerline is valid? [False, False] Translation: X:3.58, Y:0.48, Z:1.42 [[ 9.99445629e-01 6.17209504e-03 -3.27160470e-02 3.58325519e+00] [-6.06188006e-03 9.99975617e-01 3.46695348e-03 4.80280953e-01] [ 3.27366476e-02 -3.26671075e-03 9.99458674e-01 1.41515717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.062557844 meters Centerline goodness : 0.118798 Centerline is valid? [False, False] Translation: X:3.58, Y:0.48, Z:1.42 [[ 0.99943794 0.006335 -0.03291911 3.58378431] [-0.00620957 0.99997307 0.00391108 0.4779719 ] [ 0.032943 -0.00370447 0.99945037 1.41518093] [ 0. 0. 0. 1. ]] SLAMing on 312.09255784400005 meters Centerline goodness : 0.121659 Centerline is valid? [False, False] Translation: X:3.58, Y:0.48, Z:1.42 [[ 0.99943325 0.00652321 -0.03302453 3.58402994] [-0.00638226 0.99997008 0.00437161 0.47569879] [ 0.03305205 -0.00415836 0.99944498 1.4152506 ] [ 0. 0. 0. 1. ]] SLAMing on 312.122557844 meters Centerline goodness : 0.148053 Centerline is valid? [False, False] Translation: X:3.60, Y:0.48, Z:1.42 [[ 9.99467331e-01 -1.11648877e-03 -3.26160539e-02 3.60345379e+00] [ 1.29894858e-03 9.99983624e-01 5.57351863e-03 4.78201997e-01] [ 3.26092970e-02 -5.61291637e-03 9.99452415e-01 1.41705697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15255784400006 meters Centerline goodness : 0.119209 Centerline is valid? [False, False] Translation: X:3.60, Y:0.48, Z:1.42 [[ 9.99470862e-01 -9.48482710e-04 -3.25130257e-02 3.60309918e+00] [ 1.14273326e-03 9.99981607e-01 5.95648430e-03 4.76410494e-01] [ 3.25067781e-02 -5.99048621e-03 9.99453562e-01 1.41723404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18255784400003 meters Centerline goodness : 0.133107 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99474857e-01 -8.10282613e-04 -3.23937383e-02 3.60275974e+00] [ 1.01430324e-03 9.99979752e-01 6.28221352e-03 4.74851002e-01] [ 3.23879920e-02 -6.31177153e-03 9.99455441e-01 1.41734427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21255784400006 meters Centerline goodness : 0.125992 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99476866e-01 -6.81761319e-04 -3.23346537e-02 3.60300997e+00] [ 8.94888799e-04 9.99977969e-01 6.57728871e-03 4.73232910e-01] [ 3.23294572e-02 -6.60278382e-03 9.99455456e-01 1.41675900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24255784400003 meters Centerline goodness : 0.121897 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99473244e-01 -6.43690701e-04 -3.24471906e-02 3.60368687e+00] [ 8.58841248e-04 9.99977737e-01 6.61729024e-03 4.73031994e-01] [ 3.24422087e-02 -6.64167153e-03 9.99451545e-01 1.41608854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27255784400006 meters Centerline goodness : 0.118406 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99468066e-01 -6.22156855e-04 -3.26067022e-02 3.60433553e+00] [ 8.37692264e-04 9.99977889e-01 6.59691274e-03 4.73211255e-01] [ 3.26018769e-02 -6.62071801e-03 9.99446489e-01 1.41564933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30255784400003 meters Centerline goodness : 0.151787 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99465995e-01 -6.31030885e-04 -3.26699637e-02 3.60464109e+00] [ 8.44998395e-04 9.99978283e-01 6.53597239e-03 4.73540117e-01] [ 3.26651298e-02 -6.56008822e-03 9.99444823e-01 1.41539821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33255784400006 meters Centerline goodness : 0.126637 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99466637e-01 -6.64489909e-04 -3.26496457e-02 3.60453168e+00] [ 8.75763086e-04 9.99978770e-01 6.45704358e-03 4.73902486e-01] [ 3.26446619e-02 -6.48219299e-03 9.99446000e-01 1.41546004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36255784400004 meters Centerline goodness : 0.120800 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99470420e-01 -6.94054557e-04 -3.25330150e-02 3.60410200e+00] [ 9.02162618e-04 9.99979224e-01 6.38258439e-03 4.74202529e-01] [ 3.25279092e-02 -6.40855437e-03 9.99450282e-01 1.41563839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39255784400007 meters Centerline goodness : 0.125367 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99480669e-01 -7.59513280e-04 -3.22151569e-02 3.60285199e+00] [ 9.63603639e-04 9.99979563e-01 6.32017570e-03 4.74374426e-01] [ 3.22096983e-02 -6.34793607e-03 9.99460974e-01 1.41632843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42255784400004 meters Centerline goodness : 0.156629 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99484276e-01 -7.91965444e-04 -3.21022532e-02 3.60248930e+00] [ 9.93992742e-04 9.99979801e-01 6.27777334e-03 4.74685411e-01] [ 3.20966330e-02 -6.30644515e-03 9.99464874e-01 1.41644269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45255784400007 meters Centerline goodness : 0.117140 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99481920e-01 -8.29034885e-04 -3.21745904e-02 3.60272465e+00] [ 1.03031925e-03 9.99980001e-01 6.23992905e-03 4.74885540e-01] [ 3.21687738e-02 -6.26984636e-03 9.99462785e-01 1.41632740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48255784400004 meters Centerline goodness : 0.125511 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99478867e-01 -8.73887553e-04 -3.22681177e-02 3.60318486e+00] [ 1.07489078e-03 9.99980126e-01 6.21233727e-03 4.74828867e-01] [ 3.22620476e-02 -6.24378452e-03 9.99459942e-01 1.41597138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51255784400007 meters Centerline goodness : 0.156484 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99478327e-01 -9.22835491e-04 -3.22834618e-02 3.60340726e+00] [ 1.12414824e-03 9.99980035e-01 6.21819100e-03 4.74453079e-01] [ 3.22770789e-02 -6.25123853e-03 9.99459410e-01 1.41567068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54255784400004 meters Centerline goodness : 0.154677 Centerline is valid? [False, False] Translation: X:3.63, Y:0.48, Z:1.41 [[ 9.99602886e-01 3.05542990e-03 -2.80131099e-02 3.62612058e+00] [-2.99180648e-03 9.99992850e-01 2.31283350e-03 4.77214513e-01] [ 2.80199763e-02 -2.22810523e-03 9.99604880e-01 1.41420889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5725578440001 meters Centerline goodness : 0.119967 Centerline is valid? [False, False] Translation: X:3.63, Y:0.48, Z:1.41 [[ 9.99610387e-01 3.05419491e-03 -2.77442836e-02 3.62509136e+00] [-2.98903449e-03 9.99992677e-01 2.38977594e-03 4.76914277e-01] [ 2.77513793e-02 -2.30591623e-03 9.99612197e-01 1.41479282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60255784400005 meters Centerline goodness : 0.118912 Centerline is valid? [False, False] Translation: X:3.62, Y:0.48, Z:1.42 [[ 9.99612485e-01 3.04339688e-03 -2.76697834e-02 3.62470126e+00] [-2.97552090e-03 9.99992463e-01 2.49391559e-03 4.76381272e-01] [ 2.76771649e-02 -2.41061714e-03 9.99614007e-01 1.41517099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6325578440001 meters Centerline goodness : 0.122711 Centerline is valid? [False, False] Translation: X:3.63, Y:0.48, Z:1.41 [[ 9.99607357e-01 2.96529039e-03 -2.78628756e-02 3.62529920e+00] [-2.89640171e-03 9.99992649e-01 2.51245179e-03 4.75978885e-01] [ 2.78701209e-02 -2.43076321e-03 9.99608597e-01 1.41499654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66255784400005 meters Centerline goodness : 0.115546 Centerline is valid? [False, False] Translation: X:3.63, Y:0.48, Z:1.41 [[ 9.99590725e-01 2.82802558e-03 -2.84672542e-02 3.62713446e+00] [-2.75759264e-03 9.99993040e-01 2.51312835e-03 4.75278418e-01] [ 2.84741632e-02 -2.43359870e-03 9.99591566e-01 1.41449006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.692557844 meters Centerline goodness : 0.120724 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:1.41 [[ 9.99577792e-01 2.75104086e-03 -2.89252297e-02 3.62864133e+00] [-2.67764878e-03 9.99993098e-01 2.57573114e-03 4.74481336e-01] [ 2.89321160e-02 -2.49719204e-03 9.99578259e-01 1.41389389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72255784400005 meters Centerline goodness : 0.120897 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:1.41 [[ 9.99557324e-01 2.47900446e-03 -2.96480966e-02 3.63074563e+00] [-2.40045352e-03 9.99993515e-01 2.68474163e-03 4.72919311e-01] [ 2.96545598e-02 -2.61238428e-03 9.99556793e-01 1.41340033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.752557844 meters Centerline goodness : 0.157494 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:1.41 [[ 9.99558366e-01 2.51646983e-03 -2.96098039e-02 3.63049564e+00] [-2.42907470e-03 9.99992588e-01 2.98716043e-03 4.71218631e-01] [ 2.96171016e-02 -2.91391677e-03 9.99557070e-01 1.41369589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78255784400005 meters Centerline goodness : 0.117355 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:1.41 [[ 9.99566046e-01 2.55263015e-03 -2.93462730e-02 3.62957784e+00] [-2.45653669e-03 9.99991504e-01 3.31005591e-03 4.69209611e-01] [ 2.93544731e-02 -3.23652930e-03 9.99563825e-01 1.41418175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.812557844 meters Centerline goodness : 0.118777 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:1.41 [[ 9.99570734e-01 2.64834405e-03 -2.91776312e-02 3.62876472e+00] [-2.54120955e-03 9.99989895e-01 3.70827196e-03 4.66984118e-01] [ 2.91871571e-02 -3.63253365e-03 9.99567364e-01 1.41484517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84255784400005 meters Centerline goodness : 0.159037 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:1.42 [[ 9.99574527e-01 2.77105056e-03 -2.90359578e-02 3.62816720e+00] [-2.65295012e-03 9.99988055e-01 4.10512019e-03 4.64934788e-01] [ 2.90469865e-02 -4.02634262e-03 9.99569938e-01 1.41526010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.872557844 meters Centerline goodness : 0.161755 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:1.42 [[ 9.99574128e-01 2.94973056e-03 -2.90320751e-02 3.62819904e+00] [-2.81900571e-03 9.99985709e-01 4.54267309e-03 4.62894181e-01] [ 2.90450599e-02 -4.45889691e-03 9.99568158e-01 1.41521537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90255784400006 meters Centerline goodness : 0.129023 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:1.41 [[ 9.99568490e-01 3.26778063e-03 -2.91916936e-02 3.62897052e+00] [-3.11350029e-03 9.99980954e-01 5.32896831e-03 4.58927047e-01] [ 2.92085515e-02 -5.23578046e-03 9.99559627e-01 1.41469310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93255784400003 meters Centerline goodness : 0.116410 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:1.41 [[ 9.99566151e-01 3.42812898e-03 -2.92533364e-02 3.62917570e+00] [-3.26180437e-03 9.99978255e-01 5.73148979e-03 4.56845265e-01] [ 2.92723486e-02 -5.63358453e-03 9.99555597e-01 1.41462833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96255784400006 meters Centerline goodness : 0.116769 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:1.41 [[ 9.99565434e-01 3.59472145e-03 -2.92578425e-02 3.62918118e+00] [-3.41740474e-03 9.99975505e-01 6.10823396e-03 4.54918125e-01] [ 2.92790832e-02 -6.00559364e-03 9.99553234e-01 1.41465793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99255784400003 meters Centerline goodness : 0.154491 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:1.41 [[ 9.99568375e-01 3.76071320e-03 -2.91362340e-02 3.62875424e+00] [-3.57353375e-03 9.99972660e-01 6.47369377e-03 4.53165813e-01] [ 2.91597832e-02 -6.36678025e-03 9.99554486e-01 1.41487195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02255784400006 meters Centerline goodness : 0.145259 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:1.42 [[ 0.99957303 0.00392247 -0.02895448 3.62817752] [-0.0037267 0.99996985 0.00681205 0.45163541] [ 0.02898033 -0.00670124 0.99955752 1.41506658] [ 0. 0. 0. 1. ]] SLAMing on 313.05255784400003 meters Centerline goodness : 0.157623 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:1.42 [[ 0.99957515 0.0040801 -0.02885963 3.62770271] [-0.003875 0.99996686 0.00715917 0.44999751] [ 0.02888789 -0.0070443 0.99955784 1.41547085] [ 0. 0. 0. 1. ]] SLAMing on 313.08255784400006 meters Centerline goodness : 0.150504 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:1.42 [[ 0.99957496 0.00443373 -0.02881379 3.62749119] [-0.00420997 0.99996055 0.0078218 0.44704963] [ 0.02884733 -0.00769717 0.99955419 1.41583511] [ 0. 0. 0. 1. ]] SLAMing on 313.11255784400004 meters Centerline goodness : 0.115199 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:1.42 [[ 0.99957048 0.00459257 -0.02894427 3.62797232] [-0.00435755 0.99995707 0.0081777 0.44521595] [ 0.02898058 -0.00804807 0.99954757 1.41562984] [ 0. 0. 0. 1. ]] SLAMing on 313.14255784400007 meters Centerline goodness : 0.147954 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.42 [[ 0.99956539 0.00474003 -0.0290959 3.62855253] [-0.00449283 0.99995331 0.00855544 0.44315281] [ 0.02913509 -0.00842099 0.99954001 1.41532427] [ 0. 0. 0. 1. ]] SLAMing on 313.17255784400004 meters Centerline goodness : 0.149007 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99955762 0.0049134 -0.02933287 3.62947528] [-0.00465452 0.99994967 0.00888733 0.44149057] [ 0.02937506 -0.00874687 0.99953019 1.41497579] [ 0. 0. 0. 1. ]] SLAMing on 313.20255784400007 meters Centerline goodness : 0.149007 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99955762 0.0049134 -0.02933287 3.62947528] [-0.00465452 0.99994967 0.00888733 0.44149057] [ 0.02937506 -0.00874687 0.99953019 1.41497579] [ 0. 0. 0. 1. ]] SLAMing on 313.23255784400004 meters Centerline goodness : 0.114017 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99955197 0.00506061 -0.02949988 3.63012772] [-0.00479 0.99994587 0.0092366 0.43962589] [ 0.02954503 -0.00909116 0.99952211 1.41466455] [ 0. 0. 0. 1. ]] SLAMing on 313.26255784400007 meters Centerline goodness : 0.114002 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99954291 0.0051846 -0.02978423 3.63110112] [-0.00490416 0.99994303 0.00948128 0.43816785] [ 0.02983169 -0.00933088 0.99951138 1.41441178] [ 0. 0. 0. 1. ]] SLAMing on 313.29255784400004 meters Centerline goodness : 0.135249 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99953926 0.00541784 -0.02986495 3.63177209] [-0.00512253 0.99993732 0.0099558 0.43574757] [ 0.02991701 -0.00979823 0.99950436 1.41369314] [ 0. 0. 0. 1. ]] SLAMing on 313.3225578440001 meters Centerline goodness : 0.117298 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99953983 0.00548387 -0.02983389 3.63180858] [-0.00518796 0.99993667 0.00998681 0.43580342] [ 0.02988676 -0.00982744 0.99950498 1.41350056] [ 0. 0. 0. 1. ]] SLAMing on 313.35255784400005 meters Centerline goodness : 0.153942 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99954141 0.00550562 -0.02977685 3.63190022] [-0.00521377 0.9999377 0.00987017 0.43656501] [ 0.02982933 -0.00971039 0.99950784 1.41307125] [ 0. 0. 0. 1. ]] SLAMing on 313.3825578440001 meters Centerline goodness : 0.112691 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.9995403 0.00552648 -0.02981016 3.63217541] [-0.00523915 0.99993915 0.00970827 0.43762372] [ 0.02986199 -0.00954762 0.99950843 1.41270613] [ 0. 0. 0. 1. ]] SLAMing on 313.41255784400005 meters Centerline goodness : 0.115169 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99954184 0.00546815 -0.02976911 3.63227732] [-0.0051878 0.99994154 0.00948679 0.43875478] [ 0.02981924 -0.009328 0.99951178 1.41233052] [ 0. 0. 0. 1. ]] SLAMing on 313.442557844 meters Centerline goodness : 0.143096 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99954461 0.00541676 -0.02968552 3.63212626] [-0.00514332 0.99994371 0.00928008 0.43987258] [ 0.02973412 -0.00912317 0.99951621 1.41216938] [ 0. 0. 0. 1. ]] SLAMing on 313.47255784400005 meters Centerline goodness : 0.161292 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99954866 0.00530976 -0.02956814 3.63180289] [-0.005046 0.99994688 0.00898765 0.44140733] [ 0.02961429 -0.00883439 0.99952236 1.41211946] [ 0. 0. 0. 1. ]] SLAMing on 313.502557844 meters Centerline goodness : 0.160720 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99955168 0.00524301 -0.02947779 3.6313702 ] [-0.00498185 0.99994775 0.00892625 0.44158992] [ 0.02952305 -0.00877539 0.99952558 1.4124552 ] [ 0. 0. 0. 1. ]] SLAMing on 313.53255784400005 meters Centerline goodness : 0.115380 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99955666 0.005168 -0.0293219 3.63056966] [-0.00490824 0.99994814 0.00892389 0.44138173] [ 0.0293665 -0.00877601 0.99953018 1.41310598] [ 0. 0. 0. 1. ]] SLAMing on 313.562557844 meters Centerline goodness : 0.117145 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99586547e-01 1.97535746e-03 -2.86850716e-02 3.62799591e+00] [-1.80973239e-03 9.99981550e-01 5.79872568e-03 4.41824934e-01] [ 2.86959969e-02 -5.74441588e-03 9.99571679e-01 1.41410466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59255784400005 meters Centerline goodness : 0.150490 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99576335e-01 1.83165233e-03 -2.90481626e-02 3.62889469e+00] [-1.66432236e-03 9.99981890e-01 5.78356435e-03 4.41354712e-01] [ 2.90582300e-02 -5.73276855e-03 9.99561281e-01 1.41412998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.622557844 meters Centerline goodness : 0.139494 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99567985e-01 1.76055427e-03 -2.93384246e-02 3.62971002e+00] [-1.59015818e-03 9.99981740e-01 5.83026917e-03 4.40883425e-01] [ 2.93481533e-02 -5.78109767e-03 9.99552532e-01 1.41401572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65255784400006 meters Centerline goodness : 0.112182 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99567229e-01 1.80847732e-03 -2.93612793e-02 3.62987397e+00] [-1.63217965e-03 9.99980504e-01 6.02728397e-03 4.40169510e-01] [ 2.93716071e-02 -5.97675266e-03 9.99550693e-01 1.41385958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68255784400003 meters Centerline goodness : 0.159159 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99565847e-01 1.80317136e-03 -2.94086067e-02 3.63008096e+00] [-1.62628902e-03 9.99980452e-01 6.03745532e-03 4.40106389e-01] [ 2.94189184e-02 -5.98700725e-03 9.99549240e-01 1.41372124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71255784400006 meters Centerline goodness : 0.115248 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99563727e-01 1.78001802e-03 -2.94819925e-02 3.63032648e+00] [-1.60307758e-03 9.99980569e-01 6.02419352e-03 4.39990817e-01] [ 2.94921428e-02 -5.97430341e-03 9.99547158e-01 1.41365682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74255784400003 meters Centerline goodness : 0.154208 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99565469e-01 1.76547587e-03 -2.94237354e-02 3.63013560e+00] [-1.58842172e-03 9.99980499e-01 6.03967983e-03 4.39681857e-01] [ 2.94338245e-02 -5.99031810e-03 9.99548781e-01 1.41371087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77255784400006 meters Centerline goodness : 0.156838 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99569619e-01 1.80811059e-03 -2.92798009e-02 3.62956541e+00] [-1.62866799e-03 9.99979755e-01 6.15123532e-03 4.39159738e-01] [ 2.92903302e-02 -6.10090088e-03 9.99552328e-01 1.41400821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80255784400003 meters Centerline goodness : 0.114223 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99576494e-01 1.95339355e-03 -2.90347599e-02 3.62867395e+00] [-1.76756556e-03 9.99977801e-01 6.42447873e-03 4.38169626e-01] [ 2.90466649e-02 -6.37043708e-03 9.99557757e-01 1.41444333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83255784400006 meters Centerline goodness : 0.156786 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99588168e-01 2.11958824e-03 -2.86182040e-02 3.62740656e+00] [-1.92365388e-03 9.99974535e-01 6.87229005e-03 4.35976215e-01] [ 2.86320417e-02 -6.81440830e-03 9.99566791e-01 1.41487261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86255784400004 meters Centerline goodness : 0.115468 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.42 [[ 9.99588663e-01 2.19779797e-03 -2.85950063e-02 3.62719333e+00] [-1.99357955e-03 9.99972320e-01 7.16830144e-03 4.34176830e-01] [ 2.86099693e-02 -7.10834643e-03 9.99565376e-01 1.41516480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89255784400007 meters Centerline goodness : 0.150085 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.42 [[ 9.99586111e-01 2.26659571e-03 -2.86787113e-02 3.62741409e+00] [-2.05468109e-03 9.99970386e-01 7.41657820e-03 4.32678280e-01] [ 2.86946724e-02 -7.35458296e-03 9.99561167e-01 1.41515599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92255784400004 meters Centerline goodness : 0.155328 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.41 [[ 9.99584486e-01 2.37912741e-03 -2.87261941e-02 3.62765891e+00] [-2.15922360e-03 9.99968148e-01 7.68376101e-03 4.31403597e-01] [ 2.87435597e-02 -7.61854203e-03 9.99557785e-01 1.41493690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95255784400007 meters Centerline goodness : 0.115864 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.41 [[ 9.99582241e-01 2.45161328e-03 -2.87981328e-02 3.62808203e+00] [-2.22714818e-03 9.99966912e-01 7.82392355e-03 4.30874482e-01] [ 2.88163612e-02 -7.75651733e-03 9.99554628e-01 1.41455370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98255784400004 meters Centerline goodness : 0.114290 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.41 [[ 9.99579402e-01 2.56414453e-03 -2.88867558e-02 3.62838396e+00] [-2.33407003e-03 9.99965311e-01 7.99561061e-03 4.29833307e-01] [ 2.89062557e-02 -7.92482396e-03 9.99550712e-01 1.41447599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01255784400007 meters Centerline goodness : 0.147042 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.41 [[ 9.99575384e-01 2.56262107e-03 -2.90255896e-02 3.62865311e+00] [-2.33035584e-03 9.99965019e-01 8.03308710e-03 4.29278448e-01] [ 2.90451600e-02 -7.96203617e-03 9.99546389e-01 1.41459112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04255784400004 meters Centerline goodness : 0.123896 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.41 [[ 9.99572713e-01 2.60499110e-03 -2.91136723e-02 3.62876895e+00] [-2.36952875e-03 9.99964231e-01 8.11926589e-03 4.28828214e-01] [ 2.91337815e-02 -8.04681095e-03 9.99543131e-01 1.41472426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0725578440001 meters Centerline goodness : 0.146166 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.41 [[ 9.99572534e-01 2.72139670e-03 -2.91091566e-02 3.62871046e+00] [-2.47997602e-03 9.99962259e-01 8.32652333e-03 4.28095965e-01] [ 2.91307178e-02 -8.25077401e-03 9.99541558e-01 1.41479100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10255784400005 meters Centerline goodness : 0.113882 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.42 [[ 9.99573445e-01 2.88206230e-03 -2.90623869e-02 3.62846277e+00] [-2.63064995e-03 9.99958822e-01 8.68530830e-03 4.26515918e-01] [ 2.90862218e-02 -8.60515057e-03 9.99539866e-01 1.41500280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1325578440001 meters Centerline goodness : 0.153757 Centerline is valid? [False, False] Translation: X:3.63, Y:0.42, Z:1.42 [[ 9.99571786e-01 3.00521958e-03 -2.91069325e-02 3.62855292e+00] [-2.74141327e-03 9.99954845e-01 9.09901866e-03 4.24225645e-01] [ 2.91329627e-02 -9.01532820e-03 9.99534889e-01 1.41505622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16255784400005 meters Centerline goodness : 0.152233 Centerline is valid? [False, False] Translation: X:3.63, Y:0.42, Z:1.42 [[ 9.99576370e-01 -9.02014061e-04 -2.90906655e-02 3.62854193e+00] [ 1.07081874e-03 9.99982678e-01 5.78765296e-03 4.20629516e-01] [ 2.90849410e-02 -5.81635196e-03 9.99560021e-01 1.41500314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.192557844 meters Centerline goodness : 0.113995 Centerline is valid? [False, False] Translation: X:3.63, Y:0.42, Z:1.42 [[ 9.99566490e-01 -7.60323764e-04 -2.94321983e-02 3.62934848e+00] [ 9.49130272e-04 9.99979060e-01 6.40152564e-03 4.17364235e-01] [ 2.94267148e-02 -6.42668551e-03 9.99546280e-01 1.41514775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22255784400005 meters Centerline goodness : 0.114368 Centerline is valid? [False, False] Translation: X:3.63, Y:0.41, Z:1.42 [[ 9.99564653e-01 -5.87674092e-04 -2.94984522e-02 3.62954643e+00] [ 7.95797604e-04 9.99974873e-01 7.04416046e-03 4.13971194e-01] [ 2.94935713e-02 -7.06456860e-03 9.99540005e-01 1.41516275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.252557844 meters Centerline goodness : 0.153303 Centerline is valid? [False, False] Translation: X:3.63, Y:0.41, Z:1.42 [[ 9.99564540e-01 -4.44678571e-04 -2.95047912e-02 3.62933632e+00] [ 6.71163963e-04 9.99970385e-01 7.66676484e-03 4.10375777e-01] [ 2.95005082e-02 -7.68322882e-03 9.99535236e-01 1.41562940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28255784400005 meters Centerline goodness : 0.134190 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 0.99959087 0.00551631 -0.02806524 3.6498459 ] [-0.00540352 0.99997702 0.00409339 0.40587838] [ 0.02808718 -0.00394006 0.99959771 1.41638429] [ 0. 0. 0. 1. ]] SLAMing on 314.312557844 meters Centerline goodness : 0.117477 Centerline is valid? [False, False] Translation: X:3.63, Y:0.41, Z:1.42 [[ 0.99957966 -0.00405277 -0.02870684 3.62782736] [ 0.00419854 0.99997859 0.0050193 0.40538213] [ 0.02868588 -0.00513772 0.99957527 1.41589152] [ 0. 0. 0. 1. ]] SLAMing on 314.34255784400005 meters Centerline goodness : 0.112991 Centerline is valid? [False, False] Translation: X:3.65, Y:0.40, Z:1.42 [[ 9.99502971e-01 3.18585238e-03 -3.13633695e-02 3.65337320e+00] [-3.05248104e-03 9.99986099e-01 4.29941744e-03 3.95527163e-01] [ 3.13766308e-02 -4.20154442e-03 9.99498801e-01 1.41534735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.372557844 meters Centerline goodness : 0.114113 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 9.99489776e-01 3.41348901e-03 -3.17574567e-02 3.65506290e+00] [-3.26091161e-03 9.99982898e-01 4.85501163e-03 3.92798740e-01] [ 3.17734861e-02 -4.74897622e-03 9.99483813e-01 1.41431348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40255784400006 meters Centerline goodness : 0.130027 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 9.99480156e-01 3.63001206e-03 -3.20350029e-02 3.65617101e+00] [-3.45978746e-03 9.99979609e-01 5.36753925e-03 3.90159477e-01] [ 3.20538339e-02 -5.25391466e-03 9.99472335e-01 1.41369882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43255784400003 meters Centerline goodness : 0.140342 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 9.99472054e-01 3.81036309e-03 -3.22660059e-02 3.65670216e+00] [-3.62984784e-03 9.99977443e-01 5.65132440e-03 3.88670064e-01] [ 3.22868117e-02 -5.53122012e-03 9.99463340e-01 1.41399721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46255784400006 meters Centerline goodness : 0.115753 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.99946971 0.00394355 -0.0323224 3.65640412] [-0.00375824 0.99997616 0.00579208 0.38785759] [ 0.03234447 -0.00566753 0.99946071 1.41488656] [ 0. 0. 0. 1. ]] SLAMing on 314.49255784400003 meters Centerline goodness : 0.138030 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.42 [[ 0.99943287 0.00763544 -0.03279688 3.65738927] [-0.00733887 0.99993118 0.00915342 0.38789435] [ 0.03286452 -0.00890753 0.99942012 1.41578698] [ 0. 0. 0. 1. ]] SLAMing on 314.52255784400006 meters Centerline goodness : 0.148393 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.42 [[ 0.99941002 0.00788646 -0.03342778 3.65955433] [-0.00758705 0.99993004 0.00907447 0.38869996] [ 0.03349701 -0.00881549 0.99939994 1.41516816] [ 0. 0. 0. 1. ]] SLAMing on 314.55255784400003 meters Centerline goodness : 0.137551 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.9993987 0.00802241 -0.03373254 3.66096249] [-0.00772488 0.99993019 0.00894114 0.38974319] [ 0.03380191 -0.00867518 0.9993909 1.41433831] [ 0. 0. 0. 1. ]] SLAMing on 314.58255784400006 meters Centerline goodness : 0.120264 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.99940179 0.00807396 -0.03362837 3.66101333] [-0.00778293 0.9999312 0.00877631 0.39082809] [ 0.03369692 -0.00850934 0.99939587 1.41394614] [ 0. 0. 0. 1. ]] SLAMing on 314.61255784400004 meters Centerline goodness : 0.145622 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.99941152 0.00803742 -0.03334685 3.66017114] [-0.00775662 0.99993344 0.00854158 0.39217368] [ 0.03341328 -0.00827789 0.99940734 1.41420267] [ 0. 0. 0. 1. ]] SLAMing on 314.64255784400007 meters Centerline goodness : 0.131054 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.99941966 0.00796628 -0.03311915 3.65923649] [-0.00769581 0.99993605 0.00828624 0.39342619] [ 0.03318304 -0.00802655 0.99941706 1.41472452] [ 0. 0. 0. 1. ]] SLAMing on 314.67255784400004 meters Centerline goodness : 0.095628 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.42 [[ 0.99942395 0.00781943 -0.03302464 3.65862793] [-0.00756236 0.99994018 0.00790187 0.39530795] [ 0.03308445 -0.00764758 0.9994233 1.41516521] [ 0. 0. 0. 1. ]] SLAMing on 314.70255784400007 meters Centerline goodness : 0.125505 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.41 [[ 0.99941728 0.00773756 -0.03324492 3.65939576] [-0.00748193 0.99994154 0.00780681 0.39546585] [ 0.03330339 -0.00755352 0.99941674 1.4147865 ] [ 0. 0. 0. 1. ]] SLAMing on 314.73255784400004 meters Centerline goodness : 0.147891 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.41 [[ 0.99941965 0.00763928 -0.03319658 3.65941101] [-0.00738293 0.99994203 0.0078378 0.39500439] [ 0.03325453 -0.00758816 0.99941811 1.41448328] [ 0. 0. 0. 1. ]] SLAMing on 314.76255784400007 meters Centerline goodness : 0.135451 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.9994615 0.00415614 -0.03254908 3.65802448] [-0.00400579 0.99998101 0.00468305 0.39435345] [ 0.03256792 -0.00455014 0.99945917 1.41383421] [ 0. 0. 0. 1. ]] SLAMing on 314.79255784400004 meters Centerline goodness : 0.116911 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.99946536 0.00410673 -0.03243664 3.65733181] [-0.0039523 0.99998056 0.00482346 0.3935305 ] [ 0.03245582 -0.00469268 0.99946215 1.41450737] [ 0. 0. 0. 1. ]] SLAMing on 314.8225578440001 meters Centerline goodness : 0.116119 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.99948548 0.00390117 -0.03183624 3.65543736] [-0.00374136 0.99998011 0.00507767 0.391954 ] [ 0.03185542 -0.00495595 0.9994802 1.41486026] [ 0. 0. 0. 1. ]] SLAMing on 314.85255784400005 meters Centerline goodness : 0.094408 Centerline is valid? [False, False] Translation: X:3.65, Y:0.39, Z:1.42 [[ 9.99519568e-01 1.08833451e-03 -3.09749557e-02 3.65233878e+00] [-9.90661069e-04 9.99994490e-01 3.16847559e-03 3.87339590e-01] [ 3.09782334e-02 -3.13626767e-03 9.99515139e-01 1.41539673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8825578440001 meters Centerline goodness : 0.118042 Centerline is valid? [False, False] Translation: X:3.65, Y:0.39, Z:1.42 [[ 9.99512931e-01 1.06300636e-03 -3.11892729e-02 3.65307579e+00] [-9.60861705e-04 9.99994127e-01 3.28979834e-03 3.86601365e-01] [ 3.11925868e-02 -3.25822741e-03 9.99508082e-01 1.41507084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91255784400005 meters Centerline goodness : 0.141191 Centerline is valid? [False, False] Translation: X:3.65, Y:0.39, Z:1.41 [[ 9.99500749e-01 1.02735725e-03 -3.15784156e-02 3.65430276e+00] [-9.20340586e-04 9.99993785e-01 3.40326639e-03 3.85876860e-01] [ 3.15817158e-02 -3.37250441e-03 9.99495483e-01 1.41467239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.942557844 meters Centerline goodness : 0.114130 Centerline is valid? [False, False] Translation: X:3.65, Y:0.38, Z:1.41 [[ 9.99500046e-01 1.09857235e-03 -3.15982706e-02 3.65447967e+00] [-9.78217506e-04 9.99992210e-01 3.82411271e-03 3.84056071e-01] [ 3.16022255e-02 -3.79129085e-03 9.99493334e-01 1.41425590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97255784400005 meters Centerline goodness : 0.114733 Centerline is valid? [False, False] Translation: X:3.66, Y:0.38, Z:1.41 [[ 9.99487135e-01 8.50959436e-04 -3.20116105e-02 3.65560684e+00] [-7.22479971e-04 9.99991639e-01 4.02487983e-03 3.81742746e-01] [ 3.20147679e-02 -3.99968786e-03 9.99479393e-01 1.41424112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.002557844 meters Centerline goodness : 0.113615 Centerline is valid? [False, False] Translation: X:3.66, Y:0.38, Z:1.41 [[ 9.99484625e-01 8.95579456e-04 -3.20886612e-02 3.65580866e+00] [-7.61550034e-04 9.99990937e-01 4.18882509e-03 3.80948175e-01] [ 3.20921218e-02 -4.16222915e-03 9.99476249e-01 1.41418999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03255784400005 meters Centerline goodness : 0.109883 Centerline is valid? [False, False] Translation: X:3.66, Y:0.38, Z:1.41 [[ 9.99484506e-01 8.94503351e-04 -3.20923982e-02 3.65571483e+00] [-7.62976660e-04 9.99991261e-01 4.11038722e-03 3.81332234e-01] [ 3.20957945e-02 -4.08378259e-03 9.99476454e-01 1.41439171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.062557844 meters Centerline goodness : 0.143763 Centerline is valid? [False, False] Translation: X:3.68, Y:0.38, Z:1.42 [[ 9.99476844e-01 1.00100249e-02 -3.07544697e-02 3.67596336e+00] [-9.92325429e-03 9.99946344e-01 2.97273674e-03 3.80184786e-01] [ 3.07825768e-02 -2.66599711e-03 9.99522549e-01 1.41529331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09255784400005 meters Centerline goodness : 0.143763 Centerline is valid? [False, False] Translation: X:3.68, Y:0.38, Z:1.42 [[ 9.99476844e-01 1.00100249e-02 -3.07544697e-02 3.67596336e+00] [-9.92325429e-03 9.99946344e-01 2.97273674e-03 3.80184786e-01] [ 3.07825768e-02 -2.66599711e-03 9.99522549e-01 1.41529331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.122557844 meters Centerline goodness : 0.137332 Centerline is valid? [False, False] Translation: X:3.65, Y:0.38, Z:1.42 [[ 9.99493373e-01 2.89517024e-03 -3.16956528e-02 3.65267864e+00] [-2.72039490e-03 9.99980865e-01 5.55590895e-03 3.83246461e-01] [ 3.17111316e-02 -5.46686948e-03 9.99482125e-01 1.41549717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15255784400006 meters Centerline goodness : 0.153406 Centerline is valid? [False, False] Translation: X:3.70, Y:0.39, Z:1.42 [[ 0.99952476 0.00632473 -0.03017028 3.69827619] [-0.00615624 0.99996495 0.00567438 0.39487099] [ 0.03020511 -0.00548595 0.99952867 1.41533398] [ 0. 0. 0. 1. ]] SLAMing on 315.18255784400003 meters Centerline goodness : 0.139154 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.42 [[ 0.99952701 0.00629595 -0.03010184 3.69828277] [-0.0061447 0.99996804 0.00511448 0.39803837] [ 0.03013307 -0.00492709 0.99953375 1.41514621] [ 0. 0. 0. 1. ]] SLAMing on 315.21255784400006 meters Centerline goodness : 0.132102 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.42 [[ 0.99952968 0.00619224 -0.03003449 3.6981064 ] [-0.0060582 0.99997129 0.00455163 0.4011373 ] [ 0.03006181 -0.00436754 0.9995385 1.41511126] [ 0. 0. 0. 1. ]] SLAMing on 315.24255784400003 meters Centerline goodness : 0.136046 Centerline is valid? [False, False] Translation: X:3.65, Y:0.40, Z:1.42 [[ 0.99945114 0.0059414 -0.03259027 3.6524876 ] [-0.00577452 0.99996974 0.00521229 0.40047128] [ 0.03262025 -0.00502123 0.9994552 1.41574544] [ 0. 0. 0. 1. ]] SLAMing on 315.27255784400006 meters Centerline goodness : 0.148844 Centerline is valid? [False, False] Translation: X:3.65, Y:0.40, Z:1.42 [[ 0.99945352 0.00577813 -0.03254635 3.65219921] [-0.00562378 0.99997251 0.00483213 0.40220169] [ 0.03257337 -0.00464645 0.99945855 1.41594679] [ 0. 0. 0. 1. ]] SLAMing on 315.30255784400003 meters Centerline goodness : 0.148152 Centerline is valid? [False, False] Translation: X:3.65, Y:0.40, Z:1.42 [[ 0.99945541 0.00568 -0.03250585 3.65187005] [-0.00553232 0.99997397 0.0046314 0.40313776] [ 0.03253131 -0.00444904 0.99946081 1.41630255] [ 0. 0. 0. 1. ]] SLAMing on 315.33255784400006 meters Centerline goodness : 0.153988 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99488223e-01 1.73157077e-03 -3.19420298e-02 3.65015050e+00] [-1.71640035e-03 9.99998401e-01 5.02349390e-04 4.05351901e-01] [ 3.19428486e-02 -4.47266988e-04 9.99489597e-01 1.41650080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36255784400004 meters Centerline goodness : 0.149510 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99484588e-01 1.66911303e-03 -3.20589047e-02 3.65052638e+00] [-1.65803220e-03 9.99998556e-01 3.72220661e-04 4.06053411e-01] [ 3.20594797e-02 -3.18874117e-04 9.99485912e-01 1.41633668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39255784400007 meters Centerline goodness : 0.150752 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99484916e-01 1.59489190e-03 -3.20524544e-02 3.65072336e+00] [-1.59054590e-03 9.99998722e-01 1.61086921e-04 4.07341848e-01] [ 3.20526703e-02 -1.10023048e-04 9.99486175e-01 1.41599324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42255784400004 meters Centerline goodness : 0.139423 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99483670e-01 1.49167277e-03 -3.20962421e-02 3.65094741e+00] [-1.49627787e-03 9.99998873e-01 -1.19459913e-04 4.08840065e-01] [ 3.20960277e-02 1.67423129e-04 9.99484776e-01 1.41578992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45255784400007 meters Centerline goodness : 0.114671 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99484550e-01 1.27781813e-03 -3.20780601e-02 3.65090131e+00] [-1.30104946e-03 9.99998906e-01 -7.03350150e-04 4.11748154e-01] [ 3.20771263e-02 7.44722751e-04 9.99485119e-01 1.41576768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48255784400004 meters Centerline goodness : 0.146387 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99490377e-01 1.22674931e-03 -3.18979893e-02 3.65032341e+00] [-1.25724184e-03 9.99998772e-01 -9.35899616e-04 4.13089533e-01] [ 3.18968020e-02 9.75526147e-04 9.99490691e-01 1.41594648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51255784400007 meters Centerline goodness : 0.109790 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99497963e-01 1.16389620e-03 -3.16617733e-02 3.64973770e+00] [-1.20263760e-03 9.99998551e-01 -1.20458578e-03 4.14707425e-01] [ 3.16603254e-02 1.24205868e-03 9.99497914e-01 1.41586284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54255784400004 meters Centerline goodness : 0.137849 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99500683e-01 1.08887663e-03 -3.15784475e-02 3.64962973e+00] [-1.13639735e-03 9.99998249e-01 -1.48693822e-03 4.16374434e-01] [ 3.15767731e-02 1.52208143e-03 9.99500170e-01 1.41564800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5725578440001 meters Centerline goodness : 0.147223 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99502532e-01 9.74140277e-04 -3.15236220e-02 3.64961460e+00] [-1.03289077e-03 9.99997760e-01 -1.84746668e-03 4.18304849e-01] [ 3.15217517e-02 1.87910808e-03 9.99501300e-01 1.41541765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60255784400005 meters Centerline goodness : 0.150459 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99508092e-01 8.41655946e-04 -3.13506757e-02 3.64915600e+00] [-9.12613075e-04 9.99997054e-01 -2.24909625e-03 4.20445501e-01] [ 3.13486904e-02 2.27660094e-03 9.99505916e-01 1.41542801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6325578440001 meters Centerline goodness : 0.135662 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99535002e-01 7.18550112e-04 -3.04838254e-02 3.64627625e+00] [-8.03497727e-04 9.99995828e-01 -2.77448734e-03 4.23353415e-01] [ 3.04817046e-02 2.79769090e-03 9.99531410e-01 1.41650786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66255784400005 meters Centerline goodness : 0.135262 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99541138e-01 6.08201044e-04 -3.02843767e-02 3.64556510e+00] [-6.99774265e-04 9.99995215e-01 -3.01327093e-03 4.24440566e-01] [ 3.02823991e-02 3.03308048e-03 9.99536781e-01 1.41681964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.692557844 meters Centerline goodness : 0.147419 Centerline is valid? [False, False] Translation: X:3.65, Y:0.43, Z:1.42 [[ 9.99538739e-01 5.10033206e-04 -3.03652694e-02 3.64566199e+00] [-6.07033890e-04 9.99994743e-01 -3.18532870e-03 4.25124498e-01] [ 3.03634852e-02 3.20229218e-03 9.99533793e-01 1.41695264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72255784400005 meters Centerline goodness : 0.117817 Centerline is valid? [False, False] Translation: X:3.65, Y:0.43, Z:1.42 [[ 9.99528617e-01 3.95689688e-04 -3.06983106e-02 3.64675484e+00] [-4.98262869e-04 9.99994319e-01 -3.33375205e-03 4.25635086e-01] [ 3.06968171e-02 3.34747640e-03 9.99523136e-01 1.41652814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.752557844 meters Centerline goodness : 0.117334 Centerline is valid? [False, False] Translation: X:3.65, Y:0.43, Z:1.42 [[ 9.99513447e-01 2.74253576e-04 -3.11896359e-02 3.64835530e+00] [-3.81162284e-04 9.99994073e-01 -3.42180584e-03 4.25692534e-01] [ 3.11885126e-02 3.43202927e-03 9.99507628e-01 1.41592834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78255784400005 meters Centerline goodness : 0.153957 Centerline is valid? [False, False] Translation: X:3.65, Y:0.43, Z:1.42 [[ 9.99496662e-01 1.91744759e-04 -3.17235942e-02 3.64995865e+00] [-2.98733834e-04 9.99994284e-01 -3.36783422e-03 4.25000079e-01] [ 3.17227671e-02 3.37561597e-03 9.99491006e-01 1.41546746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.812557844 meters Centerline goodness : 0.145521 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99484315e-01 9.51389292e-05 -3.21106698e-02 3.65109652e+00] [-1.99533777e-04 9.99994706e-01 -3.24790654e-03 4.23877731e-01] [ 3.21101908e-02 3.25263881e-03 9.99479042e-01 1.41521983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84255784400005 meters Centerline goodness : 0.156705 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99479910e-01 1.19700289e-04 -3.22474180e-02 3.65142269e+00] [-2.15835327e-04 9.99995543e-01 -2.97770561e-03 4.22301015e-01] [ 3.22469178e-02 2.98311707e-03 9.99475481e-01 1.41523949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.872557844 meters Centerline goodness : 0.113752 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99470915e-01 -1.92442254e-04 -3.25246641e-02 3.65214883e+00] [ 1.07344074e-04 9.99996567e-01 -2.61814585e-03 4.19137349e-01] [ 3.25250563e-02 2.61326930e-03 9.99467504e-01 1.41532848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90255784400006 meters Centerline goodness : 0.114185 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99458100e-01 -1.45191627e-04 -3.29163305e-02 3.65299385e+00] [ 7.15963028e-05 9.99997495e-01 -2.23699779e-03 4.16882894e-01] [ 3.29165729e-02 2.23342887e-03 9.99455607e-01 1.41555922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93255784400003 meters Centerline goodness : 0.134495 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99438408e-01 -1.67835669e-03 -3.34671833e-02 3.65405736e+00] [ 1.56600592e-03 9.99993052e-01 -3.38297252e-03 4.10968059e-01] [ 3.34726286e-02 3.32866286e-03 9.99434091e-01 1.41569088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96255784400006 meters Centerline goodness : 0.144921 Centerline is valid? [False, False] Translation: X:3.66, Y:0.41, Z:1.42 [[ 9.99419593e-01 -1.66970162e-03 -3.40248389e-02 3.65579000e+00] [ 1.57705156e-03 9.99994976e-01 -2.74966783e-03 4.07064565e-01] [ 3.40292591e-02 2.69441298e-03 9.99417205e-01 1.41511990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99255784400003 meters Centerline goodness : 0.159542 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.42 [[ 9.99417577e-01 -1.48631836e-03 -3.40924870e-02 3.65593060e+00] [ 1.41072858e-03 9.99996494e-01 -2.24114507e-03 4.04769412e-01] [ 3.40956985e-02 2.19174453e-03 9.99416169e-01 1.41512004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02255784400006 meters Centerline goodness : 0.123947 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.42 [[ 9.99414825e-01 -1.28780305e-03 -3.41811325e-02 3.65599329e+00] [ 1.22939212e-03 9.99997748e-01 -1.72982704e-03 4.02272671e-01] [ 3.41832832e-02 1.68679278e-03 9.99414157e-01 1.41540705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05255784400003 meters Centerline goodness : 0.119877 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.42 [[ 9.99416268e-01 -1.10342573e-03 -3.41453544e-02 3.65570213e+00] [ 1.06053901e-03 9.99998626e-01 -1.27409054e-03 3.99951315e-01] [ 3.41467133e-02 1.23713434e-03 9.99416065e-01 1.41574737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08255784400006 meters Centerline goodness : 0.146625 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.42 [[ 9.99415318e-01 -9.19643453e-04 -3.41785844e-02 3.65554114e+00] [ 8.92654002e-04 9.99999278e-01 -8.04910611e-04 3.97542609e-01] [ 3.41792999e-02 7.73930344e-04 9.99415417e-01 1.41619558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11255784400004 meters Centerline goodness : 0.134077 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.42 [[ 9.99416683e-01 -7.04523874e-04 -3.41437744e-02 3.65525133e+00] [ 6.94523598e-04 9.99999712e-01 -3.04746648e-04 3.95152086e-01] [ 3.41439793e-02 2.80855227e-04 9.99416885e-01 1.41649577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14255784400007 meters Centerline goodness : 0.126157 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.42 [[ 9.99416062e-01 -2.65678150e-04 -3.41681866e-02 3.65550711e+00] [ 2.87203170e-04 9.99999763e-01 6.25066063e-04 3.90987773e-01] [ 3.41680124e-02 -6.34514275e-04 9.99415902e-01 1.41626590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17255784400004 meters Centerline goodness : 0.104978 Centerline is valid? [False, False] Translation: X:3.68, Y:0.39, Z:1.42 [[ 9.99374068e-01 9.02038108e-03 -3.42067874e-02 3.67694679e+00] [-9.02345932e-03 9.99959286e-01 6.43899010e-05 3.86132614e-01] [ 3.42059755e-02 2.44313957e-04 9.99414775e-01 1.41725197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20255784400007 meters Centerline goodness : 0.133214 Centerline is valid? [False, False] Translation: X:3.68, Y:0.39, Z:1.42 [[ 9.99352589e-01 9.30016154e-03 -3.47550025e-02 3.67877980e+00] [-9.29656107e-03 9.99956751e-01 2.65197603e-04 3.85594997e-01] [ 3.47559657e-02 5.80760918e-05 9.99395827e-01 1.41678552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23255784400004 meters Centerline goodness : 0.114554 Centerline is valid? [False, False] Translation: X:3.68, Y:0.39, Z:1.42 [[ 9.99333782e-01 9.45443409e-03 -3.52506176e-02 3.68020833e+00] [-9.45312046e-03 9.99955297e-01 2.03935100e-04 3.85892654e-01] [ 3.52509699e-02 1.29429100e-04 9.99378483e-01 1.41679321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26255784400007 meters Centerline goodness : 0.094725 Centerline is valid? [False, False] Translation: X:3.68, Y:0.39, Z:1.42 [[ 9.99326072e-01 9.42948302e-03 -3.54751625e-02 3.68081201e+00] [-9.43555951e-03 9.99955484e-01 -3.87218148e-06 3.86574874e-01] [ 3.54735468e-02 3.38597579e-04 9.99370558e-01 1.41697047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29255784400004 meters Centerline goodness : 0.129030 Centerline is valid? [False, False] Translation: X:3.68, Y:0.39, Z:1.42 [[ 9.99323158e-01 9.41523432e-03 -3.55609129e-02 3.68090884e+00] [-9.42747980e-03 9.99955545e-01 -1.76686216e-04 3.87287669e-01] [ 3.55576685e-02 5.11816416e-04 9.99367495e-01 1.41728060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3225578440001 meters Centerline goodness : 0.109497 Centerline is valid? [False, False] Translation: X:3.68, Y:0.39, Z:1.42 [[ 9.99341135e-01 9.71277127e-03 -3.49708028e-02 3.67934880e+00] [-9.71641539e-03 9.99952792e-01 6.57454131e-05 3.87383705e-01] [ 3.49697905e-02 2.74088750e-04 9.99388332e-01 1.41744941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35255784400005 meters Centerline goodness : 0.115570 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.42 [[ 9.99360447e-01 2.75210835e-03 -3.56528066e-02 3.69665744e+00] [-2.69863586e-03 9.99995161e-01 1.54784715e-03 3.95331130e-01] [ 3.56568939e-02 -1.45064328e-03 9.99363038e-01 1.41969136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3825578440001 meters Centerline goodness : 0.133969 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.42 [[ 9.99360868e-01 2.73123859e-03 -3.56426167e-02 3.69656564e+00] [-2.67932316e-03 9.99995279e-01 1.50423814e-03 3.95518648e-01] [ 3.56465568e-02 -1.40777865e-03 9.99363468e-01 1.41979410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41255784400005 meters Centerline goodness : 0.125592 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.42 [[ 9.99358586e-01 2.69863935e-03 -3.57090264e-02 3.69663496e+00] [-2.64697668e-03 9.99995381e-01 1.49396453e-03 3.95407071e-01] [ 3.57128932e-02 -1.39848532e-03 9.99361113e-01 1.41991424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.442557844 meters Centerline goodness : 0.126245 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.42 [[ 9.99361750e-01 2.71489890e-03 -3.56191341e-02 3.69615926e+00] [-2.66100561e-03 9.99995242e-01 1.56036225e-03 3.95051714e-01] [ 3.56232008e-02 -1.46458363e-03 9.99364219e-01 1.42028174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47255784400005 meters Centerline goodness : 0.159701 Centerline is valid? [False, False] Translation: X:3.69, Y:0.39, Z:1.42 [[ 9.99373262e-01 2.73721614e-03 -3.52929222e-02 3.69480229e+00] [-2.67786487e-03 9.99994920e-01 1.72883620e-03 3.94140105e-01] [ 3.52974751e-02 -1.63324300e-03 9.99375515e-01 1.42120013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.502557844 meters Centerline goodness : 0.120363 Centerline is valid? [False, False] Translation: X:3.69, Y:0.39, Z:1.42 [[ 9.99370818e-01 2.73538142e-03 -3.53622047e-02 3.69489681e+00] [-2.67205118e-03 9.99994741e-01 1.83803766e-03 3.93350176e-01] [ 3.53670465e-02 -1.74239158e-03 9.99372871e-01 1.42129906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53255784400005 meters Centerline goodness : 0.126840 Centerline is valid? [False, False] Translation: X:3.70, Y:0.39, Z:1.42 [[ 9.99358887e-01 2.69551073e-03 -3.57008316e-02 3.69602965e+00] [-2.62911998e-03 9.99994727e-01 1.90645686e-03 3.92689048e-01] [ 3.57057822e-02 -1.81137283e-03 9.99360704e-01 1.42083248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.562557844 meters Centerline goodness : 0.129965 Centerline is valid? [False, False] Translation: X:3.70, Y:0.39, Z:1.42 [[ 9.99352132e-01 2.72736200e-03 -3.58870128e-02 3.69676995e+00] [-2.65553976e-03 9.99994375e-01 2.04885661e-03 3.91880839e-01] [ 3.58923989e-02 -1.95222984e-03 9.99353753e-01 1.42039111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59255784400005 meters Centerline goodness : 0.143607 Centerline is valid? [False, False] Translation: X:3.70, Y:0.39, Z:1.42 [[ 9.99354475e-01 2.79090768e-03 -3.58168271e-02 3.69662090e+00] [-2.71359603e-03 9.99993883e-01 2.20695917e-03 3.91252303e-01] [ 3.58227674e-02 -2.10834212e-03 9.99355935e-01 1.42032257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.622557844 meters Centerline goodness : 0.128674 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:1.42 [[ 9.99346038e-01 1.19283569e-02 -3.41351725e-02 3.71596010e+00] [-1.18970325e-02 9.99928600e-01 1.12062982e-03 3.88657561e-01] [ 3.41461025e-02 -7.13789714e-04 9.99416597e-01 1.42211945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65255784400006 meters Centerline goodness : 0.121222 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:1.42 [[ 9.99337182e-01 1.18994671e-02 -3.44034866e-02 3.71671065e+00] [-1.18796367e-02 9.99929130e-01 7.80766193e-04 3.90324367e-01] [ 3.44103391e-02 -3.71547765e-04 9.99407720e-01 1.42214898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68255784400003 meters Centerline goodness : 0.132784 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:1.42 [[ 9.99321653e-01 1.18932338e-02 -3.48537642e-02 3.71837579e+00] [-1.18874897e-02 9.99929272e-01 3.72035834e-04 3.92480955e-01] [ 3.48557238e-02 4.25402974e-05 9.99392354e-01 1.42148070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71255784400006 meters Centerline goodness : 0.137345 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:1.42 [[ 9.99306128e-01 1.19618984e-02 -3.52728627e-02 3.72002357e+00] [-1.19695619e-02 9.99928362e-01 -6.09639360e-06 3.94775917e-01] [ 3.52702629e-02 4.28292876e-04 9.99377719e-01 1.42063825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74255784400003 meters Centerline goodness : 0.126944 Centerline is valid? [False, False] Translation: X:3.72, Y:0.40, Z:1.42 [[ 9.99299031e-01 1.19948748e-02 -3.54622420e-02 3.72105747e+00] [-1.20188974e-02 9.99927663e-01 -4.64307380e-04 3.97527765e-01] [ 3.54541075e-02 8.90198964e-04 9.99370909e-01 1.41985806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77255784400006 meters Centerline goodness : 0.129217 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99352285e-01 5.18194926e-03 -3.56112010e-02 3.73884445e+00] [-5.16655746e-03 9.99986516e-01 5.24227952e-04 4.08965346e-01] [ 3.56134373e-02 -3.39901086e-04 9.99365583e-01 1.42123651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80255784400003 meters Centerline goodness : 0.124805 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99396736e-01 5.54818479e-03 -3.42838455e-02 3.73500115e+00] [-5.54468741e-03 9.99984609e-01 1.97086848e-04 4.12782055e-01] [ 3.42844113e-02 -6.87474647e-06 9.99412117e-01 1.42175832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83255784400006 meters Centerline goodness : 0.117807 Centerline is valid? [False, False] Translation: X:3.73, Y:0.42, Z:1.42 [[ 9.99406693e-01 5.40342356e-03 -3.40156694e-02 3.73430839e+00] [-5.41576394e-03 9.99985298e-01 -2.70657855e-04 4.15220102e-01] [ 3.40137068e-02 4.54718108e-04 9.99421263e-01 1.42171198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86255784400004 meters Centerline goodness : 0.109457 Centerline is valid? [False, False] Translation: X:3.73, Y:0.42, Z:1.42 [[ 9.99407305e-01 5.24532316e-03 -3.40224263e-02 3.73442017e+00] [-5.27214586e-03 9.99985858e-01 -6.98718562e-04 4.17278938e-01] [ 3.40182802e-02 8.77675629e-04 9.99420825e-01 1.42149390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89255784400007 meters Centerline goodness : 0.154588 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99399982e-01 4.95020163e-03 -3.42807658e-02 3.73575079e+00] [-5.00055070e-03 9.99986541e-01 -1.38314538e-03 4.20564253e-01] [ 3.42734576e-02 1.55373817e-03 9.99411285e-01 1.42036391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92255784400004 meters Centerline goodness : 0.137953 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99391796e-01 4.82548686e-03 -3.45362543e-02 3.73656873e+00] [-4.88219893e-03 9.99986868e-01 -1.55795879e-03 4.21184448e-01] [ 3.45282828e-02 1.72562410e-03 9.99402231e-01 1.42009409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95255784400007 meters Centerline goodness : 0.156065 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99386402e-01 4.71909572e-03 -3.47066242e-02 3.73690332e+00] [-4.77618247e-03 9.99987374e-01 -1.56211341e-03 4.20775292e-01] [ 3.46988143e-02 1.72692007e-03 9.99396323e-01 1.42028426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98255784400004 meters Centerline goodness : 0.105616 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99384754e-01 4.60044371e-03 -3.47699354e-02 3.73674103e+00] [-4.65475628e-03 9.99988069e-01 -1.48126931e-03 4.19786155e-01] [ 3.47627061e-02 1.64220354e-03 9.99394245e-01 1.42082681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01255784400007 meters Centerline goodness : 0.105616 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99384754e-01 4.60044371e-03 -3.47699354e-02 3.73674103e+00] [-4.65475628e-03 9.99988069e-01 -1.48126931e-03 4.19786155e-01] [ 3.47627061e-02 1.64220354e-03 9.99394245e-01 1.42082681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04255784400004 meters Centerline goodness : 0.131441 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99381439e-01 4.51852822e-03 -3.48758170e-02 3.73664408e+00] [-4.56799667e-03 9.99988670e-01 -1.33886617e-03 4.18675693e-01] [ 3.48693722e-02 1.49735062e-03 9.99390757e-01 1.42145089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0725578440001 meters Centerline goodness : 0.118051 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99357945e-01 4.17595732e-03 -3.55845339e-02 3.73856148e+00] [-4.22300942e-03 9.99990305e-01 -1.24720422e-03 4.17242042e-01] [ 3.55789807e-02 1.39667726e-03 9.99365892e-01 1.42123549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10255784400005 meters Centerline goodness : 0.116851 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99347573e-01 4.18131112e-03 -3.58740134e-02 3.73941197e+00] [-4.22132870e-03 9.99990550e-01 -1.03983311e-03 4.16080814e-01] [ 3.58693265e-02 1.19059070e-03 9.99355779e-01 1.42103096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1325578440001 meters Centerline goodness : 0.116241 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99345908e-01 1.29177342e-03 -3.61398244e-02 3.74079682e+00] [-1.42920154e-03 9.99991845e-01 -3.77710236e-03 4.14269203e-01] [ 3.61346505e-02 3.82628289e-03 9.99339605e-01 1.42010958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16255784400005 meters Centerline goodness : 0.114225 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99343902e-01 1.36031452e-03 -3.61927482e-02 3.74080714e+00] [-1.48629447e-03 9.99992930e-01 -3.45412877e-03 4.12361457e-01] [ 3.61877937e-02 3.50565561e-03 9.99338858e-01 1.42035817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.192557844 meters Centerline goodness : 0.126966 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99347414e-01 1.46195827e-03 -3.60916701e-02 3.74024838e+00] [-1.57704794e-03 9.99993762e-01 -3.16055279e-03 4.10823898e-01] [ 3.60868244e-02 3.21540855e-03 9.99343486e-01 1.42085121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22255784400005 meters Centerline goodness : 0.158375 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99353774e-01 1.54166834e-03 -3.59117926e-02 3.73965970e+00] [-1.64926653e-03 9.99994239e-01 -2.96674904e-03 4.09930497e-01] [ 3.59070120e-02 3.02405997e-03 9.99350560e-01 1.42106932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.252557844 meters Centerline goodness : 0.116529 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99364444e-01 1.74028560e-03 -3.56044969e-02 3.73895722e+00] [-1.84155929e-03 9.99994351e-01 -2.81181082e-03 4.10034351e-01] [ 3.55994025e-02 2.87559155e-03 9.99362003e-01 1.42096509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28255784400005 meters Centerline goodness : 0.131818 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99365922e-01 1.76446285e-03 -3.55617970e-02 3.73898677e+00] [-1.86786069e-03 9.99994124e-01 -2.87454064e-03 4.10535008e-01] [ 3.55565160e-02 2.93914244e-03 9.99363345e-01 1.42074362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.312557844 meters Centerline goodness : 0.126376 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99365080e-01 1.72908773e-03 -3.55871798e-02 3.73903272e+00] [-1.83773640e-03 9.99993749e-01 -3.02054452e-03 4.11191573e-01] [ 3.55817345e-02 3.08402657e-03 9.99362011e-01 1.42075527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34255784400005 meters Centerline goodness : 0.115451 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99372235e-01 1.73600674e-03 -3.53853400e-02 3.73832705e+00] [-1.84641429e-03 9.99993528e-01 -3.08771013e-03 4.11598499e-01] [ 3.53797507e-02 3.15110777e-03 9.99368973e-01 1.42102532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.372557844 meters Centerline goodness : 0.113500 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99381039e-01 1.77491837e-03 -3.51338672e-02 3.73753662e+00] [-1.88459767e-03 9.99993454e-01 -3.08888363e-03 4.11785683e-01] [ 3.51281547e-02 3.15318494e-03 9.99377842e-01 1.42122885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40255784400006 meters Centerline goodness : 0.109249 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99388282e-01 1.81369324e-03 -3.49252351e-02 3.73699546e+00] [-1.92333808e-03 9.99993327e-01 -3.10607507e-03 4.12191812e-01] [ 3.49193686e-02 3.17134806e-03 9.99385101e-01 1.42123461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43255784400003 meters Centerline goodness : 0.112657 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99395439e-01 1.82882375e-03 -3.47190312e-02 3.73662727e+00] [-1.93806895e-03 9.99993276e-01 -3.11315764e-03 4.12236992e-01] [ 3.47131043e-02 3.17856342e-03 9.99392264e-01 1.42099693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46255784400006 meters Centerline goodness : 0.125516 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99386243e-01 1.77336952e-03 -3.49855980e-02 3.73744286e+00] [-1.88617212e-03 9.99993128e-01 -3.19151702e-03 4.12298905e-01] [ 3.49796979e-02 3.25554707e-03 9.99382721e-01 1.42074279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49255784400003 meters Centerline goodness : 0.113933 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99379980e-01 1.77042430e-03 -3.51641911e-02 3.73793140e+00] [-1.88421503e-03 9.99993095e-01 -3.20310810e-03 4.12347060e-01] [ 3.51582774e-02 3.26737901e-03 9.99376415e-01 1.42066297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52255784400006 meters Centerline goodness : 0.122368 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99381004e-01 1.82232704e-03 -3.51324447e-02 3.73787630e+00] [-1.93616260e-03 9.99992985e-01 -3.20643394e-03 4.12777453e-01] [ 3.51263551e-02 3.27247129e-03 9.99377521e-01 1.42055307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55255784400003 meters Centerline goodness : 0.150122 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99379966e-01 1.83236101e-03 -3.51614261e-02 3.73811868e+00] [-1.94738786e-03 9.99992863e-01 -3.23742519e-03 4.13105099e-01] [ 3.51552431e-02 3.30389081e-03 9.99376402e-01 1.42030031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58255784400006 meters Centerline goodness : 0.113187 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99376464e-01 1.78965011e-03 -3.52630033e-02 3.73863206e+00] [-1.90818224e-03 9.99992642e-01 -3.32800582e-03 4.13386295e-01] [ 3.52567878e-02 3.39321893e-03 9.99372526e-01 1.41988540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61255784400004 meters Centerline goodness : 0.151654 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99372504e-01 1.67130699e-03 -3.53808459e-02 3.73942978e+00] [-1.79885477e-03 9.99991997e-01 -3.57346957e-03 4.14109346e-01] [ 3.53745903e-02 3.63487224e-03 9.99367513e-01 1.41907361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64255784400007 meters Centerline goodness : 0.132733 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99374109e-01 1.67095423e-03 -3.53355219e-02 3.73934233e+00] [-1.80062537e-03 9.99991761e-01 -3.63820602e-03 4.14553877e-01] [ 3.53291515e-02 3.69955494e-03 9.99368883e-01 1.41901273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67255784400004 meters Centerline goodness : 0.138686 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99377242e-01 1.71260649e-03 -3.52447968e-02 3.73891588e+00] [-1.84039710e-03 9.99991849e-01 -3.59367793e-03 4.14513555e-01] [ 3.52383550e-02 3.65630435e-03 9.99372248e-01 1.41930672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70255784400007 meters Centerline goodness : 0.130273 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99394565e-01 -5.54537561e-03 -3.43475086e-02 3.75786270e+00] [ 5.46340579e-03 9.99982001e-01 -2.47988095e-03 4.19449930e-01] [ 3.43606423e-02 2.29072516e-03 9.99406874e-01 1.42125297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73255784400004 meters Centerline goodness : 0.125141 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99401023e-01 -5.50918882e-03 -3.41649430e-02 3.75728492e+00] [ 5.43022873e-03 9.99982368e-01 -2.40350256e-03 4.19111669e-01] [ 3.41775820e-02 2.21653947e-03 9.99413318e-01 1.42141777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76255784400007 meters Centerline goodness : 0.130387 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99467893e-01 1.16971767e-03 -3.25969780e-02 3.73888968e+00] [-1.28189967e-03 9.99993327e-01 -3.42079844e-03 4.13474655e-01] [ 3.25927591e-02 3.46076426e-03 9.99462723e-01 1.41838892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79255784400004 meters Centerline goodness : 0.150692 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99475794e-01 -6.00065513e-03 -3.18139685e-02 3.75767423e+00] [ 5.93476951e-03 9.99980045e-01 -2.16498988e-03 4.19531067e-01] [ 3.18263251e-02 1.97504641e-03 9.99491463e-01 1.42011048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8225578440001 meters Centerline goodness : 0.113154 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99476227e-01 -6.04179760e-03 -3.17925739e-02 3.75755028e+00] [ 5.97243707e-03 9.99979574e-01 -2.27617048e-03 4.20147683e-01] [ 3.18056767e-02 2.08509913e-03 9.99491897e-01 1.42022220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85255784400005 meters Centerline goodness : 0.151010 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99472024e-01 -6.09710862e-03 -3.19139147e-02 3.75775287e+00] [ 6.02284674e-03 9.99978928e-01 -2.42255833e-03 4.20861211e-01] [ 3.19280128e-02 2.22906666e-03 9.99487685e-01 1.42036214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8825578440001 meters Centerline goodness : 0.113898 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99447107e-01 -6.27211797e-03 -3.26518122e-02 3.75998212e+00] [ 6.18180673e-03 9.99976785e-01 -2.86610446e-03 4.22767916e-01] [ 3.26690307e-02 2.66267262e-03 9.99462678e-01 1.41968647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91255784400005 meters Centerline goodness : 0.131860 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99426102e-01 1.19755960e-03 -3.38530972e-02 3.74136393e+00] [-1.33959285e-03 9.99990395e-01 -4.17320617e-03 4.18680981e-01] [ 3.38477744e-02 4.21616054e-03 9.99418107e-01 1.41728087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.942557844 meters Centerline goodness : 0.156078 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99422371e-01 1.09037007e-03 -3.39666953e-02 3.74190299e+00] [-1.24182536e-03 9.99989380e-01 -4.43815765e-03 4.19933894e-01] [ 3.39614953e-02 4.47777474e-03 9.99413111e-01 1.41683146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97255784400005 meters Centerline goodness : 0.151613 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99425037e-01 1.01571105e-03 -3.38904752e-02 3.74167647e+00] [-1.17343147e-03 9.99988573e-01 -4.63426204e-03 4.20941361e-01] [ 3.38853808e-02 4.67136566e-03 9.99414808e-01 1.41686555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.002557844 meters Centerline goodness : 0.136690 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99429146e-01 9.45782411e-04 -3.37710920e-02 3.74106575e+00] [-1.10733099e-03 9.99988033e-01 -4.76525217e-03 4.21557797e-01] [ 3.37661810e-02 4.79992768e-03 9.99418234e-01 1.41732782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03255784400005 meters Centerline goodness : 0.114875 Centerline is valid? [False, False] Translation: X:3.76, Y:0.43, Z:1.42 [[ 9.99438228e-01 -6.43828485e-03 -3.28903657e-02 3.75967734e+00] [ 6.32199324e-03 9.99973396e-01 -3.63850771e-03 4.26857557e-01] [ 3.29129165e-02 3.42853103e-03 9.99452343e-01 1.41979593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.062557844 meters Centerline goodness : 0.142007 Centerline is valid? [False, False] Translation: X:3.76, Y:0.43, Z:1.42 [[ 9.99448177e-01 -6.69733594e-03 -3.25343970e-02 3.75840863e+00] [ 6.57786649e-03 9.99971230e-01 -3.77774289e-03 4.27052000e-01] [ 3.25587618e-02 3.56165132e-03 9.99463477e-01 1.42040962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09255784400005 meters Centerline goodness : 0.147147 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99473934e-01 6.27936213e-04 -3.24262390e-02 3.73895406e+00] [-7.80852549e-04 9.99988634e-01 -4.70337290e-03 4.21544793e-01] [ 3.24229170e-02 4.72621873e-03 9.99463065e-01 1.41859421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.122557844 meters Centerline goodness : 0.152646 Centerline is valid? [False, False] Translation: X:3.76, Y:0.43, Z:1.42 [[ 9.99456434e-01 -7.06917014e-03 -3.22003648e-02 3.75917378e+00] [ 6.94749365e-03 9.99968303e-01 -3.88905053e-03 4.26608245e-01] [ 3.22268365e-02 3.66322474e-03 9.99473867e-01 1.42017438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15255784400006 meters Centerline goodness : 0.130146 Centerline is valid? [False, False] Translation: X:3.76, Y:0.43, Z:1.42 [[ 9.99456801e-01 -7.08050733e-03 -3.21864849e-02 3.75908574e+00] [ 6.96094511e-03 9.99968456e-01 -3.82520968e-03 4.26222577e-01] [ 3.22125540e-02 3.59908347e-03 9.99474561e-01 1.42025161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18255784400003 meters Centerline goodness : 0.114657 Centerline is valid? [False, False] Translation: X:3.76, Y:0.43, Z:1.42 [[ 9.99445917e-01 -7.19139084e-03 -3.24983529e-02 3.75985485e+00] [ 7.07125969e-03 9.99967740e-01 -3.80995378e-03 4.25896941e-01] [ 3.25247034e-02 3.57803846e-03 9.99464527e-01 1.42025565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21255784400006 meters Centerline goodness : 0.120319 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99445545e-01 -7.16336977e-03 -3.25159840e-02 3.76012775e+00] [ 7.05509521e-03 9.99969184e-01 -3.44340021e-03 4.24744277e-01] [ 3.25396483e-02 3.21208763e-03 9.99465284e-01 1.41958220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24255784400003 meters Centerline goodness : 0.117605 Centerline is valid? [False, False] Translation: X:3.78, Y:0.42, Z:1.42 [[ 9.99475224e-01 1.15528440e-03 -3.23719304e-02 3.77909481e+00] [-1.31157272e-03 9.99987586e-01 -4.80707737e-03 4.20629806e-01] [ 3.23659750e-02 4.84701288e-03 9.99464332e-01 1.42151144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27255784400006 meters Centerline goodness : 0.155051 Centerline is valid? [False, False] Translation: X:3.78, Y:0.42, Z:1.42 [[ 9.99479056e-01 1.16837006e-03 -3.22529405e-02 3.77856432e+00] [-1.31894057e-03 9.99988330e-01 -4.64754670e-03 4.19628109e-01] [ 3.22471341e-02 4.68766530e-03 9.99468933e-01 1.42183295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30255784400003 meters Centerline goodness : 0.115449 Centerline is valid? [False, False] Translation: X:3.78, Y:0.42, Z:1.42 [[ 9.99490101e-01 1.15937108e-03 -3.19091648e-02 3.77720589e+00] [-1.30204448e-03 9.99989247e-01 -4.45082015e-03 4.18511233e-01] [ 3.19036615e-02 4.49009783e-03 9.99480863e-01 1.42252199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33255784400006 meters Centerline goodness : 0.140230 Centerline is valid? [False, False] Translation: X:3.78, Y:0.42, Z:1.42 [[ 9.99497052e-01 1.17186121e-03 -3.16902155e-02 3.77623100e+00] [-1.31012921e-03 9.99989712e-01 -4.34270104e-03 4.17803783e-01] [ 3.16848005e-02 4.38203517e-03 9.99488305e-01 1.42321910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36255784400004 meters Centerline goodness : 0.114917 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 0.99949182 0.01029361 -0.03016863 3.79504103] [-0.01044909 0.9999329 -0.00500076 0.41140516] [ 0.03011513 0.00531345 0.99953231 1.42475303] [ 0. 0. 0. 1. ]] SLAMing on 318.39255784400007 meters Centerline goodness : 0.146638 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 0.99948936 0.01042322 -0.03020551 3.79547776] [-0.01057373 0.99993244 -0.00482744 0.4109034 ] [ 0.03015315 0.00514436 0.99953205 1.42432066] [ 0. 0. 0. 1. ]] SLAMing on 318.42255784400004 meters Centerline goodness : 0.118617 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 0.99948613 0.01055785 -0.03026552 3.79602729] [-0.01070307 0.99993195 -0.00464043 0.41039068] [ 0.03021447 0.00496198 0.99953112 1.42375857] [ 0. 0. 0. 1. ]] SLAMing on 318.45255784400007 meters Centerline goodness : 0.120205 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 0.99948545 0.01065766 -0.03025307 3.79625063] [-0.01079699 0.99993183 -0.00444563 0.4095218 ] [ 0.03020363 0.00476998 0.99953238 1.42344312] [ 0. 0. 0. 1. ]] SLAMing on 318.48255784400004 meters Centerline goodness : 0.124113 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 0.99947863 0.010762 -0.03044101 3.79681937] [-0.01089582 0.99993168 -0.00423354 0.40828576] [ 0.03039337 0.00456302 0.9995276 1.42346171] [ 0. 0. 0. 1. ]] SLAMing on 318.51255784400007 meters Centerline goodness : 0.115968 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 0.99946953 0.00881907 -0.031351 3.80030387] [-0.00902027 0.99993958 -0.00628216 0.40596476] [ 0.0312937 0.00656162 0.99948869 1.42233718] [ 0. 0. 0. 1. ]] SLAMing on 318.54255784400004 meters Centerline goodness : 0.113894 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:1.42 [[ 0.99941499 0.00906352 -0.0329778 3.80503251] [-0.00925716 0.99994077 -0.00572398 0.40209464] [ 0.03292397 0.00602592 0.99943969 1.42169498] [ 0. 0. 0. 1. ]] SLAMing on 318.5725578440001 meters Centerline goodness : 0.148502 Centerline is valid? [False, False] Translation: X:3.83, Y:0.41, Z:1.42 [[ 9.99419102e-01 1.76577962e-03 -3.40344112e-02 3.82536534e+00] [-1.90958758e-03 9.99989385e-01 -4.19332738e-03 4.05949309e-01] [ 3.40266454e-02 4.25588317e-03 9.99411864e-01 1.42307010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60255784400005 meters Centerline goodness : 0.095570 Centerline is valid? [False, False] Translation: X:3.78, Y:0.40, Z:1.42 [[ 9.99314615e-01 5.45236732e-04 -3.70135605e-02 3.78166519e+00] [-6.66207825e-04 9.99994477e-01 -3.25603625e-03 3.98905238e-01] [ 3.70115808e-02 3.27846333e-03 9.99309459e-01 1.42245813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6325578440001 meters Centerline goodness : 0.136898 Centerline is valid? [False, False] Translation: X:3.78, Y:0.40, Z:1.42 [[ 9.99313425e-01 7.83552414e-04 -3.70413829e-02 3.78179172e+00] [-8.82603960e-04 9.99996079e-01 -2.65780155e-03 3.95886510e-01] [ 3.70391551e-02 2.68866964e-03 9.99310198e-01 1.42239618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66255784400005 meters Centerline goodness : 0.140065 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99315938e-01 1.01662384e-03 -3.69678539e-02 3.78147279e+00] [-1.09511582e-03 9.99997189e-01 -2.10306253e-03 3.93145107e-01] [ 3.69656119e-02 2.14210798e-03 9.99314242e-01 1.42264613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.692557844 meters Centerline goodness : 0.134681 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99317655e-01 1.42961531e-03 -3.69077219e-02 3.78136202e+00] [-1.47756855e-03 9.99998099e-01 -1.27203062e-03 3.89298144e-01] [ 3.69058333e-02 1.32569634e-03 9.99317868e-01 1.42270249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72255784400005 meters Centerline goodness : 0.169561 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99311250e-01 1.52777412e-03 -3.70768254e-02 3.78203046e+00] [-1.57211673e-03 9.99998083e-01 -1.16684058e-03 3.88773503e-01] [ 3.70749717e-02 1.22432602e-03 9.99311737e-01 1.42231216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.752557844 meters Centerline goodness : 0.126211 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99310234e-01 1.60271977e-03 -3.71010475e-02 3.78233062e+00] [-1.64431145e-03 9.99998053e-01 -1.09055165e-03 3.88461624e-01] [ 3.70992275e-02 1.15080510e-03 9.99310924e-01 1.42192561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78255784400005 meters Centerline goodness : 0.132040 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99317613e-01 1.71645753e-03 -3.68966487e-02 3.78180706e+00] [-1.75262156e-03 9.99998015e-01 -9.47822295e-04 3.87948388e-01] [ 3.68949486e-02 1.01184137e-03 9.99318637e-01 1.42192777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.812557844 meters Centerline goodness : 0.145572 Centerline is valid? [False, False] Translation: X:3.80, Y:0.39, Z:1.42 [[ 9.99401069e-01 1.00112874e-02 -3.31251910e-02 3.80132500e+00] [-1.00924721e-02 9.99946460e-01 -2.28454383e-03 3.85541672e-01] [ 3.31005463e-02 2.61749061e-03 9.99448599e-01 1.42204321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84255784400005 meters Centerline goodness : 0.122508 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99458276e-01 7.70906998e-04 -3.29022935e-02 3.78161741e+00] [-8.32049444e-04 9.99997952e-01 -1.84465206e-03 3.90730665e-01] [ 3.29008041e-02 1.87102911e-03 9.99456871e-01 1.42081811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.872557844 meters Centerline goodness : 0.123849 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99454886e-01 7.73877649e-04 -3.30050412e-02 3.78202962e+00] [-8.34187451e-04 9.99998008e-01 -1.81355983e-03 3.90503866e-01] [ 3.30035719e-02 1.84010363e-03 9.99453540e-01 1.42055573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90255784400006 meters Centerline goodness : 0.123849 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99454886e-01 7.73877649e-04 -3.30050412e-02 3.78202962e+00] [-8.34187451e-04 9.99998008e-01 -1.81355983e-03 3.90503866e-01] [ 3.30035719e-02 1.84010363e-03 9.99453540e-01 1.42055573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93255784400003 meters Centerline goodness : 0.136796 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99450842e-01 7.48387515e-04 -3.31278375e-02 3.78264787e+00] [-8.11469886e-04 9.99997883e-01 -1.89080647e-03 3.90903759e-01] [ 3.31263523e-02 1.91665037e-03 9.99449334e-01 1.42004815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96255784400006 meters Centerline goodness : 0.138141 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99452044e-01 7.75110372e-04 -3.30909355e-02 3.78280242e+00] [-8.39270172e-04 9.99997795e-01 -1.92504760e-03 3.91457214e-01] [ 3.30893704e-02 1.95176499e-03 9.99450491e-01 1.41960516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99255784400003 meters Centerline goodness : 0.156714 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99458872e-01 7.64736497e-04 -3.28843057e-02 3.78217877e+00] [-8.31166112e-04 9.99997642e-01 -2.00647848e-03 3.92144420e-01] [ 3.28826937e-02 2.03272504e-03 9.99457151e-01 1.41977009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02255784400006 meters Centerline goodness : 0.122054 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99460442e-01 6.68277750e-04 -3.28386678e-02 3.78178108e+00] [-7.37731994e-04 9.99997517e-01 -2.10294326e-03 3.92256374e-01] [ 3.28371809e-02 2.12603473e-03 9.99458453e-01 1.42023112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05255784400003 meters Centerline goodness : 0.142082 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99463273e-01 6.35660054e-04 -3.27530498e-02 3.78127890e+00] [-7.05547462e-04 9.99997499e-01 -2.12225464e-03 3.92232009e-01] [ 3.27516189e-02 2.14422440e-03 9.99461222e-01 1.42069014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08255784400006 meters Centerline goodness : 0.124986 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99457906e-01 -6.50352481e-03 -3.22738010e-02 3.79995173e+00] [ 6.47206188e-03 9.99978474e-01 -1.07924690e-03 3.98006414e-01] [ 3.22801252e-02 8.69783807e-04 9.99478483e-01 1.42289486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11255784400004 meters Centerline goodness : 0.119560 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99456201e-01 -6.53384465e-03 -3.23204397e-02 3.80001974e+00] [ 6.49960959e-03 9.99978200e-01 -1.16418897e-03 3.98458277e-01] [ 3.23273418e-02 9.53485643e-04 9.99476880e-01 1.42292730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14255784400007 meters Centerline goodness : 0.094198 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99450681e-01 -6.60897370e-03 -3.24755089e-02 3.80077733e+00] [ 6.57017342e-03 9.99977569e-01 -1.30132402e-03 3.99006969e-01] [ 3.24833809e-02 1.08723945e-03 9.99471684e-01 1.42231454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17255784400004 meters Centerline goodness : 0.118260 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99439663e-01 -6.71190506e-03 -3.27919196e-02 3.80191184e+00] [ 6.66733612e-03 9.99976695e-01 -1.46830307e-03 3.99612417e-01] [ 3.28010105e-02 1.24884557e-03 9.99461122e-01 1.42174947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20255784400007 meters Centerline goodness : 0.137241 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99442870e-01 -6.69211293e-03 -3.26980935e-02 3.80132384e+00] [ 6.64687464e-03 9.99976796e-01 -1.49201914e-03 3.99950807e-01] [ 3.27073195e-02 1.27384776e-03 9.99464161e-01 1.42228928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23255784400004 meters Centerline goodness : 0.138409 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99452191e-01 -6.63674131e-03 -3.24233224e-02 3.80006013e+00] [ 6.59066218e-03 9.99977114e-01 -1.52784076e-03 4.00561270e-01] [ 3.24327203e-02 1.31331263e-03 9.99473058e-01 1.42317208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26255784400007 meters Centerline goodness : 0.140228 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99460694e-01 -6.62968442e-03 -3.21616114e-02 3.79905872e+00] [ 6.57891406e-03 9.99976940e-01 -1.68416733e-03 4.01646386e-01] [ 3.21720353e-02 1.47167057e-03 9.99481263e-01 1.42372234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29255784400004 meters Centerline goodness : 0.139742 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99462715e-01 -6.69032747e-03 -3.20861461e-02 3.79895269e+00] [ 6.62915465e-03 9.99976002e-01 -2.01252006e-03 4.03438914e-01] [ 3.20988405e-02 1.79873474e-03 9.99483081e-01 1.42352944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3225578440001 meters Centerline goodness : 0.110952 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 9.99454194e-01 -6.74299701e-03 -3.23395405e-02 3.80007373e+00] [ 6.66678935e-03 9.99974742e-01 -2.46373670e-03 4.05955686e-01] [ 3.23553366e-02 2.24679107e-03 9.99473904e-01 1.42262876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35255784400005 meters Centerline goodness : 0.137272 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 9.99453968e-01 -3.62932821e-03 -3.28419374e-02 3.80345327e+00] [ 3.62425681e-03 9.99993409e-01 -2.13947184e-04 4.11497403e-01] [ 3.28424974e-02 9.48027466e-05 9.99460535e-01 1.41980878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3825578440001 meters Centerline goodness : 0.140136 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:1.42 [[ 9.99480989e-01 5.38162130e-03 -3.17614609e-02 3.82311902e+00] [-5.44730970e-03 9.99983199e-01 -1.98201218e-03 4.13419991e-01] [ 3.17502609e-02 2.15399801e-03 9.99493512e-01 1.42132818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41255784400005 meters Centerline goodness : 0.131478 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:1.42 [[ 9.99488828e-01 5.19028753e-03 -3.15458834e-02 3.82229561e+00] [-5.27398686e-03 9.99982788e-01 -2.57062860e-03 4.16454138e-01] [ 3.15319981e-02 2.73568714e-03 9.99498999e-01 1.42166994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.442557844 meters Centerline goodness : 0.095925 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:1.42 [[ 9.99499722e-01 -2.50379515e-03 -3.15283458e-02 3.79884016e+00] [ 2.48835045e-03 9.99996764e-01 -5.29094100e-04 4.21019700e-01] [ 3.15295685e-02 4.50375832e-04 9.99502718e-01 1.42172527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47255784400005 meters Centerline goodness : 0.125180 Centerline is valid? [False, False] Translation: X:3.80, Y:0.43, Z:1.42 [[ 9.99500131e-01 -2.86400451e-03 -3.14846921e-02 3.79881308e+00] [ 2.81847433e-03 9.99994917e-01 -1.49039079e-03 4.25958880e-01] [ 3.14888006e-02 1.40090699e-03 9.99503123e-01 1.42143578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.502557844 meters Centerline goodness : 0.138356 Centerline is valid? [False, False] Translation: X:3.80, Y:0.43, Z:1.42 [[ 9.99501801e-01 -3.04614156e-03 -3.14144883e-02 3.79885614e+00] [ 2.98821756e-03 9.99993748e-01 -1.89064609e-03 4.27765922e-01] [ 3.14200511e-02 1.79583085e-03 9.99504655e-01 1.42102508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53255784400005 meters Centerline goodness : 0.139983 Centerline is valid? [False, False] Translation: X:3.80, Y:0.43, Z:1.42 [[ 9.99505543e-01 -3.21765993e-03 -3.12780320e-02 3.79867185e+00] [ 3.14795824e-03 9.99992452e-01 -2.27744276e-03 4.29580529e-01] [ 3.12851239e-02 2.17785473e-03 9.99508128e-01 1.42070075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.562557844 meters Centerline goodness : 0.094990 Centerline is valid? [False, False] Translation: X:3.80, Y:0.43, Z:1.42 [[ 9.99507848e-01 -3.36336369e-03 -3.11889256e-02 3.79852404e+00] [ 3.28377686e-03 9.99991222e-01 -2.60263573e-03 4.31192789e-01] [ 3.11974054e-02 2.49893736e-03 9.99510119e-01 1.42053785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59255784400005 meters Centerline goodness : 0.118649 Centerline is valid? [False, False] Translation: X:3.80, Y:0.43, Z:1.42 [[ 9.99508998e-01 -3.51652664e-03 -3.11351496e-02 3.79842021e+00] [ 3.42601156e-03 9.99989750e-01 -2.96003782e-03 4.32944873e-01] [ 3.11452395e-02 2.85191505e-03 9.99510801e-01 1.42042320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.622557844 meters Centerline goodness : 0.142381 Centerline is valid? [False, False] Translation: X:3.80, Y:0.44, Z:1.42 [[ 9.99509789e-01 -3.84546831e-03 -3.10707952e-02 3.79799668e+00] [ 3.73045916e-03 9.99985978e-01 -3.75864016e-03 4.37027607e-01] [ 3.10848133e-02 3.64088930e-03 9.99510119e-01 1.42068362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65255784400006 meters Centerline goodness : 0.144317 Centerline is valid? [False, False] Translation: X:3.80, Y:0.44, Z:1.42 [[ 0.99951243 -0.0040017 -0.03096602 3.79779885] [ 0.00387345 0.99998368 -0.00420063 0.43937979] [ 0.03098233 0.00407864 0.99951161 1.42052534] [ 0. 0. 0. 1. ]] SLAMing on 319.68255784400003 meters Centerline goodness : 0.096965 Centerline is valid? [False, False] Translation: X:3.80, Y:0.44, Z:1.42 [[ 0.99950932 -0.0042142 -0.03103795 3.79814498] [ 0.00406901 0.99998049 -0.00473963 0.44203796] [ 0.03105732 0.00461101 0.99950697 1.42019529] [ 0. 0. 0. 1. ]] SLAMing on 319.71255784400006 meters Centerline goodness : 0.114306 Centerline is valid? [False, False] Translation: X:3.82, Y:0.44, Z:1.42 [[ 0.99954334 0.0043716 -0.0298999 3.81828246] [-0.00456179 0.99996978 -0.00629584 0.44307107] [ 0.02987148 0.00642936 0.99953307 1.42077811] [ 0. 0. 0. 1. ]] SLAMing on 319.74255784400003 meters Centerline goodness : 0.150664 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 0.9995448 0.00399187 -0.02990405 3.81834717] [-0.00420715 0.99996566 -0.0071394 0.4470761 ] [ 0.02987452 0.00726197 0.99952728 1.4206264 ] [ 0. 0. 0. 1. ]] SLAMing on 319.77255784400006 meters Centerline goodness : 0.132698 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 0.99954366 0.00381991 -0.02996481 3.81851151] [-0.00404481 0.99996408 -0.00744835 0.44842027] [ 0.02993528 0.00756615 0.9995232 1.4206038 ] [ 0. 0. 0. 1. ]] SLAMing on 319.80255784400003 meters Centerline goodness : 0.147203 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99536248e-01 3.60846255e-03 -3.02368746e-02 3.81927489e+00] [-3.84500702e-03 9.99962432e-01 -7.76855747e-03 4.49592626e-01] [ 3.02077061e-02 7.88121577e-03 9.99512572e-01 1.42046063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83255784400006 meters Centerline goodness : 0.133470 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99529223e-01 3.43581956e-03 -3.04881521e-02 3.81981272e+00] [-3.67906276e-03 9.99961823e-01 -7.92577892e-03 4.49971077e-01] [ 3.04597566e-02 8.03421547e-03 9.99503704e-01 1.42061711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86255784400004 meters Centerline goodness : 0.119907 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99529746e-01 3.32743298e-03 -3.04830253e-02 3.81946093e+00] [-3.57076142e-03 9.99962170e-01 -7.93146827e-03 4.49728476e-01] [ 3.04554807e-02 8.03658608e-03 9.99503815e-01 1.42121127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89255784400007 meters Centerline goodness : 0.115304 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99539126e-01 3.20890472e-03 -3.01867419e-02 3.81834861e+00] [-3.45012929e-03 9.99962507e-01 -7.94238754e-03 4.49537817e-01] [ 3.01601238e-02 8.04287526e-03 9.99512721e-01 1.42186848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92255784400004 meters Centerline goodness : 0.152809 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99535749e-01 2.91554853e-03 -3.03279824e-02 3.81883399e+00] [-3.16379323e-03 9.99961860e-01 -8.14057135e-03 4.49909557e-01] [ 3.03030914e-02 8.23274355e-03 9.99506851e-01 1.42172471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95255784400007 meters Centerline goodness : 0.157860 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99532456e-01 2.86402235e-03 -3.04412061e-02 3.81933158e+00] [-3.11531336e-03 9.99961439e-01 -8.21074255e-03 4.50230623e-01] [ 3.04165165e-02 8.30173756e-03 9.99502835e-01 1.42133279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98255784400004 meters Centerline goodness : 0.142483 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99530185e-01 2.84850536e-03 -3.05171172e-02 3.81958982e+00] [-3.10162089e-03 9.99961157e-01 -8.25009063e-03 4.50545462e-01] [ 3.04924314e-02 8.34086714e-03 9.99500196e-01 1.42120897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01255784400007 meters Centerline goodness : 0.156192 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99528121e-01 2.81767465e-03 -3.05875304e-02 3.81982029e+00] [-3.07303201e-03 9.99960794e-01 -8.30461738e-03 4.50863851e-01] [ 3.05629314e-02 8.39469506e-03 9.99497592e-01 1.42113694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04255784400004 meters Centerline goodness : 0.147097 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99520810e-01 2.71865485e-03 -3.08343961e-02 3.82035941e+00] [-2.97718487e-03 9.99960776e-01 -8.34165899e-03 4.50289256e-01] [ 3.08105086e-02 8.42946145e-03 9.99489698e-01 1.42131485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0725578440001 meters Centerline goodness : 0.153169 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99517943e-01 2.69105019e-03 -3.09295953e-02 3.82046742e+00] [-2.94927990e-03 9.99961152e-01 -8.30636583e-03 4.49662455e-01] [ 3.09060409e-02 8.39358172e-03 9.99487051e-01 1.42153547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10255784400005 meters Centerline goodness : 0.135438 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99516362e-01 2.66911979e-03 -3.09825342e-02 3.82072477e+00] [-2.92840895e-03 9.99961046e-01 -8.32652487e-03 4.49582688e-01] [ 3.09591029e-02 8.41322738e-03 9.99485243e-01 1.42132692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1325578440001 meters Centerline goodness : 0.135485 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99514948e-01 2.68239919e-03 -3.10269701e-02 3.82094570e+00] [-2.94256071e-03 9.99960872e-01 -8.34239319e-03 4.49760602e-01] [ 3.10033784e-02 8.42964544e-03 9.99483733e-01 1.42113044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16255784400005 meters Centerline goodness : 0.112397 Centerline is valid? [False, False] Translation: X:3.84, Y:0.46, Z:1.42 [[ 9.99497448e-01 -4.01575317e-03 -3.14440135e-02 3.83986326e+00] [ 3.79802072e-03 9.99968419e-01 -6.98111691e-03 4.55182851e-01] [ 3.14710549e-02 6.85818352e-03 9.99481134e-01 1.42306301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.192557844 meters Centerline goodness : 0.124624 Centerline is valid? [False, False] Translation: X:3.84, Y:0.45, Z:1.42 [[ 9.99498779e-01 -3.96061379e-03 -3.14086676e-02 3.83987242e+00] [ 3.74629601e-03 9.99969319e-01 -6.87943828e-03 4.54681335e-01] [ 3.14349507e-02 6.75832400e-03 9.99482951e-01 1.42291334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22255784400005 meters Centerline goodness : 0.143545 Centerline is valid? [False, False] Translation: X:3.84, Y:0.45, Z:1.42 [[ 9.99509061e-01 -3.71698027e-03 -3.11098197e-02 3.83881469e+00] [ 3.52225961e-03 9.99973878e-01 -6.31160112e-03 4.51877220e-01] [ 3.11324671e-02 6.19892565e-03 9.99496044e-01 1.42339665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.252557844 meters Centerline goodness : 0.140549 Centerline is valid? [False, False] Translation: X:3.84, Y:0.45, Z:1.42 [[ 9.99512202e-01 -3.54527846e-03 -3.10288348e-02 3.83837117e+00] [ 3.36185591e-03 9.99976579e-01 -5.96153293e-03 4.50378951e-01] [ 3.10492433e-02 5.85431044e-03 9.99500711e-01 1.42375749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28255784400005 meters Centerline goodness : 0.133496 Centerline is valid? [False, False] Translation: X:3.84, Y:0.45, Z:1.42 [[ 9.99513412e-01 -3.37038798e-03 -3.10093525e-02 3.83819845e+00] [ 3.19892923e-03 9.99979331e-01 -5.57720911e-03 4.48674659e-01] [ 3.10275090e-02 5.47529858e-03 9.99503534e-01 1.42397040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.312557844 meters Centerline goodness : 0.152398 Centerline is valid? [False, False] Translation: X:3.84, Y:0.45, Z:1.42 [[ 9.99507915e-01 -3.24309963e-03 -3.11995134e-02 3.83874707e+00] [ 3.08179352e-03 9.99981643e-01 -5.21684683e-03 4.46842488e-01] [ 3.12158594e-02 5.11812924e-03 9.99499562e-01 1.42389823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34255784400005 meters Centerline goodness : 0.112066 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99502494e-01 -3.10513498e-03 -3.13866644e-02 3.83940917e+00] [ 2.95573357e-03 9.99984086e-01 -4.80530480e-03 4.44618514e-01] [ 3.14010860e-02 4.71014351e-03 9.99495766e-01 1.42362413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.372557844 meters Centerline goodness : 0.137701 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99502492e-01 -2.82226994e-03 -3.14134185e-02 3.83928734e+00] [ 2.69793339e-03 9.99988361e-01 -3.99975410e-03 4.40546412e-01] [ 3.14243413e-02 3.91301288e-03 9.99498474e-01 1.42396714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40255784400006 meters Centerline goodness : 0.149351 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99509015e-01 -2.65720998e-03 -3.12196837e-02 3.83853731e+00] [ 2.54504954e-03 9.99990166e-01 -3.63180778e-03 4.38899529e-01] [ 3.12290271e-02 3.55056898e-03 9.99505949e-01 1.42439031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43255784400003 meters Centerline goodness : 0.156392 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99510202e-01 -2.54959928e-03 -3.11906392e-02 3.83834792e+00] [ 2.44476394e-03 9.99991236e-01 -3.39879027e-03 4.37786210e-01] [ 3.11990314e-02 3.32087180e-03 9.99507675e-01 1.42458640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46255784400006 meters Centerline goodness : 0.149773 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99508375e-01 -2.51635731e-03 -3.12518157e-02 3.83875473e+00] [ 2.41275336e-03 9.99991470e-01 -3.35240232e-03 4.37491338e-01] [ 3.12599850e-02 3.27535127e-03 9.99505921e-01 1.42417279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49255784400003 meters Centerline goodness : 0.149278 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99499724e-01 -2.47771671e-03 -3.15303453e-02 3.84009073e+00] [ 2.36788311e-03 9.99991000e-01 -3.52028803e-03 4.38610412e-01] [ 3.15387839e-02 3.44386674e-03 9.99496596e-01 1.42310390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52255784400006 meters Centerline goodness : 0.143003 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99504138e-01 -2.49016486e-03 -3.13891177e-02 3.83979208e+00] [ 2.37775089e-03 9.99990628e-01 -3.61812221e-03 4.39312358e-01] [ 3.13978333e-02 3.54169262e-03 9.99500692e-01 1.42300311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55255784400003 meters Centerline goodness : 0.113993 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99511599e-01 -2.50049316e-03 -3.11498159e-02 3.83897226e+00] [ 2.38609221e-03 9.99990274e-01 -3.70923524e-03 4.39896753e-01] [ 3.11587878e-02 3.63309731e-03 9.99507844e-01 1.42332454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58255784400006 meters Centerline goodness : 0.126825 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99515844e-01 -2.52727980e-03 -3.10111362e-02 3.83836081e+00] [ 2.41092909e-03 9.99989916e-01 -3.78871947e-03 4.40289651e-01] [ 3.10203986e-02 3.71211949e-03 9.99511858e-01 1.42371464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61255784400004 meters Centerline goodness : 0.114130 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99515223e-01 -2.56696918e-03 -3.10278771e-02 3.83833769e+00] [ 2.44857855e-03 9.99989579e-01 -3.85301576e-03 4.40554398e-01] [ 3.10374444e-02 3.77517371e-03 9.99511093e-01 1.42380272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64255784400007 meters Centerline goodness : 0.118595 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99512743e-01 -2.61205874e-03 -3.11039254e-02 3.83863879e+00] [ 2.49094944e-03 9.99989168e-01 -3.93181069e-03 4.40947564e-01] [ 3.11138586e-02 3.85241659e-03 9.99508423e-01 1.42358641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67255784400004 meters Centerline goodness : 0.113243 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99491111e-01 -2.83551257e-03 -3.17723088e-02 3.84078334e+00] [ 2.70799212e-03 9.99988108e-01 -4.05588407e-03 4.41035544e-01] [ 3.17834315e-02 3.96778092e-03 9.99486903e-01 1.42280526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70255784400007 meters Centerline goodness : 0.114780 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99483163e-01 -2.93718752e-03 -3.20121807e-02 3.84150087e+00] [ 2.80888671e-03 9.99987845e-01 -4.05210911e-03 4.40564169e-01] [ 3.20236934e-02 3.96009625e-03 9.99479265e-01 1.42263917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73255784400004 meters Centerline goodness : 0.130443 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99482285e-01 -2.97112482e-03 -3.20364388e-02 3.84140829e+00] [ 2.84671727e-03 9.99988233e-01 -3.92822627e-03 4.39633445e-01] [ 3.20477331e-02 3.83499388e-03 9.99478982e-01 1.42287875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76255784400007 meters Centerline goodness : 0.112789 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99482425e-01 -2.98387436e-03 -3.20309004e-02 3.84106585e+00] [ 2.86315012e-03 9.99988627e-01 -3.81419816e-03 4.38918141e-01] [ 3.20419172e-02 3.72051475e-03 9.99479601e-01 1.42340122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79255784400004 meters Centerline goodness : 0.113732 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99482982e-01 -2.95575379e-03 -3.20161089e-02 3.84082346e+00] [ 2.83871103e-03 9.99989124e-01 -3.70058329e-03 4.38498485e-01] [ 3.20266987e-02 3.60778554e-03 9.99480502e-01 1.42372465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8225578440001 meters Centerline goodness : 0.113732 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99482982e-01 -2.95575379e-03 -3.20161089e-02 3.84082346e+00] [ 2.83871103e-03 9.99989124e-01 -3.70058329e-03 4.38498485e-01] [ 3.20266987e-02 3.60778554e-03 9.99480502e-01 1.42372465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85255784400005 meters Centerline goodness : 0.113186 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99480895e-01 -2.98559765e-03 -3.20784596e-02 3.84080263e+00] [ 2.87353014e-03 9.99989609e-01 -3.53907764e-03 4.37598071e-01] [ 3.20886926e-02 3.44506206e-03 9.99479088e-01 1.42403669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8825578440001 meters Centerline goodness : 0.113030 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99475959e-01 -3.04286664e-03 -3.22265186e-02 3.84120180e+00] [ 2.93201475e-03 9.99989624e-01 -3.48647067e-03 4.36958335e-01] [ 3.22367931e-02 3.39015498e-03 9.99474510e-01 1.42400187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91255784400005 meters Centerline goodness : 0.115488 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99475550e-01 -3.03886669e-03 -3.22395787e-02 3.84131998e+00] [ 2.93318652e-03 9.99990171e-01 -3.32475242e-03 4.36269542e-01] [ 3.22493653e-02 3.22844406e-03 9.99474640e-01 1.42369715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.942557844 meters Centerline goodness : 0.156999 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:1.42 [[ 9.99481541e-01 -2.94469497e-03 -3.20620808e-02 3.84095045e+00] [ 2.85578005e-03 9.99991950e-01 -2.81865111e-03 4.34533215e-01] [ 3.20701228e-02 2.72562751e-03 9.99481905e-01 1.42324006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97255784400005 meters Centerline goodness : 0.150289 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:1.42 [[ 9.99604227e-01 2.47907874e-03 -2.80221965e-02 3.82015987e+00] [-2.57329184e-03 9.99991156e-01 -3.32652686e-03 4.22300207e-01] [ 2.80137020e-02 3.39731960e-03 9.99601766e-01 1.42064694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.002557844 meters Centerline goodness : 0.112424 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:1.42 [[ 9.99608135e-01 -5.76231935e-03 -2.73929370e-02 3.84062846e+00] [ 5.69140975e-03 9.99980250e-01 -2.66587185e-03 4.23192774e-01] [ 2.74077576e-02 2.50892276e-03 9.99621188e-01 1.42213889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03255784400005 meters Centerline goodness : 0.157565 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:1.42 [[ 9.99611496e-01 -6.08018175e-03 -2.72008878e-02 3.83978301e+00] [ 6.01222617e-03 9.99978600e-01 -2.57937307e-03 4.21714305e-01] [ 2.72159887e-02 2.41483309e-03 9.99626660e-01 1.42242181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.062557844 meters Centerline goodness : 0.152811 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:1.42 [[ 9.99620112e-01 -6.16057823e-03 -2.68641005e-02 3.83871334e+00] [ 6.10058147e-03 9.99978712e-01 -2.31473052e-03 4.20367090e-01] [ 2.68777887e-02 2.14996454e-03 9.99636415e-01 1.42255940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09255784400005 meters Centerline goodness : 0.151990 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:1.42 [[ 9.99623088e-01 -6.00567382e-03 -2.67883117e-02 3.83829905e+00] [ 5.95431585e-03 9.99980280e-01 -1.99653426e-03 4.19132816e-01] [ 2.67997740e-02 1.83627567e-03 9.99639135e-01 1.42291911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.122557844 meters Centerline goodness : 0.142944 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99624025e-01 3.39968529e-03 -2.72075447e-02 3.85768882e+00] [-3.43283430e-03 9.99993421e-01 -1.17176003e-03 4.13988576e-01] [ 2.72033821e-02 1.26471847e-03 9.99629119e-01 1.42349394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15255784400006 meters Centerline goodness : 0.133354 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99622304e-01 3.36865654e-03 -2.72745663e-02 3.85810393e+00] [-3.40446147e-03 9.99993403e-01 -1.26642904e-03 4.14384506e-01] [ 2.72701202e-02 1.35880592e-03 9.99627178e-01 1.42311696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18255784400003 meters Centerline goodness : 0.155952 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99623928e-01 3.33827053e-03 -2.72186994e-02 3.85804098e+00] [-3.37700332e-03 9.99993350e-01 -1.37717811e-03 4.14843743e-01] [ 2.72139210e-02 1.46857783e-03 9.99628554e-01 1.42295532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21255784400006 meters Centerline goodness : 0.131033 Centerline is valid? [False, False] Translation: X:3.86, Y:0.42, Z:1.42 [[ 9.99623234e-01 3.30143437e-03 -2.72486929e-02 3.85812595e+00] [-3.34255287e-03 9.99993343e-01 -1.46359721e-03 4.15202839e-01] [ 2.72436796e-02 1.55412597e-03 9.99627614e-01 1.42290486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24255784400003 meters Centerline goodness : 0.132237 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99622148e-01 3.34843796e-03 -2.72827790e-02 3.85817026e+00] [-3.38517177e-03 9.99993425e-01 -1.30033413e-03 4.14472779e-01] [ 2.72782455e-02 1.39219969e-03 9.99626910e-01 1.42293870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27255784400006 meters Centerline goodness : 0.123752 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99621079e-01 3.37254437e-03 -2.73189408e-02 3.85821281e+00] [-3.40546208e-03 9.99993530e-01 -1.15850492e-03 4.13689122e-01] [ 2.73148569e-02 1.25109955e-03 9.99626097e-01 1.42298404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30255784400003 meters Centerline goodness : 0.155459 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99620147e-01 3.34401813e-03 -2.73565288e-02 3.85817735e+00] [-3.37482759e-03 9.99993722e-01 -1.08012631e-03 4.13068914e-01] [ 2.73527451e-02 1.17203959e-03 9.99625157e-01 1.42316735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33255784400006 meters Centerline goodness : 0.118861 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99618185e-01 3.30304279e-03 -2.74330897e-02 3.85828452e+00] [-3.33071460e-03 9.99993989e-01 -9.63068623e-04 4.12197021e-01] [ 2.74297437e-02 1.05407270e-03 9.99623178e-01 1.42326561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36255784400004 meters Centerline goodness : 0.153755 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99607451e-01 2.85689038e-03 -2.78708079e-02 3.85941533e+00] [-2.88848969e-03 9.99995230e-01 -1.09358364e-03 4.11631595e-01] [ 2.78675507e-02 1.17365890e-03 9.99610935e-01 1.42316388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39255784400007 meters Centerline goodness : 0.135245 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99604450e-01 2.79367067e-03 -2.79846209e-02 3.85956074e+00] [-2.82106352e-03 9.99995580e-01 -9.39420561e-04 4.10596121e-01] [ 2.79818727e-02 1.01799537e-03 9.99607912e-01 1.42336196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42255784400004 meters Centerline goodness : 0.124108 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99604510e-01 2.69423126e-03 -2.79922255e-02 3.85932524e+00] [-2.71757777e-03 9.99995991e-01 -7.96026028e-04 4.09547931e-01] [ 2.79899686e-02 8.71782258e-04 9.99607824e-01 1.42376320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45255784400007 meters Centerline goodness : 0.144400 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99595698e-01 2.52236521e-03 -2.83209871e-02 3.85984918e+00] [-2.54194430e-03 9.99996555e-01 -6.55346653e-04 4.08332628e-01] [ 2.83192365e-02 7.27072067e-04 9.99598666e-01 1.42418078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48255784400004 meters Centerline goodness : 0.143050 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99591266e-01 2.40418012e-03 -2.84871973e-02 3.86016990e+00] [-2.41955235e-03 9.99996945e-01 -5.05161016e-04 4.07237845e-01] [ 2.84858958e-02 5.73880805e-04 9.99594030e-01 1.42423801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51255784400007 meters Centerline goodness : 0.130796 Centerline is valid? [False, False] Translation: X:3.88, Y:0.41, Z:1.42 [[ 9.99603496e-01 -6.88264404e-03 -2.73034781e-02 3.88080028e+00] [ 6.87521892e-03 9.99976298e-01 -3.65815885e-04 4.08515699e-01] [ 2.73053488e-02 1.77953448e-04 9.99627124e-01 1.42489017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54255784400004 meters Centerline goodness : 0.148052 Centerline is valid? [False, False] Translation: X:3.88, Y:0.41, Z:1.42 [[ 9.99594171e-01 -7.08257617e-03 -2.75922180e-02 3.88158389e+00] [ 7.07951922e-03 9.99974918e-01 -2.08478011e-04 4.06906194e-01] [ 2.75930025e-02 1.30537665e-05 9.99619241e-01 1.42473793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5725578440001 meters Centerline goodness : 0.144525 Centerline is valid? [False, False] Translation: X:3.88, Y:0.41, Z:1.42 [[ 9.99578898e-01 -7.24447895e-03 -2.80988178e-02 3.88284546e+00] [ 7.24748615e-03 9.99973737e-01 5.17931451e-06 4.05099862e-01] [ 2.80980423e-02 -2.08822926e-04 9.99605150e-01 1.42465619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60255784400005 meters Centerline goodness : 0.122813 Centerline is valid? [False, False] Translation: X:3.88, Y:0.40, Z:1.42 [[ 9.99567551e-01 -7.28977975e-03 -2.84880784e-02 3.88378913e+00] [ 7.30173657e-03 9.99973292e-01 3.15706830e-04 4.03235185e-01] [ 2.84850161e-02 -5.23582747e-04 9.99594082e-01 1.42460722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6325578440001 meters Centerline goodness : 0.114085 Centerline is valid? [False, False] Translation: X:3.88, Y:0.40, Z:1.42 [[ 9.99562967e-01 -7.25122075e-03 -2.86582586e-02 3.88430496e+00] [ 7.27056675e-03 9.99973406e-01 5.70912180e-04 4.01969775e-01] [ 2.86533567e-02 -7.79024455e-04 9.99589105e-01 1.42439265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66255784400005 meters Centerline goodness : 0.144973 Centerline is valid? [False, False] Translation: X:3.88, Y:0.40, Z:1.42 [[ 9.99569649e-01 -7.28594075e-03 -2.84153293e-02 3.88345651e+00] [ 7.31468946e-03 9.99972835e-01 9.07916660e-04 4.00120095e-01] [ 2.84079423e-02 -1.11537525e-03 9.99595791e-01 1.42477283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.692557844 meters SLAMing on 321.72255784400005 meters Centerline goodness : 0.085810 Centerline is valid? [False, False] Translation: X:3.88, Y:0.40, Z:1.43 [[ 9.99576095e-01 -7.30230729e-03 -2.81834363e-02 3.88252182e+00] [ 7.33479005e-03 9.99972549e-01 1.04933830e-03 3.99402417e-01] [ 2.81750001e-02 -1.25561307e-03 9.99602217e-01 1.42528513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.752557844 meters SLAMing on 321.78255784400005 meters Centerline goodness : 0.109549 Centerline is valid? [False, False] Translation: X:3.88, Y:0.40, Z:1.42 [[ 9.99571507e-01 -7.33942422e-03 -2.83360980e-02 3.88326065e+00] [ 7.37160955e-03 9.99972297e-01 1.03154541e-03 3.99568841e-01] [ 2.83277420e-02 -1.23998605e-03 9.99597920e-01 1.42468101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.812557844 meters Centerline goodness : 0.137202 Centerline is valid? [False, False] Translation: X:3.86, Y:0.40, Z:1.42 [[ 9.99647366e-01 8.75441108e-05 -2.65544039e-02 3.86234475e+00] [-7.40833818e-05 9.99999868e-01 5.07894730e-04 3.95703250e-01] [ 2.65544449e-02 -5.05748389e-04 9.99647241e-01 1.42285964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84255784400005 meters Centerline goodness : 0.130587 Centerline is valid? [False, False] Translation: X:3.86, Y:0.40, Z:1.42 [[ 9.99653065e-01 1.52424260e-04 -2.63387000e-02 3.86157086e+00] [-1.38839686e-04 9.99999856e-01 5.17592758e-04 3.96003665e-01] [ 2.63387751e-02 -5.13756330e-04 9.99652942e-01 1.42324082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.872557844 meters Centerline goodness : 0.143928 Centerline is valid? [False, False] Translation: X:3.86, Y:0.40, Z:1.42 [[ 9.99656870e-01 1.29958379e-04 -2.61940125e-02 3.86114018e+00] [-1.19539323e-04 9.99999913e-01 3.99330264e-04 3.96715586e-01] [ 2.61940621e-02 -3.96062027e-04 9.99656798e-01 1.42332695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90255784400006 meters Centerline goodness : 0.148536 Centerline is valid? [False, False] Translation: X:3.86, Y:0.40, Z:1.42 [[ 9.99653308e-01 8.31637984e-05 -2.63297595e-02 3.86179202e+00] [-7.63200054e-05 9.99999963e-01 2.60930958e-04 3.97477683e-01] [ 2.63297802e-02 -2.58831008e-04 9.99653278e-01 1.42275281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93255784400003 meters Centerline goodness : 0.159536 Centerline is valid? [False, False] Translation: X:3.86, Y:0.40, Z:1.42 [[ 9.99643096e-01 7.54033685e-06 -2.67148076e-02 3.86317826e+00] [-6.52663605e-06 9.99999999e-01 3.80324723e-05 3.98732376e-01] [ 2.67148079e-02 -3.78445406e-05 9.99643095e-01 1.42204573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96255784400006 meters Centerline goodness : 0.136131 Centerline is valid? [False, False] Translation: X:3.86, Y:0.40, Z:1.42 [[ 9.99638120e-01 -9.48503968e-05 -2.69002038e-02 3.86400269e+00] [ 8.62361310e-05 9.99999945e-01 -3.21390418e-04 4.00755549e-01] [ 2.69002328e-02 3.18954344e-04 9.99638072e-01 1.42149637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99255784400003 meters Centerline goodness : 0.144186 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99656219e-01 1.84199064e-03 -2.61543622e-02 3.85997092e+00] [-1.81428497e-03 9.99997768e-01 1.08300407e-03 4.05742710e-01] [ 2.61562987e-02 -1.03518028e-03 9.99657330e-01 1.42386215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02255784400006 meters Centerline goodness : 0.124992 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99661937e-01 1.71268628e-03 -2.59437441e-02 3.85916647e+00] [-1.69468374e-03 9.99998308e-01 7.15877973e-04 4.07485654e-01] [ 2.59449263e-02 -6.71669520e-04 9.99663148e-01 1.42431915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05255784400003 meters Centerline goodness : 0.141916 Centerline is valid? [False, False] Translation: X:3.88, Y:0.41, Z:1.43 [[ 9.99655223e-01 -5.66185809e-03 -2.56394112e-02 3.87830195e+00] [ 5.70141306e-03 9.99982666e-01 1.46990077e-03 4.13608583e-01] [ 2.56306444e-02 -1.61557486e-03 9.99670176e-01 1.42640277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08255784400006 meters Centerline goodness : 0.150082 Centerline is valid? [False, False] Translation: X:3.88, Y:0.42, Z:1.43 [[ 9.99656835e-01 -5.82232730e-03 -2.55403977e-02 3.87828965e+00] [ 5.85084487e-03 9.99982341e-01 1.04198015e-03 4.15830386e-01] [ 2.55338799e-02 -1.19105548e-03 9.99673248e-01 1.42598506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11255784400004 meters Centerline goodness : 0.123635 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:1.43 [[ 9.99658577e-01 3.12264531e-03 -2.59418330e-02 3.90004578e+00] [-3.12041140e-03 9.99995123e-01 1.26593632e-04 4.17115226e-01] [ 2.59421018e-02 -4.56012189e-05 9.99663446e-01 1.42535958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14255784400007 meters Centerline goodness : 0.164645 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:1.42 [[ 9.99654358e-01 2.84922422e-03 -2.61351596e-02 3.90075907e+00] [-2.86101314e-03 9.99995822e-01 -4.13693172e-04 4.19591877e-01] [ 2.61338717e-02 4.88323218e-04 9.99658333e-01 1.42497083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17255784400004 meters Centerline goodness : 0.145270 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:1.43 [[ 9.99653075e-01 2.61323140e-03 -2.62087806e-02 3.90081645e+00] [-2.63750063e-03 9.99996124e-01 -8.91470088e-04 4.21781296e-01] [ 2.62063494e-02 9.60286490e-04 9.99656093e-01 1.42514745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20255784400007 meters Centerline goodness : 0.138299 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:1.43 [[ 9.99656773e-01 2.38701871e-03 -2.60890296e-02 3.90043056e+00] [-2.42364745e-03 9.99996121e-01 -1.37245934e-03 4.24087505e-01] [ 2.60856524e-02 1.43521889e-03 9.99658681e-01 1.42524748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23255784400004 meters Centerline goodness : 0.109991 Centerline is valid? [False, False] Translation: X:3.85, Y:0.43, Z:1.43 [[ 9.99594827e-01 1.69711358e-03 -2.84130709e-02 3.85327087e+00] [-1.71800206e-03 9.99998272e-01 -7.10775792e-04 4.27849376e-01] [ 2.84118155e-02 7.59301519e-04 9.99596014e-01 1.42608255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26255784400007 meters Centerline goodness : 0.140073 Centerline is valid? [False, False] Translation: X:3.85, Y:0.43, Z:1.42 [[ 9.99588721e-01 1.17847402e-03 -2.86531086e-02 3.85458599e+00] [-1.21858372e-03 9.99998302e-01 -1.38241611e-03 4.30731924e-01] [ 2.86514308e-02 1.41676376e-03 9.99588459e-01 1.42488568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29255784400004 meters Centerline goodness : 0.170202 Centerline is valid? [False, False] Translation: X:3.86, Y:0.43, Z:1.42 [[ 9.99581721e-01 9.34063175e-04 -2.89051926e-02 3.85541212e+00] [-9.81046485e-04 9.99998221e-01 -1.61128909e-03 4.31444642e-01] [ 2.89036361e-02 1.63897246e-03 9.99580859e-01 1.42447412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3225578440001 meters Centerline goodness : 0.137177 Centerline is valid? [False, False] Translation: X:3.86, Y:0.43, Z:1.42 [[ 9.99579047e-01 7.71861080e-04 -2.90023005e-02 3.85580900e+00] [-8.23775150e-04 9.99998080e-01 -1.77809278e-03 4.32018771e-01] [ 2.90008724e-02 1.80123566e-03 9.99577763e-01 1.42412344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35255784400005 meters SLAMing on 322.3825578440001 meters SLAMing on 322.41255784400005 meters Centerline goodness : 0.130375 Centerline is valid? [False, False] Translation: X:3.88, Y:0.44, Z:1.43 [[ 9.99519615e-01 -7.26517148e-03 -3.01289865e-02 3.87687486e+00] [ 7.22026879e-03 9.99972655e-01 -1.59887654e-03 4.41339386e-01] [ 3.01397787e-02 1.38056908e-03 9.99544740e-01 1.42585573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.442557844 meters Centerline goodness : 0.171521 Centerline is valid? [False, False] Translation: X:3.86, Y:0.44, Z:1.42 [[ 9.99533777e-01 6.28789040e-04 -3.05259479e-02 3.85698745e+00] [-7.13395119e-04 9.99995935e-01 -2.76079993e-03 4.39128092e-01] [ 3.05240878e-02 2.78128984e-03 9.99530162e-01 1.42367733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47255784400005 meters Centerline goodness : 0.119473 Centerline is valid? [False, False] Translation: X:3.88, Y:0.44, Z:1.43 [[ 9.99485415e-01 -6.46860381e-03 -3.14175528e-02 3.87628943e+00] [ 6.41673988e-03 9.99977879e-01 -1.75133959e-03 4.44499958e-01] [ 3.14281865e-02 1.54884011e-03 9.99504812e-01 1.42611607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.502557844 meters Centerline goodness : 0.137393 Centerline is valid? [False, False] Translation: X:3.86, Y:0.44, Z:1.42 [[ 9.99513991e-01 1.43907329e-03 -3.11401932e-02 3.85596320e+00] [-1.53087026e-03 9.99994553e-01 -2.92422071e-03 4.43306763e-01] [ 3.11358154e-02 2.97047111e-03 9.99510749e-01 1.42397490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53255784400005 meters Centerline goodness : 0.094023 Centerline is valid? [False, False] Translation: X:3.86, Y:0.45, Z:1.42 [[ 9.99514802e-01 1.27457321e-03 -3.11213156e-02 3.85586378e+00] [-1.38022710e-03 9.99993357e-01 -3.37365805e-03 4.45487202e-01] [ 3.11168089e-02 3.41497564e-03 9.99509921e-01 1.42413500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.562557844 meters Centerline goodness : 0.087531 Centerline is valid? [False, False] Translation: X:3.85, Y:0.45, Z:1.42 [[ 9.99526912e-01 9.44262282e-04 -3.07418415e-02 3.85477246e+00] [-1.07783051e-03 9.99990051e-01 -4.32855386e-03 4.50207776e-01] [ 3.07374483e-02 4.35964057e-03 9.99517985e-01 1.42447901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59255784400005 meters Centerline goodness : 0.170196 Centerline is valid? [False, False] Translation: X:3.85, Y:0.45, Z:1.42 [[ 9.99532643e-01 7.73507271e-04 -3.05597228e-02 3.85415406e+00] [-9.20066777e-04 9.99988143e-01 -4.78206820e-03 4.52443238e-01] [ 3.05556614e-02 4.80795025e-03 9.99521503e-01 1.42475675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.622557844 meters Centerline goodness : 0.102580 Centerline is valid? [False, False] Translation: X:3.85, Y:0.45, Z:1.42 [[ 9.99532935e-01 5.98183923e-04 -3.05541180e-02 3.85412654e+00] [-7.58252117e-04 9.99986049e-01 -5.22752403e-03 4.54725759e-01] [ 3.05505647e-02 5.24825016e-03 9.99519444e-01 1.42478949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65255784400006 meters Centerline goodness : 0.132420 Centerline is valid? [False, False] Translation: X:3.85, Y:0.46, Z:1.42 [[ 9.99529033e-01 2.83529073e-04 -3.06860130e-02 3.85478936e+00] [-4.67642615e-04 9.99981933e-01 -5.99290694e-03 4.58450369e-01] [ 3.06837594e-02 6.00443457e-03 9.99511107e-01 1.42431835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68255784400003 meters Centerline goodness : 0.136655 Centerline is valid? [False, False] Translation: X:3.85, Y:0.46, Z:1.42 [[ 9.99528374e-01 1.39344212e-04 -3.07084696e-02 3.85486628e+00] [-3.32899972e-04 9.99980112e-01 -6.29798648e-03 4.59798184e-01] [ 3.07069813e-02 6.30523904e-03 9.99508542e-01 1.42427802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71255784400006 meters Centerline goodness : 0.136655 Centerline is valid? [False, False] Translation: X:3.85, Y:0.46, Z:1.42 [[ 9.99528374e-01 1.39344212e-04 -3.07084696e-02 3.85486628e+00] [-3.32899972e-04 9.99980112e-01 -6.29798648e-03 4.59798184e-01] [ 3.07069813e-02 6.30523904e-03 9.99508542e-01 1.42427802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74255784400003 meters Centerline goodness : 0.122897 Centerline is valid? [False, False] Translation: X:3.85, Y:0.46, Z:1.42 [[ 9.99531842e-01 3.34860219e-05 -3.05956733e-02 3.85455345e+00] [-2.33793042e-04 9.99978565e-01 -6.54335284e-03 4.60953044e-01] [ 3.05947983e-02 6.54744258e-03 9.99510425e-01 1.42430456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77255784400006 meters Centerline goodness : 0.088550 Centerline is valid? [False, False] Translation: X:3.85, Y:0.46, Z:1.42 [[ 9.99535819e-01 -7.89034145e-05 -3.04654076e-02 3.85414337e+00] [-1.28385459e-04 9.99976857e-01 -6.80205748e-03 4.62245431e-01] [ 3.04652392e-02 6.80281141e-03 9.99512677e-01 1.42441772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80255784400003 meters Centerline goodness : 0.128198 Centerline is valid? [False, False] Translation: X:3.87, Y:0.47, Z:1.43 [[ 0.99947996 -0.00752996 -0.03135458 3.87458939] [ 0.0073459 0.99995513 -0.00598133 0.46949297] [ 0.03139821 0.00574789 0.99949043 1.42664092] [ 0. 0. 0. 1. ]] SLAMing on 322.83255784400006 meters Centerline goodness : 0.248909 Centerline is valid? [False, False] Translation: X:3.88, Y:0.47, Z:1.43 [[ 0.99947313 -0.0076544 -0.03154154 3.87531293] [ 0.0074617 0.9999528 -0.00622268 0.47057978] [ 0.03158768 0.00598404 0.99948307 1.42623086] [ 0. 0. 0. 1. ]] SLAMing on 322.86255784400004 meters Centerline goodness : 0.103300 Centerline is valid? [False, False] Translation: X:3.88, Y:0.47, Z:1.43 [[ 0.9994686 -0.00773261 -0.03166579 3.87585489] [ 0.00753563 0.99995154 -0.00633537 0.47101823] [ 0.03171325 0.00609338 0.99947843 1.42582344] [ 0. 0. 0. 1. ]] SLAMing on 322.89255784400007 meters Centerline goodness : 0.118355 Centerline is valid? [False, False] Translation: X:3.88, Y:0.47, Z:1.43 [[ 0.99947161 -0.00777258 -0.03156101 3.87569959] [ 0.00757519 0.99995102 -0.006369 0.47112211] [ 0.03160897 0.00612655 0.99948153 1.42562127] [ 0. 0. 0. 1. ]] SLAMing on 322.92255784400004 meters Centerline goodness : 0.232024 Centerline is valid? [False, False] Translation: X:3.88, Y:0.47, Z:1.43 [[ 0.99947454 -0.00780439 -0.03145997 3.87544887] [ 0.00760629 0.99995052 -0.00641174 0.47132378] [ 0.03150846 0.00616908 0.99948445 1.42557222] [ 0. 0. 0. 1. ]] SLAMing on 322.95255784400007 meters Centerline goodness : 0.138435 Centerline is valid? [False, False] Translation: X:3.87, Y:0.47, Z:1.43 [[ 0.99947893 -0.00784083 -0.03131132 3.87498559] [ 0.0076411 0.99994972 -0.00649341 0.47178986] [ 0.03136066 0.00625077 0.99948859 1.42567768] [ 0. 0. 0. 1. ]] SLAMing on 322.98255784400004 meters Centerline goodness : 0.130455 Centerline is valid? [False, False] Translation: X:3.87, Y:0.47, Z:1.43 [[ 0.99948088 -0.00791498 -0.03123007 3.87463321] [ 0.00770905 0.99994778 -0.0067088 0.4729903 ] [ 0.03128154 0.00646457 0.99948971 1.42592573] [ 0. 0. 0. 1. ]] SLAMing on 323.01255784400007 meters Centerline goodness : 0.167830 Centerline is valid? [False, False] Translation: X:3.88, Y:0.47, Z:1.43 [[ 0.99947595 -0.00794694 -0.03137936 3.87510104] [ 0.00773586 0.99994667 -0.00684245 0.47379107] [ 0.03143207 0.00659612 0.99948413 1.42575874] [ 0. 0. 0. 1. ]] SLAMing on 323.04255784400004 meters Centerline goodness : 0.168632 Centerline is valid? [False, False] Translation: X:3.88, Y:0.48, Z:1.43 [[ 0.99946812 -0.0080216 -0.03160904 3.87578469] [ 0.00780185 0.99994458 -0.00706935 0.47504135] [ 0.03166399 0.00681898 0.99947531 1.42560315] [ 0. 0. 0. 1. ]] SLAMing on 323.0725578440001 meters Centerline goodness : 0.138377 Centerline is valid? [False, False] Translation: X:3.88, Y:0.48, Z:1.43 [[ 0.99946211 -0.00809951 -0.03177867 3.87625718] [ 0.00787067 0.99994224 -0.00731961 0.47639953] [ 0.03183611 0.00706555 0.99946813 1.42555866] [ 0. 0. 0. 1. ]] SLAMing on 323.10255784400005 meters Centerline goodness : 0.174961 Centerline is valid? [False, False] Translation: X:3.88, Y:0.48, Z:1.43 [[ 0.99948187 -0.00488847 -0.03181335 3.87613486] [ 0.00476023 0.99998024 -0.00410566 0.47656897] [ 0.03183279 0.00395209 0.99948539 1.42566274] [ 0. 0. 0. 1. ]] SLAMing on 323.1325578440001 meters Centerline goodness : 0.150483 Centerline is valid? [False, False] Translation: X:3.87, Y:0.48, Z:1.43 [[ 9.99527671e-01 -2.64122936e-03 -3.06179539e-02 3.87101049e+00] [ 2.56849918e-03 9.99993786e-01 -2.41449657e-03 4.81569770e-01] [ 3.06241409e-02 2.33471395e-03 9.99528244e-01 1.42797617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16255784400005 meters Centerline goodness : 0.153905 Centerline is valid? [False, False] Translation: X:3.87, Y:0.48, Z:1.43 [[ 9.99530283e-01 -2.80508534e-03 -3.05179488e-02 3.87059226e+00] [ 2.71638883e-03 9.99991967e-01 -2.94744267e-03 4.84412323e-01] [ 3.05259715e-02 2.86315959e-03 9.99529873e-01 1.42832894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.192557844 meters Centerline goodness : 0.149983 Centerline is valid? [False, False] Translation: X:3.87, Y:0.49, Z:1.43 [[ 9.99525324e-01 -3.00616420e-03 -3.06608961e-02 3.87098547e+00] [ 2.89882006e-03 9.99989515e-01 -3.54486128e-03 4.87445029e-01] [ 3.06712311e-02 3.45429820e-03 9.99523558e-01 1.42833832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22255784400005 meters Centerline goodness : 0.159348 Centerline is valid? [False, False] Translation: X:3.87, Y:0.49, Z:1.43 [[ 9.99514832e-01 -3.23809153e-03 -3.09776537e-02 3.87200368e+00] [ 3.11028422e-03 9.99986456e-01 -4.17308768e-03 4.90570749e-01] [ 3.09907470e-02 4.07471372e-03 9.99511366e-01 1.42805483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.252557844 meters Centerline goodness : 0.157971 Centerline is valid? [False, False] Translation: X:3.87, Y:0.50, Z:1.43 [[ 9.99509789e-01 -3.71190761e-03 -3.10870292e-02 3.87265480e+00] [ 3.54526485e-03 9.99979060e-01 -5.41392867e-03 4.96888779e-01] [ 3.11064742e-02 5.30106295e-03 9.99502019e-01 1.42756523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28255784400005 meters Centerline goodness : 0.198204 Centerline is valid? [False, False] Translation: X:3.87, Y:0.50, Z:1.43 [[ 9.99512464e-01 -3.94891638e-03 -3.09716080e-02 3.87239949e+00] [ 3.76372377e-03 9.99974704e-01 -6.03545249e-03 4.99998091e-01] [ 3.09946581e-02 5.91594141e-03 9.99502042e-01 1.42754892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.312557844 meters Centerline goodness : 0.116917 Centerline is valid? [False, False] Translation: X:3.87, Y:0.50, Z:1.43 [[ 0.99951246 -0.00417875 -0.03094157 3.87243317] [ 0.0039754 0.99997011 -0.0066308 0.50304859] [ 0.03096835 0.00650456 0.9994992 1.42741363] [ 0. 0. 0. 1. ]] SLAMing on 323.34255784400005 meters Centerline goodness : 0.150197 Centerline is valid? [False, False] Translation: X:3.88, Y:0.51, Z:1.43 [[ 9.99502725e-01 -2.31701821e-03 -3.14473254e-02 3.87573330e+00] [ 2.15448338e-03 9.99984152e-01 -5.20137951e-03 5.08848017e-01] [ 3.14588787e-02 5.13104025e-03 9.99491877e-01 1.42520554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.372557844 meters Centerline goodness : 0.177821 Centerline is valid? [False, False] Translation: X:3.88, Y:0.51, Z:1.42 [[ 9.99500231e-01 -2.52021271e-03 -3.15108870e-02 3.87615823e+00] [ 2.34539245e-03 9.99981661e-01 -5.58366366e-03 5.10489772e-01] [ 3.15243812e-02 5.50696772e-03 9.99487812e-01 1.42477391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40255784400006 meters Centerline goodness : 0.153737 Centerline is valid? [False, False] Translation: X:3.88, Y:0.51, Z:1.42 [[ 9.99504111e-01 -2.67528811e-03 -3.13747657e-02 3.87582562e+00] [ 2.49139856e-03 9.99979499e-01 -5.89869477e-03 5.11824417e-01] [ 3.13899032e-02 5.81760262e-03 9.99490285e-01 1.42475283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43255784400003 meters Centerline goodness : 0.128143 Centerline is valid? [False, False] Translation: X:3.88, Y:0.51, Z:1.42 [[ 9.99509538e-01 -2.80903107e-03 -3.11896418e-02 3.87528673e+00] [ 2.61707967e-03 9.99977396e-01 -6.19344986e-03 5.13217028e-01] [ 3.12063344e-02 6.10878643e-03 9.99494296e-01 1.42485330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46255784400006 meters Centerline goodness : 0.120360 Centerline is valid? [False, False] Translation: X:3.88, Y:0.51, Z:1.42 [[ 9.99513003e-01 -2.94358054e-03 -3.10659475e-02 3.87504090e+00] [ 2.74363300e-03 9.99975261e-01 -6.47689461e-03 5.14693722e-01] [ 3.10842442e-02 6.38850682e-03 9.99496352e-01 1.42474597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49255784400003 meters Centerline goodness : 0.134241 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99511066e-01 -3.03742357e-03 -3.11191838e-02 3.87540482e+00] [ 2.83039950e-03 9.99973586e-01 -6.69451108e-03 5.15867064e-01] [ 3.11386959e-02 6.60315818e-03 9.99493262e-01 1.42440123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52255784400006 meters Centerline goodness : 0.147904 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99494215e-01 -3.25121263e-03 -3.16345484e-02 3.87754463e+00] [ 3.03050451e-03 9.99970752e-01 -7.02225328e-03 5.17058744e-01] [ 3.16564539e-02 6.92283289e-03 9.99474834e-01 1.42306927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55255784400003 meters Centerline goodness : 0.177011 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99488100e-01 -3.31775081e-03 -3.18202751e-02 3.87823132e+00] [ 3.09179707e-03 9.99969676e-01 -7.14751277e-03 5.17518053e-01] [ 3.18430239e-02 7.04547213e-03 9.99468050e-01 1.42266443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58255784400006 meters Centerline goodness : 0.117578 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99482924e-01 -3.36637683e-03 -3.19773635e-02 3.87855456e+00] [ 3.13377448e-03 9.99968288e-01 -7.32130394e-03 5.18511605e-01] [ 3.20009957e-02 7.21730843e-03 9.99461779e-01 1.42279547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61255784400004 meters Centerline goodness : 0.151168 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99486505e-01 -3.41962700e-03 -3.18595600e-02 3.87800616e+00] [ 3.17987272e-03 9.99966269e-01 -7.57297917e-03 5.20105323e-01] [ 3.18843821e-02 7.46778115e-03 9.99463665e-01 1.42320361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64255784400007 meters Centerline goodness : 0.165465 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99506302e-01 3.76601622e-04 -3.14167200e-02 3.87657010e+00] [-5.05672991e-04 9.99991465e-01 -4.10052145e-03 5.21830110e-01] [ 3.14149076e-02 4.11438362e-03 9.99497962e-01 1.42367825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67255784400004 meters Centerline goodness : 0.167922 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99505122e-01 2.21875498e-04 -3.14557219e-02 3.87673988e+00] [-3.63995728e-04 9.99989753e-01 -4.51244993e-03 5.23838898e-01] [ 3.14543984e-02 4.52166657e-03 9.99494960e-01 1.42364229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70255784400007 meters Centerline goodness : 0.110795 Centerline is valid? [False, False] Translation: X:3.88, Y:0.53, Z:1.42 [[ 9.99505930e-01 7.39450550e-05 -3.14307359e-02 3.87677297e+00] [-2.28949390e-04 9.99987831e-01 -4.92804616e-03 5.25879743e-01] [ 3.14299890e-02 4.93280740e-03 9.99493783e-01 1.42351603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73255784400004 meters Centerline goodness : 0.171942 Centerline is valid? [False, False] Translation: X:3.88, Y:0.53, Z:1.42 [[ 9.99509111e-01 -8.82242405e-05 -3.13293523e-02 3.87641467e+00] [-8.18692875e-05 9.99985266e-01 -5.42788239e-03 5.28370472e-01] [ 3.13293695e-02 5.42778281e-03 9.99494377e-01 1.42375220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76255784400007 meters Centerline goodness : 0.172555 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 0.99958083 0.00767366 -0.02791571 3.89596152] [-0.00787647 0.99994333 -0.00716236 0.53072076] [ 0.02785917 0.00737924 0.99958462 1.42451105] [ 0. 0. 0. 1. ]] SLAMing on 323.79255784400004 meters Centerline goodness : 0.104645 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.43 [[ 0.99958724 0.00746151 -0.027743 3.89514492] [-0.00767757 0.99994096 -0.00768956 0.53324712] [ 0.02768399 0.00789939 0.99958551 1.42520386] [ 0. 0. 0. 1. ]] SLAMing on 323.8225578440001 meters Centerline goodness : 0.111742 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.43 [[ 0.99959121 0.00723395 -0.02766025 3.89480944] [-0.00746523 0.99993796 -0.00826727 0.53602454] [ 0.02759872 0.00847038 0.99958319 1.42550324] [ 0. 0. 0. 1. ]] SLAMing on 323.85255784400005 meters Centerline goodness : 0.155837 Centerline is valid? [False, False] Translation: X:3.88, Y:0.55, Z:1.42 [[ 9.99611763e-01 -5.99212134e-04 -2.78561378e-02 3.87642511e+00] [ 3.99341131e-04 9.99974143e-01 -7.18012488e-03 5.45129008e-01] [ 2.78597199e-02 7.16621319e-03 9.99586155e-01 1.42351989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8825578440001 meters Centerline goodness : 0.154608 Centerline is valid? [False, False] Translation: X:3.88, Y:0.55, Z:1.42 [[ 9.99609211e-01 -8.35933180e-04 -2.79414700e-02 3.87680565e+00] [ 6.18778189e-04 9.99969548e-01 -7.77952437e-03 5.48083757e-01] [ 2.79471223e-02 7.75919465e-03 9.99579288e-01 1.42329293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91255784400005 meters Centerline goodness : 0.156520 Centerline is valid? [False, False] Translation: X:3.88, Y:0.55, Z:1.42 [[ 9.99603169e-01 -1.30753608e-03 -2.81388417e-02 3.87767856e+00] [ 1.05708939e-03 9.99959716e-01 -8.91342691e-03 5.53815538e-01] [ 2.81493628e-02 8.88014452e-03 9.99564283e-01 1.42283933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.942557844 meters Centerline goodness : 0.133019 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99599581e-01 -1.53786239e-03 -2.82544195e-02 3.87804976e+00] [ 1.27090196e-03 9.99954408e-01 -9.46397804e-03 5.56560103e-01] [ 2.82676857e-02 9.42427989e-03 9.99555962e-01 1.42276957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97255784400005 meters Centerline goodness : 0.108165 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99595569e-01 -1.73197096e-03 -2.83848324e-02 3.87837882e+00] [ 1.45113035e-03 9.99949825e-01 -9.91165216e-03 5.58786564e-01] [ 2.84005749e-02 9.86645348e-03 9.99547928e-01 1.42280131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.002557844 meters Centerline goodness : 0.105833 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99589325e-01 -2.07420016e-03 -2.85811043e-02 3.87893428e+00] [ 1.77284878e-03 9.99942617e-01 -1.05650367e-02 5.61830764e-01] [ 2.86013782e-02 1.05100279e-02 9.99535642e-01 1.42271068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03255784400005 meters Centerline goodness : 0.157014 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99589020e-01 -2.24327274e-03 -2.85789857e-02 3.87915217e+00] [ 1.93628767e-03 9.99940183e-01 -1.07647860e-02 5.62508538e-01] [ 2.86014245e-02 1.07050248e-02 9.99533572e-01 1.42229730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.062557844 meters Centerline goodness : 0.106302 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99590924e-01 -2.37816431e-03 -2.85013796e-02 3.87917471e+00] [ 2.06880248e-03 9.99938683e-01 -1.08788524e-02 5.62759331e-01] [ 2.85255037e-02 1.08154384e-02 9.99534553e-01 1.42190340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09255784400005 meters Centerline goodness : 0.156641 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99596947e-01 -2.45725199e-03 -2.82825863e-02 3.87876348e+00] [ 2.15020686e-03 9.99938481e-01 -1.08816292e-02 5.62574929e-01] [ 2.83075853e-02 1.08164299e-02 9.99540737e-01 1.42158163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.122557844 meters Centerline goodness : 0.156994 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99601341e-01 -2.47920443e-03 -2.81249364e-02 3.87821396e+00] [ 2.17512347e-03 9.99938910e-01 -1.08372384e-02 5.62374891e-01] [ 2.81500860e-02 1.07717428e-02 9.99545668e-01 1.42178099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15255784400006 meters Centerline goodness : 0.157515 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99606427e-01 -2.47513387e-03 -2.79439582e-02 3.87766992e+00] [ 2.17388455e-03 9.99939253e-01 -1.08057184e-02 5.62385688e-01] [ 2.79690063e-02 1.07407187e-02 9.99551085e-01 1.42189171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18255784400003 meters Centerline goodness : 0.108653 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99599256e-01 -2.56310024e-03 -2.81914423e-02 3.87843320e+00] [ 2.25480569e-03 9.99937372e-01 -1.09621078e-02 5.63200666e-01] [ 2.82177738e-02 1.08941485e-02 9.99542433e-01 1.42167600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21255784400006 meters Centerline goodness : 0.104285 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99592716e-01 -2.58231452e-03 -2.84206432e-02 3.87927162e+00] [ 2.26887412e-03 9.99936314e-01 -1.10553453e-02 5.63781151e-01] [ 2.84473816e-02 1.09863597e-02 9.99534915e-01 1.42129811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24255784400003 meters Centerline goodness : 0.156932 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99590038e-01 -2.64253969e-03 -2.85091607e-02 3.87973448e+00] [ 2.32280770e-03 9.99934105e-01 -1.12423555e-02 5.64718125e-01] [ 2.85369905e-02 1.11715252e-02 9.99530308e-01 1.42093043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27255784400006 meters Centerline goodness : 0.157369 Centerline is valid? [False, False] Translation: X:3.88, Y:0.57, Z:1.42 [[ 9.99586991e-01 -2.68642439e-03 -2.86117183e-02 3.88010190e+00] [ 2.35927467e-03 9.99931529e-01 -1.14617434e-02 5.65866431e-01] [ 2.86405503e-02 1.13895067e-02 9.99524886e-01 1.42081822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30255784400003 meters Centerline goodness : 0.153626 Centerline is valid? [False, False] Translation: X:3.88, Y:0.57, Z:1.42 [[ 9.99579247e-01 -2.78888759e-03 -2.88712884e-02 3.88074617e+00] [ 2.44640001e-03 9.99926306e-01 -1.18911004e-02 5.68028459e-01] [ 2.89023237e-02 1.18154665e-02 9.99512406e-01 1.42092647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33255784400006 meters Centerline goodness : 0.159609 Centerline is valid? [False, False] Translation: X:3.88, Y:0.57, Z:1.42 [[ 9.99576660e-01 -2.81976017e-03 -2.89577392e-02 3.88084441e+00] [ 2.47139230e-03 9.99924234e-01 -1.20589687e-02 5.69090747e-01] [ 2.89895486e-02 1.19822977e-02 9.99507894e-01 1.42115420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36255784400004 meters Centerline goodness : 0.152637 Centerline is valid? [False, False] Translation: X:3.90, Y:0.57, Z:1.42 [[ 0.99956651 -0.00863495 -0.02814663 3.90267306] [ 0.00839393 0.99992718 -0.00866987 0.56998419] [ 0.02821945 0.00842985 0.99956621 1.42190789] [ 0. 0. 0. 1. ]] SLAMing on 324.39255784400007 meters Centerline goodness : 0.156855 Centerline is valid? [False, False] Translation: X:3.90, Y:0.57, Z:1.42 [[ 0.99956933 -0.00864408 -0.02804347 3.90219374] [ 0.00840213 0.99992656 -0.00873408 0.57049439] [ 0.0281169 0.00849469 0.99956855 1.42223288] [ 0. 0. 0. 1. ]] SLAMing on 324.42255784400004 meters Centerline goodness : 0.152292 Centerline is valid? [False, False] Translation: X:3.90, Y:0.57, Z:1.42 [[ 0.99957342 -0.00863934 -0.02789871 3.90162311] [ 0.00839945 0.99992684 -0.00870439 0.57028205] [ 0.02797187 0.00846634 0.99957286 1.42251077] [ 0. 0. 0. 1. ]] SLAMing on 324.45255784400007 meters Centerline goodness : 0.113686 Centerline is valid? [False, False] Translation: X:3.90, Y:0.57, Z:1.42 [[ 0.99957775 -0.0086184 -0.0277498 3.90121236] [ 0.00838264 0.99992787 -0.00860123 0.56961667] [ 0.02782192 0.00836498 0.99957789 1.42249782] [ 0. 0. 0. 1. ]] SLAMing on 324.48255784400004 meters Centerline goodness : 0.156950 Centerline is valid? [False, False] Translation: X:3.90, Y:0.57, Z:1.42 [[ 0.99958092 -0.00859853 -0.02764128 3.90111363] [ 0.00837737 0.99993205 -0.008107 0.56673844] [ 0.02770911 0.00787204 0.99958503 1.42202038] [ 0. 0. 0. 1. ]] SLAMing on 324.51255784400007 meters Centerline goodness : 0.156944 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.9995786 -0.00845379 -0.02776983 3.90151409] [ 0.00824307 0.99993643 -0.0076937 0.56482841] [ 0.0278331 0.00746155 0.99958474 1.42177349] [ 0. 0. 0. 1. ]] SLAMing on 324.54255784400004 meters Centerline goodness : 0.158462 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99957824 -0.00827909 -0.02783506 3.90181908] [ 0.00808174 0.99994146 -0.00719526 0.5624925 ] [ 0.027893 0.00696727 0.99958663 1.42141656] [ 0. 0. 0. 1. ]] SLAMing on 324.5725578440001 meters Centerline goodness : 0.157957 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99957636 -0.00815137 -0.02794005 3.90212467] [ 0.00796402 0.9999451 -0.00681001 0.56058307] [ 0.02799402 0.00658461 0.9995864 1.42127409] [ 0. 0. 0. 1. ]] SLAMing on 324.60255784400005 meters Centerline goodness : 0.157796 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99958006 -0.00801844 -0.02784609 3.90160039] [ 0.00784356 0.99994886 -0.00638367 0.55825307] [ 0.02789586 0.00616257 0.99959184 1.4216614 ] [ 0. 0. 0. 1. ]] SLAMing on 324.6325578440001 meters Centerline goodness : 0.157796 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99958006 -0.00801844 -0.02784609 3.90160039] [ 0.00784356 0.99994886 -0.00638367 0.55825307] [ 0.02789586 0.00616257 0.99959184 1.4216614 ] [ 0. 0. 0. 1. ]] SLAMing on 324.66255784400005 meters Centerline goodness : 0.158282 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99958352 -0.00797644 -0.02773378 3.90118228] [ 0.00780514 0.99994982 -0.00627968 0.55774134] [ 0.02778248 0.0060606 0.99959562 1.42187317] [ 0. 0. 0. 1. ]] SLAMing on 324.692557844 meters Centerline goodness : 0.160500 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.9995882 -0.00790999 -0.02758371 3.90081927] [ 0.00774189 0.99995084 -0.00619577 0.55749675] [ 0.02763136 0.00597967 0.9996003 1.42184407] [ 0. 0. 0. 1. ]] SLAMing on 324.72255784400005 meters Centerline goodness : 0.105560 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99959095 -0.0078792 -0.02749281 3.90060346] [ 0.00771329 0.99995143 -0.0061354 0.55722379] [ 0.02753982 0.00592083 0.99960317 1.42179232] [ 0. 0. 0. 1. ]] SLAMing on 324.752557844 meters Centerline goodness : 0.157302 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99958991 -0.00782815 -0.02754524 3.90095231] [ 0.00766549 0.99995258 -0.00600582 0.55649837] [ 0.02759095 0.00579221 0.99960252 1.42141501] [ 0. 0. 0. 1. ]] SLAMing on 324.78255784400005 meters Centerline goodness : 0.116501 Centerline is valid? [False, False] Translation: X:3.88, Y:0.55, Z:1.42 [[ 9.99590182e-01 4.53015466e-04 -2.86227567e-02 3.88128453e+00] [-6.53890405e-04 9.99975223e-01 -7.00904490e-03 5.50492433e-01] [ 2.86188723e-02 7.02488861e-03 9.99565711e-01 1.41915107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.812557844 meters Centerline goodness : 0.157370 Centerline is valid? [False, False] Translation: X:3.88, Y:0.55, Z:1.42 [[ 9.99591231e-01 5.57950488e-04 -2.85842416e-02 3.88094325e+00] [-7.50341364e-04 9.99977136e-01 -6.72037830e-03 5.49073188e-01] [ 2.85798385e-02 6.73907916e-03 9.99568796e-01 1.41943395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84255784400005 meters Centerline goodness : 0.156710 Centerline is valid? [False, False] Translation: X:3.88, Y:0.55, Z:1.42 [[ 9.99597940e-01 6.81558522e-04 -2.83459495e-02 3.87989807e+00] [-8.63953057e-04 9.99979000e-01 -6.42283960e-03 5.47671090e-01] [ 2.83409766e-02 6.44474681e-03 9.99577538e-01 1.42008330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.872557844 meters Centerline goodness : 0.114109 Centerline is valid? [False, False] Translation: X:3.88, Y:0.54, Z:1.42 [[ 9.99603497e-01 8.92941730e-04 -2.81434174e-02 3.87921079e+00] [-1.05715713e-03 9.99982501e-01 -5.82061005e-03 5.44588499e-01] [ 2.81377275e-02 5.84805417e-03 9.99586949e-01 1.42025542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90255784400006 meters Centerline goodness : 0.164191 Centerline is valid? [False, False] Translation: X:3.88, Y:0.54, Z:1.42 [[ 9.99604129e-01 9.87100872e-04 -2.81178202e-02 3.87927051e+00] [-1.14224807e-03 9.99984210e-01 -5.50222615e-03 5.42861934e-01] [ 2.81119450e-02 5.53216551e-03 9.99589473e-01 1.41995126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93255784400003 meters Centerline goodness : 0.167890 Centerline is valid? [False, False] Translation: X:3.88, Y:0.54, Z:1.42 [[ 9.99605642e-01 1.10819916e-03 -2.80594354e-02 3.87915885e+00] [-1.25385871e-03 9.99985828e-01 -5.17404501e-03 5.41207119e-01] [ 2.80533039e-02 5.20718715e-03 9.99592866e-01 1.41978427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96255784400006 meters Centerline goodness : 0.108573 Centerline is valid? [False, False] Translation: X:3.88, Y:0.54, Z:1.42 [[ 9.99610368e-01 1.26620568e-03 -2.78838619e-02 3.87858197e+00] [-1.40083422e-03 9.99987455e-01 -4.80918376e-03 5.39559694e-01] [ 2.78774227e-02 4.84637061e-03 9.99599601e-01 1.41990321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99255784400003 meters Centerline goodness : 0.157787 Centerline is valid? [False, False] Translation: X:3.88, Y:0.54, Z:1.42 [[ 9.99613894e-01 1.41080255e-03 -2.77501716e-02 3.87802827e+00] [-1.53623900e-03 9.99988698e-01 -4.49940454e-03 5.38195643e-01] [ 2.77435102e-02 4.54029819e-03 9.99604764e-01 1.42019465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02255784400006 meters Centerline goodness : 0.147387 Centerline is valid? [False, False] Translation: X:3.88, Y:0.53, Z:1.42 [[ 9.99612782e-01 1.62113956e-03 -2.77787353e-02 3.87822555e+00] [-1.73024771e-03 9.99990882e-01 -3.90417142e-03 5.34953132e-01] [ 2.77721528e-02 3.95072374e-03 9.99606472e-01 1.41988089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05255784400003 meters Centerline goodness : 0.153921 Centerline is valid? [False, False] Translation: X:3.88, Y:0.53, Z:1.42 [[ 9.99613122e-01 1.70744265e-03 -2.77613098e-02 3.87825372e+00] [-1.80911477e-03 9.99991747e-01 -3.63766341e-03 5.33455658e-01] [ 2.77548696e-02 3.68647948e-03 9.99607962e-01 1.41967040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08255784400006 meters Centerline goodness : 0.157607 Centerline is valid? [False, False] Translation: X:3.88, Y:0.53, Z:1.42 [[ 9.99613284e-01 1.84333040e-03 -2.77467898e-02 3.87823032e+00] [-1.93575111e-03 9.99992667e-01 -3.30436925e-03 5.31883039e-01] [ 2.77404953e-02 3.35680228e-03 9.99609522e-01 1.41954179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11255784400004 meters Centerline goodness : 0.153127 Centerline is valid? [False, False] Translation: X:3.88, Y:0.53, Z:1.42 [[ 9.99605012e-01 2.14810420e-03 -2.80215200e-02 3.87901533e+00] [-2.22337188e-03 9.99994003e-01 -2.65518614e-03 5.29333441e-01] [ 2.80156483e-02 2.71643963e-03 9.99603794e-01 1.41928139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14255784400007 meters Centerline goodness : 0.146083 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 9.99588163e-01 -6.07774456e-03 -2.80457679e-02 3.90027229e+00] [ 6.03365797e-03 9.99980426e-01 -1.65631087e-03 5.29883638e-01] [ 2.80552855e-02 1.48641017e-03 9.99605268e-01 1.42066194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17255784400004 meters Centerline goodness : 0.138313 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 9.99588189e-01 -5.98357704e-03 -2.80650837e-02 3.90035233e+00] [ 5.94676673e-03 9.99981345e-01 -1.39488746e-03 5.28431496e-01] [ 2.80729065e-02 1.22741653e-03 9.99605125e-01 1.42056101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20255784400007 meters Centerline goodness : 0.149585 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 9.99589985e-01 -5.90749442e-03 -2.80171839e-02 3.90015251e+00] [ 5.87533636e-03 9.99981984e-01 -1.22998107e-03 5.27562902e-01] [ 2.80239452e-02 1.06486638e-03 9.99606685e-01 1.42065790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23255784400004 meters Centerline goodness : 0.147600 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 9.99588714e-01 -5.83144003e-03 -2.80784084e-02 3.90025921e+00] [ 5.80205576e-03 9.99982532e-01 -1.12786719e-03 5.27251094e-01] [ 2.80844950e-02 9.64490821e-04 9.99605087e-01 1.42073673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26255784400007 meters Centerline goodness : 0.159844 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 9.99583494e-01 -5.72078885e-03 -2.82862389e-02 3.90089537e+00] [ 5.69263515e-03 9.99983218e-01 -1.07574248e-03 5.27515488e-01] [ 2.82919183e-02 9.14271193e-04 9.99599285e-01 1.42059527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29255784400004 meters Centerline goodness : 0.148430 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 9.99581358e-01 -5.68343750e-03 -2.83691158e-02 3.90117595e+00] [ 5.65698535e-03 9.99983486e-01 -1.01259946e-03 5.27189688e-01] [ 2.83744024e-02 8.51691874e-04 9.99597003e-01 1.42045448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3225578440001 meters Centerline goodness : 0.164078 Centerline is valid? [False, False] Translation: X:3.86, Y:0.53, Z:1.42 [[ 9.99508484e-01 -5.89358920e-03 -3.07905156e-02 3.85519806e+00] [ 5.85594132e-03 9.99981992e-01 -1.31274328e-03 5.29770308e-01] [ 3.07976979e-02 1.13179059e-03 9.99524998e-01 1.42072764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35255784400005 meters Centerline goodness : 0.116478 Centerline is valid? [False, False] Translation: X:3.85, Y:0.53, Z:1.42 [[ 9.99514657e-01 -5.83479439e-03 -3.06007580e-02 3.85464293e+00] [ 5.80205772e-03 9.99982497e-01 -1.15848536e-03 5.28941757e-01] [ 3.06069819e-02 9.80375730e-04 9.99531016e-01 1.42081802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3825578440001 meters Centerline goodness : 0.156323 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99554756e-01 2.15724778e-03 -2.97596236e-02 3.87263972e+00] [-2.21647669e-03 9.99995628e-01 -1.95739938e-03 5.21230780e-01] [ 2.97552709e-02 2.02248938e-03 9.99555168e-01 1.42239724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41255784400005 meters Centerline goodness : 0.161041 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99551789e-01 2.23163615e-03 -2.98536512e-02 3.87293759e+00] [-2.28571770e-03 9.99995808e-01 -1.77755203e-03 5.20387122e-01] [ 2.98495592e-02 1.84499233e-03 9.99552700e-01 1.42222817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.442557844 meters Centerline goodness : 0.146669 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99547233e-01 2.27289147e-03 -3.00027134e-02 3.87350510e+00] [-2.32413128e-03 9.99995900e-01 -1.67307669e-03 5.19893869e-01] [ 2.99987876e-02 1.74204942e-03 9.99548417e-01 1.42192446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47255784400005 meters Centerline goodness : 0.158448 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99541360e-01 2.33943477e-03 -3.01926515e-02 3.87416477e+00] [-2.38678085e-03 9.99995978e-01 -1.53218798e-03 5.19281696e-01] [ 3.01889456e-02 1.60354850e-03 9.99542924e-01 1.42159274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.502557844 meters Centerline goodness : 0.156956 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99538751e-01 2.39131393e-03 -3.02748574e-02 3.87459240e+00] [-2.43600982e-03 9.99995997e-01 -1.43953942e-03 5.18843406e-01] [ 3.02712938e-02 1.51262528e-03 9.99540575e-01 1.42122579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53255784400005 meters Centerline goodness : 0.152424 Centerline is valid? [False, False] Translation: X:3.86, Y:0.52, Z:1.42 [[ 9.99502648e-01 -5.81965415e-03 -3.09933437e-02 3.85520158e+00] [ 5.81374611e-03 9.99983061e-01 -2.80735449e-04 5.24146433e-01] [ 3.09944525e-02 1.00408393e-04 9.99519552e-01 1.41987660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.562557844 meters Centerline goodness : 0.145234 Centerline is valid? [False, False] Translation: X:3.85, Y:0.52, Z:1.42 [[ 9.99513319e-01 -5.68078471e-03 -3.06733479e-02 3.85394231e+00] [ 5.68342642e-03 9.99983849e-01 -1.06164690e-06 5.22677639e-01] [ 3.06728585e-02 -1.73268585e-04 9.99529462e-01 1.42055829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59255784400005 meters Centerline goodness : 0.147241 Centerline is valid? [False, False] Translation: X:3.85, Y:0.52, Z:1.42 [[ 9.99518996e-01 -5.58072071e-03 -3.05062609e-02 3.85320899e+00] [ 5.59031092e-03 9.99984348e-01 2.29087111e-04 5.21627991e-01] [ 3.05045050e-02 -3.99516403e-04 9.99534549e-01 1.42099080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.622557844 meters Centerline goodness : 0.148228 Centerline is valid? [False, False] Translation: X:3.85, Y:0.52, Z:1.42 [[ 9.99522321e-01 -5.46192660e-03 -3.04186972e-02 3.85287615e+00] [ 5.47942982e-03 9.99984867e-01 4.92081344e-04 5.20441010e-01] [ 3.04155491e-02 -6.58523403e-04 9.99537123e-01 1.42112830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65255784400006 meters Centerline goodness : 0.158537 Centerline is valid? [False, False] Translation: X:3.85, Y:0.52, Z:1.42 [[ 9.99522869e-01 -5.36189306e-03 -3.04184747e-02 3.85284677e+00] [ 5.38789819e-03 9.99985186e-01 7.73011477e-04 5.19066923e-01] [ 3.04138793e-02 -9.36534295e-04 9.99536952e-01 1.42110698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68255784400003 meters Centerline goodness : 0.134289 Centerline is valid? [False, False] Translation: X:3.85, Y:0.52, Z:1.42 [[ 9.99518449e-01 -5.19513997e-03 -3.05921556e-02 3.85351443e+00] [ 5.23946917e-03 9.99985337e-01 1.36905389e-03 5.15617773e-01] [ 3.05845946e-02 -1.52868128e-03 9.99531013e-01 1.42062814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71255784400006 meters Centerline goodness : 0.145522 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99517211e-01 -5.05862882e-03 -3.06554250e-02 3.85367376e+00] [ 5.11216291e-03 9.99985541e-01 1.66819191e-03 5.14172664e-01] [ 3.06465430e-02 -1.82410205e-03 9.99528620e-01 1.42059202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74255784400003 meters Centerline goodness : 0.161092 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99518117e-01 -4.95992674e-03 -3.06420214e-02 3.85359283e+00] [ 5.01842600e-03 9.99985729e-01 1.83250784e-03 5.13519439e-01] [ 3.06324950e-02 -1.98539951e-03 9.99528743e-01 1.42064470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77255784400006 meters Centerline goodness : 0.118065 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99523888e-01 -4.88774425e-03 -3.04648591e-02 3.85297717e+00] [ 4.94803464e-03 9.99985946e-01 1.90394023e-03 5.13383508e-01] [ 3.04551250e-02 -2.05377492e-03 9.99534025e-01 1.42093024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80255784400003 meters Centerline goodness : 0.159950 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99542159e-01 -4.79402511e-03 -2.98745809e-02 3.85118190e+00] [ 4.84967633e-03 9.99986637e-01 1.79064950e-03 5.14209875e-01] [ 2.98655972e-02 -1.93471172e-03 9.99552051e-01 1.42158346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83255784400006 meters Centerline goodness : 0.149808 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99538066e-01 -4.82668259e-03 -3.00059706e-02 3.85167952e+00] [ 4.87908642e-03 9.99986697e-01 1.67347426e-03 5.14755621e-01] [ 2.99974941e-02 -1.81910295e-03 9.99548319e-01 1.42132969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86255784400004 meters Centerline goodness : 0.155975 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99529883e-01 -4.82290079e-03 -3.02779310e-02 3.85277595e+00] [ 4.87504026e-03 9.99986758e-01 1.64844468e-03 5.14903555e-01] [ 3.02695798e-02 -1.79527585e-03 9.99540159e-01 1.42064435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89255784400007 meters Centerline goodness : 0.084209 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99524207e-01 -4.77735017e-03 -3.04718872e-02 3.85366004e+00] [ 4.83335676e-03 9.99986762e-01 1.76458237e-03 5.14434215e-01] [ 3.04630538e-02 -1.91102430e-03 9.99534067e-01 1.41996633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92255784400004 meters Centerline goodness : 0.218928 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99524031e-01 -4.74634623e-03 -3.04825275e-02 3.85385306e+00] [ 4.80639317e-03 9.99986650e-01 1.89690958e-03 5.13724089e-01] [ 3.04731172e-02 -2.04251772e-03 9.99533500e-01 1.41964979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95255784400007 meters Centerline goodness : 0.154792 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99522507e-01 -4.78189462e-03 -3.05268885e-02 3.85415827e+00] [ 4.84737808e-03 9.99986106e-01 2.07146289e-03 5.12437357e-01] [ 3.05165588e-02 -2.21844916e-03 9.99531799e-01 1.41921763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98255784400004 meters Centerline goodness : 0.160171 Centerline is valid? [False, False] Translation: X:3.86, Y:0.51, Z:1.42 [[ 9.99514392e-01 -4.78641785e-03 -3.07907606e-02 3.85520547e+00] [ 4.85179026e-03 9.99986131e-01 2.04875481e-03 5.12678870e-01] [ 3.07805274e-02 -2.19715023e-03 9.99523752e-01 1.41857164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01255784400007 meters Centerline goodness : 0.161285 Centerline is valid? [False, False] Translation: X:3.86, Y:0.51, Z:1.42 [[ 9.99508654e-01 -4.78909258e-03 -3.09760264e-02 3.85609383e+00] [ 4.85143581e-03 9.99986354e-01 1.93778421e-03 5.13602262e-01] [ 3.09663235e-02 -2.08711029e-03 9.99518249e-01 1.41790732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04255784400004 meters Centerline goodness : 0.146859 Centerline is valid? [False, False] Translation: X:3.86, Y:0.51, Z:1.42 [[ 9.99504570e-01 -4.85008454e-03 -3.10980763e-02 3.85650944e+00] [ 4.90538335e-03 9.99986520e-01 1.70216064e-03 5.14927869e-01] [ 3.10894014e-02 -1.85386532e-03 9.99514888e-01 1.41777191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0725578440001 meters Centerline goodness : 0.147198 Centerline is valid? [False, False] Translation: X:3.86, Y:0.52, Z:1.42 [[ 9.99506451e-01 -4.91085342e-03 -3.10280116e-02 3.85610065e+00] [ 4.96182105e-03 9.99986464e-01 1.56584976e-03 5.15473267e-01] [ 3.10199019e-02 -1.71903237e-03 9.99517289e-01 1.41815825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10255784400005 meters Centerline goodness : 0.124231 Centerline is valid? [False, False] Translation: X:3.86, Y:0.52, Z:1.42 [[ 9.99513193e-01 -4.93522932e-03 -3.08061733e-02 3.85524186e+00] [ 4.98319973e-03 9.99986488e-01 1.48058770e-03 5.15936647e-01] [ 3.07984500e-02 -1.63338026e-03 9.99524281e-01 1.41859850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1325578440001 meters Centerline goodness : 0.148536 Centerline is valid? [False, False] Translation: X:3.87, Y:0.51, Z:1.42 [[ 9.99569757e-01 3.29965940e-03 -2.91446889e-02 3.87439814e+00] [-3.28421983e-03 9.99994440e-01 5.77608970e-04 5.11488464e-01] [ 2.91464328e-02 -4.81642893e-04 9.99575036e-01 1.41947791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16255784400005 meters Centerline goodness : 0.146113 Centerline is valid? [False, False] Translation: X:3.87, Y:0.51, Z:1.42 [[ 9.99575055e-01 3.27982662e-03 -2.89646648e-02 3.87371476e+00] [-3.26637259e-03 9.99994534e-01 5.11800358e-04 5.11982776e-01] [ 2.89661851e-02 -4.16973484e-04 9.99580305e-01 1.41981365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.192557844 meters Centerline goodness : 0.163007 Centerline is valid? [False, False] Translation: X:3.85, Y:0.52, Z:1.42 [[ 9.99569227e-01 -4.97418500e-03 -2.89243458e-02 3.85432272e+00] [ 5.02012804e-03 9.99986250e-01 1.51598559e-03 5.18638668e-01] [ 2.89164073e-02 -1.66053647e-03 9.99580454e-01 1.41809449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22255784400005 meters Centerline goodness : 0.159119 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99586779e-01 2.48128830e-03 -2.86376265e-02 3.87403017e+00] [-2.49601132e-03 9.99996771e-01 -4.78378735e-04 5.15438008e-01] [ 2.86363471e-02 5.49660899e-04 9.99589745e-01 1.41946952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.252557844 meters Centerline goodness : 0.151021 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99584314e-01 2.35282005e-03 -2.87343712e-02 3.87451190e+00] [-2.37760725e-03 9.99996830e-01 -8.28496421e-04 5.17285238e-01] [ 2.87323308e-02 8.96471076e-04 9.99586739e-01 1.41911618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28255784400005 meters Centerline goodness : 0.159621 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99582215e-01 2.20717670e-03 -2.88188231e-02 3.87462964e+00] [-2.24480055e-03 9.99996670e-01 -1.27324254e-03 5.19762031e-01] [ 2.88159169e-02 1.33740311e-03 9.99583841e-01 1.41933559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.312557844 meters Centerline goodness : 0.171296 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99586229e-01 2.06459176e-03 -2.86898464e-02 3.87413826e+00] [-2.11504045e-03 9.99996270e-01 -1.72818130e-03 5.22223029e-01] [ 2.86861714e-02 1.78814641e-03 9.99586868e-01 1.41969782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34255784400005 meters Centerline goodness : 0.154903 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99591476e-01 1.70948391e-03 -2.85299783e-02 3.87346469e+00] [-1.78477487e-03 9.99994991e-01 -2.61375567e-03 5.26384083e-01] [ 2.85253672e-02 2.66360747e-03 9.99589520e-01 1.42030088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.372557844 meters Centerline goodness : 0.162109 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99596172e-01 1.54012370e-03 -2.83746662e-02 3.87298870e+00] [-1.62463497e-03 9.99994313e-01 -2.95559269e-03 5.27767700e-01] [ 2.83699528e-02 3.00049761e-03 9.99592989e-01 1.42046378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40255784400006 meters Centerline goodness : 0.159768 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99602387e-01 1.39396033e-03 -2.81624629e-02 3.87236795e+00] [-1.48582218e-03 9.99993643e-01 -3.24119130e-03 5.28992556e-01] [ 2.81577658e-02 3.28174697e-03 9.99598104e-01 1.42060402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43255784400003 meters Centerline goodness : 0.160210 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99607630e-01 1.33040493e-03 -2.79788556e-02 3.87173872e+00] [-1.42427140e-03 9.99993424e-01 -3.33524627e-03 5.29417596e-01] [ 2.79742344e-02 3.37378710e-03 9.99602951e-01 1.42083276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46255784400006 meters Centerline goodness : 0.133878 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99612578e-01 1.34520125e-03 -2.78007837e-02 3.87124051e+00] [-1.43592432e-03 9.99993709e-01 -3.24362160e-03 5.28965909e-01] [ 2.77962454e-02 3.28228477e-03 9.99608221e-01 1.42084242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49255784400003 meters Centerline goodness : 0.145620 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99603622e-01 1.00797426e-03 -2.81350745e-02 3.87236776e+00] [-1.09205862e-03 9.99994983e-01 -2.97338976e-03 5.26329265e-01] [ 2.81319362e-02 3.00293632e-03 9.99599708e-01 1.42013043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52255784400006 meters Centerline goodness : 0.145620 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99603622e-01 1.00797426e-03 -2.81350745e-02 3.87236776e+00] [-1.09205862e-03 9.99994983e-01 -2.97338976e-03 5.26329265e-01] [ 2.81319362e-02 3.00293632e-03 9.99599708e-01 1.42013043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55255784400003 meters Centerline goodness : 0.156714 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99595408e-01 1.06623308e-03 -2.84232894e-02 3.87333529e+00] [-1.13831049e-03 9.99996177e-01 -2.51979742e-03 5.23799296e-01] [ 2.84204940e-02 2.55113246e-03 9.99592801e-01 1.41956639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58255784400006 meters Centerline goodness : 0.148768 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99591077e-01 1.24473293e-03 -2.85679952e-02 3.87386662e+00] [-1.30254748e-03 9.99997141e-01 -2.00523243e-03 5.21349473e-01] [ 2.85654176e-02 2.04162361e-03 9.99589840e-01 1.41914849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61255784400004 meters Centerline goodness : 0.138931 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99593714e-01 1.46293057e-03 -2.84651720e-02 3.87350788e+00] [-1.50579261e-03 9.99997765e-01 -1.48439370e-03 5.18981562e-01] [ 2.84629368e-02 1.52665326e-03 9.99593683e-01 1.41918782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64255784400007 meters Centerline goodness : 0.147545 Centerline is valid? [False, False] Translation: X:3.89, Y:0.52, Z:1.42 [[ 9.99669321e-01 -6.09457527e-03 -2.49821008e-02 3.89296378e+00] [ 6.09991938e-03 9.99981386e-01 1.37715810e-04 5.16133634e-01] [ 2.49807964e-02 -2.90059071e-04 9.99687889e-01 1.41982086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67255784400004 meters Centerline goodness : 0.158167 Centerline is valid? [False, False] Translation: X:3.89, Y:0.52, Z:1.42 [[ 9.99670616e-01 -6.03746095e-03 -2.49440910e-02 3.89265403e+00] [ 6.04559374e-03 9.99981694e-01 2.50640209e-04 5.15399365e-01] [ 2.49421211e-02 -4.01359493e-04 9.99688816e-01 1.42016456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70255784400007 meters Centerline goodness : 0.165036 Centerline is valid? [False, False] Translation: X:3.91, Y:0.51, Z:1.42 [[ 9.99669736e-01 1.98978558e-03 -2.56214804e-02 3.91246070e+00] [-2.01449414e-03 9.99997530e-01 -9.38593830e-04 5.09644340e-01] [ 2.56195496e-02 9.89898169e-04 9.99671275e-01 1.42212745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73255784400004 meters Centerline goodness : 0.109211 Centerline is valid? [False, False] Translation: X:3.91, Y:0.51, Z:1.42 [[ 9.99650233e-01 2.10464456e-03 -2.63625306e-02 3.91467332e+00] [-2.13218879e-03 9.99997210e-01 -1.01675898e-03 5.10734395e-01] [ 2.63603171e-02 1.07261324e-03 9.99651931e-01 1.42157506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76255784400007 meters Centerline goodness : 0.162900 Centerline is valid? [False, False] Translation: X:3.92, Y:0.51, Z:1.42 [[ 9.99623245e-01 6.27339983e-03 -2.67209952e-02 3.91612324e+00] [-6.20212751e-03 9.99976987e-01 2.74932221e-03 5.12601420e-01] [ 2.67376278e-02 -2.58255937e-03 9.99639150e-01 1.42081551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79255784400004 meters Centerline goodness : 0.154497 Centerline is valid? [False, False] Translation: X:3.92, Y:0.51, Z:1.42 [[ 9.99622932e-01 6.17786025e-03 -2.67549622e-02 3.91619823e+00] [-6.11761328e-03 9.99978566e-01 2.33307418e-03 5.14664705e-01] [ 2.67688021e-02 -2.16851794e-03 9.99639299e-01 1.42094977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8225578440001 meters Centerline goodness : 0.153277 Centerline is valid? [False, False] Translation: X:3.92, Y:0.52, Z:1.42 [[ 9.99623673e-01 5.99694500e-03 -2.67684381e-02 3.91606833e+00] [-5.94901450e-03 9.99980556e-01 1.86983926e-03 5.16566741e-01] [ 2.67791310e-02 -1.70988976e-03 9.99639912e-01 1.42125978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85255784400005 meters Centerline goodness : 0.146601 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99554298e-01 6.23825415e-03 -2.91940123e-02 3.86894535e+00] [-6.19205664e-03 9.99979430e-01 1.67256942e-03 5.22092038e-01] [ 2.92038457e-02 -1.49105297e-03 9.99572365e-01 1.42237462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8825578440001 meters Centerline goodness : 0.145122 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99554827e-01 6.17363607e-03 -2.91896120e-02 3.86892950e+00] [-6.13505161e-03 9.99980185e-01 1.41123093e-03 5.23633842e-01] [ 2.91977460e-02 -1.23152291e-03 9.99572896e-01 1.42236809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91255784400005 meters Centerline goodness : 0.164043 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99555191e-01 6.10132053e-03 -2.91923465e-02 3.86902280e+00] [-6.06894217e-03 9.99980867e-01 1.19761320e-03 5.24917940e-01] [ 2.91990950e-02 -1.01991383e-03 9.99573095e-01 1.42224397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.942557844 meters Centerline goodness : 0.168412 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99550717e-01 -2.46237936e-03 -2.98714036e-02 3.89103899e+00] [ 2.51301443e-03 9.99995468e-01 1.65767841e-03 5.28263213e-01] [ 2.98671865e-02 -1.73200091e-03 9.99552375e-01 1.42333021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97255784400005 meters Centerline goodness : 0.152864 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99552562e-01 -2.51648164e-03 -2.98051017e-02 3.89092938e+00] [ 2.56620145e-03 9.99995379e-01 1.63003025e-03 5.28176229e-01] [ 2.98008621e-02 -1.70578681e-03 9.99554400e-01 1.42315322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.002557844 meters Centerline goodness : 0.152731 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99555901e-01 -2.51525461e-03 -2.96930169e-02 3.89044342e+00] [ 2.56514254e-03 9.99995362e-01 1.64215110e-03 5.28202740e-01] [ 2.96887487e-02 -1.71758864e-03 9.99557716e-01 1.42343699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03255784400005 meters Centerline goodness : 0.144789 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99553133e-01 -2.55083357e-03 -2.97830158e-02 3.89072204e+00] [ 2.60210636e-03 9.99995198e-01 1.68291386e-03 5.28030027e-01] [ 2.97785800e-02 -1.75966039e-03 9.99554971e-01 1.42332416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.062557844 meters Centerline goodness : 0.120849 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99556621e-01 -2.56785191e-03 -2.96642509e-02 3.89029690e+00] [ 2.61833845e-03 9.99995189e-01 1.66321335e-03 5.27988041e-01] [ 2.96598373e-02 -1.74014696e-03 9.99558536e-01 1.42349833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09255784400005 meters Centerline goodness : 0.161742 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99563089e-01 -2.60905641e-03 -2.94418876e-02 3.88942467e+00] [ 2.65509363e-03 9.99995313e-01 1.52467824e-03 5.28659953e-01] [ 2.94377716e-02 -1.60218306e-03 9.99565331e-01 1.42400131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.122557844 meters Centerline goodness : 0.136866 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99568315e-01 -2.66813337e-03 -2.92585829e-02 3.88863259e+00] [ 2.70742658e-03 9.99995485e-01 1.30342945e-03 5.29921545e-01] [ 2.92549731e-02 -1.38208224e-03 9.99571026e-01 1.42454974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15255784400006 meters Centerline goodness : 0.165891 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99572342e-01 -2.78905596e-03 -2.91093505e-02 3.88806783e+00] [ 2.81605829e-03 9.99995642e-01 8.86662815e-04 5.32213102e-01] [ 2.91067507e-02 -9.68257254e-04 9.99575840e-01 1.42496279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18255784400003 meters Centerline goodness : 0.119878 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99571273e-01 -2.91057517e-03 -2.91341486e-02 3.88820287e+00] [ 2.93005518e-03 9.99995511e-01 6.25962289e-04 5.33323278e-01] [ 2.91321959e-02 -7.11058584e-04 9.99575315e-01 1.42488045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21255784400006 meters Centerline goodness : 0.141125 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99570410e-01 -3.03075285e-03 -2.91514846e-02 3.88838435e+00] [ 3.04195583e-03 9.99995315e-01 3.39961601e-04 5.34622310e-01] [ 2.91503177e-02 -4.28493086e-04 9.99574947e-01 1.42467303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24255784400003 meters Centerline goodness : 0.149145 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99565864e-01 -3.15404057e-03 -2.92939628e-02 3.88898741e+00] [ 3.15530139e-03 9.99995022e-01 -3.18526717e-06 5.36474641e-01] [ 2.92938270e-02 -8.92473970e-05 9.99570840e-01 1.42432023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27255784400006 meters Centerline goodness : 0.158808 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99556461e-01 -3.21973774e-03 -2.96059920e-02 3.89000269e+00] [ 3.21150340e-03 9.99994790e-01 -3.25677046e-04 5.38626783e-01] [ 2.96068864e-02 2.30452852e-04 9.99561593e-01 1.42402127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30255784400003 meters Centerline goodness : 0.157373 Centerline is valid? [False, False] Translation: X:3.87, Y:0.54, Z:1.42 [[ 9.99521181e-01 5.49224149e-03 -3.04506833e-02 3.86830929e+00] [-5.53861859e-03 9.99983627e-01 -1.43888487e-03 5.40370578e-01] [ 3.04422820e-02 1.60685062e-03 9.99535235e-01 1.42275772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33255784400006 meters Centerline goodness : 0.161831 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99562522e-01 -2.80590000e-03 -2.94430239e-02 3.88779856e+00] [ 2.78994102e-03 9.99995938e-01 -5.83096193e-04 5.43465858e-01] [ 2.94445404e-02 5.00696801e-04 9.99566290e-01 1.42472519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36255784400004 meters Centerline goodness : 0.109262 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99569572e-01 -2.89503478e-03 -2.91940141e-02 3.88699394e+00] [ 2.87477972e-03 9.99995597e-01 -7.35757084e-04 5.44043564e-01] [ 2.91960156e-02 6.51514033e-04 9.99573493e-01 1.42496088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39255784400007 meters Centerline goodness : 0.113756 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99569422e-01 -2.93790033e-03 -2.91948600e-02 3.88704483e+00] [ 2.91523081e-03 9.99995415e-01 -8.19023647e-04 5.44536199e-01] [ 2.91971323e-02 7.33561238e-04 9.99573404e-01 1.42483188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42255784400004 meters Centerline goodness : 0.109775 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99545710e-01 -3.17031928e-03 -2.99720365e-02 3.88979674e+00] [ 3.14491891e-03 9.99994655e-01 -8.94571577e-04 5.44545220e-01] [ 2.99747123e-02 7.99905557e-04 9.99550337e-01 1.42342334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45255784400007 meters Centerline goodness : 0.102662 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99539282e-01 -3.20508111e-03 -3.01819740e-02 3.89069769e+00] [ 3.18162850e-03 9.99994598e-01 -8.25033214e-04 5.43847762e-01] [ 3.01844553e-02 7.28625278e-04 9.99544080e-01 1.42278803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48255784400004 meters Centerline goodness : 0.158639 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99536763e-01 -3.21231954e-03 -3.02644966e-02 3.89099114e+00] [ 3.18984750e-03 9.99994600e-01 -7.90772880e-04 5.43613446e-01] [ 3.02668734e-02 6.93867436e-04 9.99541612e-01 1.42260882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51255784400007 meters Centerline goodness : 0.160168 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99534341e-01 -3.18242862e-03 -3.03475534e-02 3.89102354e+00] [ 3.15943322e-03 9.99994684e-01 -8.05656398e-04 5.43980253e-01] [ 3.03499561e-02 7.09400168e-04 9.99539082e-01 1.42291709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54255784400004 meters Centerline goodness : 0.161819 Centerline is valid? [False, False] Translation: X:3.89, Y:0.55, Z:1.42 [[ 9.99538477e-01 -3.18939322e-03 -3.02102804e-02 3.89047474e+00] [ 3.16044293e-03 9.99994500e-01 -1.00599415e-03 5.45284565e-01] [ 3.02133228e-02 9.10051995e-04 9.99543059e-01 1.42333188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5725578440001 meters Centerline goodness : 0.160411 Centerline is valid? [False, False] Translation: X:3.89, Y:0.55, Z:1.43 [[ 9.99563891e-01 -6.55429639e-04 -2.95228585e-02 3.88693127e+00] [ 6.83389178e-04 9.99999328e-01 9.36967117e-04 5.48471145e-01] [ 2.95222245e-02 -9.56734099e-04 9.99563666e-01 1.42545983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60255784400005 meters Centerline goodness : 0.161353 Centerline is valid? [False, False] Translation: X:3.89, Y:0.55, Z:1.43 [[ 9.99565973e-01 -5.70322154e-04 -2.94540472e-02 3.88674112e+00] [ 5.88969275e-04 9.99999632e-01 6.24420207e-04 5.50398980e-01] [ 2.94536802e-02 -6.41496720e-04 9.99565940e-01 1.42560163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6325578440001 meters Centerline goodness : 0.161706 Centerline is valid? [False, False] Translation: X:3.89, Y:0.55, Z:1.43 [[ 9.99567165e-01 -2.92898911e-04 -2.94176177e-02 3.88664558e+00] [ 3.04116861e-04 9.99999883e-01 3.76860973e-04 5.52771793e-01] [ 2.94175039e-02 -3.85644248e-04 9.99567137e-01 1.42569599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66255784400005 meters Centerline goodness : 0.166543 Centerline is valid? [False, False] Translation: X:3.89, Y:0.55, Z:1.43 [[ 9.99557932e-01 3.69666382e-03 -2.95004430e-02 3.88670622e+00] [-3.58042759e-03 9.99985622e-01 3.99200338e-03 5.54185596e-01] [ 2.95147759e-02 -3.88461444e-03 9.99556796e-01 1.42587262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.692557844 meters Centerline goodness : 0.162974 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99952921 0.00780031 -0.02967331 3.88668469] [-0.00759541 0.99994657 0.00701183 0.55994746] [ 0.02972642 -0.00678315 0.99953506 1.42669752] [ 0. 0. 0. 1. ]] SLAMing on 327.72255784400005 meters Centerline goodness : 0.108723 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99952713 0.00778372 -0.02974782 3.88658101] [-0.00759578 0.99995051 0.00642533 0.56328436] [ 0.02979636 -0.00619634 0.99953678 1.42722017] [ 0. 0. 0. 1. ]] SLAMing on 327.752557844 meters Centerline goodness : 0.162524 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 9.99607451e-01 1.10114549e-03 -2.79952064e-02 3.86753954e+00] [-8.97528216e-04 9.99973063e-01 7.28481641e-03 5.72391876e-01] [ 2.80024740e-02 -7.25683028e-03 9.99581512e-01 1.42503779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78255784400005 meters Centerline goodness : 0.158824 Centerline is valid? [False, False] Translation: X:3.87, Y:0.58, Z:1.43 [[ 9.99615343e-01 9.45460699e-04 -2.77177135e-02 3.86677037e+00] [-7.60272112e-04 9.99977326e-01 6.69101345e-03 5.75360371e-01] [ 2.77234111e-02 -6.66736670e-03 9.99593397e-01 1.42518510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.812557844 meters Centerline goodness : 0.162582 Centerline is valid? [False, False] Translation: X:3.87, Y:0.58, Z:1.43 [[ 9.99623131e-01 8.06005646e-04 -2.74398758e-02 3.86602708e+00] [-6.36498282e-04 9.99980667e-01 6.18558404e-03 5.78040634e-01] [ 2.74443309e-02 -6.16578745e-03 9.99604318e-01 1.42529085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84255784400005 meters Centerline goodness : 0.104012 Centerline is valid? [False, False] Translation: X:3.87, Y:0.58, Z:1.43 [[ 9.99626993e-01 7.05190538e-04 -2.73016185e-02 3.86573860e+00] [-5.59978539e-04 9.99985660e-01 5.32608580e-03 5.83334544e-01] [ 2.73049829e-02 -5.30881081e-03 9.99613052e-01 1.42525867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.872557844 meters Centerline goodness : 0.159522 Centerline is valid? [False, False] Translation: X:3.87, Y:0.59, Z:1.43 [[ 9.99620328e-01 5.52971514e-04 -2.75480448e-02 3.86648433e+00] [-4.21218979e-04 9.99988448e-01 4.78821902e-03 5.86292715e-01] [ 2.75503743e-02 -4.77479731e-03 9.99609013e-01 1.42507222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90255784400006 meters Centerline goodness : 0.104384 Centerline is valid? [False, False] Translation: X:3.87, Y:0.59, Z:1.42 [[ 9.99613986e-01 3.98153453e-04 -2.77798606e-02 3.86723950e+00] [-2.81398388e-04 9.99991112e-01 4.20664997e-03 5.89490841e-01] [ 2.77812886e-02 -4.19720894e-03 9.99605214e-01 1.42483410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93255784400003 meters Centerline goodness : 0.153773 Centerline is valid? [False, False] Translation: X:3.87, Y:0.59, Z:1.42 [[ 9.99609384e-01 2.70509864e-04 -2.79464984e-02 3.86771715e+00] [-1.67976245e-04 9.99993247e-01 3.67120792e-03 5.92437924e-01] [ 2.79473028e-02 -3.66507954e-03 9.99602679e-01 1.42478291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96255784400006 meters Centerline goodness : 0.103548 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:1.43 [[ 9.99613288e-01 9.33440015e-05 -2.78076711e-02 3.86723787e+00] [-7.81169691e-06 9.99995269e-01 3.07594561e-03 5.95520964e-01] [ 2.78078267e-02 -3.07453888e-03 9.99608559e-01 1.42502279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99255784400003 meters Centerline goodness : 0.158825 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:1.43 [[ 9.99624860e-01 2.62472562e-04 -2.73874162e-02 3.86613004e+00] [-1.94550325e-04 9.99996899e-01 2.48268791e-03 6.00135057e-01] [ 2.73879830e-02 -2.47642833e-03 9.99621811e-01 1.42515586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02255784400006 meters Centerline goodness : 0.103696 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:1.42 [[ 9.99622356e-01 1.74218172e-04 -2.74793602e-02 3.86654010e+00] [-1.15341097e-04 9.99997695e-01 2.14416312e-03 6.01966591e-01] [ 2.74796704e-02 -2.14018389e-03 9.99620071e-01 1.42485566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05255784400003 meters Centerline goodness : 0.037306 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:1.42 [[ 9.99619909e-01 1.06090273e-04 -2.75685572e-02 3.86692450e+00] [-5.38158276e-05 9.99998199e-01 1.89689686e-03 6.03226847e-01] [ 2.75687088e-02 -1.89469224e-03 9.99618115e-01 1.42457498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08255784400006 meters Centerline goodness : 0.123105 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:1.42 [[ 9.99615281e-01 4.41816587e-05 -2.77360481e-02 3.86731193e+00] [-4.32040958e-06 9.99998967e-01 1.43722226e-03 6.05652924e-01] [ 2.77360829e-02 -1.43654950e-03 9.99614249e-01 1.42464305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11255784400004 meters Centerline goodness : 0.162752 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:1.42 [[ 9.99613646e-01 -2.15506435e-05 -2.77949338e-02 3.86745816e+00] [ 5.13389558e-05 9.99999425e-01 1.07100416e-03 6.07748885e-01] [ 2.77948948e-02 -1.07201733e-03 9.99613072e-01 1.42461213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14255784400007 meters Centerline goodness : 0.110637 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:1.42 [[ 9.99612553e-01 -1.64134344e-05 -2.78342103e-02 3.86764163e+00] [ 3.54914783e-05 9.99999765e-01 6.84923212e-04 6.10336619e-01] [ 2.78341925e-02 -6.85645718e-04 9.99612319e-01 1.42449784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17255784400004 meters Centerline goodness : 0.132283 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:1.42 [[ 9.99612227e-01 -4.36609490e-05 -2.78458970e-02 3.86771166e+00] [ 5.35401410e-05 9.99999936e-01 3.54035403e-04 6.12395255e-01] [ 2.78458798e-02 -3.55388991e-04 9.99612165e-01 1.42440315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20255784400007 meters Centerline goodness : 0.137629 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:1.42 [[ 9.99615853e-01 -7.61195502e-05 -2.77153663e-02 3.86745211e+00] [ 7.66962285e-05 9.99999997e-01 1.97441339e-05 6.14320886e-01] [ 2.77153647e-02 -2.18622133e-05 9.99615855e-01 1.42425225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23255784400004 meters Centerline goodness : 0.114754 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99602005e-01 3.07774070e-04 -2.82088125e-02 3.86911030e+00] [-3.16639098e-04 9.99999902e-01 -3.09798156e-04 6.17130156e-01] [ 2.82087144e-02 3.18606871e-04 9.99602004e-01 1.42346115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26255784400007 meters Centerline goodness : 0.110598 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99589653e-01 3.82873500e-04 -2.86422761e-02 3.87044827e+00] [-3.99084852e-04 9.99999763e-01 -5.60279483e-04 6.18749568e-01] [ 2.86420548e-02 5.71480272e-04 9.99589569e-01 1.42298751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29255784400004 meters Centerline goodness : 0.084831 Centerline is valid? [False, False] Translation: X:3.82, Y:0.62, Z:1.42 [[ 9.99505685e-01 7.97105540e-04 -3.14284981e-02 3.82488587e+00] [-8.30494713e-04 9.99999105e-01 -1.04934573e-03 6.19980982e-01] [ 3.14276335e-02 1.07492823e-03 9.99505452e-01 1.42315307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3225578440001 meters Centerline goodness : 0.082945 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99563036e-01 1.07323026e-03 -2.95395545e-02 3.86848301e+00] [-1.10326213e-03 9.99998891e-01 -1.00038676e-03 6.21048597e-01] [ 2.95384481e-02 1.03253950e-03 9.99563112e-01 1.42424921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35255784400005 meters Centerline goodness : 0.083308 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99571678e-01 1.16797362e-03 -2.92420444e-02 3.86733342e+00] [-1.19677932e-03 9.99998816e-01 -9.67595691e-04 6.21119616e-01] [ 2.92408796e-02 1.00217752e-03 9.99571892e-01 1.42483182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3825578440001 meters Centerline goodness : 0.185276 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99572686e-01 1.24384170e-03 -2.92044057e-02 3.86715955e+00] [-1.27078190e-03 9.99998784e-01 -9.03928277e-04 6.21058908e-01] [ 2.92032459e-02 9.40654446e-04 9.99573052e-01 1.42490197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41255784400005 meters Centerline goodness : 0.122148 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99571623e-01 1.30668761e-03 -2.92380325e-02 3.86736092e+00] [-1.33110379e-03 9.99998781e-01 -8.15634689e-04 6.20708510e-01] [ 2.92369311e-02 8.54204146e-04 9.99572145e-01 1.42467568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.442557844 meters Centerline goodness : 0.122148 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99571623e-01 1.30668761e-03 -2.92380325e-02 3.86736092e+00] [-1.33110379e-03 9.99998781e-01 -8.15634689e-04 6.20708510e-01] [ 2.92369311e-02 8.54204146e-04 9.99572145e-01 1.42467568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47255784400005 meters Centerline goodness : 0.120297 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99568072e-01 1.35130915e-03 -2.93571619e-02 3.86792256e+00] [-1.37376299e-03 9.99998779e-01 -7.44695014e-04 6.20369500e-01] [ 2.93561198e-02 7.84703142e-04 9.99568708e-01 1.42425547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.502557844 meters Centerline goodness : 0.232962 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99564189e-01 1.48076721e-03 -2.94828517e-02 3.86853387e+00] [-1.49894306e-03 9.99998700e-01 -5.94396973e-04 6.19709859e-01] [ 2.94819332e-02 6.38331044e-04 9.99565110e-01 1.42374954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53255784400005 meters Centerline goodness : 0.125989 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99563303e-01 1.55100768e-03 -2.95092678e-02 3.86859192e+00] [-1.56695876e-03 9.99998638e-01 -5.17427367e-04 6.19430655e-01] [ 2.95084251e-02 5.63441214e-04 9.99564373e-01 1.42370298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.562557844 meters Centerline goodness : 0.119672 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99559822e-01 1.65388828e-03 -2.96213968e-02 3.86889110e+00] [-1.66737192e-03 9.99998517e-01 -4.30504886e-04 6.19202748e-01] [ 2.96206409e-02 4.79705273e-04 9.99561097e-01 1.42363651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59255784400005 meters Centerline goodness : 0.082026 Centerline is valid? [False, False] Translation: X:3.82, Y:0.62, Z:1.42 [[ 9.99462193e-01 1.72606121e-03 -3.27466730e-02 3.82407705e+00] [-1.74685252e-03 9.99998290e-01 -6.06314744e-04 6.17467259e-01] [ 3.27455705e-02 6.63192272e-04 9.99463500e-01 1.42365446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.622557844 meters Centerline goodness : 0.085642 Centerline is valid? [False, False] Translation: X:3.83, Y:0.62, Z:1.42 [[ 9.99453828e-01 1.80952850e-03 -3.29965238e-02 3.82509030e+00] [-1.82619134e-03 9.99998220e-01 -4.74857619e-04 6.16473535e-01] [ 3.29956058e-02 5.34856232e-04 9.99455354e-01 1.42301031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65255784400006 meters Centerline goodness : 0.082176 Centerline is valid? [False, False] Translation: X:3.82, Y:0.62, Z:1.42 [[ 9.99455743e-01 1.81938306e-03 -3.29379273e-02 3.82482350e+00] [-1.83877469e-03 9.99998154e-01 -5.58451226e-04 6.16995727e-01] [ 3.29368504e-02 6.18712712e-04 9.99457243e-01 1.42316347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68255784400003 meters Centerline goodness : 0.083412 Centerline is valid? [False, False] Translation: X:3.82, Y:0.62, Z:1.42 [[ 9.99468217e-01 1.89620259e-03 -3.25528468e-02 3.82350303e+00] [-1.92017026e-03 9.99997908e-01 -7.05023378e-04 6.18303624e-01] [ 3.25514418e-02 7.67155467e-04 9.99469767e-01 1.42370878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71255784400006 meters Centerline goodness : 0.141053 Centerline is valid? [False, False] Translation: X:3.84, Y:0.62, Z:1.42 [[ 9.99534378e-01 -2.90442033e-03 -3.03741976e-02 3.84449042e+00] [ 3.00104896e-03 9.99990579e-01 3.13616969e-03 6.21427850e-01] [ 3.03648027e-02 -3.22586387e-03 9.99533678e-01 1.42410521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74255784400003 meters Centerline goodness : 0.161695 Centerline is valid? [False, False] Translation: X:3.84, Y:0.62, Z:1.42 [[ 9.99545544e-01 -2.89575262e-03 -3.00053387e-02 3.84335416e+00] [ 2.98047856e-03 9.99991696e-01 2.77935492e-03 6.23668197e-01] [ 2.99970412e-02 -2.86752209e-03 9.99545874e-01 1.42436485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77255784400006 meters Centerline goodness : 0.138933 Centerline is valid? [False, False] Translation: X:3.84, Y:0.63, Z:1.42 [[ 9.99545118e-01 -3.04462645e-03 -3.00047833e-02 3.84338590e+00] [ 3.11475538e-03 9.99992525e-01 2.29079602e-03 6.25949201e-01] [ 2.99975844e-02 -2.38321154e-03 9.99547130e-01 1.42419015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80255784400003 meters Centerline goodness : 0.082633 Centerline is valid? [False, False] Translation: X:3.84, Y:0.63, Z:1.42 [[ 9.99547829e-01 -3.19802443e-03 -2.98983206e-02 3.84322037e+00] [ 3.24829576e-03 9.99993391e-01 1.63299096e-03 6.29237763e-01] [ 2.98929006e-02 -1.72937115e-03 9.99551611e-01 1.42383626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83255784400006 meters Centerline goodness : 0.125289 Centerline is valid? [False, False] Translation: X:3.84, Y:0.63, Z:1.42 [[ 9.99553641e-01 -3.24492831e-03 -2.96982982e-02 3.84252182e+00] [ 3.28771847e-03 9.99993626e-01 1.39211136e-03 6.30834841e-01] [ 2.96935916e-02 -1.48912963e-03 9.99557939e-01 1.42407678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86255784400004 meters Centerline goodness : 0.169844 Centerline is valid? [False, False] Translation: X:3.84, Y:0.63, Z:1.42 [[ 9.99550342e-01 -3.36519161e-03 -2.97958069e-02 3.84268485e+00] [ 3.39844568e-03 9.99993658e-01 1.06549467e-03 6.32732872e-01] [ 2.97920323e-02 -1.16627499e-03 9.99555438e-01 1.42418807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89255784400007 meters Centerline goodness : 0.136238 Centerline is valid? [False, False] Translation: X:3.84, Y:0.63, Z:1.42 [[ 9.99539530e-01 -3.45636434e-03 -3.01459886e-02 3.84397541e+00] [ 3.48728953e-03 9.99993446e-01 9.73331797e-04 6.32787789e-01] [ 3.01424268e-02 -1.07801140e-03 9.99545033e-01 1.42355001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92255784400004 meters Centerline goodness : 0.126584 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99529033e-01 -3.53629668e-03 -3.04828864e-02 3.84513190e+00] [ 3.56555544e-03 9.99993233e-01 9.05538633e-04 6.32753350e-01] [ 3.04794779e-02 -1.01380058e-03 9.99534879e-01 1.42303566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95255784400007 meters Centerline goodness : 0.121005 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99523587e-01 -3.59284260e-03 -3.06543825e-02 3.84564549e+00] [ 3.62158410e-03 9.99993053e-01 8.82128257e-04 6.32642942e-01] [ 3.06510002e-02 -9.92725424e-04 9.99529655e-01 1.42291381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98255784400004 meters Centerline goodness : 0.129878 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99523502e-01 -3.58769768e-03 -3.06577596e-02 3.84549162e+00] [ 3.61732198e-03 9.99993043e-01 9.10882322e-04 6.32578959e-01] [ 3.06542783e-02 -1.02134728e-03 9.99529525e-01 1.42316621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01255784400007 meters Centerline goodness : 0.142256 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99523042e-01 -3.53957870e-03 -3.06783402e-02 3.84544798e+00] [ 3.57278191e-03 9.99993090e-01 1.02755235e-03 6.32166900e-01] [ 3.06744911e-02 -1.13666927e-03 9.99528781e-01 1.42334533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04255784400004 meters Centerline goodness : 0.081596 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99523828e-01 -3.55208741e-03 -3.06512743e-02 3.84525819e+00] [ 3.58576608e-03 9.99993026e-01 1.04387194e-03 6.31963303e-01] [ 3.06473526e-02 -1.15328318e-03 9.99529594e-01 1.42358421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0725578440001 meters Centerline goodness : 0.136529 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99525621e-01 -3.56864868e-03 -3.05908093e-02 3.84501401e+00] [ 3.60101253e-03 9.99993013e-01 1.00293316e-03 6.32146887e-01] [ 3.05870165e-02 -1.11261528e-03 9.99531489e-01 1.42371614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10255784400005 meters Centerline goodness : 0.134008 Centerline is valid? [False, False] Translation: X:3.82, Y:0.63, Z:1.42 [[ 9.99500845e-01 4.88894584e-03 -3.12115056e-02 3.82464768e+00] [-4.89103227e-03 9.99988039e-01 9.49876765e-06 6.27367747e-01] [ 3.12111787e-02 1.43162455e-04 9.99512802e-01 1.42228709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1325578440001 meters Centerline goodness : 0.084236 Centerline is valid? [False, False] Translation: X:3.82, Y:0.63, Z:1.42 [[ 9.99497162e-01 4.87698069e-03 -3.13310994e-02 3.82499557e+00] [-4.88093738e-03 9.99988087e-01 -4.98060020e-05 6.27718921e-01] [ 3.13304833e-02 2.02706092e-04 9.99509059e-01 1.42219144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16255784400005 meters Centerline goodness : 0.176613 Centerline is valid? [False, False] Translation: X:3.83, Y:0.63, Z:1.42 [[ 9.99494607e-01 4.88485660e-03 -3.14112715e-02 3.82529780e+00] [-4.88821689e-03 9.99988052e-01 -3.01860817e-05 6.27565890e-01] [ 3.14107488e-02 1.83715934e-04 9.99506544e-01 1.42201057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.192557844 meters Centerline goodness : 0.083078 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99513619e-01 -3.37086102e-03 -3.10026260e-02 3.84510383e+00] [ 3.40010194e-03 9.99993823e-01 8.90505082e-04 6.30977036e-01] [ 3.09994327e-02 -9.95484046e-04 9.99518906e-01 1.42332034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22255784400005 meters Centerline goodness : 0.084070 Centerline is valid? [False, False] Translation: X:3.84, Y:0.63, Z:1.42 [[ 9.99515438e-01 -3.32901802e-03 -3.09484548e-02 3.84482554e+00] [ 3.36162858e-03 9.99993848e-01 1.00173403e-03 6.30345789e-01] [ 3.09449296e-02 -1.10528584e-03 9.99520480e-01 1.42354844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.252557844 meters Centerline goodness : 0.085361 Centerline is valid? [False, False] Translation: X:3.86, Y:0.63, Z:1.43 [[ 9.99509945e-01 4.58206893e-03 -3.09657028e-02 3.86419993e+00] [-4.58751753e-03 9.99989472e-01 -1.04912849e-04 6.26149060e-01] [ 3.09648961e-02 2.46917140e-04 9.99520442e-01 1.42567318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28255784400005 meters Centerline goodness : 0.138046 Centerline is valid? [False, False] Translation: X:3.86, Y:0.63, Z:1.43 [[ 9.99509497e-01 4.65330239e-03 -3.09695427e-02 3.86422308e+00] [-4.65586492e-03 9.99989161e-01 -1.06315012e-05 6.25885750e-01] [ 3.09691575e-02 1.54816294e-04 9.99520329e-01 1.42564701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.312557844 meters SLAMing on 329.34255784400005 meters Centerline goodness : 0.086331 Centerline is valid? [False, False] Translation: X:3.82, Y:0.62, Z:1.43 [[ 9.99437905e-01 5.08930455e-03 -3.31356740e-02 3.81720357e+00] [-5.07775775e-03 9.99987015e-01 4.32612302e-04 6.18895771e-01] [ 3.31374454e-02 -2.64114208e-04 9.99450769e-01 1.42664585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.372557844 meters Centerline goodness : 0.130217 Centerline is valid? [False, False] Translation: X:3.84, Y:0.62, Z:1.43 [[ 9.99490127e-01 -3.08023356e-03 -3.17804777e-02 3.83695935e+00] [ 3.13340839e-03 9.99993773e-01 1.62352405e-03 6.20443133e-01] [ 3.17752790e-02 -1.72227748e-03 9.99493554e-01 1.42778782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40255784400006 meters Centerline goodness : 0.083749 Centerline is valid? [False, False] Translation: X:3.84, Y:0.62, Z:1.43 [[ 9.99498147e-01 -2.86810500e-03 -3.15472283e-02 3.83624796e+00] [ 2.93667995e-03 9.99993425e-01 2.12760448e-03 6.18006029e-01] [ 3.15409187e-02 -2.21918085e-03 9.99499998e-01 1.42801186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43255784400003 meters Centerline goodness : 0.094028 Centerline is valid? [False, False] Translation: X:3.84, Y:0.62, Z:1.43 [[ 9.99504705e-01 -2.68484079e-03 -3.13550170e-02 3.83568929e+00] [ 2.76823459e-03 9.99992745e-01 2.61655683e-03 6.15500678e-01] [ 3.13477645e-02 -2.70205891e-03 9.99504886e-01 1.42815885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46255784400006 meters Centerline goodness : 0.149069 Centerline is valid? [False, False] Translation: X:3.84, Y:0.61, Z:1.43 [[ 9.99498835e-01 -2.33457204e-03 -3.15694268e-02 3.83683688e+00] [ 2.44923009e-03 9.99990543e-01 3.59375111e-03 6.09549739e-01] [ 3.15607383e-02 -3.66927084e-03 9.99495101e-01 1.42734892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49255784400003 meters Centerline goodness : 0.162061 Centerline is valid? [False, False] Translation: X:3.84, Y:0.61, Z:1.43 [[ 9.99486730e-01 -2.11307353e-03 -3.19657869e-02 3.83823633e+00] [ 2.24769272e-03 9.99988754e-01 4.17600497e-03 6.06685228e-01] [ 3.19566032e-02 -4.24571082e-03 9.99480240e-01 1.42670802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52255784400006 meters Centerline goodness : 0.125450 Centerline is valid? [False, False] Translation: X:3.84, Y:0.60, Z:1.43 [[ 9.99479785e-01 -1.81038454e-03 -3.22006620e-02 3.83916602e+00] [ 1.96825109e-03 9.99986197e-01 4.87156542e-03 6.03499585e-01] [ 3.21913981e-02 -4.93241015e-03 9.99469552e-01 1.42621379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55255784400003 meters Centerline goodness : 0.083391 Centerline is valid? [False, False] Translation: X:3.84, Y:0.60, Z:1.43 [[ 9.99486284e-01 -1.26238319e-03 -3.20245822e-02 3.83860634e+00] [ 1.46359461e-03 9.99979333e-01 6.26036705e-03 5.95599903e-01] [ 3.20160174e-02 -6.30402201e-03 9.99467475e-01 1.42655897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58255784400006 meters Centerline goodness : 0.124521 Centerline is valid? [False, False] Translation: X:3.83, Y:0.59, Z:1.43 [[ 9.99509379e-01 -3.44045536e-03 -3.11314220e-02 3.83433139e+00] [ 3.58420559e-03 9.99983167e-01 4.56290286e-03 5.91021561e-01] [ 3.11151994e-02 -4.67224561e-03 9.99504885e-01 1.42878027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61255784400004 meters Centerline goodness : 0.150069 Centerline is valid? [False, False] Translation: X:3.83, Y:0.59, Z:1.43 [[ 9.99512815e-01 -3.21195979e-03 -3.10453848e-02 3.83388073e+00] [ 3.37861539e-03 9.99980156e-01 5.31716183e-03 5.86915306e-01] [ 3.10276903e-02 -5.41946180e-03 9.99503833e-01 1.42924398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64255784400007 meters Centerline goodness : 0.126667 Centerline is valid? [False, False] Translation: X:3.83, Y:0.58, Z:1.43 [[ 9.99511887e-01 -2.93955737e-03 -3.11021936e-02 3.83392146e+00] [ 3.12788750e-03 9.99977058e-01 6.00828355e-03 5.83503437e-01] [ 3.10838184e-02 -6.10263500e-03 9.99498151e-01 1.42948072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67255784400004 meters Centerline goodness : 0.167679 Centerline is valid? [False, False] Translation: X:3.83, Y:0.58, Z:1.43 [[ 9.99510486e-01 -2.68951598e-03 -3.11697854e-02 3.83426866e+00] [ 2.89703630e-03 9.99973927e-01 6.61449213e-03 5.80626874e-01] [ 3.11511830e-02 -6.70155424e-03 9.99492218e-01 1.42924056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70255784400007 meters Centerline goodness : 0.102293 Centerline is valid? [False, False] Translation: X:3.83, Y:0.57, Z:1.43 [[ 9.99512705e-01 -2.22520511e-03 -3.11352066e-02 3.83475146e+00] [ 2.46755119e-03 9.99966944e-01 7.74740973e-03 5.74755576e-01] [ 3.11169379e-02 -7.82046217e-03 9.99485156e-01 1.42851263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73255784400004 meters Centerline goodness : 0.168633 Centerline is valid? [False, False] Translation: X:3.84, Y:0.57, Z:1.43 [[ 9.99510901e-01 -1.99926318e-03 -3.12083606e-02 3.83509286e+00] [ 2.26069512e-03 9.99962633e-01 8.34394799e-03 5.71644022e-01] [ 3.11905127e-02 -8.41041956e-03 9.99478072e-01 1.42829377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76255784400007 meters Centerline goodness : 0.170906 Centerline is valid? [False, False] Translation: X:3.84, Y:0.57, Z:1.43 [[ 9.99501617e-01 -1.62328026e-03 -3.15259071e-02 3.83610004e+00] [ 1.91546205e-03 9.99955476e-01 9.24000143e-03 5.67249785e-01] [ 3.15095044e-02 -9.29578305e-03 9.99460224e-01 1.42805836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79255784400004 meters Centerline goodness : 0.171166 Centerline is valid? [False, False] Translation: X:3.84, Y:0.57, Z:1.43 [[ 9.99497927e-01 -1.49889468e-03 -3.16488095e-02 3.83649264e+00] [ 1.80023880e-03 9.99953300e-01 9.49515242e-03 5.66079631e-01] [ 3.16330993e-02 -9.54736058e-03 9.99453948e-01 1.42792576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8225578440001 meters Centerline goodness : 0.166602 Centerline is valid? [False, False] Translation: X:3.84, Y:0.57, Z:1.43 [[ 9.99495248e-01 -1.41036024e-03 -3.17373639e-02 3.83679237e+00] [ 1.71826296e-03 9.99951706e-01 9.67640335e-03 5.65088522e-01] [ 3.17221840e-02 -9.72605230e-03 9.99449402e-01 1.42780335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85255784400005 meters Centerline goodness : 0.165829 Centerline is valid? [False, False] Translation: X:3.84, Y:0.56, Z:1.43 [[ 9.99492582e-01 -1.37823970e-03 -3.18226240e-02 3.83708884e+00] [ 1.68875034e-03 9.99951210e-01 9.73272933e-03 5.64641379e-01] [ 3.18076573e-02 -9.78153123e-03 9.99446144e-01 1.42764290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8825578440001 meters Centerline goodness : 0.166440 Centerline is valid? [False, False] Translation: X:3.84, Y:0.56, Z:1.43 [[ 9.99496571e-01 -1.34556403e-03 -3.16984883e-02 3.83690164e+00] [ 1.65437232e-03 9.99951412e-01 9.71783902e-03 5.64831332e-01] [ 3.16838721e-02 -9.76538788e-03 9.99450234e-01 1.42737201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91255784400005 meters Centerline goodness : 0.162683 Centerline is valid? [False, False] Translation: X:3.83, Y:0.57, Z:1.43 [[ 9.99533276e-01 -5.75661061e-04 -3.05433911e-02 3.83372940e+00] [ 8.88884662e-04 9.99947150e-01 1.02424501e-02 5.65075325e-01] [ 3.05358807e-02 -1.02648193e-02 9.99480962e-01 1.42776137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.942557844 meters Centerline goodness : 0.126578 Centerline is valid? [False, False] Translation: X:3.83, Y:0.57, Z:1.43 [[ 9.99538507e-01 -5.62590160e-04 -3.03719565e-02 3.83327536e+00] [ 8.71301161e-04 9.99948087e-01 1.01520660e-02 5.65752702e-01] [ 3.03646683e-02 -1.01738441e-02 9.99487108e-01 1.42775375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97255784400005 meters Centerline goodness : 0.106273 Centerline is valid? [False, False] Translation: X:3.83, Y:0.57, Z:1.43 [[ 9.99536481e-01 -6.01042233e-04 -3.04378365e-02 3.83347395e+00] [ 9.06970304e-04 9.99949206e-01 1.00381052e-02 5.66180028e-01] [ 3.04302571e-02 -1.00610585e-02 9.99486255e-01 1.42765171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.002557844 meters Centerline goodness : 0.164973 Centerline is valid? [False, False] Translation: X:3.83, Y:0.57, Z:1.43 [[ 9.99532470e-01 -6.42554375e-04 -3.05684264e-02 3.83383348e+00] [ 9.48582762e-04 9.99949571e-01 9.99780937e-03 5.66163019e-01] [ 3.05604607e-02 -1.00221318e-02 9.99482674e-01 1.42755604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03255784400005 meters Centerline goodness : 0.127411 Centerline is valid? [False, False] Translation: X:3.85, Y:0.56, Z:1.43 [[ 0.99949882 0.00738211 -0.03078345 3.85295982] [-0.00711753 0.99993686 0.00869541 0.56284992] [ 0.03084569 -0.00847195 0.99948825 1.43006119] [ 0. 0. 0. 1. ]] SLAMing on 330.062557844 meters Centerline goodness : 0.116792 Centerline is valid? [False, False] Translation: X:3.85, Y:0.56, Z:1.43 [[ 0.99950261 0.00745224 -0.03064315 3.85221316] [-0.00718253 0.99993458 0.0089022 0.56209501] [ 0.03070749 -0.00867767 0.99949074 1.43073167] [ 0. 0. 0. 1. ]] SLAMing on 330.09255784400005 meters Centerline goodness : 0.167701 Centerline is valid? [False, False] Translation: X:3.85, Y:0.56, Z:1.43 [[ 0.99950556 0.00743536 -0.03055093 3.85182258] [-0.00716595 0.99993455 0.00891873 0.5619328 ] [ 0.03061525 -0.0086954 0.99949342 1.43101177] [ 0. 0. 0. 1. ]] SLAMing on 330.122557844 meters Centerline goodness : 0.165616 Centerline is valid? [False, False] Translation: X:3.85, Y:0.56, Z:1.43 [[ 0.99950835 0.00738654 -0.03047131 3.85155473] [-0.00712123 0.99993587 0.00880618 0.56243609] [ 0.0305344 -0.00858485 0.99949685 1.43108743] [ 0. 0. 0. 1. ]] SLAMing on 330.15255784400006 meters Centerline goodness : 0.163376 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 9.99506545e-01 1.18210970e-04 -3.14110283e-02 3.86963379e+00] [ 1.84689650e-04 9.99953517e-01 9.64005336e-03 5.69034380e-01] [ 3.14107078e-02 -9.64109772e-03 9.99460063e-01 1.43338531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18255784400003 meters Centerline goodness : 0.159745 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 9.99497873e-01 1.12643538e-06 -3.16859996e-02 3.87060480e+00] [ 2.92067483e-04 9.99957189e-01 9.24847626e-03 5.71208981e-01] [ 3.16846535e-02 -9.25308680e-03 9.99455083e-01 1.43287713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21255784400006 meters Centerline goodness : 0.165372 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 9.99496267e-01 -2.00902008e-05 -3.17365912e-02 3.87077040e+00] [ 3.12935861e-04 9.99957423e-01 9.22244226e-03 5.71268963e-01] [ 3.17350547e-02 -9.22772813e-03 9.99453718e-01 1.43281143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24255784400003 meters Centerline goodness : 0.165586 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 9.99494876e-01 -1.05669048e-05 -3.17803952e-02 3.87081490e+00] [ 3.08202346e-04 9.99956142e-01 9.36049481e-03 5.70273258e-01] [ 3.17789025e-02 -9.36556139e-03 9.99451043e-01 1.43294615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27255784400006 meters Centerline goodness : 0.101917 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 0.99949394 -0.0040982 -0.0315447 3.87015227] [ 0.00427426 0.99997565 0.00551594 0.56921032] [ 0.03152132 -0.00564797 0.99948712 1.43311473] [ 0. 0. 0. 1. ]] SLAMing on 330.30255784400003 meters Centerline goodness : 0.167081 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 0.9994955 -0.00399105 -0.03150913 3.86999936] [ 0.00417652 0.99997433 0.0058225 0.56770604] [ 0.03148508 -0.00595116 0.9994865 1.43323966] [ 0. 0. 0. 1. ]] SLAMing on 330.33255784400006 meters Centerline goodness : 0.167081 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 0.9994955 -0.00399105 -0.03150913 3.86999936] [ 0.00417652 0.99997433 0.0058225 0.56770604] [ 0.03148508 -0.00595116 0.9994865 1.43323966] [ 0. 0. 0. 1. ]] SLAMing on 330.36255784400004 meters Centerline goodness : 0.113019 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99952069 0.00425535 -0.03066392 3.88960163] [-0.00410445 0.99997916 0.00498242 0.56296395] [ 0.03068448 -0.00485418 0.99951733 1.43486735] [ 0. 0. 0. 1. ]] SLAMing on 330.39255784400007 meters Centerline goodness : 0.175576 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99951861 0.004355 -0.0307179 3.88980428] [-0.00419596 0.99997747 0.00524011 0.56169545] [ 0.03074002 -0.0051087 0.99951436 1.43479012] [ 0. 0. 0. 1. ]] SLAMing on 330.42255784400004 meters Centerline goodness : 0.103934 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99951315 0.00439564 -0.03088915 3.89047682] [-0.00423095 0.9999765 0.00539507 0.5607282 ] [ 0.03091214 -0.00526175 0.99950826 1.43444225] [ 0. 0. 0. 1. ]] SLAMing on 330.45255784400007 meters Centerline goodness : 0.167983 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99951254 0.00444488 -0.03090191 3.89079856] [-0.0042759 0.99997556 0.00553213 0.55982121] [ 0.03092575 -0.0053973 0.99950711 1.43399037] [ 0. 0. 0. 1. ]] SLAMing on 330.48255784400004 meters Centerline goodness : 0.168683 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99951342 0.00455505 -0.03085737 3.89064708] [-0.00438061 0.99997406 0.00571827 0.55880212] [ 0.03088262 -0.00558031 0.99950744 1.43402896] [ 0. 0. 0. 1. ]] SLAMing on 330.51255784400007 meters Centerline goodness : 0.105212 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99950953 0.00464055 -0.03097034 3.89091453] [-0.00446576 0.99997372 0.00571059 0.55916074] [ 0.03099603 -0.00556948 0.99950399 1.4340168 ] [ 0. 0. 0. 1. ]] SLAMing on 330.54255784400004 meters Centerline goodness : 0.170077 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99950212 0.00466057 -0.03120564 3.89162059] [-0.00448701 0.99997409 0.00562955 0.55971228] [ 0.03123107 -0.00548672 0.99949713 1.4337981 ] [ 0. 0. 0. 1. ]] SLAMing on 330.5725578440001 meters Centerline goodness : 0.160744 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99948655 0.00475738 -0.03168602 3.89329147] [-0.00458421 0.99997417 0.00553549 0.56038047] [ 0.03171154 -0.00538739 0.99948254 1.43291894] [ 0. 0. 0. 1. ]] SLAMing on 330.60255784400005 meters Centerline goodness : 0.163013 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99949039 0.00476961 -0.03156293 3.89296997] [-0.00459719 0.99997413 0.00553275 0.56044646] [ 0.03158851 -0.00538483 0.99948645 1.43289527] [ 0. 0. 0. 1. ]] SLAMing on 330.6325578440001 meters Centerline goodness : 0.164581 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99949695 0.00481523 -0.03134726 3.89222236] [-0.00464132 0.99997345 0.00561831 0.56015952] [ 0.03137348 -0.00546999 0.99949276 1.43322444] [ 0. 0. 0. 1. ]] SLAMing on 330.66255784400005 meters Centerline goodness : 0.168018 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99950087 0.00487537 -0.0312127 3.89177811] [-0.00469632 0.99997211 0.00580727 0.55917902] [ 0.03124015 -0.00565779 0.99949589 1.43343333] [ 0. 0. 0. 1. ]] SLAMing on 330.692557844 meters Centerline goodness : 0.159543 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 9.99517398e-01 8.76643082e-04 -3.10516113e-02 3.89115249e+00] [-8.14676058e-04 9.99997652e-01 2.00820914e-03 5.59177452e-01] [ 3.10532988e-02 -1.98194297e-03 9.99515765e-01 1.43370010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72255784400005 meters Centerline goodness : 0.111221 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 9.99510185e-01 9.11092486e-04 -3.12819401e-02 3.89162787e+00] [-8.40415683e-04 9.99997065e-01 2.27242226e-03 5.57721302e-01] [ 3.12839186e-02 -2.24501937e-03 9.99508017e-01 1.43389855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.752557844 meters Centerline goodness : 0.136747 Centerline is valid? [False, False] Translation: X:3.87, Y:0.56, Z:1.43 [[ 9.99451379e-01 -7.82283410e-03 -3.21829893e-02 3.87071188e+00] [ 7.94279169e-03 9.99961971e-01 3.60120384e-03 5.59235224e-01] [ 3.21535938e-02 -3.85485092e-03 9.99475506e-01 1.43257321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78255784400005 meters Centerline goodness : 0.166768 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 9.99506485e-01 2.07590594e-04 -3.14124816e-02 3.88936689e+00] [-1.31898201e-04 9.99997083e-01 2.41168088e-03 5.55246526e-01] [ 3.14128906e-02 -2.40634743e-03 9.99503597e-01 1.43453204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.812557844 meters Centerline goodness : 0.107949 Centerline is valid? [False, False] Translation: X:3.91, Y:0.55, Z:1.44 [[ 9.99576807e-01 6.08948929e-03 -2.84451146e-02 3.90870128e+00] [-6.11916303e-03 9.99980821e-01 -9.56260876e-04 5.53490169e-01] [ 2.84387459e-02 1.12991649e-03 9.99594898e-01 1.43565348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84255784400005 meters Centerline goodness : 0.163783 Centerline is valid? [False, False] Translation: X:3.91, Y:0.55, Z:1.44 [[ 9.99574882e-01 6.12085734e-03 -2.85059675e-02 3.90856590e+00] [-6.14769709e-03 9.99980738e-01 -8.54002027e-04 5.52895002e-01] [ 2.85001912e-02 1.02888503e-03 9.99593258e-01 1.43613726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.872557844 meters Centerline goodness : 0.117923 Centerline is valid? [False, False] Translation: X:3.91, Y:0.55, Z:1.44 [[ 9.99573405e-01 6.17625837e-03 -2.85457873e-02 3.90851078e+00] [-6.19908323e-03 9.99980533e-01 -7.11159121e-04 5.52153709e-01] [ 2.85408393e-02 8.87813456e-04 9.99592233e-01 1.43635376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90255784400006 meters Centerline goodness : 0.113894 Centerline is valid? [False, False] Translation: X:3.93, Y:0.56, Z:1.44 [[ 9.99609800e-01 -1.76431641e-03 -2.78771498e-02 3.92821668e+00] [ 1.77228075e-03 9.99998395e-01 2.60988606e-04 5.56166559e-01] [ 2.78766446e-02 -3.10292904e-04 9.99611323e-01 1.43753682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93255784400003 meters Centerline goodness : 0.155431 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99624802e-01 -1.62682428e-03 -2.73424237e-02 3.92683092e+00] [ 1.64938336e-03 9.99998318e-01 8.02524753e-04 5.53031850e-01] [ 2.73410721e-02 -8.47321786e-04 9.99625804e-01 1.43770016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96255784400006 meters Centerline goodness : 0.162124 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99629139e-01 -1.48869816e-03 -2.71913130e-02 3.92611511e+00] [ 1.52255491e-03 9.99998091e-01 1.22446936e-03 5.50849446e-01] [ 2.71894383e-02 -1.26541552e-03 9.99629498e-01 1.43828498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99255784400003 meters Centerline goodness : 0.162454 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99629374e-01 -1.32418841e-03 -2.71912087e-02 3.92585255e+00] [ 1.36985224e-03 9.99997683e-01 1.66080123e-03 5.48784497e-01] [ 2.71889465e-02 -1.69743363e-03 9.99628871e-01 1.43875519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02255784400006 meters Centerline goodness : 0.162468 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:1.44 [[ 9.99603018e-01 6.67097200e-03 -2.73734250e-02 3.94622831e+00] [-6.65710439e-03 9.99977663e-01 5.97709403e-04 5.43235085e-01] [ 2.73768009e-02 -4.15244375e-04 9.99625099e-01 1.44058438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05255784400003 meters Centerline goodness : 0.151458 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:1.44 [[ 9.99568394e-01 4.65580164e-03 -2.90060176e-02 3.95317590e+00] [-4.68586047e-03 9.99988552e-01 -9.68409007e-04 5.38075636e-01] [ 2.90011768e-02 1.10390919e-03 9.99578768e-01 1.43718293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08255784400006 meters Centerline goodness : 0.159886 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:1.44 [[ 9.99563720e-01 4.83998579e-03 -2.91366550e-02 3.95376216e+00] [-4.85699027e-03 9.99988073e-01 -5.12865891e-04 5.35871685e-01] [ 2.91338253e-02 6.54158587e-04 9.99575306e-01 1.43675962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11255784400004 meters Centerline goodness : 0.152501 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99565179e-01 5.03004867e-03 -2.90542874e-02 3.95365783e+00] [-5.03528410e-03 9.99987317e-01 -1.07033491e-04 5.34114840e-01] [ 2.90533805e-02 2.53283542e-04 9.99577829e-01 1.43657784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14255784400007 meters Centerline goodness : 0.151643 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99568738e-01 5.21935083e-03 -2.88980256e-02 3.95333333e+00] [-5.21387601e-03 9.99986373e-01 2.64801271e-04 5.32565813e-01] [ 2.88990139e-02 -1.14016350e-04 9.99582330e-01 1.43647953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17255784400004 meters Centerline goodness : 0.145128 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99569697e-01 5.37324611e-03 -2.88365760e-02 3.95312813e+00] [-5.35913608e-03 9.99985479e-01 5.66573956e-04 5.31221933e-01] [ 2.88392016e-02 -4.11791022e-04 9.99583979e-01 1.43656852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20255784400007 meters Centerline goodness : 0.113364 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99562390e-01 5.62269405e-03 -2.90415958e-02 3.95379630e+00] [-5.59974432e-03 9.99983942e-01 8.71506873e-04 5.29791852e-01] [ 2.90460296e-02 -7.08499982e-04 9.99577824e-01 1.43629497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23255784400004 meters Centerline goodness : 0.149699 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99555000e-01 5.71309006e-03 -2.92773516e-02 3.95465803e+00] [-5.68935738e-03 9.99983416e-01 8.93854767e-04 5.29847285e-01] [ 2.92819728e-02 -7.26887685e-04 9.99570927e-01 1.43583603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26255784400007 meters Centerline goodness : 0.120043 Centerline is valid? [False, False] Translation: X:3.96, Y:0.53, Z:1.44 [[ 9.99550238e-01 5.78277159e-03 -2.94258485e-02 3.95523243e+00] [-5.75932072e-03 9.99983026e-01 8.81641176e-04 5.30086734e-01] [ 2.94304474e-02 -7.11771748e-04 9.99566577e-01 1.43545884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29255784400004 meters Centerline goodness : 0.145267 Centerline is valid? [False, False] Translation: X:3.96, Y:0.53, Z:1.44 [[ 9.99548095e-01 6.22459079e-03 -2.94085087e-02 3.95531724e+00] [-6.19527773e-03 9.99980217e-01 1.08776677e-03 5.30096605e-01] [ 2.94146978e-02 -9.05081322e-04 9.99566884e-01 1.43507901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3225578440001 meters Centerline goodness : 0.151627 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99556788e-01 6.28855804e-03 -2.90978031e-02 3.95442157e+00] [-6.25917280e-03 9.99979805e-01 1.10085249e-03 5.30262192e-01] [ 2.91041383e-02 -9.18236400e-04 9.99575963e-01 1.43519149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35255784400005 meters Centerline goodness : 0.119347 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99566575e-01 6.36284814e-03 -2.87432842e-02 3.95333638e+00] [-6.33290819e-03 9.99979306e-01 1.13254695e-03 5.30410052e-01] [ 2.87498956e-02 -9.50027496e-04 9.99586185e-01 1.43545912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3825578440001 meters Centerline goodness : 0.106409 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99572458e-01 6.35778579e-03 -2.85391018e-02 3.95273393e+00] [-6.33039123e-03 9.99979411e-01 1.05014437e-03 5.30901372e-01] [ 2.85451908e-02 -8.69031709e-04 9.99592125e-01 1.43555545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41255784400005 meters Centerline goodness : 0.135317 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.43 [[ 9.99581770e-01 -2.29441793e-03 -2.88274380e-02 3.93200168e+00] [ 2.34958255e-03 9.99995473e-01 1.87988751e-03 5.35005031e-01] [ 2.88229942e-02 -1.94683373e-03 9.99582635e-01 1.43434427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.442557844 meters Centerline goodness : 0.147989 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.43 [[ 9.99579884e-01 -2.31294973e-03 -2.88912724e-02 3.93214466e+00] [ 2.36623655e-03 9.99995562e-01 1.81033870e-03 5.35316128e-01] [ 2.88869569e-02 -1.87794173e-03 9.99580921e-01 1.43434541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47255784400005 meters Centerline goodness : 0.119392 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.43 [[ 9.99581833e-01 -2.33028746e-03 -2.88223591e-02 3.93190224e+00] [ 2.38166303e-03 9.99995636e-01 1.74828886e-03 5.35676539e-01] [ 2.88181593e-02 -1.81620293e-03 9.99583021e-01 1.43445708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.502557844 meters Centerline goodness : 0.114623 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.43 [[ 9.99584663e-01 -2.36761673e-03 -2.87210078e-02 3.93155641e+00] [ 2.41535956e-03 9.99995758e-01 1.62771723e-03 5.36358644e-01] [ 2.87170321e-02 -1.69641274e-03 9.99586141e-01 1.43454667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53255784400005 meters Centerline goodness : 0.146793 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.43 [[ 9.99586860e-01 -2.39881715e-03 -2.86418345e-02 3.93122975e+00] [ 2.44277736e-03 9.99995892e-01 1.49993380e-03 5.37138557e-01] [ 2.86381187e-02 -1.56927974e-03 9.99588613e-01 1.43471502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.562557844 meters Centerline goodness : 0.150744 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.44 [[ 9.99593727e-01 -2.60421403e-03 -2.83830736e-02 3.93030038e+00] [ 2.63170842e-03 9.99996103e-01 9.31377227e-04 5.40038957e-01] [ 2.83805375e-02 -1.00569481e-03 9.99596686e-01 1.43504642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59255784400005 meters Centerline goodness : 0.144103 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.44 [[ 9.99600227e-01 -2.73082794e-03 -2.81412298e-02 3.92950685e+00] [ 2.74773024e-03 9.99996067e-01 5.61971603e-04 5.41929687e-01] [ 2.81395845e-02 -6.39071451e-04 9.99603799e-01 1.43526557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.622557844 meters Centerline goodness : 0.156294 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.44 [[ 9.99606864e-01 -2.90963288e-03 -2.78863983e-02 3.92867862e+00] [ 2.91293387e-03 9.99995754e-01 7.77497463e-05 5.44404368e-01] [ 2.78860537e-02 -1.58950414e-04 9.99611096e-01 1.43547813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65255784400006 meters Centerline goodness : 0.132649 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99612428e-01 -3.06054604e-03 -2.76699456e-02 3.92803423e+00] [ 3.05017434e-03 9.99995261e-01 -4.17035587e-04 5.47099562e-01] [ 2.76710908e-02 3.32475797e-04 9.99617027e-01 1.43551716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68255784400003 meters Centerline goodness : 0.142526 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99613367e-01 -3.43517959e-03 -2.75919710e-02 3.92785185e+00] [ 3.39509723e-03 9.99993113e-01 -1.49939849e-03 5.52601605e-01] [ 2.75969317e-02 1.40514135e-03 9.99618145e-01 1.43530902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71255784400006 meters Centerline goodness : 0.146973 Centerline is valid? [False, False] Translation: X:3.93, Y:0.56, Z:1.43 [[ 9.99603005e-01 -3.67017931e-03 -2.79349684e-02 3.92906212e+00] [ 3.61386109e-03 9.99991335e-01 -2.06626703e-03 5.55141324e-01] [ 2.79423099e-02 1.96449363e-03 9.99607607e-01 1.43469664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74255784400003 meters Centerline goodness : 0.142229 Centerline is valid? [False, False] Translation: X:3.91, Y:0.55, Z:1.43 [[ 9.99556449e-01 3.95462911e-03 -2.95172145e-02 3.91066660e+00] [-4.06700548e-03 9.99984706e-01 -3.74808168e-03 5.51890298e-01] [ 2.95019408e-02 3.86646588e-03 9.99557245e-01 1.43256419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77255784400006 meters Centerline goodness : 0.132536 Centerline is valid? [False, False] Translation: X:3.91, Y:0.55, Z:1.43 [[ 9.99556877e-01 3.78041878e-03 -2.95255518e-02 3.91072110e+00] [-3.90612535e-03 9.99983547e-01 -4.20103483e-03 5.54201494e-01] [ 2.95091843e-02 4.31450376e-03 9.99555198e-01 1.43244889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80255784400003 meters Centerline goodness : 0.147425 Centerline is valid? [False, False] Translation: X:3.93, Y:0.56, Z:1.43 [[ 9.99591261e-01 -3.87889446e-03 -2.83242894e-02 3.92909055e+00] [ 3.79761244e-03 9.99988517e-01 -2.92292293e-03 5.59987930e-01] [ 2.83353019e-02 2.81416354e-03 9.99594513e-01 1.43443819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83255784400006 meters Centerline goodness : 0.143872 Centerline is valid? [False, False] Translation: X:3.95, Y:0.56, Z:1.44 [[ 0.99965359 0.0041734 -0.02598619 3.94787061] [-0.00428717 0.99998146 -0.00432396 0.55756881] [ 0.02596766 0.00443387 0.99965295 1.43587796] [ 0. 0. 0. 1. ]] SLAMing on 331.86255784400004 meters Centerline goodness : 0.146218 Centerline is valid? [False, False] Translation: X:3.95, Y:0.56, Z:1.44 [[ 0.99965625 0.0042008 -0.02587908 3.94725778] [-0.00431099 0.99998187 -0.00420364 0.55688537] [ 0.02586096 0.00431376 0.99965624 1.43644892] [ 0. 0. 0. 1. ]] SLAMing on 331.89255784400007 meters Centerline goodness : 0.138439 Centerline is valid? [False, False] Translation: X:3.95, Y:0.56, Z:1.44 [[ 0.99965633 0.00422251 -0.02587272 3.9471538 ] [-0.00432936 0.99998232 -0.00407535 0.55617872] [ 0.02585505 0.00418596 0.99965694 1.43662329] [ 0. 0. 0. 1. ]] SLAMing on 331.92255784400004 meters Centerline goodness : 0.142297 Centerline is valid? [False, False] Translation: X:3.90, Y:0.55, Z:1.44 [[ 9.99569966e-01 3.07919857e-03 -2.91616470e-02 3.90368446e+00] [-3.20218760e-03 9.99986171e-01 -4.17173164e-03 5.51535168e-01] [ 2.91483981e-02 4.26331872e-03 9.99566003e-01 1.43613252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95255784400007 meters Centerline goodness : 0.146679 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99517742e-01 -5.45876015e-03 -3.05693379e-02 3.92798986e+00] [ 5.34447236e-03 9.99978425e-01 -3.81910240e-03 5.52795870e-01] [ 3.05895259e-02 3.65388363e-03 9.99525352e-01 1.43624684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98255784400004 meters Centerline goodness : 0.146549 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99502204e-01 -5.32058751e-03 -3.10971821e-02 3.92947886e+00] [ 5.22117600e-03 9.99981000e-01 -3.27712969e-03 5.49831059e-01] [ 3.11140275e-02 3.11313449e-03 9.99510993e-01 1.43603383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01255784400007 meters Centerline goodness : 0.146036 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99495244e-01 -5.15527358e-03 -3.13477436e-02 3.93015429e+00] [ 5.07466532e-03 9.99983611e-01 -2.65043763e-03 5.46376468e-01] [ 3.13608936e-02 2.49002050e-03 9.99505025e-01 1.43604995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04255784400004 meters Centerline goodness : 0.146325 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.44 [[ 0.99947807 -0.00855038 -0.03115243 3.92888667] [ 0.0083982 0.99995217 -0.00501282 0.5393498 ] [ 0.0311938 0.00474858 0.99950207 1.43726319] [ 0. 0. 0. 1. ]] SLAMing on 332.0725578440001 meters Centerline goodness : 0.145963 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.44 [[ 9.99474822e-01 -8.32569301e-03 -3.13171412e-02 3.92921357e+00] [ 8.19907788e-03 9.99957695e-01 -4.16924710e-03 5.35076658e-01] [ 3.13505282e-02 3.91028582e-03 9.99500802e-01 1.43753671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10255784400005 meters Centerline goodness : 0.143349 Centerline is valid? [False, False] Translation: X:3.93, Y:0.53, Z:1.44 [[ 9.99467771e-01 -8.07282915e-03 -3.16070427e-02 3.93001590e+00] [ 7.97090971e-03 9.99962623e-01 -3.34925517e-03 5.31010465e-01] [ 3.16328993e-02 3.09553571e-03 9.99494761e-01 1.43754307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1325578440001 meters Centerline goodness : 0.142048 Centerline is valid? [False, False] Translation: X:3.93, Y:0.53, Z:1.44 [[ 9.99462901e-01 -7.83321630e-03 -3.18205980e-02 3.93072249e+00] [ 7.75289323e-03 9.99966443e-01 -2.64684769e-03 5.27397418e-01] [ 3.18402636e-02 2.39872437e-03 9.99490092e-01 1.43735768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16255784400005 meters Centerline goodness : 0.142500 Centerline is valid? [False, False] Translation: X:3.93, Y:0.52, Z:1.44 [[ 9.99461170e-01 -7.50977776e-03 -3.19526724e-02 3.93101476e+00] [ 7.45871113e-03 9.99970709e-01 -1.71709097e-03 5.22082595e-01] [ 3.19646314e-02 1.47783999e-03 9.99487908e-01 1.43756506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.192557844 meters Centerline goodness : 0.147461 Centerline is valid? [False, False] Translation: X:3.91, Y:0.51, Z:1.44 [[ 9.99478089e-01 4.78367232e-04 -3.23004646e-02 3.91082349e+00] [-5.54073772e-04 9.99997121e-01 -2.33491193e-03 5.14034189e-01] [ 3.22992546e-02 2.35159015e-03 9.99475477e-01 1.43622251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22255784400005 meters Centerline goodness : 0.136230 Centerline is valid? [False, False] Translation: X:3.95, Y:0.52, Z:1.44 [[ 9.99538120e-01 1.64184492e-03 -3.03455152e-02 3.95459317e+00] [-1.71028083e-03 9.99996052e-01 -2.22940525e-03 5.15681243e-01] [ 3.03417350e-02 2.28027488e-03 9.99536983e-01 1.43725846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.252557844 meters Centerline goodness : 0.136230 Centerline is valid? [False, False] Translation: X:3.95, Y:0.52, Z:1.44 [[ 9.99538120e-01 1.64184492e-03 -3.03455152e-02 3.95459317e+00] [-1.71028083e-03 9.99996052e-01 -2.22940525e-03 5.15681243e-01] [ 3.03417350e-02 2.28027488e-03 9.99536983e-01 1.43725846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28255784400005 meters Centerline goodness : 0.114384 Centerline is valid? [False, False] Translation: X:3.95, Y:0.52, Z:1.44 [[ 9.99542862e-01 1.75189310e-03 -3.01827392e-02 3.95413122e+00] [-1.81557225e-03 9.99996183e-01 -2.08251042e-03 5.15186962e-01] [ 3.01789757e-02 2.13635737e-03 9.99542228e-01 1.43729364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.312557844 meters Centerline goodness : 0.132714 Centerline is valid? [False, False] Translation: X:3.95, Y:0.51, Z:1.44 [[ 9.99548999e-01 1.83004455e-03 -2.99741378e-02 3.95341048e+00] [-1.88965844e-03 9.99996293e-01 -1.96063818e-03 5.14673956e-01] [ 2.99704386e-02 2.01639481e-03 9.99548752e-01 1.43760252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34255784400005 meters Centerline goodness : 0.151338 Centerline is valid? [False, False] Translation: X:3.95, Y:0.51, Z:1.44 [[ 9.99553277e-01 1.88388781e-03 -2.98277920e-02 3.95287557e+00] [-1.94003631e-03 9.99996400e-01 -1.85359444e-03 5.14038960e-01] [ 2.98241926e-02 1.91063340e-03 9.99553334e-01 1.43785101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.372557844 meters Centerline goodness : 0.142138 Centerline is valid? [False, False] Translation: X:3.95, Y:0.51, Z:1.44 [[ 9.99558995e-01 1.96976311e-03 -2.96299796e-02 3.95194500e+00] [-2.01663858e-03 9.99996762e-01 -1.55222856e-03 5.12164070e-01] [ 2.96268261e-02 1.61129698e-03 9.99559731e-01 1.43852726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40255784400006 meters Centerline goodness : 0.144228 Centerline is valid? [False, False] Translation: X:3.95, Y:0.51, Z:1.44 [[ 9.99561453e-01 2.06850127e-03 -2.95401912e-02 3.95158592e+00] [-2.10833210e-03 9.99996910e-01 -1.31727734e-03 5.11166412e-01] [ 2.95373752e-02 1.37898018e-03 9.99562725e-01 1.43871963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43255784400003 meters Centerline goodness : 0.150126 Centerline is valid? [False, False] Translation: X:3.97, Y:0.52, Z:1.44 [[ 9.99569865e-01 -5.49240898e-03 -2.88083140e-02 3.97109891e+00] [ 5.49433512e-03 9.99984906e-01 -1.22971313e-05 5.15429755e-01] [ 2.88079467e-02 -1.45990689e-04 9.99584954e-01 1.44024580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46255784400006 meters Centerline goodness : 0.122680 Centerline is valid? [False, False] Translation: X:3.95, Y:0.51, Z:1.44 [[ 9.99622808e-01 1.08824431e-03 -2.74418790e-02 3.95336678e+00] [-1.11641472e-03 9.99998865e-01 -1.01124804e-03 5.07413793e-01] [ 2.74407474e-02 1.04150312e-03 9.99622889e-01 1.43744704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49255784400003 meters Centerline goodness : 0.154487 Centerline is valid? [False, False] Translation: X:3.95, Y:0.50, Z:1.44 [[ 9.99615756e-01 -2.83134362e-03 -2.75739560e-02 3.95387488e+00] [ 2.70986773e-03 9.99986463e-01 -4.44182932e-03 5.04465329e-01] [ 2.75861590e-02 4.36540081e-03 9.99609897e-01 1.43724373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52255784400006 meters Centerline goodness : 0.104799 Centerline is valid? [False, False] Translation: X:3.95, Y:0.50, Z:1.44 [[ 9.99608873e-01 -2.62484572e-03 -2.78426308e-02 3.95450086e+00] [ 2.51810178e-03 9.99989348e-01 -3.86820046e-03 5.01591396e-01] [ 2.78524877e-02 3.79657692e-03 9.99604834e-01 1.43736757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55255784400003 meters Centerline goodness : 0.153002 Centerline is valid? [False, False] Translation: X:3.95, Y:0.50, Z:1.44 [[ 9.99604120e-01 -2.41949176e-03 -2.80312194e-02 3.95493773e+00] [ 2.32573785e-03 9.99991594e-01 -3.37674548e-03 4.99288904e-01] [ 2.80391538e-02 3.31021543e-03 9.99601345e-01 1.43748146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58255784400006 meters Centerline goodness : 0.116002 Centerline is valid? [False, False] Translation: X:3.96, Y:0.50, Z:1.44 [[ 9.99602622e-01 -2.20331868e-03 -2.81023854e-02 3.95510760e+00] [ 2.12240316e-03 9.99993517e-01 -2.90881464e-03 4.97174075e-01] [ 2.81086123e-02 2.84801415e-03 9.99600818e-01 1.43753898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61255784400004 meters Centerline goodness : 0.142987 Centerline is valid? [False, False] Translation: X:3.95, Y:0.50, Z:1.44 [[ 9.99606867e-01 -2.03970064e-03 -2.79633750e-02 3.95481612e+00] [ 1.96801724e-03 9.99994707e-01 -2.59075638e-03 4.95750185e-01] [ 2.79685114e-02 2.53470546e-03 9.99605591e-01 1.43746851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64255784400007 meters Centerline goodness : 0.139910 Centerline is valid? [False, False] Translation: X:3.95, Y:0.49, Z:1.44 [[ 9.99629049e-01 -1.57894034e-03 -2.71895466e-02 3.95310433e+00] [ 1.52460455e-03 9.99996800e-01 -2.01902212e-03 4.93592382e-01] [ 2.71926475e-02 1.97681986e-03 9.99628257e-01 1.43718723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67255784400004 meters Centerline goodness : 0.138231 Centerline is valid? [False, False] Translation: X:3.97, Y:0.49, Z:1.44 [[ 9.99627209e-01 7.29739848e-03 -2.63095267e-02 3.97326287e+00] [-7.38508046e-03 9.99967490e-01 -3.23708330e-03 4.90886936e-01] [ 2.62850491e-02 3.43017451e-03 9.99648603e-01 1.43869262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70255784400007 meters Centerline goodness : 0.136417 Centerline is valid? [False, False] Translation: X:3.97, Y:0.49, Z:1.44 [[ 9.99627456e-01 7.38761937e-03 -2.62749246e-02 3.97316234e+00] [-7.47396426e-03 9.99966983e-01 -3.18952111e-03 4.90884727e-01] [ 2.62504941e-02 3.38471072e-03 9.99649666e-01 1.43867682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73255784400004 meters Centerline goodness : 0.142157 Centerline is valid? [False, False] Translation: X:3.99, Y:0.50, Z:1.44 [[ 9.99648109e-01 4.17643497e-04 -2.65232568e-02 3.99195969e+00] [-4.73484632e-04 9.99997685e-01 -2.09911955e-03 4.96119934e-01] [ 2.65223187e-02 2.11093924e-03 9.99645993e-01 1.44052721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76255784400007 meters Centerline goodness : 0.149608 Centerline is valid? [False, False] Translation: X:3.95, Y:0.49, Z:1.44 [[ 9.99546605e-01 -8.92821411e-04 -3.00963120e-02 3.94953303e+00] [ 8.35538063e-04 9.99997816e-01 -1.91585690e-03 4.88891298e-01] [ 3.00979568e-02 1.88984164e-03 9.99545167e-01 1.43981359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79255784400004 meters Centerline goodness : 0.133710 Centerline is valid? [False, False] Translation: X:3.95, Y:0.49, Z:1.44 [[ 9.99529943e-01 -8.88009065e-04 -3.06448170e-02 3.95113672e+00] [ 8.42699078e-04 9.99998533e-01 -1.49143660e-03 4.86119411e-01] [ 3.06460964e-02 1.46491118e-03 9.99529225e-01 1.43943733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8225578440001 meters Centerline goodness : 0.139074 Centerline is valid? [False, False] Translation: X:3.95, Y:0.48, Z:1.44 [[ 9.99513466e-01 -9.91917026e-04 -3.11744519e-02 3.95262388e+00] [ 9.61358257e-04 9.99999043e-01 -9.95223642e-04 4.82691069e-01] [ 3.11754092e-02 9.64769616e-04 9.99513463e-01 1.43928298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85255784400005 meters Centerline goodness : 0.127783 Centerline is valid? [False, False] Translation: X:3.95, Y:0.48, Z:1.44 [[ 9.99507324e-01 -1.07946201e-03 -3.13678689e-02 3.95303831e+00] [ 1.06666758e-03 9.99999341e-01 -4.24614091e-04 4.79047348e-01] [ 3.13683066e-02 3.90945806e-04 9.99507817e-01 1.43952753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8825578440001 meters Centerline goodness : 0.115941 Centerline is valid? [False, False] Translation: X:3.95, Y:0.47, Z:1.44 [[ 9.99498581e-01 -4.74959434e-03 -3.13053830e-02 3.95259804e+00] [ 4.65870789e-03 9.99984721e-01 -2.97552174e-03 4.72437047e-01] [ 3.13190372e-02 2.82818712e-03 9.99505437e-01 1.44010056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91255784400005 meters Centerline goodness : 0.114759 Centerline is valid? [False, False] Translation: X:3.95, Y:0.47, Z:1.44 [[ 9.99491303e-01 -4.73310988e-03 -3.15393781e-02 3.95291739e+00] [ 4.65898087e-03 9.99986210e-01 -2.42343869e-03 4.69148310e-01] [ 3.15504136e-02 2.27526454e-03 9.99499572e-01 1.44061044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9425578440001 meters Centerline goodness : 0.152309 Centerline is valid? [False, False] Translation: X:3.95, Y:0.47, Z:1.44 [[ 9.99488699e-01 -4.68342655e-03 -3.16291852e-02 3.95298332e+00] [ 4.62353205e-03 9.99987378e-01 -1.96651927e-03 4.66559380e-01] [ 3.16379960e-02 1.81927523e-03 9.99497738e-01 1.44094194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97255784400005 meters Centerline goodness : 0.150149 Centerline is valid? [False, False] Translation: X:3.95, Y:0.46, Z:1.44 [[ 9.99483631e-01 -4.57065121e-03 -3.18053400e-02 3.95335302e+00] [ 4.52268965e-03 9.99988525e-01 -1.57974978e-03 4.64623192e-01] [ 3.18121955e-02 1.43508837e-03 9.99492834e-01 1.44107388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.002557844 meters Centerline goodness : 0.143160 Centerline is valid? [False, False] Translation: X:3.95, Y:0.46, Z:1.44 [[ 9.99487957e-01 -4.46143141e-03 -3.16846991e-02 3.95310916e+00] [ 4.42469399e-03 9.99989455e-01 -1.22948971e-03 4.63084472e-01] [ 3.16898502e-02 1.08866506e-03 9.99497158e-01 1.44092718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03255784400005 meters Centerline goodness : 0.150027 Centerline is valid? [False, False] Translation: X:3.97, Y:0.46, Z:1.44 [[ 9.99529246e-01 3.38790902e-03 -3.04927495e-02 3.97107795e+00] [-3.47799818e-03 9.99989741e-01 -2.90189110e-03 4.57122256e-01] [ 3.04826054e-02 3.00657875e-03 9.99530776e-01 1.44279287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.062557844 meters Centerline goodness : 0.145494 Centerline is valid? [False, False] Translation: X:3.97, Y:0.46, Z:1.44 [[ 9.99533175e-01 3.43952040e-03 -3.03578965e-02 3.97053693e+00] [-3.52203405e-03 9.99990247e-01 -2.66497487e-03 4.55765685e-01] [ 3.03484342e-02 2.77065234e-03 9.99535540e-01 1.44314486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09255784400005 meters Centerline goodness : 0.142988 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99532999e-01 3.48882793e-03 -3.03580475e-02 3.97037782e+00] [-3.56490094e-03 9.99990639e-01 -2.45209635e-03 4.54529467e-01] [ 3.03492084e-02 2.55917465e-03 9.99536080e-01 1.44340338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.122557844 meters Centerline goodness : 0.152845 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99528866e-01 3.51610132e-03 -3.04906979e-02 3.97071157e+00] [-3.58688967e-03 9.99990997e-01 -2.26725199e-03 4.53458194e-01] [ 3.04824515e-02 2.37555058e-03 9.99532479e-01 1.44338187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15255784400006 meters Centerline goodness : 0.124409 Centerline is valid? [False, False] Translation: X:3.95, Y:0.45, Z:1.44 [[ 9.99450506e-01 1.14180287e-02 -3.11177533e-02 3.95111699e+00] [-1.15250170e-02 9.99928267e-01 -3.26098350e-03 4.45285817e-01] [ 3.10782871e-02 3.61782424e-03 9.99510406e-01 1.44186281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18255784400003 meters Centerline goodness : 0.153649 Centerline is valid? [False, False] Translation: X:3.95, Y:0.44, Z:1.44 [[ 9.99447700e-01 1.14096623e-02 -3.12108003e-02 3.95150830e+00] [-1.15146077e-02 9.99928633e-01 -3.18480067e-03 4.44788484e-01] [ 3.11722353e-02 3.54242183e-03 9.99507750e-01 1.44155642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21255784400006 meters Centerline goodness : 0.129065 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99493603e-01 3.06827893e-03 -3.16721251e-02 3.97406899e+00] [-3.16994460e-03 9.99989982e-01 -3.16022886e-03 4.48701220e-01] [ 3.16621113e-02 3.25902741e-03 9.99493316e-01 1.44209996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24255784400003 meters Centerline goodness : 0.160767 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99488698e-01 3.03563048e-03 -3.18296526e-02 3.97454859e+00] [-3.13813908e-03 9.99990048e-01 -3.17107705e-03 4.48647586e-01] [ 3.18197096e-02 3.26934155e-03 9.99488278e-01 1.44192791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27255784400006 meters Centerline goodness : 0.160778 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99486394e-01 3.02916075e-03 -3.19025370e-02 3.97482007e+00] [-3.13111095e-03 9.99990149e-01 -3.14620368e-03 4.48626871e-01] [ 3.18926923e-02 3.24447816e-03 9.99486033e-01 1.44177775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30255784400003 meters Centerline goodness : 0.128682 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99489023e-01 3.05723667e-03 -3.18173956e-02 3.97454395e+00] [-3.15620380e-03 9.99990335e-01 -3.06071325e-03 4.48289321e-01] [ 3.18077308e-02 3.15957148e-03 9.99489012e-01 1.44183654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33255784400006 meters Centerline goodness : 0.135667 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99493364e-01 3.07634648e-03 -3.16788919e-02 3.97402148e+00] [-3.17092959e-03 9.99990663e-01 -2.93587687e-03 4.47658844e-01] [ 3.16695643e-02 3.03484098e-03 9.99493786e-01 1.44210384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36255784400004 meters Centerline goodness : 0.131862 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99498697e-01 3.05505778e-03 -3.15122443e-02 3.97344428e+00] [-3.14460634e-03 9.99991157e-01 -2.79253928e-03 4.46706991e-01] [ 3.15034342e-02 2.89023297e-03 9.99499465e-01 1.44236040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39255784400007 meters Centerline goodness : 0.152281 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99502755e-01 2.81912685e-03 -3.14053278e-02 3.97306748e+00] [-2.90329346e-03 9.99992315e-01 -2.63473224e-03 4.45011689e-01] [ 3.13976588e-02 2.72460102e-03 9.99503258e-01 1.44255921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42255784400004 meters Centerline goodness : 0.154363 Centerline is valid? [False, False] Translation: X:3.97, Y:0.44, Z:1.44 [[ 9.99499753e-01 2.84991169e-03 -3.14979571e-02 3.97339060e+00] [-2.92775138e-03 9.99992773e-01 -2.42541713e-03 4.43865410e-01] [ 3.14908172e-02 2.51642201e-03 9.99500873e-01 1.44238017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45255784400007 meters Centerline goodness : 0.159705 Centerline is valid? [False, False] Translation: X:3.99, Y:0.45, Z:1.44 [[ 9.99491659e-01 -4.91137890e-03 -3.15008359e-02 3.99384926e+00] [ 4.87231717e-03 9.99987263e-01 -1.31666260e-03 4.46919377e-01] [ 3.15069013e-02 1.16251122e-03 9.99502858e-01 1.44408606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48255784400004 meters Centerline goodness : 0.141817 Centerline is valid? [False, False] Translation: X:3.99, Y:0.45, Z:1.44 [[ 9.99490210e-01 -4.87856544e-03 -3.15518663e-02 3.99382302e+00] [ 4.84790842e-03 9.99987700e-01 -1.04806571e-03 4.45459000e-01] [ 3.15565912e-02 8.94570857e-04 9.99501566e-01 1.44431805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51255784400007 meters Centerline goodness : 0.163885 Centerline is valid? [False, False] Translation: X:3.99, Y:0.44, Z:1.45 [[ 9.99509085e-01 -5.30238094e-03 -3.08783749e-02 3.99173686e+00] [ 5.27306596e-03 9.99985566e-01 -1.03072372e-03 4.43892918e-01] [ 3.08833945e-02 8.67394017e-04 9.99522618e-01 1.44512161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54255784400004 meters Centerline goodness : 0.157781 Centerline is valid? [False, False] Translation: X:4.01, Y:0.44, Z:1.45 [[ 9.99553193e-01 2.85792964e-03 -2.97530933e-02 4.00932881e+00] [-2.93523639e-03 9.99992428e-01 -2.55492463e-03 4.39233874e-01] [ 2.97455662e-02 2.64111544e-03 9.99554013e-01 1.44719483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5725578440001 meters Centerline goodness : 0.139334 Centerline is valid? [False, False] Translation: X:4.03, Y:0.44, Z:1.45 [[ 9.99576066e-01 -5.01554401e-03 -2.86798269e-02 4.02932303e+00] [ 4.97182351e-03 9.99986368e-01 -1.59554156e-03 4.42448545e-01] [ 2.86874385e-02 1.45227412e-03 9.99587376e-01 1.44875243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60255784400005 meters Centerline goodness : 0.110821 Centerline is valid? [False, False] Translation: X:4.03, Y:0.44, Z:1.45 [[ 9.99579765e-01 -4.96709076e-03 -2.85590848e-02 4.02881224e+00] [ 4.92834106e-03 9.99986837e-01 -1.42705479e-03 4.41677846e-01] [ 2.85657972e-02 1.28570618e-03 9.99591087e-01 1.44902846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6325578440001 meters Centerline goodness : 0.117941 Centerline is valid? [False, False] Translation: X:4.03, Y:0.44, Z:1.45 [[ 9.99581790e-01 -4.95359550e-03 -2.84904556e-02 4.02844431e+00] [ 4.91911637e-03 9.99987082e-01 -1.28016059e-03 4.40857243e-01] [ 2.84964290e-02 1.13947735e-03 9.99593245e-01 1.44931301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66255784400005 meters Centerline goodness : 0.126495 Centerline is valid? [False, False] Translation: X:4.05, Y:0.44, Z:1.45 [[ 9.99612545e-01 3.27796622e-03 -2.76408145e-02 4.04742961e+00] [-3.35117276e-03 9.99990998e-01 -2.60258673e-03 4.35968558e-01] [ 2.76320345e-02 2.69420749e-03 9.99614532e-01 1.45054769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6925578440001 meters Centerline goodness : 0.123083 Centerline is valid? [False, False] Translation: X:4.05, Y:0.43, Z:1.45 [[ 9.99608383e-01 3.14118126e-03 -2.78067015e-02 4.04782123e+00] [-3.20560366e-03 9.99992280e-01 -2.27251984e-03 4.33664483e-01] [ 2.77993485e-02 2.36076715e-03 9.99610736e-01 1.45049575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72255784400005 meters Centerline goodness : 0.155446 Centerline is valid? [False, False] Translation: X:4.07, Y:0.44, Z:1.45 [[ 9.99606589e-01 -4.98935306e-03 -2.76002354e-02 4.06936763e+00] [ 4.94906598e-03 9.99986586e-01 -1.52778311e-03 4.35019098e-01] [ 2.76074879e-02 1.39058668e-03 9.99617873e-01 1.45161791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.752557844 meters Centerline goodness : 0.127534 Centerline is valid? [False, False] Translation: X:4.07, Y:0.43, Z:1.45 [[ 9.99599728e-01 -4.97235174e-03 -2.78506777e-02 4.06992517e+00] [ 4.94211888e-03 9.99987121e-01 -1.15426348e-03 4.32656725e-01] [ 2.78560585e-02 1.01616010e-03 9.99611428e-01 1.45166729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78255784400005 meters Centerline goodness : 0.142153 Centerline is valid? [False, False] Translation: X:4.09, Y:0.42, Z:1.45 [[ 9.99598542e-01 4.03116558e-04 -2.83300638e-02 4.09069414e+00] [-5.21239628e-04 9.99991202e-01 -4.16226951e-03 4.24340948e-01] [ 2.83281366e-02 4.17536528e-03 9.99589957e-01 1.45216735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.812557844 meters Centerline goodness : 0.138882 Centerline is valid? [False, False] Translation: X:4.09, Y:0.42, Z:1.45 [[ 9.99596640e-01 6.11271640e-04 -2.83933613e-02 4.09084787e+00] [-7.15846288e-04 9.99992998e-01 -3.67304818e-03 4.22181200e-01] [ 2.83909172e-02 3.69189190e-03 9.99590079e-01 1.45210971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84255784400005 meters Centerline goodness : 0.146838 Centerline is valid? [False, False] Translation: X:4.11, Y:0.42, Z:1.45 [[ 9.99563772e-01 -6.30399714e-03 -2.88535133e-02 4.11013750e+00] [ 6.24451554e-03 9.99978189e-01 -2.15114655e-03 4.24840801e-01] [ 2.88664448e-02 1.97003195e-03 9.99581336e-01 1.45435635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.872557844 meters Centerline goodness : 0.145346 Centerline is valid? [False, False] Translation: X:4.11, Y:0.42, Z:1.45 [[ 9.99562208e-01 -6.19129173e-03 -2.89319835e-02 4.11041517e+00] [ 6.13609356e-03 9.99979181e-01 -1.99625466e-03 4.24303239e-01] [ 2.89437406e-02 1.81785135e-03 9.99579389e-01 1.45423814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90255784400006 meters Centerline goodness : 0.139912 Centerline is valid? [False, False] Translation: X:4.09, Y:0.42, Z:1.45 [[ 9.99527025e-01 2.31693914e-03 -3.06652524e-02 4.09080480e+00] [-2.40572135e-03 9.99993020e-01 -2.85862754e-03 4.20978432e-01] [ 3.06584152e-02 2.93104753e-03 9.99525623e-01 1.45256688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93255784400003 meters Centerline goodness : 0.133725 Centerline is valid? [False, False] Translation: X:4.09, Y:0.42, Z:1.45 [[ 9.99523083e-01 2.39320537e-03 -3.07876520e-02 4.09121024e+00] [-2.48890493e-03 9.99992189e-01 -3.07042747e-03 4.22390737e-01] [ 3.07800634e-02 3.14559067e-03 9.99521232e-01 1.45245269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96255784400006 meters Centerline goodness : 0.143759 Centerline is valid? [False, False] Translation: X:4.09, Y:0.42, Z:1.45 [[ 9.99529543e-01 2.57537069e-03 -3.05624125e-02 4.09071052e+00] [-2.67524130e-03 9.99991214e-01 -3.22731894e-03 4.23924479e-01] [ 3.05538325e-02 3.30756245e-03 9.99527650e-01 1.45240058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99255784400003 meters Centerline goodness : 0.153860 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99541239e-01 2.71271188e-03 -3.01654270e-02 4.08959824e+00] [-2.81567939e-03 9.99990353e-01 -3.37147444e-03 4.25278283e-01] [ 3.01559902e-02 3.45486391e-03 9.99539234e-01 1.45270008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02255784400006 meters Centerline goodness : 0.160024 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99549325e-01 2.72200337e-03 -2.98954314e-02 4.08877358e+00] [-2.83107406e-03 9.99989488e-01 -3.60668514e-03 4.26635353e-01] [ 2.98852997e-02 3.68969588e-03 9.99546525e-01 1.45299443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05255784400003 meters Centerline goodness : 0.148033 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99538965e-01 2.74011716e-03 -3.02381936e-02 4.08996054e+00] [-2.85752871e-03 9.99988543e-01 -3.84035914e-03 4.27729523e-01] [ 3.02273241e-02 3.92499511e-03 9.99535344e-01 1.45245128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08255784400006 meters Centerline goodness : 0.123051 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99528279e-01 2.73906085e-03 -3.05895066e-02 4.09136990e+00] [-2.86000679e-03 9.99988263e-01 -3.91078431e-03 4.28088954e-01] [ 3.05784357e-02 3.99642571e-03 9.99524381e-01 1.45156003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11255784400004 meters Centerline goodness : 0.151143 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99520359e-01 2.72109077e-03 -3.08487927e-02 4.09235664e+00] [-2.84595551e-03 9.99987932e-01 -4.00445298e-03 4.28600294e-01] [ 3.08375239e-02 4.09032657e-03 9.99516041e-01 1.45099875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14255784400007 meters Centerline goodness : 0.151143 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99520359e-01 2.72109077e-03 -3.08487927e-02 4.09235664e+00] [-2.84595551e-03 9.99987932e-01 -4.00445298e-03 4.28600294e-01] [ 3.08375239e-02 4.09032657e-03 9.99516041e-01 1.45099875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17255784400004 meters Centerline goodness : 0.117235 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99514757e-01 2.68950720e-03 -3.10325245e-02 4.09314073e+00] [-2.81952439e-03 9.99987427e-01 -4.14670891e-03 4.29384506e-01] [ 3.10209818e-02 4.23219371e-03 9.99509773e-01 1.45049830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20255784400007 meters Centerline goodness : 0.124157 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99505914e-01 2.62355387e-03 -3.13216411e-02 4.09416854e+00] [-2.76527823e-03 9.99986131e-01 -4.48234683e-03 4.31122248e-01] [ 3.13094470e-02 4.56674522e-03 9.99499306e-01 1.45002302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23255784400004 meters Centerline goodness : 0.120286 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99510667e-01 2.58615592e-03 -3.11727135e-02 4.09384501e+00] [-2.73170776e-03 9.99985562e-01 -4.62752342e-03 4.31886129e-01] [ 3.11602959e-02 4.71041377e-03 9.99503301e-01 1.44992172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26255784400007 meters Centerline goodness : 0.152607 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99516567e-01 2.60740871e-03 -3.09811679e-02 4.09322418e+00] [-2.75348774e-03 9.99985289e-01 -4.67336370e-03 4.32307968e-01] [ 3.09685267e-02 4.75641071e-03 9.99509043e-01 1.45015741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29255784400004 meters Centerline goodness : 0.124618 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99522721e-01 2.63283231e-03 -3.07798399e-02 4.09267896e+00] [-2.78007239e-03 9.99984893e-01 -4.74183689e-03 4.33016546e-01] [ 3.07668905e-02 4.82514389e-03 9.99514941e-01 1.45023183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3225578440001 meters Centerline goodness : 0.131766 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99520741e-01 2.62311862e-03 -3.08448990e-02 4.09297631e+00] [-2.77054382e-03 9.99984939e-01 -4.73779798e-03 4.32905550e-01] [ 3.08320066e-02 4.82098449e-03 9.99512954e-01 1.44998510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35255784400005 meters Centerline goodness : 0.154624 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 9.99483275e-01 -4.69394085e-03 -3.17985760e-02 4.11262943e+00] [ 4.57051001e-03 9.99981741e-01 -3.95322222e-03 4.37229463e-01] [ 3.18165516e-02 3.80584378e-03 9.99486479e-01 1.45201494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3825578440001 meters Centerline goodness : 0.139165 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 9.99477851e-01 -4.69021763e-03 -3.19691685e-02 4.11303026e+00] [ 4.56600875e-03 9.99981746e-01 -3.95716905e-03 4.37100390e-01] [ 3.19871449e-02 3.80913132e-03 9.99481022e-01 1.45202063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41255784400005 meters Centerline goodness : 0.139215 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 9.99487149e-01 -4.78093309e-03 -3.16635720e-02 4.11195336e+00] [ 4.65627433e-03 9.99981121e-01 -4.00954395e-03 4.37507818e-01] [ 3.16821436e-02 3.86005338e-03 9.99490541e-01 1.45231873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4425578440001 meters Centerline goodness : 0.153324 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 9.99491634e-01 -4.76803979e-03 -3.15236295e-02 4.11129929e+00] [ 4.64243066e-03 9.99980996e-01 -4.05659407e-03 4.38001640e-01] [ 3.15423725e-02 3.90818558e-03 9.99494775e-01 1.45279331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47255784400005 meters Centerline goodness : 0.154502 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 9.99497935e-01 -4.81109398e-03 -3.13166436e-02 4.11053092e+00] [ 4.68232696e-03 9.99980286e-01 -4.18381369e-03 4.38625975e-01] [ 3.13361550e-02 4.03507838e-03 9.99500757e-01 1.45317193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.502557844 meters Centerline goodness : 0.145351 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 0.9995065 -0.00507766 -0.03099959 4.10924776] [ 0.00493701 0.99997718 -0.00461205 0.43972097] [ 0.03102231 0.00445673 0.99950876 1.45404798] [ 0. 0. 0. 1. ]] SLAMing on 334.53255784400005 meters Centerline goodness : 0.116859 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 0.99951648 -0.00507302 -0.03067686 4.10810153] [ 0.00493035 0.99997668 -0.00472468 0.44047317] [ 0.03070012 0.00457114 0.99951819 1.45461132] [ 0. 0. 0. 1. ]] SLAMing on 334.562557844 meters Centerline goodness : 0.146158 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99960219 0.00445191 -0.02785029 4.12645149] [-0.00460358 0.99997491 -0.00538395 0.43974771] [ 0.02782562 0.00551002 0.99959761 1.45560574] [ 0. 0. 0. 1. ]] SLAMing on 334.59255784400005 meters Centerline goodness : 0.151119 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99960698 0.00443861 -0.02767995 4.12602756] [-0.00459449 0.99997393 -0.00557027 0.44077771] [ 0.0276545 0.00569526 0.99960132 1.4556412 ] [ 0. 0. 0. 1. ]] SLAMing on 334.622557844 meters Centerline goodness : 0.143031 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99960658 0.00440195 -0.02770025 4.12600994] [-0.00456204 0.99997324 -0.00571901 0.44138208] [ 0.02767434 0.00584313 0.99959991 1.45574429] [ 0. 0. 0. 1. ]] SLAMing on 334.65255784400006 meters Centerline goodness : 0.113231 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.9996022 0.00440803 -0.02785696 4.12648021] [-0.00456969 0.99997307 -0.00574219 0.4413884 ] [ 0.0278309 0.0058672 0.99959543 1.45559324] [ 0. 0. 0. 1. ]] SLAMing on 334.68255784400003 meters Centerline goodness : 0.145687 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99959499 0.00456008 -0.02809019 4.12734388] [-0.00471842 0.99997334 -0.00557323 0.4409313 ] [ 0.02806403 0.00570352 0.99958986 1.4550848 ] [ 0. 0. 0. 1. ]] SLAMing on 334.71255784400006 meters Centerline goodness : 0.121867 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99960196 0.00469508 -0.0278188 4.12651453] [-0.00484549 0.99997399 -0.00534188 0.44010035] [ 0.02779299 0.00547455 0.99959871 1.45532332] [ 0. 0. 0. 1. ]] SLAMing on 334.74255784400003 meters Centerline goodness : 0.120490 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99961106 0.00483059 -0.02746606 4.12531345] [-0.00497197 0.99997473 -0.00508141 0.43898892] [ 0.02744082 0.005216 0.99960982 1.45586891] [ 0. 0. 0. 1. ]] SLAMing on 334.77255784400006 meters Centerline goodness : 0.114954 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99961147 0.00487703 -0.02744321 4.12527384] [-0.00501461 0.99997519 -0.00494671 0.43816601] [ 0.0274184 0.00508241 0.99961112 1.45585794] [ 0. 0. 0. 1. ]] SLAMing on 334.80255784400003 meters Centerline goodness : 0.116627 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99960102 0.00489658 -0.02781754 4.12664662] [-0.00503526 0.99997523 -0.00491779 0.43785928] [ 0.02779277 0.0050559 0.99960092 1.45516024] [ 0. 0. 0. 1. ]] SLAMing on 334.83255784400006 meters Centerline goodness : 0.134567 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.45 [[ 0.99954778 0.00543736 -0.02957486 4.13208039] [-0.00557927 0.99997331 -0.00471793 0.43843664] [ 0.02954841 0.0048808 0.99955143 1.4532613 ] [ 0. 0. 0. 1. ]] SLAMing on 334.86255784400004 meters Centerline goodness : 0.116942 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.45 [[ 0.99954278 0.00550318 -0.02973114 4.13259806] [-0.00564733 0.99997269 -0.00476671 0.4390594 ] [ 0.02970409 0.00493243 0.99954657 1.45302011] [ 0. 0. 0. 1. ]] SLAMing on 334.89255784400007 meters Centerline goodness : 0.144189 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.45 [[ 0.99954125 0.00558552 -0.0297673 4.13246314] [-0.00573106 0.99997203 -0.0048059 0.43939112] [ 0.02973962 0.00497429 0.9995453 1.45348454] [ 0. 0. 0. 1. ]] SLAMing on 334.92255784400004 meters Centerline goodness : 0.111551 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.46 [[ 9.99571438e-01 -2.25147742e-03 -2.91868494e-02 4.14947974e+00] [ 2.14694482e-03 9.99991171e-01 -3.61233985e-03 4.44824104e-01] [ 2.91947248e-02 3.54812918e-03 9.99567446e-01 1.45573385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95255784400007 meters Centerline goodness : 0.136157 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.46 [[ 9.99577243e-01 -2.31100898e-03 -2.89826497e-02 4.14857305e+00] [ 2.20876517e-03 9.99991226e-01 -3.55927787e-03 4.44159536e-01] [ 2.89906210e-02 3.49375730e-03 9.99573578e-01 1.45629034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98255784400004 meters Centerline goodness : 0.146022 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.45 [[ 0.99956066 -0.00557812 -0.02910949 4.14995336] [ 0.00540083 0.99996641 -0.00616565 0.44052083] [ 0.0291429 0.00600573 0.99955721 1.45463156] [ 0. 0. 0. 1. ]] SLAMing on 335.01255784400007 meters Centerline goodness : 0.112976 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.45 [[ 0.9995551 -0.00538953 -0.02933536 4.15082037] [ 0.00522096 0.99996943 -0.00581987 0.43921887] [ 0.02936582 0.00566412 0.99955268 1.45417492] [ 0. 0. 0. 1. ]] SLAMing on 335.04255784400004 meters Centerline goodness : 0.132329 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.45 [[ 0.99954478 -0.00512487 -0.02973156 4.15224024] [ 0.0049683 0.99997341 -0.00533774 0.43738305] [ 0.02975813 0.0051876 0.99954367 1.45351179] [ 0. 0. 0. 1. ]] SLAMing on 335.0725578440001 meters Centerline goodness : 0.141256 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.45 [[ 0.99954058 -0.00498335 -0.0298963 4.15274861] [ 0.00482999 0.99997482 -0.00519957 0.43696547] [ 0.02992145 0.00505279 0.99953948 1.45343112] [ 0. 0. 0. 1. ]] SLAMing on 335.10255784400005 meters Centerline goodness : 0.135943 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.45 [[ 0.99953751 -0.00491509 -0.03001016 4.15298559] [ 0.00476124 0.99997517 -0.00519592 0.43703578] [ 0.03003495 0.00505063 0.99953609 1.45358855] [ 0. 0. 0. 1. ]] SLAMing on 335.1325578440001 meters Centerline goodness : 0.135085 Centerline is valid? [False, False] Translation: X:4.17, Y:0.43, Z:1.45 [[ 0.99954911 0.0043007 -0.02971663 4.17222885] [-0.00446538 0.99997503 -0.0054776 0.43277818] [ 0.02969233 0.00560782 0.99954335 1.45453711] [ 0. 0. 0. 1. ]] SLAMing on 335.16255784400005 meters Centerline goodness : 0.139744 Centerline is valid? [False, False] Translation: X:4.17, Y:0.43, Z:1.45 [[ 0.99954878 0.00428751 -0.02972975 4.17242745] [-0.0044561 0.99997435 -0.00560669 0.43358137] [ 0.02970495 0.00573664 0.99954225 1.45434232] [ 0. 0. 0. 1. ]] SLAMing on 335.1925578440001 meters Centerline goodness : 0.132402 Centerline is valid? [False, False] Translation: X:4.17, Y:0.43, Z:1.45 [[ 0.99954529 0.00427426 -0.02984877 4.17296735] [-0.00444776 0.99997358 -0.00574867 0.43435075] [ 0.02982341 0.00587881 0.9995379 1.45398864] [ 0. 0. 0. 1. ]] SLAMing on 335.22255784400005 meters Centerline goodness : 0.129062 Centerline is valid? [False, False] Translation: X:4.17, Y:0.44, Z:1.45 [[ 9.99534660e-01 4.13129503e-03 -3.02224290e-02 4.17414811e+00] [-4.31786288e-03 9.99972009e-01 -6.11050240e-03 4.35716027e-01] [ 3.01963387e-02 6.23815524e-03 9.99524520e-01 1.45363592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.252557844 meters Centerline goodness : 0.138935 Centerline is valid? [False, False] Translation: X:4.17, Y:0.44, Z:1.45 [[ 9.99536113e-01 4.08103553e-03 -3.01811985e-02 4.17403205e+00] [-4.26868522e-03 9.99971943e-01 -6.15562028e-03 4.35893262e-01] [ 3.01552304e-02 6.28159880e-03 9.99525489e-01 1.45359567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28255784400005 meters Centerline goodness : 0.133351 Centerline is valid? [False, False] Translation: X:4.17, Y:0.44, Z:1.45 [[ 9.99541589e-01 4.08056454e-03 -2.99993466e-02 4.17354722e+00] [-4.26501323e-03 9.99972379e-01 -6.08700822e-03 4.35666192e-01] [ 2.99736795e-02 6.21216548e-03 9.99531384e-01 1.45356037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.312557844 meters Centerline goodness : 0.136886 Centerline is valid? [False, False] Translation: X:4.17, Y:0.44, Z:1.45 [[ 9.99550187e-01 4.08106406e-03 -2.97114353e-02 4.17283374e+00] [-4.25938473e-03 9.99973281e-01 -5.94093746e-03 4.35093321e-01] [ 2.96863961e-02 6.06481758e-03 9.99540863e-01 1.45342381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34255784400005 meters Centerline goodness : 0.138799 Centerline is valid? [False, False] Translation: X:4.19, Y:0.44, Z:1.45 [[ 9.99584056e-01 -3.74244042e-03 -2.85956126e-02 4.19182443e+00] [ 3.61121584e-03 9.99982718e-01 -4.63924207e-03 4.41238362e-01] [ 2.86124805e-02 4.53404748e-03 9.99580296e-01 1.45416153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.372557844 meters Centerline goodness : 0.115281 Centerline is valid? [False, False] Translation: X:4.19, Y:0.44, Z:1.45 [[ 9.99581368e-01 -3.67036030e-03 -2.86987266e-02 4.19198682e+00] [ 3.54393601e-03 9.99983797e-01 -4.45484689e-03 4.40445816e-01] [ 2.87146125e-02 4.35127550e-03 9.99578180e-01 1.45432928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40255784400006 meters Centerline goodness : 0.136300 Centerline is valid? [False, False] Translation: X:4.19, Y:0.44, Z:1.45 [[ 9.99573486e-01 -3.61504107e-03 -2.89789302e-02 4.19285923e+00] [ 3.48575493e-03 9.99983752e-01 -4.51066102e-03 4.40766666e-01] [ 2.89947656e-02 4.40772371e-03 9.99569845e-01 1.45416508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43255784400003 meters Centerline goodness : 0.149436 Centerline is valid? [False, False] Translation: X:4.19, Y:0.44, Z:1.45 [[ 9.99571272e-01 -3.67005172e-03 -2.90482951e-02 4.19311393e+00] [ 3.53526490e-03 9.99982752e-01 -4.69009232e-03 4.41575900e-01] [ 2.90650070e-02 4.58538813e-03 9.99567006e-01 1.45400652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46255784400006 meters Centerline goodness : 0.136089 Centerline is valid? [False, False] Translation: X:4.19, Y:0.44, Z:1.45 [[ 9.99585530e-01 -3.55259604e-03 -2.85682996e-02 4.19191213e+00] [ 3.41100734e-03 9.99981666e-01 -5.00335451e-03 4.43917863e-01] [ 2.85855507e-02 4.90383409e-03 9.99579321e-01 1.45395536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49255784400003 meters Centerline goodness : 0.151525 Centerline is valid? [False, False] Translation: X:4.21, Y:0.44, Z:1.45 [[ 0.99961248 0.00559535 -0.02726877 4.21130341] [-0.00576516 0.99996445 -0.00615289 0.44321057] [ 0.02723337 0.00630772 0.9996092 1.45499861] [ 0. 0. 0. 1. ]] SLAMing on 335.52255784400006 meters Centerline goodness : 0.125989 Centerline is valid? [False, False] Translation: X:4.21, Y:0.44, Z:1.46 [[ 0.99961961 0.00557223 -0.02701097 4.210583 ] [-0.00574552 0.99996338 -0.00634242 0.44452624] [ 0.02697464 0.0064952 0.99961502 1.45509238] [ 0. 0. 0. 1. ]] SLAMing on 335.55255784400003 meters Centerline goodness : 0.141001 Centerline is valid? [False, False] Translation: X:4.21, Y:0.45, Z:1.46 [[ 0.99962449 0.00542933 -0.02685887 4.21002342] [-0.00561096 0.99996187 -0.00669136 0.4461123 ] [ 0.02682152 0.00683955 0.99961684 1.4554098 ] [ 0. 0. 0. 1. ]] SLAMing on 335.58255784400006 meters Centerline goodness : 0.125505 Centerline is valid? [False, False] Translation: X:4.21, Y:0.45, Z:1.46 [[ 0.99962582 0.00526107 -0.02684277 4.20973535] [-0.00545281 0.99996011 -0.00707471 0.44755494] [ 0.02680448 0.00721843 0.99961463 1.45579875] [ 0. 0. 0. 1. ]] SLAMing on 335.61255784400004 meters Centerline goodness : 0.145081 Centerline is valid? [False, False] Translation: X:4.21, Y:0.45, Z:1.46 [[ 0.99961293 0.00501561 -0.02736479 4.21098679] [-0.00523251 0.99995542 -0.0078603 0.45076806] [ 0.02732414 0.00800044 0.99959461 1.4559712 ] [ 0. 0. 0. 1. ]] SLAMing on 335.64255784400007 meters Centerline goodness : 0.118722 Centerline is valid? [False, False] Translation: X:4.21, Y:0.45, Z:1.46 [[ 0.99960969 0.00496156 -0.02749279 4.2114953 ] [-0.00518677 0.99995353 -0.00812656 0.45229001] [ 0.02745119 0.00826599 0.99958897 1.45566481] [ 0. 0. 0. 1. ]] SLAMing on 335.67255784400004 meters Centerline goodness : 0.127252 Centerline is valid? [False, False] Translation: X:4.21, Y:0.45, Z:1.46 [[ 0.99961263 0.00485737 -0.02740437 4.21142787] [-0.00509252 0.99995076 -0.00851755 0.45441619] [ 0.02736165 0.00865381 0.99958814 1.45537509] [ 0. 0. 0. 1. ]] SLAMing on 335.70255784400007 meters Centerline goodness : 0.153346 Centerline is valid? [False, False] Translation: X:4.21, Y:0.46, Z:1.46 [[ 0.99962227 0.0047854 -0.02706336 4.21053349] [-0.00502666 0.99994817 -0.00885377 0.45636095] [ 0.02701959 0.00898646 0.99959451 1.45542291] [ 0. 0. 0. 1. ]] SLAMing on 335.73255784400004 meters Centerline goodness : 0.130899 Centerline is valid? [False, False] Translation: X:4.23, Y:0.47, Z:1.46 [[ 9.99704813e-01 -2.29321659e-03 -2.41873405e-02 4.22694639e+00] [ 2.11606928e-03 9.99970771e-01 -7.34702205e-03 4.66550246e-01] [ 2.42034818e-02 7.29367122e-03 9.99680446e-01 1.45642261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76255784400007 meters Centerline goodness : 0.125043 Centerline is valid? [False, False] Translation: X:4.23, Y:0.47, Z:1.46 [[ 9.99705349e-01 -2.41144125e-03 -2.41536948e-02 4.22690750e+00] [ 2.22656209e-03 9.99968043e-01 -7.67825207e-03 4.68253711e-01] [ 2.41714386e-02 7.62220996e-03 9.99678770e-01 1.45630816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79255784400004 meters Centerline goodness : 0.124497 Centerline is valid? [False, False] Translation: X:4.18, Y:0.47, Z:1.46 [[ 9.99617276e-01 -3.32120880e-03 -2.74640137e-02 4.18304908e+00] [ 3.12410680e-03 9.99969080e-01 -7.21653408e-03 4.65611973e-01] [ 2.74871321e-02 7.12797162e-03 9.99596743e-01 1.45613475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8225578440001 meters Centerline goodness : 0.135932 Centerline is valid? [False, False] Translation: X:4.18, Y:0.47, Z:1.46 [[ 9.99606974e-01 -3.42658641e-03 -2.78236484e-02 4.18426159e+00] [ 3.21996638e-03 9.99966934e-01 -7.46747006e-03 4.66679021e-01] [ 2.78483163e-02 7.37494394e-03 9.99584955e-01 1.45559060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85255784400005 meters Centerline goodness : 0.131524 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99598821e-01 -3.51753398e-03 -2.81038114e-02 4.18537062e+00] [ 3.30377513e-03 9.99965289e-01 -7.64886168e-03 4.67332907e-01] [ 2.81297410e-02 7.55294444e-03 9.99575745e-01 1.45487288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8825578440001 meters Centerline goodness : 0.146732 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99598725e-01 -3.57635759e-03 -2.80998086e-02 4.18555946e+00] [ 3.35774519e-03 9.99963761e-01 -7.82319114e-03 4.68355071e-01] [ 2.81267688e-02 7.72569989e-03 9.99574509e-01 1.45449050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91255784400005 meters Centerline goodness : 0.122861 Centerline is valid? [False, False] Translation: X:4.20, Y:0.47, Z:1.46 [[ 0.99957745 -0.01119594 -0.02682471 4.20482999] [ 0.01101708 0.99991615 -0.00680634 0.47322248] [ 0.02689866 0.00650793 0.99961698 1.45610416] [ 0. 0. 0. 1. ]] SLAMing on 335.9425578440001 meters Centerline goodness : 0.115825 Centerline is valid? [False, False] Translation: X:4.20, Y:0.47, Z:1.46 [[ 0.9995435 -0.01514632 -0.02614145 4.20285862] [ 0.01487692 0.99983452 -0.01046942 0.47230619] [ 0.02629569 0.01007573 0.99960343 1.45665902] [ 0. 0. 0. 1. ]] SLAMing on 335.97255784400005 meters Centerline goodness : 0.122457 Centerline is valid? [False, False] Translation: X:4.20, Y:0.47, Z:1.46 [[ 0.99953448 -0.01512808 -0.02649452 4.20389022] [ 0.01486351 0.99983797 -0.01015419 0.47039127] [ 0.02664384 0.00975566 0.99959739 1.45645526] [ 0. 0. 0. 1. ]] SLAMing on 336.002557844 meters Centerline goodness : 0.122261 Centerline is valid? [False, False] Translation: X:4.21, Y:0.47, Z:1.46 [[ 0.99952021 -0.01509504 -0.02704603 4.20549356] [ 0.01483477 0.99984195 -0.00979797 0.4682634 ] [ 0.02718966 0.00939205 0.99958617 1.45612229] [ 0. 0. 0. 1. ]] SLAMing on 336.03255784400005 meters Centerline goodness : 0.125248 Centerline is valid? [False, False] Translation: X:4.19, Y:0.46, Z:1.45 [[ 0.99958 -0.00738722 -0.0280223 4.18686528] [ 0.0070997 0.99992128 -0.01034576 0.46042838] [ 0.02809652 0.01014246 0.99955376 1.45444702] [ 0. 0. 0. 1. ]] SLAMing on 336.062557844 meters Centerline goodness : 0.125248 Centerline is valid? [False, False] Translation: X:4.19, Y:0.46, Z:1.45 [[ 0.99958 -0.00738722 -0.0280223 4.18686528] [ 0.0070997 0.99992128 -0.01034576 0.46042838] [ 0.02809652 0.01014246 0.99955376 1.45444702] [ 0. 0. 0. 1. ]] SLAMing on 336.09255784400005 meters Centerline goodness : 0.138115 Centerline is valid? [False, False] Translation: X:4.19, Y:0.46, Z:1.45 [[ 0.99957309 -0.00727538 -0.02829676 4.18776428] [ 0.00699004 0.99992386 -0.01016971 0.45981175] [ 0.02836859 0.00996758 0.99954783 1.45415899] [ 0. 0. 0. 1. ]] SLAMing on 336.122557844 meters Centerline goodness : 0.124826 Centerline is valid? [False, False] Translation: X:4.19, Y:0.46, Z:1.45 [[ 0.99957324 -0.00729642 -0.028286 4.18790274] [ 0.00700456 0.99992135 -0.01040361 0.46118535] [ 0.02835968 0.01020104 0.99954573 1.45386435] [ 0. 0. 0. 1. ]] SLAMing on 336.15255784400006 meters Centerline goodness : 0.132778 Centerline is valid? [False, False] Translation: X:4.19, Y:0.46, Z:1.45 [[ 9.99579247e-01 -3.59973746e-03 -2.87814269e-02 4.18912524e+00] [ 3.40350918e-03 9.99970651e-01 -6.86396360e-03 4.61025496e-01] [ 2.88052907e-02 6.76311772e-03 9.99562162e-01 1.45383525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18255784400003 meters Centerline goodness : 0.132078 Centerline is valid? [False, False] Translation: X:4.19, Y:0.46, Z:1.45 [[ 9.99589095e-01 -3.54715673e-03 -2.84439496e-02 4.18828752e+00] [ 3.34274617e-03 9.99968271e-01 -7.23076671e-03 4.63304290e-01] [ 2.84686957e-02 7.13271465e-03 9.99569236e-01 1.45373908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21255784400006 meters Centerline goodness : 0.136089 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99587872e-01 2.16119875e-04 -2.87060808e-02 4.18818668e+00] [-3.35286788e-04 9.99991347e-01 -4.14652920e-03 4.66910819e-01] [ 2.87049363e-02 4.15444507e-03 9.99579295e-01 1.45452358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24255784400003 meters Centerline goodness : 0.134599 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99592937e-01 1.19200979e-04 -2.85297493e-02 4.18779214e+00] [-2.49421193e-04 9.99989568e-01 -4.56085071e-03 4.69163418e-01] [ 2.85289080e-02 4.56611008e-03 9.99582539e-01 1.45436118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27255784400006 meters Centerline goodness : 0.135023 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99598552e-01 -7.11273000e-06 -2.83325864e-02 4.18733354e+00] [-1.32406607e-04 9.99987876e-01 -4.92246258e-03 4.70967110e-01] [ 2.83322779e-02 4.92423789e-03 9.99586431e-01 1.45422266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30255784400003 meters Centerline goodness : 0.143041 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99601497e-01 -1.09107706e-04 -2.82282880e-02 4.18698064e+00] [-3.62680499e-05 9.99986741e-01 -5.14943931e-03 4.71949971e-01] [ 2.82284756e-02 5.14841102e-03 9.99588239e-01 1.45431351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33255784400006 meters Centerline goodness : 0.129841 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99601981e-01 -1.71949004e-04 -2.82107974e-02 4.18685163e+00] [ 2.42088833e-05 9.99986285e-01 -5.23726415e-03 4.72243285e-01] [ 2.82113110e-02 5.23449667e-03 9.99588276e-01 1.45444265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36255784400004 meters Centerline goodness : 0.136072 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99602792e-01 -2.05099807e-04 -2.81818446e-02 4.18656150e+00] [ 5.74719088e-05 9.99986274e-01 -5.23911453e-03 4.72137673e-01] [ 2.81825323e-02 5.23541385e-03 9.99589083e-01 1.45475149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39255784400007 meters Centerline goodness : 0.143169 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99604418e-01 -2.69133956e-04 -2.81235631e-02 4.18591017e+00] [ 1.23692071e-04 9.99986612e-01 -5.17314296e-03 4.71841201e-01] [ 2.81245788e-02 5.16761790e-03 9.99591068e-01 1.45557304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42255784400004 meters Centerline goodness : 0.133792 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99603763e-01 -2.71091977e-04 -2.81468344e-02 4.18597647e+00] [ 1.26162041e-04 9.99986727e-01 -5.15071520e-03 4.71854847e-01] [ 2.81478572e-02 5.14512323e-03 9.99590529e-01 1.45555440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45255784400007 meters Centerline goodness : 0.138477 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99601754e-01 -2.91895233e-04 -2.82178661e-02 4.18624070e+00] [ 1.46063143e-04 9.99986625e-01 -5.16999951e-03 4.71958688e-01] [ 2.82189978e-02 5.16381899e-03 9.99588427e-01 1.45543119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48255784400004 meters Centerline goodness : 0.146795 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99599262e-01 -4.04874899e-04 -2.83046144e-02 4.18654869e+00] [ 2.54227368e-04 9.99985786e-01 -5.32576252e-03 4.72413224e-01] [ 2.83063683e-02 5.31643248e-03 9.99585156e-01 1.45528714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51255784400007 meters Centerline goodness : 0.128206 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99600281e-01 -4.30755889e-04 -2.82682362e-02 4.18646050e+00] [ 2.78816473e-04 9.99985496e-01 -5.37863827e-03 4.72672765e-01] [ 2.82701431e-02 5.36860667e-03 9.99585903e-01 1.45526343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54255784400004 meters Centerline goodness : 0.151981 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99600537e-01 -4.50419117e-04 -2.82588825e-02 4.18635131e+00] [ 2.96314229e-04 9.99985065e-01 -5.45727622e-03 4.73192935e-01] [ 2.82609186e-02 5.44672273e-03 9.99585741e-01 1.45536680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5725578440001 meters Centerline goodness : 0.152246 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99595494e-01 -5.32893773e-04 -2.84352832e-02 4.18675488e+00] [ 3.72718776e-04 9.99984037e-01 -5.63796943e-03 4.74285364e-01] [ 2.84378337e-02 5.62509047e-03 9.99579736e-01 1.45538430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60255784400005 meters Centerline goodness : 0.149124 Centerline is valid? [False, False] Translation: X:4.14, Y:0.47, Z:1.46 [[ 9.99506843e-01 -1.83679467e-03 -3.13480124e-02 4.14189808e+00] [ 1.66783694e-03 9.99983948e-01 -5.41504018e-03 4.71428221e-01] [ 3.13574555e-02 5.36008634e-03 9.99493862e-01 1.45539854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6325578440001 meters Centerline goodness : 0.119321 Centerline is valid? [False, False] Translation: X:4.19, Y:0.48, Z:1.46 [[ 9.99562130e-01 -1.11363175e-03 -2.95686902e-02 4.18653190e+00] [ 9.27739874e-04 9.99979726e-01 -6.29975576e-03 4.75730915e-01] [ 2.95751064e-02 6.26956523e-03 9.99542898e-01 1.45569260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66255784400005 meters Centerline goodness : 0.153409 Centerline is valid? [False, False] Translation: X:4.19, Y:0.48, Z:1.46 [[ 9.99561473e-01 -1.19040258e-03 -2.95878977e-02 4.18667500e+00] [ 1.00045038e-03 9.99978802e-01 -6.43390377e-03 4.76278547e-01] [ 2.95949294e-02 6.40148111e-03 9.99541475e-01 1.45553497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6925578440001 meters Centerline goodness : 0.144993 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99497131e-01 -2.90678097e-03 -3.15758836e-02 4.13881921e+00] [ 2.69672029e-03 9.99973965e-01 -6.69311743e-03 4.75028333e-01] [ 3.15945170e-02 6.60460034e-03 9.99478947e-01 1.45666782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72255784400005 meters Centerline goodness : 0.111015 Centerline is valid? [False, False] Translation: X:4.16, Y:0.47, Z:1.46 [[ 0.99956715 0.00531609 -0.02893535 4.15710914] [-0.00555334 0.99995157 -0.00812497 0.47331259] [ 0.02889075 0.00828214 0.99954826 1.4579126 ] [ 0. 0. 0. 1. ]] SLAMing on 336.752557844 meters Centerline goodness : 0.147446 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99581823e-01 -3.50868506e-03 -2.87030906e-02 4.13667733e+00] [ 3.31178079e-03 9.99970678e-01 -6.90470270e-03 4.77007470e-01] [ 2.87264754e-02 6.80675697e-03 9.99564134e-01 1.45638721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78255784400005 meters Centerline goodness : 0.151795 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99579707e-01 -3.53025043e-03 -2.87740568e-02 4.13698178e+00] [ 3.33197734e-03 9.99970396e-01 -6.93572683e-03 4.77158638e-01] [ 2.87976898e-02 6.83693729e-03 9.99561879e-01 1.45617315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.812557844 meters Centerline goodness : 0.158489 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99572403e-01 -3.61216538e-03 -2.90166064e-02 4.13784957e+00] [ 3.40918365e-03 9.99969395e-01 -7.04179322e-03 4.77424185e-01] [ 2.90411544e-02 6.93985923e-03 9.99554125e-01 1.45573836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84255784400005 meters Centerline goodness : 0.117656 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99554990e-01 -3.78064728e-03 -2.95893294e-02 4.13963814e+00] [ 3.56603400e-03 9.99966978e-01 -7.30247565e-03 4.78258770e-01] [ 2.96159604e-02 7.19370942e-03 9.99535465e-01 1.45511298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.872557844 meters Centerline goodness : 0.119497 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99556486e-01 -3.77025679e-03 -2.95400942e-02 4.13930203e+00] [ 3.55548244e-03 9.99966889e-01 -7.31976101e-03 4.78521225e-01] [ 2.95667135e-02 7.21148531e-03 9.99536795e-01 1.45543499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90255784400006 meters Centerline goodness : 0.142124 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99561687e-01 -3.72450216e-03 -2.93694202e-02 4.13855722e+00] [ 3.51276759e-03 9.99967493e-01 -7.25765742e-03 4.78472328e-01] [ 2.93954967e-02 7.15130835e-03 9.99542277e-01 1.45591590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93255784400003 meters Centerline goodness : 0.139399 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99564997e-01 -3.65760225e-03 -2.92649839e-02 4.13803508e+00] [ 3.45017636e-03 9.99968592e-01 -7.13521168e-03 4.78113303e-01] [ 2.92901625e-02 7.03113849e-03 9.99546222e-01 1.45633894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96255784400006 meters Centerline goodness : 0.118912 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99563268e-01 -3.69507483e-03 -2.93192559e-02 4.13822078e+00] [ 3.48519759e-03 9.99967961e-01 -7.20621776e-03 4.78372107e-01] [ 2.93449441e-02 7.10088718e-03 9.99544122e-01 1.45623859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99255784400003 meters Centerline goodness : 0.115308 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99560532e-01 -3.77012593e-03 -2.94028718e-02 4.13840359e+00] [ 3.55425432e-03 9.99966372e-01 -7.39066623e-03 4.79144312e-01] [ 2.94297468e-02 7.28291298e-03 9.99540319e-01 1.45628852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02255784400006 meters Centerline goodness : 0.134930 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99565159e-01 -3.84082541e-03 -2.92359382e-02 4.13780727e+00] [ 3.61851660e-03 9.99964168e-01 -7.65306920e-03 4.80529473e-01] [ 2.92642847e-02 7.54395061e-03 9.99543241e-01 1.45654892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05255784400003 meters Centerline goodness : 0.147887 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99577985e-01 1.71061178e-04 -2.90486365e-02 4.13674223e+00] [-2.83162149e-04 9.99992529e-01 -3.85500884e-03 4.81281298e-01] [ 2.90477601e-02 3.86160744e-03 9.99570566e-01 1.45739340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08255784400006 meters Centerline goodness : 0.119404 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99577152e-01 1.25232527e-04 -2.90774952e-02 4.13697355e+00] [-2.43469920e-04 9.99991717e-01 -4.06278048e-03 4.82488294e-01] [ 2.90767456e-02 4.06814204e-03 9.99568904e-01 1.45710968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11255784400004 meters Centerline goodness : 0.116761 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99570355e-01 8.28766404e-05 -2.93103988e-02 4.13789270e+00] [-2.04889903e-04 9.99991327e-01 -4.15981889e-03 4.82822123e-01] [ 2.93097999e-02 4.16403705e-03 9.99561702e-01 1.45654921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14255784400007 meters Centerline goodness : 0.145380 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99563020e-01 4.06109480e-05 -2.95595664e-02 4.13873615e+00] [-1.65465005e-04 9.99991076e-01 -4.22137838e-03 4.82851087e-01] [ 2.95591311e-02 4.22442479e-03 9.99554107e-01 1.45617048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17255784400004 meters Centerline goodness : 0.115850 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99559862e-01 7.06085994e-05 -2.96661083e-02 4.13899425e+00] [-1.92496112e-04 9.99991553e-01 -4.10580932e-03 4.82140657e-01] [ 2.96655678e-02 4.10971281e-03 9.99551432e-01 1.45618235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20255784400007 meters Centerline goodness : 0.118967 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99560221e-01 1.23774764e-04 -2.96538085e-02 4.13862241e+00] [-2.38627428e-04 9.99992485e-01 -3.86960921e-03 4.81005095e-01] [ 2.96531067e-02 3.87498365e-03 9.99552739e-01 1.45675068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23255784400004 meters Centerline goodness : 0.159430 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99562233e-01 1.34989850e-04 -2.95858660e-02 4.13844973e+00] [-2.48639042e-04 9.99992605e-01 -3.83768872e-03 4.80859447e-01] [ 2.95851291e-02 3.84336491e-03 9.99554875e-01 1.45675734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26255784400007 meters Centerline goodness : 0.127597 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99564157e-01 1.22465677e-04 -2.95208652e-02 4.13830375e+00] [-2.36162908e-04 9.99992569e-01 -3.84796347e-03 4.80839518e-01] [ 2.95201746e-02 3.85325809e-03 9.99556758e-01 1.45673843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29255784400004 meters Centerline goodness : 0.156260 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99561832e-01 4.83545328e-05 -2.95996850e-02 4.13861972e+00] [-1.67450802e-04 9.99991901e-01 -4.02109986e-03 4.81597069e-01] [ 2.95992508e-02 4.02429443e-03 9.99553745e-01 1.45655330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3225578440001 meters Centerline goodness : 0.162137 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99560936e-01 1.42785832e-05 -2.96299646e-02 4.13876904e+00] [-1.37382099e-04 9.99991368e-01 -4.15266507e-03 4.82371040e-01] [ 2.96296496e-02 4.15491242e-03 9.99552310e-01 1.45639387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35255784400005 meters Centerline goodness : 0.153903 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99563344e-01 -5.16947635e-03 -2.90929145e-02 4.16107745e+00] [ 5.14092709e-03 9.99986228e-01 -1.05602618e-03 4.85775177e-01] [ 2.90979729e-02 9.06000511e-04 9.99576154e-01 1.45659871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3825578440001 meters Centerline goodness : 0.154506 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99564809e-01 -5.20645333e-03 -2.90359249e-02 4.16081722e+00] [ 5.17317006e-03 9.99985873e-01 -1.22128163e-03 4.86760538e-01] [ 2.90418733e-02 1.07054237e-03 9.99577623e-01 1.45676337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41255784400005 meters Centerline goodness : 0.151262 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99565942e-01 -5.39486926e-03 -2.89624467e-02 4.16055980e+00] [ 5.34654274e-03 9.99984183e-01 -1.74577452e-03 4.89056341e-01] [ 2.89714068e-02 1.59016779e-03 9.99578976e-01 1.45678923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4425578440001 meters Centerline goodness : 0.141195 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99566197e-01 -5.45576150e-03 -2.89422214e-02 4.16054771e+00] [ 5.40152688e-03 9.99983507e-01 -1.95174494e-03 4.90169279e-01] [ 2.89523923e-02 1.79456608e-03 9.99579181e-01 1.45667822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47255784400005 meters Centerline goodness : 0.122740 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99567137e-01 -5.45568135e-03 -2.89097506e-02 4.16062102e+00] [ 5.39823276e-03 9.99983298e-01 -2.06484505e-03 4.91059348e-01] [ 2.89205329e-02 1.90788970e-03 9.99579893e-01 1.45637633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.502557844 meters Centerline goodness : 0.150027 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99567798e-01 -5.44936034e-03 -2.88880949e-02 4.16068020e+00] [ 5.39043203e-03 9.99983230e-01 -2.11736662e-03 4.91591543e-01] [ 2.88991487e-02 1.96073218e-03 9.99580409e-01 1.45616514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53255784400005 meters Centerline goodness : 0.154036 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99574786e-01 -5.38391303e-03 -2.86576592e-02 4.15973407e+00] [ 5.32901531e-03 9.99983817e-01 -1.99166886e-03 4.91085282e-01] [ 2.86679185e-02 1.83810487e-03 9.99587301e-01 1.45674196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.562557844 meters Centerline goodness : 0.158439 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99578079e-01 -5.36492225e-03 -2.85461256e-02 4.15922789e+00] [ 5.31021068e-03 9.99983917e-01 -1.99206597e-03 4.91213768e-01] [ 2.85563537e-02 1.83963954e-03 9.99590491e-01 1.45711857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59255784400005 meters Centerline goodness : 0.125038 Centerline is valid? [False, False] Translation: X:4.18, Y:0.49, Z:1.46 [[ 9.99627771e-01 3.59235002e-03 -2.70446828e-02 4.17923813e+00] [-3.67081539e-03 9.99989195e-01 -2.85223533e-03 4.90008011e-01] [ 2.70341444e-02 2.95044968e-03 9.99630157e-01 1.45809277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.622557844 meters Centerline goodness : 0.113745 Centerline is valid? [False, False] Translation: X:4.13, Y:0.49, Z:1.46 [[ 9.99557732e-01 2.48388188e-03 -2.96339543e-02 4.13370181e+00] [-2.56380461e-03 9.99993177e-01 -2.65930727e-03 4.86461730e-01] [ 2.96271467e-02 2.73410681e-03 9.99557280e-01 1.45818954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65255784400006 meters Centerline goodness : 0.154644 Centerline is valid? [False, False] Translation: X:4.15, Y:0.49, Z:1.46 [[ 9.99552802e-01 -5.24326056e-03 -2.94398248e-02 4.15377244e+00] [ 5.18246860e-03 9.99984279e-01 -2.14087961e-03 4.90913038e-01] [ 2.94505871e-02 1.98735125e-03 9.99564262e-01 1.45925207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68255784400003 meters Centerline goodness : 0.155138 Centerline is valid? [False, False] Translation: X:4.15, Y:0.49, Z:1.46 [[ 9.99548967e-01 -5.25551199e-03 -2.95675849e-02 4.15421861e+00] [ 5.19506654e-03 9.99984257e-01 -2.12076362e-03 4.90455194e-01] [ 2.95782651e-02 1.96620152e-03 9.99560534e-01 1.45904441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71255784400006 meters Centerline goodness : 0.159694 Centerline is valid? [False, False] Translation: X:4.15, Y:0.49, Z:1.46 [[ 9.99545240e-01 -5.21984214e-03 -2.96996001e-02 4.15467041e+00] [ 5.16010603e-03 9.99984507e-01 -2.08763265e-03 4.90344592e-01] [ 2.97100371e-02 1.93343019e-03 9.99556690e-01 1.45883961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74255784400003 meters Centerline goodness : 0.128667 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99535616e-01 -5.06538687e-03 -3.00482030e-02 4.15596961e+00] [ 5.00325888e-03 9.99985189e-01 -2.14243757e-03 4.91609900e-01] [ 3.00586103e-02 1.99110372e-03 9.99546155e-01 1.45804819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77255784400006 meters Centerline goodness : 0.117563 Centerline is valid? [False, False] Translation: X:4.18, Y:0.49, Z:1.46 [[ 9.99571437e-01 3.54778183e-03 -2.90577866e-02 4.17614880e+00] [-3.64880910e-03 9.99987479e-01 -3.42448477e-03 4.89491022e-01] [ 2.90452735e-02 3.52904348e-03 9.99571867e-01 1.45906860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80255784400003 meters Centerline goodness : 0.115811 Centerline is valid? [False, False] Translation: X:4.18, Y:0.49, Z:1.46 [[ 9.99577796e-01 3.48829732e-03 -2.88454897e-02 4.17551690e+00] [-3.59141568e-03 9.99987342e-01 -3.52381628e-03 4.89706502e-01] [ 2.88328325e-02 3.62592465e-03 9.99577671e-01 1.45920835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83255784400006 meters Centerline goodness : 0.155203 Centerline is valid? [False, False] Translation: X:4.17, Y:0.49, Z:1.46 [[ 9.99583844e-01 3.46377005e-03 -2.86381056e-02 4.17468958e+00] [-3.56665968e-03 9.99987365e-01 -3.54245166e-03 4.89525507e-01] [ 2.86254735e-02 3.64311983e-03 9.99583568e-01 1.45968759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86255784400004 meters Centerline goodness : 0.106522 Centerline is valid? [False, False] Translation: X:4.17, Y:0.49, Z:1.46 [[ 9.99584397e-01 3.43537620e-03 -2.86222331e-02 4.17453960e+00] [-3.53950915e-03 9.99987298e-01 -3.58831375e-03 4.89672386e-01] [ 2.86095423e-02 3.68813109e-03 9.99583859e-01 1.45984350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89255784400007 meters Centerline goodness : 0.152744 Centerline is valid? [False, False] Translation: X:4.20, Y:0.49, Z:1.46 [[ 9.99529470e-01 -1.20493697e-03 -3.06494324e-02 4.19853165e+00] [ 1.19472028e-03 9.99999224e-01 -3.51651200e-04 4.94352537e-01] [ 3.06498324e-02 3.14868239e-04 9.99530134e-01 1.46021662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92255784400004 meters Centerline goodness : 0.156196 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99521696e-01 -1.25271443e-03 -3.08999870e-02 4.19945402e+00] [ 1.23816601e-03 9.99999113e-01 -4.89952450e-04 4.95159168e-01] [ 3.09005734e-02 4.51458790e-04 9.99522361e-01 1.45974349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95255784400007 meters Centerline goodness : 0.156196 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99521696e-01 -1.25271443e-03 -3.08999870e-02 4.19945402e+00] [ 1.23816601e-03 9.99999113e-01 -4.89952450e-04 4.95159168e-01] [ 3.09005734e-02 4.51458790e-04 9.99522361e-01 1.45974349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98255784400004 meters Centerline goodness : 0.155105 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99517907e-01 -1.33781486e-03 -3.10187590e-02 4.19981847e+00] [ 1.31672708e-03 9.99998888e-01 -7.00256040e-04 4.96190102e-01] [ 3.10196613e-02 6.59075212e-04 9.99518557e-01 1.45959471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01255784400007 meters Centerline goodness : 0.115289 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99519053e-01 -1.44689679e-03 -3.09769051e-02 4.19971986e+00] [ 1.41684433e-03 9.99998504e-01 -9.92085080e-04 4.97658618e-01] [ 3.09782942e-02 9.47718488e-04 9.99519608e-01 1.45955785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04255784400004 meters Centerline goodness : 0.115676 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99536515e-01 -1.55497411e-03 -3.04029126e-02 4.19791131e+00] [ 1.50993857e-03 9.99997729e-01 -1.50419268e-03 5.00705551e-01] [ 3.04051825e-02 1.45758898e-03 9.99536593e-01 1.46008117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0725578440001 meters Centerline goodness : 0.154937 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99540391e-01 -1.68482154e-03 -3.02682778e-02 4.19737530e+00] [ 1.62903996e-03 9.99996929e-01 -1.86747080e-03 5.02586250e-01] [ 3.02713312e-02 1.81730426e-03 9.99540066e-01 1.46034440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10255784400005 meters Centerline goodness : 0.158729 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99542529e-01 -1.83179751e-03 -3.01890415e-02 4.19711015e+00] [ 1.76406648e-03 9.99995867e-01 -2.27004451e-03 5.04589855e-01] [ 3.01930750e-02 2.21575056e-03 9.99541629e-01 1.46043837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1325578440001 meters Centerline goodness : 0.154759 Centerline is valid? [False, False] Translation: X:4.20, Y:0.51, Z:1.46 [[ 9.99543923e-01 -1.99300593e-03 -3.01326151e-02 4.19695637e+00] [ 1.91161650e-03 9.99994447e-01 -2.72960724e-03 5.06924580e-01] [ 3.01378880e-02 2.67076032e-03 9.99542183e-01 1.46038290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16255784400005 meters Centerline goodness : 0.156008 Centerline is valid? [False, False] Translation: X:4.20, Y:0.51, Z:1.46 [[ 9.99560125e-01 -2.23422952e-03 -2.95730402e-02 4.19541570e+00] [ 2.12712969e-03 9.99991067e-01 -3.65250038e-03 5.12145790e-01] [ 2.95809365e-02 3.58798804e-03 9.99555949e-01 1.46049544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1925578440001 meters Centerline goodness : 0.119887 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:1.46 [[ 0.99959815 0.00624903 -0.02764944 4.2146939 ] [-0.006395 0.99996606 -0.00519418 0.51348957] [ 0.02761604 0.00536891 0.99960419 1.46130596] [ 0. 0. 0. 1. ]] SLAMing on 338.22255784400005 meters Centerline goodness : 0.117854 Centerline is valid? [False, False] Translation: X:4.21, Y:0.52, Z:1.46 [[ 0.99960634 0.00603098 -0.02740061 4.21404958] [-0.00619159 0.99996412 -0.00578059 0.5165273 ] [ 0.02736477 0.00594797 0.99960782 1.46128341] [ 0. 0. 0. 1. ]] SLAMing on 338.252557844 meters Centerline goodness : 0.120536 Centerline is valid? [False, False] Translation: X:4.21, Y:0.52, Z:1.46 [[ 0.99960859 0.00565974 -0.02739777 4.21407464] [-0.00584668 0.99996014 -0.00674815 0.52137905] [ 0.02735848 0.00690569 0.99960183 1.46119434] [ 0. 0. 0. 1. ]] SLAMing on 338.28255784400005 meters Centerline goodness : 0.137179 Centerline is valid? [False, False] Translation: X:4.23, Y:0.53, Z:1.46 [[ 9.99565956e-01 -6.08213207e-04 -2.94538650e-02 4.23141391e+00] [ 4.30256011e-04 9.99981619e-01 -6.04785711e-03 5.28785626e-01] [ 2.94570020e-02 6.03255937e-03 9.99547844e-01 1.46420652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.312557844 meters Centerline goodness : 0.156340 Centerline is valid? [False, False] Translation: X:4.23, Y:0.53, Z:1.46 [[ 9.99560740e-01 -7.65950261e-04 -2.96266990e-02 4.23181044e+00] [ 5.76840790e-04 9.99979410e-01 -6.39109622e-03 5.30299770e-01] [ 2.96309843e-02 6.37119897e-03 9.99540601e-01 1.46425879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34255784400005 meters Centerline goodness : 0.151043 Centerline is valid? [False, False] Translation: X:4.23, Y:0.53, Z:1.46 [[ 9.99557840e-01 -8.64986488e-04 -2.97216305e-02 4.23183988e+00] [ 6.67012207e-04 9.99977531e-01 -6.67021856e-03 5.31735034e-01] [ 2.97267324e-02 6.64744457e-03 9.99535959e-01 1.46456981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.372557844 meters Centerline goodness : 0.151925 Centerline is valid? [False, False] Translation: X:4.23, Y:0.53, Z:1.46 [[ 9.99562588e-01 -9.52674645e-04 -2.95588419e-02 4.23126662e+00] [ 7.46351574e-04 9.99975289e-01 -6.99032774e-03 5.33576004e-01] [ 2.95647710e-02 6.96520880e-03 9.99538599e-01 1.46477084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40255784400006 meters Centerline goodness : 0.116667 Centerline is valid? [False, False] Translation: X:4.23, Y:0.54, Z:1.47 [[ 9.99592020e-01 -7.50198001e-04 -2.85522453e-02 4.22851115e+00] [ 5.38385759e-04 9.99972287e-01 -7.42537407e-03 5.37330320e-01] [ 2.85570246e-02 7.40697254e-03 9.99564722e-01 1.46505718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43255784400003 meters Centerline goodness : 0.148965 Centerline is valid? [False, False] Translation: X:4.23, Y:0.54, Z:1.46 [[ 9.99597981e-01 -8.94748490e-04 -2.83386043e-02 4.22798095e+00] [ 6.71451594e-04 9.99968663e-01 -7.88813703e-03 5.39602962e-01] [ 2.83447741e-02 7.86593785e-03 9.99567257e-01 1.46499199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46255784400006 meters Centerline goodness : 0.145503 Centerline is valid? [False, False] Translation: X:4.23, Y:0.54, Z:1.46 [[ 9.99598014e-01 -1.01202099e-03 -2.83334718e-02 4.22801586e+00] [ 7.75569250e-04 9.99964795e-01 -8.35506090e-03 5.41973856e-01] [ 2.83409298e-02 8.32972772e-03 9.99563608e-01 1.46481950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49255784400003 meters Centerline goodness : 0.112920 Centerline is valid? [False, False] Translation: X:4.23, Y:0.54, Z:1.46 [[ 9.99594894e-01 -1.13711870e-03 -2.84386278e-02 4.22837783e+00] [ 8.85634789e-04 9.99960410e-01 -8.85407226e-03 5.44617811e-01] [ 2.84475701e-02 8.82529918e-03 9.99556327e-01 1.46456934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52255784400006 meters Centerline goodness : 0.144538 Centerline is valid? [False, False] Translation: X:4.23, Y:0.55, Z:1.46 [[ 9.99581047e-01 -1.20702484e-03 -2.89183947e-02 4.22995827e+00] [ 9.28676506e-04 9.99953134e-01 -9.63680191e-03 5.49366903e-01] [ 2.89286713e-02 9.60590871e-03 9.99535321e-01 1.46374214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55255784400003 meters Centerline goodness : 0.155804 Centerline is valid? [False, False] Translation: X:4.23, Y:0.55, Z:1.46 [[ 9.99578133e-01 -1.41438608e-03 -2.90095691e-02 4.23045438e+00] [ 1.12112369e-03 9.99948133e-01 -1.01229356e-02 5.51568705e-01] [ 2.90223823e-02 1.00861417e-02 9.99527874e-01 1.46325232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58255784400006 meters Centerline goodness : 0.152428 Centerline is valid? [False, False] Translation: X:4.23, Y:0.55, Z:1.46 [[ 9.99573712e-01 -1.59396543e-03 -2.91522627e-02 4.23096652e+00] [ 1.28715302e-03 9.99943622e-01 -1.05402194e-02 5.53476366e-01] [ 2.91674199e-02 1.04982028e-02 9.99519409e-01 1.46295265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61255784400004 meters Centerline goodness : 0.135787 Centerline is valid? [False, False] Translation: X:4.23, Y:0.56, Z:1.46 [[ 9.99569235e-01 -1.79171620e-03 -2.92939144e-02 4.23155131e+00] [ 1.46900931e-03 9.99938045e-01 -1.10339870e-02 5.55896564e-01] [ 2.93118693e-02 1.09862009e-02 9.99509939e-01 1.46249352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64255784400007 meters Centerline goodness : 0.156357 Centerline is valid? [False, False] Translation: X:4.23, Y:0.56, Z:1.46 [[ 9.99563003e-01 -2.05880626e-03 -2.94883748e-02 4.23230656e+00] [ 1.71419625e-03 9.99930004e-01 -1.17068165e-02 5.59431626e-01] [ 2.95104128e-02 1.16511518e-02 9.99496566e-01 1.46203632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67255784400004 meters Centerline goodness : 0.153791 Centerline is valid? [False, False] Translation: X:4.23, Y:0.56, Z:1.46 [[ 9.99559461e-01 -2.19534226e-03 -2.95983881e-02 4.23241237e+00] [ 1.84148901e-03 9.99926576e-01 -1.19771155e-02 5.60545588e-01] [ 2.96225088e-02 1.19173340e-02 9.99490112e-01 1.46233922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70255784400007 meters Centerline goodness : 0.140447 Centerline is valid? [False, False] Translation: X:4.23, Y:0.56, Z:1.46 [[ 9.99563205e-01 -2.32234000e-03 -2.94619527e-02 4.23179201e+00] [ 1.96256989e-03 9.99923231e-01 -1.22343913e-02 5.61658451e-01] [ 2.94881034e-02 1.21712263e-02 9.99491027e-01 1.46276700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73255784400004 meters Centerline goodness : 0.153245 Centerline is valid? [False, False] Translation: X:4.23, Y:0.56, Z:1.46 [[ 9.99571359e-01 -2.42026918e-03 -2.91760117e-02 4.23044846e+00] [ 2.05221512e-03 9.99918027e-01 -1.26383048e-02 5.64486288e-01] [ 2.92042082e-02 1.25730121e-02 9.99494389e-01 1.46363201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76255784400007 meters Centerline goodness : 0.153567 Centerline is valid? [False, False] Translation: X:4.23, Y:0.57, Z:1.46 [[ 9.99570792e-01 -2.53885683e-03 -2.91853727e-02 4.23057690e+00] [ 2.16039980e-03 9.99913272e-01 -1.29915799e-02 5.66547068e-01] [ 2.92158252e-02 1.29229517e-02 9.99489586e-01 1.46342418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79255784400004 meters Centerline goodness : 0.114312 Centerline is valid? [False, False] Translation: X:4.23, Y:0.57, Z:1.46 [[ 9.99568253e-01 -2.69687653e-03 -2.92580799e-02 4.23102294e+00] [ 2.30514433e-03 9.99907367e-01 -1.34143327e-02 5.68747347e-01] [ 2.92915464e-02 1.33410970e-02 9.99481876e-01 1.46298239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8225578440001 meters Centerline goodness : 0.082473 Centerline is valid? [False, False] Translation: X:4.23, Y:0.57, Z:1.46 [[ 9.99562144e-01 -2.89863736e-03 -2.94468652e-02 4.23178477e+00] [ 2.49085223e-03 9.99900629e-01 -1.38754232e-02 5.70854794e-01] [ 2.94841589e-02 1.37959999e-02 9.99470037e-01 1.46251960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85255784400005 meters Centerline goodness : 0.158542 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.46 [[ 9.99552901e-01 -3.27027742e-03 -2.97204044e-02 4.23262070e+00] [ 2.83206344e-03 9.99886837e-01 -1.47747020e-02 5.75213210e-01] [ 2.97653586e-02 1.46839262e-02 9.99449051e-01 1.46220487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8825578440001 meters Centerline goodness : 0.136900 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.46 [[ 9.99553028e-01 -3.35811667e-03 -2.97063405e-02 4.23243016e+00] [ 2.91212379e-03 9.99882593e-01 -1.50439346e-02 5.76828780e-01] [ 2.97533721e-02 1.49507018e-02 9.99445453e-01 1.46241065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91255784400005 meters Centerline goodness : 0.142392 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.46 [[ 9.99556632e-01 -3.41261353e-03 -2.95785909e-02 4.23173683e+00] [ 2.96466434e-03 9.99880458e-01 -1.51750190e-02 5.77703204e-01] [ 2.96268415e-02 1.50806003e-02 9.99447260e-01 1.46302517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9425578440001 meters Centerline goodness : 0.162399 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.46 [[ 9.99563090e-01 -3.45873760e-03 -2.93541678e-02 4.23070766e+00] [ 3.01373894e-03 9.99880078e-01 -1.51903680e-02 5.77766727e-01] [ 2.94031870e-02 1.50952654e-02 9.99453644e-01 1.46380318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97255784400005 meters Centerline goodness : 0.127308 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.47 [[ 9.99590455e-01 -4.15858115e-03 -2.83130542e-02 4.22747102e+00] [ 3.71796853e-03 9.99871446e-01 -1.55970702e-02 5.77755197e-01] [ 2.83742761e-02 1.54854155e-02 9.99477415e-01 1.46502372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.002557844 meters Centerline goodness : 0.141021 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.47 [[ 9.99588378e-01 -4.19136160e-03 -2.83814399e-02 4.22751487e+00] [ 3.75135159e-03 9.99872226e-01 -1.55389790e-02 5.77500373e-01] [ 2.84429430e-02 1.54261141e-02 9.99476380e-01 1.46523654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03255784400005 meters Centerline goodness : 0.154553 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.47 [[ 9.99589447e-01 -4.18724451e-03 -2.83443884e-02 4.22752804e+00] [ 3.74941341e-03 9.99873111e-01 -1.54823985e-02 5.77432691e-01] [ 2.84056204e-02 1.53697673e-02 9.99478309e-01 1.46512059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.062557844 meters Centerline goodness : 0.157019 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.47 [[ 9.99592808e-01 -4.18488624e-03 -2.82259517e-02 4.22715324e+00] [ 3.75187884e-03 9.99874738e-01 -1.53763081e-02 5.76880408e-01] [ 2.82867642e-02 1.52641466e-02 9.99483299e-01 1.46526080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09255784400005 meters Centerline goodness : 0.157515 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.47 [[ 9.99602168e-01 -4.23619141e-03 -2.78847639e-02 4.22598903e+00] [ 3.81282755e-03 9.99876925e-01 -1.52183233e-02 5.75717742e-01] [ 2.79457997e-02 1.51059492e-02 9.99495294e-01 1.46577823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.122557844 meters Centerline goodness : 0.159937 Centerline is valid? [False, False] Translation: X:4.22, Y:0.57, Z:1.47 [[ 0.99960197 -0.00735778 -0.02723545 4.22167995] [ 0.00687489 0.99981826 -0.01778171 0.57255802] [ 0.02736133 0.01758739 0.99947088 1.46902236] [ 0. 0. 0. 1. ]] SLAMing on 339.15255784400006 meters Centerline goodness : 0.162548 Centerline is valid? [False, False] Translation: X:4.22, Y:0.57, Z:1.47 [[ 0.9996038 -0.00734733 -0.02717108 4.22114892] [ 0.00687709 0.99982566 -0.0173596 0.57024391] [ 0.02729389 0.01716586 0.99948005 1.46967782] [ 0. 0. 0. 1. ]] SLAMing on 339.18255784400003 meters Centerline goodness : 0.159070 Centerline is valid? [False, False] Translation: X:4.22, Y:0.57, Z:1.47 [[ 0.99960055 -0.00732167 -0.027297 4.2214576 ] [ 0.00686458 0.99983529 -0.01680105 0.56722501] [ 0.02741552 0.01660696 0.99948617 1.46973915] [ 0. 0. 0. 1. ]] SLAMing on 339.21255784400006 meters Centerline goodness : 0.160657 Centerline is valid? [False, False] Translation: X:4.22, Y:0.56, Z:1.47 [[ 0.99960051 -0.00738787 -0.02728077 4.22156226] [ 0.0069442 0.99984267 -0.01632223 0.56413718] [ 0.02739706 0.01612626 0.99949454 1.46957152] [ 0. 0. 0. 1. ]] SLAMing on 339.24255784400003 meters Centerline goodness : 0.162452 Centerline is valid? [False, False] Translation: X:4.22, Y:0.56, Z:1.47 [[ 0.99957358 -0.01122279 -0.02695754 4.22098706] [ 0.0107025 0.99975515 -0.01936755 0.5592711 ] [ 0.0271683 0.01907078 0.99944894 1.4694545 ] [ 0. 0. 0. 1. ]] SLAMing on 339.27255784400006 meters Centerline goodness : 0.161617 Centerline is valid? [False, False] Translation: X:4.20, Y:0.55, Z:1.47 [[ 9.99640411e-01 -3.25455947e-03 -2.66168520e-02 4.20110077e+00] [ 2.72749794e-03 9.99799959e-01 -1.98141863e-02 5.50783918e-01] [ 2.66760140e-02 1.97344640e-02 9.99449319e-01 1.46757917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30255784400003 meters Centerline goodness : 0.157445 Centerline is valid? [False, False] Translation: X:4.20, Y:0.55, Z:1.47 [[ 9.99636030e-01 -3.10504728e-03 -2.67986085e-02 4.20149959e+00] [ 2.58558796e-03 9.99808522e-01 -1.93967476e-02 5.48699517e-01] [ 2.68537050e-02 1.93203976e-02 9.99452651e-01 1.46763144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33255784400006 meters Centerline goodness : 0.162127 Centerline is valid? [False, False] Translation: X:4.16, Y:0.54, Z:1.47 [[ 9.99521350e-01 -4.36833896e-03 -3.06266112e-02 4.16039397e+00] [ 3.75886836e-03 9.99794323e-01 -1.99294433e-02 5.42706711e-01] [ 3.07073706e-02 1.98047827e-02 9.99332191e-01 1.46605412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36255784400004 meters Centerline goodness : 0.115452 Centerline is valid? [False, False] Translation: X:4.21, Y:0.54, Z:1.47 [[ 9.99555150e-01 -3.79172674e-03 -2.95824963e-02 4.20599575e+00] [ 3.20562565e-03 9.99798133e-01 -1.98347592e-02 5.42332817e-01] [ 2.96517326e-02 1.97311053e-02 9.99365528e-01 1.46644029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39255784400007 meters Centerline goodness : 0.159649 Centerline is valid? [False, False] Translation: X:4.21, Y:0.54, Z:1.47 [[ 9.99551732e-01 -3.66546121e-03 -2.97136121e-02 4.20658030e+00] [ 3.08433105e-03 9.99803536e-01 -1.95800038e-02 5.41302053e-01] [ 2.97795442e-02 1.94795801e-02 9.99366662e-01 1.46599782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42255784400004 meters Centerline goodness : 0.159120 Centerline is valid? [False, False] Translation: X:4.21, Y:0.54, Z:1.46 [[ 9.99539441e-01 -3.49398025e-03 -3.01446100e-02 4.20833002e+00] [ 2.91656317e-03 9.99811838e-01 -1.91776535e-02 5.39571705e-01] [ 3.02059442e-02 1.90809025e-02 9.99361556e-01 1.46487061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45255784400007 meters Centerline goodness : 0.115326 Centerline is valid? [False, False] Translation: X:4.21, Y:0.54, Z:1.46 [[ 9.99532912e-01 -3.47878324e-03 -3.03620892e-02 4.20911694e+00] [ 2.90411542e-03 9.99816200e-01 -1.89507677e-02 5.38039937e-01] [ 3.04224343e-02 1.88537410e-02 9.99359301e-01 1.46441402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48255784400004 meters Centerline goodness : 0.110503 Centerline is valid? [False, False] Translation: X:4.21, Y:0.54, Z:1.46 [[ 9.99526243e-01 -3.43314555e-03 -3.05859848e-02 4.20960456e+00] [ 2.86458752e-03 9.99822654e-01 -1.86133061e-02 5.35941326e-01] [ 3.06444627e-02 1.85168717e-02 9.99358816e-01 1.46446707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51255784400007 meters Centerline goodness : 0.109123 Centerline is valid? [False, False] Translation: X:4.21, Y:0.53, Z:1.46 [[ 9.99526343e-01 -3.36505793e-03 -3.05902864e-02 4.20942780e+00] [ 2.80905695e-03 9.99830410e-01 -1.82005757e-02 5.33717900e-01] [ 3.06463446e-02 1.81060250e-02 9.99366286e-01 1.46470506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54255784400004 meters Centerline goodness : 0.164587 Centerline is valid? [False, False] Translation: X:4.19, Y:0.53, Z:1.46 [[ 9.99575908e-01 2.85607648e-03 -2.89801177e-02 4.18611729e+00] [-3.43909847e-03 9.99792298e-01 -2.00881416e-02 5.26581568e-01] [ 2.89167252e-02 2.01792879e-02 9.99378116e-01 1.46348854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5725578440001 meters Centerline goodness : 0.157275 Centerline is valid? [False, False] Translation: X:4.21, Y:0.53, Z:1.46 [[ 0.99956563 -0.0065765 -0.02872809 4.20750126] [ 0.00600859 0.9997857 -0.01981022 0.52712965] [ 0.02885222 0.01962899 0.99939094 1.46457697] [ 0. 0. 0. 1. ]] SLAMing on 339.60255784400005 meters Centerline goodness : 0.159733 Centerline is valid? [False, False] Translation: X:4.21, Y:0.53, Z:1.46 [[ 0.99955219 -0.00663491 -0.02917882 4.20899834] [ 0.00606481 0.99978984 -0.01958314 0.52562929] [ 0.02930262 0.01939741 0.99938236 1.46383501] [ 0. 0. 0. 1. ]] SLAMing on 339.6325578440001 meters Centerline goodness : 0.106341 Centerline is valid? [False, False] Translation: X:4.21, Y:0.52, Z:1.46 [[ 0.99954467 -0.00659732 -0.02944356 4.2099731 ] [ 0.00603156 0.99979627 -0.01926261 0.52400925] [ 0.02956464 0.01907625 0.99938082 1.46316895] [ 0. 0. 0. 1. ]] SLAMing on 339.66255784400005 meters Centerline goodness : 0.107418 Centerline is valid? [False, False] Translation: X:4.21, Y:0.52, Z:1.46 [[ 0.99954612 -0.00647781 -0.02942081 4.20990675] [ 0.00592545 0.99980528 -0.0188228 0.52211069] [ 0.02953702 0.01863993 0.99938987 1.46303981] [ 0. 0. 0. 1. ]] SLAMing on 339.6925578440001 meters Centerline goodness : 0.173525 Centerline is valid? [False, False] Translation: X:4.19, Y:0.51, Z:1.46 [[ 9.99668253e-01 -1.19591857e-03 -2.57284795e-02 4.18901496e+00] [ 6.69950576e-04 9.99790817e-01 -2.04419420e-02 5.11978313e-01] [ 2.57475445e-02 2.04179236e-02 9.99459940e-01 1.46044889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72255784400005 meters Centerline goodness : 0.043977 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:1.46 [[ 0.99964375 -0.00975309 -0.02484454 4.21053391] [ 0.0092616 0.99976063 -0.01982166 0.51228026] [ 0.02503192 0.0195845 0.9994948 1.46116477] [ 0. 0. 0. 1. ]] SLAMing on 339.752557844 meters SLAMing on 339.78255784400005 meters Centerline goodness : 0.157284 Centerline is valid? [False, False] Translation: X:4.19, Y:0.50, Z:1.46 [[ 9.99695912e-01 -3.11202365e-03 -2.44621885e-02 4.19113259e+00] [ 2.59056557e-03 9.99769352e-01 -2.13197631e-02 5.00131815e-01] [ 2.45228939e-02 2.12499091e-02 9.99473396e-01 1.45878237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.812557844 meters Centerline goodness : 0.147897 Centerline is valid? [False, False] Translation: X:4.21, Y:0.50, Z:1.46 [[ 0.99966144 -0.01123708 -0.02346769 4.21239172] [ 0.010769 0.99974243 -0.01997771 0.49853768] [ 0.02368614 0.01971822 0.99952497 1.45956702] [ 0. 0. 0. 1. ]] SLAMing on 339.84255784400005 meters Centerline goodness : 0.118018 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 9.99771280e-01 -2.83261639e-03 -2.11982207e-02 4.19141294e+00] [ 2.39786247e-03 9.99786847e-01 -2.05063710e-02 4.90463429e-01] [ 2.12517890e-02 2.04508503e-02 9.99564967e-01 1.45798684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.872557844 meters Centerline goodness : 0.118018 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 9.99771355e-01 -2.81960271e-03 -2.11963896e-02 4.19138123e+00] [ 2.38511777e-03 9.99787101e-01 -2.04954712e-02 4.90479729e-01] [ 2.12496660e-02 2.04402291e-02 9.99565230e-01 1.45799742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90255784400006 meters Centerline goodness : 0.145164 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 9.99777201e-01 -2.68781775e-03 -2.09361723e-02 4.19027575e+00] [ 2.26412595e-03 9.99792692e-01 -2.02347895e-02 4.89276061e-01] [ 2.09862195e-02 2.01828791e-02 9.99576025e-01 1.45872874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93255784400003 meters Centerline goodness : 0.166121 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 9.99780642e-01 -2.56752479e-03 -2.07864272e-02 4.18970616e+00] [ 2.15004948e-03 9.99796034e-01 -2.00815295e-02 4.88775143e-01] [ 2.08337473e-02 2.00324326e-02 9.99582241e-01 1.45903938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96255784400006 meters Centerline goodness : 0.129815 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 9.99777583e-01 1.27599313e-03 -2.10512909e-02 4.19046881e+00] [-1.61358474e-03 9.99870250e-01 -1.60274391e-02 4.86548781e-01] [ 2.10281086e-02 1.60578423e-02 9.99649921e-01 1.45881266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99255784400003 meters Centerline goodness : 0.120892 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 0.9997571 0.00515457 -0.02142844 4.19197541] [-0.00541509 0.99991192 -0.01211747 0.48505731] [ 0.02136409 0.01223056 0.99969695 1.45809663] [ 0. 0. 0. 1. ]] SLAMing on 340.02255784400006 meters Centerline goodness : 0.118007 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 0.99975589 0.00516563 -0.02148208 4.19205287] [-0.00542793 0.99991122 -0.01216947 0.48530275] [ 0.02141731 0.0122831 0.99969517 1.45816479] [ 0. 0. 0. 1. ]] SLAMing on 340.05255784400003 meters Centerline goodness : 0.166971 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99784024e-01 -2.27339469e-03 -2.06576374e-02 4.20993210e+00] [ 2.04754030e-03 9.99937975e-01 -1.09477961e-02 4.89622403e-01] [ 2.06812448e-02 1.09031343e-02 9.99726667e-01 1.46073324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08255784400006 meters Centerline goodness : 0.141847 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99975012 -0.009942 -0.02002152 4.22913494] [ 0.00974797 0.9999048 -0.00976556 0.49429952] [ 0.0201167 0.00956796 0.99975186 1.46263853] [ 0. 0. 0. 1. ]] SLAMing on 340.11255784400004 meters Centerline goodness : 0.126943 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99975337 -0.00991765 -0.0198705 4.22883029] [ 0.00972634 0.99990563 -0.00970154 0.49426853] [ 0.01996484 0.00950588 0.99975549 1.46243672] [ 0. 0. 0. 1. ]] SLAMing on 340.14255784400007 meters Centerline goodness : 0.135487 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99975497 -0.00993563 -0.01978092 4.22869117] [ 0.00974582 0.99990576 -0.00966903 0.49420828] [ 0.01987512 0.00947388 0.99975758 1.46224527] [ 0. 0. 0. 1. ]] SLAMing on 340.17255784400004 meters Centerline goodness : 0.134828 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99976165 -0.01010606 -0.01935203 4.22735602] [ 0.00992092 0.99990432 -0.00963955 0.49400728] [ 0.0194476 0.00944526 0.99976626 1.46232755] [ 0. 0. 0. 1. ]] SLAMing on 340.20255784400007 meters Centerline goodness : 0.119162 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99976412 -0.01015548 -0.01919823 4.22688405] [ 0.00997285 0.99990433 -0.00958455 0.49385456] [ 0.01929373 0.00939083 0.99976976 1.46231366] [ 0. 0. 0. 1. ]] SLAMing on 340.23255784400004 meters Centerline goodness : 0.128195 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99976762 -0.01014677 -0.01901972 4.22642279] [ 0.00996803 0.99990549 -0.00946867 0.49355084] [ 0.019114 0.00927688 0.99977427 1.46215428] [ 0. 0. 0. 1. ]] SLAMing on 340.26255784400007 meters Centerline goodness : 0.115212 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99976921 -0.010179 -0.01891863 4.22609677] [ 0.01000351 0.99990627 -0.00934801 0.49300697] [ 0.01901201 0.0091566 0.99977733 1.46207966] [ 0. 0. 0. 1. ]] SLAMing on 340.29255784400004 meters Centerline goodness : 0.122522 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99976689 -0.01042525 -0.0189069 4.22572537] [ 0.01025067 0.99990415 -0.00930716 0.49220306] [ 0.01900212 0.00911118 0.99977793 1.4622441 ] [ 0. 0. 0. 1. ]] SLAMing on 340.3225578440001 meters Centerline goodness : 0.131322 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99976471 -0.01037104 -0.01905178 4.22615314] [ 0.0101978 0.99990598 -0.00916755 0.49173688] [ 0.01914507 0.00897111 0.99977647 1.46201645] [ 0. 0. 0. 1. ]] SLAMing on 340.35255784400005 meters Centerline goodness : 0.088231 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99860204e-01 -3.46742305e-03 -1.63569175e-02 4.21069654e+00] [ 3.30103878e-03 9.99942651e-01 -1.01881597e-02 4.85660272e-01] [ 1.63913061e-02 1.01327406e-02 9.99814309e-01 1.45833471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3825578440001 meters Centerline goodness : 0.211305 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99858422e-01 -3.47990896e-03 -1.64628788e-02 4.21096701e+00] [ 3.31226259e-03 9.99942497e-01 -1.01996259e-02 4.85965186e-01] [ 1.64974259e-02 1.01436525e-02 9.99812453e-01 1.45829823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41255784400005 meters Centerline goodness : 0.127442 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99858785e-01 -3.50508485e-03 -1.64354397e-02 4.21082603e+00] [ 3.33656170e-03 9.99941697e-01 -1.02698777e-02 4.86538287e-01] [ 1.64704783e-02 1.02135895e-02 9.99812185e-01 1.45841023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4425578440001 meters Centerline goodness : 0.231856 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99861431e-01 -3.64419224e-03 -1.62430957e-02 4.21011527e+00] [ 3.46882652e-03 9.99935538e-01 -1.08114539e-02 4.89355618e-01] [ 1.62814477e-02 1.07536113e-02 9.99809619e-01 1.45878604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47255784400005 meters Centerline goodness : 0.087787 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99865458e-01 -4.68131453e-05 -1.64031362e-02 4.21042819e+00] [-7.26929620e-05 9.99973462e-01 -7.28489258e-03 4.89865681e-01] [ 1.64030419e-02 7.28510485e-03 9.99838921e-01 1.45879607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.502557844 meters Centerline goodness : 0.139890 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99867351e-01 -1.30187023e-04 -1.62869210e-02 4.21020044e+00] [ 4.08823411e-06 9.99970029e-01 -7.74212814e-03 4.92598759e-01] [ 1.62874408e-02 7.74103457e-03 9.99837385e-01 1.45870573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53255784400005 meters Centerline goodness : 0.167867 Centerline is valid? [False, False] Translation: X:4.23, Y:0.50, Z:1.46 [[ 0.99987931 -0.00520438 -0.01463833 4.23246665] [ 0.00513899 0.99997666 -0.00450117 0.49662075] [ 0.01466142 0.0044254 0.99988272 1.45834355] [ 0. 0. 0. 1. ]] SLAMing on 340.562557844 meters Centerline goodness : 0.177445 Centerline is valid? [False, False] Translation: X:4.23, Y:0.50, Z:1.46 [[ 0.99988108 -0.00560287 -0.01436784 4.23188452] [ 0.00552415 0.99996955 -0.00551245 0.50154975] [ 0.01439829 0.00543243 0.99988158 1.45820125] [ 0. 0. 0. 1. ]] SLAMing on 340.59255784400005 meters Centerline goodness : 0.126821 Centerline is valid? [False, False] Translation: X:4.23, Y:0.50, Z:1.46 [[ 0.99987583 -0.0058014 -0.01465164 4.23295948] [ 0.0057153 0.99996619 -0.00591147 0.50319546] [ 0.01468544 0.00582699 0.99987518 1.4575332 ] [ 0. 0. 0. 1. ]] SLAMing on 340.622557844 meters Centerline goodness : 0.219338 Centerline is valid? [False, False] Translation: X:4.23, Y:0.50, Z:1.46 [[ 0.99986923 -0.00598523 -0.01502312 4.23435184] [ 0.00589166 0.99996302 -0.00626505 0.50478031] [ 0.01506006 0.00617572 0.99986752 1.45664291] [ 0. 0. 0. 1. ]] SLAMing on 340.65255784400006 meters SLAMing on 340.68255784400003 meters Centerline goodness : 0.118189 Centerline is valid? [False, False] Translation: X:4.23, Y:0.51, Z:1.46 [[ 0.99986915 -0.00657823 -0.01477839 4.23345584] [ 0.00647555 0.99995464 -0.00698479 0.50817401] [ 0.01482366 0.00688818 0.9998664 1.45702877] [ 0. 0. 0. 1. ]] SLAMing on 340.71255784400006 meters SLAMing on 340.74255784400003 meters Centerline goodness : 0.156971 Centerline is valid? [False, False] Translation: X:4.23, Y:0.51, Z:1.46 [[ 0.99986747 -0.00719892 -0.01460232 4.23285511] [ 0.00709179 0.99994765 -0.00737528 0.50864807] [ 0.01465465 0.00727074 0.99986618 1.45729859] [ 0. 0. 0. 1. ]] SLAMing on 340.77255784400006 meters SLAMing on 340.80255784400003 meters Centerline goodness : 0.133094 Centerline is valid? [False, False] Translation: X:4.19, Y:0.51, Z:1.45 [[ 0.99977971 -0.00973284 -0.01859572 4.19482817] [ 0.00957095 0.9999157 -0.00877481 0.50977897] [ 0.01867955 0.0085949 0.99978858 1.45443578] [ 0. 0. 0. 1. ]] SLAMing on 340.83255784400006 meters Centerline goodness : 0.151715 Centerline is valid? [False, False] Translation: X:4.19, Y:0.51, Z:1.45 [[ 0.99977995 -0.00976786 -0.01856443 4.19473874] [ 0.00960536 0.99991495 -0.00882223 0.5099789 ] [ 0.01864903 0.00864197 0.99978874 1.45441881] [ 0. 0. 0. 1. ]] SLAMing on 340.86255784400004 meters Centerline goodness : 0.161651 Centerline is valid? [False, False] Translation: X:4.17, Y:0.51, Z:1.45 [[ 9.99839532e-01 -1.32499271e-03 -1.78648885e-02 4.17273939e+00] [ 1.15871762e-03 9.99955948e-01 -9.31450860e-03 5.06628307e-01] [ 1.78764432e-02 9.29231356e-03 9.99797022e-01 1.45367079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89255784400007 meters Centerline goodness : 0.121189 Centerline is valid? [False, False] Translation: X:4.17, Y:0.51, Z:1.45 [[ 9.99840440e-01 -1.42074216e-03 -1.78066561e-02 4.17242325e+00] [ 1.25025204e-03 9.99953310e-01 -9.58199457e-03 5.07956860e-01] [ 1.78194383e-02 9.55820286e-03 9.99795533e-01 1.45399330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92255784400004 meters Centerline goodness : 0.091703 Centerline is valid? [False, False] Translation: X:4.18, Y:0.51, Z:1.45 [[ 9.99816560e-01 4.53871302e-04 -1.91478612e-02 4.17824469e+00] [-6.06575837e-04 9.99968055e-01 -7.96996397e-03 5.10714553e-01] [ 1.91436322e-02 7.98011659e-03 9.99784896e-01 1.45114057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95255784400007 meters Centerline goodness : 0.158214 Centerline is valid? [False, False] Translation: X:4.18, Y:0.51, Z:1.45 [[ 9.99813320e-01 3.49177676e-04 -1.93184429e-02 4.17896191e+00] [-5.11100515e-04 9.99964778e-01 -8.37747263e-03 5.12896482e-01] [ 1.93148372e-02 8.38578239e-03 9.99778283e-01 1.45069322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98255784400004 meters Centerline goodness : 0.100151 Centerline is valid? [False, False] Translation: X:4.20, Y:0.52, Z:1.45 [[ 0.99981496 -0.00506504 -0.01855758 4.20192939] [ 0.00496641 0.99997332 -0.00535732 0.5159086 ] [ 0.01858422 0.00526416 0.99981344 1.45066771] [ 0. 0. 0. 1. ]] SLAMing on 341.01255784400007 meters Centerline goodness : 0.151270 Centerline is valid? [False, False] Translation: X:4.20, Y:0.52, Z:1.45 [[ 0.99981724 -0.00518058 -0.01840261 4.20118673] [ 0.00507424 0.99997019 -0.00582052 0.518371 ] [ 0.01843221 0.00572607 0.99981372 1.45130807] [ 0. 0. 0. 1. ]] SLAMing on 341.04255784400004 meters Centerline goodness : 0.129946 Centerline is valid? [False, False] Translation: X:4.20, Y:0.52, Z:1.45 [[ 0.99981771 -0.00536338 -0.0183242 4.20078807] [ 0.00524734 0.99996591 -0.00637505 0.52111283] [ 0.01835777 0.00627773 0.99981177 1.45166477] [ 0. 0. 0. 1. ]] SLAMing on 341.0725578440001 meters Centerline goodness : 0.166406 Centerline is valid? [False, False] Translation: X:4.20, Y:0.52, Z:1.45 [[ 9.99827524e-01 -1.86469877e-03 -1.84782088e-02 4.20140129e+00] [ 1.80545413e-03 9.99993178e-01 -3.22235310e-03 5.23656700e-01] [ 1.84840915e-02 3.18843577e-03 9.99824071e-01 1.45117302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10255784400005 meters Centerline goodness : 0.167700 Centerline is valid? [False, False] Translation: X:4.20, Y:0.53, Z:1.45 [[ 9.99826883e-01 -2.01636685e-03 -1.84969890e-02 4.20159473e+00] [ 1.94966409e-03 9.99991535e-01 -3.62346579e-03 5.25719760e-01] [ 1.85041387e-02 3.58677559e-03 9.99822350e-01 1.45095854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1325578440001 meters Centerline goodness : 0.166286 Centerline is valid? [False, False] Translation: X:4.20, Y:0.53, Z:1.45 [[ 9.99838010e-01 2.49740739e-04 -1.79969994e-02 4.19957318e+00] [-2.79365014e-04 9.99998610e-01 -1.64357217e-03 5.30595806e-01] [ 1.79965639e-02 1.64833366e-03 9.99836690e-01 1.45175055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16255784400005 meters Centerline goodness : 0.171258 Centerline is valid? [False, False] Translation: X:4.20, Y:0.53, Z:1.45 [[ 9.99837126e-01 9.49980906e-05 -1.80474855e-02 4.19984015e+00] [-1.31203384e-04 9.99997981e-01 -2.00493943e-03 5.32436353e-01] [ 1.80472586e-02 2.00698077e-03 9.99835121e-01 1.45156005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1925578440001 meters Centerline goodness : 0.172931 Centerline is valid? [False, False] Translation: X:4.20, Y:0.53, Z:1.45 [[ 9.99836562e-01 -4.79179198e-05 -1.80789365e-02 4.20008039e+00] [ 6.48950126e-06 9.99997374e-01 -2.29158133e-03 5.33766964e-01] [ 1.80789989e-02 2.29108947e-03 9.99833937e-01 1.45129893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22255784400005 meters Centerline goodness : 0.171480 Centerline is valid? [False, False] Translation: X:4.20, Y:0.53, Z:1.45 [[ 9.99835836e-01 -1.69826067e-04 -1.81182929e-02 4.20028569e+00] [ 1.24296748e-04 9.99996832e-01 -2.51398886e-03 5.34795919e-01] [ 1.81186625e-02 2.51132411e-03 9.99832690e-01 1.45110485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.252557844 meters Centerline goodness : 0.174880 Centerline is valid? [False, False] Translation: X:4.20, Y:0.54, Z:1.45 [[ 9.99834571e-01 -2.89165573e-04 -1.81864403e-02 4.20062847e+00] [ 2.39312066e-04 9.99996208e-01 -2.74336260e-03 5.35727897e-01] [ 1.81871646e-02 2.73855654e-03 9.99830849e-01 1.45082358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28255784400005 meters Centerline goodness : 0.110420 Centerline is valid? [False, False] Translation: X:4.20, Y:0.54, Z:1.45 [[ 9.99833331e-01 -5.86697949e-04 -1.82473290e-02 4.20092577e+00] [ 5.23861561e-04 9.99993918e-01 -3.44818305e-03 5.39115629e-01] [ 1.82492411e-02 3.43804927e-03 9.99827558e-01 1.45059730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.312557844 meters Centerline goodness : 0.162513 Centerline is valid? [False, False] Translation: X:4.20, Y:0.54, Z:1.45 [[ 9.99835479e-01 -7.34797247e-04 -1.81238804e-02 4.20056108e+00] [ 6.64612029e-04 9.99992259e-01 -3.87824634e-03 5.41381239e-01] [ 1.81265898e-02 3.86556294e-03 9.99828227e-01 1.45074751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34255784400005 meters Centerline goodness : 0.121820 Centerline is valid? [False, False] Translation: X:4.20, Y:0.54, Z:1.45 [[ 9.99838900e-01 -9.04188609e-04 -1.79264248e-02 4.19973647e+00] [ 8.25692537e-04 9.99990042e-01 -4.38570928e-03 5.43934123e-01] [ 1.79302118e-02 4.37020102e-03 9.99829690e-01 1.45136872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.372557844 meters Centerline goodness : 0.152099 Centerline is valid? [False, False] Translation: X:4.19, Y:0.55, Z:1.45 [[ 9.99862326e-01 8.28391616e-04 -1.65723753e-02 4.19419426e+00] [-8.84323914e-04 9.99993937e-01 -3.36798863e-03 5.50152840e-01] [ 1.65694848e-02 3.38218029e-03 9.99856996e-01 1.45406573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40255784400006 meters Centerline goodness : 0.161447 Centerline is valid? [False, False] Translation: X:4.19, Y:0.55, Z:1.45 [[ 9.99861599e-01 5.70938385e-04 -1.66269997e-02 4.19443706e+00] [-6.39720744e-04 9.99991260e-01 -4.13176228e-03 5.54023504e-01] [ 1.66244954e-02 4.14182708e-03 9.99853225e-01 1.45397146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43255784400003 meters Centerline goodness : 0.185945 Centerline is valid? [False, False] Translation: X:4.15, Y:0.56, Z:1.45 [[ 9.99813000e-01 1.41334358e-03 -1.92864753e-02 4.14964098e+00] [-1.49024127e-03 9.99990996e-01 -3.97334098e-03 5.60313035e-01] [ 1.92806859e-02 4.00133947e-03 9.99806103e-01 1.45416342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46255784400006 meters Centerline goodness : 0.158648 Centerline is valid? [False, False] Translation: X:4.17, Y:0.57, Z:1.45 [[ 9.99809463e-01 -3.88011624e-03 -1.91306430e-02 4.17167995e+00] [ 3.85554910e-03 9.99991695e-01 -1.32089288e-03 5.70481189e-01] [ 1.91356093e-02 1.24688206e-03 9.99816120e-01 1.45452421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49255784400003 meters Centerline goodness : 0.157095 Centerline is valid? [False, False] Translation: X:4.17, Y:0.57, Z:1.45 [[ 9.99810657e-01 -4.19414927e-03 -1.90015702e-02 4.17122730e+00] [ 4.15478350e-03 9.99989141e-01 -2.11071560e-03 5.74337367e-01] [ 1.90102165e-02 2.03136854e-03 9.99817226e-01 1.45478238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52255784400006 meters Centerline goodness : 0.169250 Centerline is valid? [False, False] Translation: X:4.12, Y:0.58, Z:1.46 [[ 9.99765949e-01 -3.76053038e-03 -2.13050725e-02 4.12479010e+00] [ 3.71209557e-03 9.99990436e-01 -2.31248548e-03 5.80104949e-01] [ 2.13135649e-02 2.23285778e-03 9.99770347e-01 1.45557498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55255784400003 meters Centerline goodness : 0.154363 Centerline is valid? [False, False] Translation: X:4.14, Y:0.58, Z:1.46 [[ 9.99787484e-01 4.26584825e-03 -2.01690324e-02 4.14491150e+00] [-4.33590110e-03 9.99984715e-01 -3.43083427e-03 5.79548876e-01] [ 2.01540887e-02 3.51755609e-03 9.99790698e-01 1.45598387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58255784400006 meters Centerline goodness : 0.157619 Centerline is valid? [False, False] Translation: X:4.15, Y:0.58, Z:1.46 [[ 9.99785875e-01 4.02011147e-03 -2.02988265e-02 4.14544828e+00] [-4.10232369e-03 9.99983545e-01 -4.01008206e-03 5.82419742e-01] [ 2.02823715e-02 4.09249576e-03 9.99785916e-01 1.45568076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61255784400004 meters Centerline goodness : 0.114879 Centerline is valid? [False, False] Translation: X:4.15, Y:0.59, Z:1.45 [[ 9.99774223e-01 3.51695803e-03 -2.09555459e-02 4.14787410e+00] [-3.62176276e-03 9.99981113e-01 -4.96543678e-03 5.86974715e-01] [ 2.09376869e-02 5.04021172e-03 9.99768078e-01 1.45452028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64255784400007 meters Centerline goodness : 0.156897 Centerline is valid? [False, False] Translation: X:4.15, Y:0.59, Z:1.45 [[ 9.99769878e-01 3.34242304e-03 -2.11900595e-02 4.14864719e+00] [-3.45475901e-03 9.99980162e-01 -5.26696301e-03 5.88307451e-01] [ 2.11720347e-02 5.33895752e-03 9.99761592e-01 1.45422507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67255784400004 meters Centerline goodness : 0.115310 Centerline is valid? [False, False] Translation: X:4.15, Y:0.59, Z:1.45 [[ 9.99768819e-01 3.19817208e-03 -2.12621730e-02 4.14882431e+00] [-3.31530669e-03 9.99979510e-01 -5.47609602e-03 5.89157477e-01] [ 2.12442238e-02 5.54532067e-03 9.99758937e-01 1.45420302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70255784400007 meters Centerline goodness : 0.172082 Centerline is valid? [False, False] Translation: X:4.15, Y:0.59, Z:1.45 [[ 9.99770046e-01 3.07403399e-03 -2.12227566e-02 4.14855494e+00] [-3.19492957e-03 9.99978850e-01 -5.66495255e-03 5.90018036e-01] [ 2.12048935e-02 5.73145508e-03 9.99758722e-01 1.45447085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73255784400004 meters Centerline goodness : 0.119238 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:1.45 [[ 0.9997569 -0.00550489 -0.02135012 4.12722827] [ 0.00539782 0.99997258 -0.00506943 0.59806721] [ 0.02137744 0.00495295 0.99975921 1.453471 ] [ 0. 0. 0. 1. ]] SLAMing on 341.76255784400007 meters Centerline goodness : 0.119238 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:1.45 [[ 0.9997569 -0.00550489 -0.02135012 4.12722827] [ 0.00539782 0.99997258 -0.00506943 0.59806721] [ 0.02137744 0.00495295 0.99975921 1.453471 ] [ 0. 0. 0. 1. ]] SLAMing on 341.79255784400004 meters Centerline goodness : 0.123401 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:1.45 [[ 0.99975354 -0.00565351 -0.02146834 4.12758946] [ 0.0055413 0.99997069 -0.00528291 0.59910463] [ 0.02149758 0.00516265 0.99975557 1.45335892] [ 0. 0. 0. 1. ]] SLAMing on 341.8225578440001 meters Centerline goodness : 0.128794 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:1.45 [[ 0.9997513 -0.00574606 -0.0215479 4.12800418] [ 0.00562913 0.99996912 -0.00548312 0.60012714] [ 0.02157874 0.00536046 0.99975278 1.45303408] [ 0. 0. 0. 1. ]] SLAMing on 341.85255784400005 meters Centerline goodness : 0.123560 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:1.45 [[ 0.9997517 -0.00584778 -0.02150219 4.12801005] [ 0.00572589 0.99996721 -0.00572621 0.60138259] [ 0.02153497 0.00560166 0.9997524 1.45284848] [ 0. 0. 0. 1. ]] SLAMing on 341.8825578440001 meters Centerline goodness : 0.128153 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:1.45 [[ 0.99975652 -0.00605866 -0.0212177 4.12699168] [ 0.00592791 0.99996309 -0.00621942 0.60383621] [ 0.0212546 0.00609213 0.99975553 1.4534044 ] [ 0. 0. 0. 1. ]] SLAMing on 341.91255784400005 meters Centerline goodness : 0.126236 Centerline is valid? [False, False] Translation: X:4.13, Y:0.61, Z:1.45 [[ 0.99976012 -0.00615433 -0.02101952 4.12614157] [ 0.0060194 0.99996091 -0.00647632 0.60517432] [ 0.02105856 0.00634824 0.99975809 1.4540063 ] [ 0. 0. 0. 1. ]] SLAMing on 341.9425578440001 meters Centerline goodness : 0.127546 Centerline is valid? [False, False] Translation: X:4.08, Y:0.61, Z:1.46 [[ 0.99972064 -0.00551096 -0.02298422 4.0782576 ] [ 0.00535959 0.99996358 -0.00664231 0.60939045] [ 0.02301998 0.00651726 0.99971376 1.45546679] [ 0. 0. 0. 1. ]] SLAMing on 341.97255784400005 meters Centerline goodness : 0.120003 Centerline is valid? [False, False] Translation: X:4.08, Y:0.61, Z:1.46 [[ 0.99972237 -0.00561479 -0.02288348 4.07785538] [ 0.00545781 0.99996119 -0.00691637 0.6106893 ] [ 0.02292143 0.00678955 0.99971421 1.45576613] [ 0. 0. 0. 1. ]] SLAMing on 342.002557844 meters Centerline goodness : 0.123836 Centerline is valid? [False, False] Translation: X:4.10, Y:0.61, Z:1.46 [[ 9.99739281e-01 2.00842536e-03 -2.27450059e-02 4.09661678e+00] [-2.19584813e-03 9.99963819e-01 -8.21819668e-03 6.06839010e-01] [ 2.27276773e-02 8.26599862e-03 9.99707520e-01 1.45734133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03255784400005 meters Centerline goodness : 0.124008 Centerline is valid? [False, False] Translation: X:4.10, Y:0.61, Z:1.46 [[ 9.99738386e-01 1.84452369e-03 -2.27982017e-02 4.09712077e+00] [-2.04251173e-03 9.99960380e-01 -8.66413851e-03 6.09084911e-01] [ 2.27813172e-02 8.70843744e-03 9.99702543e-01 1.45679275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.062557844 meters Centerline goodness : 0.119894 Centerline is valid? [False, False] Translation: X:4.10, Y:0.61, Z:1.46 [[ 9.99740327e-01 1.78613074e-03 -2.27175983e-02 4.09683660e+00] [-1.98749462e-03 9.99958913e-01 -8.84429612e-03 6.10050412e-01] [ 2.27008679e-02 8.88715060e-03 9.99702800e-01 1.45694110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09255784400005 meters Centerline goodness : 0.124457 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:1.46 [[ 0.99974147 -0.00640443 -0.02181708 4.11553784] [ 0.00624075 0.99995193 -0.00756187 0.61415497] [ 0.02186446 0.00742376 0.99973338 1.45905865] [ 0. 0. 0. 1. ]] SLAMing on 342.122557844 meters Centerline goodness : 0.119537 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:1.46 [[ 0.99974448 -0.00646743 -0.0216599 4.11501249] [ 0.00630123 0.99995025 -0.00773255 0.61502058] [ 0.02170883 0.00759409 0.99973549 1.45929198] [ 0. 0. 0. 1. ]] SLAMing on 342.15255784400006 meters Centerline goodness : 0.125843 Centerline is valid? [False, False] Translation: X:4.11, Y:0.62, Z:1.46 [[ 0.99974374 -0.00655831 -0.02166672 4.11497511] [ 0.00638736 0.999948 -0.00794968 0.61597465] [ 0.02171773 0.00780925 0.99973364 1.45939546] [ 0. 0. 0. 1. ]] SLAMing on 342.18255784400003 meters Centerline goodness : 0.136373 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:1.46 [[ 0.99973702 -0.00674734 -0.02191738 4.11596007] [ 0.00656126 0.99994191 -0.00855124 0.61911886] [ 0.0219738 0.00840518 0.99972321 1.45887546] [ 0. 0. 0. 1. ]] SLAMing on 342.21255784400006 meters Centerline goodness : 0.119660 Centerline is valid? [False, False] Translation: X:4.11, Y:0.62, Z:1.46 [[ 9.99767939e-01 -3.88593927e-03 -2.11888737e-02 4.11417776e+00] [ 3.76378525e-03 9.99976086e-01 -5.80184334e-03 6.20455993e-01] [ 2.12109126e-02 5.72074658e-03 9.99758656e-01 1.45882361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24255784400003 meters Centerline goodness : 0.116806 Centerline is valid? [False, False] Translation: X:4.11, Y:0.62, Z:1.46 [[ 9.99766954e-01 -4.08892956e-03 -2.11971087e-02 4.11415796e+00] [ 3.95471049e-03 9.99971891e-01 -6.37000827e-03 6.23165322e-01] [ 2.12225594e-02 6.28469534e-03 9.99755023e-01 1.45894087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27255784400006 meters Centerline goodness : 0.118047 Centerline is valid? [False, False] Translation: X:4.11, Y:0.63, Z:1.46 [[ 0.99976593 -0.00428994 -0.02120568 4.11416845] [ 0.00414406 0.99996748 -0.00691822 0.62571108] [ 0.02123467 0.00682872 0.9997512 1.45901352] [ 0. 0. 0. 1. ]] SLAMing on 342.30255784400003 meters Centerline goodness : 0.122229 Centerline is valid? [False, False] Translation: X:4.11, Y:0.63, Z:1.46 [[ 0.99976016 -0.00445015 -0.02144336 4.11479619] [ 0.00429252 0.99996347 -0.0073915 0.62812697] [ 0.02147547 0.00729768 0.99974274 1.45895368] [ 0. 0. 0. 1. ]] SLAMing on 342.33255784400006 meters Centerline goodness : 0.121836 Centerline is valid? [False, False] Translation: X:4.12, Y:0.63, Z:1.46 [[ 9.99763075e-01 -7.27953455e-04 -2.17546224e-02 4.11584310e+00] [ 6.43782070e-04 9.99992282e-01 -3.87587950e-03 6.30341763e-01] [ 2.17572759e-02 3.86095597e-03 9.99755827e-01 1.45835149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36255784400004 meters Centerline goodness : 0.122041 Centerline is valid? [False, False] Translation: X:4.12, Y:0.63, Z:1.46 [[ 9.99763298e-01 -8.27488572e-04 -2.17408004e-02 4.11593919e+00] [ 7.37893154e-04 9.99991204e-01 -4.12877165e-03 6.31786496e-01] [ 2.17440257e-02 4.11175198e-03 9.99755115e-01 1.45817690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39255784400007 meters Centerline goodness : 0.125275 Centerline is valid? [False, False] Translation: X:4.12, Y:0.63, Z:1.46 [[ 9.99765356e-01 -9.79230572e-04 -2.16396577e-02 4.11566189e+00] [ 8.84373530e-04 9.99989961e-01 -4.39261685e-03 6.32831710e-01] [ 2.16437418e-02 4.37244861e-03 9.99756185e-01 1.45822401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42255784400004 meters Centerline goodness : 0.123723 Centerline is valid? [False, False] Translation: X:4.12, Y:0.63, Z:1.46 [[ 9.99766718e-01 -1.12964134e-03 -2.15692943e-02 4.11538674e+00] [ 1.03003191e-03 9.99988757e-01 -4.62866405e-03 6.33737098e-01] [ 2.15742805e-02 4.60536720e-03 9.99756641e-01 1.45835170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45255784400007 meters Centerline goodness : 0.110433 Centerline is valid? [False, False] Translation: X:4.12, Y:0.63, Z:1.46 [[ 9.99764401e-01 -1.20554599e-03 -2.16723087e-02 4.11558280e+00] [ 1.10169574e-03 9.99987858e-01 -4.80314186e-03 6.34796314e-01] [ 2.16778360e-02 4.77813395e-03 9.99753590e-01 1.45845244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48255784400004 meters Centerline goodness : 0.112562 Centerline is valid? [False, False] Translation: X:4.12, Y:0.64, Z:1.46 [[ 9.99747895e-01 1.52048421e-03 -2.24016695e-02 4.11788444e+00] [-1.56698566e-03 9.99996654e-01 -2.05839561e-03 6.37467793e-01] [ 2.23984648e-02 2.09297977e-03 9.99746932e-01 1.45762775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51255784400007 meters Centerline goodness : 0.128972 Centerline is valid? [False, False] Translation: X:4.14, Y:0.64, Z:1.46 [[ 9.99703843e-01 -7.20736617e-03 -2.32439122e-02 4.13958797e+00] [ 7.17705813e-03 9.99973283e-01 -1.38707312e-03 6.41397392e-01] [ 2.32532884e-02 1.21983942e-03 9.99728862e-01 1.45886938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54255784400004 meters Centerline goodness : 0.115333 Centerline is valid? [False, False] Translation: X:4.14, Y:0.64, Z:1.46 [[ 9.99700097e-01 -7.28019654e-03 -2.33819196e-02 4.14028266e+00] [ 7.24715787e-03 9.99972618e-01 -1.49742903e-03 6.41874540e-01] [ 2.33921810e-02 1.32752748e-03 9.99725484e-01 1.45828707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5725578440001 meters Centerline goodness : 0.121798 Centerline is valid? [False, False] Translation: X:4.09, Y:0.65, Z:1.46 [[ 9.99654343e-01 -6.09895358e-03 -2.55733559e-02 4.09369409e+00] [ 6.06520901e-03 9.99980631e-01 -1.39688006e-03 6.47257230e-01] [ 2.55813801e-02 1.24128947e-03 9.99671972e-01 1.45879473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60255784400005 meters Centerline goodness : 0.117693 Centerline is valid? [False, False] Translation: X:4.11, Y:0.64, Z:1.46 [[ 9.99706323e-01 1.93849568e-03 -2.41559660e-02 4.11380181e+00] [-1.99185505e-03 9.99995629e-01 -2.18508696e-03 6.43943026e-01] [ 2.41516247e-02 2.23256043e-03 9.99705814e-01 1.45957228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6325578440001 meters Centerline goodness : 0.164784 Centerline is valid? [False, False] Translation: X:4.11, Y:0.65, Z:1.46 [[ 9.99707544e-01 1.82565625e-03 -2.41141790e-02 4.11359583e+00] [-1.88731932e-03 9.99995007e-01 -2.53461757e-03 6.45622110e-01] [ 2.41094312e-02 2.57938747e-03 9.99705998e-01 1.45982628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66255784400005 meters Centerline goodness : 0.136853 Centerline is valid? [False, False] Translation: X:4.14, Y:0.65, Z:1.46 [[ 9.99740795e-01 -4.52281401e-03 -2.23133619e-02 4.13600321e+00] [ 4.52576455e-03 9.99989755e-01 8.17348857e-05 6.46942340e-01] [ 2.23127637e-02 -1.82698722e-04 9.99751023e-01 1.45942191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6925578440001 meters Centerline goodness : 0.114378 Centerline is valid? [False, False] Translation: X:4.14, Y:0.65, Z:1.46 [[ 9.99744278e-01 -4.62550123e-03 -2.21355889e-02 4.13523048e+00] [ 4.61660841e-03 9.99989241e-01 -4.52828627e-04 6.49778052e-01] [ 2.21374453e-02 3.50521482e-04 9.99754875e-01 1.46002916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72255784400005 meters Centerline goodness : 0.115301 Centerline is valid? [False, False] Translation: X:4.13, Y:0.65, Z:1.46 [[ 9.99774645e-01 -2.99984398e-03 -2.10156924e-02 4.13114812e+00] [ 3.01664732e-03 9.99995155e-01 7.67905376e-04 6.53008260e-01] [ 2.10132870e-02 -8.31129257e-04 9.99778851e-01 1.46150308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.752557844 meters Centerline goodness : 0.121059 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99784565e-01 7.89136812e-04 -2.07413050e-02 4.13110199e+00] [-7.07416296e-04 9.99991960e-01 3.94703104e-03 6.56766527e-01] [ 2.07442530e-02 -3.93150797e-03 9.99777085e-01 1.46069370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78255784400005 meters Centerline goodness : 0.115390 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99785850e-01 6.07482457e-04 -2.06853599e-02 4.13095048e+00] [-5.35218395e-04 9.99993736e-01 3.49884524e-03 6.58827815e-01] [ 2.06873558e-02 -3.48702478e-03 9.99779913e-01 1.46071729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.812557844 meters Centerline goodness : 0.164793 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99786516e-01 4.54314887e-04 -2.06571152e-02 4.13067806e+00] [-3.89721906e-04 9.99995023e-01 3.13083017e-03 6.60460662e-01] [ 2.06584348e-02 -3.12211126e-03 9.99781717e-01 1.46103609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84255784400005 meters Centerline goodness : 0.153032 Centerline is valid? [False, False] Translation: X:4.09, Y:0.67, Z:1.46 [[ 9.99725272e-01 1.05892990e-03 -2.34149289e-02 4.08509594e+00] [-1.00170382e-03 9.99996483e-01 2.45559355e-03 6.67574209e-01] [ 2.34174469e-02 -2.43146411e-03 9.99722817e-01 1.46203178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.872557844 meters Centerline goodness : 0.117687 Centerline is valid? [False, False] Translation: X:4.09, Y:0.67, Z:1.46 [[ 9.99721778e-01 9.62635851e-04 -2.35677523e-02 4.08552740e+00] [-9.08599571e-04 9.99996934e-01 2.30340678e-03 6.68332000e-01] [ 2.35698974e-02 -2.28135227e-03 9.99719588e-01 1.46191817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90255784400006 meters Centerline goodness : 0.150902 Centerline is valid? [False, False] Translation: X:4.09, Y:0.67, Z:1.46 [[ 9.99723537e-01 9.26044713e-04 -2.34945012e-02 4.08542311e+00] [-8.72029284e-04 9.99996954e-01 2.30920807e-03 6.68203254e-01] [ 2.34965680e-02 -2.28808177e-03 9.99721299e-01 1.46174577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93255784400003 meters Centerline goodness : 0.126448 Centerline is valid? [False, False] Translation: X:4.08, Y:0.67, Z:1.46 [[ 9.99729111e-01 9.02850470e-04 -2.32570458e-02 4.08489826e+00] [-8.46891504e-04 9.99996723e-01 2.41584519e-03 6.67312415e-01] [ 2.32591508e-02 -2.39549457e-03 9.99726599e-01 1.46161122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96255784400006 meters Centerline goodness : 0.143659 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99776634e-01 -1.00647554e-03 -2.11108978e-02 4.12790038e+00] [ 1.04752989e-03 9.99997582e-01 1.93373126e-03 6.63428268e-01] [ 2.11089005e-02 -1.95541362e-03 9.99775270e-01 1.46245501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99255784400003 meters Centerline goodness : 0.145760 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99785017e-01 -1.01682158e-03 -2.07095584e-02 4.12645271e+00] [ 1.06074193e-03 9.99997212e-01 2.10990215e-03 6.62200632e-01] [ 2.07073553e-02 -2.13141605e-03 9.99783308e-01 1.46312789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02255784400006 meters Centerline goodness : 0.151608 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99786767e-01 -1.00936465e-03 -2.06252907e-02 4.12595555e+00] [ 1.05271681e-03 9.99997259e-01 2.09114411e-03 6.62395677e-01] [ 2.06231234e-02 -2.11241080e-03 9.99785089e-01 1.46361147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05255784400003 meters Centerline goodness : 0.141083 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99789198e-01 -1.06210940e-03 -2.05044166e-02 4.12549639e+00] [ 1.10161066e-03 9.99997559e-01 1.91527666e-03 6.63262715e-01] [ 2.05023323e-02 -1.93746080e-03 9.99787928e-01 1.46389864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08255784400006 meters Centerline goodness : 0.136017 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99789454e-01 -1.14645673e-03 -2.04874089e-02 4.12537218e+00] [ 1.18072540e-03 9.99997924e-01 1.66065181e-03 6.64490016e-01] [ 2.04854625e-02 -1.68449217e-03 9.99788732e-01 1.46403384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11255784400004 meters Centerline goodness : 0.137393 Centerline is valid? [False, False] Translation: X:4.13, Y:0.67, Z:1.46 [[ 9.99787091e-01 -1.22135113e-03 -2.05980839e-02 4.12567738e+00] [ 1.24867080e-03 9.99998358e-01 1.31351151e-03 6.66328223e-01] [ 2.05964458e-02 -1.33895207e-03 9.99786974e-01 1.46402523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14255784400007 meters Centerline goodness : 0.147958 Centerline is valid? [False, False] Translation: X:4.13, Y:0.67, Z:1.46 [[ 9.99771710e-01 -1.01716000e-03 -2.13423101e-02 4.12806317e+00] [ 1.03610597e-03 9.99999079e-01 8.76679582e-04 6.70172158e-01] [ 2.13413987e-02 -8.98592340e-04 9.99771843e-01 1.46326485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17255784400004 meters Centerline goodness : 0.142416 Centerline is valid? [False, False] Translation: X:4.13, Y:0.67, Z:1.46 [[ 9.99766694e-01 -1.12506638e-03 -2.15706155e-02 4.12882370e+00] [ 1.13569634e-03 9.99999240e-01 4.80554460e-04 6.72314605e-01] [ 2.15700584e-02 -5.04940013e-04 9.99767212e-01 1.46298194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20255784400007 meters Centerline goodness : 0.130195 Centerline is valid? [False, False] Translation: X:4.13, Y:0.67, Z:1.46 [[ 9.99762330e-01 -1.26839485e-03 -2.17640818e-02 4.12935591e+00] [ 1.26985353e-03 9.99999192e-01 5.32021026e-05 6.74475403e-01] [ 2.17639967e-02 -8.08266540e-05 9.99763133e-01 1.46289983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23255784400004 meters Centerline goodness : 0.145580 Centerline is valid? [False, False] Translation: X:4.13, Y:0.68, Z:1.46 [[ 9.99760558e-01 -1.41816050e-03 -2.18361216e-02 4.12949692e+00] [ 1.41107600e-03 9.99998947e-01 -3.39844117e-04 6.76360233e-01] [ 2.18365805e-02 3.08950317e-04 9.99761506e-01 1.46297422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26255784400007 meters Centerline goodness : 0.134926 Centerline is valid? [False, False] Translation: X:4.15, Y:0.67, Z:1.46 [[ 9.99757751e-01 6.05072635e-03 -2.11619595e-02 4.14888775e+00] [-6.08693429e-03 9.99980118e-01 -1.64699700e-03 6.73515193e-01] [ 2.11515732e-02 1.77540947e-03 9.99774704e-01 1.46454429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29255784400004 meters Centerline goodness : 0.139596 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.47 [[ 9.99763596e-01 5.78248877e-03 -2.09598582e-02 4.14813686e+00] [-5.83227592e-03 9.99980312e-01 -2.31500672e-03 6.77107882e-01] [ 2.09460590e-02 2.43670312e-03 9.99777638e-01 1.46503126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3225578440001 meters Centerline goodness : 0.150003 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.47 [[ 9.99768044e-01 5.65377151e-03 -2.07820197e-02 4.14766684e+00] [-5.70862771e-03 9.99980374e-01 -2.58122222e-03 6.78380526e-01] [ 2.07670182e-02 2.69926030e-03 9.99780698e-01 1.46508699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35255784400005 meters Centerline goodness : 0.148051 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.46 [[ 9.99771631e-01 5.52359536e-03 -2.06440035e-02 4.14740702e+00] [-5.58267776e-03 9.99980481e-01 -2.80542968e-03 6.79339513e-01] [ 2.06281045e-02 2.92003782e-03 9.99782954e-01 1.46493840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3825578440001 meters Centerline goodness : 0.141050 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.46 [[ 9.99770720e-01 5.40280459e-03 -2.07199798e-02 4.14779296e+00] [-5.46565590e-03 9.99980629e-01 -2.97793756e-03 6.80003194e-01] [ 2.07034893e-02 3.09050305e-03 9.99780883e-01 1.46460456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41255784400005 meters Centerline goodness : 0.149546 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.46 [[ 9.99758341e-01 5.10450567e-03 -2.13823129e-02 4.14980282e+00] [-5.17489495e-03 9.99981368e-01 -3.23790170e-03 6.80933948e-01] [ 2.13653866e-02 3.34777045e-03 9.99766129e-01 1.46391720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4425578440001 meters Centerline goodness : 0.145812 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.46 [[ 9.99757345e-01 5.03142601e-03 -2.14461380e-02 4.15009843e+00] [-5.10384424e-03 9.99981453e-01 -3.32335240e-03 6.81232816e-01] [ 2.14290190e-02 3.43200372e-03 9.99764482e-01 1.46366949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47255784400005 meters Centerline goodness : 0.144766 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.46 [[ 9.99755977e-01 4.91934653e-03 -2.15357187e-02 4.15050659e+00] [-4.99490607e-03 9.99981553e-01 -3.45618422e-03 6.81769214e-01] [ 2.15183193e-02 3.56290972e-03 9.99762106e-01 1.46335283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.502557844 meters Centerline goodness : 0.141094 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.46 [[ 9.99755547e-01 4.83909834e-03 -2.15737903e-02 4.15065919e+00] [-4.91927199e-03 9.99981185e-01 -3.66473204e-03 6.82897286e-01] [ 2.15556504e-02 3.76996353e-03 9.99760542e-01 1.46329549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53255784400005 meters Centerline goodness : 0.223322 Centerline is valid? [False, False] Translation: X:4.17, Y:0.69, Z:1.47 [[ 9.99759392e-01 -3.39730228e-03 -2.16706148e-02 4.16979175e+00] [ 3.34931099e-03 9.99991859e-01 -2.25048976e-03 6.88203800e-01] [ 2.16780840e-02 2.17736664e-03 9.99762632e-01 1.46576006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.562557844 meters Centerline goodness : 0.154597 Centerline is valid? [False, False] Translation: X:4.17, Y:0.69, Z:1.47 [[ 9.99771198e-01 2.84332599e-04 -2.13885643e-02 4.16900389e+00] [-2.66113126e-04 9.99999599e-01 8.54673809e-04 6.91835430e-01] [ 2.13887988e-02 -8.48786480e-04 9.99770873e-01 1.46599498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59255784400005 meters Centerline goodness : 0.038903 Centerline is valid? [False, False] Translation: X:4.17, Y:0.70, Z:1.47 [[ 9.99770025e-01 1.01292912e-04 -2.14449887e-02 4.16903408e+00] [-9.76475569e-05 9.99999981e-01 1.71033427e-04 6.95486607e-01] [ 2.14450056e-02 -1.68900042e-04 9.99770015e-01 1.46628970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.622557844 meters Centerline goodness : 0.141705 Centerline is valid? [False, False] Translation: X:4.17, Y:0.70, Z:1.47 [[ 9.99773649e-01 -7.53461100e-05 -2.12754627e-02 4.16845408e+00] [ 6.44841504e-05 9.99999867e-01 -5.11224875e-04 6.99074499e-01] [ 2.12754984e-02 5.09737229e-04 9.99773521e-01 1.46664637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65255784400006 meters Centerline goodness : 0.143584 Centerline is valid? [False, False] Translation: X:4.17, Y:0.70, Z:1.47 [[ 9.99777770e-01 -3.25091625e-04 -2.10785396e-02 4.16779043e+00] [ 2.99608696e-04 9.99999221e-01 -1.21209811e-03 7.02585314e-01] [ 2.10789172e-02 1.20551343e-03 9.99777088e-01 1.46699993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68255784400003 meters Centerline goodness : 0.143584 Centerline is valid? [False, False] Translation: X:4.17, Y:0.70, Z:1.47 [[ 9.99777770e-01 -3.25091625e-04 -2.10785396e-02 4.16779043e+00] [ 2.99608696e-04 9.99999221e-01 -1.21209811e-03 7.02585314e-01] [ 2.10789172e-02 1.20551343e-03 9.99777088e-01 1.46699993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71255784400006 meters Centerline goodness : 0.142114 Centerline is valid? [False, False] Translation: X:4.17, Y:0.71, Z:1.47 [[ 9.99778218e-01 -5.43638403e-04 -2.10527769e-02 4.16774139e+00] [ 5.05183401e-04 9.99998195e-01 -1.83187524e-03 7.05696652e-01] [ 2.10537348e-02 1.82083345e-03 9.99776687e-01 1.46702343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74255784400003 meters Centerline goodness : 0.151168 Centerline is valid? [False, False] Translation: X:4.17, Y:0.71, Z:1.47 [[ 9.99771801e-01 -9.08307077e-04 -2.13429446e-02 4.16867781e+00] [ 8.49437473e-04 9.99995811e-01 -2.76717392e-03 7.10281364e-01] [ 2.13453687e-02 2.74841295e-03 9.99768384e-01 1.46676326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77255784400006 meters Centerline goodness : 0.156512 Centerline is valid? [False, False] Translation: X:4.17, Y:0.71, Z:1.47 [[ 9.99766748e-01 -1.04680322e-03 -2.15720646e-02 4.16926959e+00] [ 9.80084055e-04 9.99994705e-01 -3.10319055e-03 7.11926678e-01] [ 2.15751988e-02 3.08132428e-03 9.99762480e-01 1.46675367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80255784400003 meters Centerline goodness : 0.116182 Centerline is valid? [False, False] Translation: X:4.17, Y:0.71, Z:1.47 [[ 9.99765019e-01 -1.19489374e-03 -2.16443549e-02 4.16942389e+00] [ 1.11973887e-03 9.99993304e-01 -3.48404851e-03 7.13943307e-01] [ 2.16483730e-02 3.45899380e-03 9.99759663e-01 1.46682553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83255784400006 meters Centerline goodness : 0.116809 Centerline is valid? [False, False] Translation: X:4.17, Y:0.72, Z:1.47 [[ 9.99762596e-01 -1.54626717e-03 -2.17338548e-02 4.16955939e+00] [ 1.44942951e-03 9.99988956e-01 -4.47066024e-03 7.19283131e-01] [ 2.17405276e-02 4.43809719e-03 9.99753796e-01 1.46715101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86255784400004 meters Centerline goodness : 0.118159 Centerline is valid? [False, False] Translation: X:4.17, Y:0.72, Z:1.47 [[ 9.99761631e-01 -1.75081726e-03 -2.17627214e-02 4.16965251e+00] [ 1.64081571e-03 9.99985794e-01 -5.07141531e-03 7.22360858e-01] [ 2.17712914e-02 5.03449782e-03 9.99750301e-01 1.46721454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89255784400007 meters Centerline goodness : 0.157624 Centerline is valid? [False, False] Translation: X:4.17, Y:0.73, Z:1.47 [[ 9.99758742e-01 -1.94776950e-03 -2.18783747e-02 4.16990744e+00] [ 1.82340733e-03 9.99982077e-01 -5.70276236e-03 7.25600621e-01] [ 2.18890902e-02 5.66149333e-03 9.99744375e-01 1.46731229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92255784400004 meters Centerline goodness : 0.158591 Centerline is valid? [False, False] Translation: X:4.17, Y:0.73, Z:1.47 [[ 9.99755382e-01 -2.04277284e-03 -2.20227916e-02 4.17022999e+00] [ 1.90557560e-03 9.99978659e-01 -6.24897075e-03 7.28832414e-01] [ 2.20350868e-02 6.20547604e-03 9.99737939e-01 1.46743671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95255784400007 meters Centerline goodness : 0.116795 Centerline is valid? [False, False] Translation: X:4.17, Y:0.73, Z:1.47 [[ 9.99754217e-01 -2.21742070e-03 -2.20587330e-02 4.17009580e+00] [ 2.06568113e-03 9.99974066e-01 -6.89929783e-03 7.32281246e-01] [ 2.20734596e-02 6.85203579e-03 9.99732870e-01 1.46792934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98255784400004 meters Centerline goodness : 0.159630 Centerline is valid? [False, False] Translation: X:4.17, Y:0.74, Z:1.47 [[ 9.99753048e-01 -2.39280946e-03 -2.20933738e-02 4.17000946e+00] [ 2.22616946e-03 9.99968914e-01 -7.56404935e-03 7.35719109e-01] [ 2.21107863e-02 7.51299780e-03 9.99727297e-01 1.46830121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01255784400007 meters Centerline goodness : 0.112490 Centerline is valid? [False, False] Translation: X:4.15, Y:0.74, Z:1.47 [[ 0.99970146 0.00748776 -0.02325773 4.14809245] [-0.00769397 0.99993177 -0.00878935 0.74107215] [ 0.02319033 0.00896567 0.99969086 1.46823418] [ 0. 0. 0. 1. ]] SLAMing on 344.04255784400004 meters Centerline goodness : 0.155400 Centerline is valid? [False, False] Translation: X:4.17, Y:0.75, Z:1.47 [[ 9.99671453e-01 1.28096949e-03 -2.55997188e-02 4.16539528e+00] [-1.44940521e-03 9.99977419e-01 -6.56212087e-03 7.47358360e-01] [ 2.55907349e-02 6.59706927e-03 9.99650735e-01 1.47201785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0725578440001 meters Centerline goodness : 0.156956 Centerline is valid? [False, False] Translation: X:4.17, Y:0.75, Z:1.47 [[ 9.99668824e-01 1.40797299e-03 -2.56955101e-02 4.16547974e+00] [-1.58530529e-03 9.99975061e-01 -6.88222922e-03 7.49698613e-01] [ 2.56851793e-02 6.92068522e-03 9.99646125e-01 1.47211704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10255784400005 meters Centerline goodness : 0.128330 Centerline is valid? [False, False] Translation: X:4.16, Y:0.75, Z:1.47 [[ 9.99672818e-01 1.91055223e-03 -2.55070130e-02 4.16430324e+00] [-2.10364263e-03 9.99969320e-01 -7.54540475e-03 7.54405148e-01] [ 2.54918145e-02 7.59659367e-03 9.99646167e-01 1.47257570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1325578440001 meters Centerline goodness : 0.159799 Centerline is valid? [False, False] Translation: X:4.16, Y:0.76, Z:1.47 [[ 9.99677257e-01 1.81296617e-03 -2.53395984e-02 4.16360289e+00] [-2.02032282e-03 9.99964667e-01 -8.15990283e-03 7.57623001e-01] [ 2.53239094e-02 8.20846344e-03 9.99645598e-01 1.47311232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16255784400005 meters Centerline goodness : 0.119918 Centerline is valid? [False, False] Translation: X:4.16, Y:0.76, Z:1.47 [[ 9.99677040e-01 1.75129405e-03 -2.53525047e-02 4.16335523e+00] [-1.97349767e-03 9.99959839e-01 -8.74219725e-03 7.60873113e-01] [ 2.53361763e-02 8.78940698e-03 9.99640348e-01 1.47361978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1925578440001 meters Centerline goodness : 0.136278 Centerline is valid? [False, False] Translation: X:4.16, Y:0.76, Z:1.47 [[ 9.99676052e-01 1.73191240e-03 -2.53927331e-02 4.16324800e+00] [-1.96665160e-03 9.99955540e-01 -9.22228846e-03 7.63818412e-01] [ 2.53756319e-02 9.26923958e-03 9.99635013e-01 1.47398744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22255784400005 meters Centerline goodness : 0.121312 Centerline is valid? [False, False] Translation: X:4.16, Y:0.77, Z:1.47 [[ 0.99967226 0.00561254 -0.02497751 4.16262781] [-0.00576044 0.99996628 -0.0058531 0.76670158] [ 0.02494381 0.00599507 0.99967088 1.47359077] [ 0. 0. 0. 1. ]] SLAMing on 344.252557844 meters Centerline goodness : 0.155032 Centerline is valid? [False, False] Translation: X:4.16, Y:0.77, Z:1.47 [[ 0.99967051 0.00547613 -0.02507738 4.1629715 ] [-0.00563628 0.99996414 -0.00631994 0.76899057] [ 0.02504187 0.0064592 0.99966554 1.4734207 ] [ 0. 0. 0. 1. ]] SLAMing on 344.28255784400005 meters Centerline goodness : 0.132073 Centerline is valid? [False, False] Translation: X:4.16, Y:0.77, Z:1.47 [[ 0.99966715 0.00533586 -0.02524137 4.1634952 ] [-0.00550799 0.99996202 -0.00675477 0.77102563] [ 0.02520437 0.00689155 0.99965856 1.47319325] [ 0. 0. 0. 1. ]] SLAMing on 344.312557844 meters Centerline goodness : 0.121787 Centerline is valid? [False, False] Translation: X:4.19, Y:0.77, Z:1.47 [[ 9.99688690e-01 -1.08073127e-03 -2.49269987e-02 4.18544191e+00] [ 9.89616502e-04 9.99992786e-01 -3.66731086e-03 7.74267054e-01] [ 2.49307822e-02 3.64150102e-03 9.99682547e-01 1.47310309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34255784400005 meters Centerline goodness : 0.109768 Centerline is valid? [False, False] Translation: X:4.19, Y:0.78, Z:1.47 [[ 9.99682982e-01 -1.09547139e-03 -2.51542502e-02 4.18595940e+00] [ 9.94408326e-04 9.99991386e-01 -4.02989047e-03 7.76448939e-01] [ 2.51584481e-02 4.00359933e-03 9.99675459e-01 1.47319769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.372557844 meters Centerline goodness : 0.167147 Centerline is valid? [False, False] Translation: X:4.19, Y:0.78, Z:1.47 [[ 9.99685961e-01 2.82539677e-03 -2.48997457e-02 4.18546366e+00] [-2.83871502e-03 9.99995846e-01 -4.99543686e-04 7.78294210e-01] [ 2.48982308e-02 5.70070092e-04 9.99689828e-01 1.47300258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40255784400006 meters Centerline goodness : 0.138715 Centerline is valid? [False, False] Translation: X:4.19, Y:0.78, Z:1.47 [[ 9.99688116e-01 2.73554887e-03 -2.48231081e-02 4.18515800e+00] [-2.75630929e-03 9.99995880e-01 -8.02157772e-04 7.79772847e-01] [ 2.48208115e-02 8.70327756e-04 9.99691537e-01 1.47316591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43255784400003 meters Centerline goodness : 0.121708 Centerline is valid? [False, False] Translation: X:4.19, Y:0.78, Z:1.47 [[ 9.99687779e-01 2.66127523e-03 -2.48447567e-02 4.18529185e+00] [-2.68832650e-03 9.99995829e-01 -1.05547490e-03 7.80993950e-01] [ 2.48418442e-02 1.12193617e-03 9.99690764e-01 1.47298651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46255784400006 meters Centerline goodness : 0.121299 Centerline is valid? [False, False] Translation: X:4.19, Y:0.78, Z:1.47 [[ 9.99684259e-01 2.63909064e-03 -2.49883369e-02 4.18590211e+00] [-2.67042620e-03 9.99995689e-01 -1.22072035e-03 7.81950587e-01] [ 2.49850076e-02 1.28706443e-03 9.99686997e-01 1.47252503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49255784400003 meters Centerline goodness : 0.121210 Centerline is valid? [False, False] Translation: X:4.19, Y:0.78, Z:1.47 [[ 9.99662145e-01 2.81671785e-03 -2.58391657e-02 4.18873597e+00] [-2.85186385e-03 9.99995058e-01 -1.32343312e-03 7.83177284e-01] [ 2.58353103e-02 1.39667578e-03 9.99665237e-01 1.47128330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52255784400006 meters Centerline goodness : 0.135425 Centerline is valid? [False, False] Translation: X:4.17, Y:0.79, Z:1.47 [[ 9.99645016e-01 -4.47756603e-03 -2.62639018e-02 4.17008885e+00] [ 4.47330379e-03 9.99989970e-01 -2.21036586e-04 7.87351390e-01] [ 2.62646281e-02 1.03471710e-04 9.99655020e-01 1.46908476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55255784400003 meters Centerline goodness : 0.125383 Centerline is valid? [False, False] Translation: X:4.21, Y:0.79, Z:1.47 [[ 9.99691734e-01 -5.01350145e-03 -2.43167116e-02 4.21308244e+00] [ 5.04175112e-03 9.99986685e-01 1.10056897e-03 7.85958460e-01] [ 2.43108701e-02 -1.22282851e-03 9.99703699e-01 1.46980215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58255784400006 meters Centerline goodness : 0.109444 Centerline is valid? [False, False] Translation: X:4.21, Y:0.79, Z:1.47 [[ 9.99691965e-01 -4.88812332e-03 -2.43327272e-02 4.21297767e+00] [ 4.92146902e-03 9.99987031e-01 1.31070855e-03 7.85246581e-01] [ 2.43260047e-02 -1.43005757e-03 9.99703056e-01 1.47003951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61255784400004 meters Centerline goodness : 0.112302 Centerline is valid? [False, False] Translation: X:4.21, Y:0.78, Z:1.47 [[ 9.99695783e-01 -4.77965505e-03 -2.41970395e-02 4.21255339e+00] [ 4.81821360e-03 9.99987213e-01 1.53547251e-03 7.84268971e-01] [ 2.41893910e-02 -1.65159190e-03 9.99706030e-01 1.47016590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64255784400007 meters Centerline goodness : 0.121002 Centerline is valid? [False, False] Translation: X:4.21, Y:0.78, Z:1.47 [[ 9.99697893e-01 -4.67659279e-03 -2.41299016e-02 4.21252564e+00] [ 4.72216198e-03 9.99987173e-01 1.83185944e-03 7.82661451e-01] [ 2.41210252e-02 -1.94525133e-03 9.99707153e-01 1.46991482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67255784400004 meters Centerline goodness : 0.173451 Centerline is valid? [False, False] Translation: X:4.17, Y:0.78, Z:1.47 [[ 9.99621648e-01 -4.23239967e-03 -2.71780805e-02 4.16966313e+00] [ 4.25395272e-03 9.99990682e-01 7.35261628e-04 7.78073416e-01] [ 2.71747153e-02 -8.50597710e-04 9.99630337e-01 1.46909932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70255784400007 meters Centerline goodness : 0.130591 Centerline is valid? [False, False] Translation: X:4.21, Y:0.77, Z:1.47 [[ 9.99666017e-01 -4.54596690e-03 -2.54398953e-02 4.21322666e+00] [ 4.60975113e-03 9.99986376e-01 2.44916814e-03 7.74683822e-01] [ 2.54284148e-02 -2.56562174e-03 9.99673353e-01 1.46929029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73255784400004 meters Centerline goodness : 0.095019 Centerline is valid? [False, False] Translation: X:4.21, Y:0.77, Z:1.47 [[ 9.99666407e-01 -4.34597017e-03 -2.54595152e-02 4.21344121e+00] [ 4.41901949e-03 9.99986278e-01 2.81367538e-03 7.73317588e-01] [ 2.54469377e-02 -2.92524285e-03 9.99671894e-01 1.46901689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76255784400007 meters Centerline goodness : 0.077011 Centerline is valid? [False, False] Translation: X:4.21, Y:0.77, Z:1.47 [[ 9.99665772e-01 -4.17869507e-03 -2.55123988e-02 4.21359218e+00] [ 4.26022412e-03 9.99985989e-01 3.14214701e-03 7.71879711e-01] [ 2.54989113e-02 -3.24978535e-03 9.99669568e-01 1.46899257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79255784400004 meters Centerline goodness : 0.135661 Centerline is valid? [False, False] Translation: X:4.21, Y:0.77, Z:1.47 [[ 9.99668605e-01 -3.89961532e-03 -2.54455082e-02 4.21351250e+00] [ 4.00010602e-03 9.99984396e-01 3.89954589e-03 7.67207671e-01] [ 2.54299044e-02 -4.00003833e-03 9.99668605e-01 1.46879497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8225578440001 meters Centerline goodness : 0.131707 Centerline is valid? [False, False] Translation: X:4.21, Y:0.76, Z:1.47 [[ 9.99670298e-01 -3.71921881e-03 -2.54059730e-02 4.21351486e+00] [ 3.83059825e-03 9.99983260e-01 4.33672625e-03 7.64982391e-01] [ 2.53894185e-02 -4.43261650e-03 9.99667809e-01 1.46860292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85255784400005 meters Centerline goodness : 0.133163 Centerline is valid? [False, False] Translation: X:4.23, Y:0.76, Z:1.47 [[ 9.99643519e-01 3.13648350e-03 -2.65140918e-02 4.23186401e+00] [-3.04861841e-03 9.99989729e-01 3.35367499e-03 7.58848873e-01] [ 2.65243383e-02 -3.27164812e-03 9.99642814e-01 1.47153411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8825578440001 meters Centerline goodness : 0.122547 Centerline is valid? [False, False] Translation: X:4.23, Y:0.76, Z:1.47 [[ 9.99648105e-01 3.31614490e-03 -2.63186015e-02 4.23140061e+00] [-3.21826506e-03 9.99987751e-01 3.76052290e-03 7.56974815e-01] [ 2.63307496e-02 -3.67449935e-03 9.99646532e-01 1.47143536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91255784400005 meters SLAMing on 344.9425578440001 meters Centerline goodness : 0.139826 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 9.99668779e-01 3.58643365e-03 -2.54847074e-02 4.22871789e+00] [-3.47221722e-03 9.99983736e-01 4.52460226e-03 7.52762758e-01] [ 2.55005201e-02 -4.43461517e-03 9.99664973e-01 1.47232202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97255784400005 meters Centerline goodness : 0.124910 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 9.99677607e-01 3.85753747e-03 -2.50958537e-02 4.22724773e+00] [-3.72614584e-03 9.99979117e-01 5.28024883e-03 7.48640930e-01] [ 2.51156984e-02 -5.18503570e-03 9.99671104e-01 1.47301727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.002557844 meters Centerline goodness : 0.122720 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 9.99673678e-01 4.01463085e-03 -2.52273701e-02 4.22767799e+00] [-3.87460485e-03 9.99976830e-01 5.59699065e-03 7.47256227e-01] [ 2.52492554e-02 -5.49741814e-03 9.99666071e-01 1.47281842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03255784400005 meters SLAMing on 345.062557844 meters Centerline goodness : 0.114273 Centerline is valid? [False, False] Translation: X:4.25, Y:0.74, Z:1.47 [[ 0.99962482 0.01234592 -0.02444987 4.24854742] [-0.01222188 0.9999117 0.00521631 0.74146206] [ 0.02451211 -0.00491553 0.99968745 1.47359942] [ 0. 0. 0. 1. ]] SLAMing on 345.09255784400005 meters Centerline goodness : 0.139344 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 0.99970804 0.0048519 -0.02367055 4.22881856] [-0.00471187 0.99997109 0.0059682 0.7461134 ] [ 0.02369883 -0.00585492 0.999702 1.47143048] [ 0. 0. 0. 1. ]] SLAMing on 345.122557844 meters Centerline goodness : 0.111741 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 0.99970475 0.00492918 -0.02379302 4.2291982 ] [-0.00479122 0.9999714 0.00585179 0.74679184] [ 0.02382118 -0.00573607 0.99969978 1.47120398] [ 0. 0. 0. 1. ]] SLAMing on 345.15255784400006 meters Centerline goodness : 0.141459 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 0.99969475 0.00499768 -0.02419575 4.23044423] [-0.00486097 0.99997191 0.00570545 0.74793356] [ 0.02422358 -0.00558609 0.99969096 1.47069125] [ 0. 0. 0. 1. ]] SLAMing on 345.18255784400003 meters Centerline goodness : 0.187275 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 0.99968501 0.00498791 -0.02459692 4.2318375 ] [-0.00485418 0.99997313 0.00549359 0.74914091] [ 0.02462366 -0.00537246 0.99968236 1.4699447 ] [ 0. 0. 0. 1. ]] SLAMing on 345.21255784400006 meters Centerline goodness : 0.180950 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 0.99967467 0.0049506 -0.02502082 4.23324351] [-0.00481901 0.99997425 0.00531669 0.74980779] [ 0.0250465 -0.00519438 0.99967279 1.46925354] [ 0. 0. 0. 1. ]] SLAMing on 345.24255784400003 meters Centerline goodness : 0.164749 Centerline is valid? [False, False] Translation: X:4.19, Y:0.75, Z:1.47 [[ 0.99960245 0.0052369 -0.02770392 4.1879809 ] [-0.00511736 0.9999773 0.00438397 0.74859458] [ 0.02772625 -0.00424046 0.99960656 1.46983987] [ 0. 0. 0. 1. ]] SLAMing on 345.27255784400006 meters Centerline goodness : 0.133954 Centerline is valid? [False, False] Translation: X:4.19, Y:0.75, Z:1.47 [[ 0.99960617 0.00529657 -0.02755801 4.18743974] [-0.00517131 0.99997598 0.00461458 0.74740411] [ 0.02758179 -0.00447025 0.99960955 1.47013377] [ 0. 0. 0. 1. ]] SLAMing on 345.30255784400003 meters SLAMing on 345.33255784400006 meters SLAMing on 345.36255784400004 meters Centerline goodness : 0.131284 Centerline is valid? [False, False] Translation: X:4.19, Y:0.74, Z:1.47 [[ 9.99621490e-01 1.83207475e-03 -2.74503242e-02 4.18760074e+00] [-1.76779405e-03 9.99995639e-01 2.36579524e-03 7.39247518e-01] [ 2.74545389e-02 -2.31637325e-03 9.99620369e-01 1.46969781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39255784400007 meters Centerline goodness : 0.124469 Centerline is valid? [False, False] Translation: X:4.19, Y:0.74, Z:1.47 [[ 9.99617505e-01 2.06552430e-03 -2.75785633e-02 4.18813144e+00] [-1.98586182e-03 9.99993778e-01 2.91564173e-03 7.36672310e-01] [ 2.75844140e-02 -2.85975929e-03 9.99615387e-01 1.46937789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42255784400004 meters Centerline goodness : 0.130371 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99615161e-01 2.25862733e-03 -2.76482897e-02 4.18850368e+00] [-2.16627889e-03 9.99991976e-01 3.36961140e-03 7.34422914e-01] [ 2.76556786e-02 -3.30842074e-03 9.99612034e-01 1.46905446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45255784400007 meters Centerline goodness : 0.124570 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99604662e-01 2.55520965e-03 -2.79998348e-02 4.19000206e+00] [-2.44588713e-03 9.99989255e-01 3.93795229e-03 7.31238367e-01] [ 2.80095962e-02 -3.86791103e-03 9.99600171e-01 1.46803389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48255784400004 meters SLAMing on 345.51255784400007 meters Centerline goodness : 0.108208 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99589558e-01 3.18148359e-03 -2.84709227e-02 4.19160364e+00] [-3.05633940e-03 9.99985482e-01 4.43794713e-03 7.30061127e-01] [ 2.84846286e-02 -4.34910881e-03 9.99584769e-01 1.46717497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54255784400004 meters Centerline goodness : 0.188470 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99588164e-01 3.31072697e-03 -2.85051272e-02 4.19166946e+00] [-3.18485437e-03 9.99984982e-01 4.46005787e-03 7.30351823e-01] [ 2.85194652e-02 -4.36743638e-03 9.99583696e-01 1.46710316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5725578440001 meters Centerline goodness : 0.188470 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99588164e-01 3.31072697e-03 -2.85051272e-02 4.19166946e+00] [-3.18485437e-03 9.99984982e-01 4.46005787e-03 7.30351823e-01] [ 2.85194652e-02 -4.36743638e-03 9.99583696e-01 1.46710316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60255784400005 meters Centerline goodness : 0.119763 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99588344e-01 3.40932397e-03 -2.84871896e-02 4.19165799e+00] [-3.28201427e-03 9.99984423e-01 4.51457850e-03 7.30362419e-01] [ 2.85021376e-02 -4.41922468e-03 9.99583963e-01 1.46696152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6325578440001 meters Centerline goodness : 0.170006 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99589155e-01 3.56606829e-03 -2.84394893e-02 4.19155860e+00] [-3.43466199e-03 9.99983206e-01 4.66807000e-03 7.29807061e-01] [ 2.84556583e-02 -4.56847212e-03 9.99584616e-01 1.46680617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66255784400005 meters Centerline goodness : 0.173307 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99587633e-01 3.58293514e-03 -2.84908056e-02 4.19166578e+00] [-3.44978349e-03 9.99982904e-01 4.72127676e-03 7.29449520e-01] [ 2.85072346e-02 -4.62104275e-03 9.99582905e-01 1.46679865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6925578440001 meters Centerline goodness : 0.177296 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99588950e-01 3.64361477e-03 -2.84368785e-02 4.19145963e+00] [-3.50616686e-03 9.99981937e-01 4.88180540e-03 7.28692439e-01] [ 2.84541523e-02 -4.78009429e-03 9.99583669e-01 1.46689686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72255784400005 meters SLAMing on 345.752557844 meters Centerline goodness : 0.099805 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99616249e-01 3.66214155e-03 -2.74580197e-02 4.18822328e+00] [-3.51327187e-03 9.99978879e-01 5.46800377e-03 7.25383228e-01] [ 2.74774643e-02 -5.36943794e-03 9.99608002e-01 1.46836616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78255784400005 meters Centerline goodness : 0.115809 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99619569e-01 3.76336308e-03 -2.73231620e-02 4.18767657e+00] [-3.60669515e-03 9.99976786e-01 5.78090741e-03 7.23856674e-01] [ 2.73442834e-02 -5.68016185e-03 9.99609937e-01 1.46878237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.812557844 meters Centerline goodness : 0.108347 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99623331e-01 3.85517955e-03 -2.71722913e-02 4.18717706e+00] [-3.69207728e-03 9.99974882e-01 6.05013850e-03 7.22539044e-01] [ 2.71949332e-02 -5.94753740e-03 9.99612456e-01 1.46902406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84255784400005 meters Centerline goodness : 0.174614 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99625958e-01 3.91994086e-03 -2.70661680e-02 4.18690351e+00] [-3.75230490e-03 9.99973481e-01 6.24157529e-03 7.21479311e-01] [ 2.70899169e-02 -6.13768016e-03 9.99614158e-01 1.46905674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.872557844 meters Centerline goodness : 0.098801 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99636168e-01 4.00841328e-03 -2.66733009e-02 4.18585224e+00] [-3.83811833e-03 9.99971945e-01 6.43260933e-03 7.20332467e-01] [ 2.66983372e-02 -6.32789365e-03 9.99623507e-01 1.46909990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90255784400006 meters Centerline goodness : 0.192144 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99639936e-01 4.05773781e-03 -2.65242020e-02 4.18554154e+00] [-3.88698182e-03 9.99971410e-01 6.48613486e-03 7.20165771e-01] [ 2.65497627e-02 -6.38070034e-03 9.99627129e-01 1.46894517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93255784400003 meters Centerline goodness : 0.130366 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99638267e-01 4.13377576e-03 -2.65753140e-02 4.18586414e+00] [-3.95945995e-03 9.99970324e-01 6.60859157e-03 7.19707155e-01] [ 2.66018438e-02 -6.50097714e-03 9.99624969e-01 1.46857266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96255784400006 meters Centerline goodness : 0.127013 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99632760e-01 4.27012887e-03 -2.67602701e-02 4.18659029e+00] [-4.08762975e-03 9.99968041e-01 6.87077488e-03 7.18525369e-01] [ 2.67887540e-02 -6.75886558e-03 9.99618267e-01 1.46813292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99255784400003 meters Centerline goodness : 0.179032 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 0.99962561 0.00442472 -0.02700102 4.18746799] [-0.00423074 0.99996486 0.00723684 0.7166547 ] [ 0.02703209 -0.0071199 0.99960921 1.46771408] [ 0. 0. 0. 1. ]] SLAMing on 346.02255784400006 meters Centerline goodness : 0.183797 Centerline is valid? [False, False] Translation: X:4.19, Y:0.71, Z:1.47 [[ 9.99642833e-01 7.06771917e-04 -2.67152755e-02 4.18635755e+00] [-6.03082388e-04 9.99992255e-01 3.88914036e-03 7.13893528e-01] [ 2.67178173e-02 -3.87163977e-03 9.99635518e-01 1.46821516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05255784400003 meters Centerline goodness : 0.180526 Centerline is valid? [False, False] Translation: X:4.19, Y:0.71, Z:1.47 [[ 9.99646631e-01 9.48817755e-04 -2.65652421e-02 4.18585679e+00] [-8.29593237e-04 9.99989537e-01 4.49865059e-03 7.10913625e-01] [ 2.65692326e-02 -4.47502256e-03 9.99636959e-01 1.46843623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08255784400006 meters Centerline goodness : 0.181401 Centerline is valid? [False, False] Translation: X:4.19, Y:0.71, Z:1.47 [[ 9.99646948e-01 1.20215237e-03 -2.65430695e-02 4.18596793e+00] [-1.06806834e-03 9.99986602e-01 5.06516413e-03 7.08341935e-01] [ 2.65488029e-02 -5.03502605e-03 9.99634838e-01 1.46822947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11255784400004 meters Centerline goodness : 0.088261 Centerline is valid? [False, False] Translation: X:4.19, Y:0.71, Z:1.47 [[ 9.99645611e-01 1.44868697e-03 -2.65810634e-02 4.18639648e+00] [-1.30006692e-03 9.99983432e-01 5.60763030e-03 7.05886682e-01] [ 2.65887467e-02 -5.57108586e-03 9.99630933e-01 1.46772566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14255784400007 meters Centerline goodness : 0.085973 Centerline is valid? [False, False] Translation: X:4.19, Y:0.70, Z:1.47 [[ 9.99642257e-01 1.63554970e-03 -2.66961148e-02 4.18710766e+00] [-1.47501387e-03 9.99980719e-01 6.03203776e-03 7.03791067e-01] [ 2.67054658e-02 -5.99050270e-03 9.99625396e-01 1.46708462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17255784400004 meters Centerline goodness : 0.107041 Centerline is valid? [False, False] Translation: X:4.19, Y:0.70, Z:1.47 [[ 9.99626583e-01 2.01410271e-03 -2.72513876e-02 4.18907565e+00] [-1.83264810e-03 9.99975997e-01 6.68188377e-03 7.00271529e-01] [ 2.72641915e-02 -6.62944644e-03 9.99606280e-01 1.46619077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20255784400007 meters Centerline goodness : 0.087455 Centerline is valid? [False, False] Translation: X:4.19, Y:0.70, Z:1.47 [[ 9.99626138e-01 2.16016932e-03 -2.72565362e-02 4.18913074e+00] [-1.97211645e-03 9.99974082e-01 6.92436388e-03 6.99114091e-01] [ 2.72707875e-02 -6.86802205e-03 9.99604489e-01 1.46605353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23255784400004 meters Centerline goodness : 0.145808 Centerline is valid? [False, False] Translation: X:4.21, Y:0.69, Z:1.47 [[ 0.99958235 0.01040811 -0.02695913 4.21008413] [-0.01024273 0.99992791 0.00626539 0.69471436] [ 0.02702239 -0.00598664 0.9996169 1.4675652 ] [ 0. 0. 0. 1. ]] SLAMing on 346.26255784400007 meters Centerline goodness : 0.154677 Centerline is valid? [False, False] Translation: X:4.21, Y:0.69, Z:1.47 [[ 0.9995825 0.01054135 -0.02690173 4.21008339] [-0.01036958 0.999925 0.0065167 0.69346251] [ 0.02696841 -0.00623502 0.99961684 1.46727952] [ 0. 0. 0. 1. ]] SLAMing on 346.29255784400004 meters Centerline goodness : 0.129157 Centerline is valid? [False, False] Translation: X:4.19, Y:0.69, Z:1.47 [[ 9.99613224e-01 2.08905786e-03 -2.77315353e-02 4.18849397e+00] [-1.89005230e-03 9.99972290e-01 7.20042001e-03 6.94304870e-01] [ 2.77458090e-02 -7.14522101e-03 9.99589474e-01 1.46619135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3225578440001 meters Centerline goodness : 0.086116 Centerline is valid? [False, False] Translation: X:4.19, Y:0.69, Z:1.47 [[ 9.99607428e-01 2.49096580e-03 -2.79067340e-02 4.18936584e+00] [-2.26671729e-03 9.99964913e-01 8.06439655e-03 6.90362073e-01] [ 2.79258430e-02 -7.99797401e-03 9.99578001e-01 1.46556812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35255784400005 meters Centerline goodness : 0.087452 Centerline is valid? [False, False] Translation: X:4.19, Y:0.69, Z:1.47 [[ 9.99601449e-01 2.66088740e-03 -2.81044936e-02 4.19009871e+00] [-2.42481308e-03 9.99961522e-01 8.43062114e-03 6.88732823e-01] [ 2.81258451e-02 -8.35911296e-03 9.99569438e-01 1.46520036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3825578440001 meters Centerline goodness : 0.102670 Centerline is valid? [False, False] Translation: X:4.19, Y:0.69, Z:1.46 [[ 9.99598981e-01 2.79213840e-03 -2.81794494e-02 4.19053169e+00] [-2.54629016e-03 9.99958419e-01 8.75649651e-03 6.87082638e-01] [ 2.82027270e-02 -8.68123193e-03 9.99564526e-01 1.46482393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41255784400005 meters Centerline goodness : 0.136010 Centerline is valid? [False, False] Translation: X:4.17, Y:0.68, Z:1.46 [[ 0.99959275 0.00851809 -0.02723574 4.16707247] [-0.00836997 0.99994958 0.00554766 0.67940082] [ 0.02728162 -0.00531744 0.99961364 1.46472912] [ 0. 0. 0. 1. ]] SLAMing on 346.4425578440001 meters Centerline goodness : 0.100541 Centerline is valid? [False, False] Translation: X:4.21, Y:0.68, Z:1.47 [[ 0.99965584 0.00813536 -0.02494039 4.20778627] [-0.00799439 0.99995153 0.00574705 0.68006599] [ 0.02498593 -0.00554569 0.99967242 1.46696077] [ 0. 0. 0. 1. ]] SLAMing on 346.47255784400005 meters Centerline goodness : 0.135043 Centerline is valid? [False, False] Translation: X:4.21, Y:0.68, Z:1.47 [[ 0.99966027 0.00831502 -0.02470218 4.20691565] [-0.00816434 0.99994748 0.00619449 0.6781457 ] [ 0.02475239 -0.00599071 0.99967566 1.46744155] [ 0. 0. 0. 1. ]] SLAMing on 346.502557844 meters Centerline goodness : 0.136456 Centerline is valid? [False, False] Translation: X:4.23, Y:0.68, Z:1.47 [[ 9.99715999e-01 -8.88880371e-06 -2.38310895e-02 4.22592403e+00] [ 1.93790642e-04 9.99969899e-01 7.75655136e-03 6.80822052e-01] [ 2.38303032e-02 -7.75896673e-03 9.99685908e-01 1.46927430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53255784400005 meters Centerline goodness : 0.116369 Centerline is valid? [False, False] Translation: X:4.23, Y:0.68, Z:1.47 [[ 9.99710931e-01 -3.88186913e-03 -2.37272978e-02 4.22563434e+00] [ 3.98866052e-03 9.99982121e-01 4.45511342e-03 6.77604295e-01] [ 2.37095794e-02 -4.54846573e-03 9.99708541e-01 1.46951571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.562557844 meters Centerline goodness : 0.129232 Centerline is valid? [False, False] Translation: X:4.25, Y:0.67, Z:1.47 [[ 9.99721856e-01 9.69754971e-04 -2.35641904e-02 4.24636176e+00] [-9.44543205e-04 9.99998970e-01 1.08102529e-03 6.74232279e-01] [ 2.35652144e-02 -1.05846721e-03 9.99721741e-01 1.47063886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59255784400005 meters Centerline goodness : 0.083700 Centerline is valid? [False, False] Translation: X:4.20, Y:0.67, Z:1.47 [[ 9.99657312e-01 4.07049632e-04 -2.61742909e-02 4.20048563e+00] [-3.87868267e-04 9.99999653e-01 7.37905053e-04 6.68070593e-01] [ 2.61745822e-02 -7.27500005e-04 9.99657122e-01 1.47114135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.622557844 meters Centerline goodness : 0.083297 Centerline is valid? [False, False] Translation: X:4.20, Y:0.67, Z:1.47 [[ 9.99657404e-01 5.91475526e-04 -2.61672390e-02 4.20042116e+00] [-5.57705645e-04 9.99999002e-01 1.29781972e-03 6.65372507e-01] [ 2.61679805e-02 -1.28278148e-03 9.99656737e-01 1.47133511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65255784400006 meters Centerline goodness : 0.115776 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:1.47 [[ 9.99659055e-01 7.61832831e-04 -2.60996716e-02 4.20028683e+00] [-7.16659959e-04 9.99998229e-01 1.74009332e-03 6.63293000e-01] [ 2.61009510e-02 -1.72079546e-03 9.99657831e-01 1.47135900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68255784400003 meters Centerline goodness : 0.141451 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:1.47 [[ 9.99659209e-01 8.90516311e-04 -2.60896897e-02 4.20034997e+00] [-8.36498173e-04 9.99997484e-01 2.08131905e-03 6.61596563e-01] [ 2.60914775e-02 -2.05878577e-03 9.99657439e-01 1.47125320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71255784400006 meters Centerline goodness : 0.126299 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:1.47 [[ 9.99651081e-01 1.13854332e-03 -2.63897621e-02 4.20177257e+00] [-1.06806942e-03 9.99995826e-01 2.68444338e-03 6.58459589e-01] [ 2.63927083e-02 -2.65532063e-03 9.99648125e-01 1.47023204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74255784400003 meters Centerline goodness : 0.224479 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:1.47 [[ 9.99647357e-01 1.24505636e-03 -2.65256867e-02 4.20239514e+00] [-1.16853640e-03 9.99995112e-01 2.90005486e-03 6.57518234e-01] [ 2.65291677e-02 -2.86803594e-03 9.99643925e-01 1.46974008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77255784400006 meters Centerline goodness : 0.090272 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:1.47 [[ 9.99643270e-01 1.38503787e-03 -2.66723503e-02 4.20295807e+00] [-1.30286478e-03 9.99994353e-01 3.09796632e-03 6.56740622e-01] [ 2.66764905e-02 -3.06211072e-03 9.99639429e-01 1.46938294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80255784400003 meters Centerline goodness : 0.083480 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:1.47 [[ 9.99643301e-01 1.42957459e-03 -2.66688511e-02 4.20303092e+00] [-1.34489107e-03 9.99993998e-01 3.19303857e-03 6.56158665e-01] [ 2.66732557e-02 -3.15603291e-03 9.99639223e-01 1.46923089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83255784400006 meters Centerline goodness : 0.083108 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99645478e-01 1.55720135e-03 -2.65799611e-02 4.20311194e+00] [-1.46550834e-03 9.99992910e-01 3.46883578e-03 6.54506733e-01] [ 2.65851743e-02 -3.42865284e-03 9.99640672e-01 1.46866941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86255784400004 meters Centerline goodness : 0.118763 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99645327e-01 1.64132207e-03 -2.65805676e-02 4.20333163e+00] [-1.54536168e-03 9.99992216e-01 3.63031045e-03 6.53736945e-01] [ 2.65863193e-02 -3.58794628e-03 9.99640082e-01 1.46830825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89255784400007 meters Centerline goodness : 0.173028 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99645040e-01 1.70006938e-03 -2.65876542e-02 4.20350924e+00] [-1.60044210e-03 9.99991621e-01 3.76795684e-03 6.53026872e-01] [ 2.65938372e-02 -3.72406737e-03 9.99639385e-01 1.46802970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92255784400004 meters Centerline goodness : 0.090723 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99642061e-01 1.79279261e-03 -2.66933658e-02 4.20388799e+00] [-1.68720006e-03 9.99990665e-01 3.97775730e-03 6.52020827e-01] [ 2.67002479e-02 -3.93129645e-03 9.99635754e-01 1.46785609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95255784400007 meters Centerline goodness : 0.098408 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99636157e-01 1.99026649e-03 -2.68996731e-02 4.20468429e+00] [-1.87010033e-03 9.99988164e-01 4.49161662e-03 6.49293714e-01] [ 2.69082942e-02 -4.43967729e-03 9.99628047e-01 1.46744974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98255784400004 meters Centerline goodness : 0.096600 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99634842e-01 2.10726771e-03 -2.69395843e-02 4.20484191e+00] [-1.97831894e-03 9.99986464e-01 4.81234776e-03 6.47625431e-01] [ 2.69493606e-02 -4.75729540e-03 9.99625480e-01 1.46739624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01255784400007 meters Centerline goodness : 0.126179 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99635302e-01 2.24229953e-03 -2.69116334e-02 4.20474464e+00] [-2.10458995e-03 9.99984553e-01 5.14433604e-03 6.45951954e-01] [ 2.69227528e-02 -5.08582195e-03 9.99624579e-01 1.46744944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04255784400004 meters Centerline goodness : 0.090917 Centerline is valid? [False, False] Translation: X:4.20, Y:0.64, Z:1.47 [[ 9.99633097e-01 2.36105002e-03 -2.69832689e-02 4.20496682e+00] [-2.21483213e-03 9.99982710e-01 5.44743865e-03 6.44375493e-01] [ 2.69956640e-02 -5.38567656e-03 9.99621043e-01 1.46739918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0725578440001 meters Centerline goodness : 0.097968 Centerline is valid? [False, False] Translation: X:4.21, Y:0.64, Z:1.47 [[ 9.99632145e-01 2.46733862e-03 -2.70090209e-02 4.20512471e+00] [-2.31336789e-03 9.99980905e-01 5.73047801e-03 6.42954362e-01] [ 2.70226442e-02 -5.66588823e-03 9.99618765e-01 1.46727824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10255784400005 meters Centerline goodness : 0.123386 Centerline is valid? [False, False] Translation: X:4.20, Y:0.64, Z:1.47 [[ 9.99636738e-01 2.72606499e-03 -2.68134241e-02 4.20457498e+00] [-2.55576614e-03 9.99976359e-01 6.38347496e-03 6.39878493e-01] [ 2.68301920e-02 -6.31262725e-03 9.99620074e-01 1.46743393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1325578440001 meters Centerline goodness : 0.093359 Centerline is valid? [False, False] Translation: X:4.20, Y:0.64, Z:1.47 [[ 9.99637525e-01 2.85227355e-03 -2.67709519e-02 4.20435686e+00] [-2.67367722e-03 9.99973949e-01 6.70469854e-03 6.38353585e-01] [ 2.67893781e-02 -6.63069137e-03 9.99619109e-01 1.46766084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16255784400005 meters Centerline goodness : 0.128333 Centerline is valid? [False, False] Translation: X:4.20, Y:0.64, Z:1.47 [[ 9.99638434e-01 2.96952501e-03 -2.67241959e-02 4.20405912e+00] [-2.78287659e-03 9.99971496e-01 7.01873204e-03 6.36775690e-01] [ 2.67442764e-02 -6.94182417e-03 9.99618204e-01 1.46795874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1925578440001 meters Centerline goodness : 0.097704 Centerline is valid? [False, False] Translation: X:4.20, Y:0.63, Z:1.47 [[ 9.99638238e-01 3.19187703e-03 -2.67059068e-02 4.20380998e+00] [-2.98948535e-03 9.99966537e-01 7.61503265e-03 6.33832278e-01] [ 2.67293193e-02 -7.53244090e-03 9.99614329e-01 1.46837262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22255784400005 meters Centerline goodness : 0.111451 Centerline is valid? [False, False] Translation: X:4.20, Y:0.63, Z:1.47 [[ 9.99635520e-01 3.33432184e-03 -2.67900985e-02 4.20402888e+00] [-3.12209386e-03 9.99963446e-01 7.95980803e-03 6.32244241e-01] [ 2.68156598e-02 -7.87326564e-03 9.99609390e-01 1.46840114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.252557844 meters Centerline goodness : 0.087354 Centerline is valid? [False, False] Translation: X:4.20, Y:0.63, Z:1.47 [[ 9.99632070e-01 3.48220407e-03 -2.68997968e-02 4.20435052e+00] [-3.25894850e-03 9.99959920e-01 8.33891309e-03 6.30446205e-01] [ 2.69277565e-02 -8.24817990e-03 9.99603353e-01 1.46839894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28255784400005 meters Centerline goodness : 0.089137 Centerline is valid? [False, False] Translation: X:4.20, Y:0.63, Z:1.47 [[ 9.99630736e-01 3.66578843e-03 -2.69249571e-02 4.20445208e+00] [-3.43076257e-03 9.99955658e-01 8.76993667e-03 6.28432584e-01] [ 2.69559120e-02 -8.67432511e-03 9.99598987e-01 1.46838246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.312557844 meters Centerline goodness : 0.117336 Centerline is valid? [False, False] Translation: X:4.20, Y:0.63, Z:1.47 [[ 9.99631385e-01 3.81500651e-03 -2.68801013e-02 4.20428304e+00] [-3.57057011e-03 9.99951894e-01 9.13571843e-03 6.26662719e-01] [ 2.69136610e-02 -9.03637358e-03 9.99596918e-01 1.46851122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34255784400005 meters Centerline goodness : 0.091319 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 9.99640504e-01 4.06546856e-03 -2.65015955e-02 4.20285644e+00] [-3.80777238e-03 9.99945052e-01 9.76702175e-03 6.23494444e-01] [ 2.65398468e-02 -9.66259850e-03 9.99601056e-01 1.46932702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.372557844 meters Centerline goodness : 0.122194 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 9.99643081e-01 4.18283732e-03 -2.63858641e-02 4.20247043e+00] [-3.91890259e-03 9.99941852e-01 1.00466760e-02 6.22078671e-01] [ 2.64263534e-02 -9.93968654e-03 9.99601346e-01 1.46949094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40255784400006 meters Centerline goodness : 0.084363 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 9.99640801e-01 4.29721830e-03 -2.64538042e-02 4.20281068e+00] [-4.02607220e-03 9.99938905e-01 1.02945392e-02 6.20907639e-01] [ 2.64964259e-02 -1.01843365e-02 9.99597028e-01 1.46923812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43255784400003 meters Centerline goodness : 0.118648 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 9.99638785e-01 4.40697113e-03 -2.65118403e-02 4.20325691e+00] [-4.12902514e-03 9.99936039e-01 1.05294682e-02 6.19812725e-01] [ 2.65565477e-02 -1.04161967e-02 9.99593044e-01 1.46873939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46255784400006 meters Centerline goodness : 0.118791 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 0.99963535 0.00453398 -0.02661988 4.2037155 ] [-0.00424745 0.99993254 0.01081047 0.61845611] [ 0.0266671 -0.01069346 0.99958717 1.46847532] [ 0. 0. 0. 1. ]] SLAMing on 347.49255784400003 meters Centerline goodness : 0.118791 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 0.99963535 0.00453398 -0.02661988 4.2037155 ] [-0.00424745 0.99993254 0.01081047 0.61845611] [ 0.0266671 -0.01069346 0.99958717 1.46847532] [ 0. 0. 0. 1. ]] SLAMing on 347.52255784400006 meters Centerline goodness : 0.136781 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 9.99646820e-01 1.11317631e-03 -2.65517509e-02 4.20353821e+00] [-9.11857505e-04 9.99970757e-01 7.59303226e-03 6.16476321e-01] [ 2.65594268e-02 -7.56613915e-03 9.99618602e-01 1.46838721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55255784400003 meters Centerline goodness : 0.164142 Centerline is valid? [False, False] Translation: X:4.20, Y:0.61, Z:1.47 [[ 9.99646173e-01 1.28807094e-03 -2.65682255e-02 4.20343296e+00] [-1.07475207e-03 9.99967087e-01 8.04181513e-03 6.14144373e-01] [ 2.65777095e-02 -8.01041546e-03 9.99614655e-01 1.46869986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58255784400006 meters Centerline goodness : 0.138368 Centerline is valid? [False, False] Translation: X:4.20, Y:0.61, Z:1.47 [[ 9.99644778e-01 1.48449327e-03 -2.66104151e-02 4.20345891e+00] [-1.25794293e-03 9.99962842e-01 8.52831615e-03 6.11723005e-01] [ 2.66220865e-02 -8.49181232e-03 9.99609501e-01 1.46890165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61255784400004 meters Centerline goodness : 0.123889 Centerline is valid? [False, False] Translation: X:4.20, Y:0.61, Z:1.47 [[ 9.99645149e-01 1.84575939e-03 -2.65738314e-02 4.20344739e+00] [-1.59741244e-03 9.99954883e-01 9.36374266e-03 6.07619908e-01] [ 2.65899156e-02 -9.31797056e-03 9.99602997e-01 1.46884366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64255784400007 meters Centerline goodness : 0.095733 Centerline is valid? [False, False] Translation: X:4.20, Y:0.61, Z:1.47 [[ 9.99645293e-01 1.95657069e-03 -2.65605039e-02 4.20377071e+00] [-1.70138157e-03 9.99952212e-01 9.62704284e-03 6.06194251e-01] [ 2.65780706e-02 -9.57843850e-03 9.99600850e-01 1.46832720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67255784400004 meters Centerline goodness : 0.133517 Centerline is valid? [False, False] Translation: X:4.20, Y:0.61, Z:1.47 [[ 9.99643489e-01 2.04636149e-03 -2.66215582e-02 4.20424456e+00] [-1.78617777e-03 9.99950447e-01 9.79353298e-03 6.05302691e-01] [ 2.66402801e-02 -9.74249064e-03 9.99597609e-01 1.46780083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70255784400007 meters Centerline goodness : 0.165682 Centerline is valid? [False, False] Translation: X:4.20, Y:0.60, Z:1.47 [[ 9.99641868e-01 2.09794605e-03 -2.66783495e-02 4.20460208e+00] [-1.83453799e-03 9.99949369e-01 9.89412231e-03 6.04742702e-01] [ 2.66977561e-02 -9.84163646e-03 9.99595104e-01 1.46741879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73255784400004 meters Centerline goodness : 0.148217 Centerline is valid? [False, False] Translation: X:4.22, Y:0.60, Z:1.47 [[ 0.99960279 0.0104574 -0.02617051 4.22496943] [-0.01022779 0.99990816 0.00889226 0.60192993] [ 0.0262611 -0.00862106 0.99961794 1.46901101] [ 0. 0. 0. 1. ]] SLAMing on 347.76255784400007 meters Centerline goodness : 0.118381 Centerline is valid? [False, False] Translation: X:4.22, Y:0.60, Z:1.47 [[ 0.99960659 0.01057913 -0.02597599 4.22430204] [-0.0103448 0.99990473 0.00913876 0.60064861] [ 0.02607019 -0.00886645 0.99962079 1.46922106] [ 0. 0. 0. 1. ]] SLAMing on 347.79255784400004 meters Centerline goodness : 0.119872 Centerline is valid? [False, False] Translation: X:4.22, Y:0.60, Z:1.47 [[ 0.99963876 0.00768299 -0.02575484 4.22332387] [-0.00752719 0.99995282 0.0061406 0.60037447] [ 0.0258008 -0.00594452 0.99964943 1.4695013 ] [ 0. 0. 0. 1. ]] SLAMing on 347.8225578440001 meters Centerline goodness : 0.125771 Centerline is valid? [False, False] Translation: X:4.22, Y:0.60, Z:1.47 [[ 9.99656887e-01 4.86453352e-03 -2.57380111e-02 4.22332859e+00] [-4.78386591e-03 9.99983454e-01 3.19482813e-03 6.00246352e-01] [ 2.57531266e-02 -3.07060475e-03 9.99663617e-01 1.46923386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85255784400005 meters Centerline goodness : 0.130702 Centerline is valid? [False, False] Translation: X:4.22, Y:0.60, Z:1.47 [[ 9.99652014e-01 4.90371856e-03 -2.59191830e-02 4.22392426e+00] [-4.81918901e-03 9.99982867e-01 3.32273352e-03 5.99457747e-01] [ 2.59350327e-02 -3.19666781e-03 9.99658519e-01 1.46902389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8825578440001 meters Centerline goodness : 0.151222 Centerline is valid? [False, False] Translation: X:4.22, Y:0.60, Z:1.47 [[ 9.99647042e-01 4.94811567e-03 -2.61018806e-02 4.22459046e+00] [-4.85996575e-03 9.99982275e-01 3.43950633e-03 5.98924149e-01] [ 2.61184370e-02 -3.31143808e-03 9.99653371e-01 1.46870878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91255784400005 meters Centerline goodness : 0.095882 Centerline is valid? [False, False] Translation: X:4.23, Y:0.60, Z:1.47 [[ 9.99639187e-01 5.02493208e-03 -2.63864624e-02 4.22534707e+00] [-4.92916367e-03 9.99981031e-01 3.69324244e-03 5.97749165e-01] [ 2.64045202e-02 -3.56184668e-03 9.99644994e-01 1.46865878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9425578440001 meters Centerline goodness : 0.124012 Centerline is valid? [False, False] Translation: X:4.23, Y:0.60, Z:1.47 [[ 9.99636128e-01 5.07535957e-03 -2.64925058e-02 4.22554809e+00] [-4.97302771e-03 9.99979923e-01 3.92712989e-03 5.96405494e-01] [ 2.65119055e-02 -3.79395295e-03 9.99641298e-01 1.46882193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97255784400005 meters Centerline goodness : 0.083288 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 9.99631469e-01 5.13839796e-03 -2.66556294e-02 4.22604435e+00] [-5.02681132e-03 9.99978327e-01 4.25155281e-03 5.94555272e-01] [ 2.66768979e-02 -4.11599316e-03 9.99635634e-01 1.46875021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.002557844 meters Centerline goodness : 0.172523 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 0.99962581 0.00524362 -0.02684671 4.22662817] [-0.00512131 0.9999762 0.00462253 0.59263527] [ 0.02687031 -0.00448331 0.99962887 1.46864654] [ 0. 0. 0. 1. ]] SLAMing on 348.03255784400005 meters Centerline goodness : 0.100844 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 0.99962716 0.00535364 -0.02677454 4.2264674 ] [-0.00521633 0.9999729 0.00519535 0.58968807] [ 0.02680163 -0.00505375 0.999628 1.46872009] [ 0. 0. 0. 1. ]] SLAMing on 348.062557844 meters Centerline goodness : 0.082970 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 0.9996273 0.00544753 -0.0267505 4.22623503] [-0.00530165 0.9999707 0.00552127 0.58799124] [ 0.02677979 -0.00537739 0.99962689 1.46906584] [ 0. 0. 0. 1. ]] SLAMing on 348.09255784400005 meters Centerline goodness : 0.163133 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 0.99962747 0.00552057 -0.02672904 4.22612413] [-0.00536771 0.99996885 0.00578735 0.58655886] [ 0.02676016 -0.00564172 0.99962596 1.46920545] [ 0. 0. 0. 1. ]] SLAMing on 348.122557844 meters Centerline goodness : 0.091323 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 0.99961984 0.00560899 -0.0269947 4.22711181] [-0.00544801 0.99996696 0.00603328 0.58528076] [ 0.02702765 -0.00588392 0.99961737 1.46868879] [ 0. 0. 0. 1. ]] SLAMing on 348.15255784400006 meters Centerline goodness : 0.125996 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 0.99961911 0.00560665 -0.02702225 4.22733844] [-0.00544698 0.99996729 0.0059787 0.58568947] [ 0.02705488 -0.00582923 0.99961695 1.46839119] [ 0. 0. 0. 1. ]] SLAMing on 348.18255784400003 meters Centerline goodness : 0.097817 Centerline is valid? [False, False] Translation: X:4.25, Y:0.59, Z:1.47 [[ 9.99634918e-01 -1.85892840e-03 -2.69550484e-02 4.24656326e+00] [ 2.04995664e-03 9.99972969e-01 7.06101817e-03 5.92258538e-01] [ 2.69411939e-02 -7.11369700e-03 9.99611708e-01 1.46964542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21255784400006 meters Centerline goodness : 0.126344 Centerline is valid? [False, False] Translation: X:4.25, Y:0.59, Z:1.47 [[ 9.99638128e-01 -1.94799855e-03 -2.68294399e-02 4.24631367e+00] [ 2.13125250e-03 9.99974585e-01 6.80343004e-03 5.93498965e-01] [ 2.68155050e-02 -6.85814837e-03 9.99616874e-01 1.46945743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24255784400003 meters Centerline goodness : 0.121987 Centerline is valid? [False, False] Translation: X:4.25, Y:0.59, Z:1.47 [[ 9.99644507e-01 -2.02853608e-03 -2.65846882e-02 4.24561580e+00] [ 2.20442512e-03 9.99975866e-01 6.58854206e-03 5.94502550e-01] [ 2.65706815e-02 -6.64480383e-03 9.99624852e-01 1.46949726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27255784400006 meters Centerline goodness : 0.100302 Centerline is valid? [False, False] Translation: X:4.24, Y:0.60, Z:1.47 [[ 9.99657430e-01 -2.11219638e-03 -2.60875529e-02 4.24374615e+00] [ 2.27982634e-03 9.99976936e-01 6.39759800e-03 5.95459624e-01] [ 2.60734382e-02 -6.45488147e-03 9.99639190e-01 1.47042337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30255784400003 meters Centerline goodness : 0.096102 Centerline is valid? [False, False] Translation: X:4.26, Y:0.59, Z:1.47 [[ 0.99967032 0.00589802 -0.02498934 4.26234833] [-0.00577269 0.99997041 0.00508442 0.59302413] [ 0.02501859 -0.00493849 0.99967479 1.47244439] [ 0. 0. 0. 1. ]] SLAMing on 348.33255784400006 meters Centerline goodness : 0.138059 Centerline is valid? [False, False] Translation: X:4.26, Y:0.59, Z:1.47 [[ 0.99966976 0.00591461 -0.02500769 4.2624063 ] [-0.00578653 0.99996979 0.00519081 0.59248857] [ 0.02503763 -0.00504439 0.99967378 1.47246492] [ 0. 0. 0. 1. ]] SLAMing on 348.36255784400004 meters Centerline goodness : 0.129238 Centerline is valid? [False, False] Translation: X:4.26, Y:0.59, Z:1.47 [[ 0.99966406 0.00584977 -0.02524962 4.26322897] [-0.00572036 0.99997015 0.00519442 0.59216671] [ 0.02527925 -0.00504824 0.99966768 1.47210817] [ 0. 0. 0. 1. ]] SLAMing on 348.39255784400007 meters Centerline goodness : 0.170600 Centerline is valid? [False, False] Translation: X:4.29, Y:0.60, Z:1.47 [[ 9.99652491e-01 -2.92657444e-03 -2.61979434e-02 4.28554318e+00] [ 3.06170298e-03 9.99982209e-01 5.11935751e-03 5.97301989e-01] [ 2.61824952e-02 -5.19778881e-03 9.99643666e-01 1.47257504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42255784400004 meters Centerline goodness : 0.127328 Centerline is valid? [False, False] Translation: X:4.29, Y:0.60, Z:1.47 [[ 9.99651662e-01 -2.96267717e-03 -2.62254939e-02 4.28546827e+00] [ 3.09727653e-03 9.99982233e-01 5.09325411e-03 5.97284318e-01] [ 2.62099382e-02 -5.17270755e-03 9.99643077e-01 1.47279550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45255784400007 meters Centerline goodness : 0.144964 Centerline is valid? [False, False] Translation: X:4.28, Y:0.60, Z:1.47 [[ 9.99654492e-01 -2.94261418e-03 -2.61196636e-02 4.28497857e+00] [ 3.07919048e-03 9.99981790e-01 5.19018928e-03 5.96716654e-01] [ 2.61039153e-02 -5.26882345e-03 9.99645350e-01 1.47320168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48255784400004 meters Centerline goodness : 0.121968 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 9.99660626e-01 4.87904154e-03 -2.55896086e-02 4.30341749e+00] [-4.78476762e-03 9.99981544e-01 3.74400795e-03 5.93020422e-01] [ 2.56074034e-02 -3.62029700e-03 9.99665521e-01 1.47577439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51255784400007 meters Centerline goodness : 0.090387 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 9.99666144e-01 4.99734874e-03 -2.53500896e-02 4.30263970e+00] [-4.89289274e-03 9.99979290e-01 4.18089349e-03 5.90848565e-01] [ 2.53704580e-02 -4.05546241e-03 9.99669892e-01 1.47615096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54255784400004 meters Centerline goodness : 0.099983 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 9.99666047e-01 5.06095334e-03 -2.53413058e-02 4.30268051e+00] [-4.95112027e-03 9.99978085e-01 4.39502221e-03 5.89650625e-01] [ 2.53629934e-02 -4.26808663e-03 9.99669196e-01 1.47611246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5725578440001 meters Centerline goodness : 0.122798 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 0.99966337 0.00508834 -0.02544136 4.30298632] [-0.00497493 0.99997741 0.0045191 0.58883647] [ 0.02546378 -0.00439101 0.9996661 1.47603186] [ 0. 0. 0. 1. ]] SLAMing on 348.60255784400005 meters Centerline goodness : 0.168893 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 0.99965836 0.00509809 -0.02563544 4.30371967] [-0.00498316 0.99997726 0.00454496 0.58864819] [ 0.02565803 -0.00441566 0.99966103 1.47561543] [ 0. 0. 0. 1. ]] SLAMing on 348.6325578440001 meters Centerline goodness : 0.136428 Centerline is valid? [False, False] Translation: X:4.28, Y:0.59, Z:1.48 [[ 9.99641960e-01 -7.76810074e-04 -2.67459948e-02 4.28051919e+00] [ 9.93257886e-04 9.99966860e-01 8.08038479e-03 5.89166642e-01] [ 2.67388315e-02 -8.10405736e-03 9.99609603e-01 1.47559352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66255784400005 meters Centerline goodness : 0.124099 Centerline is valid? [False, False] Translation: X:4.28, Y:0.59, Z:1.48 [[ 9.99649948e-01 -7.36069750e-04 -2.64469244e-02 4.27961218e+00] [ 9.49452612e-04 9.99967094e-01 8.05669207e-03 5.89470975e-01] [ 2.64401238e-02 -8.07898191e-03 9.99617752e-01 1.47581950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6925578440001 meters Centerline goodness : 0.169831 Centerline is valid? [False, False] Translation: X:4.28, Y:0.59, Z:1.48 [[ 9.99658810e-01 -7.10830355e-04 -2.61104866e-02 4.27857381e+00] [ 9.21796441e-04 9.99967023e-01 8.06859796e-03 5.89372020e-01] [ 2.61038902e-02 -8.08991359e-03 9.99626500e-01 1.47613519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72255784400005 meters Centerline goodness : 0.161643 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 0.99966094 0.00752888 -0.02492637 4.29843388] [-0.00736155 0.9999498 0.00679768 0.58630566] [ 0.0249763 -0.00661188 0.99966618 1.47778972] [ 0. 0. 0. 1. ]] SLAMing on 348.752557844 meters Centerline goodness : 0.091517 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 0.99965908 0.0076014 -0.02497889 4.29865993] [-0.0074302 0.99994832 0.00693952 0.58567658] [ 0.02503035 -0.00675156 0.99966389 1.4775932 ] [ 0. 0. 0. 1. ]] SLAMing on 348.78255784400005 meters Centerline goodness : 0.095138 Centerline is valid? [False, False] Translation: X:4.30, Y:0.58, Z:1.48 [[ 0.999654 0.00770054 -0.02515135 4.29931162] [-0.00752329 0.99994625 0.00713471 0.58489878] [ 0.02520494 -0.00694302 0.99965819 1.47722021] [ 0. 0. 0. 1. ]] SLAMing on 348.812557844 meters Centerline goodness : 0.121539 Centerline is valid? [False, False] Translation: X:4.30, Y:0.58, Z:1.48 [[ 0.99964964 0.0078767 -0.02526973 4.29992294] [-0.00768835 0.999942 0.00754221 0.58284724] [ 0.02532768 -0.00734529 0.99965222 1.47674976] [ 0. 0. 0. 1. ]] SLAMing on 348.84255784400005 meters Centerline goodness : 0.136936 Centerline is valid? [False, False] Translation: X:4.30, Y:0.58, Z:1.48 [[ 0.99965136 0.00793827 -0.0251821 4.29960067] [-0.00774593 0.99994015 0.00772617 0.58181276] [ 0.02524193 -0.00752841 0.99965302 1.47690339] [ 0. 0. 0. 1. ]] SLAMing on 348.872557844 meters Centerline goodness : 0.164120 Centerline is valid? [False, False] Translation: X:4.30, Y:0.58, Z:1.48 [[ 0.99965701 0.0081599 -0.02488521 4.29863891] [-0.00795463 0.99993361 0.00833623 0.57882776] [ 0.02495158 -0.00813542 0.99965556 1.47726923] [ 0. 0. 0. 1. ]] SLAMing on 348.90255784400006 meters Centerline goodness : 0.096431 Centerline is valid? [False, False] Translation: X:4.32, Y:0.58, Z:1.48 [[ 9.99679195e-01 2.17021549e-04 -2.53270534e-02 4.31858029e+00] [ 2.14466090e-05 9.99955679e-01 9.41489938e-03 5.82053821e-01] [ 2.53279741e-02 -9.41242222e-03 9.99634883e-01 1.47888404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93255784400003 meters Centerline goodness : 0.112490 Centerline is valid? [False, False] Translation: X:4.32, Y:0.58, Z:1.48 [[ 9.99670358e-01 3.54483657e-04 -2.56719653e-02 4.31971988e+00] [-1.01515263e-04 9.99951438e-01 9.85451018e-03 5.79785390e-01] [ 2.56742119e-02 -9.84865562e-03 9.99621848e-01 1.47853928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96255784400006 meters Centerline goodness : 0.095318 Centerline is valid? [False, False] Translation: X:4.28, Y:0.57, Z:1.48 [[ 9.99574767e-01 -6.08956730e-04 -2.91532949e-02 4.27654921e+00] [ 8.91397021e-04 9.99952788e-01 9.67609288e-03 5.74180525e-01] [ 2.91460262e-02 -9.69796545e-03 9.99528118e-01 1.47795098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99255784400003 meters Centerline goodness : 0.168765 Centerline is valid? [False, False] Translation: X:4.30, Y:0.57, Z:1.48 [[ 0.99956502 0.00557437 -0.02896032 4.29956355] [-0.00537393 0.9999611 0.00699451 0.57165546] [ 0.02899818 -0.00683583 0.99955609 1.47829788] [ 0. 0. 0. 1. ]] SLAMing on 349.02255784400006 meters Centerline goodness : 0.174280 Centerline is valid? [False, False] Translation: X:4.30, Y:0.57, Z:1.48 [[ 0.99956398 0.00576966 -0.02895805 4.29942554] [-0.0055541 0.99995631 0.00751872 0.56919234] [ 0.02900016 -0.00735461 0.99955235 1.4785859 ] [ 0. 0. 0. 1. ]] SLAMing on 349.05255784400003 meters Centerline goodness : 0.171755 Centerline is valid? [False, False] Translation: X:4.30, Y:0.57, Z:1.48 [[ 9.99590193e-01 2.03207634e-03 -2.85537344e-02 4.29837797e+00] [-1.91283406e-03 9.99989339e-01 4.20276065e-03 5.67025531e-01] [ 2.85619703e-02 -4.14641977e-03 9.99583424e-01 1.47863879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08255784400006 meters Centerline goodness : 0.096399 Centerline is valid? [False, False] Translation: X:4.25, Y:0.56, Z:1.48 [[ 9.99506626e-01 6.36114811e-04 -3.14022299e-02 4.25381897e+00] [-5.18968916e-04 9.99992877e-01 3.73850550e-03 5.61372009e-01] [ 3.14043843e-02 -3.72036424e-03 9.99499837e-01 1.47827658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11255784400004 meters Centerline goodness : 0.173610 Centerline is valid? [False, False] Translation: X:4.25, Y:0.56, Z:1.48 [[ 9.99498322e-01 7.62254308e-04 -3.16626531e-02 4.25467414e+00] [-6.27473610e-04 9.99990702e-01 4.26649025e-03 5.58512695e-01] [ 3.16656108e-02 -4.24448236e-03 9.99489506e-01 1.47800544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14255784400007 meters Centerline goodness : 0.176740 Centerline is valid? [False, False] Translation: X:4.26, Y:0.56, Z:1.48 [[ 9.99490586e-01 9.13973468e-04 -3.19019162e-02 4.25543371e+00] [-7.60614935e-04 9.99988099e-01 4.81899341e-03 5.55624998e-01] [ 3.19059409e-02 -4.79227347e-03 9.99479387e-01 1.47779714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17255784400004 meters Centerline goodness : 0.172160 Centerline is valid? [False, False] Translation: X:4.25, Y:0.55, Z:1.48 [[ 9.99501134e-01 1.25666294e-03 -3.15579363e-02 4.25438769e+00] [-1.07323561e-03 9.99982437e-01 5.82866577e-03 5.50666352e-01] [ 3.15647068e-02 -5.79188895e-03 9.99484929e-01 1.47825123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20255784400007 meters Centerline goodness : 0.100307 Centerline is valid? [False, False] Translation: X:4.25, Y:0.55, Z:1.48 [[ 9.99507406e-01 1.42254611e-03 -3.13515712e-02 4.25359602e+00] [-1.22670733e-03 9.99979623e-01 6.26488741e-03 5.48439757e-01] [ 3.13598444e-02 -6.22334216e-03 9.99488784e-01 1.47872672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23255784400004 meters Centerline goodness : 0.121465 Centerline is valid? [False, False] Translation: X:4.25, Y:0.55, Z:1.48 [[ 9.99509542e-01 1.54787233e-03 -3.12774692e-02 4.25324291e+00] [-1.34319444e-03 9.99977555e-01 6.56389194e-03 5.46900435e-01] [ 3.12869273e-02 -6.51866090e-03 9.99489187e-01 1.47903879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26255784400007 meters Centerline goodness : 0.174583 Centerline is valid? [False, False] Translation: X:4.25, Y:0.55, Z:1.48 [[ 9.99509017e-01 1.68128236e-03 -3.12873651e-02 4.25322022e+00] [-1.46783548e-03 9.99975503e-01 6.84386118e-03 5.45610649e-01] [ 3.12981051e-02 -6.79457626e-03 9.99487000e-01 1.47912118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29255784400004 meters Centerline goodness : 0.168275 Centerline is valid? [False, False] Translation: X:4.25, Y:0.54, Z:1.48 [[ 9.99514251e-01 1.91746019e-03 -3.11060414e-02 4.25282073e+00] [-1.69089129e-03 9.99971863e-01 7.30842914e-03 5.43470714e-01] [ 3.11191798e-02 -7.25228215e-03 9.99489370e-01 1.47904266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3225578440001 meters Centerline goodness : 0.174347 Centerline is valid? [False, False] Translation: X:4.25, Y:0.54, Z:1.48 [[ 9.99520000e-01 2.00448414e-03 -3.09152412e-02 4.25237263e+00] [-1.77022316e-03 9.99969530e-01 7.60303343e-03 5.41650725e-01] [ 3.09295394e-02 -7.54465709e-03 9.99493092e-01 1.47902489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35255784400005 meters Centerline goodness : 0.176176 Centerline is valid? [False, False] Translation: X:4.25, Y:0.54, Z:1.48 [[ 9.99542607e-01 -9.29935841e-05 -3.02418209e-02 4.24895629e+00] [ 2.65505208e-04 9.99983717e-01 5.70044040e-03 5.38915489e-01] [ 3.02407984e-02 -5.70586242e-03 9.99526356e-01 1.48068567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3825578440001 meters Centerline goodness : 0.176176 Centerline is valid? [False, False] Translation: X:4.25, Y:0.54, Z:1.48 [[ 9.99542607e-01 -9.29935841e-05 -3.02418209e-02 4.24895629e+00] [ 2.65505208e-04 9.99983717e-01 5.70044040e-03 5.38915489e-01] [ 3.02407984e-02 -5.70586242e-03 9.99526356e-01 1.48068567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41255784400005 meters Centerline goodness : 0.168543 Centerline is valid? [False, False] Translation: X:4.25, Y:0.54, Z:1.48 [[ 9.99543852e-01 5.50148946e-05 -3.02007455e-02 4.24888392e+00] [ 1.28872548e-04 9.99981467e-01 6.08685762e-03 5.37018992e-01] [ 3.02005206e-02 -6.08797316e-03 9.99525320e-01 1.48065063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4425578440001 meters Centerline goodness : 0.175189 Centerline is valid? [False, False] Translation: X:4.25, Y:0.54, Z:1.48 [[ 9.99541302e-01 2.09217802e-04 -3.02843576e-02 4.24910011e+00] [-1.28722692e-05 9.99978982e-01 6.48344742e-03 5.35217371e-01] [ 3.02850775e-02 -6.48008364e-03 9.99520296e-01 1.48064829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47255784400005 meters Centerline goodness : 0.172107 Centerline is valid? [False, False] Translation: X:4.25, Y:0.53, Z:1.48 [[ 9.99533082e-01 3.95750698e-04 -3.05525837e-02 4.25005246e+00] [-1.77068611e-04 9.99974352e-01 7.15993825e-03 5.31871780e-01] [ 3.05546337e-02 -7.15118524e-03 9.99507516e-01 1.48026159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.502557844 meters Centerline goodness : 0.168213 Centerline is valid? [False, False] Translation: X:4.25, Y:0.53, Z:1.48 [[ 9.99529436e-01 5.12396485e-04 -3.06699095e-02 4.25029807e+00] [-2.79254829e-04 9.99971039e-01 7.60544221e-03 5.29491161e-01] [ 3.06729183e-02 -7.59329865e-03 9.99500632e-01 1.48038212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53255784400005 meters Centerline goodness : 0.157282 Centerline is valid? [False, False] Translation: X:4.25, Y:0.53, Z:1.48 [[ 9.99525387e-01 6.69899551e-04 -3.07985740e-02 4.25062322e+00] [-4.20097195e-04 9.99966972e-01 8.11659705e-03 5.26881500e-01] [ 3.08029941e-02 -8.09980641e-03 9.99492656e-01 1.48044144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.562557844 meters Centerline goodness : 0.134004 Centerline is valid? [False, False] Translation: X:4.25, Y:0.52, Z:1.48 [[ 9.99520269e-01 8.46169624e-04 -3.09599037e-02 4.25095922e+00] [-5.77546641e-04 9.99962123e-01 8.68439394e-03 5.24101923e-01] [ 3.09660795e-02 -8.66234698e-03 9.99482899e-01 1.48060493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59255784400005 meters Centerline goodness : 0.178503 Centerline is valid? [False, False] Translation: X:4.25, Y:0.52, Z:1.48 [[ 9.99517950e-01 -2.80431540e-03 -3.09193026e-02 4.25110707e+00] [ 2.98139093e-03 9.99979411e-01 5.68240809e-03 5.20455605e-01] [ 3.09027307e-02 -5.77185142e-03 9.99505731e-01 1.48043554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.622557844 meters Centerline goodness : 0.120305 Centerline is valid? [False, False] Translation: X:4.25, Y:0.52, Z:1.48 [[ 9.99513398e-01 -2.65288040e-03 -3.10793978e-02 4.25143595e+00] [ 2.85003221e-03 9.99976088e-01 6.30090753e-03 5.16948927e-01] [ 3.10619391e-02 -6.38641878e-03 9.99497058e-01 1.48064314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65255784400006 meters Centerline goodness : 0.155251 Centerline is valid? [False, False] Translation: X:4.25, Y:0.51, Z:1.48 [[ 9.99515045e-01 -2.46510689e-03 -3.10418681e-02 4.25115940e+00] [ 2.68164611e-03 9.99972350e-01 6.93601656e-03 5.13558649e-01] [ 3.10239118e-02 -7.01589621e-03 9.99494019e-01 1.48101251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68255784400003 meters Centerline goodness : 0.134320 Centerline is valid? [False, False] Translation: X:4.25, Y:0.51, Z:1.48 [[ 9.99518777e-01 -2.28576718e-03 -3.09352417e-02 4.25070892e+00] [ 2.51818593e-03 9.99968882e-01 7.47620061e-03 5.10846912e-01] [ 3.09171902e-02 -7.55050358e-03 9.99493430e-01 1.48137130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71255784400006 meters Centerline goodness : 0.184252 Centerline is valid? [False, False] Translation: X:4.25, Y:0.51, Z:1.48 [[ 9.99519671e-01 -2.09495202e-03 -3.09198779e-02 4.25061748e+00] [ 2.34302044e-03 9.99965343e-01 7.98889313e-03 5.08483124e-01] [ 3.09020699e-02 -8.05750173e-03 9.99489939e-01 1.48148173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74255784400003 meters Centerline goodness : 0.192115 Centerline is valid? [False, False] Translation: X:4.25, Y:0.50, Z:1.48 [[ 9.99506254e-01 -1.88003639e-03 -3.13641963e-02 4.25200589e+00] [ 2.15779478e-03 9.99958736e-01 8.82441114e-03 5.03867990e-01] [ 3.13463118e-02 -8.88773163e-03 9.99469068e-01 1.48112444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77255784400006 meters Centerline goodness : 0.168486 Centerline is valid? [False, False] Translation: X:4.27, Y:0.50, Z:1.48 [[ 0.99946099 0.00579724 -0.03231299 4.27226379] [-0.00556165 0.99995733 0.00737592 0.49745259] [ 0.03235437 -0.00719223 0.99945058 1.48322853] [ 0. 0. 0. 1. ]] SLAMing on 349.80255784400003 meters Centerline goodness : 0.162208 Centerline is valid? [False, False] Translation: X:4.27, Y:0.50, Z:1.48 [[ 0.99945055 0.0059245 -0.03261135 4.27340567] [-0.00567577 0.99995414 0.00771444 0.49564175] [ 0.03265556 -0.0075251 0.99943834 1.48268052] [ 0. 0. 0. 1. ]] SLAMing on 349.83255784400006 meters Centerline goodness : 0.100954 Centerline is valid? [False, False] Translation: X:4.27, Y:0.49, Z:1.48 [[ 0.99944098 0.00605625 -0.03287944 4.27441508] [-0.00579468 0.99995085 0.0080447 0.49401915] [ 0.03292654 -0.00784968 0.99942695 1.48217239] [ 0. 0. 0. 1. ]] SLAMing on 349.86255784400004 meters Centerline goodness : 0.171514 Centerline is valid? [False, False] Translation: X:4.28, Y:0.49, Z:1.48 [[ 0.99942346 0.00615998 -0.03338853 4.27610722] [-0.0058777 0.99994621 0.00854604 0.49135182] [ 0.03343937 -0.00834486 0.99940591 1.48148256] [ 0. 0. 0. 1. ]] SLAMing on 349.89255784400007 meters Centerline goodness : 0.132387 Centerline is valid? [False, False] Translation: X:4.28, Y:0.49, Z:1.48 [[ 0.99942354 0.00620239 -0.03337834 4.27595246] [-0.00591271 0.99994406 0.0087707 0.49007135] [ 0.03343087 -0.00856829 0.9994043 1.48167968] [ 0. 0. 0. 1. ]] SLAMing on 349.92255784400004 meters Centerline goodness : 0.165844 Centerline is valid? [False, False] Translation: X:4.30, Y:0.49, Z:1.48 [[ 9.99473608e-01 -2.33708626e-03 -3.23580678e-02 4.29670711e+00] [ 2.64721864e-03 9.99950943e-01 9.54487010e-03 4.93040250e-01] [ 3.23341732e-02 -9.62550464e-03 9.99430763e-01 1.48241111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95255784400007 meters Centerline goodness : 0.172216 Centerline is valid? [False, False] Translation: X:4.29, Y:0.49, Z:1.48 [[ 0.99948706 -0.0051116 -0.03161471 4.29389302] [ 0.00535791 0.99995592 0.00771104 0.48727041] [ 0.0315739 -0.00787647 0.99947038 1.48316598] [ 0. 0. 0. 1. ]] SLAMing on 349.98255784400004 meters Centerline goodness : 0.172103 Centerline is valid? [False, False] Translation: X:4.29, Y:0.48, Z:1.48 [[ 0.9995025 -0.0052664 -0.03109688 4.2923866 ] [ 0.00552226 0.99995156 0.00814775 0.48469012] [ 0.03105246 -0.00831542 0.99948317 1.48328279] [ 0. 0. 0. 1. ]] SLAMing on 350.01255784400007 meters Centerline goodness : 0.129575 Centerline is valid? [False, False] Translation: X:4.29, Y:0.48, Z:1.48 [[ 0.99951385 -0.00552111 -0.03068519 4.29102783] [ 0.00578421 0.99994721 0.00849226 0.48227006] [ 0.03063668 -0.00866562 0.99949302 1.4835078 ] [ 0. 0. 0. 1. ]] SLAMing on 350.04255784400004 meters Centerline goodness : 0.168595 Centerline is valid? [False, False] Translation: X:4.29, Y:0.48, Z:1.48 [[ 0.9995203 -0.00787481 -0.02995263 4.28803749] [ 0.00808317 0.99994393 0.00684163 0.47730614] [ 0.02989708 -0.00708047 0.9995279 1.48444941] [ 0. 0. 0. 1. ]] SLAMing on 350.0725578440001 meters Centerline goodness : 0.141827 Centerline is valid? [False, False] Translation: X:4.29, Y:0.47, Z:1.48 [[ 0.9995286 -0.00787948 -0.02967319 4.28733166] [ 0.00810335 0.99993955 0.00743165 0.47459648] [ 0.02961283 -0.0076686 0.99953203 1.48413007] [ 0. 0. 0. 1. ]] SLAMing on 350.10255784400005 meters Centerline goodness : 0.147197 Centerline is valid? [False, False] Translation: X:4.29, Y:0.47, Z:1.48 [[ 0.99952107 -0.00945956 -0.02946434 4.28652185] [ 0.00967026 0.99992862 0.00701691 0.46687891] [ 0.02939586 -0.00729848 0.9995412 1.48382415] [ 0. 0. 0. 1. ]] SLAMing on 350.1325578440001 meters Centerline goodness : 0.201488 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:1.48 [[ 9.99604666e-01 -1.92734311e-03 -2.80499013e-02 4.26782106e+00] [ 2.07825640e-03 9.99983518e-01 5.35201364e-03 4.58645879e-01] [ 2.80391238e-02 -5.40819269e-03 9.99592196e-01 1.48142800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16255784400005 meters Centerline goodness : 0.172187 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:1.48 [[ 9.99605091e-01 -1.82829834e-03 -2.80413918e-02 4.26761822e+00] [ 1.98847845e-03 9.99981861e-01 5.68545252e-03 4.56760435e-01] [ 2.80304884e-02 -5.73896698e-03 9.99590594e-01 1.48173166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1925578440001 meters Centerline goodness : 0.139426 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:1.48 [[ 9.99605807e-01 -1.72995860e-03 -2.80221060e-02 4.26730453e+00] [ 1.89642342e-03 9.99980708e-01 5.91499546e-03 4.55666141e-01] [ 2.80113327e-02 -5.96580559e-03 9.99589803e-01 1.48215912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22255784400005 meters Centerline goodness : 0.123631 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:1.48 [[ 9.99604481e-01 -1.65447804e-03 -2.80739238e-02 4.26740744e+00] [ 1.82352972e-03 9.99980354e-01 5.99712912e-03 4.55580006e-01] [ 2.80634501e-02 -6.04595078e-03 9.99587860e-01 1.48218581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.252557844 meters Centerline goodness : 0.218979 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:1.48 [[ 9.99605107e-01 -1.52804405e-03 -2.80587912e-02 4.26738145e+00] [ 1.70139155e-03 9.99979609e-01 6.15517555e-03 4.55222750e-01] [ 2.80488137e-02 -6.20048390e-03 9.99587324e-01 1.48216561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28255784400005 meters Centerline goodness : 0.135411 Centerline is valid? [False, False] Translation: X:4.29, Y:0.45, Z:1.48 [[ 0.99962498 0.00659547 -0.02657813 4.28644845] [-0.00647478 0.99996835 0.00462442 0.45046219] [ 0.02660778 -0.0044506 0.99963604 1.48350236] [ 0. 0. 0. 1. ]] SLAMing on 350.312557844 meters Centerline goodness : 0.149320 Centerline is valid? [False, False] Translation: X:4.29, Y:0.45, Z:1.48 [[ 0.99962611 0.00660672 -0.02653267 4.28623897] [-0.00648306 0.99996773 0.00474408 0.44957046] [ 0.02656316 -0.00457029 0.99963669 1.48363013] [ 0. 0. 0. 1. ]] SLAMing on 350.34255784400005 meters Centerline goodness : 0.105984 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 9.99663081e-01 6.96906641e-03 -2.50031193e-02 4.33091206e+00] [-6.86660440e-03 9.99967682e-01 4.18148916e-03 4.49285365e-01] [ 2.50314523e-02 -4.00839381e-03 9.99678628e-01 1.48394777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.372557844 meters Centerline goodness : 0.132148 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 9.99652817e-01 7.08939500e-03 -2.53768725e-02 4.33226883e+00] [-6.97775165e-03 9.99965596e-01 4.48526523e-03 4.48174325e-01] [ 2.54077972e-02 -4.30663450e-03 9.99667893e-01 1.48323980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40255784400006 meters Centerline goodness : 0.120489 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 0.99964872 0.00710541 -0.02553318 4.33264463] [-0.00698961 0.99996489 0.00462159 0.44735932] [ 0.02556513 -0.0044415 0.99966329 1.48329329] [ 0. 0. 0. 1. ]] SLAMing on 350.43255784400003 meters Centerline goodness : 0.181923 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 0.99964685 0.00709449 -0.02560952 4.33258312] [-0.00697579 0.99996452 0.00472124 0.44649083] [ 0.0256421 -0.00454093 0.99966087 1.48369523] [ 0. 0. 0. 1. ]] SLAMing on 350.46255784400006 meters Centerline goodness : 0.140593 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 0.99964665 0.00707025 -0.02562404 4.33237427] [-0.00695013 0.99996445 0.00477377 0.4459197 ] [ 0.02565688 -0.00459399 0.99966025 1.48408124] [ 0. 0. 0. 1. ]] SLAMing on 350.49255784400003 meters Centerline goodness : 0.132483 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 0.99965285 0.00715294 -0.02535792 4.3317208 ] [-0.00703472 0.99996398 0.00474836 0.44685482] [ 0.02539097 -0.00456833 0.99966716 1.48404519] [ 0. 0. 0. 1. ]] SLAMing on 350.52255784400006 meters Centerline goodness : 0.137997 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 0.99965224 0.00710541 -0.02539504 4.33212085] [-0.00699216 0.99996522 0.00454553 0.44808557] [ 0.02542646 -0.00436638 0.99966716 1.48354438] [ 0. 0. 0. 1. ]] SLAMing on 350.55255784400003 meters Centerline goodness : 0.131712 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 9.99647009e-01 7.01566264e-03 -2.56249385e-02 4.33299510e+00] [-6.90631094e-03 9.99966675e-01 4.35340594e-03 4.48808685e-01] [ 2.56546266e-02 -4.17489543e-03 9.99662148e-01 1.48303919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58255784400006 meters Centerline goodness : 0.130321 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 9.99638087e-01 6.90317667e-03 -2.60007943e-02 4.33420936e+00] [-6.79719052e-03 9.99968236e-01 4.16244487e-03 4.49343620e-01] [ 2.60287025e-02 -3.98420607e-03 9.99653256e-01 1.48258606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61255784400004 meters Centerline goodness : 0.114746 Centerline is valid? [False, False] Translation: X:4.34, Y:0.45, Z:1.48 [[ 9.99631760e-01 6.83206513e-03 -2.62615054e-02 4.33500224e+00] [-6.72845880e-03 9.99969237e-01 4.03152199e-03 4.49702016e-01] [ 2.62882411e-02 -3.85333797e-03 9.99646978e-01 1.48232950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64255784400007 meters Centerline goodness : 0.140571 Centerline is valid? [False, False] Translation: X:4.32, Y:0.45, Z:1.48 [[ 9.99619708e-01 -1.75928892e-03 -2.75198829e-02 4.31604664e+00] [ 1.90822425e-03 9.99983672e-01 5.38659169e-03 4.54063886e-01] [ 2.75099570e-02 -5.43705732e-03 9.99606743e-01 1.48077194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67255784400004 meters Centerline goodness : 0.135211 Centerline is valid? [False, False] Translation: X:4.34, Y:0.45, Z:1.48 [[ 0.99961548 0.00688071 -0.0268618 4.33606852] [-0.00675513 0.99996584 0.00476312 0.44834651] [ 0.02689366 -0.00457984 0.99962781 1.48166706] [ 0. 0. 0. 1. ]] SLAMing on 350.70255784400007 meters Centerline goodness : 0.142455 Centerline is valid? [False, False] Translation: X:4.34, Y:0.45, Z:1.48 [[ 0.99961638 0.00696163 -0.02680707 4.33579818] [-0.00682935 0.99996407 0.00502279 0.4469564 ] [ 0.02684107 -0.00483779 0.99962801 1.48189014] [ 0. 0. 0. 1. ]] SLAMing on 350.73255784400004 meters Centerline goodness : 0.119566 Centerline is valid? [False, False] Translation: X:4.34, Y:0.44, Z:1.48 [[ 0.9996101 0.00707633 -0.02701055 4.33611411] [-0.00693033 0.99996089 0.00549514 0.44419467] [ 0.02704838 -0.00530581 0.99962004 1.48217159] [ 0. 0. 0. 1. ]] SLAMing on 350.76255784400007 meters Centerline goodness : 0.135146 Centerline is valid? [False, False] Translation: X:4.34, Y:0.44, Z:1.48 [[ 0.99960502 0.00713351 -0.02718294 4.33655051] [-0.00698235 0.99995965 0.00565193 0.443413 ] [ 0.02722216 -0.00545989 0.9996145 1.48217054] [ 0. 0. 0. 1. ]] SLAMing on 350.79255784400004 meters Centerline goodness : 0.141892 Centerline is valid? [False, False] Translation: X:4.34, Y:0.44, Z:1.48 [[ 0.99960392 0.0071895 -0.02720859 4.33670343] [-0.00703675 0.99995896 0.00570566 0.44331683] [ 0.02724849 -0.00551194 0.99961349 1.48203483] [ 0. 0. 0. 1. ]] SLAMing on 350.8225578440001 meters Centerline goodness : 0.128884 Centerline is valid? [False, False] Translation: X:4.34, Y:0.44, Z:1.48 [[ 0.999607 0.00727956 -0.0270711 4.33624777] [-0.00712801 0.9999584 0.0056907 0.44380732] [ 0.0271114 -0.00549551 0.99961731 1.48225262] [ 0. 0. 0. 1. ]] SLAMing on 350.85255784400005 meters Centerline goodness : 0.140313 Centerline is valid? [False, False] Translation: X:4.33, Y:0.44, Z:1.48 [[ 0.99963314 0.00781148 -0.02593386 4.33302536] [-0.0076603 0.99995312 0.0059234 0.44406068] [ 0.02597891 -0.00572256 0.99964611 1.48302858] [ 0. 0. 0. 1. ]] SLAMing on 350.8825578440001 meters Centerline goodness : 0.122715 Centerline is valid? [False, False] Translation: X:4.38, Y:0.45, Z:1.48 [[ 0.99968645 0.00870284 -0.02347915 4.37635167] [-0.00857974 0.99994894 0.00533834 0.44544155] [ 0.02352441 -0.00513522 0.99971007 1.48367358] [ 0. 0. 0. 1. ]] SLAMing on 350.91255784400005 meters Centerline goodness : 0.172066 Centerline is valid? [False, False] Translation: X:4.36, Y:0.45, Z:1.48 [[ 9.99723663e-01 4.22423102e-04 -2.35035869e-02 4.35762900e+00] [-2.65970464e-04 9.99977791e-01 6.65927100e-03 4.50741344e-01] [ 2.35058779e-02 -6.65117954e-03 9.99701573e-01 1.48190498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9425578440001 meters Centerline goodness : 0.135089 Centerline is valid? [False, False] Translation: X:4.38, Y:0.45, Z:1.48 [[ 0.99969824 0.00929076 -0.02274008 4.37808357] [-0.00916701 0.99994263 0.00554032 0.44810096] [ 0.02279025 -0.00533019 0.99972606 1.48294472] [ 0. 0. 0. 1. ]] SLAMing on 350.97255784400005 meters Centerline goodness : 0.169546 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99683272e-01 3.35432499e-03 -2.49420008e-02 4.39525387e+00] [-3.19632355e-03 9.99974591e-01 6.37192559e-03 4.53955765e-01] [ 2.49627405e-02 -6.29018473e-03 9.99668593e-01 1.48549090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.002557844 meters Centerline goodness : 0.141647 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.48 [[ 9.99681388e-01 3.29383190e-03 -2.50254442e-02 4.39581849e+00] [-3.13860449e-03 9.99975608e-01 6.23953194e-03 4.54536802e-01] [ 2.50453857e-02 -6.15899898e-03 9.99667342e-01 1.48488540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03255784400005 meters Centerline goodness : 0.143105 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.48 [[ 9.99674700e-01 3.29255053e-03 -2.52913866e-02 4.39665862e+00] [-3.13185651e-03 9.99974675e-01 6.39069107e-03 4.53658974e-01] [ 2.53117877e-02 -6.30940318e-03 9.99659695e-01 1.48454285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.062557844 meters Centerline goodness : 0.125416 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.48 [[ 9.99676060e-01 3.34711280e-03 -2.52303610e-02 4.39645732e+00] [-3.18315977e-03 9.99973576e-01 6.53560745e-03 4.53082213e-01] [ 2.52515697e-02 -6.45317803e-03 9.99660300e-01 1.48459353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09255784400005 meters Centerline goodness : 0.127165 Centerline is valid? [False, False] Translation: X:4.42, Y:0.46, Z:1.49 [[ 9.99697177e-01 -4.39715886e-03 -2.42119670e-02 4.41598114e+00] [ 4.58347971e-03 9.99960270e-01 7.64529227e-03 4.56581820e-01] [ 2.41773875e-02 -7.75395216e-03 9.99677613e-01 1.48613061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.122557844 meters Centerline goodness : 0.120687 Centerline is valid? [False, False] Translation: X:4.41, Y:0.46, Z:1.49 [[ 0.99970568 -0.00451456 -0.02383617 4.41466422] [ 0.00469871 0.99995951 0.00767523 0.45599662] [ 0.02380055 -0.00778497 0.99968641 1.48664362] [ 0. 0. 0. 1. ]] SLAMing on 351.15255784400006 meters Centerline goodness : 0.111142 Centerline is valid? [False, False] Translation: X:4.41, Y:0.46, Z:1.49 [[ 0.99970621 -0.00467095 -0.02378397 4.41409252] [ 0.00485286 0.99995937 0.00759658 0.45537389] [ 0.02374752 -0.00770977 0.99968826 1.48730559] [ 0. 0. 0. 1. ]] SLAMing on 351.18255784400003 meters Centerline goodness : 0.134260 Centerline is valid? [False, False] Translation: X:4.42, Y:0.45, Z:1.49 [[ 0.99969528 -0.00448278 -0.02427461 4.41555159] [ 0.00467133 0.99995932 0.00771622 0.45497019] [ 0.02423904 -0.00782727 0.99967555 1.48709017] [ 0. 0. 0. 1. ]] SLAMing on 351.21255784400006 meters Centerline goodness : 0.129620 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99651405e-01 4.27489788e-03 -2.60536724e-02 4.39604026e+00] [-4.09682711e-03 9.99967911e-01 6.88431651e-03 4.48750841e-01] [ 2.60822661e-02 -6.77517928e-03 9.99636840e-01 1.48667816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24255784400003 meters Centerline goodness : 0.164295 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99653043e-01 4.44073408e-03 -2.59629415e-02 4.39583153e+00] [-4.25713145e-03 9.99965571e-01 7.12272059e-03 4.47775685e-01] [ 2.59936777e-02 -7.00972165e-03 9.99637531e-01 1.48666318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27255784400006 meters Centerline goodness : 0.156878 Centerline is valid? [False, False] Translation: X:4.42, Y:0.44, Z:1.49 [[ 0.99960236 0.01305154 -0.02499553 4.4156839 ] [-0.01290451 0.99989852 0.00603476 0.4427258 ] [ 0.02507175 -0.0057098 0.99966935 1.48784777] [ 0. 0. 0. 1. ]] SLAMing on 351.30255784400003 meters Centerline goodness : 0.156878 Centerline is valid? [False, False] Translation: X:4.42, Y:0.44, Z:1.49 [[ 0.99960236 0.01305154 -0.02499553 4.4156839 ] [-0.01290451 0.99989852 0.00603476 0.4427258 ] [ 0.02507175 -0.0057098 0.99966935 1.48784777] [ 0. 0. 0. 1. ]] SLAMing on 351.33255784400006 meters Centerline goodness : 0.167739 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99656379e-01 4.26622836e-03 -2.58635468e-02 4.39658669e+00] [-4.07849339e-03 9.99964986e-01 7.30708160e-03 4.45849046e-01] [ 2.58938149e-02 -7.19908643e-03 9.99638777e-01 1.48635026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36255784400004 meters Centerline goodness : 0.141330 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.49 [[ 9.99643636e-01 4.38578351e-03 -2.63318248e-02 4.39805752e+00] [-4.18800893e-03 9.99962643e-01 7.56131368e-03 4.44204805e-01] [ 2.63640034e-02 -7.44834118e-03 9.99624660e-01 1.48591756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39255784400007 meters Centerline goodness : 0.167819 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.49 [[ 9.99638623e-01 4.45494516e-03 -2.65099220e-02 4.39857705e+00] [-4.25214923e-03 9.99961304e-01 7.70127406e-03 4.43418290e-01] [ 2.65432049e-02 -7.58576685e-03 9.99618885e-01 1.48582420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42255784400004 meters Centerline goodness : 0.122284 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.49 [[ 9.99638290e-01 4.53246975e-03 -2.65093421e-02 4.39848540e+00] [-4.32634832e-03 9.99960005e-01 7.82761934e-03 4.42883571e-01] [ 2.65437603e-02 -7.71009936e-03 9.99617919e-01 1.48595783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45255784400007 meters Centerline goodness : 0.154157 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.49 [[ 0.99964399 0.0046367 -0.02627521 4.39774464] [-0.00442841 0.99995836 0.00797974 0.44238534] [ 0.02631112 -0.00786054 0.9996229 1.48623511] [ 0. 0. 0. 1. ]] SLAMing on 351.48255784400004 meters Centerline goodness : 0.150349 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.49 [[ 0.99964719 0.0047413 -0.02613454 4.39725198] [-0.00453146 0.99995707 0.00808264 0.44222008] [ 0.02617174 -0.00796136 0.99962576 1.48647297] [ 0. 0. 0. 1. ]] SLAMing on 351.51255784400007 meters Centerline goodness : 0.118891 Centerline is valid? [False, False] Translation: X:4.44, Y:0.44, Z:1.49 [[ 0.99968773 0.00660352 -0.02410062 4.4427001 ] [-0.00639781 0.99994253 0.00860261 0.44314849] [ 0.02415605 -0.00844573 0.99967252 1.48624363] [ 0. 0. 0. 1. ]] SLAMing on 351.54255784400004 meters Centerline goodness : 0.145751 Centerline is valid? [False, False] Translation: X:4.44, Y:0.44, Z:1.49 [[ 0.99968353 0.00664891 -0.02426165 4.44336076] [-0.00643913 0.9999413 0.00871425 0.4425546 ] [ 0.02431817 -0.00855527 0.99966766 1.48582808] [ 0. 0. 0. 1. ]] SLAMing on 351.5725578440001 meters Centerline goodness : 0.145435 Centerline is valid? [False, False] Translation: X:4.44, Y:0.44, Z:1.49 [[ 0.99967662 0.0068004 -0.02450323 4.44438509] [-0.00658213 0.99993804 0.00897755 0.44148984] [ 0.02456276 -0.00881337 0.99965944 1.48529139] [ 0. 0. 0. 1. ]] SLAMing on 351.60255784400005 meters Centerline goodness : 0.150445 Centerline is valid? [False, False] Translation: X:4.42, Y:0.44, Z:1.48 [[ 9.99656018e-01 -2.39172679e-03 -2.61175252e-02 4.42349496e+00] [ 2.65442843e-03 9.99946191e-01 1.00284102e-02 4.42843602e-01] [ 2.60921346e-02 -1.00942878e-02 9.99608576e-01 1.48483521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6325578440001 meters Centerline goodness : 0.155645 Centerline is valid? [False, False] Translation: X:4.42, Y:0.44, Z:1.49 [[ 9.99652541e-01 -1.98915572e-03 -2.62838475e-02 4.42333625e+00] [ 2.27876374e-03 9.99936977e-01 1.09931245e-02 4.38446519e-01] [ 2.62603239e-02 -1.10491995e-02 9.99594073e-01 1.48585242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66255784400005 meters Centerline goodness : 0.129638 Centerline is valid? [False, False] Translation: X:4.42, Y:0.44, Z:1.49 [[ 9.99649489e-01 -1.82025863e-03 -2.64118619e-02 4.42340804e+00] [ 2.12281380e-03 9.99932402e-01 1.14317630e-02 4.36285679e-01] [ 2.63892677e-02 -1.14838235e-02 9.99585778e-01 1.48632979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6925578440001 meters Centerline goodness : 0.121619 Centerline is valid? [False, False] Translation: X:4.42, Y:0.43, Z:1.49 [[ 9.99646952e-01 -1.72641951e-03 -2.65139571e-02 4.42337623e+00] [ 2.03607860e-03 9.99929987e-01 1.16565448e-02 4.34790920e-01] [ 2.64919767e-02 -1.17064140e-02 9.99580480e-01 1.48696054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72255784400005 meters Centerline goodness : 0.163141 Centerline is valid? [False, False] Translation: X:4.42, Y:0.43, Z:1.49 [[ 9.99646102e-01 -1.56657399e-03 -2.65559001e-02 4.42339515e+00] [ 1.88727708e-03 9.99925546e-01 1.20557702e-02 4.32613850e-01] [ 2.65350367e-02 -1.21016220e-02 9.99574631e-01 1.48714809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.752557844 meters Centerline goodness : 0.142235 Centerline is valid? [False, False] Translation: X:4.42, Y:0.43, Z:1.49 [[ 9.99640492e-01 -1.43902902e-03 -2.67734107e-02 4.42400038e+00] [ 1.76565946e-03 9.99924260e-01 1.21801687e-02 4.31970052e-01] [ 2.67538553e-02 -1.22230626e-02 9.99567320e-01 1.48726337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78255784400005 meters Centerline goodness : 0.140175 Centerline is valid? [False, False] Translation: X:4.42, Y:0.43, Z:1.49 [[ 9.99642859e-01 -1.01180096e-03 -2.67044939e-02 4.42420989e+00] [ 1.34888122e-03 9.99919611e-01 1.26076106e-02 4.30611482e-01] [ 2.66895907e-02 -1.26391291e-02 9.99563864e-01 1.48661949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.812557844 meters Centerline goodness : 0.126932 Centerline is valid? [False, False] Translation: X:4.45, Y:0.43, Z:1.49 [[ 0.99963026 0.00842267 -0.02585328 4.44546996] [-0.00811522 0.99989538 0.01197408 0.42760703] [ 0.02595143 -0.01175985 0.99959403 1.48704636] [ 0. 0. 0. 1. ]] SLAMing on 351.84255784400005 meters Centerline goodness : 0.147408 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99951401 0.00998888 -0.02952913 4.40524608] [-0.00958499 0.99985901 0.01378753 0.42473823] [ 0.02966269 -0.01349779 0.99946883 1.48668902] [ 0. 0. 0. 1. ]] SLAMing on 351.872557844 meters Centerline goodness : 0.157889 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99950384 0.01009816 -0.02983456 4.40622437] [-0.00968887 0.9998574 0.01383163 0.42462936] [ 0.02996998 -0.01353571 0.99945915 1.48647787] [ 0. 0. 0. 1. ]] SLAMing on 351.90255784400006 meters Centerline goodness : 0.137770 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99949828 0.01019144 -0.02998887 4.40650806] [-0.00977486 0.99985414 0.01400509 0.423587 ] [ 0.03012722 -0.01370493 0.99945211 1.48675709] [ 0. 0. 0. 1. ]] SLAMing on 351.93255784400003 meters Centerline goodness : 0.136722 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99953717 0.00729413 -0.02953357 4.40525292] [-0.00696503 0.99991267 0.01123109 0.42157478] [ 0.02961291 -0.01102019 0.99950069 1.48683696] [ 0. 0. 0. 1. ]] SLAMing on 351.96255784400006 meters Centerline goodness : 0.141302 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.49 [[ 0.99954029 0.00739119 -0.02940367 4.40442134] [-0.00705108 0.99990723 0.0116536 0.41920422] [ 0.02948708 -0.01144091 0.99949968 1.48766173] [ 0. 0. 0. 1. ]] SLAMing on 351.99255784400003 meters Centerline goodness : 0.143110 Centerline is valid? [False, False] Translation: X:4.36, Y:0.41, Z:1.49 [[ 9.99638930e-01 3.31517643e-03 -2.66649491e-02 4.36310233e+00] [-3.02934832e-03 9.99937601e-01 1.07525068e-02 4.11948128e-01] [ 2.66989317e-02 -1.06678470e-02 9.99586597e-01 1.48533077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02255784400006 meters Centerline goodness : 0.227261 Centerline is valid? [False, False] Translation: X:4.36, Y:0.41, Z:1.49 [[ 9.99647241e-01 3.38283529e-03 -2.63429470e-02 4.36214556e+00] [-3.08927032e-03 9.99932767e-01 1.11767032e-02 4.10075794e-01] [ 2.63789848e-02 -1.10913800e-02 9.99590481e-01 1.48549803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05255784400003 meters Centerline goodness : 0.146399 Centerline is valid? [False, False] Translation: X:4.38, Y:0.40, Z:1.49 [[ 0.9996141 0.01218649 -0.02496284 4.3803589 ] [-0.01192975 0.99987467 0.01040827 0.40404069] [ 0.02508655 -0.01010646 0.9996342 1.48688014] [ 0. 0. 0. 1. ]] SLAMing on 352.08255784400006 meters Centerline goodness : 0.134633 Centerline is valid? [False, False] Translation: X:4.38, Y:0.40, Z:1.49 [[ 0.99961344 0.01215613 -0.02500388 4.38043348] [-0.01190119 0.99987593 0.01031955 0.40439932] [ 0.02512622 -0.01001798 0.99963409 1.48698903] [ 0. 0. 0. 1. ]] SLAMing on 352.11255784400004 meters Centerline goodness : 0.155580 Centerline is valid? [False, False] Translation: X:4.37, Y:0.41, Z:1.49 [[ 9.99585716e-01 3.88577940e-03 -2.85183752e-02 4.36551524e+00] [-3.55694187e-03 9.99926711e-01 1.15724099e-02 4.12018720e-01] [ 2.85612530e-02 -1.14661774e-02 9.99526279e-01 1.48503455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14255784400007 meters Centerline goodness : 0.136677 Centerline is valid? [False, False] Translation: X:4.37, Y:0.41, Z:1.48 [[ 9.99575276e-01 3.85127743e-03 -2.88865772e-02 4.36690727e+00] [-3.52761370e-03 9.99930525e-01 1.12472454e-02 4.13594777e-01] [ 2.89278866e-02 -1.11405678e-02 9.99519417e-01 1.48434733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17255784400004 meters SLAMing on 352.20255784400007 meters Centerline goodness : 0.137597 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99961789 0.00657274 -0.02684912 4.4091882 ] [-0.00625241 0.99990848 0.01199743 0.41956286] [ 0.02692552 -0.01182497 0.9995675 1.48530808] [ 0. 0. 0. 1. ]] SLAMing on 352.23255784400004 meters Centerline goodness : 0.143243 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99962425 0.00651595 -0.02662521 4.40834733] [-0.00620342 0.99991109 0.01180366 0.42074152] [ 0.02669976 -0.01163406 0.9995758 1.48558637] [ 0. 0. 0. 1. ]] SLAMing on 352.26255784400007 meters Centerline goodness : 0.153592 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99963224 0.00643424 -0.02634346 4.4072465 ] [-0.00612767 0.99991275 0.01170191 0.4212786 ] [ 0.02641645 -0.01153618 0.99958446 1.48606208] [ 0. 0. 0. 1. ]] SLAMing on 352.29255784400004 meters Centerline goodness : 0.147766 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99963406 0.00639282 -0.02628444 4.40689193] [-0.00608661 0.99991287 0.01171331 0.42092019] [ 0.02635703 -0.01154904 0.99958588 1.48635601] [ 0. 0. 0. 1. ]] SLAMing on 352.3225578440001 meters Centerline goodness : 0.156693 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99963399 0.00634353 -0.02629932 4.40693094] [-0.00603646 0.99991287 0.01173911 0.42055097] [ 0.0263715 -0.01157606 0.99958518 1.48631176] [ 0. 0. 0. 1. ]] SLAMing on 352.35255784400005 meters Centerline goodness : 0.157529 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99963548 0.00637201 -0.02623559 4.4069719 ] [-0.00606079 0.99991053 0.01192492 0.41989036] [ 0.02630923 -0.01176156 0.99958466 1.48586222] [ 0. 0. 0. 1. ]] SLAMing on 352.3825578440001 meters Centerline goodness : 0.131373 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99964334 0.00633596 -0.02594335 4.40602394] [-0.00602698 0.99991019 0.01197063 0.41965639] [ 0.02601687 -0.01181 0.99959174 1.48610122] [ 0. 0. 0. 1. ]] SLAMing on 352.41255784400005 meters Centerline goodness : 0.246516 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.49 [[ 0.99965371 0.00623027 -0.02556628 4.40479982] [-0.00592449 0.99991022 0.01201872 0.41924559] [ 0.02563887 -0.01186309 0.99960088 1.48640614] [ 0. 0. 0. 1. ]] SLAMing on 352.4425578440001 meters Centerline goodness : 0.152540 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.49 [[ 9.99684468e-01 3.16847060e-03 -2.49183628e-02 4.40321632e+00] [-2.94600145e-03 9.99955523e-01 8.95956873e-03 4.18595183e-01] [ 2.49456426e-02 -8.88333217e-03 9.99649339e-01 1.48623958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47255784400005 meters Centerline goodness : 0.163256 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.49 [[ 9.99679785e-01 3.12727920e-03 -2.51106894e-02 4.40383614e+00] [-2.90319566e-03 9.99955686e-01 8.95533368e-03 4.18389847e-01] [ 2.51375824e-02 -8.87956481e-03 9.99644564e-01 1.48599343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.502557844 meters Centerline goodness : 0.149341 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99662544e-01 3.35061937e-03 -2.57598853e-02 4.40643373e+00] [-3.11246328e-03 9.99952098e-01 9.27977371e-03 4.17439301e-01] [ 2.57897444e-02 -9.19646549e-03 9.99625087e-01 1.48442446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53255784400005 meters Centerline goodness : 0.141962 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99659829e-01 3.35672838e-03 -2.58642317e-02 4.40686757e+00] [-3.11607935e-03 9.99951535e-01 9.33901089e-03 4.17066913e-01] [ 2.58943267e-02 -9.25523903e-03 9.99621841e-01 1.48413736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.562557844 meters SLAMing on 352.59255784400005 meters Centerline goodness : 0.240985 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.49 [[ 9.99672842e-01 3.15180501e-03 -2.53825863e-02 4.40453364e+00] [-2.91752025e-03 9.99952852e-01 9.26188707e-03 4.16440559e-01] [ 2.54105812e-02 -9.18480276e-03 9.99634904e-01 1.48598908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.622557844 meters Centerline goodness : 0.136663 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 9.99670379e-01 3.21740640e-03 -2.54711961e-02 4.40500217e+00] [-2.98079108e-03 9.99952106e-01 9.32204964e-03 4.16336856e-01] [ 2.54999690e-02 -9.24305258e-03 9.99632091e-01 1.48565937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65255784400006 meters Centerline goodness : 0.135601 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99664752e-01 3.18302613e-03 -2.56953548e-02 4.40601422e+00] [-2.94681362e-03 9.99953103e-01 9.22544742e-03 4.16666893e-01] [ 2.57235146e-02 -9.14663519e-03 9.99627250e-01 1.48491108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68255784400003 meters Centerline goodness : 0.140922 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99656882e-01 3.12687502e-03 -2.60065529e-02 4.40731680e+00] [-2.89151215e-03 9.99954570e-01 9.08282411e-03 4.17078292e-01] [ 2.60337722e-02 -9.00450936e-03 9.99620509e-01 1.48407563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71255784400006 meters Centerline goodness : 0.253060 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99653013e-01 3.04988643e-03 -2.61639362e-02 4.40809088e+00] [-2.81763673e-03 9.99956344e-01 8.90898983e-03 4.17648889e-01] [ 2.61899654e-02 -8.83217806e-03 9.99617966e-01 1.48342169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74255784400003 meters Centerline goodness : 0.146886 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99660019e-01 3.18345583e-03 -2.58788094e-02 4.40731831e+00] [-2.95533896e-03 9.99956486e-01 8.84828557e-03 4.18662014e-01] [ 2.59058515e-02 -8.76879666e-03 9.99625928e-01 1.48341709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77255784400006 meters Centerline goodness : 0.135377 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99663524e-01 3.16685263e-03 -2.57450984e-02 4.40691026e+00] [-2.94260992e-03 9.99957447e-01 8.74333673e-03 4.19287475e-01] [ 2.57716917e-02 -8.66463702e-03 9.99630304e-01 1.48351343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80255784400003 meters Centerline goodness : 0.163150 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99665266e-01 3.12929605e-03 -2.56819723e-02 4.40674915e+00] [-2.90721395e-03 9.99958100e-01 8.68017944e-03 4.19440927e-01] [ 2.57080591e-02 -8.60261090e-03 9.99632478e-01 1.48352609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83255784400006 meters Centerline goodness : 0.102943 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99664840e-01 3.10467705e-03 -2.57015339e-02 4.40673496e+00] [-2.88309797e-03 9.99958399e-01 8.65381112e-03 4.19308920e-01] [ 2.57273320e-02 -8.57681067e-03 9.99632204e-01 1.48362343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86255784400004 meters Centerline goodness : 0.155491 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99669452e-01 3.17276469e-03 -2.55131548e-02 4.40604109e+00] [-2.94928803e-03 9.99956999e-01 8.79213537e-03 4.18790151e-01] [ 2.55399531e-02 -8.71398351e-03 9.99635822e-01 1.48399825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89255784400007 meters Centerline goodness : 0.136349 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99670394e-01 3.20304879e-03 -2.54724003e-02 4.40577128e+00] [-2.97830424e-03 9.99956349e-01 8.85611071e-03 4.18587334e-01] [ 2.54996550e-02 -8.77732713e-03 9.99636297e-01 1.48426207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92255784400004 meters Centerline goodness : 0.143474 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99668549e-01 3.20129814e-03 -2.55449261e-02 4.40580219e+00] [-2.97510211e-03 9.99956076e-01 8.88792991e-03 4.18329738e-01] [ 2.55722570e-02 -8.80898524e-03 9.99634164e-01 1.48452958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95255784400007 meters Centerline goodness : 0.158350 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99667665e-01 3.19584674e-03 -2.55802028e-02 4.40584567e+00] [-2.96885102e-03 9.99955925e-01 8.90694758e-03 4.18115320e-01] [ 2.56075406e-02 -8.82804368e-03 9.99633092e-01 1.48462613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98255784400004 meters Centerline goodness : 0.137762 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99671333e-01 3.14953536e-03 -2.54421979e-02 4.40555836e+00] [-2.92821008e-03 9.99957590e-01 8.73171831e-03 4.19233897e-01] [ 2.54686198e-02 -8.65434839e-03 9.99638160e-01 1.48442870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01255784400007 meters Centerline goodness : 0.147369 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99676791e-01 3.14976859e-03 -2.52268174e-02 4.40500560e+00] [-2.93273994e-03 9.99958413e-01 8.63547494e-03 4.20063598e-01] [ 2.52529681e-02 -8.55870018e-03 9.99644455e-01 1.48440546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04255784400004 meters Centerline goodness : 0.131568 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.48 [[ 9.99678335e-01 3.07392031e-03 -2.51749542e-02 4.40481890e+00] [-2.86241592e-03 9.99960344e-01 8.43311278e-03 4.21123106e-01] [ 2.51998786e-02 -8.35833895e-03 9.99647490e-01 1.48450627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0725578440001 meters Centerline goodness : 0.137765 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99675580e-01 2.84498719e-03 -2.53108966e-02 4.40507092e+00] [-2.64491923e-03 9.99965024e-01 7.93438947e-03 4.23175928e-01] [ 2.53325845e-02 -7.86487011e-03 9.99648140e-01 1.48458695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10255784400005 meters Centerline goodness : 0.133343 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.48 [[ 9.99679731e-01 2.76267380e-03 -2.51555640e-02 4.40458005e+00] [-2.56876863e-03 9.99966767e-01 7.73729643e-03 4.24139162e-01] [ 2.51761036e-02 -7.67019960e-03 9.99653606e-01 1.48471550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1325578440001 meters Centerline goodness : 0.147815 Centerline is valid? [False, False] Translation: X:4.40, Y:0.43, Z:1.49 [[ 9.99687090e-01 2.70896173e-03 -2.48673016e-02 4.40357717e+00] [-2.52176049e-03 9.99968271e-01 7.55628301e-03 4.25225033e-01] [ 2.48869823e-02 -7.49120920e-03 9.99662203e-01 1.48510271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16255784400005 meters Centerline goodness : 0.128703 Centerline is valid? [False, False] Translation: X:4.40, Y:0.43, Z:1.48 [[ 9.99691935e-01 2.49301123e-03 -2.46945476e-02 4.40323373e+00] [-2.32121137e-03 9.99972923e-01 6.98321907e-03 4.28075694e-01] [ 2.47112882e-02 -6.92374652e-03 9.99670653e-01 1.48487411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1925578440001 meters Centerline goodness : 0.128703 Centerline is valid? [False, False] Translation: X:4.40, Y:0.43, Z:1.48 [[ 9.99691935e-01 2.49301123e-03 -2.46945476e-02 4.40323373e+00] [-2.32121137e-03 9.99972923e-01 6.98321907e-03 4.28075694e-01] [ 2.47112882e-02 -6.92374652e-03 9.99670653e-01 1.48487411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22255784400005 meters Centerline goodness : 0.130671 Centerline is valid? [False, False] Translation: X:4.40, Y:0.43, Z:1.48 [[ 9.99688783e-01 2.31412946e-03 -2.48391290e-02 4.40396307e+00] [-2.15117858e-03 9.99976005e-01 6.58496647e-03 4.29774629e-01] [ 2.48537714e-02 -6.52948371e-03 9.99669773e-01 1.48422763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.252557844 meters Centerline goodness : 0.143049 Centerline is valid? [False, False] Translation: X:4.40, Y:0.43, Z:1.48 [[ 9.99684025e-01 2.14694387e-03 -2.50447867e-02 4.40476360e+00] [-1.99218512e-03 9.99978779e-01 6.20259520e-03 4.31352204e-01] [ 2.50575719e-02 -6.15074148e-03 9.99667088e-01 1.48368811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28255784400005 meters Centerline goodness : 0.152569 Centerline is valid? [False, False] Translation: X:4.41, Y:0.43, Z:1.48 [[ 9.99683292e-01 1.99432082e-03 -2.50866129e-02 4.40520051e+00] [-1.84808545e-03 9.99981175e-01 5.85105432e-03 4.32954400e-01] [ 2.50978095e-02 -5.80283904e-03 9.99668158e-01 1.48306995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.312557844 meters Centerline goodness : 0.152350 Centerline is valid? [False, False] Translation: X:4.41, Y:0.43, Z:1.48 [[ 9.99684369e-01 1.87880492e-03 -2.50526117e-02 4.40526394e+00] [-1.74066557e-03 9.99983169e-01 5.53463802e-03 4.34569316e-01] [ 2.50625885e-02 -5.48928289e-03 9.99670813e-01 1.48274010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34255784400005 meters Centerline goodness : 0.143292 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.48 [[ 9.99692857e-01 1.75632944e-03 -2.47205885e-02 4.40407046e+00] [-1.62863974e-03 9.99985234e-01 5.18450381e-03 4.36470838e-01] [ 2.47293292e-02 -5.14265050e-03 9.99680956e-01 1.48328825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.372557844 meters Centerline goodness : 0.149922 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.48 [[ 9.99694549e-01 1.62347609e-03 -2.46611831e-02 4.40375379e+00] [-1.50113824e-03 9.99986481e-01 4.97844828e-03 4.37113874e-01] [ 2.46689321e-02 -4.93990776e-03 9.99683470e-01 1.48354767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40255784400006 meters Centerline goodness : 0.127770 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.48 [[ 9.99689599e-01 1.49216485e-03 -2.48692391e-02 4.40431080e+00] [-1.37445120e-03 9.99987775e-01 4.74972476e-03 4.37921489e-01] [ 2.48760225e-02 -4.71406889e-03 9.99679429e-01 1.48347825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43255784400003 meters Centerline goodness : 0.131925 Centerline is valid? [False, False] Translation: X:4.41, Y:0.44, Z:1.48 [[ 9.99682801e-01 1.33286744e-03 -2.51499593e-02 4.40538490e+00] [-1.22141316e-03 9.99989369e-01 4.44643025e-03 4.39193873e-01] [ 2.51556184e-02 -4.41430135e-03 9.99673801e-01 1.48284083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46255784400006 meters Centerline goodness : 0.150313 Centerline is valid? [False, False] Translation: X:4.36, Y:0.44, Z:1.48 [[ 9.99604876e-01 1.46070288e-04 -2.81081913e-02 4.36105754e+00] [-1.14279542e-05 9.99988527e-01 4.79024678e-03 4.38897121e-01] [ 2.81085685e-02 -4.78803282e-03 9.99593409e-01 1.48259674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49255784400003 meters Centerline goodness : 0.130130 Centerline is valid? [False, False] Translation: X:4.36, Y:0.44, Z:1.48 [[ 9.99607994e-01 7.02415741e-05 -2.79973673e-02 4.36079671e+00] [ 5.96737090e-05 9.99989236e-01 4.63940531e-03 4.39544876e-01] [ 2.79973918e-02 -4.63925735e-03 9.99597231e-01 1.48256342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52255784400006 meters Centerline goodness : 0.135425 Centerline is valid? [False, False] Translation: X:4.36, Y:0.44, Z:1.48 [[ 9.99609511e-01 2.93626970e-07 -2.79432512e-02 4.36056570e+00] [ 1.25591694e-04 9.99989852e-01 4.50327971e-03 4.40111062e-01] [ 2.79429690e-02 -4.50503067e-03 9.99599367e-01 1.48271863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55255784400003 meters Centerline goodness : 0.130987 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.48 [[ 9.99666642e-01 8.68553715e-04 -2.58040596e-02 4.40455756e+00] [-7.74267538e-04 9.99992989e-01 3.66369464e-03 4.44750664e-01] [ 2.58070608e-02 -3.64249407e-03 9.99660306e-01 1.48298276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58255784400006 meters Centerline goodness : 0.107539 Centerline is valid? [False, False] Translation: X:4.36, Y:0.44, Z:1.48 [[ 9.99577129e-01 1.21369315e-04 -2.90783106e-02 4.35827626e+00] [ 6.33224039e-06 9.99990357e-01 4.39151055e-03 4.42551679e-01] [ 2.90785632e-02 -4.38983764e-03 9.99567490e-01 1.48408194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61255784400004 meters Centerline goodness : 0.152743 Centerline is valid? [False, False] Translation: X:4.36, Y:0.45, Z:1.48 [[ 9.99573579e-01 -1.15516743e-04 -2.92001159e-02 4.35864513e+00] [ 2.23464160e-04 9.99993154e-01 3.69357840e-03 4.46161468e-01] [ 2.91994893e-02 -3.69852856e-03 9.99566762e-01 1.48383382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64255784400007 meters Centerline goodness : 0.137254 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.48 [[ 9.99621475e-01 9.75166971e-04 -2.74946504e-02 4.40241324e+00] [-8.97190862e-04 9.99995541e-01 2.84824028e-03 4.51726758e-01] [ 2.74973053e-02 -2.82249420e-03 9.99617893e-01 1.48446480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67255784400004 meters Centerline goodness : 0.138676 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.48 [[ 9.99635422e-01 8.58472836e-04 -2.69867756e-02 4.40079187e+00] [-7.95294922e-04 9.99996918e-01 2.35171539e-03 4.54767332e-01] [ 2.69887113e-02 -2.32939556e-03 9.99633024e-01 1.48489780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70255784400007 meters Centerline goodness : 0.146420 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.48 [[ 9.99642407e-01 7.89798765e-04 -2.67289050e-02 4.40006757e+00] [-7.32705470e-04 9.99997429e-01 2.14573979e-03 4.55935480e-01] [ 2.67305309e-02 -2.12538807e-03 9.99640416e-01 1.48497562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73255784400004 meters Centerline goodness : 0.134399 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.48 [[ 9.99642585e-01 6.71977512e-04 -2.67254667e-02 4.40012828e+00] [-6.21869176e-04 9.99998033e-01 1.88319553e-03 4.57077760e-01] [ 2.67266796e-02 -1.86590271e-03 9.99641037e-01 1.48482747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76255784400007 meters Centerline goodness : 0.137069 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.48 [[ 9.99639320e-01 5.36284219e-04 -2.68503670e-02 4.40054333e+00] [-4.92392613e-04 9.99998532e-01 1.64125934e-03 4.57944022e-01] [ 2.68512077e-02 -1.62744644e-03 9.99638117e-01 1.48465371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79255784400004 meters Centerline goodness : 0.141148 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.48 [[ 9.99634485e-01 4.43746185e-04 -2.70314548e-02 4.40113711e+00] [-4.03379999e-04 9.99998796e-01 1.49873893e-03 4.58403148e-01] [ 2.70320873e-02 -1.48728717e-03 9.99633460e-01 1.48436563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8225578440001 meters Centerline goodness : 0.139696 Centerline is valid? [False, False] Translation: X:4.42, Y:0.46, Z:1.49 [[ 9.99596867e-01 -7.09436367e-03 -2.74913491e-02 4.42177457e+00] [ 7.16790807e-03 9.99970988e-01 2.57755976e-03 4.63808514e-01] [ 2.74722654e-02 -2.77357612e-03 9.99618718e-01 1.48589097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85255784400005 meters Centerline goodness : 0.141690 Centerline is valid? [False, False] Translation: X:4.38, Y:0.46, Z:1.49 [[ 9.99516809e-01 -8.31522579e-03 -2.99500403e-02 4.37606221e+00] [ 8.41121077e-03 9.99959881e-01 3.08027492e-03 4.59315812e-01] [ 2.99232256e-02 -3.33070267e-03 9.99546651e-01 1.48632434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8825578440001 meters Centerline goodness : 0.134174 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.49 [[ 9.99600781e-01 -2.19142599e-03 -2.81686993e-02 4.39878890e+00] [ 2.18800287e-03 9.99997595e-01 -1.52344374e-04 4.58528590e-01] [ 2.81689654e-02 9.06503606e-05 9.99603172e-01 1.48595393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91255784400005 meters Centerline goodness : 0.140431 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.49 [[ 9.99600666e-01 -2.17673642e-03 -2.81739266e-02 4.39827645e+00] [ 2.18117397e-03 9.99997613e-01 1.26774151e-04 4.56331412e-01] [ 2.81735834e-02 -1.88175761e-04 9.99603028e-01 1.48678712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9425578440001 meters Centerline goodness : 0.148844 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.49 [[ 9.99603472e-01 -2.04531659e-03 -2.80840941e-02 4.39798158e+00] [ 2.05608956e-03 9.99997823e-01 3.54724688e-04 4.55494248e-01] [ 2.80833074e-02 -4.12327443e-04 9.99605501e-01 1.48685128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97255784400005 meters Centerline goodness : 0.127154 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99606211e-01 -1.92449582e-03 -2.79950030e-02 4.39788920e+00] [ 1.94042852e-03 9.99997971e-01 5.41971322e-04 4.54942189e-01] [ 2.79939031e-02 -5.96080201e-04 9.99607916e-01 1.48665110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.002557844 meters Centerline goodness : 0.131854 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99608728e-01 -1.83627713e-03 -2.79108988e-02 4.39775835e+00] [ 1.85572708e-03 9.99998053e-01 6.70972228e-04 4.54454785e-01] [ 2.79096124e-02 -7.22504706e-04 9.99610190e-01 1.48649436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03255784400005 meters Centerline goodness : 0.124606 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99608872e-01 -1.75122954e-03 -2.79112379e-02 4.39792000e+00] [ 1.77610691e-03 9.99998047e-01 8.66536318e-04 4.52973171e-01] [ 2.79096659e-02 -9.15770733e-04 9.99610030e-01 1.48629988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.062557844 meters Centerline goodness : 0.123613 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99606866e-01 -1.65877579e-03 -2.79886040e-02 4.39810681e+00] [ 1.68825343e-03 9.99998045e-01 1.02960387e-03 4.52150137e-01] [ 2.79868414e-02 -1.07645096e-03 9.99607712e-01 1.48630642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09255784400005 meters Centerline goodness : 0.146544 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99603318e-01 -1.49608033e-03 -2.81241726e-02 4.39861828e+00] [ 1.53213671e-03 9.99998032e-01 1.26053677e-03 4.51364122e-01] [ 2.81222313e-02 -1.30312682e-03 9.99603642e-01 1.48599596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.122557844 meters Centerline goodness : 0.128641 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99601603e-01 -1.37921718e-03 -2.81910104e-02 4.39906025e+00] [ 1.42007854e-03 9.99997970e-01 1.42947720e-03 4.50814911e-01] [ 2.81889816e-02 -1.46894115e-03 9.99601532e-01 1.48551565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15255784400006 meters Centerline goodness : 0.130258 Centerline is valid? [False, False] Translation: X:4.42, Y:0.45, Z:1.49 [[ 9.99607303e-01 7.48383804e-03 -2.70043091e-02 4.41875331e+00] [-7.48296997e-03 9.99971993e-01 1.33201337e-04 4.46781855e-01] [ 2.70045496e-02 6.89234050e-05 9.99635308e-01 1.48725299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18255784400003 meters Centerline goodness : 0.118288 Centerline is valid? [False, False] Translation: X:4.37, Y:0.44, Z:1.49 [[ 9.99554375e-01 6.25826005e-03 -2.91870955e-02 4.37118421e+00] [-6.25025699e-03 9.99980400e-01 3.65423952e-04 4.42523586e-01] [ 2.91888104e-02 -1.82834262e-04 9.99573899e-01 1.48859056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21255784400006 meters Centerline goodness : 0.132231 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99594933e-01 -1.29770142e-03 -2.84303827e-02 4.39027712e+00] [ 1.33122076e-03 9.99998441e-01 1.16010129e-03 4.47334093e-01] [ 2.84288330e-02 -1.19747848e-03 9.99595102e-01 1.49007374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24255784400003 meters Centerline goodness : 0.142505 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99596393e-01 -1.27768002e-03 -2.83798873e-02 4.39015356e+00] [ 1.31249861e-03 9.99998409e-01 1.20828146e-03 4.47101238e-01] [ 2.83782983e-02 -1.24504235e-03 9.99596480e-01 1.49003744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27255784400006 meters Centerline goodness : 0.145875 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99595891e-01 -1.15088856e-03 -2.84030000e-02 4.38998776e+00] [ 1.19709352e-03 9.99997988e-01 1.60981311e-03 4.45369355e-01] [ 2.84010901e-02 -1.64316362e-03 9.99595257e-01 1.49038559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30255784400003 meters Centerline goodness : 0.138156 Centerline is valid? [False, False] Translation: X:4.39, Y:0.44, Z:1.49 [[ 9.99593398e-01 -1.07510863e-03 -2.84935453e-02 4.38995110e+00] [ 1.12939171e-03 9.99997578e-01 1.88907606e-03 4.43990788e-01] [ 2.84914453e-02 -1.92048833e-03 9.99592191e-01 1.49084675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33255784400006 meters Centerline goodness : 0.129849 Centerline is valid? [False, False] Translation: X:4.41, Y:0.44, Z:1.49 [[ 9.99605123e-01 4.94386000e-03 -2.76614700e-02 4.41073504e+00] [-4.99540124e-03 9.99985913e-01 -1.79449286e-03 4.41820902e-01] [ 2.76522086e-02 1.93196440e-03 9.99615738e-01 1.49163372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36255784400004 meters Centerline goodness : 0.134874 Centerline is valid? [False, False] Translation: X:4.41, Y:0.44, Z:1.49 [[ 9.99600104e-01 4.98534310e-03 -2.78348351e-02 4.41102936e+00] [-5.03070069e-03 9.99986130e-01 -1.55973570e-03 4.40421425e-01] [ 2.78266732e-02 1.69914069e-03 9.99611319e-01 1.49190223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39255784400007 meters Centerline goodness : 0.132433 Centerline is valid? [False, False] Translation: X:4.41, Y:0.44, Z:1.49 [[ 9.99594819e-01 5.05404977e-03 -2.80116693e-02 4.41170622e+00] [-5.09383583e-03 9.99986116e-01 -1.34916284e-03 4.39420575e-01] [ 2.80044617e-02 1.49130303e-03 9.99606686e-01 1.49152837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42255784400004 meters Centerline goodness : 0.158582 Centerline is valid? [False, False] Translation: X:4.41, Y:0.44, Z:1.49 [[ 9.99590283e-01 5.01008358e-03 -2.81809212e-02 4.41235060e+00] [-5.05438093e-03 9.99986100e-01 -1.50087795e-03 4.40191647e-01] [ 2.81730099e-02 1.64270013e-03 9.99601712e-01 1.49117467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45255784400007 meters Centerline goodness : 0.143698 Centerline is valid? [False, False] Translation: X:4.41, Y:0.44, Z:1.49 [[ 9.99582093e-01 4.89042346e-03 -2.84907563e-02 4.41346751e+00] [-4.94614028e-03 9.99985990e-01 -1.88546452e-03 4.42022273e-01] [ 2.84811365e-02 2.02559585e-03 9.99592278e-01 1.49061418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48255784400004 meters Centerline goodness : 0.153388 Centerline is valid? [False, False] Translation: X:4.37, Y:0.44, Z:1.49 [[ 9.99495251e-01 4.29599836e-03 -3.14767731e-02 4.36820757e+00] [-4.34126458e-03 9.99989638e-01 -1.36988244e-03 4.41092653e-01] [ 3.14705620e-02 1.50584000e-03 9.99503545e-01 1.49081725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51255784400007 meters Centerline goodness : 0.145729 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99540588e-01 -3.03667816e-05 -3.03085986e-02 4.38954100e+00] [ 8.76981309e-05 9.99998210e-01 1.89025943e-03 4.47330346e-01] [ 3.03084869e-02 -1.89204903e-03 9.99538802e-01 1.49172703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54255784400004 meters Centerline goodness : 0.130898 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99547809e-01 -7.31844819e-05 -3.00694673e-02 4.38866200e+00] [ 1.23791988e-04 9.99998579e-01 1.68116156e-03 4.48540613e-01] [ 3.00693016e-02 -1.68412372e-03 9.99546398e-01 1.49210046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5725578440001 meters Centerline goodness : 0.150472 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99552855e-01 -1.24822640e-04 -2.99010893e-02 4.38826678e+00] [ 1.70195090e-04 9.99998838e-01 1.51487769e-03 4.49417782e-01] [ 2.99008655e-02 -1.51928934e-03 9.99551715e-01 1.49202447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60255784400005 meters Centerline goodness : 0.133618 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99553736e-01 -1.65994277e-04 -2.98714288e-02 4.38840735e+00] [ 2.06927640e-04 9.99999044e-01 1.36723210e-03 4.50231706e-01] [ 2.98711733e-02 -1.37280318e-03 9.99552814e-01 1.49161837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6325578440001 meters Centerline goodness : 0.138317 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99552825e-01 -2.26651178e-04 -2.99014895e-02 4.38904804e+00] [ 2.61019473e-04 9.99999310e-01 1.14548575e-03 4.51473450e-01] [ 2.99012093e-02 -1.15277839e-03 9.99552194e-01 1.49065930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66255784400005 meters Centerline goodness : 0.138322 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99547651e-01 -3.19143107e-04 -3.00731087e-02 4.38977418e+00] [ 3.46967710e-04 9.99999517e-01 9.20018155e-04 4.52402303e-01] [ 3.00728005e-02 -9.30036383e-04 9.99547278e-01 1.49014382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6925578440001 meters Centerline goodness : 0.143774 Centerline is valid? [False, False] Translation: X:4.41, Y:0.45, Z:1.49 [[ 9.99532829e-01 8.36174481e-03 -2.93973613e-02 4.41038581e+00] [-8.38282217e-03 9.99964687e-01 -5.93809255e-04 4.51502630e-01] [ 2.93913579e-02 8.39964696e-04 9.99567628e-01 1.49112575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72255784400005 meters Centerline goodness : 0.134153 Centerline is valid? [False, False] Translation: X:4.41, Y:0.46, Z:1.49 [[ 9.99542349e-01 8.42698151e-03 -2.90530139e-02 4.40950888e+00] [-8.46333428e-03 9.99963549e-01 -1.12851297e-03 4.55053954e-01] [ 2.90424449e-02 1.37388188e-03 9.99577235e-01 1.49097195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.752557844 meters Centerline goodness : 0.124284 Centerline is valid? [False, False] Translation: X:4.41, Y:0.46, Z:1.49 [[ 9.99550340e-01 8.31279873e-03 -2.88099958e-02 4.40888181e+00] [-8.36242617e-03 9.99963750e-01 -1.60251754e-03 4.57704278e-01] [ 2.87956301e-02 1.84271841e-03 9.99583621e-01 1.49092510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78255784400005 meters Centerline goodness : 0.148961 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99604702e-01 -1.70098835e-06 -2.81147618e-02 4.38799583e+00] [-1.06409906e-05 9.99999904e-01 -4.38836099e-04 4.64377409e-01] [ 2.81147599e-02 4.38961797e-04 9.99604606e-01 1.48896908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.812557844 meters Centerline goodness : 0.134140 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99621156e-01 -1.83242937e-04 -2.75229187e-02 4.38638749e+00] [ 1.47476594e-04 9.99999142e-01 -1.30153553e-03 4.69375133e-01] [ 2.75231336e-02 1.29698347e-03 9.99620325e-01 1.48893267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84255784400005 meters Centerline goodness : 0.131805 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99624077e-01 -3.59932327e-04 -2.74148554e-02 4.38603771e+00] [ 3.12244045e-04 9.99998431e-01 -1.74376614e-03 4.71575390e-01] [ 2.74154400e-02 1.73455049e-03 9.99622621e-01 1.48897318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.872557844 meters Centerline goodness : 0.136290 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99624132e-01 -4.98062864e-04 -2.74107075e-02 4.38594136e+00] [ 4.42548384e-04 9.99997839e-01 -2.03131363e-03 4.72903392e-01] [ 2.74116600e-02 2.01841956e-03 9.99622192e-01 1.48907397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90255784400006 meters Centerline goodness : 0.135744 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99620671e-01 -5.92852167e-04 -2.75347374e-02 4.38619315e+00] [ 5.33242116e-04 9.99997499e-01 -2.17219582e-03 4.73404194e-01] [ 2.75359563e-02 2.15668917e-03 9.99618487e-01 1.48915067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93255784400003 meters Centerline goodness : 0.126668 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99620600e-01 -1.04518645e-03 -2.75238710e-02 4.38597048e+00] [ 9.80521040e-04 9.99996728e-01 -2.36282188e-03 4.73174031e-01] [ 2.75262505e-02 2.33493769e-03 9.99618354e-01 1.48959603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96255784400006 meters Centerline goodness : 0.136175 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99623186e-01 -1.10465956e-03 -2.74274617e-02 4.38552885e+00] [ 1.04685574e-03 9.99997201e-01 -2.12178598e-03 4.71593512e-01] [ 2.74297288e-02 2.09227387e-03 9.99621545e-01 1.49000863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99255784400003 meters Centerline goodness : 0.137511 Centerline is valid? [False, False] Translation: X:4.38, Y:0.47, Z:1.49 [[ 9.99630753e-01 -1.15228150e-03 -2.71482863e-02 4.38451313e+00] [ 1.10338801e-03 9.99997743e-01 -1.81589045e-03 4.69704651e-01] [ 2.71503174e-02 1.78526485e-03 9.99629768e-01 1.49060747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02255784400006 meters Centerline goodness : 0.138408 Centerline is valid? [False, False] Translation: X:4.38, Y:0.47, Z:1.49 [[ 9.99634047e-01 -1.18045106e-03 -2.70255355e-02 4.38406374e+00] [ 1.14017538e-03 9.99998217e-01 -1.50564337e-03 4.67853409e-01] [ 2.70272647e-02 1.47427852e-03 9.99633610e-01 1.49094794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05255784400003 meters Centerline goodness : 0.137099 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99596275e-01 -1.58843427e-03 -2.83683763e-02 4.38781917e+00] [ 1.54681705e-03 9.99997695e-01 -1.48891304e-03 4.65729025e-01] [ 2.83706759e-02 1.44443124e-03 9.99596428e-01 1.49047959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08255784400006 meters Centerline goodness : 0.151035 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99586976e-01 -1.52093761e-03 -2.86978178e-02 4.38873194e+00] [ 1.48483534e-03 9.99998079e-01 -1.27928287e-03 4.64554870e-01] [ 2.86997084e-02 1.23614296e-03 9.99587314e-01 1.49035414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11255784400004 meters Centerline goodness : 0.151035 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99586976e-01 -1.52093761e-03 -2.86978178e-02 4.38873194e+00] [ 1.48483534e-03 9.99998079e-01 -1.27928287e-03 4.64554870e-01] [ 2.86997084e-02 1.23614296e-03 9.99587314e-01 1.49035414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14255784400007 meters Centerline goodness : 0.141459 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99586090e-01 -1.44109991e-03 -2.87327846e-02 4.38864290e+00] [ 1.40972328e-03 9.99998388e-01 -1.11224183e-03 4.63825061e-01] [ 2.87343411e-02 1.07127618e-03 9.99586510e-01 1.49064990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17255784400004 meters Centerline goodness : 0.134085 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99593581e-01 -1.30024642e-03 -2.84777565e-02 4.38772970e+00] [ 1.27650694e-03 9.99998823e-01 -8.51778586e-04 4.62862894e-01] [ 2.84788305e-02 8.15080353e-04 9.99594064e-01 1.49110694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20255784400007 meters Centerline goodness : 0.134511 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99601657e-01 -1.11916288e-03 -2.82006345e-02 4.38679178e+00] [ 1.10924098e-03 9.99999317e-01 -3.67473963e-04 4.60267524e-01] [ 2.82010265e-02 3.36046283e-04 9.99602215e-01 1.49153771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23255784400004 meters Centerline goodness : 0.135695 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99596423e-01 -1.07721566e-03 -2.83871693e-02 4.38764563e+00] [ 1.07162424e-03 9.99999403e-01 -2.12182441e-04 4.59267025e-01] [ 2.83873810e-02 1.81676430e-04 9.99596981e-01 1.49092697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26255784400007 meters Centerline goodness : 0.149877 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99587834e-01 -1.07227223e-03 -2.86881900e-02 4.38903878e+00] [ 1.06872409e-03 9.99999419e-01 -1.39012186e-04 4.58604016e-01] [ 2.86883224e-02 1.08295130e-04 9.99588400e-01 1.48988715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29255784400004 meters Centerline goodness : 0.127687 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99578687e-01 -1.05438991e-03 -2.90058123e-02 4.39019562e+00] [ 1.05435530e-03 9.99999444e-01 -1.64878978e-05 4.57765445e-01] [ 2.90058135e-02 -1.41014805e-05 9.99579243e-01 1.48931554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3225578440001 meters Centerline goodness : 0.112051 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99576656e-01 -9.58545996e-04 -2.90790192e-02 4.39000691e+00] [ 9.69620701e-04 9.99999463e-01 3.66750230e-04 4.55600248e-01] [ 2.90786520e-02 -3.94790587e-04 9.99577049e-01 1.48992633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35255784400005 meters Centerline goodness : 0.156322 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99583618e-01 -8.60688039e-04 -2.88418147e-02 4.38900711e+00] [ 8.79457742e-04 9.99999410e-01 6.38102033e-04 4.54357032e-01] [ 2.88412484e-02 -6.63201496e-04 9.99583785e-01 1.49059210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3825578440001 meters Centerline goodness : 0.154575 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99584216e-01 -7.77607352e-04 -2.88234525e-02 4.38881603e+00] [ 8.02994019e-04 9.99999300e-01 8.69199818e-04 4.53273623e-01] [ 2.88227564e-02 -8.91983478e-04 9.99584140e-01 1.49084868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41255784400005 meters Centerline goodness : 0.145476 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99575249e-01 -7.78463268e-04 -2.91327169e-02 4.38991846e+00] [ 8.06448120e-04 9.99999225e-01 9.48861585e-04 4.52682467e-01] [ 2.91319556e-02 -9.71952580e-04 9.99575102e-01 1.49034685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4425578440001 meters Centerline goodness : 0.150567 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99554070e-01 -9.55619968e-04 -2.98454018e-02 4.39277980e+00] [ 9.78983496e-04 9.99999226e-01 7.68215821e-04 4.52790349e-01] [ 2.98446446e-02 -7.97091406e-04 9.99554232e-01 1.48855833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47255784400005 meters Centerline goodness : 0.134997 Centerline is valid? [False, False] Translation: X:4.41, Y:0.45, Z:1.49 [[ 9.99551269e-01 7.54065984e-03 -2.89896215e-02 4.41270744e+00] [-7.55831619e-03 9.99971311e-01 -4.99524689e-04 4.49719556e-01] [ 2.89850230e-02 7.18413262e-04 9.99579588e-01 1.48970403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.502557844 meters Centerline goodness : 0.153010 Centerline is valid? [False, False] Translation: X:4.37, Y:0.45, Z:1.49 [[ 9.99488361e-01 6.33503721e-03 -3.13509777e-02 4.36501534e+00] [-6.34544606e-03 9.99979840e-01 -2.32528043e-04 4.45993544e-01] [ 3.13488726e-02 4.31345010e-04 9.99508410e-01 1.49119949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53255784400005 meters Centerline goodness : 0.154327 Centerline is valid? [False, False] Translation: X:4.36, Y:0.45, Z:1.49 [[ 9.99492135e-01 6.34433778e-03 -3.12285506e-02 4.36423865e+00] [-6.35058605e-03 9.99979830e-01 -1.00900975e-04 4.45174690e-01] [ 3.12272805e-02 2.99169328e-04 9.99512265e-01 1.49189152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.562557844 meters Centerline goodness : 0.139784 Centerline is valid? [False, False] Translation: X:4.32, Y:0.44, Z:1.49 [[ 9.99541253e-01 3.42563449e-03 -3.00923350e-02 4.32197664e+00] [-3.44912540e-03 9.99993786e-01 -7.28754541e-04 4.39692644e-01] [ 3.00896515e-02 8.32212464e-04 9.99546857e-01 1.48967989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59255784400005 meters Centerline goodness : 0.146517 Centerline is valid? [False, False] Translation: X:4.34, Y:0.44, Z:1.49 [[ 9.99542830e-01 -4.38639153e-03 -2.99147128e-02 4.34272063e+00] [ 4.39362620e-03 9.99990332e-01 1.76115252e-04 4.42197651e-01] [ 2.99136510e-02 -3.07468803e-04 9.99552439e-01 1.49096981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.622557844 meters Centerline goodness : 0.138513 Centerline is valid? [False, False] Translation: X:4.33, Y:0.43, Z:1.49 [[ 9.99596670e-01 1.49178190e-03 -2.83596908e-02 4.32660050e+00] [-1.52096520e-03 9.99998336e-01 -1.00749793e-03 4.34238131e-01] [ 2.83581406e-02 1.05022568e-03 9.99597275e-01 1.48730026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65255784400006 meters Centerline goodness : 0.126554 Centerline is valid? [False, False] Translation: X:4.33, Y:0.43, Z:1.49 [[ 9.99585480e-01 1.62626672e-03 -2.87441091e-02 4.32749500e+00] [-1.63178243e-03 9.99998654e-01 -1.68434265e-04 4.29185412e-01] [ 2.87437965e-02 2.15268578e-04 9.99586789e-01 1.48754413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68255784400003 meters Centerline goodness : 0.134137 Centerline is valid? [False, False] Translation: X:4.33, Y:0.43, Z:1.49 [[ 9.99583881e-01 1.78535944e-03 -2.87902409e-02 4.32740226e+00] [-1.77878751e-03 9.99998386e-01 2.53879013e-04 4.27115886e-01] [ 2.87906477e-02 -2.02561648e-04 9.99585443e-01 1.48790963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71255784400006 meters Centerline goodness : 0.100630 Centerline is valid? [False, False] Translation: X:4.33, Y:0.43, Z:1.49 [[ 9.99584692e-01 1.93532092e-03 -2.87523539e-02 4.32705494e+00] [-1.91821665e-03 9.99997966e-01 6.22452773e-04 4.25275671e-01] [ 2.87535001e-02 -5.67041020e-04 9.99586372e-01 1.48834880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74255784400003 meters Centerline goodness : 0.171190 Centerline is valid? [False, False] Translation: X:4.33, Y:0.42, Z:1.49 [[ 9.99584660e-01 1.99113140e-03 -2.87496686e-02 4.32676098e+00] [-1.97052217e-03 9.99997781e-01 7.45164872e-04 4.24552730e-01] [ 2.87510886e-02 -6.88203515e-04 9.99586365e-01 1.48888666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77255784400006 meters Centerline goodness : 0.227787 Centerline is valid? [False, False] Translation: X:4.33, Y:0.42, Z:1.49 [[ 9.99579033e-01 2.25472525e-03 -2.89253142e-02 4.32697587e+00] [-2.22848011e-03 9.99997076e-01 9.39546058e-04 4.23907935e-01] [ 2.89273480e-02 -8.74691052e-04 9.99581134e-01 1.48950345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80255784400003 meters Centerline goodness : 0.168962 Centerline is valid? [False, False] Translation: X:4.33, Y:0.42, Z:1.49 [[ 9.99579024e-01 2.31733123e-03 -2.89206519e-02 4.32689562e+00] [-2.29132148e-03 9.99996940e-01 9.32456227e-04 4.24062554e-01] [ 2.89227242e-02 -8.65797174e-04 9.99581276e-01 1.48972301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83255784400006 meters Centerline goodness : 0.172510 Centerline is valid? [False, False] Translation: X:4.33, Y:0.42, Z:1.49 [[ 9.99581516e-01 2.39090152e-03 -2.88283963e-02 4.32655016e+00] [-2.36251539e-03 9.99996690e-01 1.01867932e-03 4.23668372e-01] [ 2.88307364e-02 -9.50145492e-04 9.99583856e-01 1.48990757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86255784400004 meters Centerline goodness : 0.151574 Centerline is valid? [False, False] Translation: X:4.33, Y:0.42, Z:1.49 [[ 9.99581278e-01 2.45733713e-03 -2.88310621e-02 4.32647283e+00] [-2.42526805e-03 9.99996401e-01 1.14722614e-03 4.23001814e-01] [ 2.88337775e-02 -1.07682271e-03 9.99583640e-01 1.49007082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89255784400007 meters Centerline goodness : 0.146279 Centerline is valid? [False, False] Translation: X:4.37, Y:0.42, Z:1.49 [[ 9.99639346e-01 2.95437864e-03 -2.66917444e-02 4.36710209e+00] [-2.91501570e-03 9.99994606e-01 1.51351343e-03 4.21131359e-01] [ 2.66960719e-02 -1.43516072e-03 9.99642566e-01 1.49136171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92255784400004 meters Centerline goodness : 0.108577 Centerline is valid? [False, False] Translation: X:4.32, Y:0.41, Z:1.49 [[ 9.99581140e-01 1.34972381e-03 -2.89088821e-02 4.32029830e+00] [-1.29094279e-03 9.99997062e-01 2.05188767e-03 4.14279828e-01] [ 2.89115667e-02 -2.01370850e-03 9.99579945e-01 1.49233848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95255784400007 meters Centerline goodness : 0.157398 Centerline is valid? [False, False] Translation: X:4.32, Y:0.41, Z:1.49 [[ 9.99586770e-01 -2.01713256e-03 -2.86744009e-02 4.32034645e+00] [ 1.99677567e-03 9.99997734e-01 -7.38548803e-04 4.10880502e-01] [ 2.86758257e-02 6.80987266e-04 9.99588532e-01 1.49144634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98255784400004 meters Centerline goodness : 0.175192 Centerline is valid? [False, False] Translation: X:4.32, Y:0.41, Z:1.49 [[ 9.99573175e-01 -1.93867597e-03 -2.91497602e-02 4.32160122e+00] [ 1.93719430e-03 9.99998121e-01 -7.90701803e-05 4.07339657e-01] [ 2.91498587e-02 2.25676820e-05 9.99575052e-01 1.49120184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01255784400007 meters Centerline goodness : 0.132357 Centerline is valid? [False, False] Translation: X:4.32, Y:0.40, Z:1.49 [[ 9.99541396e-01 -1.78836299e-03 -3.02291218e-02 4.32427073e+00] [ 1.81893619e-03 9.99997862e-01 9.83913935e-04 4.01297299e-01] [ 3.02272976e-02 -1.03844755e-03 9.99542511e-01 1.49108062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04255784400004 meters Centerline goodness : 0.103803 Centerline is valid? [False, False] Translation: X:4.32, Y:0.40, Z:1.49 [[ 9.99538735e-01 -1.53472123e-03 -3.03308805e-02 4.32440567e+00] [ 1.58392175e-03 9.99997469e-01 1.59816650e-03 3.98410059e-01] [ 3.03283510e-02 -1.64547106e-03 9.99538635e-01 1.49131516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0725578440001 meters Centerline goodness : 0.129445 Centerline is valid? [False, False] Translation: X:4.32, Y:0.40, Z:1.49 [[ 9.99534781e-01 -1.31275873e-03 -3.04712773e-02 4.32466290e+00] [ 1.37800586e-03 9.99996803e-01 2.12036587e-03 3.95896691e-01] [ 3.04683964e-02 -2.16136903e-03 9.99533394e-01 1.49153617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10255784400005 meters Centerline goodness : 0.124240 Centerline is valid? [False, False] Translation: X:4.35, Y:0.39, Z:1.49 [[ 9.99507144e-01 6.24287225e-03 -3.07651739e-02 4.34756088e+00] [-6.25827265e-03 9.99980335e-01 -4.04312229e-04 3.90658885e-01] [ 3.07620448e-02 5.96649807e-04 9.99526558e-01 1.49134199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1325578440001 meters Centerline goodness : 0.140515 Centerline is valid? [False, False] Translation: X:4.35, Y:0.39, Z:1.49 [[ 9.99498123e-01 6.31110561e-03 -3.10430659e-02 4.34861987e+00] [-6.32321880e-03 9.99979966e-01 -2.92050632e-04 3.90046888e-01] [ 3.10406008e-02 4.88196157e-04 9.99518005e-01 1.49076103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16255784400005 meters Centerline goodness : 0.108366 Centerline is valid? [False, False] Translation: X:4.35, Y:0.39, Z:1.49 [[ 9.99494301e-01 6.43197383e-03 -3.11411759e-02 4.34910098e+00] [-6.43650196e-03 9.99979284e-01 -4.51633311e-05 3.88898237e-01] [ 3.11402403e-02 2.45580732e-04 9.99514995e-01 1.49039058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1925578440001 meters Centerline goodness : 0.115232 Centerline is valid? [False, False] Translation: X:4.35, Y:0.39, Z:1.49 [[ 9.99492358e-01 6.64140020e-03 -3.11595584e-02 4.34923540e+00] [-6.63053817e-03 9.99977916e-01 4.51909347e-04 3.86868411e-01] [ 3.11618716e-02 -2.45075297e-04 9.99514321e-01 1.49022983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22255784400005 meters Centerline goodness : 0.170471 Centerline is valid? [False, False] Translation: X:4.35, Y:0.38, Z:1.49 [[ 9.99533160e-01 3.29656960e-03 -3.03742310e-02 4.34597579e+00] [-3.36188063e-03 9.99992145e-01 -2.09939340e-03 3.81305231e-01] [ 3.03670716e-02 2.20052786e-03 9.99536392e-01 1.49192100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.252557844 meters Centerline goodness : 0.169067 Centerline is valid? [False, False] Translation: X:4.37, Y:0.38, Z:1.49 [[ 9.99575255e-01 -5.00731566e-03 -2.87095209e-02 4.36724930e+00] [ 4.96477208e-03 9.99986470e-01 -1.55295496e-03 3.80584176e-01] [ 2.87169086e-02 1.40975912e-03 9.99586590e-01 1.49277074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28255784400005 meters Centerline goodness : 0.167415 Centerline is valid? [False, False] Translation: X:4.37, Y:0.38, Z:1.49 [[ 9.99581522e-01 -5.07277819e-03 -2.84789096e-02 4.36629363e+00] [ 5.04900345e-03 9.99986843e-01 -9.06667470e-04 3.77475691e-01] [ 2.84831343e-02 7.62497937e-04 9.99593982e-01 1.49291377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.312557844 meters Centerline goodness : 0.099868 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:1.49 [[ 9.99573889e-01 -4.89349388e-03 -2.87766096e-02 4.36706171e+00] [ 4.88747716e-03 9.99988017e-01 -2.79417344e-04 3.74923313e-01] [ 2.87776321e-02 1.38653259e-04 9.99585829e-01 1.49263139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34255784400005 meters Centerline goodness : 0.120241 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:1.49 [[ 9.99565002e-01 -4.74736626e-03 -2.91078949e-02 4.36816135e+00] [ 4.75300605e-03 9.99988697e-01 1.24567624e-04 3.72872512e-01] [ 2.91069745e-02 -2.62863438e-04 9.99576268e-01 1.49220251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.372557844 meters Centerline goodness : 0.166267 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:1.49 [[ 9.99543689e-01 -4.06826773e-03 -2.99309641e-02 4.37053719e+00] [ 4.10139946e-03 9.99991043e-01 1.04562821e-03 3.69779005e-01] [ 2.99264421e-02 -1.16790992e-03 9.99551421e-01 1.49187328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40255784400006 meters Centerline goodness : 0.087641 Centerline is valid? [False, False] Translation: X:4.39, Y:0.37, Z:1.49 [[ 9.99574859e-01 4.78659169e-03 -2.87609191e-02 4.38983477e+00] [-4.80152761e-03 9.99988371e-01 -4.50272451e-04 3.65741857e-01] [ 2.87584294e-02 5.88177368e-04 9.99586218e-01 1.49354152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43255784400003 meters Centerline goodness : 0.141491 Centerline is valid? [False, False] Translation: X:4.39, Y:0.36, Z:1.49 [[ 9.99573682e-01 4.89366046e-03 -2.87837785e-02 4.38961335e+00] [-4.90350460e-03 9.99987941e-01 -2.71427203e-04 3.64893658e-01] [ 2.87821031e-02 4.12452879e-04 9.99585624e-01 1.49402604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46255784400006 meters Centerline goodness : 0.086164 Centerline is valid? [False, False] Translation: X:4.41, Y:0.37, Z:1.50 [[ 9.99563701e-01 -1.31952764e-03 -2.95070540e-02 4.40716265e+00] [ 1.35214827e-03 9.99998497e-01 1.08559357e-03 3.69512934e-01] [ 2.95055772e-02 -1.12501784e-03 9.99563983e-01 1.49710019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49255784400003 meters Centerline goodness : 0.133567 Centerline is valid? [False, False] Translation: X:4.41, Y:0.37, Z:1.50 [[ 9.99569469e-01 -1.02577411e-03 -2.93227547e-02 4.40654358e+00] [ 1.06441933e-03 9.99998585e-01 1.30234709e-03 3.69170188e-01] [ 2.93213773e-02 -1.33299810e-03 9.99569147e-01 1.49739183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52255784400006 meters Centerline goodness : 0.122310 Centerline is valid? [False, False] Translation: X:4.41, Y:0.37, Z:1.50 [[ 9.99568158e-01 -9.91052136e-04 -2.93686174e-02 4.40650280e+00] [ 1.02788986e-03 9.99998704e-01 1.23925209e-03 3.69203504e-01] [ 2.93673512e-02 -1.26890463e-03 9.99567881e-01 1.49783878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55255784400003 meters Centerline goodness : 0.086754 Centerline is valid? [False, False] Translation: X:4.43, Y:0.37, Z:1.50 [[ 9.99615774e-01 6.98102152e-03 -2.68247909e-02 4.42691981e+00] [-7.00785603e-03 9.99975034e-01 -9.06482293e-04 3.67795786e-01] [ 2.68177930e-02 1.09411827e-03 9.99639740e-01 1.49748975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58255784400006 meters Centerline goodness : 0.117332 Centerline is valid? [False, False] Translation: X:4.43, Y:0.37, Z:1.50 [[ 9.99624669e-01 7.18342750e-03 -2.64370920e-02 4.42560781e+00] [-7.20050858e-03 9.99973924e-01 -5.50961435e-04 3.66339063e-01] [ 2.64324449e-02 7.41115150e-04 9.99650327e-01 1.49810322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61255784400004 meters Centerline goodness : 0.109346 Centerline is valid? [False, False] Translation: X:4.44, Y:0.37, Z:1.50 [[ 9.99648605e-01 2.86980412e-04 -2.65062932e-02 4.44475272e+00] [-2.71993790e-04 9.99999801e-01 5.69002296e-04 3.70786633e-01] [ 2.65064512e-02 -5.61592804e-04 9.99648485e-01 1.49991072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64255784400007 meters Centerline goodness : 0.131298 Centerline is valid? [False, False] Translation: X:4.45, Y:0.37, Z:1.50 [[ 9.99644746e-01 3.67865165e-04 -2.66504578e-02 4.44523248e+00] [-3.48723294e-04 9.99999678e-01 7.22900838e-04 3.70120563e-01] [ 2.66507151e-02 -7.13350389e-04 9.99644552e-01 1.49972952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67255784400004 meters Centerline goodness : 0.159949 Centerline is valid? [False, False] Translation: X:4.47, Y:0.37, Z:1.50 [[ 9.99623667e-01 8.53146846e-03 -2.60717960e-02 4.46703443e+00] [-8.56824781e-03 9.99962448e-01 -1.29930490e-03 3.67828991e-01] [ 2.60597320e-02 1.52220553e-03 9.99659229e-01 1.49960420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70255784400007 meters Centerline goodness : 0.132182 Centerline is valid? [False, False] Translation: X:4.45, Y:0.37, Z:1.50 [[ 9.99601985e-01 -5.40356483e-04 -2.82060311e-02 4.44756805e+00] [ 5.40557440e-04 9.99999854e-01 -5.00406640e-07 3.70148756e-01] [ 2.82060273e-02 -1.47467725e-05 9.99602131e-01 1.49894768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73255784400004 meters Centerline goodness : 0.158343 Centerline is valid? [False, False] Translation: X:4.49, Y:0.37, Z:1.50 [[ 9.99649225e-01 1.40069583e-03 -2.64473975e-02 4.49119762e+00] [-1.42142290e-03 9.99998697e-01 -7.64925752e-04 3.73154147e-01] [ 2.64462916e-02 8.02250372e-04 9.99649914e-01 1.49939479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76255784400007 meters Centerline goodness : 0.107745 Centerline is valid? [False, False] Translation: X:4.49, Y:0.37, Z:1.50 [[ 9.99652192e-01 1.41220247e-03 -2.63343992e-02 4.49084325e+00] [-1.43447408e-03 9.99998629e-01 -8.26851055e-04 3.73630899e-01] [ 2.63331954e-02 8.64339483e-04 9.99652848e-01 1.49948623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79255784400004 meters Centerline goodness : 0.156274 Centerline is valid? [False, False] Translation: X:4.49, Y:0.37, Z:1.50 [[ 9.99654919e-01 1.46759259e-03 -2.62276320e-02 4.49059680e+00] [-1.49131761e-03 9.99998496e-01 -8.85044015e-04 3.74219671e-01] [ 2.62262937e-02 9.23852333e-04 9.99655605e-01 1.49944754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8225578440001 meters Centerline goodness : 0.155571 Centerline is valid? [False, False] Translation: X:4.49, Y:0.37, Z:1.50 [[ 9.99652092e-01 1.44833106e-03 -2.63362391e-02 4.49103514e+00] [-1.47427193e-03 9.99998447e-01 -9.65597660e-04 3.74671639e-01] [ 2.63347997e-02 1.00408850e-03 9.99652675e-01 1.49919053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85255784400005 meters Centerline goodness : 0.159022 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99650730e-01 1.41224283e-03 -2.63898301e-02 4.49136889e+00] [-1.44164811e-03 9.99998361e-01 -1.09527302e-03 3.75347075e-01] [ 2.63882401e-02 1.13293532e-03 9.99651128e-01 1.49886936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8825578440001 meters Centerline goodness : 0.152570 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99650808e-01 1.37239891e-03 -2.63889960e-02 4.49143680e+00] [-1.40492172e-03 9.99998276e-01 -1.21393724e-03 3.75895801e-01] [ 2.63872845e-02 1.25058782e-03 9.99651013e-01 1.49873793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91255784400005 meters Centerline goodness : 0.155452 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99657650e-01 1.31294824e-03 -2.61315764e-02 4.49038459e+00] [-1.34971248e-03 9.99998124e-01 -1.38930117e-03 3.76672153e-01] [ 2.61297033e-02 1.42409566e-03 9.99657547e-01 1.49938466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9425578440001 meters Centerline goodness : 0.155402 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99659038e-01 1.26809964e-03 -2.60806528e-02 4.48995521e+00] [-1.30710428e-03 9.99998053e-01 -1.47854583e-03 3.77107792e-01] [ 2.60787271e-02 1.51213184e-03 9.99658748e-01 1.49985138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97255784400005 meters Centerline goodness : 0.140593 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99658164e-01 1.23204096e-03 -2.61158260e-02 4.49000245e+00] [-1.27316551e-03 9.99997976e-01 -1.55812905e-03 3.77587611e-01] [ 2.61138535e-02 1.59084620e-03 9.99657709e-01 1.49989188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.002557844 meters Centerline goodness : 0.140593 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99658164e-01 1.23204096e-03 -2.61158260e-02 4.49000245e+00] [-1.27316551e-03 9.99997976e-01 -1.55812905e-03 3.77587611e-01] [ 2.61138535e-02 1.59084620e-03 9.99657709e-01 1.49989188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03255784400005 meters Centerline goodness : 0.156583 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99654252e-01 1.12782648e-03 -2.62698223e-02 4.49060115e+00] [-1.17447787e-03 9.99997761e-01 -1.76049306e-03 3.78497506e-01] [ 2.62677779e-02 1.79073770e-03 9.99653338e-01 1.49958090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.062557844 meters Centerline goodness : 0.153350 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99647616e-01 9.11339902e-04 -2.65294820e-02 4.49154948e+00] [-9.69582204e-04 9.99997148e-01 -2.18259955e-03 3.80367887e-01] [ 2.65274172e-02 2.20755295e-03 9.99645649e-01 1.49906340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09255784400005 meters Centerline goodness : 0.108274 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99644084e-01 8.09899846e-04 -2.66654920e-02 4.49182015e+00] [-8.73745113e-04 9.99996780e-01 -2.38273854e-03 3.81308912e-01] [ 2.66634763e-02 2.40518933e-03 9.99641573e-01 1.49919311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.122557844 meters Centerline goodness : 0.085535 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99640896e-01 6.97238218e-04 -2.67879417e-02 4.49196398e+00] [-7.67447195e-04 9.99996298e-01 -2.61072560e-03 3.82339339e-01] [ 2.67860222e-02 2.63034641e-03 9.99637730e-01 1.49943310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15255784400006 meters Centerline goodness : 0.084732 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99637796e-01 5.62494078e-04 -2.69065016e-02 4.49214141e+00] [-6.39787830e-04 9.99995694e-01 -2.86415682e-03 3.83352676e-01] [ 2.69047747e-02 2.88033387e-03 9.99633851e-01 1.49962283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18255784400003 meters Centerline goodness : 0.151509 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99633493e-01 4.02411401e-04 -2.70687460e-02 4.49254081e+00] [-4.88848475e-04 9.99994803e-01 -3.18670096e-03 3.84745718e-01] [ 2.70673230e-02 3.19876553e-03 9.99628495e-01 1.49962420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21255784400006 meters Centerline goodness : 0.142807 Centerline is valid? [False, False] Translation: X:4.49, Y:0.39, Z:1.50 [[ 9.99634717e-01 2.28193953e-04 -2.70255460e-02 4.49230760e+00] [-3.27825039e-04 9.99993167e-01 -3.68217895e-03 3.87643836e-01] [ 2.70245211e-02 3.68969356e-03 9.99627962e-01 1.49971167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24255784400003 meters Centerline goodness : 0.109748 Centerline is valid? [False, False] Translation: X:4.49, Y:0.39, Z:1.50 [[ 9.99636568e-01 1.05886287e-04 -2.69577648e-02 4.49191970e+00] [-2.14142176e-04 9.99991925e-01 -4.01290384e-03 3.89494497e-01] [ 2.69571223e-02 4.01721822e-03 9.99628519e-01 1.50007678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27255784400006 meters Centerline goodness : 0.114293 Centerline is valid? [False, False] Translation: X:4.49, Y:0.39, Z:1.50 [[ 9.99636140e-01 -1.70212027e-05 -2.69738325e-02 4.49170607e+00] [-9.91908851e-05 9.99990720e-01 -4.30698301e-03 3.90988549e-01] [ 2.69736555e-02 4.30809143e-03 9.99626862e-01 1.50045666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30255784400003 meters Centerline goodness : 0.139998 Centerline is valid? [False, False] Translation: X:4.49, Y:0.39, Z:1.50 [[ 9.99632930e-01 -1.48732237e-04 -2.70921196e-02 4.49188337e+00] [ 2.32197015e-05 9.99989267e-01 -4.63306174e-03 3.92123024e-01] [ 2.70925179e-02 4.63073202e-03 9.99622205e-01 1.50065132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33255784400006 meters Centerline goodness : 0.166548 Centerline is valid? [False, False] Translation: X:4.51, Y:0.40, Z:1.50 [[ 9.99587161e-01 -7.15281659e-03 -2.78270615e-02 4.51096664e+00] [ 7.05078545e-03 9.99968063e-01 -3.76301105e-03 3.99606153e-01] [ 2.78530889e-02 3.56525489e-03 9.99605669e-01 1.50352681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36255784400004 meters Centerline goodness : 0.084330 Centerline is valid? [False, False] Translation: X:4.51, Y:0.40, Z:1.50 [[ 9.99591660e-01 -7.14556829e-03 -2.76668533e-02 4.51016910e+00] [ 7.04407202e-03 9.99968105e-01 -3.76424248e-03 3.99828696e-01] [ 2.76928686e-02 3.56781808e-03 9.99610112e-01 1.50411873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39255784400007 meters Centerline goodness : 0.160678 Centerline is valid? [False, False] Translation: X:4.51, Y:0.40, Z:1.50 [[ 9.99595941e-01 -7.15544452e-03 -2.75091595e-02 4.50936366e+00] [ 7.05292685e-03 9.99967824e-01 -3.82189917e-03 4.00285351e-01] [ 2.75356218e-02 3.62633481e-03 9.99614245e-01 1.50477377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42255784400004 meters Centerline goodness : 0.165697 Centerline is valid? [False, False] Translation: X:4.51, Y:0.40, Z:1.51 [[ 9.99593241e-01 -7.32081087e-03 -2.75637064e-02 4.50913603e+00] [ 7.20640683e-03 9.99965012e-01 -4.24758426e-03 4.02226556e-01] [ 2.75938378e-02 4.04722124e-03 9.99611024e-01 1.50539990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45255784400007 meters Centerline goodness : 0.111150 Centerline is valid? [False, False] Translation: X:4.51, Y:0.40, Z:1.51 [[ 0.99958902 -0.00747039 -0.0276763 4.50912016] [ 0.00733996 0.99996149 -0.00481151 0.40423761] [ 0.02771118 0.00460639 0.99960536 1.50604797] [ 0. 0. 0. 1. ]] SLAMing on 357.48255784400004 meters Centerline goodness : 0.166449 Centerline is valid? [False, False] Translation: X:4.51, Y:0.40, Z:1.51 [[ 9.99598779e-01 -4.01162869e-03 -2.80390449e-02 4.50931622e+00] [ 3.97399801e-03 9.99991127e-01 -1.39767737e-03 4.04419783e-01] [ 2.80444030e-02 1.28568948e-03 9.99605852e-01 1.50686042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51255784400007 meters Centerline goodness : 0.155612 Centerline is valid? [False, False] Translation: X:4.51, Y:0.41, Z:1.51 [[ 9.99605761e-01 -4.09584163e-03 -2.77767307e-02 4.50863333e+00] [ 4.04783895e-03 9.99990216e-01 -1.78417023e-03 4.06876649e-01] [ 2.77837666e-02 1.67103111e-03 9.99612560e-01 1.50683081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54255784400004 meters Centerline goodness : 0.162832 Centerline is valid? [False, False] Translation: X:4.51, Y:0.41, Z:1.51 [[ 9.99612281e-01 -4.30054975e-03 -2.75098528e-02 4.50823939e+00] [ 4.22937526e-03 9.99987558e-01 -2.64489928e-03 4.12246341e-01] [ 2.75208850e-02 2.52752432e-03 9.99618033e-01 1.50634676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5725578440001 meters Centerline goodness : 0.163627 Centerline is valid? [False, False] Translation: X:4.51, Y:0.41, Z:1.51 [[ 9.99610646e-01 -4.48934736e-03 -2.75391072e-02 4.50845210e+00] [ 4.40522947e-03 9.99985447e-01 -3.11439842e-03 4.14481101e-01] [ 2.75526880e-02 2.99186973e-03 9.99615875e-01 1.50608491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60255784400005 meters Centerline goodness : 0.060761 Centerline is valid? [False, False] Translation: X:4.53, Y:0.41, Z:1.51 [[ 9.99637204e-01 4.01215488e-03 -2.66338877e-02 4.52837858e+00] [-4.14324951e-03 9.99979564e-01 -4.86873973e-03 4.13859502e-01] [ 2.66138093e-02 4.97732421e-03 9.99633399e-01 1.50717966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6325578440001 meters Centerline goodness : 0.116118 Centerline is valid? [False, False] Translation: X:4.51, Y:0.41, Z:1.51 [[ 0.999577 0.0113883 -0.02676039 4.50964195] [-0.01156295 0.99991279 -0.00638075 0.40657268] [ 0.02668539 0.00668748 0.99962151 1.50578353] [ 0. 0. 0. 1. ]] SLAMing on 357.66255784400005 meters Centerline goodness : 0.170971 Centerline is valid? [False, False] Translation: X:4.51, Y:0.41, Z:1.51 [[ 0.99957701 0.01132974 -0.02678521 4.50964848] [-0.01150426 0.99991353 -0.0063707 0.40643176] [ 0.02671072 0.00667615 0.99962091 1.5057303 ] [ 0. 0. 0. 1. ]] SLAMing on 357.6925578440001 meters Centerline goodness : 0.104965 Centerline is valid? [False, False] Translation: X:4.53, Y:0.41, Z:1.51 [[ 9.99619470e-01 2.67083900e-03 -2.74550853e-02 4.53128498e+00] [-2.84662381e-03 9.99975688e-01 -6.36554275e-03 4.10550278e-01] [ 2.74374165e-02 6.44127477e-03 9.99602770e-01 1.50719136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72255784400005 meters Centerline goodness : 0.170516 Centerline is valid? [False, False] Translation: X:4.53, Y:0.41, Z:1.51 [[ 9.99614391e-01 2.40884618e-03 -2.76634680e-02 4.53173066e+00] [-2.58553838e-03 9.99976476e-01 -6.35321116e-03 4.09558097e-01] [ 2.76475133e-02 6.42228626e-03 9.99597103e-01 1.50734578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.752557844 meters Centerline goodness : 0.135842 Centerline is valid? [False, False] Translation: X:4.53, Y:0.41, Z:1.51 [[ 9.99611340e-01 2.19082083e-03 -2.77915415e-02 4.53182448e+00] [-2.36381735e-03 9.99978026e-01 -6.19346512e-03 4.07941979e-01] [ 2.77773620e-02 6.25675209e-03 9.99594553e-01 1.50775062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78255784400005 meters Centerline goodness : 0.169228 Centerline is valid? [False, False] Translation: X:4.55, Y:0.41, Z:1.51 [[ 0.99961114 -0.00595365 -0.02724197 4.55239723] [ 0.00580916 0.99996865 -0.00537997 0.4099451 ] [ 0.02727314 0.00521962 0.99961439 1.50925885] [ 0. 0. 0. 1. ]] SLAMing on 357.812557844 meters Centerline goodness : 0.171041 Centerline is valid? [False, False] Translation: X:4.55, Y:0.41, Z:1.51 [[ 0.99961886 -0.00630456 -0.02687709 4.55102372] [ 0.00617361 0.99996868 -0.00495249 0.40774972] [ 0.02690747 0.00478467 0.99962648 1.50915565] [ 0. 0. 0. 1. ]] SLAMing on 357.84255784400005 meters Centerline goodness : 0.104649 Centerline is valid? [False, False] Translation: X:4.55, Y:0.40, Z:1.51 [[ 9.99606587e-01 -6.74557235e-03 -2.72244186e-02 4.55151983e+00] [ 6.62956653e-03 9.99968567e-01 -4.34910822e-03 4.04274761e-01] [ 2.72529001e-02 4.16691112e-03 9.99619886e-01 1.50860277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.872557844 meters Centerline goodness : 0.130469 Centerline is valid? [False, False] Translation: X:4.55, Y:0.40, Z:1.51 [[ 9.99594053e-01 -6.72073829e-03 -2.76868490e-02 4.55271715e+00] [ 6.61203792e-03 9.99970077e-01 -4.01574812e-03 4.02243809e-01] [ 2.77130093e-02 3.83105145e-03 9.99608579e-01 1.50855643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90255784400006 meters Centerline goodness : 0.145752 Centerline is valid? [False, False] Translation: X:4.54, Y:0.39, Z:1.51 [[ 9.99598655e-01 2.67179091e-03 -2.82026693e-02 4.53620394e+00] [-2.81182241e-03 9.99983911e-01 -4.92669609e-03 3.94848234e-01] [ 2.81890524e-02 5.00401968e-03 9.99590085e-01 1.50744593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93255784400003 meters Centerline goodness : 0.108439 Centerline is valid? [False, False] Translation: X:4.56, Y:0.40, Z:1.51 [[ 9.99580545e-01 -4.81119260e-03 -2.85584884e-02 4.55632737e+00] [ 4.70527344e-03 9.99981805e-01 -3.77489431e-03 3.96339083e-01] [ 2.85761305e-02 3.63893541e-03 9.99584995e-01 1.50956299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96255784400006 meters Centerline goodness : 0.154160 Centerline is valid? [False, False] Translation: X:4.56, Y:0.40, Z:1.51 [[ 9.99583711e-01 -4.71840605e-03 -2.84629785e-02 4.55576083e+00] [ 4.61927890e-03 9.99983039e-01 -3.54741751e-03 3.95294866e-01] [ 2.84792339e-02 3.41446232e-03 9.99588553e-01 1.51007616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99255784400003 meters Centerline goodness : 0.178347 Centerline is valid? [False, False] Translation: X:4.57, Y:0.39, Z:1.51 [[ 9.99638587e-01 3.83276131e-03 -2.66083637e-02 4.57324075e+00] [-3.96620736e-03 9.99979813e-01 -4.96422813e-03 3.90280376e-01] [ 2.65887998e-02 5.06796828e-03 9.99633609e-01 1.51167312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02255784400006 meters Centerline goodness : 0.181808 Centerline is valid? [False, False] Translation: X:4.59, Y:0.39, Z:1.51 [[ 9.99686122e-01 -3.73213912e-03 -2.47735540e-02 4.59289553e+00] [ 3.63484923e-03 9.99985509e-01 -3.97103741e-03 3.92975019e-01] [ 2.47880154e-02 3.87974285e-03 9.99685201e-01 1.51312024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05255784400003 meters Centerline goodness : 0.126446 Centerline is valid? [False, False] Translation: X:4.59, Y:0.39, Z:1.51 [[ 9.99689592e-01 -3.65223042e-03 -2.46450911e-02 4.59208415e+00] [ 3.56776630e-03 9.99987614e-01 -3.47031961e-03 3.90198648e-01] [ 2.46574603e-02 3.38131447e-03 9.99690240e-01 1.51388028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08255784400006 meters Centerline goodness : 0.148730 Centerline is valid? [False, False] Translation: X:4.59, Y:0.39, Z:1.51 [[ 9.99684059e-01 -3.55808585e-03 -2.48821591e-02 4.59260914e+00] [ 3.48215035e-03 9.99989149e-01 -3.09446815e-03 3.88324570e-01] [ 2.48928995e-02 3.00684706e-03 9.99685602e-01 1.51390474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11255784400004 meters Centerline goodness : 0.112346 Centerline is valid? [False, False] Translation: X:4.59, Y:0.39, Z:1.51 [[ 9.99681058e-01 -3.43830569e-03 -2.50191932e-02 4.59294275e+00] [ 3.37355407e-03 9.99990852e-01 -2.62982634e-03 3.86038197e-01] [ 2.50280065e-02 2.54458398e-03 9.99683512e-01 1.51379461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14255784400007 meters Centerline goodness : 0.103553 Centerline is valid? [False, False] Translation: X:4.59, Y:0.38, Z:1.51 [[ 9.99680128e-01 -3.35242063e-03 -2.50679657e-02 4.59284278e+00] [ 3.30083273e-03 9.99992349e-01 -2.09901735e-03 3.83181274e-01] [ 2.50748107e-02 2.01560077e-03 9.99683546e-01 1.51411008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17255784400004 meters Centerline goodness : 0.138286 Centerline is valid? [False, False] Translation: X:4.59, Y:0.38, Z:1.51 [[ 9.99686615e-01 -3.33286568e-03 -2.48105618e-02 4.59176250e+00] [ 3.29438922e-03 9.99993307e-01 -1.59152264e-03 3.80116974e-01] [ 2.48157000e-02 1.50928823e-03 9.99690904e-01 1.51481893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20255784400007 meters Centerline goodness : 0.181722 Centerline is valid? [False, False] Translation: X:4.59, Y:0.38, Z:1.52 [[ 9.99665214e-01 -7.19794125e-03 -2.48525470e-02 4.59147728e+00] [ 7.08519777e-03 9.99964220e-01 -4.62157692e-03 3.75258608e-01] [ 2.48849237e-02 4.44394447e-03 9.99680445e-01 1.51535521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23255784400004 meters Centerline goodness : 0.179662 Centerline is valid? [False, False] Translation: X:4.59, Y:0.37, Z:1.52 [[ 9.99655276e-01 -7.11235572e-03 -2.52733786e-02 4.59238538e+00] [ 7.01198667e-03 9.99967183e-01 -4.05774202e-03 3.72262063e-01] [ 2.53014093e-02 3.87912662e-03 9.99672342e-01 1.51544119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26255784400007 meters Centerline goodness : 0.125393 Centerline is valid? [False, False] Translation: X:4.61, Y:0.36, Z:1.52 [[ 9.99686885e-01 1.05805701e-03 -2.50002589e-02 4.61167956e+00] [-1.18598999e-03 9.99986276e-01 -5.10299320e-03 3.64821917e-01] [ 2.49945166e-02 5.13104544e-03 9.99674420e-01 1.51653508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29255784400004 meters Centerline goodness : 0.106782 Centerline is valid? [False, False] Translation: X:4.63, Y:0.36, Z:1.52 [[ 9.99663973e-01 -6.67536623e-03 -2.50475605e-02 4.63203756e+00] [ 6.57866731e-03 9.99970594e-01 -3.94103196e-03 3.64800992e-01] [ 2.50731318e-02 3.77492810e-03 9.99678492e-01 1.51850661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3225578440001 meters Centerline goodness : 0.189999 Centerline is valid? [False, False] Translation: X:4.63, Y:0.36, Z:1.52 [[ 0.9996373 -0.01052902 -0.02478743 4.63127154] [ 0.01035727 0.99992153 -0.00704714 0.36005419] [ 0.02485968 0.00678785 0.99966791 1.51877757] [ 0. 0. 0. 1. ]] SLAMing on 358.35255784400005 meters Centerline goodness : 0.182459 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99696109e-01 -2.36928705e-03 -2.45372533e-02 4.65030066e+00] [ 2.16380364e-03 9.99962399e-01 -8.39751210e-03 3.52219721e-01] [ 2.45562268e-02 8.34186637e-03 9.99663646e-01 1.52022302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3825578440001 meters Centerline goodness : 0.100733 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99691189e-01 -2.22649496e-03 -2.47501505e-02 4.65073772e+00] [ 2.03100277e-03 9.99966566e-01 -7.92095989e-03 3.49751939e-01] [ 2.47669590e-02 7.86824618e-03 9.99662287e-01 1.52026195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41255784400005 meters Centerline goodness : 0.134636 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99686844e-01 -2.08554749e-03 -2.49372182e-02 4.65126339e+00] [ 1.89772445e-03 9.99969674e-01 -7.55313115e-03 3.47998659e-01] [ 2.49522143e-02 7.50344187e-03 9.99660485e-01 1.52009877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4425578440001 meters Centerline goodness : 0.181569 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99688273e-01 -1.84125868e-03 -2.48991415e-02 4.65101065e+00] [ 1.66631486e-03 9.99973795e-01 -7.04502217e-03 3.45842416e-01] [ 2.49114607e-02 7.00133623e-03 9.99665144e-01 1.52036117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47255784400005 meters SLAMing on 358.502557844 meters Centerline goodness : 0.144754 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99694261e-01 -1.68862560e-03 -2.46684723e-02 4.65004376e+00] [ 1.51840304e-03 9.99974921e-01 -6.91751192e-03 3.45408900e-01] [ 2.46795347e-02 6.87794028e-03 9.99671753e-01 1.52110732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53255784400005 meters Centerline goodness : 0.130931 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99694303e-01 -1.68232995e-03 -2.46671820e-02 4.65005027e+00] [ 1.51041745e-03 9.99974455e-01 -6.98625633e-03 3.45809549e-01] [ 2.46783051e-02 6.94686291e-03 9.99671307e-01 1.52114308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.562557844 meters Centerline goodness : 0.151740 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99671877e-01 1.97700326e-03 -2.55387732e-02 4.65238763e+00] [-2.06472152e-03 9.99992058e-01 -3.40879611e-03 3.45674111e-01] [ 2.55318312e-02 3.46040806e-03 9.99668020e-01 1.52076046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59255784400005 meters Centerline goodness : 0.131641 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99671893e-01 1.93572732e-03 -2.55413362e-02 4.65254686e+00] [-2.02789100e-03 9.99991525e-01 -3.58300441e-03 3.46702323e-01] [ 2.55341840e-02 3.63362384e-03 9.99667346e-01 1.52054289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.622557844 meters Centerline goodness : 0.127371 Centerline is valid? [False, False] Translation: X:4.67, Y:0.35, Z:1.52 [[ 9.99662142e-01 -5.29228404e-03 -2.54478739e-02 4.67209658e+00] [ 5.22428420e-03 9.99982605e-01 -2.73786523e-03 3.50760246e-01] [ 2.54619208e-02 2.60399329e-03 9.99672401e-01 1.52255087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65255784400006 meters Centerline goodness : 0.132829 Centerline is valid? [False, False] Translation: X:4.67, Y:0.35, Z:1.52 [[ 9.99664707e-01 -5.25223081e-03 -2.53552127e-02 4.67161615e+00] [ 5.18683300e-03 9.99983052e-01 -2.64434409e-03 3.50312331e-01] [ 2.53686716e-02 2.51194421e-03 9.99675008e-01 1.52291252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68255784400003 meters Centerline goodness : 0.191565 Centerline is valid? [False, False] Translation: X:4.69, Y:0.35, Z:1.52 [[ 9.99731983e-01 1.14409107e-03 -2.31225710e-02 4.69347396e+00] [-1.26778061e-03 9.99984963e-01 -5.33534773e-03 3.47446932e-01] [ 2.31161192e-02 5.36323212e-03 9.99718401e-01 1.52163691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71255784400006 meters Centerline goodness : 0.187412 Centerline is valid? [False, False] Translation: X:4.69, Y:0.35, Z:1.52 [[ 9.99730930e-01 1.23081372e-03 -2.31636267e-02 4.69354903e+00] [-1.34843429e-03 9.99986274e-01 -5.06287899e-03 3.46212412e-01] [ 2.31570773e-02 5.09275135e-03 9.99718867e-01 1.52159014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74255784400003 meters Centerline goodness : 0.192449 Centerline is valid? [False, False] Translation: X:4.69, Y:0.35, Z:1.52 [[ 9.99728143e-01 1.27529529e-03 -2.32811741e-02 4.69382759e+00] [-1.38825466e-03 9.99987341e-01 -4.83644457e-03 3.45096599e-01] [ 2.32747115e-02 4.86744995e-03 9.99717258e-01 1.52151449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77255784400006 meters SLAMing on 358.80255784400003 meters SLAMing on 358.83255784400006 meters Centerline goodness : 0.106522 Centerline is valid? [False, False] Translation: X:4.71, Y:0.35, Z:1.52 [[ 9.99724408e-01 -6.41827790e-03 -2.25812807e-02 4.71446332e+00] [ 6.33185435e-03 9.99972362e-01 -3.89664196e-03 3.45601067e-01] [ 2.26056663e-02 3.75258670e-03 9.99737416e-01 1.52330104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86255784400004 meters Centerline goodness : 0.118430 Centerline is valid? [False, False] Translation: X:4.71, Y:0.35, Z:1.52 [[ 9.99726398e-01 -6.40977350e-03 -2.24954273e-02 4.71406517e+00] [ 6.32352616e-03 9.99972389e-01 -3.90303714e-03 3.45642705e-01] [ 2.25198238e-02 3.75971884e-03 9.99739327e-01 1.52364084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89255784400007 meters Centerline goodness : 0.103232 Centerline is valid? [False, False] Translation: X:4.73, Y:0.34, Z:1.52 [[ 9.99773383e-01 2.28725766e-03 -2.11648618e-02 4.73281568e+00] [-2.40201233e-03 9.99982545e-01 -5.39811002e-03 3.41837265e-01] [ 2.11521455e-02 5.44772498e-03 9.99761426e-01 1.52467763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92255784400004 meters Centerline goodness : 0.103232 Centerline is valid? [False, False] Translation: X:4.73, Y:0.34, Z:1.52 [[ 9.99773383e-01 2.28725766e-03 -2.11648618e-02 4.73281568e+00] [-2.40201233e-03 9.99982545e-01 -5.39811002e-03 3.41837265e-01] [ 2.11521455e-02 5.44772498e-03 9.99761426e-01 1.52467763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95255784400007 meters Centerline goodness : 0.143266 Centerline is valid? [False, False] Translation: X:4.73, Y:0.34, Z:1.53 [[ 9.99781804e-01 2.24206024e-03 -2.07681977e-02 4.73156160e+00] [-2.36153074e-03 9.99980796e-01 -5.72983176e-03 3.43763288e-01] [ 2.07549522e-02 5.77762626e-03 9.99767899e-01 1.52518634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98255784400004 meters SLAMing on 359.01255784400007 meters Centerline goodness : 0.101067 Centerline is valid? [False, False] Translation: X:4.75, Y:0.35, Z:1.53 [[ 9.99769041e-01 -2.12218839e-03 -2.13859836e-02 4.75328009e+00] [ 2.06936638e-03 9.99994754e-01 -2.49176373e-03 3.48613123e-01] [ 2.13911594e-02 2.44693280e-03 9.99768189e-01 1.52644000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04255784400004 meters Centerline goodness : 0.109299 Centerline is valid? [False, False] Translation: X:4.75, Y:0.35, Z:1.53 [[ 9.99763648e-01 -2.29544422e-03 -2.16189739e-02 4.75409065e+00] [ 2.23293223e-03 9.99993258e-01 -2.91522962e-03 3.50587905e-01] [ 2.16255199e-02 2.86626689e-03 9.99762032e-01 1.52609203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0725578440001 meters Centerline goodness : 0.110973 Centerline is valid? [False, False] Translation: X:4.75, Y:0.35, Z:1.53 [[ 9.99758974e-01 -2.46180526e-03 -2.18159145e-02 4.75475718e+00] [ 2.38952187e-03 9.99991571e-01 -3.33878196e-03 3.52654001e-01] [ 2.18239501e-02 3.28584762e-03 9.99756430e-01 1.52578878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10255784400005 meters Centerline goodness : 0.172724 Centerline is valid? [False, False] Translation: X:4.75, Y:0.36, Z:1.53 [[ 9.99759655e-01 -2.67635574e-03 -2.17593307e-02 4.75434228e+00] [ 2.58995826e-03 9.99988655e-01 -3.99780673e-03 3.56423674e-01] [ 2.17697834e-02 3.94049012e-03 9.99755245e-01 1.52613839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1325578440001 meters Centerline goodness : 0.106005 Centerline is valid? [False, False] Translation: X:4.75, Y:0.36, Z:1.53 [[ 9.99763540e-01 -2.75039608e-03 -2.15707940e-02 4.75377113e+00] [ 2.66079819e-03 9.99987718e-01 -4.18126872e-03 3.57450530e-01] [ 2.15820293e-02 4.12288449e-03 9.99758580e-01 1.52625766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16255784400005 meters Centerline goodness : 0.201472 Centerline is valid? [False, False] Translation: X:4.75, Y:0.36, Z:1.53 [[ 9.99764192e-01 -2.91384500e-03 -2.15190742e-02 4.75370891e+00] [ 2.81967143e-03 9.99986321e-01 -4.40532959e-03 3.58404489e-01] [ 2.15316163e-02 4.34361405e-03 9.99758732e-01 1.52610002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1925578440001 meters Centerline goodness : 0.101392 Centerline is valid? [False, False] Translation: X:4.75, Y:0.36, Z:1.53 [[ 9.99760836e-01 -3.11026542e-03 -2.16470970e-02 4.75418000e+00] [ 3.01032333e-03 9.99984667e-01 -4.64793787e-03 3.59420233e-01] [ 2.16612214e-02 4.58166149e-03 9.99754870e-01 1.52579700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22255784400005 meters Centerline goodness : 0.184264 Centerline is valid? [False, False] Translation: X:4.76, Y:0.36, Z:1.52 [[ 9.99753584e-01 -3.37371017e-03 -2.19405709e-02 4.75550908e+00] [ 3.26259544e-03 9.99981682e-01 -5.09817582e-03 3.61765785e-01] [ 2.19573687e-02 5.02533635e-03 9.99746278e-01 1.52477300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.252557844 meters Centerline goodness : 0.115201 Centerline is valid? [False, False] Translation: X:4.76, Y:0.36, Z:1.52 [[ 9.99752031e-01 -3.44169226e-03 -2.20007111e-02 4.75562991e+00] [ 3.32622313e-03 9.99980514e-01 -5.28286823e-03 3.62843790e-01] [ 2.20184644e-02 5.20837897e-03 9.99743997e-01 1.52479404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28255784400005 meters Centerline goodness : 0.208996 Centerline is valid? [False, False] Translation: X:4.76, Y:0.36, Z:1.53 [[ 9.99755827e-01 -3.51461435e-03 -2.18158964e-02 4.75501831e+00] [ 3.39723603e-03 9.99979567e-01 -5.41513465e-03 3.63669156e-01] [ 2.18344828e-02 5.33969867e-03 9.99747340e-01 1.52504667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.312557844 meters Centerline goodness : 0.114081 Centerline is valid? [False, False] Translation: X:4.75, Y:0.36, Z:1.53 [[ 9.99762392e-01 -3.60672485e-03 -2.14977113e-02 4.75370002e+00] [ 3.48764083e-03 9.99978382e-01 -5.57430259e-03 3.64575040e-01] [ 2.15173515e-02 5.49800180e-03 9.99753357e-01 1.52593488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34255784400005 meters Centerline goodness : 0.167164 Centerline is valid? [False, False] Translation: X:4.75, Y:0.37, Z:1.53 [[ 9.99776825e-01 -3.72406005e-03 -2.07949970e-02 4.75124733e+00] [ 3.60076709e-03 9.99975737e-01 -5.96327085e-03 3.66772330e-01] [ 2.08167001e-02 5.88706206e-03 9.99765976e-01 1.52707397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.372557844 meters Centerline goodness : 0.139510 Centerline is valid? [False, False] Translation: X:4.75, Y:0.37, Z:1.53 [[ 9.99776984e-01 -3.84561940e-03 -2.07651993e-02 4.75120783e+00] [ 3.71610556e-03 9.99973426e-01 -6.27205113e-03 3.68385459e-01] [ 2.07887674e-02 6.19348669e-03 9.99764706e-01 1.52705136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40255784400006 meters Centerline goodness : 0.146581 Centerline is valid? [False, False] Translation: X:4.75, Y:0.37, Z:1.53 [[ 9.99775790e-01 -3.98390965e-03 -2.07965722e-02 4.75153674e+00] [ 3.84636163e-03 9.99970492e-01 -6.64979121e-03 3.70213556e-01] [ 2.08224507e-02 6.56830913e-03 9.99761613e-01 1.52669963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43255784400003 meters Centerline goodness : 0.147568 Centerline is valid? [False, False] Translation: X:4.75, Y:0.37, Z:1.53 [[ 9.99775056e-01 -4.15275937e-03 -2.07988522e-02 4.75164631e+00] [ 4.00402222e-03 9.99966151e-01 -7.18776496e-03 3.72935619e-01] [ 2.08279972e-02 7.10286905e-03 9.99757843e-01 1.52661136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46255784400006 meters Centerline goodness : 0.104163 Centerline is valid? [False, False] Translation: X:4.75, Y:0.38, Z:1.53 [[ 9.99774871e-01 -4.33911246e-03 -2.07696698e-02 4.75160704e+00] [ 4.17821994e-03 9.99960978e-01 -7.78364999e-03 3.75921460e-01] [ 2.08026334e-02 7.69511741e-03 9.99753988e-01 1.52666927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49255784400003 meters Centerline goodness : 0.104215 Centerline is valid? [False, False] Translation: X:4.75, Y:0.38, Z:1.53 [[ 9.99785360e-01 -5.27807315e-04 -2.07112285e-02 4.75123160e+00] [ 4.29651532e-04 9.99988658e-01 -4.74341812e-03 3.80952166e-01] [ 2.07134972e-02 4.73350139e-03 9.99774247e-01 1.52712866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52255784400006 meters Centerline goodness : 0.131090 Centerline is valid? [False, False] Translation: X:4.75, Y:0.38, Z:1.53 [[ 9.99780178e-01 3.10458811e-03 -2.07354066e-02 4.75091989e+00] [-3.13553293e-03 9.99994018e-01 -1.46002113e-03 3.83207387e-01] [ 2.07307498e-02 1.52471674e-03 9.99783932e-01 1.52765889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55255784400003 meters Centerline goodness : 0.119996 Centerline is valid? [False, False] Translation: X:4.75, Y:0.39, Z:1.53 [[ 9.99785723e-01 2.95095134e-03 -2.04890288e-02 4.75032633e+00] [-2.99722900e-03 9.99993026e-01 -2.22831437e-03 3.87541746e-01] [ 2.04823102e-02 2.28924721e-03 9.99787595e-01 1.52774564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58255784400006 meters Centerline goodness : 0.216346 Centerline is valid? [False, False] Translation: X:4.75, Y:0.39, Z:1.53 [[ 9.99767297e-01 6.34835664e-03 -2.06167687e-02 4.75064908e+00] [-6.34678511e-03 9.99979849e-01 1.41657536e-04 3.94512725e-01] [ 2.06172526e-02 -1.07743705e-05 9.99787442e-01 1.52780564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61255784400004 meters Centerline goodness : 0.151239 Centerline is valid? [False, False] Translation: X:4.75, Y:0.40, Z:1.53 [[ 9.99766382e-01 6.08085242e-03 -2.07413689e-02 4.75149489e+00] [-6.09737985e-03 9.99981142e-01 -7.33686098e-04 3.99190986e-01] [ 2.07365164e-02 8.59982701e-04 9.99784605e-01 1.52701251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64255784400007 meters Centerline goodness : 0.207221 Centerline is valid? [False, False] Translation: X:4.75, Y:0.40, Z:1.53 [[ 9.99764426e-01 5.81274347e-03 -2.09118184e-02 4.75238683e+00] [-5.84666152e-03 9.99981689e-01 -1.56118246e-03 4.03506476e-01] [ 2.09023608e-02 1.68307901e-03 9.99780105e-01 1.52629439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67255784400004 meters Centerline goodness : 0.134789 Centerline is valid? [False, False] Translation: X:4.75, Y:0.41, Z:1.53 [[ 9.99762170e-01 5.52747274e-03 -2.10962062e-02 4.75312811e+00] [-5.57809922e-03 9.99981700e-01 -2.34170032e-03 4.07305481e-01] [ 2.10828765e-02 2.45882012e-03 9.99774708e-01 1.52587591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70255784400007 meters Centerline goodness : 0.137408 Centerline is valid? [False, False] Translation: X:4.75, Y:0.41, Z:1.53 [[ 9.99759937e-01 5.22334696e-03 -2.12787666e-02 4.75376752e+00] [-5.28953921e-03 9.99981342e-01 -3.05562284e-03 4.10533179e-01] [ 2.12624090e-02 3.16744417e-03 9.99768912e-01 1.52561095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73255784400004 meters Centerline goodness : 0.109807 Centerline is valid? [False, False] Translation: X:4.75, Y:0.42, Z:1.53 [[ 9.99757343e-01 4.88381384e-03 -2.14802853e-02 4.75460595e+00] [-4.96916985e-03 9.99979962e-01 -3.92211099e-03 4.15186901e-01] [ 2.14607000e-02 4.02789845e-03 9.99761579e-01 1.52500428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76255784400007 meters Centerline goodness : 0.211172 Centerline is valid? [False, False] Translation: X:4.75, Y:0.42, Z:1.52 [[ 9.99758087e-01 4.76273939e-03 -2.14728435e-02 4.75460823e+00] [-4.85292986e-03 9.99979613e-01 -4.15006001e-03 4.16570489e-01] [ 2.14526401e-02 4.25326226e-03 9.99760818e-01 1.52493218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79255784400004 meters Centerline goodness : 0.142745 Centerline is valid? [False, False] Translation: X:4.75, Y:0.42, Z:1.53 [[ 9.99758518e-01 4.65875541e-03 -2.14756190e-02 4.75446986e+00] [-4.75119395e-03 9.99979659e-01 -4.25533602e-03 4.17109789e-01] [ 2.14553575e-02 4.35634327e-03 9.99760316e-01 1.52515523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8225578440001 meters Centerline goodness : 0.145266 Centerline is valid? [False, False] Translation: X:4.77, Y:0.42, Z:1.53 [[ 9.99726089e-01 -1.87640879e-03 -2.33286623e-02 4.77144473e+00] [ 1.79594531e-03 9.99992368e-01 -3.46959827e-03 4.21876747e-01] [ 2.33349946e-02 3.42675090e-03 9.99721829e-01 1.52884042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85255784400005 meters Centerline goodness : 0.176089 Centerline is valid? [False, False] Translation: X:4.75, Y:0.43, Z:1.53 [[ 9.99683883e-01 -8.34880307e-03 -2.37156334e-02 4.74952849e+00] [ 8.34365737e-03 9.99965141e-01 -3.15919579e-04 4.26727458e-01] [ 2.37174442e-02 1.17944593e-04 9.99718695e-01 1.52903649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8825578440001 meters Centerline goodness : 0.103542 Centerline is valid? [False, False] Translation: X:4.75, Y:0.43, Z:1.53 [[ 9.99707963e-01 -4.52245550e-03 -2.37389163e-02 4.74923102e+00] [ 4.60455156e-03 9.99983603e-01 3.40476875e-03 4.27185425e-01] [ 2.37231291e-02 -3.51308149e-03 9.99712394e-01 1.52943253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91255784400005 meters Centerline goodness : 0.148079 Centerline is valid? [False, False] Translation: X:4.75, Y:0.43, Z:1.53 [[ 9.99731115e-01 -1.79000193e-03 -2.31191355e-02 4.74667192e+00] [ 1.92494561e-03 9.99981234e-01 5.81594738e-03 4.30261128e-01] [ 2.31082911e-02 -5.85888664e-03 9.99715800e-01 1.53052325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9425578440001 meters Centerline goodness : 0.164926 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:1.53 [[ 9.99751002e-01 1.56800332e-04 -2.23138694e-02 4.74308360e+00] [-4.94087258e-06 9.99976842e-01 6.80550091e-03 4.37054405e-01] [ 2.23144197e-02 -6.80369611e-03 9.99727851e-01 1.53243901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97255784400005 meters Centerline goodness : 0.173699 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:1.53 [[ 9.99760677e-01 1.80913357e-04 -2.18759238e-02 4.74208889e+00] [-4.42661521e-05 9.99980488e-01 6.24678850e-03 4.40454389e-01] [ 2.18766271e-02 -6.24432514e-03 9.99741177e-01 1.53238525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.002557844 meters Centerline goodness : 0.162551 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:1.53 [[ 9.99763813e-01 2.02115682e-04 -2.17319651e-02 4.74193638e+00] [-7.95696949e-05 9.99984094e-01 5.63969090e-03 4.44376912e-01] [ 2.17327593e-02 -5.63662967e-03 9.99747926e-01 1.53207196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03255784400005 meters Centerline goodness : 0.147109 Centerline is valid? [False, False] Translation: X:4.76, Y:0.44, Z:1.53 [[ 0.99972884 0.00989409 -0.02107986 4.76405941] [-0.00978884 0.99993913 0.00509002 0.44495614] [ 0.02112893 -0.00488229 0.99976484 1.53206079] [ 0. 0. 0. 1. ]] SLAMing on 360.062557844 meters Centerline goodness : 0.145305 Centerline is valid? [False, False] Translation: X:4.76, Y:0.45, Z:1.53 [[ 9.99722885e-01 1.00533551e-02 -2.12857742e-02 4.76497799e+00] [-9.96476164e-03 9.99941259e-01 4.26408185e-03 4.51920437e-01] [ 2.13273922e-02 -4.05079254e-03 9.99764339e-01 1.53142386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09255784400005 meters Centerline goodness : 0.141080 Centerline is valid? [False, False] Translation: X:4.77, Y:0.46, Z:1.53 [[ 9.99726473e-01 9.80255871e-03 -2.12341699e-02 4.76503491e+00] [-9.72826337e-03 9.99946201e-01 3.59933618e-03 4.55002477e-01] [ 2.12683102e-02 -3.39178007e-03 9.99768051e-01 1.53111549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.122557844 meters Centerline goodness : 0.158185 Centerline is valid? [False, False] Translation: X:4.77, Y:0.46, Z:1.53 [[ 9.99728577e-01 9.57315537e-03 -2.12397570e-02 4.76525050e+00] [-9.51207377e-03 9.99950334e-01 2.97498403e-03 4.58058446e-01] [ 2.12671821e-02 -2.77214242e-03 9.99769985e-01 1.53078207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15255784400006 meters Centerline goodness : 0.157865 Centerline is valid? [False, False] Translation: X:4.78, Y:0.47, Z:1.53 [[ 9.99758246e-01 2.35678351e-03 -2.18608131e-02 4.78459594e+00] [-2.27962783e-03 9.99991087e-01 3.55365485e-03 4.65996920e-01] [ 2.18689934e-02 -3.50296123e-03 9.99754708e-01 1.53254492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18255784400003 meters Centerline goodness : 0.131952 Centerline is valid? [False, False] Translation: X:4.79, Y:0.47, Z:1.53 [[ 9.99755521e-01 1.93181484e-03 -2.20265115e-02 4.78520986e+00] [-1.87805749e-03 9.99995208e-01 2.46099983e-03 4.71332910e-01] [ 2.20311601e-02 -2.41903111e-03 9.99754358e-01 1.53219603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21255784400006 meters Centerline goodness : 0.160143 Centerline is valid? [False, False] Translation: X:4.79, Y:0.47, Z:1.53 [[ 9.99756289e-01 1.71689946e-03 -2.20094101e-02 4.78529427e+00] [-1.67498267e-03 9.99996749e-01 1.92278761e-03 4.73911000e-01] [ 2.20126398e-02 -1.88545363e-03 9.99755915e-01 1.53197021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24255784400003 meters Centerline goodness : 0.155901 Centerline is valid? [False, False] Translation: X:4.78, Y:0.48, Z:1.53 [[ 9.99760415e-01 1.58389673e-03 -2.18312382e-02 4.78490035e+00] [-1.55343046e-03 9.99997796e-01 1.41242344e-03 4.76716502e-01] [ 2.18334272e-02 -1.37817174e-03 9.99760672e-01 1.53191756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27255784400006 meters Centerline goodness : 0.152427 Centerline is valid? [False, False] Translation: X:4.81, Y:0.48, Z:1.53 [[ 9.99778462e-01 -3.30400151e-03 -2.07872583e-02 4.80683589e+00] [ 3.40172233e-03 9.99983322e-01 4.66739366e-03 4.81533260e-01] [ 2.07714905e-02 -4.73707214e-03 9.99773027e-01 1.53220403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30255784400003 meters Centerline goodness : 0.127490 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:1.53 [[ 9.99807908e-01 -2.40797970e-03 -1.94512055e-02 4.80326022e+00] [ 2.50317116e-03 9.99985004e-01 4.87099505e-03 4.88391237e-01] [ 1.94391845e-02 -4.91874906e-03 9.99798942e-01 1.53255625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33255784400006 meters Centerline goodness : 0.134217 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:1.53 [[ 9.99808923e-01 -2.58905930e-03 -1.93756171e-02 4.80330094e+00] [ 2.67425506e-03 9.99986865e-01 4.37244280e-03 4.90681707e-01] [ 1.93640420e-02 -4.42342267e-03 9.99802714e-01 1.53216715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36255784400004 meters Centerline goodness : 0.131785 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:1.53 [[ 9.99805970e-01 -2.78189929e-03 -1.95008479e-02 4.80389964e+00] [ 2.85817034e-03 9.99988371e-01 3.88438676e-03 4.92832335e-01] [ 1.94898152e-02 -3.93936982e-03 9.99802295e-01 1.53168841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39255784400007 meters Centerline goodness : 0.142447 Centerline is valid? [False, False] Translation: X:4.81, Y:0.49, Z:1.53 [[ 9.99798282e-01 -2.89521882e-03 -1.98749441e-02 4.80500677e+00] [ 2.96323859e-03 9.99989851e-01 3.39379131e-03 4.94917982e-01] [ 1.98649166e-02 -3.45200092e-03 9.99796714e-01 1.53155731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42255784400004 meters Centerline goodness : 0.144433 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:1.53 [[ 9.99791909e-01 7.45587424e-04 -2.03858444e-02 4.80612381e+00] [-6.15996683e-04 9.99979570e-01 6.36243898e-03 4.98525492e-01] [ 2.03901717e-02 -6.34855740e-03 9.99771942e-01 1.53181966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45255784400007 meters Centerline goodness : 0.136483 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:1.53 [[ 9.99789486e-01 6.32124423e-04 -2.05081332e-02 4.80657795e+00] [-5.11282307e-04 9.99982481e-01 5.89710787e-03 5.01070687e-01] [ 2.05115016e-02 -5.88538100e-03 9.99772294e-01 1.53151792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48255784400004 meters Centerline goodness : 0.113715 Centerline is valid? [False, False] Translation: X:4.83, Y:0.50, Z:1.53 [[ 9.99750381e-01 9.26751343e-03 -2.03295235e-02 4.82696162e+00] [-9.17187202e-03 9.99946452e-01 4.79276499e-03 4.99110912e-01] [ 2.03728519e-02 -4.60510883e-03 9.99781846e-01 1.53220855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51255784400007 meters Centerline goodness : 0.154534 Centerline is valid? [False, False] Translation: X:4.83, Y:0.50, Z:1.53 [[ 9.99747074e-01 9.06971489e-03 -2.05798270e-02 4.82782309e+00] [-8.98369928e-03 9.99950537e-01 4.26821845e-03 5.01481801e-01] [ 2.06175205e-02 -4.08225592e-03 9.99779102e-01 1.53182525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54255784400004 meters Centerline goodness : 0.140454 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.53 [[ 9.99747302e-01 9.15782511e-03 -2.05296387e-02 4.82811106e+00] [-9.08413562e-03 9.99951968e-01 3.67980934e-03 5.05626412e-01] [ 2.05623517e-02 -3.49238544e-03 9.99782473e-01 1.53117035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5725578440001 meters Centerline goodness : 0.131956 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.53 [[ 9.99755357e-01 9.09547922e-03 -2.01618170e-02 4.82724586e+00] [-9.03155745e-03 9.99953903e-01 3.25923005e-03 5.08408606e-01] [ 2.01905318e-02 -3.07634009e-03 9.99791418e-01 1.53104005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60255784400005 meters Centerline goodness : 0.155719 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.53 [[ 9.99761052e-01 8.92247198e-03 -1.99556718e-02 4.82664447e+00] [-8.86940135e-03 9.99956895e-01 2.74635437e-03 5.10981127e-01] [ 1.99793159e-02 -2.56870327e-03 9.99797094e-01 1.53113632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6325578440001 meters Centerline goodness : 0.148667 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.53 [[ 9.99761576e-01 8.69181039e-03 -2.00310763e-02 4.82692932e+00] [-8.64856660e-03 9.99960082e-01 2.24445516e-03 5.13064648e-01] [ 2.00497851e-02 -2.07067993e-03 9.99796839e-01 1.53093079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66255784400005 meters Centerline goodness : 0.161634 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99748351e-01 9.12739294e-04 -2.24143176e-02 4.84821561e+00] [-8.65379019e-04 9.99997373e-01 2.12255620e-03 5.22567240e-01] [ 2.24161960e-02 -2.10262518e-03 9.99746514e-01 1.53201218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6925578440001 meters Centerline goodness : 0.145602 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99744446e-01 8.34126775e-04 -2.25908760e-02 4.84875641e+00] [-7.90397756e-04 9.99997797e-01 1.94455369e-03 5.23525590e-01] [ 2.25924482e-02 -1.92620097e-03 9.99742902e-01 1.53179118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72255784400005 meters Centerline goodness : 0.141761 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99744378e-01 8.12837322e-04 -2.25946447e-02 4.84865260e+00] [-7.70222108e-04 9.99997908e-01 1.89471443e-03 5.23882923e-01] [ 2.25961376e-02 -1.87682721e-03 9.99742913e-01 1.53196873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.752557844 meters Centerline goodness : 0.136962 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99749250e-01 7.91451531e-04 -2.23787848e-02 4.84770794e+00] [-7.48849582e-04 9.99997892e-01 1.91199184e-03 5.23692781e-01] [ 2.23802509e-02 -1.89475406e-03 9.99747735e-01 1.53265862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78255784400005 meters Centerline goodness : 0.140475 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99757819e-01 7.61397759e-04 -2.19937096e-02 4.84637868e+00] [-7.18933091e-04 9.99997862e-01 1.93860668e-03 5.23339569e-01] [ 2.19951387e-02 -1.92232518e-03 9.99756230e-01 1.53330062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.812557844 meters Centerline goodness : 0.140475 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99757819e-01 7.61397759e-04 -2.19937096e-02 4.84637868e+00] [-7.18933091e-04 9.99997862e-01 1.93860668e-03 5.23339569e-01] [ 2.19951387e-02 -1.92232518e-03 9.99756230e-01 1.53330062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84255784400005 meters Centerline goodness : 0.144071 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99765289e-01 7.55133020e-04 -2.16516923e-02 4.84517616e+00] [-7.12486418e-04 9.99997791e-01 1.97731252e-03 5.23050207e-01] [ 2.16531376e-02 -1.96142188e-03 9.99763619e-01 1.53389830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.872557844 meters Centerline goodness : 0.154194 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99764639e-01 8.18464925e-04 -2.16794257e-02 4.84509067e+00] [-7.75236582e-04 9.99997695e-01 2.00230937e-03 5.23365100e-01] [ 2.16810145e-02 -1.98503142e-03 9.99762969e-01 1.53414980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90255784400006 meters Centerline goodness : 0.141628 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99762248e-01 8.12707424e-04 -2.17895990e-02 4.84546821e+00] [-7.71315686e-04 9.99997882e-01 1.90794698e-03 5.23944135e-01] [ 2.17911034e-02 -1.89068670e-03 9.99760758e-01 1.53399323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93255784400003 meters Centerline goodness : 0.156280 Centerline is valid? [False, False] Translation: X:4.84, Y:0.52, Z:1.53 [[ 9.99776807e-01 1.05374763e-03 -2.11003588e-02 4.84372617e+00] [-1.01525795e-03 9.99997801e-01 1.83475404e-03 5.24937767e-01] [ 2.11022458e-02 -1.81292223e-03 9.99775679e-01 1.53406783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96255784400006 meters Centerline goodness : 0.148775 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99783880e-01 1.03520151e-03 -2.07634451e-02 4.84275298e+00] [-1.00196642e-03 9.99998200e-01 1.61099328e-03 5.26136108e-01] [ 2.07650754e-02 -1.58984084e-03 9.99783119e-01 1.53426349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99255784400003 meters Centerline goodness : 0.118210 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99786909e-01 9.95666223e-04 -2.06190412e-02 4.84240814e+00] [-9.66996649e-04 9.99998552e-01 1.40036531e-03 5.27274811e-01] [ 2.06204057e-02 -1.38012836e-03 9.99786424e-01 1.53417856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02255784400006 meters Centerline goodness : 0.135525 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99788280e-01 9.24729606e-04 -2.05557928e-02 4.84229939e+00] [-9.00993157e-04 9.99998917e-01 1.16396412e-03 5.28478908e-01] [ 2.05568469e-02 -1.14519706e-03 9.99788030e-01 1.53404389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05255784400003 meters Centerline goodness : 0.134509 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99790159e-01 8.56625100e-04 -2.04671303e-02 4.84207910e+00] [-8.37017054e-04 9.99999183e-01 9.66573495e-04 5.29534151e-01] [ 2.04679416e-02 -9.49239331e-04 9.99790059e-01 1.53397824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08255784400006 meters Centerline goodness : 0.117726 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99791678e-01 9.29491793e-04 -2.03896395e-02 4.84185982e+00] [-9.05497848e-04 9.99998887e-01 1.18597223e-03 5.28460970e-01] [ 2.03907192e-02 -1.16726239e-03 9.99791406e-01 1.53400664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11255784400004 meters Centerline goodness : 0.126093 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99791004e-01 9.92741435e-04 -2.04196698e-02 4.84184636e+00] [-9.61714393e-04 9.99998368e-01 1.52923221e-03 5.26492274e-01] [ 2.04211546e-02 -1.50927471e-03 9.99790327e-01 1.53418961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14255784400007 meters Centerline goodness : 0.117921 Centerline is valid? [False, False] Translation: X:4.84, Y:0.52, Z:1.53 [[ 9.99787350e-01 1.04735965e-03 -2.05950698e-02 4.84229153e+00] [-1.00703926e-03 9.99997556e-01 1.96804246e-03 5.23875559e-01] [ 2.05970807e-02 -1.94688391e-03 9.99785962e-01 1.53420681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17255784400004 meters Centerline goodness : 0.135535 Centerline is valid? [False, False] Translation: X:4.84, Y:0.52, Z:1.53 [[ 9.99778251e-01 1.06719107e-03 -2.10311823e-02 4.84367011e+00] [-1.01707361e-03 9.99996618e-01 2.39355948e-03 5.21089675e-01] [ 2.10336656e-02 -2.37163845e-03 9.99775955e-01 1.53377193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20255784400007 meters Centerline goodness : 0.121128 Centerline is valid? [False, False] Translation: X:4.85, Y:0.51, Z:1.53 [[ 9.99756936e-01 -1.27167475e-03 -2.20102851e-02 4.84852763e+00] [ 1.29125544e-03 9.99998783e-01 8.75426416e-04 5.14022862e-01] [ 2.20091450e-02 -9.03634532e-04 9.99757361e-01 1.53089604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23255784400004 meters Centerline goodness : 0.122191 Centerline is valid? [False, False] Translation: X:4.85, Y:0.51, Z:1.53 [[ 9.99753300e-01 -1.03328068e-03 -2.21872111e-02 4.84918039e+00] [ 1.06817584e-03 9.99998211e-01 1.56096602e-03 5.10583000e-01] [ 2.21855585e-02 -1.58428077e-03 9.99752615e-01 1.53059084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26255784400007 meters Centerline goodness : 0.124367 Centerline is valid? [False, False] Translation: X:4.85, Y:0.51, Z:1.53 [[ 9.99755078e-01 -7.69802666e-04 -2.21176808e-02 4.84899395e+00] [ 8.18180072e-04 9.99997293e-01 2.17830701e-03 5.07728393e-01] [ 2.21159441e-02 -2.19586974e-03 9.99753001e-01 1.53064977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29255784400004 meters Centerline goodness : 0.120024 Centerline is valid? [False, False] Translation: X:4.85, Y:0.51, Z:1.53 [[ 9.99759678e-01 -5.29207829e-04 -2.19158736e-02 4.84837789e+00] [ 5.87974680e-04 9.99996249e-01 2.67511731e-03 5.05530280e-01] [ 2.19143757e-02 -2.68736040e-03 9.99756239e-01 1.53090945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3225578440001 meters Centerline goodness : 0.158293 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99763483e-01 -3.23713276e-04 -2.17456473e-02 4.84790815e+00] [ 3.89612913e-04 9.99995345e-01 3.02630653e-03 5.04037076e-01] [ 2.17445664e-02 -3.03406315e-03 9.99758955e-01 1.53103591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35255784400005 meters Centerline goodness : 0.131731 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99751048e-01 4.14263801e-04 -2.23085432e-02 4.84972716e+00] [-3.33082960e-04 9.99993310e-01 3.64259519e-03 5.02218079e-01] [ 2.23099030e-02 -3.63425776e-03 9.99744498e-01 1.53027395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3825578440001 meters Centerline goodness : 0.149163 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99740479e-01 6.36911737e-04 -2.27721181e-02 4.85122598e+00] [-5.53387473e-04 9.99993098e-01 3.67394391e-03 5.02405774e-01] [ 2.27743009e-02 -3.66038864e-03 9.99733931e-01 1.52958932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41255784400005 meters Centerline goodness : 0.139226 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99734727e-01 8.06467863e-04 -2.30179346e-02 4.85215149e+00] [-7.23206905e-04 9.99993167e-01 3.62531636e-03 5.03033700e-01] [ 2.30207010e-02 -3.60770793e-03 9.99728479e-01 1.52896252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4425578440001 meters Centerline goodness : 0.132788 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99747574e-01 1.71159294e-03 -2.24021942e-02 4.85068021e+00] [-1.61787233e-03 9.99989867e-01 4.20100196e-03 5.02915613e-01] [ 2.24091576e-02 -4.16369763e-03 9.99740213e-01 1.52868141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47255784400005 meters Centerline goodness : 0.119245 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99754985e-01 1.80676452e-03 -2.20614084e-02 4.84970629e+00] [-1.71525205e-03 9.99989850e-01 4.16629768e-03 5.03527352e-01] [ 2.20687120e-02 -4.12743600e-03 9.99747936e-01 1.52885055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5025578440001 meters Centerline goodness : 0.117485 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99762043e-01 1.79805667e-03 -2.17399382e-02 4.84867482e+00] [-1.71053266e-03 9.99990361e-01 4.04388050e-03 5.04179339e-01] [ 2.17469998e-02 -4.00573135e-03 9.99755481e-01 1.52919758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53255784400005 meters Centerline goodness : 0.120703 Centerline is valid? [False, False] Translation: X:4.87, Y:0.50, Z:1.53 [[ 9.99744749e-01 1.02805327e-02 -2.01183415e-02 4.86797111e+00] [-1.02307607e-02 9.99944348e-01 2.57532423e-03 5.02225789e-01] [ 2.01436976e-02 -2.36884093e-03 9.99794289e-01 1.53061434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.562557844 meters Centerline goodness : 0.121557 Centerline is valid? [False, False] Translation: X:4.87, Y:0.50, Z:1.53 [[ 9.99754762e-01 1.02082273e-02 -1.96521631e-02 4.86643232e+00] [-1.01637505e-02 9.99945559e-01 2.36175345e-03 5.03384695e-01] [ 1.96752025e-02 -2.16143458e-03 9.99804088e-01 1.53112385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59255784400005 meters Centerline goodness : 0.119696 Centerline is valid? [False, False] Translation: X:4.87, Y:0.50, Z:1.53 [[ 9.99760569e-01 1.01796169e-02 -1.93695850e-02 4.86571568e+00] [-1.01389024e-02 9.99946182e-01 2.19902387e-03 5.04363511e-01] [ 1.93909278e-02 -2.00211102e-03 9.99809974e-01 1.53106917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.622557844 meters Centerline goodness : 0.120730 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.53 [[ 9.99763686e-01 1.00612380e-02 -1.92702977e-02 4.86542871e+00] [-1.00261600e-02 9.99947901e-01 1.91606161e-03 5.05829748e-01] [ 1.92885717e-02 -1.72240173e-03 9.99812475e-01 1.53106158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65255784400006 meters Centerline goodness : 0.113586 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.53 [[ 9.99760202e-01 9.85155216e-03 -1.95572138e-02 4.86632954e+00] [-9.82874937e-03 9.99950901e-01 1.26173371e-03 5.08922375e-01] [ 1.95686836e-02 -1.06920819e-03 9.99807943e-01 1.53064684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68255784400003 meters Centerline goodness : 0.119201 Centerline is valid? [False, False] Translation: X:4.85, Y:0.51, Z:1.53 [[ 9.99788516e-01 8.24946033e-04 -2.05485491e-02 4.84717113e+00] [-7.84639602e-04 9.99997753e-01 1.96950722e-03 5.14019025e-01] [ 2.05501277e-02 -1.95296749e-03 9.99786916e-01 1.52888831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71255784400006 meters Centerline goodness : 0.149405 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99786093e-01 6.72608462e-04 -2.06716194e-02 4.84764540e+00] [-6.40583451e-04 9.99998585e-01 1.55580865e-03 5.15962695e-01] [ 2.06726366e-02 -1.54223395e-03 9.99785109e-01 1.52852219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74255784400003 meters Centerline goodness : 0.123689 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99789221e-01 5.29164114e-04 -2.05239967e-02 4.84739759e+00] [-5.05666761e-04 9.99999211e-01 1.15004498e-03 5.18055848e-01] [ 2.05245890e-02 -1.13942427e-03 9.99788699e-01 1.52822246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77255784400006 meters Centerline goodness : 0.121377 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99794418e-01 3.89348937e-04 -2.02724090e-02 4.84672793e+00] [-3.74722387e-04 9.99999667e-01 7.25293981e-04 5.20401561e-01] [ 2.02726846e-02 -7.17548348e-04 9.99794231e-01 1.52818349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80255784400003 meters Centerline goodness : 0.148493 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99800880e-01 2.55996771e-04 -1.99533117e-02 4.84583566e+00] [-2.50138169e-04 9.99999925e-01 2.96110775e-04 5.22781566e-01] [ 1.99533860e-02 -2.91060729e-04 9.99800869e-01 1.52826001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83255784400006 meters Centerline goodness : 0.162153 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99807885e-01 -8.30805077e-05 -1.96006618e-02 4.84474708e+00] [ 7.02722545e-05 9.99999784e-01 -6.54148096e-04 5.27762211e-01] [ 1.96007119e-02 6.52645042e-04 9.99807675e-01 1.52842918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86255784400004 meters Centerline goodness : 0.122732 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99807823e-01 -2.72908353e-04 -1.96021310e-02 4.84477026e+00] [ 2.50893334e-04 9.99999335e-01 -1.12554359e-03 5.30044625e-01] [ 1.96024251e-02 1.12040924e-03 9.99807226e-01 1.52831396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89255784400007 meters Centerline goodness : 0.136108 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99809126e-01 -4.73245165e-04 -1.95316945e-02 4.84467630e+00] [ 4.42279574e-04 9.99998639e-01 -1.58969138e-03 5.32244268e-01] [ 1.95324202e-02 1.58074948e-03 9.99807974e-01 1.52811427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92255784400004 meters Centerline goodness : 0.122172 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99810076e-01 -6.74979211e-04 -1.94770726e-02 4.84465453e+00] [ 6.35223794e-04 9.99997703e-01 -2.04725376e-03 5.34360782e-01] [ 1.94784097e-02 2.03449263e-03 9.99808208e-01 1.52786179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95255784400007 meters Centerline goodness : 0.125052 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99812563e-01 -1.01361869e-03 -1.93341880e-02 4.84427468e+00] [ 9.60766560e-04 9.99995777e-01 -2.74270300e-03 5.37712122e-01] [ 1.93368864e-02 2.72361327e-03 9.99809315e-01 1.52783405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98255784400004 meters Centerline goodness : 0.124853 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99815118e-01 -1.14983235e-03 -1.91939572e-02 4.84361807e+00] [ 1.09274560e-03 9.99994950e-01 -2.98442711e-03 5.38833237e-01] [ 1.91972919e-02 2.96290123e-03 9.99811325e-01 1.52833047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01255784400007 meters Centerline goodness : 0.125885 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99817638e-01 -1.26672498e-03 -1.90548376e-02 4.84301488e+00] [ 1.20647399e-03 9.99994238e-01 -3.17314232e-03 5.39769534e-01] [ 1.90587473e-02 3.14957449e-03 9.99813405e-01 1.52874879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04255784400004 meters Centerline goodness : 0.134023 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99814602e-01 -1.49937934e-03 -1.91967172e-02 4.84330418e+00] [ 1.43167414e-03 9.99992709e-01 -3.54017312e-03 5.41339753e-01] [ 1.92018853e-02 3.51203333e-03 9.99809458e-01 1.52883549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0725578440001 meters Centerline goodness : 0.126593 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99814291e-01 -1.59588683e-03 -1.92051008e-02 4.84337145e+00] [ 1.52430502e-03 9.99991840e-01 -3.74129066e-03 5.42253956e-01] [ 1.92109148e-02 3.71132144e-03 9.99808565e-01 1.52873128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10255784400005 meters Centerline goodness : 0.133296 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99813136e-01 -1.67422504e-03 -1.92585208e-02 4.84367854e+00] [ 1.59896399e-03 9.99991028e-01 -3.92267002e-03 5.43088280e-01] [ 1.92649154e-02 3.89114333e-03 9.99806842e-01 1.52840602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1325578440001 meters Centerline goodness : 0.137508 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99812156e-01 -1.70577379e-03 -1.93065335e-02 4.84396867e+00] [ 1.62838763e-03 9.99990581e-01 -4.02330010e-03 5.43653331e-01] [ 1.93132145e-02 3.99110583e-03 9.99805516e-01 1.52810944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16255784400005 meters Centerline goodness : 0.141864 Centerline is valid? [False, False] Translation: X:4.82, Y:0.54, Z:1.53 [[ 0.9997894 0.00617741 -0.0195705 4.82431761] [-0.00627719 0.99996759 -0.00504131 0.53825446] [ 0.01953872 0.00516309 0.99979577 1.52621682] [ 0. 0. 0. 1. ]] SLAMing on 362.1925578440001 meters Centerline goodness : 0.129626 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99805690e-01 -1.31048089e-03 -1.96688681e-02 4.84371112e+00] [ 1.23077990e-03 9.99990986e-01 -4.06369748e-03 5.43270600e-01] [ 1.96740162e-02 4.03869981e-03 9.99798291e-01 1.52771798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22255784400005 meters Centerline goodness : 0.123013 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.53 [[ 9.99795891e-01 -1.31196903e-03 -2.01607123e-02 4.84528994e+00] [ 1.22802002e-03 9.99990527e-01 -4.17580618e-03 5.43627138e-01] [ 2.01659999e-02 4.15019610e-03 9.99788032e-01 1.52705385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2525578440001 meters Centerline goodness : 0.123686 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.53 [[ 9.99790994e-01 -1.33254152e-03 -2.04008163e-02 4.84618709e+00] [ 1.24509680e-03 9.99989987e-01 -4.29843621e-03 5.44211355e-01] [ 2.04063399e-02 4.27213682e-03 9.99782641e-01 1.52651823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28255784400005 meters Centerline goodness : 0.121530 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.53 [[ 9.99789209e-01 -1.28721935e-03 -2.04910054e-02 4.84652743e+00] [ 1.19920856e-03 9.99990007e-01 -4.30680240e-03 5.44393652e-01] [ 2.04963444e-02 4.28132157e-03 9.99780761e-01 1.52624123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.312557844 meters Centerline goodness : 0.122741 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.53 [[ 9.99791814e-01 -1.23990504e-03 -2.03664287e-02 4.84621485e+00] [ 1.15212493e-03 9.99990000e-01 -4.32120774e-03 5.44672914e-01] [ 2.03715829e-02 4.29684346e-03 9.99783244e-01 1.52619463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34255784400005 meters Centerline goodness : 0.148782 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99811828e-01 -1.01383201e-03 -1.93721769e-02 4.84308956e+00] [ 9.32943944e-04 9.99990812e-01 -4.18405773e-03 5.44568703e-01] [ 1.93762408e-02 4.16519725e-03 9.99803587e-01 1.52721638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.372557844 meters Centerline goodness : 0.125251 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99817391e-01 -1.05020979e-03 -1.90809234e-02 4.84213593e+00] [ 9.67712220e-04 9.99990147e-01 -4.33228194e-03 5.45403987e-01] [ 1.90852852e-02 4.31302598e-03 9.99808557e-01 1.52754557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40255784400006 meters Centerline goodness : 0.124479 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99818578e-01 -1.06471428e-03 -1.90178418e-02 4.84195388e+00] [ 9.79718261e-04 9.99989494e-01 -4.47803552e-03 5.46323387e-01] [ 1.90224098e-02 4.45859098e-03 9.99809116e-01 1.52752754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43255784400003 meters Centerline goodness : 0.125172 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99819961e-01 -1.12369765e-03 -1.89415398e-02 4.84195277e+00] [ 1.03526345e-03 9.99988522e-01 -4.67795601e-03 5.47321205e-01] [ 1.89465790e-02 4.65750432e-03 9.99809649e-01 1.52713117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46255784400006 meters Centerline goodness : 0.125806 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99821376e-01 -1.10083208e-03 -1.88680557e-02 4.84155055e+00] [ 1.01411767e-03 9.99988884e-01 -4.60478437e-03 5.46923103e-01] [ 1.88729150e-02 4.58482741e-03 9.99811378e-01 1.52748070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49255784400003 meters Centerline goodness : 0.139468 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99824998e-01 -1.06005137e-03 -1.86775252e-02 4.84079745e+00] [ 9.76006300e-04 9.99989361e-01 -4.50833799e-03 5.46524691e-01] [ 1.86821056e-02 4.48931964e-03 9.99815395e-01 1.52792691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52255784400006 meters Centerline goodness : 0.126460 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99826962e-01 -9.97440925e-04 -1.85755583e-02 4.84024831e+00] [ 9.16482849e-04 9.99990048e-01 -4.36631482e-03 5.45888002e-01] [ 1.85797286e-02 4.34853510e-03 9.99817925e-01 1.52840175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55255784400003 meters Centerline goodness : 0.154501 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99816684e-01 -1.02846868e-03 -1.91191213e-02 4.84207260e+00] [ 9.43380612e-04 9.99989614e-01 -4.45890361e-03 5.46141738e-01] [ 1.91235086e-02 4.44004961e-03 9.99807270e-01 1.52756029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58255784400006 meters Centerline goodness : 0.122682 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99808157e-01 -1.03967813e-03 -1.95593671e-02 4.84355928e+00] [ 9.49431252e-04 9.99988864e-01 -4.62271825e-03 5.46966485e-01] [ 1.95639554e-02 4.60326114e-03 9.99798010e-01 1.52680454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61255784400004 meters Centerline goodness : 0.126921 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99806859e-01 -1.05009061e-03 -1.96250535e-02 4.84385972e+00] [ 9.56930914e-04 9.99988233e-01 -4.75576624e-03 5.47749656e-01] [ 1.96298166e-02 4.73606788e-03 9.99796099e-01 1.52650866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64255784400007 meters Centerline goodness : 0.122618 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99810405e-01 -1.02866148e-03 -1.94447019e-02 4.84338299e+00] [ 9.34402142e-04 9.99987773e-01 -4.85602272e-03 5.48464102e-01] [ 1.94494593e-02 4.83693287e-03 9.99799141e-01 1.52645582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67255784400004 meters Centerline goodness : 0.123921 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99817060e-01 -1.02621716e-03 -1.90995421e-02 4.84230981e+00] [ 9.31927383e-04 9.99987339e-01 -4.94500171e-03 5.49049203e-01] [ 1.91043749e-02 4.92629768e-03 9.99805358e-01 1.52672268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70255784400007 meters Centerline goodness : 0.127859 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99818284e-01 -1.00162960e-03 -1.90366845e-02 4.84219112e+00] [ 9.09419156e-04 9.99987816e-01 -4.85186866e-03 5.48536876e-01] [ 1.90413124e-02 4.83367468e-03 9.99807013e-01 1.52663275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73255784400004 meters Centerline goodness : 0.127859 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99818284e-01 -1.00162960e-03 -1.90366845e-02 4.84219112e+00] [ 9.09419156e-04 9.99987816e-01 -4.85186866e-03 5.48536876e-01] [ 1.90413124e-02 4.83367468e-03 9.99807013e-01 1.52663275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76255784400007 meters Centerline goodness : 0.154891 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99813426e-01 -9.90531137e-04 -1.92907214e-02 4.84304884e+00] [ 8.99549915e-04 9.99988435e-01 -4.72442670e-03 5.47724704e-01] [ 1.92951780e-02 4.70619228e-03 9.99802754e-01 1.52629581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79255784400004 meters Centerline goodness : 0.127625 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99806005e-01 -9.56319632e-04 -1.96732908e-02 4.84431149e+00] [ 8.67664948e-04 9.99989434e-01 -4.51438972e-03 5.46462615e-01] [ 1.96774001e-02 4.49644413e-03 9.99796270e-01 1.52578122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8225578440001 meters Centerline goodness : 0.160337 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.52 [[ 9.99785563e-01 -1.09269445e-03 -2.06793294e-02 4.84736243e+00] [ 1.00498007e-03 9.99990457e-01 -4.25156262e-03 5.44443092e-01] [ 2.06837777e-02 4.22986861e-03 9.99777120e-01 1.52485626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85255784400005 meters Centerline goodness : 0.133067 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.53 [[ 9.99783379e-01 -1.06324035e-03 -2.07861567e-02 4.84753036e+00] [ 9.80659686e-04 9.99991588e-01 -3.98265790e-03 5.42984714e-01] [ 2.07902164e-02 3.96141102e-03 9.99776012e-01 1.52504084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8825578440001 meters Centerline goodness : 0.164027 Centerline is valid? [False, False] Translation: X:4.80, Y:0.54, Z:1.53 [[ 9.99738405e-01 -2.53741264e-03 -2.27306759e-02 4.79997196e+00] [ 2.45116328e-03 9.99989694e-01 -3.82146244e-03 5.36540024e-01] [ 2.27401382e-02 3.76474616e-03 9.99734321e-01 1.52656862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91255784400005 meters Centerline goodness : 0.120425 Centerline is valid? [False, False] Translation: X:4.80, Y:0.53, Z:1.53 [[ 9.99739297e-01 -2.47971573e-03 -2.26977940e-02 4.79941758e+00] [ 2.40345044e-03 9.99991377e-01 -3.38669452e-03 5.34155423e-01] [ 2.27059964e-02 3.33125857e-03 9.99736636e-01 1.52740901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9425578440001 meters Centerline goodness : 0.163203 Centerline is valid? [False, False] Translation: X:4.80, Y:0.53, Z:1.53 [[ 9.99745661e-01 -2.94539912e-03 -2.23592916e-02 4.79826681e+00] [ 2.87906398e-03 9.99991360e-01 -2.99839332e-03 5.30106476e-01] [ 2.23679299e-02 2.93325688e-03 9.99745503e-01 1.52812775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97255784400005 meters Centerline goodness : 0.161846 Centerline is valid? [False, False] Translation: X:4.80, Y:0.53, Z:1.53 [[ 9.99746915e-01 -2.90293724e-03 -2.23087025e-02 4.79805126e+00] [ 2.84804788e-03 9.99992840e-01 -2.49182448e-03 5.27307357e-01] [ 2.23157764e-02 2.42765759e-03 9.99748025e-01 1.52835875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0025578440001 meters Centerline goodness : 0.120066 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.53 [[ 9.99749581e-01 -2.88253431e-03 -2.21915831e-02 4.79761363e+00] [ 2.83929920e-03 9.99994010e-01 -1.97952780e-03 5.24278138e-01] [ 2.21971563e-02 1.91602355e-03 9.99751777e-01 1.52871759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03255784400005 meters Centerline goodness : 0.161563 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.53 [[ 9.99755811e-01 -2.92777061e-03 -2.19030987e-02 4.79667126e+00] [ 2.89326006e-03 9.99994523e-01 -1.60712505e-03 5.21781716e-01] [ 2.19076841e-02 1.54336125e-03 9.99758807e-01 1.52922023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.062557844 meters Centerline goodness : 0.118650 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.53 [[ 9.99758961e-01 -3.17138372e-03 -2.17247141e-02 4.79609672e+00] [ 3.14557558e-03 9.99994306e-01 -1.22203158e-03 5.18392719e-01] [ 2.17284659e-02 1.15340029e-03 9.99763244e-01 1.52961850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09255784400005 meters Centerline goodness : 0.143760 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.53 [[ 9.99754057e-01 -3.06336509e-03 -2.19645507e-02 4.79682651e+00] [ 3.04455080e-03 9.99994969e-01 -8.89963972e-04 5.16727246e-01] [ 2.19671665e-02 8.22872901e-04 9.99758354e-01 1.52941477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.122557844 meters Centerline goodness : 0.139098 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.53 [[ 9.99749880e-01 -2.94659199e-03 -2.21696721e-02 4.79767987e+00] [ 2.93460346e-03 9.99995530e-01 -5.73276857e-04 5.15183006e-01] [ 2.21712622e-02 5.08074273e-04 9.99754058e-01 1.52885988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15255784400006 meters Centerline goodness : 0.121384 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.53 [[ 9.99744822e-01 -2.85402461e-03 -2.24086158e-02 4.79854965e+00] [ 2.84735922e-03 9.99995892e-01 -3.29348482e-04 5.13939171e-01] [ 2.24094637e-02 2.65459060e-04 9.99748841e-01 1.52839985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18255784400003 meters Centerline goodness : 0.126955 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.53 [[ 9.99740738e-01 -2.74674884e-03 -2.26033569e-02 4.79910413e+00] [ 2.74932532e-03 9.99996217e-01 8.29113185e-05 5.11622826e-01] [ 2.26030437e-02 -1.45033804e-04 9.99744508e-01 1.52832651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21255784400006 meters Centerline goodness : 0.126636 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.53 [[ 9.99742128e-01 -2.64687534e-03 -2.25537335e-02 4.79873838e+00] [ 2.65675969e-03 9.99996387e-01 4.08305295e-04 5.09832197e-01] [ 2.25525713e-02 -4.68119854e-04 9.99745549e-01 1.52874467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24255784400003 meters Centerline goodness : 0.119149 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.53 [[ 9.99744664e-01 -2.55939983e-03 -2.24512025e-02 4.79823731e+00] [ 2.57596056e-03 9.99996431e-01 7.08743038e-04 5.08221168e-01] [ 2.24493084e-02 -7.66395482e-04 9.99747689e-01 1.52916731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27255784400006 meters Centerline goodness : 0.166540 Centerline is valid? [False, False] Translation: X:4.80, Y:0.50, Z:1.53 [[ 9.99749262e-01 -2.75640157e-03 -2.22219643e-02 4.79757689e+00] [ 2.78326540e-03 9.99995433e-01 1.17804862e-03 5.04845183e-01] [ 2.22186156e-02 -1.23960287e-03 9.99752368e-01 1.52939148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30255784400003 meters Centerline goodness : 0.126708 Centerline is valid? [False, False] Translation: X:4.80, Y:0.50, Z:1.53 [[ 9.99739671e-01 -2.80239900e-03 -2.26436761e-02 4.79879212e+00] [ 2.83821368e-03 9.99994772e-01 1.54968060e-03 5.02329002e-01] [ 2.26392149e-02 -1.61354477e-03 9.99742398e-01 1.52913166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33255784400006 meters Centerline goodness : 0.123150 Centerline is valid? [False, False] Translation: X:4.80, Y:0.50, Z:1.53 [[ 9.99710004e-01 -5.58407029e-03 -2.34248959e-02 4.80195025e+00] [ 5.56519879e-03 9.99984135e-01 -8.70731204e-04 4.98673209e-01] [ 2.34293865e-02 7.40114493e-04 9.99725220e-01 1.52762194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36255784400004 meters Centerline goodness : 0.134980 Centerline is valid? [False, False] Translation: X:4.80, Y:0.50, Z:1.53 [[ 9.99689926e-01 -5.81102679e-03 -2.42133008e-02 4.80417127e+00] [ 5.80055099e-03 9.99983050e-01 -5.02860109e-04 4.95293105e-01] [ 2.42158125e-02 3.62253699e-04 9.99706689e-01 1.52727465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39255784400007 meters Centerline goodness : 0.144345 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:1.53 [[ 9.99661548e-01 -9.31122011e-03 -2.42917876e-02 4.80497732e+00] [ 9.23380074e-03 9.99951931e-01 -3.29728703e-03 4.91518370e-01] [ 2.43213217e-02 3.07186553e-03 9.99699473e-01 1.52626459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42255784400004 meters Centerline goodness : 0.148361 Centerline is valid? [False, False] Translation: X:4.76, Y:0.48, Z:1.53 [[ 9.99576652e-01 -1.21427882e-02 -2.64399134e-02 4.75766018e+00] [ 1.20624563e-02 9.99922139e-01 -3.19566408e-03 4.79069242e-01] [ 2.64766590e-02 2.87538090e-03 9.99645296e-01 1.52656386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45255784400007 meters Centerline goodness : 0.140646 Centerline is valid? [False, False] Translation: X:4.76, Y:0.48, Z:1.53 [[ 9.99583670e-01 -1.21894477e-02 -2.61515518e-02 4.75667617e+00] [ 1.21240073e-02 9.99922965e-01 -2.65945928e-03 4.76471504e-01] [ 2.61819546e-02 2.34129047e-03 9.99654452e-01 1.52672745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48255784400004 meters Centerline goodness : 0.140651 Centerline is valid? [False, False] Translation: X:4.76, Y:0.47, Z:1.53 [[ 9.99587626e-01 -1.20325817e-02 -2.60728773e-02 4.75636513e+00] [ 1.19822886e-02 9.99926037e-01 -2.08432572e-03 4.74131415e-01] [ 2.60960287e-02 1.77105346e-03 9.99657872e-01 1.52672089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51255784400007 meters Centerline goodness : 0.165652 Centerline is valid? [False, False] Translation: X:4.76, Y:0.47, Z:1.53 [[ 9.99589060e-01 -1.18250835e-02 -2.61128124e-02 4.75655828e+00] [ 1.17884419e-02 9.99929302e-01 -1.55670385e-03 4.72040739e-01] [ 2.61293744e-02 1.24823477e-03 9.99657790e-01 1.52647654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54255784400004 meters Centerline goodness : 0.147012 Centerline is valid? [False, False] Translation: X:4.74, Y:0.46, Z:1.53 [[ 9.99698917e-01 -2.68876928e-03 -2.43894596e-02 4.73678067e+00] [ 2.65109399e-03 9.99995242e-01 -1.57693920e-03 4.64137726e-01] [ 2.43935836e-02 1.51180566e-03 9.99701289e-01 1.52505802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5725578440001 meters Centerline goodness : 0.140973 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:1.53 [[ 9.99761643e-01 -1.40337713e-03 -2.17873090e-02 4.77865799e+00] [ 1.37386477e-03 9.99998119e-01 -1.36947542e-03 4.64337155e-01] [ 2.17891899e-02 1.33921618e-03 9.99761690e-01 1.52614177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60255784400005 meters Centerline goodness : 0.135714 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:1.53 [[ 9.99767971e-01 -1.33786707e-03 -2.14991904e-02 4.77768648e+00] [ 1.31144020e-03 9.99998367e-01 -1.24325489e-03 4.63814258e-01] [ 2.15008186e-02 1.21477152e-03 9.99768093e-01 1.52652350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6325578440001 meters Centerline goodness : 0.164766 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:1.53 [[ 9.99772362e-01 -1.29617573e-03 -2.12965793e-02 4.77714698e+00] [ 1.27277365e-03 9.99998571e-01 -1.11238329e-03 4.63044133e-01] [ 2.12979907e-02 1.08502435e-03 9.99772583e-01 1.52657548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66255784400005 meters Centerline goodness : 0.138954 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:1.53 [[ 9.99760860e-01 -1.55177454e-03 -2.18131726e-02 4.77873022e+00] [ 1.52901655e-03 9.99998269e-01 -1.05995372e-03 4.61228150e-01] [ 2.18147797e-02 1.02634754e-03 9.99761503e-01 1.52607128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6925578440001 meters Centerline goodness : 0.123010 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:1.53 [[ 9.99751773e-01 -1.49008607e-03 -2.22299796e-02 4.78001645e+00] [ 1.47282780e-03 9.99998601e-01 -7.92703694e-04 4.59884824e-01] [ 2.22311297e-02 7.59765992e-04 9.99752569e-01 1.52559100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72255784400005 meters Centerline goodness : 0.141939 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:1.53 [[ 9.99744677e-01 -1.39641019e-03 -2.25528502e-02 4.78101439e+00] [ 1.38605957e-03 9.99998927e-01 -4.74574783e-04 4.58516821e-01] [ 2.25534887e-02 4.43194019e-04 9.99745539e-01 1.52520770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7525578440001 meters Centerline goodness : 0.132569 Centerline is valid? [False, False] Translation: X:4.83, Y:0.46, Z:1.53 [[ 9.99766749e-01 -9.62807829e-04 -2.15759329e-02 4.82643451e+00] [ 9.51160033e-04 9.99999396e-01 -5.50107111e-04 4.57321010e-01] [ 2.15764496e-02 5.29456633e-04 9.99767061e-01 1.52516288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78255784400005 meters Centerline goodness : 0.138017 Centerline is valid? [False, False] Translation: X:4.83, Y:0.45, Z:1.53 [[ 9.99767142e-01 -1.67003193e-03 -2.15144743e-02 4.82610231e+00] [ 1.65949078e-03 9.99998494e-01 -5.07800624e-04 4.54146398e-01] [ 2.15152899e-02 4.71979307e-04 9.99768408e-01 1.52546845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.812557844 meters Centerline goodness : 0.154161 Centerline is valid? [False, False] Translation: X:4.85, Y:0.45, Z:1.53 [[ 9.99803242e-01 3.72314451e-03 -1.94837139e-02 4.84725570e+00] [-3.80441184e-03 9.99984211e-01 -4.13563667e-03 4.51043469e-01] [ 1.94680087e-02 4.20894703e-03 9.99801621e-01 1.52514556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84255784400005 meters Centerline goodness : 0.140313 Centerline is valid? [False, False] Translation: X:4.85, Y:0.45, Z:1.53 [[ 9.99808804e-01 3.64825225e-03 -1.92105853e-02 4.84640087e+00] [-3.72372095e-03 9.99985484e-01 -3.89419165e-03 4.49428809e-01] [ 1.91960995e-02 3.96498196e-03 9.99807876e-01 1.52535939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.872557844 meters Centerline goodness : 0.127359 Centerline is valid? [False, False] Translation: X:4.85, Y:0.45, Z:1.53 [[ 9.99816737e-01 3.44624501e-03 -1.88312578e-02 4.84543512e+00] [-3.51318889e-03 9.99987623e-01 -3.52300950e-03 4.47136500e-01] [ 1.88188836e-02 3.58852163e-03 9.99816469e-01 1.52531513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90255784400006 meters Centerline goodness : 0.125065 Centerline is valid? [False, False] Translation: X:4.85, Y:0.45, Z:1.53 [[ 9.99816225e-01 3.42992402e-03 -1.88613801e-02 4.84554476e+00] [-3.49393774e-03 9.99988245e-01 -3.36199908e-03 4.46211293e-01] [ 1.88496269e-02 3.42728171e-03 9.99816456e-01 1.52521937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93255784400003 meters Centerline goodness : 0.134600 Centerline is valid? [False, False] Translation: X:4.83, Y:0.45, Z:1.52 [[ 9.99800566e-01 -5.53645021e-03 -1.91879198e-02 4.82573014e+00] [ 5.49287972e-03 9.99982217e-01 -2.32268572e-03 4.49966396e-01] [ 1.92004380e-02 2.21682556e-03 9.99813197e-01 1.52419177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96255784400006 meters Centerline goodness : 0.130865 Centerline is valid? [False, False] Translation: X:4.82, Y:0.45, Z:1.52 [[ 9.99803685e-01 -5.58278865e-03 -1.90111696e-02 4.82498027e+00] [ 5.54117327e-03 9.99982137e-01 -2.24097032e-03 4.49459726e-01] [ 1.90233408e-02 2.13518620e-03 9.99816760e-01 1.52468480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99255784400003 meters Centerline goodness : 0.137217 Centerline is valid? [False, False] Translation: X:4.82, Y:0.45, Z:1.53 [[ 9.99809711e-01 -5.57000587e-03 -1.86953488e-02 4.82381121e+00] [ 5.52956753e-03 9.99982261e-01 -2.21401317e-03 4.49574976e-01] [ 1.87073493e-02 2.11021467e-03 9.99822775e-01 1.52524476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02255784400006 meters Centerline goodness : 0.137441 Centerline is valid? [False, False] Translation: X:4.82, Y:0.45, Z:1.53 [[ 9.99808898e-01 -5.60742019e-03 -1.87276105e-02 4.82403387e+00] [ 5.56449743e-03 9.99981773e-01 -2.34327466e-03 4.50350678e-01] [ 1.87404088e-02 2.23861711e-03 9.99821877e-01 1.52501264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05255784400003 meters Centerline goodness : 0.362894 Centerline is valid? [False, False] Translation: X:4.82, Y:0.45, Z:1.52 [[ 9.99804746e-01 -5.69384456e-03 -1.89221909e-02 4.82480928e+00] [ 5.64728589e-03 9.99980896e-01 -2.51305764e-03 4.51297645e-01] [ 1.89361384e-02 2.40570793e-03 9.99817801e-01 1.52450019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08255784400006 meters Centerline goodness : 0.145809 Centerline is valid? [False, False] Translation: X:4.85, Y:0.45, Z:1.53 [[ 9.99820807e-01 2.82406503e-03 -1.87183978e-02 4.84506288e+00] [-2.89470944e-03 9.99988786e-01 -3.74804310e-03 4.47849370e-01] [ 1.87076031e-02 3.80155580e-03 9.99817770e-01 1.52518620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11255784400004 meters Centerline goodness : 0.131452 Centerline is valid? [False, False] Translation: X:4.84, Y:0.45, Z:1.53 [[ 9.99824103e-01 2.73000637e-03 -1.85555782e-02 4.84459253e+00] [-2.80994890e-03 9.99986878e-01 -4.28356865e-03 4.50973797e-01] [ 1.85436406e-02 4.33495541e-03 9.99818654e-01 1.52534709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14255784400007 meters Centerline goodness : 0.149914 Centerline is valid? [False, False] Translation: X:4.84, Y:0.45, Z:1.53 [[ 9.99828262e-01 2.67587385e-03 -1.83380985e-02 4.84372340e+00] [-2.76161973e-03 9.99985366e-01 -4.65210544e-03 4.53424506e-01] [ 1.83253817e-02 4.70194935e-03 9.99821020e-01 1.52594051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17255784400004 meters Centerline goodness : 0.110606 Centerline is valid? [False, False] Translation: X:4.84, Y:0.46, Z:1.53 [[ 9.99830002e-01 2.56601518e-03 -1.82587720e-02 4.84345127e+00] [-2.66064743e-03 9.99983145e-01 -5.16043434e-03 4.56312012e-01] [ 1.82452225e-02 5.20813723e-03 9.99819977e-01 1.52612107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20255784400007 meters Centerline goodness : 0.130249 Centerline is valid? [False, False] Translation: X:4.84, Y:0.46, Z:1.53 [[ 9.99827298e-01 2.40088904e-03 -1.84285289e-02 4.84412562e+00] [-2.50807379e-03 9.99980062e-01 -5.79533340e-03 4.59662720e-01] [ 1.84142475e-02 5.84055264e-03 9.99813384e-01 1.52574229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23255784400004 meters Centerline goodness : 0.140598 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:1.53 [[ 9.99822580e-01 2.23003483e-03 -1.87038648e-02 4.84526568e+00] [-2.35030325e-03 9.99976690e-01 -6.41062237e-03 4.62919334e-01] [ 1.86891329e-02 6.45344476e-03 9.99804516e-01 1.52507011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26255784400007 meters Centerline goodness : 0.157816 Centerline is valid? [False, False] Translation: X:4.85, Y:0.47, Z:1.52 [[ 9.99803291e-01 5.32344991e-03 -1.91060497e-02 4.84815448e+00] [-5.40356740e-03 9.99976814e-01 -4.14413195e-03 4.69028507e-01] [ 1.90835456e-02 4.24655759e-03 9.99808874e-01 1.52275387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29255784400004 meters Centerline goodness : 0.119925 Centerline is valid? [False, False] Translation: X:4.85, Y:0.47, Z:1.52 [[ 9.99801907e-01 5.10673703e-03 -1.92371556e-02 4.84876184e+00] [-5.20053909e-03 9.99974816e-01 -4.82922088e-03 4.72484848e-01] [ 1.92120096e-02 4.92830783e-03 9.99803286e-01 1.52235438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3225578440001 meters Centerline goodness : 0.141367 Centerline is valid? [False, False] Translation: X:4.87, Y:0.48, Z:1.53 [[ 9.99777295e-01 -1.02857123e-03 -2.10784751e-02 4.86626803e+00] [ 9.43587344e-04 9.99991389e-01 -4.04133478e-03 4.80054979e-01] [ 2.10824504e-02 4.02054537e-03 9.99769656e-01 1.52507885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35255784400005 meters Centerline goodness : 0.157271 Centerline is valid? [False, False] Translation: X:4.87, Y:0.48, Z:1.53 [[ 9.99775114e-01 -1.19825419e-03 -2.11727636e-02 4.86647482e+00] [ 1.09990537e-03 9.99988555e-01 -4.65609790e-03 4.83177453e-01] [ 2.11781005e-02 4.63176277e-03 9.99764990e-01 1.52517841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3825578440001 meters Centerline goodness : 0.146872 Centerline is valid? [False, False] Translation: X:4.87, Y:0.49, Z:1.53 [[ 9.99765067e-01 2.59652095e-03 -2.15190556e-02 4.86709898e+00] [-2.62814181e-03 9.99995508e-01 -1.44128505e-03 4.86730998e-01] [ 2.15152166e-02 1.49750158e-03 9.99767399e-01 1.52544262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41255784400005 meters Centerline goodness : 0.135465 Centerline is valid? [False, False] Translation: X:4.87, Y:0.49, Z:1.53 [[ 9.99762718e-01 2.47706894e-03 -2.16419160e-02 4.86752643e+00] [-2.51858395e-03 9.99995040e-01 -1.89122267e-03 4.89068192e-01] [ 2.16371240e-02 1.94528090e-03 9.99763998e-01 1.52526787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4425578440001 meters Centerline goodness : 0.154151 Centerline is valid? [False, False] Translation: X:4.87, Y:0.49, Z:1.53 [[ 9.99762765e-01 2.30967924e-03 -2.16582570e-02 4.86769532e+00] [-2.36171626e-03 9.99994385e-01 -2.37737073e-03 4.91420795e-01] [ 2.16526444e-02 2.42795739e-03 9.99762606e-01 1.52504486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47255784400005 meters Centerline goodness : 0.152839 Centerline is valid? [False, False] Translation: X:4.87, Y:0.49, Z:1.53 [[ 9.99764869e-01 2.20109383e-03 -2.15722271e-02 4.86734471e+00] [-2.26130200e-03 9.99993615e-01 -2.76700792e-03 4.93453729e-01] [ 2.15659989e-02 2.81513863e-03 9.99763463e-01 1.52528123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5025578440001 meters Centerline goodness : 0.150681 Centerline is valid? [False, False] Translation: X:4.88, Y:0.50, Z:1.53 [[ 9.99773323e-01 -4.40786658e-03 -2.08296291e-02 4.88420182e+00] [ 4.39236471e-03 9.99990042e-01 -7.89914063e-04 5.00817891e-01] [ 2.08329035e-02 6.98243680e-04 9.99782728e-01 1.52841821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53255784400005 meters Centerline goodness : 0.120299 Centerline is valid? [False, False] Translation: X:4.90, Y:0.50, Z:1.53 [[ 9.99797419e-01 4.15175162e-03 -1.96947497e-02 4.90365564e+00] [-4.18717862e-03 9.99989689e-01 -1.75790841e-03 4.96763816e-01] [ 1.96872482e-02 1.84001773e-03 9.99804494e-01 1.52960776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.562557844 meters Centerline goodness : 0.145503 Centerline is valid? [False, False] Translation: X:4.90, Y:0.50, Z:1.53 [[ 9.99798845e-01 4.22543201e-03 -1.96065217e-02 4.90345087e+00] [-4.25549955e-03 9.99989832e-01 -1.49207939e-03 4.95129346e-01] [ 1.96000177e-02 1.57521480e-03 9.99806660e-01 1.52961151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59255784400005 meters Centerline goodness : 0.129442 Centerline is valid? [False, False] Translation: X:4.90, Y:0.50, Z:1.53 [[ 9.99800076e-01 4.21898682e-03 -1.95450405e-02 4.90332259e+00] [-4.24950605e-03 9.99989815e-01 -1.52021282e-03 4.95147614e-01] [ 1.95384276e-02 1.60296566e-03 9.99807822e-01 1.52957023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.622557844 meters Centerline goodness : 0.129442 Centerline is valid? [False, False] Translation: X:4.90, Y:0.50, Z:1.53 [[ 9.99800076e-01 4.21898682e-03 -1.95450405e-02 4.90332259e+00] [-4.24950605e-03 9.99989815e-01 -1.52021282e-03 4.95147614e-01] [ 1.95384276e-02 1.60296566e-03 9.99807822e-01 1.52957023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65255784400006 meters Centerline goodness : 0.145595 Centerline is valid? [False, False] Translation: X:4.92, Y:0.50, Z:1.53 [[ 9.99809676e-01 -2.96717104e-03 -1.92822981e-02 4.92184587e+00] [ 2.96191098e-03 9.99995568e-01 -3.01345315e-04 5.00647842e-01] [ 1.92831068e-02 2.44175512e-04 9.99814034e-01 1.53141373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68255784400003 meters Centerline goodness : 0.130978 Centerline is valid? [False, False] Translation: X:4.92, Y:0.50, Z:1.53 [[ 9.99811955e-01 4.37652670e-04 -1.93871687e-02 4.92173895e+00] [-3.82492096e-04 9.99995869e-01 2.84882710e-03 5.02354665e-01] [ 1.93883354e-02 -2.84087595e-03 9.99807993e-01 1.53188063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71255784400006 meters Centerline goodness : 0.147236 Centerline is valid? [False, False] Translation: X:4.92, Y:0.51, Z:1.53 [[ 9.99792523e-01 4.34082203e-03 -1.99014605e-02 4.92331236e+00] [-4.21658878e-03 9.99971390e-01 6.28013685e-03 5.05133637e-01] [ 1.99281521e-02 -6.19491759e-03 9.99782222e-01 1.53141412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74255784400003 meters Centerline goodness : 0.148695 Centerline is valid? [False, False] Translation: X:4.92, Y:0.51, Z:1.53 [[ 9.99787475e-01 4.22289621e-03 -2.01785268e-02 4.92422474e+00] [-4.10761454e-03 9.99975026e-01 5.75112261e-03 5.07850804e-01] [ 2.02023093e-02 -5.66701474e-03 9.99779852e-01 1.53101588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77255784400006 meters Centerline goodness : 0.144807 Centerline is valid? [False, False] Translation: X:4.92, Y:0.51, Z:1.53 [[ 9.99784506e-01 4.06054888e-03 -2.03581370e-02 4.92475547e+00] [-3.95542035e-03 9.99978649e-01 5.20156661e-03 5.10489329e-01] [ 2.03788235e-02 -5.11992072e-03 9.99779221e-01 1.53080502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80255784400003 meters Centerline goodness : 0.140359 Centerline is valid? [False, False] Translation: X:4.92, Y:0.51, Z:1.53 [[ 9.99785985e-01 3.89946560e-03 -2.03169258e-02 4.92457514e+00] [-3.80468408e-03 9.99981709e-01 4.70171815e-03 5.12904102e-01] [ 2.03348884e-02 -4.62341243e-03 9.99782535e-01 1.53091169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83255784400006 meters Centerline goodness : 0.140811 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99811201e-01 -3.34185594e-03 -1.91414359e-02 4.94220653e+00] [ 3.45721965e-03 9.99976042e-01 5.99699298e-03 5.22007779e-01] [ 1.91209362e-02 -6.06203690e-03 9.99798801e-01 1.53324137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86255784400004 meters Centerline goodness : 0.151969 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99813994e-01 -3.43376852e-03 -1.89785868e-02 4.94164363e+00] [ 3.54433656e-03 9.99976925e-01 5.79537387e-03 5.23008351e-01] [ 1.89582489e-02 -5.86156240e-03 9.99803094e-01 1.53345948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89255784400007 meters Centerline goodness : 0.154684 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99814981e-01 -3.55638835e-03 -1.89038324e-02 4.94135401e+00] [ 3.66315355e-03 9.99977520e-01 5.61618391e-03 5.23651802e-01] [ 1.88834341e-02 -5.68439246e-03 9.99805533e-01 1.53361920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92255784400004 meters Centerline goodness : 0.156953 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99815542e-01 -3.70629214e-03 -1.88452920e-02 4.94119498e+00] [ 3.80963163e-03 9.99977888e-01 5.45063072e-03 5.24056286e-01] [ 1.88246736e-02 -5.52141893e-03 9.99807554e-01 1.53354590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95255784400007 meters Centerline goodness : 0.136368 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99816641e-01 -3.76969831e-03 -1.87742738e-02 4.94101995e+00] [ 3.87264023e-03 9.99977651e-01 5.44980216e-03 5.23974022e-01] [ 1.87533101e-02 -5.52150890e-03 9.99808895e-01 1.53340934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98255784400004 meters Centerline goodness : 0.138799 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.53 [[ 9.99814636e-01 4.27111456e-03 -1.87736576e-02 4.95885360e+00] [-4.17899228e-03 9.99979049e-01 4.94349206e-03 5.18501794e-01] [ 1.87943785e-02 -4.86412075e-03 9.99811538e-01 1.53483356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01255784400007 meters Centerline goodness : 0.152182 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 9.99823615e-01 4.02805359e-03 -1.83443003e-02 4.95757182e+00] [-3.93623984e-03 9.99979560e-01 5.03838854e-03 5.17365101e-01] [ 1.83642203e-02 -4.96529228e-03 9.99819034e-01 1.53526907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04255784400004 meters Centerline goodness : 0.164884 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 9.99825290e-01 3.99474260e-03 -1.82601140e-02 4.95722546e+00] [-3.90021156e-03 9.99978824e-01 5.20959823e-03 5.16072091e-01] [ 1.82805384e-02 -5.13746975e-03 9.99819698e-01 1.53552411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0725578440001 meters Centerline goodness : 0.147859 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99825829e-01 4.02402098e-03 -1.82241261e-02 4.95707728e+00] [-3.92635107e-03 9.99977755e-01 5.39198692e-03 5.14982720e-01] [ 1.82454181e-02 -5.31949347e-03 9.99819388e-01 1.53563534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10255784400005 meters Centerline goodness : 0.132238 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99780370e-01 4.12467058e-03 -2.05475000e-02 4.91133407e+00] [-3.99638609e-03 9.99972292e-01 6.28046916e-03 5.14028168e-01] [ 2.05728355e-02 -6.19697403e-03 9.99769151e-01 1.53577604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1325578440001 meters Centerline goodness : 0.153849 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99778818e-01 4.16031283e-03 -2.06156953e-02 4.91160987e+00] [-4.03175628e-03 9.99972194e-01 6.27350271e-03 5.14174315e-01] [ 2.06412218e-02 -6.18899767e-03 9.99767791e-01 1.53559205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16255784400005 meters Centerline goodness : 0.153764 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99780576e-01 4.14473584e-03 -2.05333995e-02 4.91145047e+00] [-4.01834062e-03 9.99972749e-01 6.19303182e-03 5.14493706e-01] [ 2.05585084e-02 -6.10916273e-03 9.99769986e-01 1.53553718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1925578440001 meters Centerline goodness : 0.151245 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99779862e-01 4.12606172e-03 -2.05718926e-02 4.91136945e+00] [-4.00149075e-03 9.99973432e-01 6.09288723e-03 5.14730002e-01] [ 2.05964857e-02 -6.00922771e-03 9.99769810e-01 1.53580358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22255784400005 meters Centerline goodness : 0.132154 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99777522e-01 4.18224357e-03 -2.06740119e-02 4.91166633e+00] [-4.05550161e-03 9.99972750e-01 6.16862642e-03 5.14467935e-01] [ 2.06992473e-02 -6.08341055e-03 9.99767240e-01 1.53572082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2525578440001 meters Centerline goodness : 0.136198 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99774864e-01 4.22958572e-03 -2.07926016e-02 4.91219131e+00] [-4.09996499e-03 9.99971922e-01 6.27266485e-03 5.14039840e-01] [ 2.08185485e-02 -6.18600371e-03 9.99764133e-01 1.53534551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28255784400005 meters Centerline goodness : 0.148153 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99769991e-01 4.34682094e-03 -2.10016764e-02 4.91294403e+00] [-4.21191567e-03 9.99970241e-01 6.46351707e-03 5.13254891e-01] [ 2.10291472e-02 -6.37357311e-03 9.99758547e-01 1.53501344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.312557844 meters Centerline goodness : 0.153111 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99765259e-01 4.40343545e-03 -2.12140727e-02 4.91318060e+00] [-4.26385519e-03 9.99968995e-01 6.62035213e-03 5.12097757e-01] [ 2.12425672e-02 -6.52834432e-03 9.99753037e-01 1.53559701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34255784400005 meters Centerline goodness : 0.146223 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99766062e-01 4.42726047e-03 -2.11712322e-02 4.91285104e+00] [-4.28624534e-03 9.99968359e-01 6.70144106e-03 5.11596442e-01] [ 2.12002313e-02 -6.60912825e-03 9.99753404e-01 1.53596974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.372557844 meters Centerline goodness : 0.152640 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99769387e-01 4.49757793e-03 -2.09986898e-02 4.91223215e+00] [-4.35496962e-03 9.99967178e-01 6.83209287e-03 5.11018730e-01] [ 2.10287284e-02 -6.73906865e-03 9.99756159e-01 1.53628555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40255784400006 meters Centerline goodness : 0.148922 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99772520e-01 4.58909180e-03 -2.08290461e-02 4.91170280e+00] [-4.44392108e-03 9.99965551e-01 7.01057221e-03 5.10213278e-01] [ 2.08605007e-02 -6.91641480e-03 9.99758472e-01 1.53649261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43255784400003 meters Centerline goodness : 0.146632 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99772983e-01 4.72140181e-03 -2.07771832e-02 4.91147749e+00] [-4.56825562e-03 9.99962095e-01 7.41218359e-03 5.07977432e-01] [ 2.08113915e-02 -7.31558541e-03 9.99756654e-01 1.53664524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46255784400006 meters Centerline goodness : 0.147331 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99767382e-01 4.80139114e-03 -2.10268401e-02 4.91228137e+00] [-4.64097428e-03 9.99959805e-01 7.67131171e-03 5.06556570e-01] [ 2.10628279e-02 -7.57194220e-03 9.99749480e-01 1.53634451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49255784400003 meters Centerline goodness : 0.145933 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99760167e-01 4.84817696e-03 -2.13565905e-02 4.91351898e+00] [-4.68076765e-03 9.99957983e-01 7.88179223e-03 5.05256690e-01] [ 2.13939055e-02 -7.77993667e-03 9.99740853e-01 1.53568664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52255784400006 meters Centerline goodness : 0.152323 Centerline is valid? [False, False] Translation: X:4.91, Y:0.50, Z:1.54 [[ 9.99754634e-01 4.92182735e-03 -2.15974057e-02 4.91433577e+00] [-4.74751981e-03 9.99955806e-01 8.11462774e-03 5.04000840e-01] [ 2.16363900e-02 -8.01010257e-03 9.99733817e-01 1.53532080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55255784400003 meters Centerline goodness : 0.142268 Centerline is valid? [False, False] Translation: X:4.91, Y:0.50, Z:1.54 [[ 0.99975279 0.0050984 -0.02164168 4.91421177] [-0.00491531 0.99995175 0.00850466 0.50218747] [ 0.021684 -0.00839618 0.99972962 1.53572103] [ 0. 0. 0. 1. ]] SLAMing on 365.58255784400006 meters Centerline goodness : 0.137593 Centerline is valid? [False, False] Translation: X:4.91, Y:0.50, Z:1.54 [[ 0.99975639 0.00514914 -0.02146283 4.91346509] [-0.00496612 0.99995093 0.00857201 0.50197527] [ 0.02150591 -0.00846333 0.9997329 1.53621756] [ 0. 0. 0. 1. ]] SLAMing on 365.61255784400004 meters Centerline goodness : 0.115881 Centerline is valid? [False, False] Translation: X:4.91, Y:0.50, Z:1.54 [[ 0.99976033 0.00520937 -0.02126351 4.9128459 ] [-0.00502609 0.99994984 0.00866359 0.50163977] [ 0.02130757 -0.00855464 0.99973637 1.53643076] [ 0. 0. 0. 1. ]] SLAMing on 365.64255784400007 meters Centerline goodness : 0.143604 Centerline is valid? [False, False] Translation: X:4.91, Y:0.50, Z:1.54 [[ 0.99976022 0.00526338 -0.02125571 4.91284653] [-0.00507675 0.99994818 0.00882436 0.50079142] [ 0.02130105 -0.00871433 0.99973513 1.53643912] [ 0. 0. 0. 1. ]] SLAMing on 365.67255784400004 meters Centerline goodness : 0.160426 Centerline is valid? [False, False] Translation: X:4.92, Y:0.50, Z:1.54 [[ 0.99974439 0.00547954 -0.02193474 4.91540803] [-0.00527636 0.99994274 0.00931017 0.49839872] [ 0.0219845 -0.00919206 0.99971605 1.53520546] [ 0. 0. 0. 1. ]] SLAMing on 365.70255784400007 meters Centerline goodness : 0.150411 Centerline is valid? [False, False] Translation: X:4.92, Y:0.50, Z:1.53 [[ 0.99973865 0.00562797 -0.02215778 4.91624955] [-0.00541759 0.99993979 0.00954332 0.49756409] [ 0.02221016 -0.00942078 0.99970894 1.53480291] [ 0. 0. 0. 1. ]] SLAMing on 365.73255784400004 meters Centerline goodness : 0.144204 Centerline is valid? [False, False] Translation: X:4.92, Y:0.50, Z:1.53 [[ 0.99973909 0.00570198 -0.02211858 4.91619533] [-0.00548939 0.99993827 0.00966012 0.49715192] [ 0.0221723 -0.00953619 0.99970868 1.53475434] [ 0. 0. 0. 1. ]] SLAMing on 365.76255784400007 meters Centerline goodness : 0.135976 Centerline is valid? [False, False] Translation: X:4.92, Y:0.50, Z:1.54 [[ 0.99974136 0.00571679 -0.0220119 4.91560684] [-0.00550537 0.99993825 0.00965335 0.49711711] [ 0.02206573 -0.00952967 0.9997111 1.53533242] [ 0. 0. 0. 1. ]] SLAMing on 365.79255784400004 meters Centerline goodness : 0.112412 Centerline is valid? [False, False] Translation: X:4.91, Y:0.50, Z:1.54 [[ 0.99974624 0.00566449 -0.02180288 4.91467307] [-0.00545838 0.99993996 0.00950129 0.49758985] [ 0.02185539 -0.00937987 0.99971714 1.5360773 ] [ 0. 0. 0. 1. ]] SLAMing on 365.8225578440001 meters Centerline goodness : 0.144975 Centerline is valid? [False, False] Translation: X:4.94, Y:0.50, Z:1.54 [[ 0.99966896 0.01553542 -0.02050916 4.93553143] [-0.01534686 0.9998388 0.00931963 0.49574165] [ 0.02065064 -0.00900179 0.99974623 1.53632425] [ 0. 0. 0. 1. ]] SLAMing on 365.85255784400005 meters Centerline goodness : 0.156715 Centerline is valid? [False, False] Translation: X:4.94, Y:0.50, Z:1.54 [[ 0.99966121 0.01566314 -0.02078788 4.93660845] [-0.01547607 0.99983856 0.00912925 0.49736935] [ 0.02092751 -0.00880445 0.99974223 1.5357598 ] [ 0. 0. 0. 1. ]] SLAMing on 365.8825578440001 meters Centerline goodness : 0.158007 Centerline is valid? [False, False] Translation: X:4.94, Y:0.50, Z:1.54 [[ 0.99965378 0.01572536 -0.02109592 4.93773201] [-0.01554201 0.99984025 0.00882724 0.49933718] [ 0.02123137 -0.00849631 0.99973849 1.53523348] [ 0. 0. 0. 1. ]] SLAMing on 365.91255784400005 meters Centerline goodness : 0.151778 Centerline is valid? [False, False] Translation: X:4.94, Y:0.50, Z:1.54 [[ 0.99964845 0.01613072 -0.02104216 4.93749197] [-0.01595734 0.99983754 0.00838156 0.5030468 ] [ 0.02117394 -0.00804284 0.99974346 1.53548863] [ 0. 0. 0. 1. ]] SLAMing on 365.9425578440001 meters Centerline goodness : 0.105614 Centerline is valid? [False, False] Translation: X:4.94, Y:0.51, Z:1.54 [[ 0.99965336 0.01600608 -0.02090348 4.93696766] [-0.01584542 0.9998438 0.00782884 0.50584432] [ 0.02102552 -0.0074949 0.99975085 1.53577028] [ 0. 0. 0. 1. ]] SLAMing on 365.97255784400005 meters Centerline goodness : 0.157413 Centerline is valid? [False, False] Translation: X:4.94, Y:0.51, Z:1.54 [[ 0.99965494 0.01584322 -0.02095209 4.93716802] [-0.01569443 0.99985057 0.00724686 0.50881468] [ 0.02106377 -0.00691552 0.99975422 1.53555402] [ 0. 0. 0. 1. ]] SLAMing on 366.0025578440001 meters Centerline goodness : 0.131651 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 0.99970501 0.00896223 -0.02257352 4.95701651] [-0.0087817 0.99992877 0.00808371 0.51787441] [ 0.02264436 -0.0078831 0.9997125 1.5369399 ] [ 0. 0. 0. 1. ]] SLAMing on 366.03255784400005 meters Centerline goodness : 0.163617 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 0.99969599 0.00883999 -0.0230168 4.95892698] [-0.00866554 0.99993305 0.00766779 0.51997296] [ 0.02308304 -0.00746601 0.99970567 1.53550473] [ 0. 0. 0. 1. ]] SLAMing on 366.062557844 meters Centerline goodness : 0.129691 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 0.99969283 0.008735 -0.02319356 4.95954849] [-0.00856156 0.99993472 0.00756656 0.52003615] [ 0.02325814 -0.00736567 0.99970236 1.53518789] [ 0. 0. 0. 1. ]] SLAMing on 366.09255784400005 meters Centerline goodness : 0.157200 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99705434e-01 -6.36629362e-04 -2.42619026e-02 4.93857445e+00] [ 8.31488515e-04 9.99967476e-01 8.02224515e-03 5.23086170e-01] [ 2.42560063e-02 -8.04005557e-03 9.99673449e-01 1.53464502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.122557844 meters Centerline goodness : 0.155309 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99703201e-01 -6.51717769e-04 -2.43533227e-02 4.93862005e+00] [ 8.50066498e-04 9.99966548e-01 8.13516229e-03 5.22318349e-01] [ 2.43472062e-02 -8.15344973e-03 9.99670313e-01 1.53500329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15255784400006 meters Centerline goodness : 0.133924 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99705779e-01 -5.73407022e-04 -2.42492491e-02 4.93819320e+00] [ 7.77116128e-04 9.99964484e-01 8.39204657e-03 5.21195769e-01] [ 2.42435758e-02 -8.40842194e-03 9.99670720e-01 1.53528803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18255784400003 meters Centerline goodness : 0.164329 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99707945e-01 -5.37377481e-04 -2.41606088e-02 4.93801931e+00] [ 7.42586703e-04 9.99963723e-01 8.48537558e-03 5.20763005e-01] [ 2.41551725e-02 -8.50083874e-03 9.99672078e-01 1.53520984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21255784400006 meters Centerline goodness : 0.125739 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99709297e-01 -4.91852894e-04 -2.41055909e-02 4.93802444e+00] [ 7.00029848e-04 9.99962530e-01 8.62836690e-03 5.19971075e-01] [ 2.41004437e-02 -8.64273324e-03 9.99672182e-01 1.53501657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24255784400003 meters Centerline goodness : 0.128766 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99709938e-01 -4.33180991e-04 -2.40801305e-02 4.93796434e+00] [ 6.44728151e-04 9.99961264e-01 8.77806407e-03 5.19168951e-01] [ 2.40753953e-02 -8.79104302e-03 9.99671492e-01 1.53503507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27255784400006 meters Centerline goodness : 0.130003 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99709895e-01 -2.88735916e-04 -2.40840827e-02 4.93779245e+00] [ 5.06807185e-04 9.99958929e-01 9.04896826e-03 5.17971669e-01] [ 2.40804808e-02 -9.05854910e-03 9.99668982e-01 1.53535694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30255784400003 meters Centerline goodness : 0.132307 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 0.99967786 0.00808264 -0.02405915 4.95780641] [-0.00790045 0.99993947 0.00765786 0.51458082] [ 0.02411958 -0.00746532 0.99968121 1.53707457] [ 0. 0. 0. 1. ]] SLAMing on 366.33255784400006 meters Centerline goodness : 0.129664 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99682237e-01 -5.44678867e-04 -2.52017683e-02 4.93945432e+00] [ 7.70463582e-04 9.99959649e-01 8.95023975e-03 5.17899905e-01] [ 2.51958764e-02 -8.96681273e-03 9.99642318e-01 1.53503888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36255784400004 meters Centerline goodness : 0.133615 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99682245e-01 -5.48852364e-04 -2.52013567e-02 4.93970845e+00] [ 7.72278782e-04 9.99960480e-01 8.85677372e-03 5.18409193e-01] [ 2.51954996e-02 -8.87342191e-03 9.99643161e-01 1.53455320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39255784400007 meters Centerline goodness : 0.143001 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99711127e-01 -1.97060305e-05 -2.40345945e-02 4.93652566e+00] [ 2.38763176e-04 9.99958462e-01 9.11140781e-03 5.19119517e-01] [ 2.40334166e-02 -9.11451434e-03 9.99669606e-01 1.53500332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42255784400004 meters Centerline goodness : 0.132043 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 0.99972799 0.00866371 -0.02165395 4.95597458] [-0.00849189 0.99993183 0.00801427 0.51808851] [ 0.02172191 -0.00782821 0.9997334 1.53601582] [ 0. 0. 0. 1. ]] SLAMing on 366.45255784400007 meters Centerline goodness : 0.131245 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.53 [[ 9.99784673e-01 -5.73277510e-05 -2.07509961e-02 4.93442829e+00] [ 2.38786685e-04 9.99961758e-01 8.74221695e-03 5.23036985e-01] [ 2.07497013e-02 -8.74528958e-03 9.99746453e-01 1.53452169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48255784400004 meters Centerline goodness : 0.136373 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.53 [[ 9.99789765e-01 -1.22997441e-04 -2.05039189e-02 4.93385959e+00] [ 2.98039943e-04 9.99963539e-01 8.53418941e-03 5.24084867e-01] [ 2.05021216e-02 -8.53850621e-03 9.99753348e-01 1.53436390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51255784400007 meters Centerline goodness : 0.145790 Centerline is valid? [False, False] Translation: X:4.95, Y:0.52, Z:1.54 [[ 0.99977599 0.00836737 -0.01944124 4.95419127] [-0.00823341 0.99994188 0.00696012 0.52377422] [ 0.01949834 -0.0067985 0.99978677 1.53524718] [ 0. 0. 0. 1. ]] SLAMing on 366.54255784400004 meters Centerline goodness : 0.145790 Centerline is valid? [False, False] Translation: X:4.95, Y:0.52, Z:1.54 [[ 0.99977599 0.00836737 -0.01944124 4.95419127] [-0.00823341 0.99994188 0.00696012 0.52377422] [ 0.01949834 -0.0067985 0.99978677 1.53524718] [ 0. 0. 0. 1. ]] SLAMing on 366.5725578440001 meters Centerline goodness : 0.123995 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99801335e-01 -7.68788023e-04 -1.99173009e-02 4.93299362e+00] [ 9.19879119e-04 9.99970864e-01 7.57787157e-03 5.28437160e-01] [ 1.99108948e-02 -7.59468762e-03 9.99772913e-01 1.53419239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60255784400005 meters Centerline goodness : 0.128775 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99804018e-01 -8.27966279e-04 -1.97797965e-02 4.93262863e+00] [ 9.74564160e-04 9.99972122e-01 7.40300668e-03 5.29372242e-01] [ 1.97731156e-02 -7.42083250e-03 9.99776953e-01 1.53418389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6325578440001 meters Centerline goodness : 0.131427 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99807221e-01 -8.64573656e-04 -1.96156654e-02 4.93216471e+00] [ 1.00786718e-03 9.99972873e-01 7.29634619e-03 5.29928048e-01] [ 1.96088251e-02 -7.31470959e-03 9.99780971e-01 1.53426926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66255784400005 meters Centerline goodness : 0.136445 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99811031e-01 -9.30703487e-04 -1.94174017e-02 4.93171884e+00] [ 1.06974004e-03 9.99973857e-01 7.15125207e-03 5.30659583e-01] [ 1.94102384e-02 -7.17067227e-03 9.99785889e-01 1.53412770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6925578440001 meters Centerline goodness : 0.125691 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99807183e-01 -1.02741541e-03 -1.96097314e-02 4.93245676e+00] [ 1.16522693e-03 9.99974698e-01 7.01757898e-03 5.31006545e-01] [ 1.96020253e-02 -7.03907566e-03 9.99783082e-01 1.53371513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72255784400005 meters Centerline goodness : 0.134032 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99798595e-01 -1.15267907e-03 -2.00359982e-02 4.93390324e+00] [ 1.29014303e-03 9.99975711e-01 6.84927818e-03 5.31438581e-01] [ 2.00276165e-02 -6.87374800e-03 9.99775798e-01 1.53306767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7525578440001 meters Centerline goodness : 0.123943 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99794096e-01 -1.23271510e-03 -2.02545476e-02 4.93461987e+00] [ 1.36840965e-03 9.99976706e-01 6.68696749e-03 5.32117353e-01] [ 2.02458326e-02 -6.71330714e-03 9.99772493e-01 1.53275001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78255784400005 meters Centerline goodness : 0.139757 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99803720e-01 -1.21500897e-03 -1.97748644e-02 4.93283927e+00] [ 1.34512365e-03 9.99977527e-01 6.56783067e-03 5.33403153e-01] [ 1.97664401e-02 -6.59314118e-03 9.99782886e-01 1.53361740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.812557844 meters Centerline goodness : 0.122220 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99810655e-01 -1.24863214e-03 -1.94189410e-02 4.93158222e+00] [ 1.37487179e-03 9.99978002e-01 6.48886017e-03 5.33792127e-01] [ 1.94104116e-02 -6.51433009e-03 9.99790378e-01 1.53421611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84255784400005 meters Centerline goodness : 0.150509 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99814496e-01 -1.33145867e-03 -1.92145739e-02 4.93079544e+00] [ 1.45447258e-03 9.99978529e-01 6.38956091e-03 5.33951762e-01] [ 1.92056539e-02 -6.41632270e-03 9.99794966e-01 1.53468828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.872557844 meters Centerline goodness : 0.132430 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.53 [[ 9.99806938e-01 -1.50886180e-03 -1.95910472e-02 4.93208260e+00] [ 1.62823450e-03 9.99980199e-01 6.07870686e-03 5.35019518e-01] [ 1.95814873e-02 -6.10943211e-03 9.99789598e-01 1.53401902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90255784400006 meters Centerline goodness : 0.164857 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.53 [[ 0.99974433 0.00651513 -0.02165223 4.91262253] [-0.00640199 0.99996551 0.00529059 0.53071185] [ 0.02168596 -0.00515062 0.99975156 1.53265687] [ 0. 0. 0. 1. ]] SLAMing on 366.93255784400003 meters Centerline goodness : 0.139924 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.53 [[ 0.99973946 0.00649313 -0.02188257 4.91352833] [-0.00638028 0.99996601 0.00522303 0.53116518] [ 0.02191574 -0.00508205 0.9997469 1.53206948] [ 0. 0. 0. 1. ]] SLAMing on 366.96255784400006 meters Centerline goodness : 0.137276 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.53 [[ 9.99764359e-01 -1.37863187e-03 -2.16639202e-02 4.93340602e+00] [ 1.50753558e-03 9.99981252e-01 5.93495135e-03 5.36535494e-01] [ 2.16553319e-02 -5.96621196e-03 9.99747694e-01 1.53344806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99255784400003 meters Centerline goodness : 0.136811 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.53 [[ 9.99768717e-01 -1.39037252e-03 -2.14611208e-02 4.93262142e+00] [ 1.51705665e-03 9.99981516e-01 5.88780793e-03 5.36923409e-01] [ 2.14525379e-02 -5.91900392e-03 9.99752346e-01 1.53390480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02255784400006 meters Centerline goodness : 0.143244 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.53 [[ 9.99768561e-01 -1.45142985e-03 -2.14643466e-02 4.93275222e+00] [ 1.57472830e-03 9.99982352e-01 5.72855123e-03 5.37682111e-01] [ 2.14556532e-02 -5.76102593e-03 9.99753202e-01 1.53365316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05255784400003 meters Centerline goodness : 0.140058 Centerline is valid? [False, False] Translation: X:4.95, Y:0.54, Z:1.53 [[ 9.99747654e-01 6.94043165e-03 -2.13648961e-02 4.95329541e+00] [-6.85332738e-03 9.99967915e-01 4.14750402e-03 5.36053387e-01] [ 2.13929961e-02 -4.00003678e-03 9.99763142e-01 1.53499007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08255784400006 meters Centerline goodness : 0.154260 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.53 [[ 9.99750335e-01 -1.98437266e-03 -2.22560051e-02 4.93412958e+00] [ 2.09455175e-03 9.99985662e-01 4.92831532e-03 5.40908375e-01] [ 2.22459064e-02 -4.97370125e-03 9.99740157e-01 1.53295522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11255784400004 meters Centerline goodness : 0.139591 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.53 [[ 9.99750912e-01 -1.68074973e-03 -2.22550773e-02 4.93422970e+00] [ 1.78453086e-03 9.99987623e-01 4.64421751e-03 5.44595493e-01] [ 2.22469961e-02 -4.68277557e-03 9.99741538e-01 1.53250780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14255784400007 meters Centerline goodness : 0.121475 Centerline is valid? [False, False] Translation: X:4.93, Y:0.55, Z:1.53 [[ 9.99756616e-01 -1.66826923e-03 -2.19982878e-02 4.93361422e+00] [ 1.76376805e-03 9.99989102e-01 4.32250587e-03 5.47080764e-01] [ 2.19908370e-02 -4.36025372e-03 9.99748664e-01 1.53235449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17255784400004 meters Centerline goodness : 0.153183 Centerline is valid? [False, False] Translation: X:4.93, Y:0.55, Z:1.53 [[ 9.99761506e-01 -1.71167257e-03 -2.17715784e-02 4.93293924e+00] [ 1.79980080e-03 9.99990264e-01 4.02890669e-03 5.48912081e-01] [ 2.17644703e-02 -4.06713032e-03 9.99754853e-01 1.53246396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20255784400007 meters Centerline goodness : 0.126617 Centerline is valid? [False, False] Translation: X:4.93, Y:0.55, Z:1.53 [[ 9.99771480e-01 -1.91616933e-03 -2.12912320e-02 4.93140170e+00] [ 1.98913306e-03 9.99992220e-01 3.40628881e-03 5.51874398e-01] [ 2.12845393e-02 -3.44786150e-03 9.99767513e-01 1.53292505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23255784400004 meters Centerline goodness : 0.135401 Centerline is valid? [False, False] Translation: X:4.93, Y:0.55, Z:1.53 [[ 9.99773433e-01 -2.02111162e-03 -2.11895714e-02 4.93117485e+00] [ 2.08741446e-03 9.99992993e-01 3.10738046e-03 5.53427501e-01] [ 2.11831426e-02 -3.15090785e-03 9.99770647e-01 1.53275663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26255784400007 meters Centerline goodness : 0.131764 Centerline is valid? [False, False] Translation: X:4.95, Y:0.55, Z:1.53 [[ 9.99767494e-01 6.40805763e-03 -2.05886871e-02 4.95042190e+00] [-6.37168466e-03 9.99978023e-01 1.83176280e-03 5.52977741e-01] [ 2.05999727e-02 -1.70015228e-03 9.99786352e-01 1.53396673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29255784400004 meters Centerline goodness : 0.132503 Centerline is valid? [False, False] Translation: X:4.95, Y:0.55, Z:1.53 [[ 9.99771586e-01 6.28633033e-03 -2.04268874e-02 4.95004141e+00] [-6.25643615e-03 9.99979262e-01 1.52704957e-03 5.54596339e-01] [ 2.04360633e-02 -1.39890125e-03 9.99790183e-01 1.53388451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3225578440001 meters Centerline goodness : 0.137029 Centerline is valid? [False, False] Translation: X:4.93, Y:0.56, Z:1.53 [[ 9.99840329e-01 -2.09444232e-03 -1.77462610e-02 4.92852349e+00] [ 2.12257909e-03 9.99996520e-01 1.56681707e-03 5.61627156e-01] [ 1.77429176e-02 -1.60423474e-03 9.99841295e-01 1.53185248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35255784400005 meters Centerline goodness : 0.134584 Centerline is valid? [False, False] Translation: X:4.93, Y:0.56, Z:1.53 [[ 9.99839969e-01 -2.22497836e-03 -1.77506631e-02 4.92826147e+00] [ 2.24781625e-03 9.99996671e-01 1.26674575e-03 5.62993698e-01] [ 1.77477855e-02 -1.30644326e-03 9.99841642e-01 1.53225842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3825578440001 meters Centerline goodness : 0.135447 Centerline is valid? [False, False] Translation: X:4.93, Y:0.56, Z:1.53 [[ 9.99839109e-01 -2.36286168e-03 -1.77812614e-02 4.92828890e+00] [ 2.37950152e-03 9.99996751e-01 9.14709358e-04 5.64735875e-01] [ 1.77790423e-02 -9.56872728e-04 9.99841482e-01 1.53228039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41255784400005 meters Centerline goodness : 0.162979 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.53 [[ 9.99837872e-01 -2.45735434e-03 -1.78379132e-02 4.92866354e+00] [ 2.46979535e-03 9.99996722e-01 6.75451403e-04 5.65908235e-01] [ 1.78361949e-02 -7.19397889e-04 9.99840664e-01 1.53182449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4425578440001 meters Centerline goodness : 0.143298 Centerline is valid? [False, False] Translation: X:4.95, Y:0.56, Z:1.53 [[ 9.99827278e-01 5.88426025e-03 -1.76292550e-02 4.94934464e+00] [-5.89630473e-03 9.99982417e-01 -6.31309690e-04 5.64434890e-01] [ 1.76252302e-02 7.35148109e-04 9.99844393e-01 1.53261117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47255784400005 meters Centerline goodness : 0.151648 Centerline is valid? [False, False] Translation: X:4.95, Y:0.57, Z:1.53 [[ 9.99830444e-01 5.77630989e-03 -1.74847683e-02 4.94916854e+00] [-5.79206216e-03 9.99982864e-01 -8.50407222e-04 5.65286960e-01] [ 1.74795564e-02 9.51535895e-04 9.99846768e-01 1.53223870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5025578440001 meters Centerline goodness : 0.162263 Centerline is valid? [False, False] Translation: X:4.95, Y:0.57, Z:1.53 [[ 9.99832737e-01 5.77493535e-03 -1.73536235e-02 4.94872657e+00] [-5.79075102e-03 9.99982863e-01 -8.61264352e-04 5.65391009e-01] [ 1.73483524e-02 9.61610807e-04 9.99849044e-01 1.53240680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53255784400005 meters Centerline goodness : 0.154331 Centerline is valid? [False, False] Translation: X:4.97, Y:0.57, Z:1.53 [[ 9.99854976e-01 -1.74500725e-03 -1.69405695e-02 4.96678782e+00] [ 1.75127204e-03 9.99998404e-01 3.54982307e-04 5.70215432e-01] [ 1.69399230e-02 -3.84598372e-04 9.99856435e-01 1.53442125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.562557844 meters Centerline goodness : 0.149245 Centerline is valid? [False, False] Translation: X:4.94, Y:0.57, Z:1.53 [[ 9.99838864e-01 3.87016470e-03 -1.75290522e-02 4.94406783e+00] [-3.92080217e-03 9.99988237e-01 -2.85532912e-03 5.66289342e-01] [ 1.75177954e-02 2.92359697e-03 9.99842277e-01 1.53444941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59255784400005 meters Centerline goodness : 0.145728 Centerline is valid? [False, False] Translation: X:4.94, Y:0.56, Z:1.53 [[ 9.99835833e-01 3.87944706e-03 -1.76990420e-02 4.94490989e+00] [-3.92560313e-03 9.99988982e-01 -2.57383193e-03 5.64146448e-01] [ 1.76888620e-02 2.64288881e-03 9.99840047e-01 1.53377601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.622557844 meters Centerline goodness : 0.170339 Centerline is valid? [False, False] Translation: X:4.95, Y:0.56, Z:1.53 [[ 9.99834805e-01 3.96068604e-03 -1.77390909e-02 4.94531626e+00] [-4.00356218e-03 9.99989148e-01 -2.38218269e-03 5.63361108e-01] [ 1.77294633e-02 2.45280872e-03 9.99839812e-01 1.53323572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65255784400006 meters Centerline goodness : 0.144235 Centerline is valid? [False, False] Translation: X:4.95, Y:0.56, Z:1.53 [[ 9.99834687e-01 4.04654792e-03 -1.77263616e-02 4.94539577e+00] [-4.08608398e-03 9.99989244e-01 -2.19470328e-03 5.62610573e-01] [ 1.77172900e-02 2.26677187e-03 9.99840467e-01 1.53308653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68255784400003 meters Centerline goodness : 0.152087 Centerline is valid? [False, False] Translation: X:4.95, Y:0.56, Z:1.53 [[ 9.99831454e-01 4.13938462e-03 -1.78865719e-02 4.94585727e+00] [-4.17503674e-03 9.99989371e-01 -1.95635223e-03 5.61320246e-01] [ 1.78782836e-02 2.03069959e-03 9.99838109e-01 1.53299270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71255784400006 meters Centerline goodness : 0.127404 Centerline is valid? [False, False] Translation: X:4.97, Y:0.57, Z:1.53 [[ 9.99819656e-01 -3.14899301e-03 -1.87280375e-02 4.96543372e+00] [ 3.13346477e-03 9.99994722e-01 -8.58430775e-04 5.65838752e-01] [ 1.87306419e-02 7.99592317e-04 9.99824246e-01 1.53459485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74255784400003 meters Centerline goodness : 0.137429 Centerline is valid? [False, False] Translation: X:4.97, Y:0.56, Z:1.53 [[ 9.99816350e-01 -3.07409286e-03 -1.89160084e-02 4.96613016e+00] [ 3.06187865e-03 9.99995085e-01 -6.74635395e-04 5.64907342e-01] [ 1.89179893e-02 6.16592976e-04 9.99820849e-01 1.53421907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77255784400006 meters Centerline goodness : 0.136326 Centerline is valid? [False, False] Translation: X:4.97, Y:0.56, Z:1.53 [[ 9.99816494e-01 -2.86706887e-03 -1.89409039e-02 4.96646146e+00] [ 2.86532727e-03 9.99995888e-01 -1.19086605e-04 5.62219263e-01] [ 1.89411674e-02 6.47928635e-05 9.99820598e-01 1.53382618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80255784400003 meters Centerline goodness : 0.137612 Centerline is valid? [False, False] Translation: X:4.97, Y:0.56, Z:1.53 [[ 9.99819427e-01 -2.75861665e-03 -1.88016929e-02 4.96598273e+00] [ 2.76341341e-03 9.99996156e-01 2.29147783e-04 5.60406040e-01] [ 1.88009885e-02 -2.81063256e-04 9.99823206e-01 1.53409669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83255784400006 meters Centerline goodness : 0.146156 Centerline is valid? [False, False] Translation: X:4.97, Y:0.56, Z:1.53 [[ 9.99822135e-01 -2.62352081e-03 -1.86766040e-02 4.96539662e+00] [ 2.63640832e-03 9.99996303e-01 6.65446792e-04 5.58168994e-01] [ 1.86747891e-02 -7.14567587e-04 9.99825356e-01 1.53460528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86255784400004 meters Centerline goodness : 0.143543 Centerline is valid? [False, False] Translation: X:4.96, Y:0.56, Z:1.53 [[ 9.99825068e-01 -2.46518956e-03 -1.85406473e-02 4.96489617e+00] [ 2.48614080e-03 9.99996297e-01 1.10705233e-03 5.56056437e-01] [ 1.85378496e-02 -1.15295333e-03 9.99827495e-01 1.53489985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89255784400007 meters Centerline goodness : 0.141763 Centerline is valid? [False, False] Translation: X:4.97, Y:0.55, Z:1.53 [[ 9.99816574e-01 -2.35487231e-03 -1.90071939e-02 4.96635416e+00] [ 2.38797333e-03 9.99995671e-01 1.71899134e-03 5.52255457e-01] [ 1.90030636e-02 -1.76406471e-03 9.99817869e-01 1.53456024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92255784400004 meters Centerline goodness : 0.140671 Centerline is valid? [False, False] Translation: X:4.92, Y:0.55, Z:1.53 [[ 9.99740873e-01 -3.68199921e-03 -2.24639549e-02 4.92329546e+00] [ 3.71653066e-03 9.99991975e-01 1.49563787e-03 5.47181249e-01] [ 2.24582677e-02 -1.57873829e-03 9.99746535e-01 1.53396965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95255784400007 meters Centerline goodness : 0.135491 Centerline is valid? [False, False] Translation: X:4.94, Y:0.54, Z:1.54 [[ 9.99718801e-01 4.44587013e-03 -2.32927636e-02 4.94341907e+00] [-4.43998730e-03 9.99990097e-01 3.04271542e-04 5.42830126e-01] [ 2.32938857e-02 -2.00766407e-04 9.99728640e-01 1.53575092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98255784400004 meters Centerline goodness : 0.133641 Centerline is valid? [False, False] Translation: X:4.94, Y:0.54, Z:1.54 [[ 9.99718225e-01 4.53667501e-03 -2.32999754e-02 4.94341965e+00] [-4.52683874e-03 9.99989641e-01 4.74885680e-04 5.42144288e-01] [ 2.33018885e-02 -3.69276638e-04 9.99728406e-01 1.53578943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01255784400007 meters Centerline goodness : 0.137823 Centerline is valid? [False, False] Translation: X:4.94, Y:0.54, Z:1.54 [[ 9.99723666e-01 4.66279625e-03 -2.30401719e-02 4.94240634e+00] [-4.64795344e-03 9.99988955e-01 6.97724633e-04 5.41057745e-01] [ 2.30431707e-02 -5.90442182e-04 9.99734297e-01 1.53636553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04255784400004 meters Centerline goodness : 0.137048 Centerline is valid? [False, False] Translation: X:4.94, Y:0.54, Z:1.54 [[ 9.99726959e-01 4.71830353e-03 -2.28854556e-02 4.94199660e+00] [-4.70069184e-03 9.99988613e-01 8.23293369e-04 5.40396120e-01] [ 2.28890795e-02 -7.15491103e-04 9.99737755e-01 1.53639867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0725578440001 meters Centerline goodness : 0.134247 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99745372e-01 -2.73397953e-03 -2.23990119e-02 4.96125242e+00] [ 2.77667926e-03 9.99994386e-01 1.87544271e-03 5.45842958e-01] [ 2.23937588e-02 -1.93716004e-03 9.99747352e-01 1.53738181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10255784400005 meters Centerline goodness : 0.137276 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99748165e-01 -2.73734127e-03 -2.22736234e-02 4.96123259e+00] [ 2.77796140e-03 9.99994534e-01 1.79295021e-03 5.46434282e-01] [ 2.22685937e-02 -1.85437394e-03 9.99750304e-01 1.53687477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1325578440001 meters Centerline goodness : 0.141024 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99756997e-01 -2.77622261e-03 -2.18686786e-02 4.95994759e+00] [ 2.81440938e-03 9.99994568e-01 1.71560137e-03 5.46755971e-01] [ 2.18637970e-02 -1.77673189e-03 9.99759380e-01 1.53727121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16255784400005 meters Centerline goodness : 0.136059 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99760744e-01 -2.77655001e-03 -2.16966531e-02 4.95907575e+00] [ 2.81585422e-03 9.99994449e-01 1.78119278e-03 5.46305119e-01] [ 2.16915871e-02 -1.84186123e-03 9.99763013e-01 1.53799015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1925578440001 meters Centerline goodness : 0.118752 Centerline is valid? [False, False] Translation: X:4.98, Y:0.54, Z:1.54 [[ 9.99772731e-01 5.45162110e-03 -2.06098727e-02 4.97860679e+00] [-5.44267604e-03 9.99985068e-01 4.90086070e-04 5.43316238e-01] [ 2.06122367e-02 -3.77801828e-04 9.99787474e-01 1.53950600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22255784400005 meters Centerline goodness : 0.137854 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.54 [[ 9.99709062e-01 4.29695020e-03 -2.37345273e-02 4.93416333e+00] [-4.28072029e-03 9.99990568e-01 7.34575969e-04 5.39250021e-01] [ 2.37374599e-02 -6.32761380e-04 9.99718027e-01 1.53959673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2525578440001 meters Centerline goodness : 0.139718 Centerline is valid? [False, False] Translation: X:4.94, Y:0.54, Z:1.54 [[ 9.99688227e-01 4.03352763e-03 -2.46410125e-02 4.93655954e+00] [-4.01156835e-03 9.99991511e-01 9.40535129e-04 5.36747171e-01] [ 2.46445970e-02 -8.41392790e-04 9.99695922e-01 1.53938067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28255784400005 meters Centerline goodness : 0.138957 Centerline is valid? [False, False] Translation: X:4.94, Y:0.53, Z:1.54 [[ 9.99684822e-01 4.06700837e-03 -2.47733108e-02 4.93680182e+00] [-4.03544433e-03 9.99990981e-01 1.32397495e-03 5.34379151e-01] [ 2.47784719e-02 -1.22358634e-03 9.99692218e-01 1.53957975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.312557844 meters Centerline goodness : 0.148075 Centerline is valid? [False, False] Translation: X:4.94, Y:0.53, Z:1.54 [[ 9.99688395e-01 4.17869164e-03 -2.46099726e-02 4.93624688e+00] [-4.13491687e-03 9.99989778e-01 1.82936059e-03 5.31693720e-01] [ 2.46173654e-02 -1.72703036e-03 9.99695455e-01 1.53988259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34255784400005 meters Centerline goodness : 0.143282 Centerline is valid? [False, False] Translation: X:4.94, Y:0.53, Z:1.54 [[ 9.99692398e-01 4.40543808e-03 -2.44069926e-02 4.93574946e+00] [-4.33874108e-03 9.99986710e-01 2.78498258e-03 5.26674611e-01] [ 2.44189373e-02 -2.67823029e-03 9.99698226e-01 1.54004935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.372557844 meters Centerline goodness : 0.143469 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99682721e-01 4.48232472e-03 -2.47864012e-02 4.93703938e+00] [-4.40577630e-03 9.99985358e-01 3.14207170e-03 5.24538990e-01] [ 2.48001221e-02 -3.03187145e-03 9.99687832e-01 1.53953092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40255784400006 meters Centerline goodness : 0.145584 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99671932e-01 4.57796767e-03 -2.52006239e-02 4.93840659e+00] [-4.49164389e-03 9.99983854e-01 3.48100216e-03 5.22517686e-01] [ 2.52161529e-02 -3.36666793e-03 9.99676353e-01 1.53901138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43255784400003 meters Centerline goodness : 0.145584 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99671932e-01 4.57796767e-03 -2.52006239e-02 4.93840659e+00] [-4.49164389e-03 9.99983854e-01 3.48100216e-03 5.22517686e-01] [ 2.52161529e-02 -3.36666793e-03 9.99676353e-01 1.53901138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46255784400006 meters Centerline goodness : 0.150984 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99651814e-01 -2.83377227e-03 -2.62339624e-02 4.95923213e+00] [ 2.94519930e-03 9.99986802e-01 4.20977024e-03 5.25982727e-01] [ 2.62216866e-02 -4.28556870e-03 9.99646966e-01 1.54010379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49255784400003 meters Centerline goodness : 0.162023 Centerline is valid? [False, False] Translation: X:4.92, Y:0.52, Z:1.54 [[ 9.99545290e-01 -2.92812147e-03 -3.00106447e-02 4.91638648e+00] [ 3.08277587e-03 9.99982200e-01 5.10834574e-03 5.20803192e-01] [ 2.99951526e-02 -5.19853902e-03 9.99536526e-01 1.53926730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52255784400006 meters Centerline goodness : 0.148446 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99558642e-01 6.26808845e-03 -2.90384525e-02 4.93752461e+00] [-6.13941454e-03 9.99970946e-01 4.51819789e-03 5.18511923e-01] [ 2.90659293e-02 -4.33792465e-03 9.99568084e-01 1.53996144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55255784400003 meters Centerline goodness : 0.163075 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99568285e-01 6.34655112e-03 -2.86873682e-02 4.93659190e+00] [-6.22066202e-03 9.99970637e-01 4.47542991e-03 5.19169351e-01] [ 2.87149294e-02 -4.29504337e-03 9.99578414e-01 1.54005600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58255784400006 meters Centerline goodness : 0.164336 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99576723e-01 6.40990920e-03 -2.83775945e-02 4.93572341e+00] [-6.28891646e-03 9.99970759e-01 4.35087154e-03 5.20167480e-01] [ 2.84046534e-02 -4.17056559e-03 9.99587806e-01 1.54019826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61255784400004 meters Centerline goodness : 0.141514 Centerline is valid? [False, False] Translation: X:4.98, Y:0.53, Z:1.54 [[ 9.99596376e-01 8.83785801e-03 -2.69995720e-02 4.97837373e+00] [-8.72399956e-03 9.99952562e-01 4.33193570e-03 5.26281754e-01] [ 2.70365762e-02 -4.09464297e-03 9.99626059e-01 1.54151902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64255784400007 meters Centerline goodness : 0.148860 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99636015e-01 1.08228816e-03 -2.69567327e-02 4.95982845e+00] [-9.19931998e-04 9.99981369e-01 6.03451606e-03 5.32531252e-01] [ 2.69627615e-02 -6.00752123e-03 9.99618387e-01 1.53879475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67255784400004 meters Centerline goodness : 0.144864 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99644601e-01 1.07912290e-03 -2.66365678e-02 4.95911436e+00] [-9.29224584e-04 9.99983667e-01 5.63927514e-03 5.35106395e-01] [ 2.66422182e-02 -5.61251960e-03 9.99629277e-01 1.53855721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70255784400007 meters Centerline goodness : 0.134489 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99654742e-01 9.62467722e-04 -2.62577805e-02 4.95826619e+00] [-8.27522256e-04 9.99986398e-01 5.14963873e-03 5.37812120e-01] [ 2.62623797e-02 -5.12613188e-03 9.99641941e-01 1.53827994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73255784400004 meters Centerline goodness : 0.129884 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99655909e-01 5.43157036e-04 -2.62253509e-02 4.95826503e+00] [-4.35509044e-04 9.99991458e-01 4.11026750e-03 5.42454688e-01] [ 2.62273594e-02 -4.09743181e-03 9.99647606e-01 1.53795009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76255784400007 meters Centerline goodness : 0.156757 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99655000e-01 3.69313887e-04 -2.62629850e-02 4.95830039e+00] [-2.72295983e-04 9.99993127e-01 3.69757315e-03 5.44464530e-01] [ 2.62641700e-02 -3.68914618e-03 9.99648230e-01 1.53795227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79255784400004 meters Centerline goodness : 0.119852 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99656552e-01 2.19214336e-04 -2.62055281e-02 4.95802658e+00] [-1.32398490e-04 9.99994498e-01 3.31457210e-03 5.46523082e-01] [ 2.62061105e-02 -3.30996414e-03 9.99651081e-01 1.53806721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8225578440001 meters Centerline goodness : 0.121794 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99658609e-01 -6.40929339e-06 -2.61278631e-02 4.95767782e+00] [ 8.26038651e-05 9.99995748e-01 2.91514076e-03 5.48478894e-01] [ 2.61277333e-02 -2.91630382e-03 9.99654359e-01 1.53832521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85255784400005 meters Centerline goodness : 0.120680 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99659578e-01 -1.09905083e-04 -2.60905201e-02 4.95738627e+00] [ 1.85825467e-04 9.99995756e-01 2.90747714e-03 5.48130846e-01] [ 2.60900899e-02 -2.91133565e-03 9.99655356e-01 1.53869120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8825578440001 meters Centerline goodness : 0.118712 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99655880e-01 -2.77657399e-04 -2.62306144e-02 4.95754540e+00] [ 3.55609921e-04 9.99995535e-01 2.96719658e-03 5.47167284e-01] [ 2.62296734e-02 -2.97550337e-03 9.99651515e-01 1.53904641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91255784400005 meters Centerline goodness : 0.134861 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99657553e-01 -3.81350039e-04 -2.61654616e-02 4.95724023e+00] [ 4.63359398e-04 9.99995000e-01 3.12826852e-03 5.45970924e-01] [ 2.61641378e-02 -3.13932127e-03 9.99652731e-01 1.53938057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9425578440001 meters Centerline goodness : 0.121185 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99656877e-01 -6.27670193e-04 -2.61865195e-02 4.95710406e+00] [ 7.17806618e-04 9.99993850e-01 3.43283456e-03 5.43775745e-01] [ 2.61842038e-02 -3.45045353e-03 9.99651180e-01 1.53984305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97255784400005 meters Centerline goodness : 0.121160 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99648246e-01 -6.28758379e-04 -2.65139466e-02 4.95792880e+00] [ 7.27641296e-04 9.99992816e-01 3.71998501e-03 5.41880311e-01] [ 2.65114171e-02 -3.73796913e-03 9.99641522e-01 1.53991440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0025578440001 meters Centerline goodness : 0.158154 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99640267e-01 -5.78056919e-04 -2.68142072e-02 4.95870594e+00] [ 6.88585638e-04 9.99991305e-01 4.11297034e-03 5.39411214e-01] [ 2.68115965e-02 -4.12995465e-03 9.99631973e-01 1.53996134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03255784400005 meters Centerline goodness : 0.162172 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99634922e-01 -4.60640871e-04 -2.70150196e-02 4.95918034e+00] [ 5.85519946e-04 9.99989180e-01 4.61485133e-03 5.36563870e-01] [ 2.70126015e-02 -4.62898438e-03 9.99624375e-01 1.54005224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.062557844 meters Centerline goodness : 0.163628 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99628410e-01 -1.91030549e-04 -2.72581136e-02 4.95985255e+00] [ 3.39399930e-04 9.99985153e-01 5.43860451e-03 5.32356680e-01] [ 2.72566700e-02 -5.44583498e-03 9.99613634e-01 1.54005152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09255784400005 meters Centerline goodness : 0.124070 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99626144e-01 -4.98933987e-05 -2.73417368e-02 4.96023237e+00] [ 2.07103283e-04 9.99983464e-01 5.74701175e-03 5.30974627e-01] [ 2.73409980e-02 -5.75052576e-03 9.99609624e-01 1.53979000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.122557844 meters Centerline goodness : 0.138772 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99624045e-01 2.31682538e-05 -2.74183757e-02 4.96064420e+00] [ 1.38882417e-04 9.99982536e-01 5.90837527e-03 5.30154702e-01] [ 2.74180337e-02 -5.90996192e-03 9.99606585e-01 1.53945383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15255784400006 meters Centerline goodness : 0.163024 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99629075e-01 2.88894146e-04 -2.72328685e-02 4.96022935e+00] [-1.21911363e-04 9.99981185e-01 6.13312429e-03 5.29402515e-01] [ 2.72341279e-02 -6.12752936e-03 9.99610302e-01 1.53941068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18255784400003 meters Centerline goodness : 0.128647 Centerline is valid? [False, False] Translation: X:4.98, Y:0.53, Z:1.54 [[ 9.99618621e-01 9.32606393e-03 -2.59930172e-02 4.98100772e+00] [-9.19430819e-03 9.99944295e-01 5.18380559e-03 5.27628629e-01] [ 2.60399138e-02 -4.94284079e-03 9.99648684e-01 1.54030607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21255784400006 meters Centerline goodness : 0.132983 Centerline is valid? [False, False] Translation: X:4.98, Y:0.53, Z:1.54 [[ 9.99621774e-01 9.41320701e-03 -2.58399073e-02 4.98070015e+00] [-9.28702299e-03 9.99944379e-01 4.99897469e-03 5.29220988e-01] [ 2.58855264e-02 -4.75710813e-03 9.99653595e-01 1.54017624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24255784400003 meters Centerline goodness : 0.121544 Centerline is valid? [False, False] Translation: X:4.98, Y:0.53, Z:1.54 [[ 9.99622700e-01 9.49046333e-03 -2.57757447e-02 4.98060621e+00] [-9.37063756e-03 9.99944739e-01 4.76559841e-03 5.31048504e-01] [ 2.58195480e-02 -4.52226519e-03 9.99656391e-01 1.54003018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27255784400006 meters Centerline goodness : 0.126560 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99642309e-01 1.01682642e-03 -2.67249135e-02 4.96077287e+00] [-8.71050805e-04 9.99984683e-01 5.46574662e-03 5.36426578e-01] [ 2.67300619e-02 -5.44051282e-03 9.99627883e-01 1.53855219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30255784400003 meters Centerline goodness : 0.127094 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99638926e-01 9.54388678e-04 -2.68534484e-02 4.96128755e+00] [-8.10570562e-04 9.99985274e-01 5.36604224e-03 5.36597401e-01] [ 2.68581743e-02 -5.34233808e-03 9.99624979e-01 1.53821895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33255784400006 meters Centerline goodness : 0.124669 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99635748e-01 9.07859898e-04 -2.69730788e-02 4.96170739e+00] [-7.63417148e-04 9.99985317e-01 5.36488611e-03 5.36299284e-01] [ 2.69775533e-02 -5.34234023e-03 9.99621764e-01 1.53802421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36255784400004 meters Centerline goodness : 0.121048 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99634522e-01 9.28016544e-04 -2.70177829e-02 4.96171539e+00] [-7.78233899e-04 9.99984274e-01 5.55384133e-03 5.35285787e-01] [ 2.70225120e-02 -5.53078537e-03 9.99619525e-01 1.53822098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39255784400007 meters Centerline goodness : 0.136188 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99642104e-01 5.45233831e-04 -2.67463376e-02 4.96070048e+00] [-3.90382224e-04 9.99983135e-01 5.79451775e-03 5.32943091e-01] [ 2.67490459e-02 -5.78200262e-03 9.99625458e-01 1.53897017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42255784400004 meters Centerline goodness : 0.134587 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99635198e-01 4.96758343e-04 -2.70041560e-02 4.96117647e+00] [-3.32034986e-04 9.99981315e-01 6.10406790e-03 5.30938995e-01] [ 2.70066837e-02 -6.09287480e-03 9.99616684e-01 1.53930438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45255784400007 meters Centerline goodness : 0.119160 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99626953e-01 4.25360323e-04 -2.73088445e-02 4.96183937e+00] [-2.49700678e-04 9.99979261e-01 6.43542327e-03 5.28544340e-01] [ 2.73110155e-02 -6.42620352e-03 9.99606329e-01 1.53955374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48255784400004 meters Centerline goodness : 0.106902 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99616902e-01 3.67218975e-04 -2.76751707e-02 4.96265983e+00] [-1.80104934e-04 9.99977113e-01 6.76326937e-03 5.26207517e-01] [ 2.76770209e-02 -6.75569393e-03 9.99594089e-01 1.53978153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51255784400007 meters Centerline goodness : 0.107087 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 9.99613889e-01 -3.39496648e-03 -2.75780040e-02 4.96243327e+00] [ 3.49553833e-03 9.99987413e-01 3.59942343e-03 5.22836161e-01] [ 2.75654369e-02 -3.69443362e-03 9.99613174e-01 1.53985786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54255784400004 meters Centerline goodness : 0.130097 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 9.99614738e-01 -3.24905760e-03 -2.75648267e-02 4.96225350e+00] [ 3.36326795e-03 9.99985947e-01 4.09798564e-03 5.20332926e-01] [ 2.75511247e-02 -4.18911474e-03 9.99611618e-01 1.54018849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5725578440001 meters Centerline goodness : 0.132035 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 9.99617297e-01 -3.06496756e-03 -2.74930227e-02 4.96184273e+00] [ 3.19290151e-03 9.99984274e-01 4.61063220e-03 5.17835754e-01] [ 2.74784589e-02 -4.69665021e-03 9.99611362e-01 1.54063705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60255784400005 meters Centerline goodness : 0.131188 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99620685e-01 -2.85242365e-03 -2.73925015e-02 4.96093967e+00] [ 2.99825985e-03 9.99981543e-01 5.28435003e-03 5.14117450e-01] [ 2.73769227e-02 -5.36447544e-03 9.99610788e-01 1.54176926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6325578440001 meters Centerline goodness : 0.132173 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99620373e-01 -2.75835190e-03 -2.74135296e-02 4.96108022e+00] [ 2.91034140e-03 9.99980607e-01 5.50597262e-03 5.13025577e-01] [ 2.73978106e-02 -5.58366513e-03 9.99609015e-01 1.54162661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66255784400005 meters Centerline goodness : 0.129539 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99615397e-01 5.90959601e-03 -2.70949181e-02 4.98103388e+00] [-5.79258660e-03 9.99973565e-01 4.39495816e-03 5.08954444e-01] [ 2.71201742e-02 -4.23631819e-03 9.99623204e-01 1.54307941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6925578440001 meters Centerline goodness : 0.111275 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99617821e-01 5.98873190e-03 -2.69879056e-02 4.98089148e+00] [-5.86854358e-03 9.99972517e-01 4.53042101e-03 5.08435722e-01] [ 2.70142954e-02 -4.37030988e-03 9.99625494e-01 1.54293642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72255784400005 meters Centerline goodness : 0.131015 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99620083e-01 6.12891857e-03 -2.68723981e-02 4.98050138e+00] [-6.00323917e-03 9.99970675e-01 4.75508001e-03 5.07373290e-01] [ 2.69007536e-02 -4.59195204e-03 9.99627562e-01 1.54321334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7525578440001 meters Centerline goodness : 0.122191 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99620603e-01 6.19564906e-03 -2.68377294e-02 4.98023615e+00] [-6.06676337e-03 9.99969684e-01 4.88117189e-03 5.06813353e-01] [ 2.68671578e-02 -4.71650183e-03 9.99627886e-01 1.54352376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78255784400005 meters Centerline goodness : 0.131826 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99619490e-01 6.27074708e-03 -2.68617230e-02 4.98028913e+00] [-6.13824838e-03 9.99968599e-01 5.01224202e-03 5.06279726e-01] [ 2.68923101e-02 -4.84545089e-03 9.99626593e-01 1.54353176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.812557844 meters Centerline goodness : 0.129088 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 0.99960504 0.0064344 -0.02735606 4.98230097] [-0.00629529 0.99996683 0.00516835 0.50580361] [ 0.02738841 -0.0049941 0.99961239 1.54247124] [ 0. 0. 0. 1. ]] SLAMing on 369.84255784400005 meters Centerline goodness : 0.143477 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 0.9996015 0.00644192 -0.02748357 4.98294842] [-0.00630175 0.99996671 0.00518373 0.505631 ] [ 0.02751605 -0.00500847 0.99960881 1.54202325] [ 0. 0. 0. 1. ]] SLAMing on 369.872557844 meters Centerline goodness : 0.130461 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99598382e-01 6.41629904e-03 -2.76026265e-02 4.98342877e+00] [-6.27647959e-03 9.99967046e-01 5.14910256e-03 5.05618481e-01] [ 2.76347551e-02 -4.97378727e-03 9.99605713e-01 1.54172252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90255784400006 meters Centerline goodness : 0.125395 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99595603e-01 6.36647829e-03 -2.77145923e-02 4.98376151e+00] [-6.22975363e-03 9.99968010e-01 5.01686221e-03 5.06180342e-01] [ 2.77456455e-02 -4.84217832e-03 9.99603288e-01 1.54167244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93255784400003 meters Centerline goodness : 0.166313 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99591696e-01 6.33041153e-03 -2.78633805e-02 4.98436617e+00] [-6.19829586e-03 9.99969148e-01 4.82537136e-03 5.07287265e-01] [ 2.78930675e-02 -4.65069566e-03 9.99600094e-01 1.54129534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96255784400006 meters Centerline goodness : 0.154560 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99589576e-01 6.31537509e-03 -2.79427066e-02 4.98483296e+00] [-6.18578184e-03 9.99969720e-01 4.72183353e-03 5.07970724e-01] [ 2.79716806e-02 -4.54704809e-03 9.99598374e-01 1.54086026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99255784400003 meters Centerline goodness : 0.138362 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99588197e-01 -2.80771160e-03 -2.85578976e-02 4.96404163e+00] [ 2.96767012e-03 9.99980137e-01 5.56036017e-03 5.12305310e-01] [ 2.85417185e-02 -5.64282082e-03 9.99576675e-01 1.53950274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02255784400006 meters Centerline goodness : 0.182470 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99590363e-01 -2.84934070e-03 -2.84778426e-02 4.96362697e+00] [ 3.00675921e-03 9.99980429e-01 5.48646175e-03 5.12614674e-01] [ 2.84616524e-02 -5.56984031e-03 9.99579367e-01 1.53985055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05255784400003 meters Centerline goodness : 0.134448 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99588396e-01 -2.93632936e-03 -2.85379879e-02 4.96343475e+00] [ 3.09330356e-03 9.99980321e-01 5.45794467e-03 5.12430206e-01] [ 2.85214000e-02 -5.54397482e-03 9.99577808e-01 1.54040455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08255784400006 meters Centerline goodness : 0.128385 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99586122e-01 -2.95814518e-03 -2.86152735e-02 4.96361009e+00] [ 3.11668288e-03 9.99980033e-01 5.49730339e-03 5.12157600e-01] [ 2.85984403e-02 -5.58421291e-03 9.99575383e-01 1.54039889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11255784400004 meters Centerline goodness : 0.160934 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99586023e-01 -2.96202816e-03 -2.86183406e-02 4.96354337e+00] [ 3.12224120e-03 9.99979695e-01 5.55520139e-03 5.11828985e-01] [ 2.86013049e-02 -5.64225503e-03 9.99574975e-01 1.54052311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14255784400007 meters Centerline goodness : 0.162211 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99584595e-01 -3.00351001e-03 -2.86638370e-02 4.96347640e+00] [ 3.16735082e-03 9.99978897e-01 5.67225024e-03 5.11005560e-01] [ 2.86461954e-02 -5.76068239e-03 9.99573014e-01 1.54085653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17255784400004 meters Centerline goodness : 0.163423 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99585497e-01 -2.98757828e-03 -2.86340357e-02 4.96321995e+00] [ 3.15365120e-03 9.99978459e-01 5.75643869e-03 5.10596413e-01] [ 2.86162210e-02 -5.84435439e-03 9.99573387e-01 1.54114992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20255784400007 meters Centerline goodness : 0.218641 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99613201e-01 5.39266460e-03 -2.72830952e-02 4.98195272e+00] [-5.27424042e-03 9.99976364e-01 4.41067205e-03 5.07325980e-01] [ 2.73062356e-02 -4.26506840e-03 9.99618016e-01 1.54287615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23255784400004 meters Centerline goodness : 0.166039 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99614955e-01 -3.59982242e-03 -2.75133126e-02 4.96155874e+00] [ 3.74320931e-03 9.99979672e-01 5.16182008e-03 5.11977536e-01] [ 2.74941716e-02 -5.26282063e-03 9.99608110e-01 1.54160974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26255784400007 meters Centerline goodness : 0.145199 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99612510e-01 -3.60662586e-03 -2.76011309e-02 4.96206599e+00] [ 3.75030871e-03 9.99979677e-01 5.15569242e-03 5.11977590e-01] [ 2.75819754e-02 -5.25720741e-03 9.99605720e-01 1.54110899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29255784400004 meters Centerline goodness : 0.113637 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99613240e-01 -3.56491180e-03 -2.75801088e-02 4.96263561e+00] [ 3.70965315e-03 9.99979606e-01 5.19864917e-03 5.12031226e-01] [ 2.75610136e-02 -5.29895118e-03 9.99606078e-01 1.54010378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3225578440001 meters Centerline goodness : 0.164982 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99653484e-01 4.74776647e-03 -2.58915010e-02 4.98115033e+00] [-4.65390194e-03 9.99982383e-01 3.68435741e-03 5.08369423e-01] [ 2.59085373e-02 -3.56258422e-03 9.99657969e-01 1.54199131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35255784400005 meters Centerline goodness : 0.164982 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99653484e-01 4.74776647e-03 -2.58915010e-02 4.98115033e+00] [-4.65390194e-03 9.99982383e-01 3.68435741e-03 5.08369423e-01] [ 2.59085373e-02 -3.56258422e-03 9.99657969e-01 1.54199131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3825578440001 meters Centerline goodness : 0.126381 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99716294e-01 -3.23485455e-03 -2.35980392e-02 5.00049693e+00] [ 3.34281763e-03 9.99984120e-01 4.53707476e-03 5.12084184e-01] [ 2.35829877e-02 -4.61467151e-03 9.99711232e-01 1.54313639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41255784400005 meters Centerline goodness : 0.120835 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99725045e-01 -3.02990409e-03 -2.32519676e-02 4.99901885e+00] [ 3.14605170e-03 9.99982749e-01 4.96021910e-03 5.10375553e-01] [ 2.32365374e-02 -5.03200715e-03 9.99717331e-01 1.54415501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4425578440001 meters Centerline goodness : 0.119214 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99724484e-01 -2.95277203e-03 -2.32859731e-02 4.99922260e+00] [ 3.07143289e-03 9.99982473e-01 5.06169059e-03 5.10194882e-01] [ 2.32706189e-02 -5.13181732e-03 9.99716031e-01 1.54394960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47255784400005 meters Centerline goodness : 0.141012 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99722963e-01 -2.94623276e-03 -2.33520083e-02 4.99983648e+00] [ 3.06565238e-03 9.99982399e-01 5.07974206e-03 5.10099217e-01] [ 2.33366311e-02 -5.14992392e-03 9.99714399e-01 1.54324238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5025578440001 meters Centerline goodness : 0.117575 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99718800e-01 -2.97871064e-03 -2.35254854e-02 5.00064640e+00] [ 3.09863328e-03 9.99982383e-01 5.06275538e-03 5.09774249e-01] [ 2.35099905e-02 -5.13422859e-03 9.99710418e-01 1.54265620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53255784400005 meters Centerline goodness : 0.148874 Centerline is valid? [False, False] Translation: X:5.02, Y:0.51, Z:1.54 [[ 9.99722165e-01 4.30589222e-03 -2.31743854e-02 5.02358678e+00] [-4.25267608e-03 9.99988207e-01 2.34512820e-03 5.08490877e-01] [ 2.31842100e-02 -2.24592349e-03 9.99728687e-01 1.54225701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.562557844 meters Centerline goodness : 0.119607 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99642410e-01 4.31767859e-03 -2.63895671e-02 4.97879211e+00] [-4.23017342e-03 9.99985371e-01 3.37082730e-03 5.05681600e-01] [ 2.64037352e-02 -3.25798948e-03 9.99646051e-01 1.54321620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59255784400005 meters Centerline goodness : 0.122788 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99637046e-01 4.37159641e-03 -2.65831716e-02 4.97952118e+00] [-4.28565498e-03 9.99985408e-01 3.28904038e-03 5.06547849e-01] [ 2.65971621e-02 -3.17392031e-03 9.99641194e-01 1.54278105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.622557844 meters Centerline goodness : 0.125329 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99625165e-01 4.20583481e-03 -2.70525622e-02 4.98161161e+00] [-4.12692944e-03 9.99987068e-01 2.97191446e-03 5.07327816e-01] [ 2.70647117e-02 -2.85915646e-03 9.99629595e-01 1.54151404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65255784400006 meters Centerline goodness : 0.127064 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99622249e-01 4.21411655e-03 -2.71588081e-02 4.98184976e+00] [-4.13296490e-03 9.99986828e-01 3.04348297e-03 5.06648542e-01] [ 2.71712759e-02 -2.93008689e-03 9.99626498e-01 1.54155333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68255784400003 meters Centerline goodness : 0.151918 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99658545e-01 -3.14266014e-03 -2.59406455e-02 5.00062703e+00] [ 3.25406311e-03 9.99985660e-01 4.25343764e-03 5.11647027e-01] [ 2.59269063e-02 -4.33639778e-03 9.99654436e-01 1.54298143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71255784400006 meters Centerline goodness : 0.131704 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99668381e-01 -3.01322265e-03 -2.55743853e-02 4.99946259e+00] [ 3.12513612e-03 9.99985711e-01 4.33715872e-03 5.11977696e-01] [ 2.55609511e-02 -4.41564387e-03 9.99663513e-01 1.54334949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74255784400003 meters Centerline goodness : 0.158864 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99683093e-01 -2.99819797e-03 -2.49944968e-02 4.99800455e+00] [ 3.10046146e-03 9.99986977e-01 4.05369103e-03 5.13757244e-01] [ 2.49820176e-02 -4.12990086e-03 9.99679370e-01 1.54335973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77255784400006 meters Centerline goodness : 0.125418 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99681654e-01 -3.10790258e-03 -2.50386120e-02 4.99831627e+00] [ 3.20313030e-03 9.99987786e-01 3.76402537e-03 5.14891159e-01] [ 2.50266080e-02 -3.84302904e-03 9.99679399e-01 1.54300193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80255784400003 meters Centerline goodness : 0.137392 Centerline is valid? [False, False] Translation: X:5.00, Y:0.52, Z:1.54 [[ 9.99678878e-01 -3.18835722e-03 -2.51391074e-02 4.99869812e+00] [ 3.27586849e-03 9.99988715e-01 3.44066686e-03 5.16570662e-01] [ 2.51278537e-02 -3.52191440e-03 9.99678042e-01 1.54268548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83255784400006 meters Centerline goodness : 0.139668 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99671015e-01 5.99797307e-03 -2.49376348e-02 5.01923124e+00] [-5.93464381e-03 9.99978977e-01 2.61274062e-03 5.15722480e-01] [ 2.49527816e-02 -2.46388509e-03 9.99685595e-01 1.54386868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86255784400004 meters Centerline goodness : 0.147495 Centerline is valid? [False, False] Translation: X:5.00, Y:0.52, Z:1.54 [[ 9.99694825e-01 -1.94806892e-03 -2.46264422e-02 4.99961370e+00] [ 2.06084749e-03 9.99987502e-01 4.55502236e-03 5.20362303e-01] [ 2.46172610e-02 -4.60438362e-03 9.99686346e-01 1.54133609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89255784400007 meters Centerline goodness : 0.129817 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99727770e-01 4.90446487e-03 -2.28107735e-02 5.01965164e+00] [-4.87396601e-03 9.99987153e-01 1.39244275e-03 5.19316149e-01] [ 2.28173096e-02 -1.28088475e-03 9.99738831e-01 1.54181412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92255784400004 meters Centerline goodness : 0.115308 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99727417e-01 4.90097844e-03 -2.28269930e-02 5.01954772e+00] [-4.86886692e-03 9.99987078e-01 1.46210075e-03 5.18632961e-01] [ 2.28338638e-02 -1.35056062e-03 9.99738361e-01 1.54205719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95255784400007 meters Centerline goodness : 0.117978 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99728280e-01 5.05607426e-03 -2.27552749e-02 5.01927676e+00] [-5.01790815e-03 9.99985907e-01 1.73402974e-03 5.17817813e-01] [ 2.27637216e-02 -1.61937469e-03 9.99739561e-01 1.54215254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98255784400004 meters Centerline goodness : 0.123887 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99727782e-01 5.13519722e-03 -2.27594198e-02 5.01919153e+00] [-5.09245245e-03 9.99985160e-01 1.93567388e-03 5.16966624e-01] [ 2.27690221e-02 -1.81924569e-03 9.99739097e-01 1.54230968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01255784400007 meters Centerline goodness : 0.133763 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99727716e-01 5.18980548e-03 -2.27499471e-02 5.01910192e+00] [-5.14255496e-03 9.99984498e-01 2.13496330e-03 5.15774720e-01] [ 2.27606745e-02 -2.01738913e-03 9.99738907e-01 1.54246038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04255784400004 meters Centerline goodness : 0.169478 Centerline is valid? [False, False] Translation: X:5.02, Y:0.51, Z:1.54 [[ 9.99727247e-01 5.21176744e-03 -2.27655213e-02 5.01906863e+00] [-5.16174374e-03 9.99984134e-01 2.25555531e-03 5.14885814e-01] [ 2.27769156e-02 -2.13743032e-03 9.99738288e-01 1.54262051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0725578440001 meters Centerline goodness : 0.132931 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99717413e-01 5.23423157e-03 -2.31882906e-02 5.02049197e+00] [-5.18843060e-03 9.99984470e-01 2.03490055e-03 5.16276038e-01] [ 2.31985816e-02 -1.91401468e-03 9.99729044e-01 1.54186828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10255784400005 meters Centerline goodness : 0.141620 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99713684e-01 5.16073053e-03 -2.33648556e-02 5.02136337e+00] [-5.12265870e-03 9.99985453e-01 1.68900903e-03 5.18189050e-01] [ 2.33732323e-02 -1.56883526e-03 9.99725578e-01 1.54113189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1325578440001 meters Centerline goodness : 0.122259 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99712162e-01 5.02475874e-03 -2.34594439e-02 5.02184625e+00] [-4.99699409e-03 9.99986744e-01 1.24198851e-03 5.20380342e-01] [ 2.34653736e-02 -1.12440431e-03 9.99724018e-01 1.54065766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16255784400005 meters Centerline goodness : 0.118840 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99722006e-01 4.89731690e-03 -2.30635596e-02 5.02079508e+00] [-4.88341160e-03 9.99987859e-01 6.59195559e-04 5.23434886e-01] [ 2.30665078e-02 -5.46383452e-04 9.99733783e-01 1.54067383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1925578440001 meters Centerline goodness : 0.124731 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99725445e-01 4.83463502e-03 -2.29273084e-02 5.02043032e+00] [-4.82602679e-03 9.99988262e-01 4.30774140e-04 5.24813719e-01] [ 2.29291219e-02 -3.20008064e-04 9.99737042e-01 1.54064424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22255784400005 meters Centerline goodness : 0.156074 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99726981e-01 4.76708029e-03 -2.28744080e-02 5.02037702e+00] [-4.76246327e-03 9.99988627e-01 2.56314397e-04 5.25794037e-01] [ 2.28753697e-02 -1.47305890e-04 9.99738314e-01 1.54047038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2525578440001 meters Centerline goodness : 0.153816 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99724001e-01 4.65124308e-03 -2.30279981e-02 5.02087382e+00] [-4.65102363e-03 9.99989182e-01 6.30888141e-05 5.26540486e-01] [ 2.30280425e-02 4.40323619e-05 9.99734819e-01 1.54025250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28255784400005 meters Centerline goodness : 0.299583 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99705846e-01 4.22333694e-03 -2.38827409e-02 5.02326112e+00] [-4.23317356e-03 9.99990975e-01 -3.61329233e-04 5.27536099e-01] [ 2.38809994e-02 4.62322734e-04 9.99714701e-01 1.53980642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.312557844 meters Centerline goodness : 0.157959 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99706050e-01 4.18364983e-03 -2.38811833e-02 5.02314922e+00] [-4.19411742e-03 9.99991129e-01 -3.88248651e-04 5.27752900e-01] [ 2.38793472e-02 4.88295013e-04 9.99714728e-01 1.53997822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34255784400005 meters Centerline goodness : 0.103277 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99710927e-01 4.17541733e-03 -2.36775845e-02 5.02233851e+00] [-4.18645711e-03 9.99991150e-01 -4.16703814e-04 5.28213112e-01] [ 2.36756350e-02 5.15708548e-04 9.99719560e-01 1.54045768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.372557844 meters Centerline goodness : 0.129157 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99725722e-01 3.99319169e-03 -2.30767061e-02 5.01995566e+00] [-4.01336589e-03 9.99991604e-01 -8.27975370e-04 5.30471974e-01] [ 2.30732061e-02 9.20363540e-04 9.99733354e-01 1.54185630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40255784400006 meters Centerline goodness : 0.161212 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99734178e-01 3.89787025e-03 -2.27240073e-02 5.01872879e+00] [-3.92481863e-03 9.99991646e-01 -1.14141964e-03 5.32141462e-01] [ 2.27193683e-02 1.23030383e-03 9.99741125e-01 1.54239782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43255784400003 meters Centerline goodness : 0.126561 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99736737e-01 3.76066542e-03 -2.26343463e-02 5.01851685e+00] [-3.79731762e-03 9.99991547e-01 -1.57655522e-03 5.34391560e-01] [ 2.26282260e-02 1.66208997e-03 9.99742567e-01 1.54231432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46255784400006 meters Centerline goodness : 0.126419 Centerline is valid? [False, False] Translation: X:5.02, Y:0.54, Z:1.54 [[ 9.99714257e-01 3.65264117e-03 -2.36233362e-02 5.02172605e+00] [-3.70835463e-03 9.99990444e-01 -2.31502966e-03 5.38452427e-01] [ 2.36146545e-02 2.40197187e-03 9.99718250e-01 1.54088155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49255784400003 meters Centerline goodness : 0.122701 Centerline is valid? [False, False] Translation: X:5.02, Y:0.54, Z:1.54 [[ 9.99708777e-01 3.50148111e-03 -2.38767865e-02 5.02257467e+00] [-3.56612815e-03 9.99990089e-01 -2.66548431e-03 5.39962440e-01] [ 2.38672167e-02 2.74985574e-03 9.99711355e-01 1.54049238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52255784400006 meters Centerline goodness : 0.120811 Centerline is valid? [False, False] Translation: X:5.02, Y:0.54, Z:1.54 [[ 9.99706280e-01 3.39206578e-03 -2.39968333e-02 5.02285362e+00] [-3.46326697e-03 9.99989722e-01 -2.92617040e-03 5.41097116e-01] [ 2.39866609e-02 3.00841836e-03 9.99707752e-01 1.54049694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55255784400003 meters Centerline goodness : 0.128063 Centerline is valid? [False, False] Translation: X:5.02, Y:0.54, Z:1.54 [[ 9.99705612e-01 3.28077548e-03 -2.40400950e-02 5.02281721e+00] [-3.35806357e-03 9.99989320e-01 -3.17530188e-03 5.42306440e-01] [ 2.40294208e-02 3.25509528e-03 9.99705952e-01 1.54069852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58255784400006 meters Centerline goodness : 0.123653 Centerline is valid? [False, False] Translation: X:5.00, Y:0.55, Z:1.54 [[ 9.99685411e-01 -5.18136769e-03 -2.45404105e-02 5.00337598e+00] [ 5.13656954e-03 9.99985025e-01 -1.88816997e-03 5.49375962e-01] [ 2.45498263e-02 1.76152245e-03 9.99697056e-01 1.53876834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61255784400004 meters Centerline goodness : 0.122019 Centerline is valid? [False, False] Translation: X:5.00, Y:0.55, Z:1.54 [[ 9.99683520e-01 -5.30085544e-03 -2.45918806e-02 5.00354632e+00] [ 5.24842744e-03 9.99983816e-01 -2.19597814e-03 5.50971194e-01] [ 2.46031231e-02 2.06621445e-03 9.99695162e-01 1.53868469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64255784400007 meters Centerline goodness : 0.122796 Centerline is valid? [False, False] Translation: X:5.00, Y:0.55, Z:1.54 [[ 9.99684734e-01 -5.39633547e-03 -2.45216533e-02 5.00330812e+00] [ 5.33773727e-03 9.99982742e-01 -2.45447847e-03 5.52314951e-01] [ 2.45344753e-02 2.32281452e-03 9.99696286e-01 1.53873200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67255784400004 meters Centerline goodness : 0.119721 Centerline is valid? [False, False] Translation: X:5.00, Y:0.55, Z:1.54 [[ 9.99689275e-01 -5.47530499e-03 -2.43181974e-02 5.00254472e+00] [ 5.41190187e-03 9.99981785e-01 -2.67227900e-03 5.53460846e-01] [ 2.43323860e-02 2.53984096e-03 9.99700697e-01 1.53913773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70255784400007 meters Centerline goodness : 0.130371 Centerline is valid? [False, False] Translation: X:5.00, Y:0.56, Z:1.54 [[ 9.99699970e-01 -5.67399649e-03 -2.38280427e-02 5.00057185e+00] [ 5.60237334e-03 9.99979589e-01 -3.07151626e-03 5.55343245e-01] [ 2.38449842e-02 2.93710112e-03 9.99711353e-01 1.54036980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73255784400004 meters Centerline goodness : 0.123023 Centerline is valid? [False, False] Translation: X:5.00, Y:0.56, Z:1.54 [[ 9.99701686e-01 -5.78837079e-03 -2.37283435e-02 5.00017774e+00] [ 5.71050307e-03 9.99978090e-01 -3.34808119e-03 5.56756529e-01] [ 2.37472035e-02 3.21158163e-03 9.99712837e-01 1.54057853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76255784400007 meters Centerline goodness : 0.159516 Centerline is valid? [False, False] Translation: X:5.00, Y:0.56, Z:1.54 [[ 9.99702604e-01 -5.90000763e-03 -2.36620609e-02 4.99991687e+00] [ 5.81548907e-03 9.99976468e-01 -3.63912595e-03 5.58282535e-01] [ 2.36829750e-02 3.50043723e-03 9.99713391e-01 1.54068087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79255784400004 meters Centerline goodness : 0.147316 Centerline is valid? [False, False] Translation: X:5.02, Y:0.56, Z:1.54 [[ 9.99746303e-01 2.61807686e-03 -2.23713164e-02 5.01896265e+00] [-2.73124064e-03 9.99983623e-01 -5.02937522e-03 5.58203749e-01] [ 2.23577828e-02 5.08920073e-03 9.99737080e-01 1.54201234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8225578440001 meters Centerline goodness : 0.155693 Centerline is valid? [False, False] Translation: X:5.02, Y:0.56, Z:1.54 [[ 9.99758143e-01 2.43678485e-03 -2.18567398e-02 5.01752466e+00] [-2.56213619e-03 9.99980421e-01 -5.70896547e-03 5.61914260e-01] [ 2.18424004e-02 5.76358466e-03 9.99744813e-01 1.54218858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85255784400005 meters Centerline goodness : 0.125024 Centerline is valid? [False, False] Translation: X:5.02, Y:0.56, Z:1.54 [[ 9.99760480e-01 2.26810126e-03 -2.17678300e-02 5.01716842e+00] [-2.40174181e-03 9.99978418e-01 -6.11518162e-03 5.63834718e-01] [ 2.17534903e-02 6.16599762e-03 9.99744350e-01 1.54238545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8825578440001 meters Centerline goodness : 0.151879 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99762669e-01 2.13382717e-03 -2.16806983e-02 5.01694841e+00] [-2.27436861e-03 9.99976549e-01 -6.45974128e-03 5.65523643e-01] [ 2.16664059e-02 6.50751808e-03 9.99744077e-01 1.54233383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91255784400005 meters Centerline goodness : 0.143012 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99761317e-01 1.99971750e-03 -2.17556989e-02 5.01747574e+00] [-2.14897092e-03 9.99974303e-01 -6.83921405e-03 5.67717499e-01] [ 2.17414634e-02 6.88433401e-03 9.99739924e-01 1.54175619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9425578440001 meters Centerline goodness : 0.116954 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99760816e-01 1.97083493e-03 -2.17813358e-02 5.01763264e+00] [-2.12187405e-03 9.99973851e-01 -6.91340231e-03 5.68182970e-01] [ 2.17671411e-02 6.95796599e-03 9.99738855e-01 1.54159528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97255784400005 meters Centerline goodness : 0.115456 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99757974e-01 1.92216689e-03 -2.19157336e-02 5.01813025e+00] [-2.07559629e-03 9.99973483e-01 -6.98028310e-03 5.68400898e-01] [ 2.19017352e-02 7.02408190e-03 9.99735453e-01 1.54132221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0025578440001 meters Centerline goodness : 0.152105 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99751745e-01 1.83302865e-03 -2.22056090e-02 5.01909945e+00] [-1.99165096e-03 9.99972645e-01 -7.12333585e-03 5.68914537e-01] [ 2.21919443e-02 7.16579327e-03 9.99728048e-01 1.54090038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03255784400005 meters Centerline goodness : 0.154951 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99738899e-01 1.61460340e-03 -2.27931424e-02 5.02105600e+00] [-1.78609473e-03 9.99970239e-01 -7.50546061e-03 5.70507668e-01] [ 2.27803457e-02 7.54421164e-03 9.99712029e-01 1.54004166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.062557844 meters Centerline goodness : 0.124175 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99738842e-01 1.54189351e-03 -2.28006645e-02 5.02129537e+00] [-1.71765350e-03 9.99968949e-01 -7.69097310e-03 5.71505224e-01] [ 2.27880979e-02 7.72812818e-03 9.99710447e-01 1.53963924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09255784400005 meters Centerline goodness : 0.148850 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99740650e-01 1.49622121e-03 -2.27242963e-02 5.02113825e+00] [-1.67425261e-03 9.99968042e-01 -7.81740378e-03 5.72203629e-01] [ 2.27118735e-02 7.85342255e-03 9.99711206e-01 1.53956562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.122557844 meters Centerline goodness : 0.147171 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99703222e-01 -4.80976372e-03 -2.38816515e-02 5.03696586e+00] [ 4.66018537e-03 9.99969201e-01 -6.31502607e-03 5.77794354e-01] [ 2.39112897e-02 6.20185899e-03 9.99694847e-01 1.54320677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15255784400006 meters Centerline goodness : 0.104672 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99701105e-01 -4.97682817e-03 -2.39360117e-02 5.03700544e+00] [ 4.81966604e-03 9.99966478e-01 -6.61914233e-03 5.78975737e-01] [ 2.39681517e-02 6.50180031e-03 9.99691580e-01 1.54334273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18255784400003 meters Centerline goodness : 0.123196 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99699597e-01 -5.05717795e-03 -2.39820968e-02 5.03714713e+00] [ 4.89607441e-03 9.99965086e-01 -6.77162501e-03 5.79598707e-01] [ 2.40155048e-02 6.65217267e-03 9.99689454e-01 1.54326684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21255784400006 meters Centerline goodness : 0.110907 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99697056e-01 -5.13050019e-03 -2.40722704e-02 5.03749557e+00] [ 4.96580242e-03 9.99963888e-01 -6.89660169e-03 5.80126020e-01] [ 2.41067842e-02 6.77497427e-03 9.99686432e-01 1.54307169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24255784400003 meters Centerline goodness : 0.110907 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99697056e-01 -5.13050019e-03 -2.40722704e-02 5.03749557e+00] [ 4.96580242e-03 9.99963888e-01 -6.89660169e-03 5.80126020e-01] [ 2.41067842e-02 6.77497427e-03 9.99686432e-01 1.54307169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27255784400006 meters Centerline goodness : 0.152302 Centerline is valid? [False, False] Translation: X:5.02, Y:0.58, Z:1.54 [[ 9.99658102e-01 2.79325384e-03 -2.59976238e-02 5.01874058e+00] [-2.99834000e-03 9.99964669e-01 -7.85301436e-03 5.75407594e-01] [ 2.59747699e-02 7.92827914e-03 9.99631159e-01 1.54144271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30255784400003 meters Centerline goodness : 0.144848 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99642553e-01 -4.74285843e-03 -2.63110624e-02 5.03808110e+00] [ 4.56868985e-03 9.99967280e-01 -6.67576464e-03 5.80714959e-01] [ 2.63418637e-02 6.55317133e-03 9.99631513e-01 1.54346251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33255784400006 meters Centerline goodness : 0.164620 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99641632e-01 2.99339283e-03 -2.66016252e-02 5.01868825e+00] [-3.19905335e-03 9.99965299e-01 -7.69193440e-03 5.74474365e-01] [ 2.65776771e-02 7.77427788e-03 9.99616520e-01 1.54193137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36255784400004 meters Centerline goodness : 0.160349 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99626216e-01 -4.80503613e-03 -2.69135673e-02 5.03831808e+00] [ 4.62591213e-03 9.99966762e-01 -6.71383989e-03 5.78774532e-01] [ 2.69449330e-02 6.58683057e-03 9.99615218e-01 1.54380946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39255784400007 meters Centerline goodness : 0.154655 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99623163e-01 -4.76594808e-03 -2.70336340e-02 5.03863822e+00] [ 4.59088022e-03 9.99968113e-01 -6.53430083e-03 5.77792219e-01] [ 2.70639141e-02 6.40773029e-03 9.99613168e-01 1.54381565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42255784400004 meters Centerline goodness : 0.116922 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99626400e-01 -4.76673346e-03 -2.69135553e-02 5.03822309e+00] [ 4.59180831e-03 9.99967956e-01 -6.55758432e-03 5.77929412e-01] [ 2.69439511e-02 6.43155251e-03 9.99616256e-01 1.54400318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45255784400007 meters Centerline goodness : 0.149867 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99631792e-01 -4.77920948e-03 -2.67102867e-02 5.03746635e+00] [ 4.60291781e-03 9.99967243e-01 -6.65773266e-03 5.78487191e-01] [ 2.67412305e-02 6.53233597e-03 9.99621046e-01 1.54438180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48255784400004 meters Centerline goodness : 0.157299 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99646499e-01 -4.68571995e-03 -2.61710099e-02 5.03589517e+00] [ 4.50762284e-03 9.99966310e-01 -6.85998346e-03 5.80090085e-01] [ 2.62022722e-02 6.73958940e-03 9.99633942e-01 1.54468622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51255784400007 meters Centerline goodness : 0.157115 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99648853e-01 -4.69003438e-03 -2.60801527e-02 5.03570677e+00] [ 4.50798498e-03 9.99965094e-01 -7.03479957e-03 5.81140078e-01] [ 2.61122358e-02 6.91476038e-03 9.99635102e-01 1.54459752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54255784400004 meters Centerline goodness : 0.119076 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.55 [[ 9.99573502e-01 -4.98477283e-03 -2.87744050e-02 4.98956600e+00] [ 4.79132754e-03 9.99965483e-01 -6.78786336e-03 5.78766397e-01] [ 2.88072478e-02 6.64710075e-03 9.99562884e-01 1.54512920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5725578440001 meters Centerline goodness : 0.140456 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.55 [[ 9.99575306e-01 -5.01571308e-03 -2.87062751e-02 4.98938267e+00] [ 4.81851287e-03 9.99964346e-01 -6.93464326e-03 5.79489113e-01] [ 2.87400338e-02 6.79337661e-03 9.99563835e-01 1.54511102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60255784400005 meters Centerline goodness : 0.106058 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.55 [[ 9.99610661e-01 3.74344972e-03 -2.76498224e-02 5.00879496e+00] [-3.97022445e-03 9.99958896e-01 -8.15133070e-03 5.78770465e-01] [ 2.76181717e-02 8.25793307e-03 9.99584435e-01 1.54718053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6325578440001 meters Centerline goodness : 0.158163 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.55 [[ 9.99614770e-01 3.79324695e-03 -2.74940612e-02 5.00816164e+00] [-4.01701596e-03 9.99959222e-01 -8.08815427e-03 5.78686586e-01] [ 2.74622597e-02 8.19548255e-03 9.99589245e-01 1.54752579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66255784400005 meters Centerline goodness : 0.164304 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.55 [[ 9.99596188e-01 -5.00277655e-03 -2.79720046e-02 4.98683032e+00] [ 4.80612783e-03 9.99963294e-01 -7.09301551e-03 5.81528109e-01] [ 2.80064627e-02 6.95571423e-03 9.99583541e-01 1.54647368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6925578440001 meters Centerline goodness : 0.159538 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99644053e-01 -4.17548458e-03 -2.63501809e-02 5.03029918e+00] [ 3.99322632e-03 9.99967767e-01 -6.96560834e-03 5.83452847e-01] [ 2.63784163e-02 6.85790672e-03 9.99628505e-01 1.54775822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72255784400005 meters Centerline goodness : 0.158687 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99640884e-01 -4.10911836e-03 -2.64805161e-02 5.03070394e+00] [ 3.92926193e-03 9.99968884e-01 -6.84048732e-03 5.83024585e-01] [ 2.65078005e-02 6.73398191e-03 9.99625925e-01 1.54759381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7525578440001 meters Centerline goodness : 0.160253 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99636784e-01 -4.02359055e-03 -2.66479004e-02 5.03132281e+00] [ 3.84706510e-03 9.99970340e-01 -6.67232394e-03 5.82374993e-01] [ 2.66739567e-02 6.56738423e-03 9.99622614e-01 1.54727779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78255784400005 meters Centerline goodness : 0.105424 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99635149e-01 -3.96313446e-03 -2.67181878e-02 5.03157083e+00] [ 3.78960582e-03 9.99971418e-01 -6.54228528e-03 5.81734706e-01] [ 2.67433521e-02 6.43864692e-03 9.99621597e-01 1.54719807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.812557844 meters Centerline goodness : 0.157064 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99641621e-01 -3.97126225e-03 -2.64737288e-02 5.03072104e+00] [ 3.80042045e-03 9.99971650e-01 -6.50045190e-03 5.81039603e-01] [ 2.64987933e-02 6.39751098e-03 9.99628374e-01 1.54757237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84255784400005 meters Centerline goodness : 0.114088 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99642091e-01 -3.97238734e-03 -2.64558278e-02 5.03067384e+00] [ 3.79948478e-03 9.99971116e-01 -6.58258324e-03 5.81549545e-01] [ 2.64812122e-02 6.47970876e-03 9.99628310e-01 1.54752110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.872557844 meters Centerline goodness : 0.145469 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99640238e-01 -3.95107907e-03 -2.65289081e-02 5.03104906e+00] [ 3.77429020e-03 9.99970360e-01 -6.71077768e-03 5.82570385e-01] [ 2.65546366e-02 6.60823560e-03 9.99625521e-01 1.54713436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90255784400006 meters Centerline goodness : 0.159495 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.54 [[ 9.99636108e-01 4.12413828e-03 -2.66579061e-02 5.01136057e+00] [-4.33121982e-03 9.99960859e-01 -7.71504210e-03 5.78813546e-01] [ 2.66250447e-02 7.82769591e-03 9.99614843e-01 1.54480255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93255784400003 meters Centerline goodness : 0.158517 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.55 [[ 9.99646599e-01 4.12523142e-03 -2.62613653e-02 5.01020100e+00] [-4.33299225e-03 9.99959728e-01 -7.85928968e-03 5.79690399e-01] [ 2.62278863e-02 7.97030250e-03 9.99624216e-01 1.54504156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96255784400006 meters Centerline goodness : 0.161947 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.55 [[ 9.99647646e-01 4.12642766e-03 -2.62212811e-02 5.00989793e+00] [-4.33200111e-03 9.99960290e-01 -7.78798355e-03 5.79235678e-01] [ 2.61881033e-02 7.89883004e-03 9.99625826e-01 1.54535235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99255784400003 meters Centerline goodness : 0.159782 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.55 [[ 9.99643510e-01 4.18424060e-03 -2.63693816e-02 5.01012700e+00] [-4.38085994e-03 9.99963001e-01 -7.40299554e-03 5.77058008e-01] [ 2.63374300e-02 7.51587702e-03 9.99624855e-01 1.54556700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02255784400006 meters Centerline goodness : 0.161115 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.55 [[ 9.99640823e-01 4.22285580e-03 -2.64649213e-02 5.01044286e+00] [-4.41460710e-03 9.99964398e-01 -7.19125580e-03 5.75820762e-01] [ 2.64336115e-02 7.30550510e-03 9.99623876e-01 1.54545817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05255784400003 meters Centerline goodness : 0.118593 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.55 [[ 9.99638119e-01 4.28521488e-03 -2.65568847e-02 5.01066698e+00] [-4.47111325e-03 9.99965890e-01 -6.94458443e-03 5.74441688e-01] [ 2.65262199e-02 7.06081015e-03 9.99623181e-01 1.54548890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08255784400006 meters Centerline goodness : 0.159163 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.55 [[ 9.99636161e-01 4.36145039e-03 -2.66180956e-02 5.01087371e+00] [-4.53997829e-03 9.99967581e-01 -6.65026785e-03 5.72795848e-01] [ 2.65882278e-02 6.76869380e-03 9.99623555e-01 1.54542066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11255784400004 meters Centerline goodness : 0.121167 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.55 [[ 9.99630839e-01 4.57219014e-03 -2.67821164e-02 5.01135255e+00] [-4.73201554e-03 9.99971356e-01 -5.90728129e-03 5.68870257e-01] [ 2.67543400e-02 6.03183394e-03 9.99623840e-01 1.54537647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14255784400007 meters Centerline goodness : 0.122321 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.55 [[ 9.99629166e-01 4.73655869e-03 -2.68159506e-02 5.01137767e+00] [-4.88487677e-03 9.99973118e-01 -5.46816071e-03 5.66652656e-01] [ 2.67893295e-02 5.59712554e-03 9.99625432e-01 1.54548191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17255784400004 meters Centerline goodness : 0.121357 Centerline is valid? [False, False] Translation: X:5.01, Y:0.56, Z:1.55 [[ 9.99625932e-01 4.88451877e-03 -2.69097938e-02 5.01168700e+00] [-5.02258908e-03 9.99974556e-01 -5.06565774e-03 5.64557821e-01] [ 2.68843658e-02 5.19891968e-03 9.99625031e-01 1.54534153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20255784400007 meters Centerline goodness : 0.128672 Centerline is valid? [False, False] Translation: X:5.01, Y:0.56, Z:1.55 [[ 9.99620438e-01 5.01126129e-03 -2.70899775e-02 5.01225203e+00] [-5.14208764e-03 9.99975442e-01 -4.76182303e-03 5.62997866e-01] [ 2.70654495e-02 4.89931466e-03 9.99621658e-01 1.54513803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23255784400004 meters Centerline goodness : 0.143529 Centerline is valid? [False, False] Translation: X:5.01, Y:0.56, Z:1.54 [[ 9.99607156e-01 5.30647636e-03 -2.75204367e-02 5.01388414e+00] [-5.42928697e-03 9.99975626e-01 -4.38972240e-03 5.61654755e-01] [ 2.74964720e-02 4.53741428e-03 9.99611603e-01 1.54419053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26255784400007 meters Centerline goodness : 0.121124 Centerline is valid? [False, False] Translation: X:5.01, Y:0.56, Z:1.54 [[ 9.99605870e-01 5.38448930e-03 -2.75519793e-02 5.01422060e+00] [-5.50721732e-03 9.99975241e-01 -4.38047577e-03 5.61833393e-01] [ 2.75277105e-02 4.53048403e-03 9.99610774e-01 1.54375870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29255784400004 meters Centerline goodness : 0.115221 Centerline is valid? [False, False] Translation: X:5.01, Y:0.56, Z:1.54 [[ 9.99606499e-01 5.44947728e-03 -2.75163492e-02 5.01430006e+00] [-5.57692476e-03 9.99974065e-01 -4.55708336e-03 5.63018331e-01] [ 2.74908018e-02 4.70874675e-03 9.99610966e-01 1.54341241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3225578440001 meters Centerline goodness : 0.116742 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.54 [[ 9.99614094e-01 6.15043284e-03 -2.70894029e-02 5.01334744e+00] [-6.27905192e-03 9.99969403e-01 -4.66544553e-03 5.66267676e-01] [ 2.70598795e-02 4.83374087e-03 9.99622128e-01 1.54293091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35255784400005 meters Centerline goodness : 0.156045 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.54 [[ 0.99962432 0.00623824 -0.02668892 5.01248833] [-0.00637643 0.99996669 -0.00509582 0.56919608] [ 0.02665624 0.00526409 0.9996308 1.54255388] [ 0. 0. 0. 1. ]] SLAMing on 373.3825578440001 meters Centerline goodness : 0.150776 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.54 [[ 0.99963395 0.00619275 -0.02633665 5.01176263] [-0.00634462 0.9999637 -0.00568679 0.57272337] [ 0.02630048 0.00585181 0.99963695 1.54220891] [ 0. 0. 0. 1. ]] SLAMing on 373.41255784400005 meters Centerline goodness : 0.115293 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.54 [[ 9.99638926e-01 1.58968204e-03 -2.68233037e-02 5.03326987e+00] [-1.66147283e-03 9.99995097e-01 -2.65435866e-03 5.80643840e-01] [ 2.68189526e-02 2.69796643e-03 9.99636666e-01 1.54271729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4425578440001 meters Centerline goodness : 0.087029 Centerline is valid? [False, False] Translation: X:5.03, Y:0.59, Z:1.54 [[ 9.99645910e-01 1.56162485e-03 -2.65634196e-02 5.03275775e+00] [-1.65753387e-03 9.99992186e-01 -3.58893209e-03 5.88864148e-01] [ 2.65576074e-02 3.63169106e-03 9.99640688e-01 1.54220241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47255784400005 meters Centerline goodness : 0.152070 Centerline is valid? [False, False] Translation: X:5.03, Y:0.59, Z:1.54 [[ 9.99648355e-01 1.27548956e-03 -2.64865827e-02 5.03257592e+00] [-1.38987100e-03 9.99989787e-01 -4.30050671e-03 5.92321173e-01] [ 2.64808269e-02 4.33580740e-03 9.99639918e-01 1.54206689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5025578440001 meters Centerline goodness : 0.156316 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99649240e-01 1.03366304e-03 -2.64637205e-02 5.03240756e+00] [-1.16270820e-03 9.99987507e-01 -4.86138122e-03 5.95032955e-01] [ 2.64583649e-02 4.89044562e-03 9.99637954e-01 1.54218263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53255784400005 meters Centerline goodness : 0.159878 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.54 [[ 9.99629085e-01 -6.50314177e-03 -2.64462088e-02 5.05113176e+00] [ 6.40285584e-03 9.99971994e-01 -3.87498697e-03 6.03728842e-01] [ 2.64706678e-02 3.70421842e-03 9.99642727e-01 1.54450193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.562557844 meters Centerline goodness : 0.156539 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 9.99633987e-01 -6.95168734e-03 -2.61450793e-02 5.04993167e+00] [ 6.83471836e-03 9.99966243e-01 -4.56054859e-03 6.07097833e-01] [ 2.61759002e-02 4.38018512e-03 9.99647756e-01 1.54509943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59255784400005 meters Centerline goodness : 0.208168 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 9.99636670e-01 -7.12665433e-03 -2.59949750e-02 5.04941333e+00] [ 7.00383602e-03 9.99963892e-01 -4.81268696e-03 6.08271949e-01] [ 2.60283347e-02 4.62887382e-03 9.99650489e-01 1.54536312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.622557844 meters Centerline goodness : 0.113269 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 9.99638116e-01 -7.29891854e-03 -2.58913549e-02 5.04901619e+00] [ 7.17160578e-03 9.99961750e-01 -5.00664640e-03 6.08989823e-01] [ 2.59269076e-02 4.81915199e-03 9.99652225e-01 1.54560295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65255784400006 meters Centerline goodness : 0.130098 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 9.99639868e-01 -7.45351931e-03 -2.57794416e-02 5.04864740e+00] [ 7.32280753e-03 9.99959869e-01 -5.16108317e-03 6.09386178e-01] [ 2.58168752e-02 4.97044661e-03 9.99654332e-01 1.54578557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68255784400003 meters Centerline goodness : 0.159480 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 0.99963112 -0.00794076 -0.02597233 5.04893613] [ 0.0078007 0.99995451 -0.0054897 0.6100713 ] [ 0.02601474 0.00528507 0.99964759 1.54617115] [ 0. 0. 0. 1. ]] SLAMing on 373.71255784400006 meters Centerline goodness : 0.211206 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99662158e-01 -1.52560398e-04 -2.59912864e-02 5.02942850e+00] [-1.62459587e-05 9.99978911e-01 -6.49439388e-03 6.04340896e-01] [ 2.59917290e-02 6.49262206e-03 9.99641074e-01 1.54464789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74255784400003 meters Centerline goodness : 0.162766 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 0.99963976 -0.00830591 -0.02552175 5.04940663] [ 0.0081639 0.99995064 -0.00566335 0.60937429] [ 0.02556753 0.00545295 0.99965822 1.54644307] [ 0. 0. 0. 1. ]] SLAMing on 373.77255784400006 meters Centerline goodness : 0.107035 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 0.99964071 -0.00834254 -0.0254726 5.04920512] [ 0.00820241 0.99995068 -0.00560071 0.60876388] [ 0.02551806 0.00538977 0.99965983 1.54660769] [ 0. 0. 0. 1. ]] SLAMing on 373.80255784400003 meters Centerline goodness : 0.206218 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 0.99964462 -0.00834401 -0.02531825 5.04887834] [ 0.00821256 0.99995227 -0.00529166 0.6068366 ] [ 0.0253612 0.00508185 0.99966544 1.54662491] [ 0. 0. 0. 1. ]] SLAMing on 373.83255784400006 meters Centerline goodness : 0.167110 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 9.99642678e-01 -8.27187282e-03 -2.54183326e-02 5.04916976e+00] [ 8.14530042e-03 9.99953927e-01 -5.07908128e-03 6.05740823e-01] [ 2.54591750e-02 4.87022646e-03 9.99663999e-01 1.54660651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86255784400004 meters Centerline goodness : 0.144298 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.55 [[ 9.99640841e-01 -8.19187241e-03 -2.55162954e-02 5.04955665e+00] [ 8.06983388e-03 9.99955521e-01 -4.88207643e-03 6.04732580e-01] [ 2.55551538e-02 4.67441073e-03 9.99662485e-01 1.54640386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89255784400007 meters Centerline goodness : 0.158074 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.55 [[ 9.99638311e-01 -8.13307374e-03 -2.56339587e-02 5.04992636e+00] [ 8.01422404e-03 9.99956672e-01 -4.73574789e-03 6.03895842e-01] [ 2.56713642e-02 4.52859873e-03 9.99660179e-01 1.54630757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92255784400004 meters Centerline goodness : 0.160055 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.55 [[ 9.99637280e-01 -7.96988126e-03 -2.57252676e-02 5.05029694e+00] [ 7.85564030e-03 9.99958843e-01 -4.53881937e-03 6.02882252e-01] [ 2.57603826e-02 4.33508460e-03 9.99658747e-01 1.54604137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95255784400007 meters Centerline goodness : 0.164104 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99671369e-01 3.84096731e-04 -2.56321514e-02 5.02943052e+00] [-5.17275575e-04 9.99986401e-01 -5.18934490e-03 5.96843291e-01] [ 2.56298097e-02 5.20089840e-03 9.99657973e-01 1.54451758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98255784400004 meters Centerline goodness : 0.114107 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.55 [[ 9.99716985e-01 1.52003310e-03 -2.37411014e-02 5.07336657e+00] [-1.64312188e-03 9.99985306e-01 -5.16598149e-03 5.99493901e-01] [ 2.37329001e-02 5.20352896e-03 9.99704793e-01 1.54531943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01255784400007 meters Centerline goodness : 0.136580 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.55 [[ 9.99718263e-01 1.51144005e-03 -2.36877569e-02 5.07321404e+00] [-1.63683511e-03 9.99984747e-01 -5.27517063e-03 6.00019600e-01] [ 2.36794225e-02 5.31245737e-03 9.99705488e-01 1.54531127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04255784400004 meters Centerline goodness : 0.159966 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.55 [[ 9.99727552e-01 1.62982807e-03 -2.32844494e-02 5.07220458e+00] [-1.75707476e-03 9.99983630e-01 -5.44546512e-03 6.01333794e-01] [ 2.32751930e-02 5.48489403e-03 9.99714050e-01 1.54520311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0725578440001 meters Centerline goodness : 0.107250 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.55 [[ 9.99731656e-01 1.61399923e-03 -2.31086888e-02 5.07177267e+00] [-1.74337821e-03 9.99982914e-01 -5.57966465e-03 6.02167108e-01] [ 2.30992884e-02 5.61845456e-03 9.99717388e-01 1.54510995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10255784400005 meters Centerline goodness : 0.159211 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99707127e-01 -6.66352190e-03 -2.32649272e-02 5.05260492e+00] [ 6.56773658e-03 9.99969649e-01 -4.19114080e-03 6.06229771e-01] [ 2.32921488e-02 4.03711542e-03 9.99720550e-01 1.54267454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1325578440001 meters Centerline goodness : 0.166043 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99703809e-01 -6.70068508e-03 -2.33964812e-02 5.05312237e+00] [ 6.60116339e-03 9.99968845e-01 -4.32834907e-03 6.06981981e-01] [ 2.34247552e-02 4.17262305e-03 9.99716895e-01 1.54229672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16255784400005 meters Centerline goodness : 0.166043 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99703809e-01 -6.70068508e-03 -2.33964812e-02 5.05312237e+00] [ 6.60116339e-03 9.99968845e-01 -4.32834907e-03 6.06981981e-01] [ 2.34247552e-02 4.17262305e-03 9.99716895e-01 1.54229672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1925578440001 meters Centerline goodness : 0.160609 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.54 [[ 9.99702682e-01 1.33808618e-03 -2.43465949e-02 5.07449094e+00] [-1.47169999e-03 9.99983952e-01 -5.47089758e-03 6.04788785e-01] [ 2.43388836e-02 5.50510187e-03 9.99688608e-01 1.54345860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22255784400005 meters Centerline goodness : 0.168624 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.54 [[ 9.99702730e-01 1.37960023e-03 -2.43423184e-02 5.07429578e+00] [-1.50825559e-03 9.99984988e-01 -5.26768713e-03 6.03750693e-01] [ 2.43346857e-02 5.30283564e-03 9.99689803e-01 1.54378563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2525578440001 meters Centerline goodness : 0.169467 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.54 [[ 9.99705322e-01 1.42340583e-03 -2.42331009e-02 5.07383980e+00] [-1.54342082e-03 9.99986634e-01 -4.93453989e-03 6.02030600e-01] [ 2.42257531e-02 4.97048767e-03 9.99694157e-01 1.54414804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28255784400005 meters Centerline goodness : 0.162241 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.54 [[ 9.99700283e-01 8.97789796e-04 -2.44650346e-02 5.07470531e+00] [-1.01467163e-03 9.99988130e-01 -4.76551041e-03 5.98987316e-01] [ 2.44604658e-02 4.78890608e-03 9.99689328e-01 1.54393147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.312557844 meters Centerline goodness : 0.169326 Centerline is valid? [False, False] Translation: X:5.08, Y:0.60, Z:1.54 [[ 9.99695060e-01 9.20404854e-04 -2.46767035e-02 5.07535354e+00] [-1.02994316e-03 9.99989672e-01 -4.42659362e-03 5.96802605e-01] [ 2.46723744e-02 4.45065938e-03 9.99685683e-01 1.54383916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34255784400005 meters Centerline goodness : 0.167957 Centerline is valid? [False, False] Translation: X:5.08, Y:0.59, Z:1.54 [[ 9.99694904e-01 1.01510993e-03 -2.46793126e-02 5.07543343e+00] [-1.11634943e-03 9.99991018e-01 -4.08876975e-03 5.94925411e-01] [ 2.46749403e-02 4.11507302e-03 9.99687058e-01 1.54374782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.372557844 meters Centerline goodness : 0.171523 Centerline is valid? [False, False] Translation: X:5.08, Y:0.59, Z:1.54 [[ 9.99695386e-01 1.13796360e-03 -2.46544248e-02 5.07548355e+00] [-1.23167265e-03 9.99992074e-01 -3.78604999e-03 5.93555983e-01] [ 2.46499210e-02 3.81526289e-03 9.99688864e-01 1.54354810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40255784400006 meters Centerline goodness : 0.136207 Centerline is valid? [False, False] Translation: X:5.08, Y:0.59, Z:1.54 [[ 9.99687961e-01 1.34179525e-03 -2.49435540e-02 5.07671680e+00] [-1.42615228e-03 9.99993323e-01 -3.36443537e-03 5.91815651e-01] [ 2.49388730e-02 3.39895884e-03 9.99683200e-01 1.54278881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43255784400003 meters Centerline goodness : 0.164171 Centerline is valid? [False, False] Translation: X:5.03, Y:0.59, Z:1.54 [[ 9.99607769e-01 8.93535197e-04 -2.79912589e-02 5.03228481e+00] [-9.82642257e-04 9.99994493e-01 -3.16979516e-03 5.88574735e-01] [ 2.79882725e-02 3.19605726e-03 9.99603142e-01 1.54254004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46255784400006 meters Centerline goodness : 0.167186 Centerline is valid? [False, False] Translation: X:5.03, Y:0.59, Z:1.54 [[ 9.99604734e-01 9.06819913e-04 -2.80989813e-02 5.03251177e+00] [-9.97909013e-04 9.99994293e-01 -3.22786924e-03 5.88934878e-01] [ 2.80958938e-02 3.25463361e-03 9.99599934e-01 1.54258623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49255784400003 meters Centerline goodness : 0.107078 Centerline is valid? [False, False] Translation: X:5.03, Y:0.59, Z:1.54 [[ 9.99621249e-01 1.11085552e-03 -2.74977043e-02 5.03082737e+00] [-1.20645225e-03 9.99993286e-01 -3.46018889e-03 5.91269496e-01] [ 2.74936759e-02 3.49205301e-03 9.99615878e-01 1.54277520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52255784400006 meters Centerline goodness : 0.165960 Centerline is valid? [False, False] Translation: X:5.03, Y:0.59, Z:1.54 [[ 9.99634298e-01 1.06838313e-03 -2.70208815e-02 5.02955254e+00] [-1.17160230e-03 9.99992077e-01 -3.80443462e-03 5.93318099e-01] [ 2.70166028e-02 3.83470105e-03 9.99627630e-01 1.54283095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55255784400003 meters Centerline goodness : 0.164579 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99647042e-01 1.01227850e-03 -2.65474558e-02 5.02821247e+00] [-1.12420984e-03 9.99990541e-01 -4.20168791e-03 5.95647744e-01] [ 2.65429514e-02 4.23004980e-03 9.99638724e-01 1.54299783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58255784400006 meters Centerline goodness : 0.164369 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99656098e-01 7.92885756e-04 -2.62117816e-02 5.02722169e+00] [-9.23967016e-04 9.99987127e-01 -4.98911957e-03 5.99744352e-01] [ 2.62074883e-02 5.01162262e-03 9.99643962e-01 1.54309878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61255784400004 meters Centerline goodness : 0.164548 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99652204e-01 6.40655798e-04 -2.63640184e-02 5.02765941e+00] [-7.81798935e-04 9.99985417e-01 -5.34366841e-03 6.01360073e-01] [ 2.63602105e-02 5.36242127e-03 9.99638126e-01 1.54299595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64255784400007 meters Centerline goodness : 0.138622 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99647994e-01 5.56015477e-04 -2.65250592e-02 5.02805275e+00] [-7.03922607e-04 9.99984256e-01 -5.56711665e-03 6.02500977e-01] [ 2.65215462e-02 5.58382858e-03 9.99632647e-01 1.54297308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67255784400004 meters Centerline goodness : 0.091026 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99648233e-01 4.95152759e-04 -2.65172787e-02 5.02805043e+00] [-6.46596832e-04 9.99983529e-01 -5.70287694e-03 6.03209803e-01] [ 2.65140181e-02 5.71801684e-03 9.99632088e-01 1.54290434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70255784400007 meters Centerline goodness : 0.121733 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99650213e-01 4.12635969e-04 -2.64439391e-02 5.02768790e+00] [-5.66202425e-04 9.99983019e-01 -5.80002140e-03 6.03465494e-01] [ 2.64410968e-02 5.81296525e-03 9.99633472e-01 1.54319697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73255784400004 meters Centerline goodness : 0.165601 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99652788e-01 1.85966761e-04 -2.63489885e-02 5.02740333e+00] [-3.42723837e-04 9.99982270e-01 -5.94487244e-03 6.03392906e-01] [ 2.63474158e-02 5.95183873e-03 9.99635128e-01 1.54335121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76255784400007 meters Centerline goodness : 0.165080 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99653119e-01 1.76663395e-04 -2.63364778e-02 5.02730243e+00] [-3.34265407e-04 9.99982064e-01 -5.97988963e-03 6.03735627e-01] [ 2.63349490e-02 5.98661869e-03 9.99635249e-01 1.54344267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79255784400004 meters Centerline goodness : 0.199775 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99649679e-01 -4.68636832e-03 -2.60491206e-02 5.04885194e+00] [ 4.63107988e-03 9.99986895e-01 -2.18239170e-03 6.08760957e-01] [ 2.60590067e-02 2.06099160e-03 9.99658282e-01 1.54455089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8225578440001 meters Centerline goodness : 0.165268 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99649807e-01 -4.79887482e-03 -2.60237169e-02 5.04894378e+00] [ 4.73272413e-03 9.99985413e-01 -2.60293535e-03 6.10915808e-01] [ 2.60358284e-02 2.47886075e-03 9.99657937e-01 1.54422512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85255784400005 meters Centerline goodness : 0.167199 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.55 [[ 9.99657724e-01 3.76426851e-03 -2.58894758e-02 5.06977136e+00] [-3.87351117e-03 9.99983800e-01 -4.17072292e-03 6.11192665e-01] [ 2.58733567e-02 4.26957856e-03 9.99656111e-01 1.54577697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8825578440001 meters Centerline goodness : 0.161003 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.55 [[ 9.99660184e-01 3.63561977e-03 -2.58127462e-02 5.06975239e+00] [-3.75801873e-03 9.99981918e-01 -4.69487698e-03 6.13912331e-01] [ 2.57952107e-02 4.79028637e-03 9.99655771e-01 1.54534334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91255784400005 meters Centerline goodness : 0.161109 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:1.55 [[ 9.99687118e-01 3.88785788e-03 -2.47093092e-02 5.06636375e+00] [-4.00808690e-03 9.99980361e-01 -4.81807548e-03 6.16350097e-01] [ 2.46900919e-02 4.91560505e-03 9.99683068e-01 1.54617535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9425578440001 meters Centerline goodness : 0.165943 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:1.55 [[ 9.99692325e-01 3.91943404e-03 -2.44927357e-02 5.06536153e+00] [-4.03526673e-03 9.99980899e-01 -4.68163286e-03 6.15663297e-01] [ 2.44739185e-02 4.77902715e-03 9.99689046e-01 1.54690841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97255784400005 meters Centerline goodness : 0.165658 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.55 [[ 9.99692791e-01 3.95033972e-03 -2.44687105e-02 5.06505592e+00] [-4.05840420e-03 9.99982223e-01 -4.36835161e-03 6.13700877e-01] [ 2.44510191e-02 4.46631353e-03 9.99691052e-01 1.54740055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0025578440001 meters Centerline goodness : 0.164261 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.55 [[ 9.99690742e-01 3.94454714e-03 -2.45532267e-02 5.06523552e+00] [-4.04405970e-03 9.99983804e-01 -4.00459725e-03 6.11121818e-01] [ 2.45370328e-02 4.10265351e-03 9.99690503e-01 1.54751281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03255784400005 meters Centerline goodness : 0.122409 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99678818e-01 -4.62633166e-03 -2.49170101e-02 5.08706227e+00] [ 4.55051433e-03 9.99984846e-01 -3.09863688e-03 6.10809407e-01] [ 2.49309678e-02 2.98425644e-03 9.99684721e-01 1.54815283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.062557844 meters Centerline goodness : 0.171551 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99675199e-01 -4.45005487e-03 -2.50936931e-02 5.08795411e+00] [ 4.38294458e-03 9.99986672e-01 -2.72875581e-03 6.09278925e-01] [ 2.51055018e-02 2.61788524e-03 9.99681379e-01 1.54745919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09255784400005 meters Centerline goodness : 0.161129 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99665693e-01 -4.30756031e-03 -2.54940772e-02 5.08956468e+00] [ 4.24586353e-03 9.99987927e-01 -2.47368030e-03 6.08180149e-01] [ 2.55044249e-02 2.36460896e-03 9.99671913e-01 1.54656812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.122557844 meters Centerline goodness : 0.162947 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99655719e-01 -4.26806435e-03 -2.58887383e-02 5.09126552e+00] [ 4.20667499e-03 9.99988211e-01 -2.42527518e-03 6.07732236e-01] [ 2.58987843e-02 2.31553469e-03 9.99661888e-01 1.54543358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15255784400006 meters Centerline goodness : 0.160692 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.54 [[ 9.99628041e-01 -3.87130421e-03 -2.69961420e-02 5.09470159e+00] [ 3.80919651e-03 9.99989980e-01 -2.35166115e-03 6.08173110e-01] [ 2.70049755e-02 2.24795282e-03 9.99632772e-01 1.54419340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18255784400003 meters Centerline goodness : 0.163308 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.54 [[ 9.99609874e-01 4.83133169e-03 -2.75092465e-02 5.07430124e+00] [-4.91353153e-03 9.99983662e-01 -2.92126817e-03 6.04393041e-01] [ 2.74946835e-02 3.05529606e-03 9.99617281e-01 1.54263402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21255784400006 meters Centerline goodness : 0.162339 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.54 [[ 9.99608946e-01 4.84597630e-03 -2.75403581e-02 5.07470999e+00] [-4.93454147e-03 9.99982868e-01 -3.14877970e-03 6.06047390e-01] [ 2.75246273e-02 3.28344740e-03 9.99615733e-01 1.54204415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24255784400003 meters Centerline goodness : 0.161133 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.54 [[ 9.99611736e-01 4.78195694e-03 -2.74501287e-02 5.07463451e+00] [-4.87530146e-03 9.99982556e-01 -3.33459408e-03 6.06881421e-01] [ 2.74337040e-02 3.46712703e-03 9.99617612e-01 1.54176720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27255784400006 meters Centerline goodness : 0.144063 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.54 [[ 9.99611758e-01 4.67411680e-03 -2.74678969e-02 5.07470878e+00] [-4.77034928e-03 9.99982708e-01 -3.43896920e-03 6.06803298e-01] [ 2.74513478e-02 3.56866551e-03 9.99616771e-01 1.54171752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30255784400003 meters Centerline goodness : 0.099754 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.54 [[ 9.99624407e-01 4.42519239e-03 -2.70455771e-02 5.07319672e+00] [-4.52124701e-03 9.99983684e-01 -3.49146431e-03 6.06045455e-01] [ 2.70296854e-02 3.61243267e-03 9.99628104e-01 1.54249366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33255784400006 meters Centerline goodness : 0.161344 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.54 [[ 9.99631679e-01 4.43341053e-03 -2.67740632e-02 5.07220261e+00] [-4.52726448e-03 9.99983815e-01 -3.44580588e-03 6.06017293e-01] [ 2.67583532e-02 3.56574999e-03 9.99635572e-01 1.54300739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36255784400004 meters Centerline goodness : 0.167122 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99657588e-01 -2.96887145e-03 -2.59979529e-02 5.09060479e+00] [ 2.92224883e-03 9.99994054e-01 -1.83112808e-03 6.11954749e-01] [ 2.60032347e-02 1.75452859e-03 9.99660319e-01 1.54514553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39255784400007 meters Centerline goodness : 0.166742 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.54 [[ 9.99646098e-01 -3.15450780e-03 -2.64145352e-02 5.09184541e+00] [ 3.10502430e-03 9.99993347e-01 -1.91415020e-03 6.11714176e-01] [ 2.64203977e-02 1.83145501e-03 9.99649243e-01 1.54492207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42255784400004 meters Centerline goodness : 0.168121 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.54 [[ 9.99633632e-01 -3.24912299e-03 -2.68708823e-02 5.09331962e+00] [ 3.19852349e-03 9.99993030e-01 -1.92582790e-03 6.11229772e-01] [ 2.68769523e-02 1.83917519e-03 9.99637058e-01 1.54442757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45255784400007 meters Centerline goodness : 0.167859 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.54 [[ 9.99623776e-01 -3.26746164e-03 -2.72328707e-02 5.09448785e+00] [ 3.21775497e-03 9.99993077e-01 -1.86886813e-03 6.10781410e-01] [ 2.72387886e-02 1.78053631e-03 9.99627370e-01 1.54399647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48255784400004 meters Centerline goodness : 0.168986 Centerline is valid? [False, False] Translation: X:5.10, Y:0.61, Z:1.54 [[ 9.99618507e-01 -3.26195485e-03 -2.74262581e-02 5.09504052e+00] [ 3.21365571e-03 9.99993207e-01 -1.80494825e-03 6.10482785e-01] [ 2.74319595e-02 1.71612113e-03 9.99622200e-01 1.54391461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51255784400007 meters Centerline goodness : 0.132146 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.54 [[ 9.99628136e-01 -3.31625379e-03 -2.70664420e-02 5.09369759e+00] [ 3.27399773e-03 9.99993352e-01 -1.60536387e-03 6.09072497e-01] [ 2.70715859e-02 1.51615142e-03 9.99632348e-01 1.54472632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54255784400004 meters Centerline goodness : 0.168318 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 9.99572255e-01 -4.32361781e-03 -2.89242705e-02 5.04565038e+00] [ 4.27612795e-03 9.99989406e-01 -1.70352271e-03 6.05216291e-01] [ 2.89313295e-02 1.57911016e-03 9.99580154e-01 1.54591984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5725578440001 meters Centerline goodness : 0.176550 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.55 [[ 9.99577087e-01 -4.27799451e-03 -2.87636377e-02 5.04499886e+00] [ 4.23386626e-03 9.99989765e-01 -1.59489645e-03 6.04911745e-01] [ 2.87701662e-02 1.47244055e-03 9.99584969e-01 1.54631169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60255784400005 meters Centerline goodness : 0.169618 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.55 [[ 9.99578838e-01 -4.23886943e-03 -2.87084975e-02 5.04492350e+00] [ 4.19540909e-03 9.99989961e-01 -1.57391462e-03 6.05158019e-01] [ 2.87148809e-02 1.45280786e-03 9.99586587e-01 1.54620125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6325578440001 meters Centerline goodness : 0.166302 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99562369e-01 -4.24386058e-03 -2.92756048e-02 5.04708771e+00] [ 4.19619496e-03 9.99989769e-01 -1.68941306e-03 6.05691602e-01] [ 2.92824749e-02 1.56582757e-03 9.99569950e-01 1.54499910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66255784400005 meters Centerline goodness : 0.166108 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99559696e-01 -4.27431309e-03 -2.93623014e-02 5.04739173e+00] [ 4.22577795e-03 9.99989601e-01 -1.71482861e-03 6.05501597e-01] [ 2.93693258e-02 1.58999500e-03 9.99567364e-01 1.54487307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6925578440001 meters Centerline goodness : 0.168215 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.55 [[ 9.99603874e-01 3.91571823e-03 -2.78704626e-02 5.06561476e+00] [-4.00590498e-03 9.99986917e-01 -3.18082740e-03 6.02216968e-01] [ 2.78576428e-02 3.29121382e-03 9.99606482e-01 1.54720686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72255784400005 meters Centerline goodness : 0.170268 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99632751e-01 4.04794390e-03 -2.67950807e-02 5.06178675e+00] [-4.12519898e-03 9.99987491e-01 -2.82853172e-03 6.00898811e-01] [ 2.67832958e-02 2.93802798e-03 9.99636946e-01 1.54913004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7525578440001 meters Centerline goodness : 0.167196 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99634395e-01 4.07253397e-03 -2.67299483e-02 5.06154344e+00] [-4.14657102e-03 9.99987717e-01 -2.71497200e-03 6.00224059e-01] [ 2.67185631e-02 2.82481703e-03 9.99639004e-01 1.54928765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78255784400005 meters Centerline goodness : 0.110312 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99628927e-01 4.05781047e-03 -2.69359088e-02 5.06225791e+00] [-4.13188980e-03 9.99987832e-01 -2.69511876e-03 5.99840678e-01] [ 2.69246448e-02 2.80541488e-03 9.99633529e-01 1.54896943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.812557844 meters Centerline goodness : 0.168114 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99623061e-01 4.06178475e-03 -2.71521126e-02 5.06299613e+00] [-4.13583401e-03 9.99987879e-01 -2.67159824e-03 5.99566461e-01] [ 2.71409321e-02 2.78288784e-03 9.99627743e-01 1.54864443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84255784400005 meters Centerline goodness : 0.164312 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99619532e-01 4.14439380e-03 -2.72693264e-02 5.06323839e+00] [-4.21841466e-03 9.99987571e-01 -2.65746941e-03 5.99897640e-01] [ 2.72579739e-02 2.77149166e-03 9.99624590e-01 1.54867888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.872557844 meters Centerline goodness : 0.174238 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99624442e-01 4.20121046e-03 -2.70799663e-02 5.06264778e+00] [-4.27376057e-03 9.99987431e-01 -2.62178592e-03 6.00022833e-01] [ 2.70686113e-02 2.73653458e-03 9.99629832e-01 1.54883981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90255784400006 meters Centerline goodness : 0.172327 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99625161e-01 4.18704958e-03 -2.70555937e-02 5.06254880e+00] [-4.26099616e-03 9.99987341e-01 -2.67606012e-03 6.00310086e-01] [ 2.70440464e-02 2.79034081e-03 9.99630348e-01 1.54888504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93255784400003 meters Centerline goodness : 0.172141 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99622034e-01 4.13499087e-03 -2.71788553e-02 5.06297746e+00] [-4.21191215e-03 9.99987284e-01 -2.77354977e-03 6.00509460e-01] [ 2.71670411e-02 2.88697641e-03 9.99626739e-01 1.54868406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96255784400006 meters Centerline goodness : 0.174183 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99618014e-01 4.06658093e-03 -2.73365859e-02 5.06363579e+00] [-4.14751536e-03 9.99987181e-01 -2.90461550e-03 6.00856350e-01] [ 2.73244236e-02 3.01688489e-03 9.99622066e-01 1.54822879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99255784400003 meters Centerline goodness : 0.098801 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99615667e-01 3.93967383e-03 -2.74407967e-02 5.06420312e+00] [-4.03409083e-03 9.99986130e-01 -3.38624309e-03 6.03425743e-01] [ 2.74270754e-02 3.49564031e-03 9.99617695e-01 1.54765135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02255784400006 meters Centerline goodness : 0.162229 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.55 [[ 9.99621848e-01 3.85722971e-03 -2.72264965e-02 5.06366464e+00] [-3.95879765e-03 9.99985402e-01 -3.67756539e-03 6.05070736e-01] [ 2.72119138e-02 3.78395890e-03 9.99622525e-01 1.54757299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05255784400003 meters Centerline goodness : 0.162229 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.55 [[ 9.99621848e-01 3.85722971e-03 -2.72264965e-02 5.06366464e+00] [-3.95879765e-03 9.99985402e-01 -3.67756539e-03 6.05070736e-01] [ 2.72119138e-02 3.78395890e-03 9.99622525e-01 1.54757299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08255784400006 meters Centerline goodness : 0.165802 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.55 [[ 9.99629380e-01 3.77206049e-03 -2.69605970e-02 5.06274906e+00] [-3.88014052e-03 9.99984641e-01 -3.95762406e-03 6.06551746e-01] [ 2.69452545e-02 4.06076819e-03 9.99628663e-01 1.54793447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11255784400004 meters Centerline goodness : 0.163798 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.55 [[ 9.99636305e-01 3.63345642e-03 -2.67218130e-02 5.06176559e+00] [-3.74945937e-03 9.99983759e-01 -4.29231018e-03 6.08081075e-01] [ 2.67057831e-02 4.39094144e-03 9.99633693e-01 1.54851201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14255784400007 meters Centerline goodness : 0.102376 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.55 [[ 9.99633767e-01 3.31145167e-03 -2.68582571e-02 5.06210567e+00] [-3.44916077e-03 9.99981135e-01 -5.08254789e-03 6.11973933e-01] [ 2.68409198e-02 5.17332494e-03 9.99626331e-01 1.54841029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17255784400004 meters Centerline goodness : 0.168208 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.55 [[ 9.99628835e-01 3.17482703e-03 -2.70575825e-02 5.06301304e+00] [-3.32445079e-03 9.99979422e-01 -5.48663872e-03 6.14236447e-01] [ 2.70396066e-02 5.57455388e-03 9.99618819e-01 1.54775224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20255784400007 meters Centerline goodness : 0.167692 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99626244e-01 3.07619609e-03 -2.71645046e-02 5.06347048e+00] [-3.23468898e-03 9.99977991e-01 -5.79254464e-03 6.16013700e-01] [ 2.71460877e-02 5.87824836e-03 9.99614194e-01 1.54741562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23255784400004 meters Centerline goodness : 0.169451 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99626275e-01 2.99697471e-03 -2.71722098e-02 5.06359072e+00] [-3.16063752e-03 9.99977111e-01 -5.98222234e-03 6.16968478e-01] [ 2.71536593e-02 6.06586814e-03 9.99612867e-01 1.54722506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26255784400007 meters Centerline goodness : 0.098333 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99622452e-01 2.80905579e-03 -2.73324539e-02 5.06408375e+00] [-2.98178485e-03 9.99975830e-01 -6.28085517e-03 6.18024967e-01] [ 2.73141500e-02 6.35998334e-03 9.99606667e-01 1.54711144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29255784400004 meters Centerline goodness : 0.101855 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99619678e-01 2.74630921e-03 -2.74400522e-02 5.06446031e+00] [-2.92338013e-03 9.99975151e-01 -6.41497809e-03 6.18633790e-01] [ 2.74217528e-02 6.49275604e-03 9.99602867e-01 1.54695449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3225578440001 meters Centerline goodness : 0.173248 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99617634e-01 2.64308506e-03 -2.75245374e-02 5.06481538e+00] [-2.82686649e-03 9.99973958e-01 -6.64023389e-03 6.19624379e-01] [ 2.75062699e-02 6.71550308e-03 9.99599073e-01 1.54672841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35255784400005 meters Centerline goodness : 0.169586 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:1.55 [[ 9.99616180e-01 2.55582721e-03 -2.75855090e-02 5.06505964e+00] [-2.74698975e-03 9.99972462e-01 -6.89414787e-03 6.20899841e-01] [ 2.75671291e-02 6.96727887e-03 9.99595673e-01 1.54652516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3825578440001 meters Centerline goodness : 0.169845 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:1.55 [[ 9.99617251e-01 2.45040361e-03 -2.75562437e-02 5.06500886e+00] [-2.64921001e-03 9.99970712e-01 -7.18037602e-03 6.22433404e-01] [ 2.75378418e-02 7.25063002e-03 9.99594466e-01 1.54644090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41255784400005 meters Centerline goodness : 0.173209 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99623083e-01 2.36637647e-03 -2.73512835e-02 5.06440072e+00] [-2.57355160e-03 9.99968248e-01 -7.54188540e-03 6.24787306e-01] [ 2.73325681e-02 7.60943268e-03 9.99597433e-01 1.54651252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4425578440001 meters Centerline goodness : 0.099706 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99624695e-01 2.34705946e-03 -2.72939736e-02 5.06414496e+00] [-2.55388899e-03 9.99968271e-01 -7.54545732e-03 6.24797908e-01] [ 2.72753979e-02 7.61233125e-03 9.99598972e-01 1.54670266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47255784400005 meters Centerline goodness : 0.278872 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99623723e-01 2.36066989e-03 -2.73283646e-02 5.06409644e+00] [-2.56338767e-03 9.99969443e-01 -7.38519741e-03 6.23795421e-01] [ 2.73100955e-02 7.45247172e-03 9.99599229e-01 1.54695054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5025578440001 meters Centerline goodness : 0.100902 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99621019e-01 2.33355737e-03 -2.74294046e-02 5.06429587e+00] [-2.53287737e-03 9.99970625e-01 -7.23415778e-03 6.22698312e-01] [ 2.74117176e-02 7.30089149e-03 9.99597566e-01 1.54708656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53255784400005 meters Centerline goodness : 0.171915 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99621706e-01 2.37110726e-03 -2.74011429e-02 5.06420589e+00] [-2.56372501e-03 9.99972237e-01 -6.99655994e-03 6.21266202e-01] [ 2.73837926e-02 7.06416218e-03 9.99600033e-01 1.54715412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.562557844 meters Centerline goodness : 0.171669 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99634585e-01 2.44243081e-03 -2.69208271e-02 5.06270528e+00] [-2.62050399e-03 9.99974909e-01 -6.58140594e-03 6.19142172e-01] [ 2.69040770e-02 6.64954713e-03 9.99615903e-01 1.54772195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59255784400005 meters Centerline goodness : 0.098685 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99638956e-01 2.50477146e-03 -2.67522722e-02 5.06220176e+00] [-2.67842572e-03 9.99975564e-01 -6.45733687e-03 6.18632017e-01] [ 2.67354443e-02 6.52665946e-03 9.99621238e-01 1.54785683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.622557844 meters Centerline goodness : 0.109088 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99638188e-01 2.59404575e-03 -2.67724389e-02 5.06250915e+00] [-2.76216591e-03 9.99976688e-01 -6.24452821e-03 6.17401740e-01] [ 2.67556162e-02 6.31621879e-03 9.99622050e-01 1.54746133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65255784400006 meters Centerline goodness : 0.174315 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99634072e-01 2.68980187e-03 -2.69162945e-02 5.06307930e+00] [-2.85332429e-03 9.99977696e-01 -6.03865829e-03 6.16320673e-01] [ 2.68994514e-02 6.11324950e-03 9.99619451e-01 1.54712189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68255784400003 meters Centerline goodness : 0.096878 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99627421e-01 2.75978651e-03 -2.71551506e-02 5.06392976e+00] [-2.92093009e-03 9.99978351e-01 -5.89630494e-03 6.15548438e-01] [ 2.71382901e-02 5.97342640e-03 9.99613841e-01 1.54670287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71255784400006 meters Centerline goodness : 0.168656 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99623297e-01 2.80345470e-03 -2.73020926e-02 5.06458933e+00] [-2.96334112e-03 9.99978687e-01 -5.81749819e-03 6.15102558e-01] [ 2.72852016e-02 5.89621213e-03 9.99610300e-01 1.54622300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74255784400003 meters Centerline goodness : 0.175567 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.55 [[ 9.99616452e-01 2.86713300e-03 -2.75450204e-02 5.06550969e+00] [-3.02426529e-03 9.99979383e-01 -5.66459731e-03 6.14022745e-01] [ 2.75282113e-02 5.74572811e-03 9.99604514e-01 1.54570557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77255784400006 meters Centerline goodness : 0.175386 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.55 [[ 9.99615796e-01 2.92426383e-03 -2.75628058e-02 5.06548543e+00] [-3.07786057e-03 9.99979963e-01 -5.53183182e-03 6.13335126e-01] [ 2.75460770e-02 5.61454094e-03 9.99604767e-01 1.54580343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80255784400003 meters Centerline goodness : 0.101125 Centerline is valid? [False, False] Translation: X:5.08, Y:0.62, Z:1.55 [[ 9.99624527e-01 -4.49941576e-03 -2.70288630e-02 5.08333565e+00] [ 4.39503931e-03 9.99982659e-01 -3.91983356e-03 6.17887259e-01] [ 2.70460313e-02 3.79956886e-03 9.99626968e-01 1.54808915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83255784400006 meters Centerline goodness : 0.119464 Centerline is valid? [False, False] Translation: X:5.08, Y:0.62, Z:1.55 [[ 9.99629867e-01 -4.38410858e-03 -2.68497377e-02 5.08269924e+00] [ 4.28740316e-03 9.99984118e-01 -3.65823678e-03 6.16779229e-01] [ 2.68653493e-02 3.54176709e-03 9.99632787e-01 1.54840248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86255784400004 meters Centerline goodness : 0.174784 Centerline is valid? [False, False] Translation: X:5.08, Y:0.61, Z:1.55 [[ 9.99620432e-01 -4.28812855e-03 -2.72140511e-02 5.08401867e+00] [ 4.20347023e-03 9.99986150e-01 -3.16727676e-03 6.13937373e-01] [ 2.72272559e-02 3.05168111e-03 9.99624611e-01 1.54781389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89255784400007 meters Centerline goodness : 0.168578 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99606671e-01 -4.21288670e-03 -2.77264282e-02 5.08569245e+00] [ 4.13574131e-03 9.99987417e-01 -2.83913546e-03 6.11943528e-01] [ 2.77380403e-02 2.72334941e-03 9.99611517e-01 1.54726160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92255784400004 meters Centerline goodness : 0.170500 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99599839e-01 -4.08478779e-03 -2.79906509e-02 5.08643187e+00] [ 4.01790621e-03 9.99988939e-01 -2.44525235e-03 6.09771936e-01] [ 2.80003296e-02 2.33181004e-03 9.99605194e-01 1.54720911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95255784400007 meters Centerline goodness : 0.172092 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99602116e-01 -3.92952872e-03 -2.79314932e-02 5.08602338e+00] [ 3.87400833e-03 9.99990412e-01 -2.04157063e-03 6.07797131e-01] [ 2.79392478e-02 1.93255149e-03 9.99607755e-01 1.54768522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98255784400004 meters Centerline goodness : 0.163580 Centerline is valid? [False, False] Translation: X:5.10, Y:0.60, Z:1.55 [[ 9.99691463e-01 3.85208465e-03 -2.45385323e-02 5.10288226e+00] [-3.93938118e-03 9.99986080e-01 -3.51018199e-03 6.01652784e-01] [ 2.45246692e-02 3.60576560e-03 9.99692722e-01 1.54996970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01255784400007 meters Centerline goodness : 0.150115 Centerline is valid? [False, False] Translation: X:5.10, Y:0.60, Z:1.55 [[ 9.99698391e-01 3.96339330e-03 -2.42367366e-02 5.10195732e+00] [-4.04440180e-03 9.99986395e-01 -3.29427983e-03 6.00667357e-01] [ 2.42233503e-02 3.39130935e-03 9.99700819e-01 1.55023367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04255784400004 meters Centerline goodness : 0.147027 Centerline is valid? [False, False] Translation: X:5.10, Y:0.60, Z:1.55 [[ 9.99699147e-01 4.04141947e-03 -2.41926281e-02 5.10196367e+00] [-4.11921697e-03 9.99986502e-01 -3.16678172e-03 6.00190773e-01] [ 2.41795032e-02 3.26548367e-03 9.99702300e-01 1.55002757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0725578440001 meters Centerline goodness : 0.165719 Centerline is valid? [False, False] Translation: X:5.12, Y:0.60, Z:1.55 [[ 9.99672859e-01 -1.59621584e-03 -2.55269748e-02 5.12379315e+00] [ 1.58186649e-03 9.99998579e-01 -5.82308595e-04 6.04044252e-01] [ 2.55278680e-02 5.41737832e-04 9.99673964e-01 1.55073882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10255784400005 meters Centerline goodness : 0.139508 Centerline is valid? [False, False] Translation: X:5.13, Y:0.60, Z:1.55 [[ 9.99663908e-01 -1.56718402e-03 -2.58769247e-02 5.12518744e+00] [ 1.55145420e-03 9.99998599e-01 -6.27936087e-04 6.04367023e-01] [ 2.58778726e-02 5.87578179e-04 9.99664939e-01 1.54986460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1325578440001 meters Centerline goodness : 0.140444 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:1.55 [[ 9.99651816e-01 -1.30525133e-03 -2.63541786e-02 5.12676684e+00] [ 1.28887778e-03 9.99998966e-01 -6.38265505e-04 6.05049295e-01] [ 2.63549844e-02 6.04075956e-04 9.99652465e-01 1.54907426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16255784400005 meters Centerline goodness : 0.165384 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:1.55 [[ 9.99659318e-01 -1.27269612e-03 -2.60696725e-02 5.12586536e+00] [ 1.25264415e-03 9.99998907e-01 -7.85485091e-04 6.06134908e-01] [ 2.60706437e-02 7.52561468e-04 9.99659820e-01 1.54933679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1925578440001 meters Centerline goodness : 0.162381 Centerline is valid? [False, False] Translation: X:5.12, Y:0.61, Z:1.55 [[ 9.99669485e-01 -1.24595963e-03 -2.56781620e-02 5.12458259e+00] [ 1.22254366e-03 9.99998822e-01 -9.27581019e-04 6.07240627e-01] [ 2.56792875e-02 8.95881765e-04 9.99669831e-01 1.54976653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22255784400005 meters Centerline goodness : 0.144826 Centerline is valid? [False, False] Translation: X:5.14, Y:0.61, Z:1.55 [[ 9.99705295e-01 7.21574500e-03 -2.31787929e-02 5.14431120e+00] [-7.26582065e-03 9.99971447e-01 -2.07691591e-03 6.07638635e-01] [ 2.31631446e-02 2.24471678e-03 9.99729178e-01 1.55061121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2525578440001 meters Centerline goodness : 0.149149 Centerline is valid? [False, False] Translation: X:5.14, Y:0.61, Z:1.55 [[ 9.99708398e-01 7.15949953e-03 -2.30621161e-02 5.14401786e+00] [-7.21186885e-03 9.99971599e-01 -2.18842253e-03 6.08166453e-01] [ 2.30457931e-02 2.35410534e-03 9.99731639e-01 1.55058110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28255784400005 meters Centerline goodness : 0.106577 Centerline is valid? [False, False] Translation: X:5.14, Y:0.61, Z:1.55 [[ 9.99709609e-01 7.12210112e-03 -2.30211438e-02 5.14385118e+00] [-7.17531602e-03 9.99971771e-01 -2.22978953e-03 6.08275449e-01] [ 2.30046132e-02 2.39432600e-03 9.99732492e-01 1.55066812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.312557844 meters Centerline goodness : 0.131117 Centerline is valid? [False, False] Translation: X:5.16, Y:0.61, Z:1.55 [[ 9.99735710e-01 -5.22516569e-04 -2.29834262e-02 5.16224242e+00] [ 4.97246003e-04 9.99999266e-01 -1.10521376e-03 6.13667202e-01] [ 2.29839868e-02 1.09349325e-03 9.99735235e-01 1.55303696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34255784400005 meters Centerline goodness : 0.146641 Centerline is valid? [False, False] Translation: X:5.16, Y:0.61, Z:1.55 [[ 9.99729003e-01 -6.68487271e-04 -2.32695741e-02 5.16298562e+00] [ 6.37811334e-04 9.99998918e-01 -1.32568215e-03 6.14477576e-01] [ 2.32704351e-02 1.31048130e-03 9.99728348e-01 1.55301637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.372557844 meters Centerline goodness : 0.107378 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.55 [[ 9.99726939e-01 -7.38870228e-04 -2.33559555e-02 5.16317863e+00] [ 7.04235163e-04 9.99998640e-01 -1.49111259e-03 6.15340252e-01] [ 2.33570255e-02 1.47425734e-03 9.99726100e-01 1.55303591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40255784400006 meters Centerline goodness : 0.138441 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.55 [[ 9.99729198e-01 -7.89694903e-04 -2.32574235e-02 5.16276276e+00] [ 7.51690973e-04 9.99998368e-01 -1.64275296e-03 6.16222207e-01] [ 2.32586828e-02 1.62482570e-03 9.99728160e-01 1.55328819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43255784400003 meters Centerline goodness : 0.173134 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.55 [[ 9.99732022e-01 -8.66540552e-04 -2.31329678e-02 5.16222906e+00] [ 8.24129841e-04 9.99997962e-01 -1.84281562e-03 6.17284360e-01] [ 2.31345176e-02 1.82325722e-03 9.99730699e-01 1.55364323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46255784400006 meters Centerline goodness : 0.175138 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.55 [[ 9.99730673e-01 -1.04490349e-03 -2.31838392e-02 5.16228571e+00] [ 9.95143475e-04 9.99997177e-01 -2.15775681e-03 6.18444767e-01] [ 2.31860284e-02 2.13410442e-03 9.99728890e-01 1.55374746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49255784400003 meters Centerline goodness : 0.163214 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.55 [[ 9.99729899e-01 -1.09004230e-03 -2.32151178e-02 5.16229126e+00] [ 1.03873550e-03 9.99996992e-01 -2.22200412e-03 6.18663583e-01] [ 2.32174700e-02 2.19728959e-03 9.99728024e-01 1.55385601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52255784400006 meters Centerline goodness : 0.179539 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.55 [[ 9.99733908e-01 -1.07401926e-03 -2.30425429e-02 5.16172104e+00] [ 1.02457667e-03 9.99997148e-01 -2.15740732e-03 6.18419357e-01] [ 2.30447943e-02 2.13322440e-03 9.99732158e-01 1.55409609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55255784400003 meters Centerline goodness : 0.170419 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.56 [[ 9.99753839e-01 7.19634602e-03 -2.09874502e-02 5.18099499e+00] [-7.26500352e-03 9.99968499e-01 -3.19694994e-03 6.15507341e-01] [ 2.09637827e-02 3.34863688e-03 9.99774628e-01 1.55529075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58255784400006 meters Centerline goodness : 0.172704 Centerline is valid? [False, False] Translation: X:5.18, Y:0.61, Z:1.56 [[ 9.99757036e-01 7.22020086e-03 -2.08263501e-02 5.18046673e+00] [-7.28601144e-03 9.99968695e-01 -3.08582009e-03 6.14907749e-01] [ 2.08034179e-02 3.23681137e-03 9.99778346e-01 1.55550208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61255784400004 meters Centerline goodness : 0.174980 Centerline is valid? [False, False] Translation: X:5.18, Y:0.61, Z:1.56 [[ 9.99753770e-01 7.21827256e-03 -2.09832187e-02 5.18095982e+00] [-7.28308495e-03 9.99968936e-01 -3.01399446e-03 6.14290786e-01] [ 2.09608110e-02 3.16607489e-03 9.99775285e-01 1.55536120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64255784400007 meters Centerline goodness : 0.175715 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.55 [[ 9.99747760e-01 7.18242979e-03 -2.12798031e-02 5.18208015e+00] [-7.25195018e-03 9.99968611e-01 -3.19159949e-03 6.15092485e-01] [ 2.12562117e-02 3.34511451e-03 9.99768465e-01 1.55466506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67255784400004 meters Centerline goodness : 0.174077 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.55 [[ 9.99751736e-01 7.24192080e-03 -2.10718118e-02 5.18152837e+00] [-7.31368106e-03 9.99967709e-01 -3.33043892e-03 6.16310779e-01] [ 2.10470126e-02 3.48372460e-03 9.99772418e-01 1.55470224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70255784400007 meters Centerline goodness : 0.167688 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.55 [[ 9.99760882e-01 7.30287055e-03 -2.06118314e-02 5.18018916e+00] [-7.37690482e-03 9.99966602e-01 -3.51808706e-03 6.17679400e-01] [ 2.05854508e-02 3.66929734e-03 9.99781364e-01 1.55497059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73255784400004 meters Centerline goodness : 0.163043 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.56 [[ 9.99765731e-01 7.56705241e-03 -2.02786261e-02 5.17916682e+00] [-7.64793193e-03 9.99963095e-01 -3.91383109e-03 6.20569253e-01] [ 2.02482616e-02 4.06800375e-03 9.99786707e-01 1.55508074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76255784400007 meters Centerline goodness : 0.167330 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.55 [[ 9.99763774e-01 7.53255036e-03 -2.03876655e-02 5.17966676e+00] [-7.62118115e-03 9.99961828e-01 -4.27307354e-03 6.22545957e-01] [ 2.03547001e-02 4.42744222e-03 9.99783018e-01 1.55456973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79255784400004 meters Centerline goodness : 0.164822 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.55 [[ 9.99762631e-01 7.49984384e-03 -2.04556801e-02 5.18005859e+00] [-7.59588489e-03 9.99960472e-01 -4.62142903e-03 6.24578403e-01] [ 2.04202116e-02 4.77571104e-03 9.99780080e-01 1.55407541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8225578440001 meters Centerline goodness : 0.167876 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 9.99762227e-01 7.43735928e-03 -2.04981910e-02 5.18039965e+00] [-7.54049677e-03 9.99959275e-01 -4.95884989e-03 6.26471187e-01] [ 2.04604754e-02 5.11223735e-03 9.99777592e-01 1.55359409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85255784400005 meters Centerline goodness : 0.165254 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.9997634 0.00730588 -0.0204882 5.18073646] [-0.00742005 0.99995733 -0.00550234 0.62938943] [ 0.02044713 0.00565306 0.99977495 1.55281714] [ 0. 0. 0. 1. ]] SLAMing on 377.8825578440001 meters Centerline goodness : 0.171767 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.99976306 0.00724378 -0.02052668 5.18087056] [-0.00736152 0.99995685 -0.00566586 0.63022012] [ 0.02048475 0.00581563 0.99977325 1.55272892] [ 0. 0. 0. 1. ]] SLAMing on 377.91255784400005 meters Centerline goodness : 0.170287 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.99976025 0.00714845 -0.02069667 5.18130106] [-0.0072704 0.99995662 -0.00582305 0.63082183] [ 0.02065415 0.00597213 0.99976884 1.55269979] [ 0. 0. 0. 1. ]] SLAMing on 377.9425578440001 meters Centerline goodness : 0.106356 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.99975659 0.00703505 -0.02091095 5.18186417] [-0.00716144 0.9999565 -0.00597551 0.63132769] [ 0.02086801 0.0061238 0.99976348 1.55264733] [ 0. 0. 0. 1. ]] SLAMing on 377.97255784400005 meters Centerline goodness : 0.106356 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.99975659 0.00703505 -0.02091095 5.18186417] [-0.00716144 0.9999565 -0.00597551 0.63132769] [ 0.02086801 0.0061238 0.99976348 1.55264733] [ 0. 0. 0. 1. ]] SLAMing on 378.0025578440001 meters Centerline goodness : 0.170541 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.9997537 0.00692935 -0.0210837 5.1823132 ] [-0.00705893 0.99995661 -0.00607795 0.6315138 ] [ 0.02104067 0.00622528 0.99975924 1.55261371] [ 0. 0. 0. 1. ]] SLAMing on 378.03255784400005 meters Centerline goodness : 0.176115 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.99975642 0.00681234 -0.02099264 5.18202876] [-0.00694315 0.99995689 -0.00616457 0.63195834] [ 0.02094974 0.00630882 0.99976062 1.55274608] [ 0. 0. 0. 1. ]] SLAMing on 378.062557844 meters Centerline goodness : 0.097253 Centerline is valid? [False, False] Translation: X:5.20, Y:0.64, Z:1.55 [[ 9.99801388e-01 -9.40678020e-04 -1.99072637e-02 5.20086173e+00] [ 8.44175906e-04 9.99987856e-01 -4.85543141e-03 6.37714223e-01] [ 1.99115893e-02 4.83766183e-03 9.99790041e-01 1.55464294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09255784400005 meters Centerline goodness : 0.102524 Centerline is valid? [False, False] Translation: X:5.20, Y:0.64, Z:1.56 [[ 9.99804219e-01 -9.52917317e-04 -1.97640002e-02 5.20030608e+00] [ 8.58475685e-04 9.99988177e-01 -4.78640144e-03 6.37340639e-01] [ 1.97683275e-02 4.76849744e-03 9.99793216e-01 1.55501467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.122557844 meters Centerline goodness : 0.175286 Centerline is valid? [False, False] Translation: X:5.20, Y:0.64, Z:1.56 [[ 9.99801637e-01 -9.93238404e-04 -1.98921977e-02 5.20048961e+00] [ 8.99285194e-04 9.99988402e-01 -4.73150712e-03 6.36754630e-01] [ 1.98966665e-02 4.71267981e-03 9.99790935e-01 1.55528424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15255784400006 meters Centerline goodness : 0.134206 Centerline is valid? [False, False] Translation: X:5.22, Y:0.64, Z:1.56 [[ 9.99744702e-01 -9.68008628e-03 -2.04163410e-02 5.22246195e+00] [ 9.58791661e-03 9.99943419e-01 -4.60757118e-03 6.40899708e-01] [ 2.04597875e-02 4.41064470e-03 9.99780948e-01 1.55596130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18255784400003 meters Centerline goodness : 0.173806 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.55 [[ 9.99800925e-01 -1.97779120e-03 -1.98544196e-02 5.20396937e+00] [ 1.86944354e-03 9.99983269e-01 -5.47418335e-03 6.34238849e-01] [ 1.98649142e-02 5.43597686e-03 9.99787895e-01 1.55372354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21255784400006 meters Centerline goodness : 0.174063 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.55 [[ 9.99802945e-01 -1.90071206e-03 -1.97600001e-02 5.20372609e+00] [ 1.79641117e-03 9.99984369e-01 -5.29479617e-03 6.33507383e-01] [ 1.97697551e-02 5.25825572e-03 9.99790732e-01 1.55372547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24255784400003 meters Centerline goodness : 0.137717 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.55 [[ 9.99804873e-01 -1.80796185e-03 -1.96709612e-02 5.20336316e+00] [ 1.70872545e-03 9.99985736e-01 -5.06045589e-03 6.32459742e-01] [ 1.96798297e-02 5.02585619e-03 9.99793701e-01 1.55395411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27255784400006 meters Centerline goodness : 0.170078 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.55 [[ 9.99802960e-01 -1.66498249e-03 -1.97805374e-02 5.20385433e+00] [ 1.57638671e-03 9.99988661e-01 -4.49368561e-03 6.29275955e-01] [ 1.97877950e-02 4.46161840e-03 9.99794247e-01 1.55370536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30255784400003 meters Centerline goodness : 0.104944 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.55 [[ 0.99976426 0.0060143 -0.02086256 5.18571156] [-0.00613428 0.99996499 -0.00569158 0.62132552] [ 0.0208276 0.00581822 0.99976615 1.55152222] [ 0. 0. 0. 1. ]] SLAMing on 378.33255784400006 meters Centerline goodness : 0.104608 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.55 [[ 0.99975822 0.00613703 -0.02111484 5.18667174] [-0.00625095 0.99996624 -0.0053339 0.61953457] [ 0.02108139 0.0054646 0.99976283 1.55097536] [ 0. 0. 0. 1. ]] SLAMing on 378.36255784400004 meters Centerline goodness : 0.103930 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.55 [[ 9.99756109e-01 6.34644067e-03 -2.11529047e-02 5.18693787e+00] [-6.44692864e-03 9.99968240e-01 -4.68574792e-03 6.16053442e-01] [ 2.11224950e-02 4.82097637e-03 9.99765272e-01 1.55076899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39255784400007 meters Centerline goodness : 0.119145 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.55 [[ 9.99787480e-01 -1.66345148e-03 -2.05481853e-02 5.20560038e+00] [ 1.58874588e-03 9.99992071e-01 -3.65141957e-03 6.18886712e-01] [ 2.05540964e-02 3.61799772e-03 9.99782196e-01 1.55245537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42255784400004 meters Centerline goodness : 0.101247 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.55 [[ 9.99786574e-01 -1.58032679e-03 -2.05987794e-02 5.20557505e+00] [ 1.51007674e-03 9.99992993e-01 -3.42550685e-03 6.17647839e-01] [ 2.06040484e-02 3.39367002e-03 9.99781954e-01 1.55269939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45255784400007 meters Centerline goodness : 0.174353 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.55 [[ 9.99783973e-01 -1.46580625e-03 -2.07330308e-02 5.20614017e+00] [ 1.39969705e-03 9.99993892e-01 -3.20274547e-03 6.16681624e-01] [ 2.07375987e-02 3.17303362e-03 9.99779918e-01 1.55231289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48255784400004 meters Centerline goodness : 0.149332 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.55 [[ 9.99782328e-01 -1.37224667e-03 -2.08185663e-02 5.20663053e+00] [ 1.30912307e-03 9.99994506e-01 -3.04540747e-03 6.16161056e-01] [ 2.08226310e-02 3.01749051e-03 9.99778632e-01 1.55183740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51255784400007 meters Centerline goodness : 0.102291 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.55 [[ 9.99783864e-01 -1.29555958e-03 -2.07496298e-02 5.20654547e+00] [ 1.23565413e-03 9.99995033e-01 -2.89962229e-03 6.15601321e-01] [ 2.07532834e-02 2.87335621e-03 9.99780498e-01 1.55167740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54255784400004 meters Centerline goodness : 0.147638 Centerline is valid? [False, False] Translation: X:5.21, Y:0.61, Z:1.55 [[ 9.99790185e-01 -1.17781781e-03 -2.04498868e-02 5.20548947e+00] [ 1.12564078e-03 9.99996083e-01 -2.56278123e-03 6.13825582e-01] [ 2.04528252e-02 2.53922430e-03 9.99787595e-01 1.55219937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5725578440001 meters Centerline goodness : 0.141569 Centerline is valid? [False, False] Translation: X:5.21, Y:0.61, Z:1.55 [[ 9.99791832e-01 -1.11098684e-03 -2.03729982e-02 5.20524013e+00] [ 1.06330505e-03 9.99996671e-01 -2.35112403e-03 6.12704513e-01] [ 2.03755424e-02 2.32897189e-03 9.99789684e-01 1.55227843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60255784400005 meters Centerline goodness : 0.144607 Centerline is valid? [False, False] Translation: X:5.21, Y:0.61, Z:1.55 [[ 9.99789521e-01 -1.05662737e-03 -2.04889582e-02 5.20549834e+00] [ 1.01256594e-03 9.99997153e-01 -2.16075150e-03 6.11744431e-01] [ 2.04911830e-02 2.13955028e-03 9.99787744e-01 1.55233865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6325578440001 meters Centerline goodness : 0.143871 Centerline is valid? [False, False] Translation: X:5.21, Y:0.61, Z:1.55 [[ 9.99788366e-01 -9.98607300e-04 -2.05481280e-02 5.20559411e+00] [ 9.58369166e-04 9.99997604e-01 -1.96799261e-03 6.10837597e-01] [ 2.05500440e-02 1.94788342e-03 9.99786928e-01 1.55241935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66255784400005 meters Centerline goodness : 0.173188 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99798705e-01 -1.07716165e-03 -2.00346985e-02 5.20383867e+00] [ 1.04372659e-03 9.99998045e-01 -1.67923918e-03 6.09206657e-01] [ 2.00364681e-02 1.65799041e-03 9.99797875e-01 1.55333179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6925578440001 meters Centerline goodness : 0.149996 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99805950e-01 -1.07630917e-03 -1.96698942e-02 5.20250651e+00] [ 1.04816562e-03 9.99998412e-01 -1.44104680e-03 6.07883343e-01] [ 1.96714140e-02 1.42014986e-03 9.99805490e-01 1.55410995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72255784400005 meters Centerline goodness : 0.141653 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99813230e-01 -1.11563168e-03 -1.92940414e-02 5.20123718e+00] [ 1.09259406e-03 9.99998678e-01 -1.20452774e-03 6.06292319e-01] [ 1.92953596e-02 1.18322221e-03 9.99813127e-01 1.55476442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7525578440001 meters Centerline goodness : 0.183796 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.56 [[ 9.99822915e-01 -1.84659022e-03 -1.87277695e-02 5.19964040e+00] [ 1.82248765e-03 9.99997489e-01 -1.30398191e-03 6.04116213e-01] [ 1.87301304e-02 1.26961987e-03 9.99823770e-01 1.55526971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78255784400005 meters Centerline goodness : 0.141965 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.56 [[ 9.99814812e-01 -1.84242612e-03 -1.91558708e-02 5.20083896e+00] [ 1.82438190e-03 9.99997876e-01 -9.59400949e-04 6.02010565e-01] [ 1.91575977e-02 9.24275655e-04 9.99816049e-01 1.55503096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.812557844 meters Centerline goodness : 0.183586 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.55 [[ 9.99805962e-01 -1.84176201e-03 -1.96124140e-02 5.20204909e+00] [ 1.83182050e-03 9.99998184e-01 -5.24851419e-04 5.99426155e-01] [ 1.96133451e-02 4.88823156e-04 9.99807520e-01 1.55492944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84255784400005 meters Centerline goodness : 0.147666 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.56 [[ 9.99805686e-01 -1.80442405e-03 -1.96299174e-02 5.20198769e+00] [ 1.80423796e-03 9.99998372e-01 -2.71904077e-05 5.96613622e-01] [ 1.96299345e-02 -8.23191790e-06 9.99807314e-01 1.55518784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.872557844 meters Centerline goodness : 0.148745 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:1.56 [[ 9.99810433e-01 -1.75611955e-03 -1.93910948e-02 5.20113792e+00] [ 1.76635306e-03 9.99998310e-01 5.10627943e-04 5.93623253e-01] [ 1.93901653e-02 -5.44782664e-04 9.99811845e-01 1.55567743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90255784400006 meters Centerline goodness : 0.145421 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:1.56 [[ 9.99818427e-01 -1.76636847e-03 -1.89734931e-02 5.19989756e+00] [ 1.78459159e-03 9.99997962e-01 9.43563043e-04 5.90877806e-01] [ 1.89717877e-02 -9.77251654e-04 9.99819542e-01 1.55609395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93255784400003 meters Centerline goodness : 0.132743 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:1.56 [[ 9.99817323e-01 -1.96244092e-03 -1.90123355e-02 5.20015589e+00] [ 1.99136399e-03 9.99996889e-01 1.50246635e-03 5.86598256e-01] [ 1.90093278e-02 -1.54005237e-03 9.99818120e-01 1.55597467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96255784400006 meters Centerline goodness : 0.149326 Centerline is valid? [False, False] Translation: X:5.20, Y:0.58, Z:1.56 [[ 9.99809373e-01 -1.84481182e-03 -1.94374720e-02 5.20156552e+00] [ 1.88350890e-03 9.99996280e-01 1.97273013e-03 5.84141001e-01] [ 1.94337604e-02 -2.00896472e-03 9.99809128e-01 1.55531240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99255784400003 meters Centerline goodness : 0.146908 Centerline is valid? [False, False] Translation: X:5.20, Y:0.58, Z:1.55 [[ 9.99795478e-01 -1.82542548e-03 -2.01412533e-02 5.20375141e+00] [ 1.87321598e-03 9.99995474e-01 2.35415610e-03 5.81818434e-01] [ 2.01368648e-02 -2.39140354e-03 9.99794373e-01 1.55453224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02255784400006 meters Centerline goodness : 0.157636 Centerline is valid? [False, False] Translation: X:5.21, Y:0.58, Z:1.55 [[ 9.99783938e-01 -1.75013911e-03 -2.07126726e-02 5.20559387e+00] [ 1.80984009e-03 9.99994261e-01 2.86394658e-03 5.78811013e-01] [ 2.07075414e-02 -2.90081442e-03 9.99781368e-01 1.55384840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05255784400003 meters Centerline goodness : 0.157898 Centerline is valid? [False, False] Translation: X:5.21, Y:0.57, Z:1.55 [[ 9.99772691e-01 -2.50792185e-03 -2.11725254e-02 5.20722095e+00] [ 2.56736229e-03 9.99992838e-01 2.78071799e-03 5.72089726e-01] [ 2.11653999e-02 -2.83444345e-03 9.99771970e-01 1.55328367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08255784400006 meters Centerline goodness : 0.133488 Centerline is valid? [False, False] Translation: X:5.21, Y:0.57, Z:1.55 [[ 9.99775400e-01 -2.34563771e-03 -2.10629529e-02 5.20679975e+00] [ 2.41579428e-03 9.99991617e-01 3.30597731e-03 5.69523562e-01] [ 2.10550217e-02 -3.35611855e-03 9.99772685e-01 1.55347672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11255784400004 meters Centerline goodness : 0.133475 Centerline is valid? [False, False] Translation: X:5.19, Y:0.56, Z:1.55 [[ 9.99782869e-01 5.28774520e-03 -2.01557778e-02 5.18712420e+00] [-5.24332678e-03 9.99983709e-01 2.25596710e-03 5.60187971e-01] [ 2.01673784e-02 -2.14979393e-03 9.99794306e-01 1.55158184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14255784400007 meters Centerline goodness : 0.149659 Centerline is valid? [False, False] Translation: X:5.23, Y:0.56, Z:1.55 [[ 9.99835159e-01 4.56576325e-03 -1.75729468e-02 5.23144248e+00] [-4.54320820e-03 9.99988804e-01 1.32321792e-03 5.58854565e-01] [ 1.75787916e-02 -1.24316224e-03 9.99844708e-01 1.55156860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17255784400004 meters Centerline goodness : 0.130865 Centerline is valid? [False, False] Translation: X:5.21, Y:0.56, Z:1.55 [[ 9.99808527e-01 -5.39186362e-03 -1.88105791e-02 5.20963706e+00] [ 5.42372413e-03 9.99983942e-01 1.64314999e-03 5.57450874e-01] [ 1.88014174e-02 -1.74485877e-03 9.99821715e-01 1.55161441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20255784400007 meters Centerline goodness : 0.158757 Centerline is valid? [False, False] Translation: X:5.21, Y:0.56, Z:1.55 [[ 9.99807575e-01 -5.25098831e-03 -1.89007715e-02 5.21001906e+00] [ 5.29217866e-03 9.99983728e-01 2.12993677e-03 5.55239421e-01] [ 1.88892797e-02 -2.22955318e-03 9.99819096e-01 1.55127640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23255784400004 meters Centerline goodness : 0.146914 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99807298e-01 -5.07990033e-03 -1.89621289e-02 5.21042048e+00] [ 5.13175965e-03 9.99983222e-01 2.68723296e-03 5.52950981e-01] [ 1.89481598e-02 -2.78402421e-03 9.99816591e-01 1.55069580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26255784400007 meters Centerline goodness : 0.142607 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99807026e-01 -4.87120725e-03 -1.90310668e-02 5.21096110e+00] [ 4.93442241e-03 9.99982459e-01 3.27613749e-03 5.50608209e-01] [ 1.90147742e-02 -3.36941261e-03 9.99813525e-01 1.54996488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29255784400004 meters Centerline goodness : 0.125641 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99804807e-01 -4.98060360e-03 -1.91191595e-02 5.21104720e+00] [ 5.04825726e-03 9.99981161e-01 3.49189551e-03 5.49016034e-01] [ 1.91014075e-02 -3.58773235e-03 9.99811114e-01 1.55000611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3225578440001 meters Centerline goodness : 0.141094 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99807373e-01 -5.08291052e-03 -1.89573263e-02 5.21036557e+00] [ 5.14812012e-03 9.99980993e-01 3.39259554e-03 5.49167688e-01] [ 1.89397217e-02 -3.48953663e-03 9.99814538e-01 1.55038083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35255784400005 meters Centerline goodness : 0.145893 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99810092e-01 -5.15053364e-03 -1.87949994e-02 5.20983815e+00] [ 5.21426928e-03 9.99980815e-01 3.34366704e-03 5.49340130e-01] [ 1.87774172e-02 -3.44103424e-03 9.99817767e-01 1.55046889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3825578440001 meters Centerline goodness : 0.149810 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99810474e-01 -5.16731274e-03 -1.87700608e-02 5.20974443e+00] [ 5.22994729e-03 9.99980914e-01 3.28938532e-03 5.49819565e-01] [ 1.87527053e-02 -3.38692832e-03 9.99818416e-01 1.55049609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41255784400005 meters Centerline goodness : 0.152579 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99813627e-01 -5.23653749e-03 -1.85819630e-02 5.20928111e+00] [ 5.29653673e-03 9.99980913e-01 3.18115268e-03 5.50413549e-01] [ 1.85649501e-02 -3.27897985e-03 9.99822280e-01 1.55044464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4425578440001 meters Centerline goodness : 0.150630 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99816500e-01 -5.30101475e-03 -1.84083071e-02 5.20863925e+00] [ 5.35949507e-03 9.99980743e-01 3.12896441e-03 5.50419715e-01] [ 1.83913659e-02 -3.22704948e-03 9.99825657e-01 1.55077929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47255784400005 meters Centerline goodness : 0.134117 Centerline is valid? [False, False] Translation: X:5.23, Y:0.55, Z:1.55 [[ 9.99876825e-01 1.68639510e-03 -1.56041651e-02 5.22824071e+00] [-1.67324437e-03 9.99998234e-01 8.55787536e-04 5.48372440e-01] [ 1.56055808e-02 -8.29572543e-04 9.99877881e-01 1.55091355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5025578440001 meters Centerline goodness : 0.112009 Centerline is valid? [False, False] Translation: X:5.23, Y:0.55, Z:1.55 [[ 9.99879938e-01 1.62337515e-03 -1.54102062e-02 5.22730587e+00] [-1.61071526e-03 9.99998355e-01 8.33902477e-04 5.48365712e-01] [ 1.54115346e-02 -8.08980902e-04 9.99880908e-01 1.55158210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53255784400005 meters Centerline goodness : 0.149926 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99854118e-01 -7.37251602e-03 -1.54074091e-02 5.20578105e+00] [ 7.39935522e-03 9.99971204e-01 1.68568692e-03 5.53539514e-01] [ 1.53945377e-02 -1.79944591e-03 9.99879878e-01 1.55053749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.562557844 meters Centerline goodness : 0.125541 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99852018e-01 -7.45689693e-03 -1.55027836e-02 5.20631407e+00] [ 7.48235132e-03 9.99970751e-01 1.58456986e-03 5.54116820e-01] [ 1.54905142e-02 -1.70033264e-03 9.99878569e-01 1.54997581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59255784400005 meters Centerline goodness : 0.114090 Centerline is valid? [False, False] Translation: X:5.21, Y:0.56, Z:1.55 [[ 9.99848740e-01 -7.55235789e-03 -1.56671596e-02 5.20694263e+00] [ 7.57510027e-03 9.99970339e-01 1.39275935e-03 5.55141657e-01] [ 1.56561763e-02 -1.51122899e-03 9.99876293e-01 1.54957523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.622557844 meters Centerline goodness : 0.118506 Centerline is valid? [False, False] Translation: X:5.21, Y:0.56, Z:1.55 [[ 9.99845587e-01 -7.63371785e-03 -1.58281167e-02 5.20740205e+00] [ 7.65362246e-03 9.99969994e-01 1.19735306e-03 5.56210978e-01] [ 1.58185015e-02 -1.31831060e-03 9.99874011e-01 1.54945914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65255784400006 meters Centerline goodness : 0.095874 Centerline is valid? [False, False] Translation: X:5.21, Y:0.56, Z:1.55 [[ 9.99841024e-01 -7.82371332e-03 -1.60223645e-02 5.20780687e+00] [ 7.83576147e-03 9.99969062e-01 6.89317970e-04 5.58752727e-01] [ 1.60164757e-02 -8.14755811e-04 9.99871396e-01 1.54959631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68255784400003 meters Centerline goodness : 0.136099 Centerline is valid? [False, False] Translation: X:5.19, Y:0.56, Z:1.55 [[ 9.99864537e-01 6.96483714e-04 -1.64445242e-02 5.18632218e+00] [-6.96078401e-04 9.99999757e-01 3.03709972e-05 5.56246444e-01] [ 1.64445414e-02 -1.89202049e-05 9.99864779e-01 1.54877404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71255784400006 meters Centerline goodness : 0.189224 Centerline is valid? [False, False] Translation: X:5.19, Y:0.56, Z:1.55 [[ 9.99863213e-01 5.81917770e-04 -1.65292524e-02 5.18664345e+00] [-5.87453162e-04 9.99999773e-01 -3.30031179e-04 5.58105563e-01] [ 1.65290566e-02 3.39696197e-04 9.99863328e-01 1.54862098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74255784400003 meters Centerline goodness : 0.219804 Centerline is valid? [False, False] Translation: X:5.19, Y:0.56, Z:1.55 [[ 9.99861343e-01 4.62666771e-04 -1.66457127e-02 5.18719509e+00] [-4.74534015e-04 9.99999636e-01 -7.08988261e-04 5.60150615e-01] [ 1.66453786e-02 7.16788912e-04 9.99861199e-01 1.54819757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77255784400006 meters Centerline goodness : 0.130683 Centerline is valid? [False, False] Translation: X:5.19, Y:0.56, Z:1.55 [[ 9.99858080e-01 3.56052302e-04 -1.68432125e-02 5.18793574e+00] [-3.74498907e-04 9.99999334e-01 -1.09205376e-03 5.62243520e-01] [ 1.68428124e-02 1.09820654e-03 9.99857547e-01 1.54778850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80255784400003 meters Centerline goodness : 0.138246 Centerline is valid? [False, False] Translation: X:5.19, Y:0.57, Z:1.55 [[ 9.99845143e-01 3.54799850e-04 -1.75944250e-02 5.19024038e+00] [-3.85139709e-04 9.99998445e-01 -1.72104343e-03 5.66369945e-01] [ 1.75937870e-02 1.72755323e-03 9.99843725e-01 1.54706359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83255784400006 meters Centerline goodness : 0.124047 Centerline is valid? [False, False] Translation: X:5.19, Y:0.57, Z:1.55 [[ 9.99843604e-01 2.27393435e-04 -1.76837945e-02 5.19043906e+00] [-2.64886243e-04 9.99997722e-01 -2.11786556e-03 5.68420458e-01] [ 1.76832726e-02 2.12221853e-03 9.99841386e-01 1.54709162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86255784400004 meters Centerline goodness : 0.124047 Centerline is valid? [False, False] Translation: X:5.19, Y:0.57, Z:1.55 [[ 9.99843604e-01 2.27393435e-04 -1.76837945e-02 5.19043906e+00] [-2.64886243e-04 9.99997722e-01 -2.11786556e-03 5.68420458e-01] [ 1.76832726e-02 2.12221853e-03 9.99841386e-01 1.54709162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89255784400007 meters Centerline goodness : 0.096757 Centerline is valid? [False, False] Translation: X:5.19, Y:0.57, Z:1.55 [[ 9.99840882e-01 1.56861228e-04 -1.78377753e-02 5.19075410e+00] [-1.99403337e-04 9.99997140e-01 -2.38319119e-03 5.69960526e-01] [ 1.78373504e-02 2.38636889e-03 9.99838054e-01 1.54718968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92255784400004 meters Centerline goodness : 0.203199 Centerline is valid? [False, False] Translation: X:5.19, Y:0.57, Z:1.55 [[ 9.99839413e-01 1.08214131e-04 -1.79202932e-02 5.19106592e+00] [-1.54006267e-04 9.99996727e-01 -2.55396264e-03 5.70884409e-01] [ 1.79199581e-02 2.55631235e-03 9.99836157e-01 1.54701302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95255784400007 meters Centerline goodness : 0.110878 Centerline is valid? [False, False] Translation: X:5.15, Y:0.57, Z:1.55 [[ 9.99779084e-01 1.11649715e-04 -2.10183335e-02 5.14709905e+00] [-1.60755320e-04 9.99997262e-01 -2.33464737e-03 5.72316287e-01] [ 2.10180153e-02 2.33751041e-03 9.99776365e-01 1.54693222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98255784400004 meters Centerline goodness : 0.128920 Centerline is valid? [False, False] Translation: X:5.15, Y:0.57, Z:1.55 [[ 9.99777108e-01 7.38860119e-05 -2.11123070e-02 5.14727274e+00] [-1.26044050e-04 9.99996944e-01 -2.46918394e-03 5.72986266e-01] [ 2.11120600e-02 2.47129466e-03 9.99774061e-01 1.54705301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01255784400007 meters Centerline goodness : 0.099621 Centerline is valid? [False, False] Translation: X:5.17, Y:0.58, Z:1.55 [[ 9.99754421e-01 -7.30042666e-03 -2.09236998e-02 5.16613201e+00] [ 7.27410263e-03 9.99972654e-01 -1.33393010e-03 5.77856720e-01] [ 2.09328659e-02 1.18140138e-03 9.99780186e-01 1.54898270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04255784400004 meters Centerline goodness : 0.146801 Centerline is valid? [False, False] Translation: X:5.16, Y:0.58, Z:1.55 [[ 9.99779172e-01 -4.80558323e-03 -2.04576175e-02 5.16400081e+00] [ 4.82776771e-03 9.99987810e-01 1.03516220e-03 5.79792501e-01] [ 2.04523936e-02 -1.13369823e-03 9.99790185e-01 1.55015291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0725578440001 meters Centerline goodness : 0.147049 Centerline is valid? [False, False] Translation: X:5.18, Y:0.58, Z:1.55 [[ 9.99803590e-01 4.74370627e-03 -1.92426050e-02 5.18469126e+00] [-4.73483611e-03 9.99988662e-01 5.06498056e-04 5.78307100e-01] [ 1.92447896e-02 -4.15287994e-04 9.99814716e-01 1.55113137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10255784400005 meters Centerline goodness : 0.146366 Centerline is valid? [False, False] Translation: X:5.18, Y:0.58, Z:1.55 [[ 9.99806124e-01 4.81156286e-03 -1.90935492e-02 5.18440227e+00] [-4.80592610e-03 9.99988393e-01 3.41092716e-04 5.79548290e-01] [ 1.90949688e-02 -2.49264400e-04 9.99817643e-01 1.55102473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1325578440001 meters Centerline goodness : 0.140218 Centerline is valid? [False, False] Translation: X:5.18, Y:0.58, Z:1.55 [[ 9.99809972e-01 4.85939786e-03 -1.88787103e-02 5.18388525e+00] [-4.85791590e-03 9.99988193e-01 1.24358175e-04 5.80967597e-01] [ 1.88790917e-02 -3.26233566e-05 9.99821774e-01 1.55104552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16255784400005 meters Centerline goodness : 0.132053 Centerline is valid? [False, False] Translation: X:5.18, Y:0.58, Z:1.55 [[ 9.99811963e-01 4.88472839e-03 -1.87664074e-02 5.18351239e+00] [-4.88777685e-03 9.99988048e-01 -1.16578295e-04 5.82466723e-01] [ 1.87656137e-02 2.08282386e-04 9.99823889e-01 1.55121075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1925578440001 meters Centerline goodness : 0.148028 Centerline is valid? [False, False] Translation: X:5.18, Y:0.58, Z:1.55 [[ 9.99815333e-01 4.91267050e-03 -1.85786189e-02 5.18280256e+00] [-4.91950223e-03 9.99987847e-01 -3.22035049e-04 5.83804483e-01] [ 1.85768111e-02 4.13373137e-04 9.99827351e-01 1.55163081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22255784400005 meters Centerline goodness : 0.161211 Centerline is valid? [False, False] Translation: X:5.18, Y:0.59, Z:1.55 [[ 9.99804986e-01 5.21247933e-03 -1.90478515e-02 5.18390096e+00] [-5.22357448e-03 9.99986215e-01 -5.32780909e-04 5.85788171e-01] [ 1.90448118e-02 6.32174880e-04 9.99818431e-01 1.55181138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2525578440001 meters Centerline goodness : 0.134918 Centerline is valid? [False, False] Translation: X:5.18, Y:0.59, Z:1.55 [[ 9.99803474e-01 5.17994755e-03 -1.91358752e-02 5.18418918e+00] [-5.19458931e-03 9.99986252e-01 -7.15520064e-04 5.86709727e-01] [ 1.91319057e-02 8.14782458e-04 9.99816636e-01 1.55175977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28255784400005 meters Centerline goodness : 0.162024 Centerline is valid? [False, False] Translation: X:5.18, Y:0.59, Z:1.55 [[ 9.99803603e-01 5.17318910e-03 -1.91309713e-02 5.18413937e+00] [-5.18930138e-03 9.99986221e-01 -7.92662156e-04 5.87179818e-01] [ 1.91266071e-02 8.91782855e-04 9.99816672e-01 1.55178792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.312557844 meters Centerline goodness : 0.153946 Centerline is valid? [False, False] Translation: X:5.18, Y:0.59, Z:1.55 [[ 9.99806549e-01 5.19338764e-03 -1.89708584e-02 5.18365404e+00] [-5.20928667e-03 9.99986121e-01 -7.88755668e-04 5.87359478e-01] [ 1.89664988e-02 8.87427722e-04 9.99819726e-01 1.55190235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34255784400005 meters Centerline goodness : 0.147571 Centerline is valid? [False, False] Translation: X:5.18, Y:0.59, Z:1.55 [[ 9.99810638e-01 5.28465846e-03 -1.87286051e-02 5.18268736e+00] [-5.29733097e-03 9.99985772e-01 -6.27093556e-04 5.86812939e-01] [ 1.87250247e-02 7.26186429e-04 9.99824408e-01 1.55251027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.372557844 meters Centerline goodness : 0.161066 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:1.55 [[ 9.99839250e-01 -2.61578984e-03 -1.77378498e-02 5.20146333e+00] [ 2.62687109e-03 9.99996369e-01 6.01452770e-04 5.91030083e-01] [ 1.77362121e-02 -6.47951131e-04 9.99842491e-01 1.55424429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40255784400006 meters Centerline goodness : 0.148313 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:1.55 [[ 9.99840238e-01 -2.63432958e-03 -1.76793198e-02 5.20102298e+00] [ 2.64535708e-03 9.99996321e-01 6.00394478e-04 5.90856674e-01] [ 1.76776731e-02 -6.47066672e-04 9.99843528e-01 1.55472433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43255784400003 meters Centerline goodness : 0.144158 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:1.56 [[ 9.99843127e-01 -2.56490761e-03 -1.75254933e-02 5.20043586e+00] [ 2.57388652e-03 9.99996568e-01 4.89797855e-04 5.91882313e-01] [ 1.75241769e-02 -5.34829649e-04 9.99846297e-01 1.55505859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46255784400006 meters Centerline goodness : 0.149244 Centerline is valid? [False, False] Translation: X:5.18, Y:0.59, Z:1.55 [[ 9.99828334e-01 5.85396315e-03 -1.75793258e-02 5.17997513e+00] [-5.86133627e-03 9.99982755e-01 -3.67925615e-04 5.88700432e-01] [ 1.75768688e-02 4.70900795e-04 9.99845404e-01 1.55345630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49255784400003 meters Centerline goodness : 0.158060 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.56 [[ 9.99846164e-01 -1.16603288e-03 -1.75011235e-02 5.19859590e+00] [ 1.18314614e-03 9.99998832e-01 9.67515516e-04 5.96481444e-01] [ 1.74999749e-02 -9.88073064e-04 9.99846375e-01 1.55506032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52255784400006 meters Centerline goodness : 0.144162 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.56 [[ 9.99847203e-01 -1.21647051e-03 -1.74382009e-02 5.19846464e+00] [ 1.22678096e-03 9.99999079e-01 5.80571393e-04 5.98565197e-01] [ 1.74374786e-02 -6.01875536e-04 9.99847774e-01 1.55501254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55255784400003 meters Centerline goodness : 0.144569 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.55 [[ 9.99848030e-01 -1.26250034e-03 -1.73874461e-02 5.19841763e+00] [ 1.26546952e-03 9.99999187e-01 1.59764010e-04 6.00829662e-01] [ 1.73872303e-02 -1.81743013e-04 9.99848814e-01 1.55484238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58255784400006 meters Centerline goodness : 0.152595 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.55 [[ 9.99835259e-01 -9.70590382e-04 -1.81249240e-02 5.20033622e+00] [ 9.65972451e-04 9.99999499e-01 -2.63536515e-04 6.04255753e-01] [ 1.81251707e-02 2.45984923e-04 9.99835695e-01 1.55443856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61255784400004 meters Centerline goodness : 0.149172 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99834497e-01 -1.03379417e-03 -1.81634127e-02 5.20039988e+00] [ 1.02477152e-03 9.99999347e-01 -5.06049123e-04 6.05619628e-01] [ 1.81639240e-02 4.87352022e-04 9.99834904e-01 1.55443764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64255784400007 meters Centerline goodness : 0.154757 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99834302e-01 -1.04039699e-03 -1.81737860e-02 5.20043950e+00] [ 1.02973081e-03 9.99999292e-01 -5.96246882e-04 6.06238425e-01] [ 1.81743935e-02 5.77433978e-04 9.99834665e-01 1.55439047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67255784400004 meters Centerline goodness : 0.153428 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99836161e-01 -1.01108243e-03 -1.80728943e-02 5.20015739e+00] [ 1.00142414e-03 9.99999351e-01 -5.43449773e-04 6.06111081e-01] [ 1.80734320e-02 5.25262102e-04 9.99836524e-01 1.55444766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70255784400007 meters Centerline goodness : 0.155396 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99838099e-01 -9.94788734e-04 -1.79662638e-02 5.20003870e+00] [ 9.86266173e-04 9.99999397e-01 -4.83218919e-04 6.05713445e-01] [ 1.79667337e-02 4.65421167e-04 9.99838477e-01 1.55419763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73255784400004 meters Centerline goodness : 0.055799 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99833397e-01 -1.01156712e-03 -1.82251409e-02 5.20101261e+00] [ 1.00301297e-03 9.99999383e-01 -4.78494578e-04 6.05183973e-01] [ 1.82256137e-02 4.60134806e-04 9.99833794e-01 1.55368827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76255784400007 meters Centerline goodness : 0.152419 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99831128e-01 -9.94603112e-04 -1.83500859e-02 5.20148930e+00] [ 9.85472718e-04 9.99999386e-01 -5.06602598e-04 6.05379843e-01] [ 1.83505785e-02 4.88433539e-04 9.99831495e-01 1.55342665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79255784400004 meters Centerline goodness : 0.148389 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99829466e-01 -9.35749365e-04 -1.84435090e-02 5.20192186e+00] [ 9.25974957e-04 9.99999426e-01 -5.38497377e-04 6.05842296e-01] [ 1.84440023e-02 5.21327318e-04 9.99829759e-01 1.55306538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8225578440001 meters Centerline goodness : 0.140229 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99828559e-01 -9.02167976e-04 -1.84942795e-02 5.20216707e+00] [ 8.90512567e-04 9.99999400e-01 -6.38442714e-04 6.06696844e-01] [ 1.84948444e-02 6.21863871e-04 9.99828762e-01 1.55282681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85255784400005 meters Centerline goodness : 0.165294 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99820345e-01 -4.76462497e-04 -1.89486340e-02 5.20360831e+00] [ 4.64678407e-04 9.99999696e-01 -6.26294564e-04 6.07924546e-01] [ 1.89489266e-02 6.17377026e-04 9.99820262e-01 1.55216445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8825578440001 meters Centerline goodness : 0.133143 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99816659e-01 -4.69840985e-04 -1.91423095e-02 5.20454917e+00] [ 4.54539185e-04 9.99999574e-01 -8.03713618e-04 6.08881713e-01] [ 1.91426790e-02 7.94865334e-04 9.99816446e-01 1.55138076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91255784400005 meters Centerline goodness : 0.139859 Centerline is valid? [False, False] Translation: X:5.16, Y:0.61, Z:1.55 [[ 9.99748632e-01 -5.87048954e-04 -2.24126692e-02 5.16059898e+00] [ 5.76312086e-04 9.99999716e-01 -4.85509670e-04 6.06383378e-01] [ 2.24129479e-02 4.72470936e-04 9.99748687e-01 1.55151259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9425578440001 meters Centerline goodness : 0.135405 Centerline is valid? [False, False] Translation: X:5.18, Y:0.60, Z:1.55 [[ 9.99720056e-01 8.36389607e-03 -2.21326486e-02 5.18237350e+00] [-8.39776689e-03 9.99963704e-01 -1.43785245e-03 6.04840284e-01] [ 2.21198192e-02 1.62331476e-03 9.99754009e-01 1.55236969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97255784400005 meters Centerline goodness : 0.134797 Centerline is valid? [False, False] Translation: X:5.18, Y:0.61, Z:1.55 [[ 9.99719649e-01 8.29467637e-03 -2.21770384e-02 5.18258151e+00] [-8.33247929e-03 9.99963984e-01 -1.61273286e-03 6.05626956e-01] [ 2.21628626e-02 1.79707044e-03 9.99752758e-01 1.55219127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0025578440001 meters Centerline goodness : 0.154531 Centerline is valid? [False, False] Translation: X:5.18, Y:0.61, Z:1.55 [[ 9.99720292e-01 8.20079887e-03 -2.21829863e-02 5.18268051e+00] [-8.24363761e-03 9.99964327e-01 -1.84039597e-03 6.06647194e-01] [ 2.21671023e-02 2.02274970e-03 9.99752233e-01 1.55202092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03255784400005 meters Centerline goodness : 0.135545 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99757560e-01 6.07513990e-04 -2.20102761e-02 5.20152346e+00] [-6.30212906e-04 9.99999277e-01 -1.02436546e-03 6.13430033e-01] [ 2.20096379e-02 1.03798827e-03 9.99757220e-01 1.55349191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.062557844 meters Centerline goodness : 0.129749 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.55 [[ 9.99698436e-01 2.35169052e-04 -2.45556714e-02 5.15465321e+00] [-2.54313894e-04 9.99999666e-01 -7.76530558e-04 6.11394114e-01] [ 2.45554806e-02 7.82541233e-04 9.99698162e-01 1.55481330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09255784400005 meters Centerline goodness : 0.145884 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.56 [[ 9.99745609e-01 1.23178868e-03 -2.25211188e-02 5.19724338e+00] [-1.25489893e-03 9.99998700e-01 -1.01205514e-03 6.17617310e-01] [ 2.25198429e-02 1.04005941e-03 9.99745855e-01 1.55605429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.122557844 meters Centerline goodness : 0.172842 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99688139e-01 5.44436342e-04 -2.49665627e-02 5.15049114e+00] [-5.67651111e-04 9.99999413e-01 -9.22756577e-04 6.15162235e-01] [ 2.49660457e-02 9.36641101e-04 9.99687861e-01 1.55742144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15255784400006 meters Centerline goodness : 0.169734 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99688597e-01 4.95956816e-04 -2.49492233e-02 5.15014622e+00] [-5.20244314e-04 9.99999397e-01 -9.66995687e-04 6.15343664e-01] [ 2.49487287e-02 9.79674253e-04 9.99688252e-01 1.55789153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18255784400003 meters Centerline goodness : 0.101462 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99687000e-01 4.48631672e-04 -2.50140065e-02 5.15018385e+00] [-4.72676231e-04 9.99999432e-01 -9.55339427e-04 6.15214991e-01] [ 2.50135636e-02 9.66863932e-04 9.99686644e-01 1.55812133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21255784400006 meters Centerline goodness : 0.136984 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99689040e-01 2.04656242e-04 -2.49355372e-02 5.14985322e+00] [-2.26209999e-04 9.99999603e-01 -8.61561396e-04 6.14245564e-01] [ 2.49353509e-02 8.66934153e-04 9.99688690e-01 1.55845247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24255784400003 meters Centerline goodness : 0.168254 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99692283e-01 2.14959736e-04 -2.48051210e-02 5.14924725e+00] [-2.31224966e-04 9.99999760e-01 -6.52854273e-04 6.13143169e-01] [ 2.48049747e-02 6.58388942e-04 9.99692092e-01 1.55895310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27255784400006 meters Centerline goodness : 0.139813 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99698012e-01 2.01589285e-04 -2.45732221e-02 5.14832814e+00] [-2.14073770e-04 9.99999849e-01 -5.05422857e-04 6.12288234e-01] [ 2.45731165e-02 5.10530708e-04 9.99697905e-01 1.55961199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30255784400003 meters Centerline goodness : 0.162862 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99703077e-01 1.92116122e-04 -2.43663828e-02 5.14750965e+00] [-2.01511343e-04 9.99999906e-01 -3.83126432e-04 6.11461124e-01] [ 2.43663069e-02 3.87922776e-04 9.99703022e-01 1.56016987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33255784400006 meters Centerline goodness : 0.134438 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99698928e-01 1.57867902e-04 -2.45362562e-02 5.14794530e+00] [-1.65419665e-04 9.99999940e-01 -3.05750382e-04 6.10601856e-01] [ 2.45362064e-02 3.09717108e-04 9.99698894e-01 1.56017775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36255784400004 meters Centerline goodness : 0.160129 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99694106e-01 1.74058481e-04 -2.47318585e-02 5.14862692e+00] [-1.82249907e-04 9.99999929e-01 -3.28955843e-04 6.10917439e-01] [ 2.47317995e-02 3.33362596e-04 9.99694067e-01 1.55985563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39255784400007 meters Centerline goodness : 0.099614 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99690548e-01 2.11612380e-04 -2.48749372e-02 5.14906812e+00] [-2.21818657e-04 9.99999892e-01 -4.07545059e-04 6.11709535e-01] [ 2.48748483e-02 4.12936669e-04 9.99690488e-01 1.55969911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42255784400004 meters Centerline goodness : 0.168514 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99687454e-01 2.03057076e-04 -2.49990683e-02 5.14946756e+00] [-2.16667045e-04 9.99999830e-01 -5.41711604e-04 6.12435762e-01] [ 2.49989541e-02 5.46958769e-04 9.99687328e-01 1.55952526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45255784400007 meters Centerline goodness : 0.158368 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99687263e-01 1.48870480e-04 -2.50070797e-02 5.14957768e+00] [-1.65727821e-04 9.99999760e-01 -6.72031570e-04 6.12797573e-01] [ 2.50069737e-02 6.75965769e-04 9.99687048e-01 1.55934920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48255784400004 meters Centerline goodness : 0.160928 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99688590e-01 1.60578529e-04 -2.49538833e-02 5.14933081e+00] [-1.78290309e-04 9.99999734e-01 -7.07557247e-04 6.12825348e-01] [ 2.49537631e-02 7.11785943e-04 9.99688353e-01 1.55945707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51255784400007 meters Centerline goodness : 0.168582 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99688381e-01 2.40792245e-04 -2.49616273e-02 5.14936163e+00] [-2.55793231e-04 9.99999789e-01 -5.97770602e-04 6.12620701e-01] [ 2.49614780e-02 6.03969341e-04 9.99688231e-01 1.55942521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54255784400004 meters Centerline goodness : 0.168160 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99685890e-01 3.02371385e-04 -2.50605088e-02 5.14981928e+00] [-3.14668084e-04 9.99999832e-01 -4.86738331e-04 6.12129909e-01] [ 2.50603575e-02 4.94471184e-04 9.99685818e-01 1.55906634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5725578440001 meters Centerline goodness : 0.159603 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99682971e-01 3.35714360e-04 -2.51762870e-02 5.15023111e+00] [-3.44641238e-04 9.99999879e-01 -3.50236589e-04 6.11141595e-01] [ 2.51761664e-02 3.58802340e-04 9.99682966e-01 1.55889287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60255784400005 meters Centerline goodness : 0.131902 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99686503e-01 3.31998974e-04 -2.50356777e-02 5.14943730e+00] [-3.39468085e-04 9.99999899e-01 -2.94089227e-04 6.10202929e-01] [ 2.50355775e-02 3.02495844e-04 9.99686515e-01 1.55955240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6325578440001 meters Centerline goodness : 0.125179 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99692386e-01 3.51333308e-04 -2.47994123e-02 5.14860066e+00] [-3.61717416e-04 9.99999849e-01 -4.14239330e-04 6.11028396e-01] [ 2.47992630e-02 4.23082283e-04 9.99692361e-01 1.55989273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66255784400005 meters Centerline goodness : 0.161391 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99695523e-01 4.26214749e-04 -2.46714402e-02 5.14824707e+00] [-4.40255804e-04 9.99999744e-01 -5.63692905e-04 6.12384197e-01] [ 2.46711936e-02 5.74383018e-04 9.99695455e-01 1.55985931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6925578440001 meters Centerline goodness : 0.161703 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99680795e-01 1.14099439e-03 -2.52389961e-02 5.15011402e+00] [-1.15635009e-03 9.99999155e-01 -5.93825150e-04 6.15444935e-01] [ 2.52382972e-02 6.22820713e-04 9.99681269e-01 1.55886694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72255784400005 meters Centerline goodness : 0.160755 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99680922e-01 1.08064316e-03 -2.52365936e-02 5.15015077e+00] [-1.10635745e-03 9.99998883e-01 -1.00498849e-03 6.17658577e-01] [ 2.52354793e-02 1.03258851e-03 9.99681001e-01 1.55865158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7525578440001 meters Centerline goodness : 0.131197 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99685544e-01 1.00341472e-03 -2.50560745e-02 5.14951482e+00] [-1.03995091e-03 9.99998415e-01 -1.44518876e-03 6.20100841e-01] [ 2.50545847e-02 1.47079140e-03 9.99685003e-01 1.55882261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78255784400005 meters Centerline goodness : 0.131197 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99685544e-01 1.00341472e-03 -2.50560745e-02 5.14951482e+00] [-1.03995091e-03 9.99998415e-01 -1.44518876e-03 6.20100841e-01] [ 2.50545847e-02 1.47079140e-03 9.99685003e-01 1.55882261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.812557844 meters Centerline goodness : 0.161620 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99693700e-01 9.33231422e-04 -2.47312613e-02 5.14846114e+00] [-9.77781342e-04 9.99997921e-01 -1.78932910e-03 6.22137496e-01] [ 2.47295400e-02 1.81296279e-03 9.99692534e-01 1.55913857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84255784400005 meters Centerline goodness : 0.164253 Centerline is valid? [False, False] Translation: X:5.17, Y:0.63, Z:1.56 [[ 9.99721065e-01 -4.77345334e-03 -2.31301925e-02 5.17026653e+00] [ 4.79583101e-03 9.99988084e-01 9.12090446e-04 6.27069827e-01] [ 2.31255630e-02 -1.02276453e-03 9.99732045e-01 1.55893750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.872557844 meters Centerline goodness : 0.159489 Centerline is valid? [False, False] Translation: X:5.17, Y:0.63, Z:1.56 [[ 9.99724200e-01 -4.85628263e-03 -2.29769378e-02 5.16984083e+00] [ 4.87459609e-03 9.99987844e-01 7.41094130e-04 6.27840113e-01] [ 2.29730596e-02 -8.52893028e-04 9.99735721e-01 1.55894608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90255784400006 meters Centerline goodness : 0.162744 Centerline is valid? [False, False] Translation: X:5.17, Y:0.63, Z:1.56 [[ 9.99716408e-01 -5.00510851e-03 -2.32820226e-02 5.17075211e+00] [ 5.01981315e-03 9.99987236e-01 5.73186516e-04 6.28539040e-01] [ 2.32788566e-02 -6.89895368e-04 9.99728773e-01 1.55866926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93255784400003 meters Centerline goodness : 0.165403 Centerline is valid? [False, False] Translation: X:5.17, Y:0.63, Z:1.56 [[ 9.99714571e-01 -4.99726983e-03 -2.33624478e-02 5.17082154e+00] [ 5.01416166e-03 9.99987208e-01 6.64509473e-04 6.28301793e-01] [ 2.33588283e-02 -7.81462893e-04 9.99726840e-01 1.55890331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96255784400006 meters Centerline goodness : 0.164832 Centerline is valid? [False, False] Translation: X:5.17, Y:0.63, Z:1.56 [[ 9.99712681e-01 -5.03113563e-03 -2.34359253e-02 5.17076464e+00] [ 5.05283151e-03 9.99986859e-01 8.66627363e-04 6.27046106e-01] [ 2.34312572e-02 -9.84796146e-04 9.99724965e-01 1.55936765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99255784400003 meters Centerline goodness : 0.163069 Centerline is valid? [False, False] Translation: X:5.17, Y:0.63, Z:1.56 [[ 9.99709669e-01 -5.20450065e-03 -2.35263835e-02 5.17066584e+00] [ 5.22947334e-03 9.99985826e-01 1.00007631e-03 6.25473401e-01] [ 2.35208452e-02 -1.12281655e-03 9.99722716e-01 1.56001495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02255784400006 meters Centerline goodness : 0.134012 Centerline is valid? [False, False] Translation: X:5.17, Y:0.62, Z:1.56 [[ 9.99699272e-01 -6.07029057e-03 -2.37595631e-02 5.17111015e+00] [ 6.08968446e-03 9.99981181e-01 7.43986346e-04 6.23537792e-01] [ 2.37545998e-02 -8.88450851e-04 9.99717425e-01 1.56040221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05255784400003 meters Centerline goodness : 0.162665 Centerline is valid? [False, False] Translation: X:5.17, Y:0.62, Z:1.56 [[ 9.99688726e-01 -6.05069193e-03 -2.42041509e-02 5.17254176e+00] [ 6.07458369e-03 9.99981132e-01 9.13688927e-04 6.22582729e-01] [ 2.41981658e-02 -1.06043466e-03 9.99706619e-01 1.55994071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08255784400006 meters Centerline goodness : 0.103584 Centerline is valid? [False, False] Translation: X:5.17, Y:0.62, Z:1.56 [[ 9.99681006e-01 -6.02157869e-03 -2.45280624e-02 5.17382669e+00] [ 6.04981103e-03 9.99981120e-01 1.07697774e-03 6.21699420e-01] [ 2.45211142e-02 -1.22502433e-03 9.99698562e-01 1.55924047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11255784400004 meters Centerline goodness : 0.161103 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99695326e-01 1.37062247e-03 -2.46450073e-02 5.15650860e+00] [-1.38115274e-03 9.99998962e-01 -4.10261172e-04 6.15422164e-01] [ 2.46444194e-02 4.44174695e-04 9.99696181e-01 1.55627258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14255784400007 meters Centerline goodness : 0.167271 Centerline is valid? [False, False] Translation: X:5.16, Y:0.61, Z:1.56 [[ 9.99703760e-01 1.34119932e-03 -2.43021411e-02 5.15500642e+00] [-1.34902479e-03 9.99999043e-01 -3.05615800e-04 6.14295317e-01] [ 2.43017080e-02 3.38309455e-04 9.99704613e-01 1.55737571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17255784400004 meters Centerline goodness : 0.162771 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.56 [[ 9.99757466e-01 2.17211337e-03 -2.19155475e-02 5.19717256e+00] [-2.17971395e-03 9.99997572e-01 -3.22930387e-04 6.17442436e-01] [ 2.19147928e-02 3.70621690e-04 9.99759773e-01 1.55865955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20255784400007 meters Centerline goodness : 0.160868 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99690975e-01 2.25833992e-03 -2.47559056e-02 5.15181506e+00] [-2.25339543e-03 9.99997435e-01 2.27624476e-04 6.15247085e-01] [ 2.47563561e-02 -1.71769290e-04 9.99693500e-01 1.55922770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23255784400004 meters Centerline goodness : 0.161698 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99666351e-01 2.17698740e-03 -2.57380481e-02 5.15504800e+00] [-2.18900439e-03 9.99997508e-01 -4.38730199e-04 6.18445500e-01] [ 2.57370289e-02 4.94924518e-04 9.99668625e-01 1.55775652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26255784400007 meters Centerline goodness : 0.138338 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99661398e-01 2.05436025e-03 -2.59397101e-02 5.15590879e+00] [-2.07634371e-03 9.99997508e-01 -8.20576927e-04 6.20265714e-01] [ 2.59379597e-02 8.74158832e-04 9.99663172e-01 1.55706299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29255784400004 meters Centerline goodness : 0.161082 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99662060e-01 1.98743242e-03 -2.59194248e-02 5.15601272e+00] [-2.01695307e-03 9.99997347e-01 -1.11284556e-03 6.21888055e-01] [ 2.59171443e-02 1.16474774e-03 9.99663416e-01 1.55672838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3225578440001 meters Centerline goodness : 0.164804 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99667605e-01 1.93262080e-03 -2.57088496e-02 5.15536891e+00] [-1.96684835e-03 9.99997213e-01 -1.30613263e-03 6.22961355e-01] [ 2.57062536e-02 1.35626388e-03 9.99668620e-01 1.55688301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35255784400005 meters Centerline goodness : 0.171318 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.56 [[ 9.99733393e-01 1.31698578e-03 -2.30522902e-02 5.19560390e+00] [-1.38184611e-03 9.99995131e-01 -2.79791437e-03 6.27782706e-01] [ 2.30484932e-02 2.82902314e-03 9.99730345e-01 1.55894960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3825578440001 meters Centerline goodness : 0.164919 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.56 [[ 9.99734574e-01 1.31700378e-03 -2.30010350e-02 5.19513098e+00] [-1.38077502e-03 9.99995247e-01 -2.75687623e-03 6.27577105e-01] [ 2.29972948e-02 2.78790374e-03 9.99731640e-01 1.55951306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41255784400005 meters Centerline goodness : 0.174517 Centerline is valid? [False, False] Translation: X:5.19, Y:0.63, Z:1.56 [[ 9.99733835e-01 1.33328033e-03 -2.30321781e-02 5.19498765e+00] [-1.39691117e-03 9.99995252e-01 -2.74682496e-03 6.27748911e-01] [ 2.30284064e-02 2.77826776e-03 9.99730951e-01 1.55985869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4425578440001 meters Centerline goodness : 0.164970 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.56 [[ 9.99732931e-01 1.36284165e-03 -2.30696496e-02 5.19510760e+00] [-1.42635826e-03 9.99995237e-01 -2.73702294e-03 6.28027366e-01] [ 2.30658096e-02 2.76919755e-03 9.99730114e-01 1.55978188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47255784400005 meters Centerline goodness : 0.163296 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.56 [[ 9.99731897e-01 1.40291282e-03 -2.31120519e-02 5.19521998e+00] [-1.46563820e-03 9.99995288e-01 -2.69725306e-03 6.28070301e-01] [ 2.31081590e-02 2.73040382e-03 9.99729242e-01 1.55975491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5025578440001 meters Centerline goodness : 0.163422 Centerline is valid? [False, False] Translation: X:5.22, Y:0.63, Z:1.56 [[ 9.99752236e-01 -4.26761172e-03 -2.18461466e-02 5.21696458e+00] [ 4.27281439e-03 9.99990853e-01 1.91478174e-04 6.31235934e-01] [ 2.18451297e-02 -2.84775263e-04 9.99761326e-01 1.55969208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53255784400005 meters Centerline goodness : 0.122416 Centerline is valid? [False, False] Translation: X:5.22, Y:0.63, Z:1.56 [[ 9.99753721e-01 -4.23039588e-03 -2.17853546e-02 5.21659819e+00] [ 4.23596884e-03 9.99991006e-01 2.09671602e-04 6.31275094e-01] [ 2.17842717e-02 -3.01902048e-04 9.99762649e-01 1.55997708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.562557844 meters Centerline goodness : 0.164456 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.56 [[ 9.99743771e-01 4.03551825e-03 -2.22734525e-02 5.19606699e+00] [-4.04690075e-03 9.99991703e-01 -4.65983201e-04 6.25516621e-01] [ 2.22713872e-02 5.56002254e-04 9.99751807e-01 1.55905482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59255784400005 meters Centerline goodness : 0.106506 Centerline is valid? [False, False] Translation: X:5.21, Y:0.63, Z:1.56 [[ 9.99754174e-01 -3.24937051e-03 -2.19324888e-02 5.21478306e+00] [ 3.27017226e-03 9.99994237e-01 9.12645351e-04 6.31233541e-01] [ 2.19293968e-02 -9.84144015e-04 9.99759037e-01 1.56067249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.622557844 meters Centerline goodness : 0.106747 Centerline is valid? [False, False] Translation: X:5.21, Y:0.63, Z:1.56 [[ 9.99756335e-01 -3.20063884e-03 -2.18409446e-02 5.21438606e+00] [ 3.22401689e-03 9.99994267e-01 1.03524940e-03 6.30377978e-01] [ 2.18375059e-02 -1.10541271e-03 9.99760922e-01 1.56092438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65255784400006 meters Centerline goodness : 0.172704 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.56 [[ 9.99762010e-01 3.98066028e-03 -2.14494411e-02 5.19567993e+00] [-3.99160699e-03 9.99991924e-01 -4.67559832e-04 6.23040797e-01] [ 2.14474067e-02 5.53066296e-04 9.99769825e-01 1.55879115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68255784400003 meters Centerline goodness : 0.138483 Centerline is valid? [False, False] Translation: X:5.21, Y:0.63, Z:1.56 [[ 9.99758331e-01 -3.50472594e-03 -2.17024484e-02 5.21406638e+00] [ 3.52200931e-03 9.99993510e-01 7.58207450e-04 6.27671791e-01] [ 2.16996502e-02 -8.34460440e-04 9.99764187e-01 1.56088309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71255784400006 meters Centerline goodness : 0.155938 Centerline is valid? [False, False] Translation: X:5.21, Y:0.63, Z:1.56 [[ 9.99760495e-01 -3.41886590e-03 -2.16162996e-02 5.21376500e+00] [ 3.43878342e-03 9.99993696e-01 8.84308286e-04 6.27404351e-01] [ 2.16131400e-02 -9.58430263e-04 9.99765949e-01 1.56099639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74255784400003 meters Centerline goodness : 0.172957 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99797674e-01 4.11056483e-03 -1.96904564e-02 5.19323229e+00] [-4.10205389e-03 9.99991475e-01 4.72606881e-04 6.20611143e-01] [ 1.96922312e-02 -3.91739947e-04 9.99806012e-01 1.55950772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77255784400006 meters Centerline goodness : 0.158848 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99798098e-01 4.11270890e-03 -1.96684586e-02 5.19306561e+00] [-4.10196534e-03 9.99991415e-01 5.86545453e-04 6.19795536e-01] [ 1.96707021e-02 -5.05747693e-04 9.99806385e-01 1.55969309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80255784400003 meters Centerline goodness : 0.161487 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99794834e-01 4.12624807e-03 -1.98308985e-02 5.19346497e+00] [-4.11331797e-03 9.99991300e-01 6.92763279e-04 6.19108274e-01] [ 1.98335845e-02 -6.11050356e-04 9.99803108e-01 1.55973653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83255784400006 meters Centerline goodness : 0.160333 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99789976e-01 4.12787531e-03 -2.00739757e-02 5.19421655e+00] [-4.11355159e-03 9.99991254e-01 7.54786638e-04 6.18636985e-01] [ 2.00769158e-02 -6.72052780e-04 9.99798213e-01 1.55950060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86255784400004 meters Centerline goodness : 0.111058 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99786728e-01 4.13030701e-03 -2.02345938e-02 5.19491558e+00] [-4.11495216e-03 9.99991213e-01 8.00418999e-04 6.18273395e-01] [ 2.02377220e-02 -7.16983907e-04 9.99794939e-01 1.55902355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89255784400007 meters Centerline goodness : 0.126811 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99789357e-01 4.22438440e-03 -2.00847306e-02 5.19420938e+00] [-4.20329634e-03 9.99990570e-01 1.09205463e-03 6.16732403e-01] [ 2.00891544e-02 -1.00740252e-03 9.99797685e-01 1.55959413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92255784400004 meters Centerline goodness : 0.157767 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99791914e-01 4.27465015e-03 -1.99463130e-02 5.19362402e+00] [-4.25172247e-03 9.99990251e-01 1.19173598e-03 6.16372892e-01] [ 1.99512128e-02 -1.10668181e-03 9.99800342e-01 1.55996685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95255784400007 meters Centerline goodness : 0.168331 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99790781e-01 4.29263600e-03 -1.99992039e-02 5.19375993e+00] [-4.26999790e-03 9.99990194e-01 1.17451520e-03 6.16650421e-01] [ 2.00040495e-02 -1.08887291e-03 9.99799306e-01 1.55995716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98255784400004 meters Centerline goodness : 0.104469 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99785137e-01 4.28624275e-03 -2.02807346e-02 5.19472709e+00] [-4.26505540e-03 9.99990313e-01 1.08784231e-03 6.17188954e-01] [ 2.02852009e-02 -1.00111012e-03 9.99793733e-01 1.55949741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01255784400007 meters Centerline goodness : 0.159514 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.56 [[ 9.99775211e-01 4.22303009e-03 -2.07772428e-02 5.19646718e+00] [-4.20483652e-03 9.99990737e-01 9.19258352e-04 6.17711373e-01] [ 2.07809324e-02 -8.31686803e-04 9.99783707e-01 1.55863762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04255784400004 meters Centerline goodness : 0.163332 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.56 [[ 9.99775658e-01 4.22986351e-03 -2.07542993e-02 5.19621112e+00] [-4.21141063e-03 9.99990697e-01 9.32738394e-04 6.17551643e-01] [ 2.07580516e-02 -8.45124265e-04 9.99784171e-01 1.55890001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0725578440001 meters Centerline goodness : 0.134424 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.56 [[ 9.99797584e-01 -3.25461488e-03 -1.98544226e-02 5.21484906e+00] [ 3.29906139e-03 9.99992124e-01 2.20627698e-03 6.22920694e-01] [ 1.98470856e-02 -2.27133135e-03 9.99800447e-01 1.56045715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10255784400005 meters Centerline goodness : 0.132117 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.56 [[ 9.99799965e-01 -3.21960078e-03 -1.97398967e-02 5.21434312e+00] [ 3.26437161e-03 9.99992172e-01 2.23623498e-03 6.22992756e-01] [ 1.97325423e-02 -2.30022601e-03 9.99802648e-01 1.56078004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1325578440001 meters Centerline goodness : 0.111626 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.56 [[ 9.99802377e-01 -3.20575804e-03 -1.96196465e-02 5.21397439e+00] [ 3.25011492e-03 9.99992233e-01 2.22937128e-03 6.23154311e-01] [ 1.96123473e-02 -2.29269681e-03 9.99805031e-01 1.56085208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16255784400005 meters Centerline goodness : 0.168673 Centerline is valid? [False, False] Translation: X:5.17, Y:0.62, Z:1.56 [[ 9.99755720e-01 -3.40843441e-03 -2.18376424e-02 5.16700525e+00] [ 3.46177892e-03 9.99991115e-01 2.40544050e-03 6.20213790e-01] [ 2.18292496e-02 -2.48044999e-03 9.99758636e-01 1.56197572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1925578440001 meters Centerline goodness : 0.133281 Centerline is valid? [False, False] Translation: X:5.17, Y:0.62, Z:1.56 [[ 9.99760310e-01 -3.42558715e-03 -2.16237633e-02 5.16644650e+00] [ 3.47434712e-03 9.99991505e-01 2.21775946e-03 6.21403818e-01] [ 2.16159825e-02 -2.29235635e-03 9.99763719e-01 1.56195595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22255784400005 meters Centerline goodness : 0.161021 Centerline is valid? [False, False] Translation: X:5.17, Y:0.62, Z:1.56 [[ 9.99766602e-01 -3.41233750e-03 -2.13330154e-02 5.16575462e+00] [ 3.45612388e-03 9.99991995e-01 2.01598513e-03 6.22882851e-01] [ 2.13259654e-02 -2.08924415e-03 9.99770393e-01 1.56182599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2525578440001 meters Centerline goodness : 0.162598 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99775650e-01 5.42098332e-03 -2.04758796e-02 5.18658550e+00] [-5.39941809e-03 9.99984809e-01 1.10833977e-03 6.22593393e-01] [ 2.04815768e-02 -9.97533281e-04 9.99789733e-01 1.56275410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28255784400005 meters Centerline goodness : 0.164577 Centerline is valid? [False, False] Translation: X:5.14, Y:0.62, Z:1.56 [[ 9.99721183e-01 4.97245992e-03 -2.30831215e-02 5.14110353e+00] [-4.94656579e-03 9.99987071e-01 1.17874148e-03 6.20101853e-01] [ 2.30886843e-02 -1.06423065e-03 9.99732854e-01 1.56314394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.312557844 meters Centerline goodness : 0.158247 Centerline is valid? [False, False] Translation: X:5.16, Y:0.63, Z:1.56 [[ 9.99719068e-01 -3.29984461e-03 -2.34711946e-02 5.16158192e+00] [ 3.32816023e-03 9.99993780e-01 1.16743764e-03 6.25606451e-01] [ 2.34671963e-02 -1.24522556e-03 9.99723832e-01 1.56418749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34255784400005 meters Centerline goodness : 0.110916 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99718314e-01 -3.26942488e-03 -2.35075091e-02 5.16162781e+00] [ 3.30118741e-03 9.99993690e-01 1.31248536e-03 6.24668879e-01] [ 2.35030697e-02 -1.38971835e-03 9.99722799e-01 1.56426341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.372557844 meters Centerline goodness : 0.160969 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99720960e-01 -3.16399479e-03 -2.34092312e-02 5.16122318e+00] [ 3.20191613e-03 9.99993621e-01 1.58262582e-03 6.23463358e-01] [ 2.34040745e-02 -1.65713860e-03 9.99724714e-01 1.56451842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40255784400006 meters Centerline goodness : 0.161988 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99724144e-01 -3.04611906e-03 -2.32885644e-02 5.16074682e+00] [ 3.09093266e-03 9.99993440e-01 1.88852048e-03 6.22049190e-01] [ 2.32826590e-02 -1.95998290e-03 9.99727001e-01 1.56486800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43255784400003 meters Centerline goodness : 0.138461 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.57 [[ 9.99745627e-01 2.58527788e-03 -2.24053258e-02 5.18228205e+00] [-2.61777595e-03 9.99995564e-01 -1.42125362e-03 6.19482134e-01] [ 2.24015520e-02 1.47954421e-03 9.99747959e-01 1.56510811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46255784400006 meters Centerline goodness : 0.165412 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.56 [[ 9.99739266e-01 2.61146701e-03 -2.26843826e-02 5.18314281e+00] [-2.64058991e-03 9.99995727e-01 -1.25397149e-03 6.18404179e-01] [ 2.26810110e-02 1.31354469e-03 9.99741890e-01 1.56484154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49255784400003 meters Centerline goodness : 0.130709 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.56 [[ 9.99734002e-01 2.66424090e-03 -2.29090895e-02 5.18376797e+00] [-2.68944882e-03 9.99995811e-01 -1.06960548e-03 6.17324820e-01] [ 2.29061439e-02 1.13093379e-03 9.99736980e-01 1.56474801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52255784400006 meters Centerline goodness : 0.132210 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.56 [[ 9.99730993e-01 2.70550183e-03 -2.30352502e-02 5.18400459e+00] [-2.72652455e-03 9.99995895e-01 -8.81274131e-04 6.16163455e-01] [ 2.30327713e-02 9.43843237e-04 9.99734265e-01 1.56489511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55255784400003 meters Centerline goodness : 0.153006 Centerline is valid? [False, False] Translation: X:5.18, Y:0.61, Z:1.57 [[ 9.99734962e-01 2.84364842e-03 -2.28455475e-02 5.18318263e+00] [-2.85491796e-03 9.99995819e-01 -4.60692124e-04 6.13967429e-01] [ 2.28441419e-02 5.25792187e-04 9.99738900e-01 1.56550616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58255784400006 meters Centerline goodness : 0.133570 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.57 [[ 9.99740365e-01 -4.82935138e-03 -2.22683760e-02 5.20216433e+00] [ 4.84646601e-03 9.99988000e-01 7.14657656e-04 6.19019124e-01] [ 2.22646574e-02 -8.22395032e-04 9.99751774e-01 1.56700733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61255784400004 meters Centerline goodness : 0.138516 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.57 [[ 9.99742729e-01 -4.79598348e-03 -2.21692138e-02 5.20199074e+00] [ 4.81386424e-03 9.99988130e-01 7.53261675e-04 6.18990659e-01] [ 2.21653380e-02 -8.59787468e-04 9.99753949e-01 1.56687070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64255784400007 meters Centerline goodness : 0.128562 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99671624e-01 -5.16730197e-03 -2.50986529e-02 5.15679865e+00] [ 5.19790666e-03 9.99985825e-01 1.15428792e-03 6.15384509e-01] [ 2.50923326e-02 -1.28436933e-03 9.99684313e-01 1.56722588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67255784400004 meters Centerline goodness : 0.128562 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99671624e-01 -5.16730197e-03 -2.50986529e-02 5.15679865e+00] [ 5.19790666e-03 9.99985825e-01 1.15428792e-03 6.15384509e-01] [ 2.50923326e-02 -1.28436933e-03 9.99684313e-01 1.56722588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70255784400007 meters Centerline goodness : 0.128114 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99668296e-01 -5.20184383e-03 -2.52237598e-02 5.15729802e+00] [ 5.22970634e-03 9.99985785e-01 1.03877200e-03 6.15961568e-01] [ 2.52179977e-02 -1.17034030e-03 9.99681291e-01 1.56685389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73255784400004 meters Centerline goodness : 0.136008 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99664834e-01 -5.23762349e-03 -2.53532324e-02 5.15785953e+00] [ 5.26320506e-03 9.99985705e-01 9.42380687e-04 6.16386031e-01] [ 2.53479341e-02 -1.07550409e-03 9.99678111e-01 1.56644903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76255784400007 meters Centerline goodness : 0.128497 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99657315e-01 -5.34881758e-03 -2.56250320e-02 5.15912185e+00] [ 5.36648734e-03 9.99985408e-01 6.20830743e-04 6.17926195e-01] [ 2.56213373e-02 -7.58134403e-04 9.99671432e-01 1.56537713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79255784400004 meters Centerline goodness : 0.130587 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99656691e-01 -5.39016297e-03 -2.56407196e-02 5.15909629e+00] [ 5.40430224e-03 9.99985280e-01 4.82173154e-04 6.18678961e-01] [ 2.56377432e-02 -6.20577818e-04 9.99671106e-01 1.56544264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8225578440001 meters Centerline goodness : 0.159280 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99660367e-01 -5.40977509e-03 -2.54928433e-02 5.15844443e+00] [ 5.42073288e-03 9.99985243e-01 3.60750685e-04 6.19517340e-01] [ 2.54905155e-02 -4.98818056e-04 9.99674940e-01 1.56581577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85255784400005 meters Centerline goodness : 0.135811 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99663290e-01 -5.47998414e-03 -2.53628896e-02 5.15791337e+00] [ 5.48510075e-03 9.99984948e-01 1.32169894e-04 6.20814089e-01] [ 2.53617835e-02 -2.71243396e-04 9.99678301e-01 1.56609024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8825578440001 meters Centerline goodness : 0.131765 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.57 [[ 9.99707573e-01 3.09616470e-03 -2.39829751e-02 5.17731246e+00] [-3.13032113e-03 9.99994139e-01 -1.38678344e-03 6.22946379e-01] [ 2.39785409e-02 1.46145232e-03 9.99711405e-01 1.56771505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91255784400005 meters Centerline goodness : 0.111949 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.57 [[ 9.99714594e-01 3.05437575e-03 -2.36938999e-02 5.17636516e+00] [-3.09347281e-03 9.99993913e-01 -1.61361166e-03 6.24487670e-01] [ 2.36888271e-02 1.68644756e-03 9.99717958e-01 1.56799081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9425578440001 meters Centerline goodness : 0.163146 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.57 [[ 9.99720230e-01 3.03696845e-03 -2.34571723e-02 5.17553148e+00] [-3.07861570e-03 9.99993748e-01 -1.73955041e-03 6.25464948e-01] [ 2.34517427e-02 1.81127936e-03 9.99723329e-01 1.56833405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97255784400005 meters Centerline goodness : 0.162831 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.57 [[ 9.99723783e-01 2.96848600e-03 -2.33140567e-02 5.17513225e+00] [-3.01298124e-03 9.99993706e-01 -1.87362035e-03 6.26046966e-01] [ 2.33083482e-02 1.94334764e-03 9.99726435e-01 1.56839298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0025578440001 meters Centerline goodness : 0.108979 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.57 [[ 9.99714463e-01 -5.03415839e-03 -2.33591366e-02 5.19517138e+00] [ 5.00392366e-03 9.99986566e-01 -1.35261437e-03 6.31648280e-01] [ 2.33656320e-02 1.23534081e-03 9.99726223e-01 1.56955585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03255784400005 meters Centerline goodness : 0.151472 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.57 [[ 9.99705949e-01 -5.08888942e-03 -2.37090230e-02 5.19609887e+00] [ 5.05914531e-03 9.99986339e-01 -1.31436171e-03 6.30937289e-01] [ 2.37153877e-02 1.19402783e-03 9.99718038e-01 1.56950301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.062557844 meters Centerline goodness : 0.162988 Centerline is valid? [False, False] Translation: X:5.15, Y:0.63, Z:1.57 [[ 9.99607320e-01 -6.61462136e-03 -2.72296299e-02 5.15212094e+00] [ 6.57072900e-03 9.99976966e-01 -1.70109518e-03 6.25776101e-01] [ 2.72402548e-02 1.52150867e-03 9.99627757e-01 1.56989286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09255784400005 meters Centerline goodness : 0.111674 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.57 [[ 9.99603788e-01 -6.55884097e-03 -2.73724166e-02 5.15236133e+00] [ 6.52007761e-03 9.99977611e-01 -1.50515956e-03 6.24840125e-01] [ 2.73816758e-02 1.32609292e-03 9.99624172e-01 1.57013163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.122557844 meters Centerline goodness : 0.130087 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.57 [[ 9.99602856e-01 -6.46295580e-03 -2.74292060e-02 5.15236545e+00] [ 6.43239312e-03 9.99978589e-01 -1.20232757e-03 6.23324271e-01] [ 2.74363893e-02 1.02541464e-03 9.99623025e-01 1.57039862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15255784400006 meters Centerline goodness : 0.160979 Centerline is valid? [False, False] Translation: X:5.13, Y:0.62, Z:1.57 [[ 9.99657469e-01 5.28328122e-04 -2.61660955e-02 5.13300706e+00] [-5.86757219e-04 9.99997352e-01 -2.22538031e-03 6.15238988e-01] [ 2.61648504e-02 2.23997119e-03 9.99655132e-01 1.56832582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18255784400003 meters Centerline goodness : 0.156040 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:1.57 [[ 9.99661573e-01 5.68230697e-04 -2.60079917e-02 5.13243521e+00] [-6.18156994e-04 9.99997982e-01 -1.91165254e-03 6.13356322e-01] [ 2.60068530e-02 1.92708261e-03 9.99659907e-01 1.56869092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21255784400006 meters Centerline goodness : 0.161279 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:1.57 [[ 9.99665721e-01 6.49340282e-04 -2.58461867e-02 5.13174109e+00] [-6.89719169e-04 9.99998556e-01 -1.55339224e-03 6.11375656e-01] [ 2.58451407e-02 1.57069959e-03 9.99664725e-01 1.56920924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24255784400003 meters Centerline goodness : 0.122654 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:1.57 [[ 9.99699951e-01 -1.30445400e-03 -2.44602984e-02 5.12569487e+00] [ 1.23085600e-03 9.99994671e-01 -3.02369003e-03 6.08187009e-01] [ 2.44641123e-02 2.99267567e-03 9.99696229e-01 1.57227435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27255784400006 meters Centerline goodness : 0.125086 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:1.57 [[ 9.99701396e-01 -1.12855967e-03 -2.44099422e-02 5.12533475e+00] [ 1.06709722e-03 9.99996228e-01 -2.53080614e-03 6.05636049e-01] [ 2.44127063e-02 2.50400265e-03 9.99698830e-01 1.57266947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30255784400003 meters Centerline goodness : 0.136225 Centerline is valid? [False, False] Translation: X:5.13, Y:0.60, Z:1.57 [[ 9.99698646e-01 -9.45525185e-04 -2.45300329e-02 5.12569970e+00] [ 8.95537242e-04 9.99997500e-01 -2.04873157e-03 6.03200346e-01] [ 2.45319087e-02 2.02614662e-03 9.99696994e-01 1.57261485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33255784400006 meters Centerline goodness : 0.120593 Centerline is valid? [False, False] Translation: X:5.13, Y:0.60, Z:1.57 [[ 9.99694003e-01 -8.07905618e-04 -2.47234350e-02 5.12655300e+00] [ 7.67116576e-04 9.99998329e-01 -1.65925277e-03 6.01184484e-01] [ 2.47247342e-02 1.63977928e-03 9.99692952e-01 1.57204715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36255784400004 meters Centerline goodness : 0.120746 Centerline is valid? [False, False] Translation: X:5.08, Y:0.60, Z:1.57 [[ 9.99605380e-01 -1.51569487e-03 -2.80497072e-02 5.08333014e+00] [ 1.47424484e-03 9.99997791e-01 -1.49835599e-03 5.96153547e-01] [ 2.80519163e-02 1.45641257e-03 9.99605407e-01 1.57131897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39255784400007 meters Centerline goodness : 0.134131 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99598699e-01 5.02498819e-03 -2.78781260e-02 5.10682750e+00] [-5.14654228e-03 9.99977554e-01 -4.29015817e-03 5.94434273e-01] [ 2.78559422e-02 4.43191249e-03 9.99602123e-01 1.57088187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42255784400004 meters Centerline goodness : 0.130561 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99587446e-01 5.05361260e-03 -2.82736391e-02 5.10812148e+00] [-5.17062589e-03 9.99978362e-01 -4.06702082e-03 5.92448939e-01] [ 2.82524742e-02 4.21153536e-03 9.99591947e-01 1.57037546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45255784400007 meters Centerline goodness : 0.141848 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99584222e-01 5.13672364e-03 -2.83724687e-02 5.10850695e+00] [-5.25021740e-03 9.99978506e-01 -3.92709030e-03 5.91893478e-01] [ 2.83516864e-02 4.07441913e-03 9.99589706e-01 1.57015109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48255784400004 meters Centerline goodness : 0.118470 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99582818e-01 5.23853353e-03 -2.84033161e-02 5.10863767e+00] [-5.34669280e-03 9.99978737e-01 -3.73337085e-03 5.91190875e-01] [ 2.83831548e-02 3.88367716e-03 9.99589573e-01 1.57003437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51255784400007 meters Centerline goodness : 0.117615 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99575843e-01 5.38255688e-03 -2.86210107e-02 5.10944626e+00] [-5.48395896e-03 9.99978958e-01 -3.46561078e-03 5.90142974e-01] [ 2.86017546e-02 3.62109727e-03 9.99584327e-01 1.56962906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54255784400004 meters Centerline goodness : 0.121346 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99573709e-01 5.40904956e-03 -2.86904620e-02 5.10992841e+00] [-5.50910331e-03 9.99979012e-01 -3.40945348e-03 5.89865341e-01] [ 2.86714180e-02 3.56605878e-03 9.99582529e-01 1.56915517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5725578440001 meters Centerline goodness : 0.119544 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99572807e-01 5.38534233e-03 -2.87263310e-02 5.11016902e+00] [-5.48626396e-03 9.99979049e-01 -3.43555045e-03 5.89851502e-01] [ 2.87072275e-02 3.59168304e-03 9.99581410e-01 1.56890762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60255784400005 meters Centerline goodness : 0.121379 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99577012e-01 5.38257130e-03 -2.85801469e-02 5.10975087e+00] [-5.48289909e-03 9.99979075e-01 -3.43319535e-03 5.89714409e-01] [ 2.85610694e-02 3.58844521e-03 9.99585608e-01 1.56893274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6325578440001 meters Centerline goodness : 0.121482 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99580513e-01 5.35188667e-03 -2.84632402e-02 5.10928148e+00] [-5.45247527e-03 9.99979158e-01 -3.45754406e-03 5.89621969e-01] [ 2.84441426e-02 3.61128877e-03 9.99588860e-01 1.56920157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66255784400005 meters Centerline goodness : 0.132536 Centerline is valid? [False, False] Translation: X:5.13, Y:0.59, Z:1.57 [[ 9.99607485e-01 -2.27097834e-03 -2.79234533e-02 5.12753625e+00] [ 2.20898784e-03 9.99995027e-01 -2.25066239e-03 5.94582530e-01] [ 2.79284257e-02 2.18809640e-03 9.99607531e-01 1.57145592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6925578440001 meters Centerline goodness : 0.130982 Centerline is valid? [False, False] Translation: X:5.13, Y:0.59, Z:1.57 [[ 9.99616037e-01 -2.19999130e-03 -2.76213598e-02 5.12625674e+00] [ 2.14751974e-03 9.99995833e-01 -1.92919403e-03 5.93205795e-01] [ 2.76254890e-02 1.86913587e-03 9.99616596e-01 1.57228444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72255784400005 meters Centerline goodness : 0.133474 Centerline is valid? [False, False] Translation: X:5.13, Y:0.59, Z:1.57 [[ 9.99615153e-01 -2.12890485e-03 -2.76588751e-02 5.12612815e+00] [ 2.08320569e-03 9.99996417e-01 -1.68095253e-03 5.91910637e-01] [ 2.76623546e-02 1.62268650e-03 9.99616007e-01 1.57263792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7525578440001 meters Centerline goodness : 0.120386 Centerline is valid? [False, False] Translation: X:5.08, Y:0.59, Z:1.57 [[ 9.99535005e-01 -3.25657068e-03 -3.03177864e-02 5.07994168e+00] [ 3.20827788e-03 9.99993506e-01 -1.64139600e-03 5.87187938e-01] [ 3.03229348e-02 1.54336488e-03 9.99538963e-01 1.57329477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78255784400005 meters Centerline goodness : 0.161275 Centerline is valid? [False, False] Translation: X:5.08, Y:0.59, Z:1.57 [[ 9.99529058e-01 -3.20105705e-03 -3.05190987e-02 5.08043216e+00] [ 3.15962115e-03 9.99994020e-01 -1.40583305e-03 5.85773558e-01] [ 3.05234163e-02 1.30874219e-03 9.99533195e-01 1.57333192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.812557844 meters Centerline goodness : 0.159740 Centerline is valid? [False, False] Translation: X:5.08, Y:0.58, Z:1.57 [[ 9.99519225e-01 -3.08289064e-03 -3.08514865e-02 5.08149235e+00] [ 3.05441848e-03 9.99994865e-01 -9.69963536e-04 5.83321553e-01] [ 3.08543183e-02 8.75263851e-04 9.99523509e-01 1.57297196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84255784400005 meters Centerline goodness : 0.121396 Centerline is valid? [False, False] Translation: X:5.10, Y:0.58, Z:1.58 [[ 9.99519591e-01 4.92209008e-03 -3.06000184e-02 5.10038613e+00] [-4.99184055e-03 9.99985113e-01 -2.20345032e-03 5.78467517e-01] [ 3.05887172e-02 2.35514218e-03 9.99529281e-01 1.57510356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.872557844 meters Centerline goodness : 0.150439 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.58 [[ 9.99438073e-01 4.23020708e-03 -3.32512048e-02 5.05386931e+00] [-4.28948641e-03 9.99989335e-01 -1.71163922e-03 5.73689477e-01] [ 3.32436096e-02 1.85330799e-03 9.99445560e-01 1.57612549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90255784400006 meters Centerline goodness : 0.120742 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.58 [[ 9.99436690e-01 4.31947486e-03 -3.32813122e-02 5.05384426e+00] [-4.37071201e-03 9.99989372e-01 -1.46691891e-03 5.72360928e-01] [ 3.32746222e-02 1.61155561e-03 9.99444947e-01 1.57631221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93255784400003 meters Centerline goodness : 0.158132 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.58 [[ 9.99432349e-01 4.37402856e-03 -3.34043142e-02 5.05418222e+00] [-4.41963329e-03 9.99989399e-01 -1.29151829e-03 5.71209588e-01] [ 3.33983110e-02 1.43841997e-03 9.99441086e-01 1.57625608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96255784400006 meters Centerline goodness : 0.157977 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.58 [[ 9.99427080e-01 4.51138686e-03 -3.35434065e-02 5.05487439e+00] [-4.54814580e-03 9.99989137e-01 -1.01964065e-03 5.69709343e-01] [ 3.35384422e-02 1.17161678e-03 9.99436741e-01 1.57570967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99255784400003 meters Centerline goodness : 0.149725 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.58 [[ 9.99354067e-01 4.55135375e-03 -3.56473567e-02 5.00789222e+00] [-4.55523006e-03 9.99989625e-01 -2.75240988e-05 5.65444256e-01] [ 3.56468615e-02 1.89888231e-04 9.99364431e-01 1.57612949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02255784400006 meters Centerline goodness : 0.143530 Centerline is valid? [False, False] Translation: X:5.03, Y:0.57, Z:1.58 [[ 9.99458130e-01 -6.08638171e-04 -3.29101255e-02 5.03005676e+00] [ 7.08829434e-04 9.99995150e-01 3.03280891e-03 5.65998051e-01] [ 3.29081200e-02 -3.05449319e-03 9.99453714e-01 1.57573343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05255784400003 meters Centerline goodness : 0.144723 Centerline is valid? [False, False] Translation: X:5.03, Y:0.56, Z:1.58 [[ 9.99468980e-01 -4.51597429e-04 -3.25814851e-02 5.02882232e+00] [ 5.62340091e-04 9.99994096e-01 3.38986127e-03 5.64232813e-01] [ 3.25797619e-02 -3.40638306e-03 9.99463334e-01 1.57641339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08255784400006 meters Centerline goodness : 0.158565 Centerline is valid? [False, False] Translation: X:5.03, Y:0.56, Z:1.58 [[ 9.99474539e-01 -2.85118002e-04 -3.24123990e-02 5.02802110e+00] [ 4.08310925e-04 9.99992718e-01 3.79424083e-03 5.62197335e-01] [ 3.24110811e-02 -3.80548144e-03 9.99467378e-01 1.57702216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11255784400004 meters Centerline goodness : 0.153470 Centerline is valid? [False, False] Translation: X:5.03, Y:0.56, Z:1.58 [[ 9.99469100e-01 6.29933396e-05 -3.25808915e-02 5.02823281e+00] [ 8.92239081e-05 9.99989089e-01 4.67050423e-03 5.57733314e-01] [ 3.25808302e-02 -4.67093165e-03 9.99458189e-01 1.57741263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14255784400007 meters Centerline goodness : 0.123115 Centerline is valid? [False, False] Translation: X:5.03, Y:0.56, Z:1.58 [[ 9.99459448e-01 2.02197712e-04 -3.28750808e-02 5.02925254e+00] [-3.52736522e-05 9.99987106e-01 5.07802613e-03 5.55444767e-01] [ 3.28756837e-02 -5.07412157e-03 9.99446568e-01 1.57703006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17255784400004 meters Centerline goodness : 0.147637 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.58 [[ 9.99451239e-01 3.26582769e-04 -3.31227071e-02 5.03031980e+00] [-1.45683227e-04 9.99985063e-01 5.46376262e-03 5.53201209e-01] [ 3.31239967e-02 -5.45593889e-03 9.99436358e-01 1.57638740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20255784400007 meters Centerline goodness : 0.150096 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.58 [[ 9.99444731e-01 4.67310506e-04 -3.33168352e-02 5.03122018e+00] [-2.74093845e-04 9.99983121e-01 5.80370159e-03 5.51483698e-01] [ 3.33189849e-02 -5.79134703e-03 9.99427989e-01 1.57578910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23255784400004 meters Centerline goodness : 0.151912 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.58 [[ 9.99436156e-01 7.28151372e-04 -3.35684212e-02 5.03211117e+00] [-5.19029980e-04 9.99980409e-01 6.23799904e-03 5.49629099e-01] [ 3.35723057e-02 -6.21705877e-03 9.99416954e-01 1.57537826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26255784400007 meters Centerline goodness : 0.141954 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.58 [[ 9.99433066e-01 8.04171313e-04 -3.36585863e-02 5.03231006e+00] [-5.88638973e-04 9.99979264e-01 6.41290704e-03 5.48656893e-01] [ 3.36630455e-02 -6.38945858e-03 9.99412815e-01 1.57543402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29255784400004 meters Centerline goodness : 0.137667 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.58 [[ 9.99427302e-01 8.47274493e-04 -3.38282514e-02 5.03282032e+00] [-6.25812782e-04 9.99978309e-01 6.55670116e-03 5.47640456e-01] [ 3.38330730e-02 -6.53177599e-03 9.99406153e-01 1.57530358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3225578440001 meters Centerline goodness : 0.114707 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.58 [[ 9.99421579e-01 9.15759765e-04 -3.39951388e-02 5.03334075e+00] [-6.86803952e-04 9.99977009e-01 6.74602396e-03 5.46580786e-01] [ 3.40005350e-02 -6.71877392e-03 9.99399230e-01 1.57516297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35255784400005 meters Centerline goodness : 0.149163 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.57 [[ 9.99420987e-01 1.00779986e-03 -3.40099293e-02 5.03370333e+00] [-7.71691218e-04 9.99975518e-01 6.95475671e-03 5.45625792e-01] [ 3.40161057e-02 -6.92448465e-03 9.99397296e-01 1.57461521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3825578440001 meters Centerline goodness : 0.153918 Centerline is valid? [False, False] Translation: X:5.03, Y:0.54, Z:1.57 [[ 9.99424933e-01 1.09794088e-03 -3.38909611e-02 5.03358532e+00] [-8.54684093e-04 9.99973777e-01 7.19128307e-03 5.44460539e-01] [ 3.38979680e-02 -7.15818153e-03 9.99399664e-01 1.57433474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41255784400005 meters Centerline goodness : 0.154397 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.57 [[ 9.99488749e-01 6.56174671e-03 -3.12919259e-02 5.05526706e+00] [-6.44374122e-03 9.99971748e-01 3.87047068e-03 5.39804727e-01] [ 3.13164389e-02 -3.66685483e-03 9.99502794e-01 1.57421993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4425578440001 meters Centerline goodness : 0.112957 Centerline is valid? [False, False] Translation: X:5.05, Y:0.54, Z:1.58 [[ 9.99530414e-01 3.71331432e-03 -3.04164832e-02 5.05189806e+00] [-3.67338297e-03 9.99992317e-01 1.36859308e-03 5.36837681e-01] [ 3.04213315e-02 -1.25621902e-03 9.99536375e-01 1.57543542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47255784400005 meters Centerline goodness : 0.151643 Centerline is valid? [False, False] Translation: X:5.07, Y:0.54, Z:1.58 [[ 9.99519061e-01 -4.07176887e-03 -3.07419408e-02 5.07233793e+00] [ 4.15066440e-03 9.99988253e-01 2.50300211e-03 5.37995519e-01] [ 3.07313881e-02 -2.62939779e-03 9.99524221e-01 1.57741110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5025578440001 meters Centerline goodness : 0.155072 Centerline is valid? [False, False] Translation: X:5.07, Y:0.53, Z:1.58 [[ 9.99509865e-01 -3.89765246e-03 -3.10618331e-02 5.07307415e+00] [ 3.99626142e-03 9.99987169e-01 3.11315362e-03 5.34762333e-01] [ 3.10493005e-02 -3.23575896e-03 9.99512617e-01 1.57757872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53255784400005 meters Centerline goodness : 0.153595 Centerline is valid? [False, False] Translation: X:5.07, Y:0.53, Z:1.58 [[ 9.99516340e-01 -3.71041780e-03 -3.08758704e-02 5.07252753e+00] [ 3.84045998e-03 9.99983999e-01 4.15353709e-03 5.29012207e-01] [ 3.08599650e-02 -4.27010574e-03 9.99514597e-01 1.57789861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.562557844 meters Centerline goodness : 0.150044 Centerline is valid? [False, False] Translation: X:5.07, Y:0.53, Z:1.58 [[ 9.99522107e-01 -3.50024997e-03 -3.07132829e-02 5.07189557e+00] [ 3.64603245e-03 9.99982346e-01 4.69184146e-03 5.26436083e-01] [ 3.06963181e-02 -4.80158089e-03 9.99517224e-01 1.57834595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59255784400005 meters Centerline goodness : 0.150044 Centerline is valid? [False, False] Translation: X:5.07, Y:0.53, Z:1.58 [[ 9.99522107e-01 -3.50024997e-03 -3.07132829e-02 5.07189557e+00] [ 3.64603245e-03 9.99982346e-01 4.69184146e-03 5.26436083e-01] [ 3.06963181e-02 -4.80158089e-03 9.99517224e-01 1.57834595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.622557844 meters Centerline goodness : 0.158143 Centerline is valid? [False, False] Translation: X:5.07, Y:0.52, Z:1.58 [[ 9.99526487e-01 -3.34611999e-03 -3.05876726e-02 5.07140136e+00] [ 3.50582630e-03 9.99980494e-01 5.16912564e-03 5.23887470e-01] [ 3.05697795e-02 -5.27391306e-03 9.99518721e-01 1.57870650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65255784400006 meters Centerline goodness : 0.141299 Centerline is valid? [False, False] Translation: X:5.07, Y:0.52, Z:1.58 [[ 9.99523568e-01 -3.21464076e-03 -3.06969661e-02 5.07154698e+00] [ 3.38778479e-03 9.99978637e-01 5.59008509e-03 5.21513598e-01] [ 3.06783402e-02 -5.69141651e-03 9.99513105e-01 1.57896352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68255784400003 meters Centerline goodness : 0.152390 Centerline is valid? [False, False] Translation: X:5.07, Y:0.52, Z:1.58 [[ 9.99516567e-01 -3.09839416e-03 -3.09359505e-02 5.07212912e+00] [ 3.28331279e-03 9.99977036e-01 5.92845910e-03 5.19643489e-01] [ 3.09168714e-02 -6.02716548e-03 9.99503787e-01 1.57904164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71255784400006 meters Centerline goodness : 0.116908 Centerline is valid? [False, False] Translation: X:5.09, Y:0.52, Z:1.58 [[ 9.99507522e-01 5.23879670e-03 -3.09397617e-02 5.09156778e+00] [-5.09893928e-03 9.99976432e-01 4.59748417e-03 5.15128917e-01] [ 3.09631178e-02 -4.43746004e-03 9.99510677e-01 1.58118077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74255784400003 meters Centerline goodness : 0.118660 Centerline is valid? [False, False] Translation: X:5.09, Y:0.51, Z:1.58 [[ 9.99506528e-01 5.35873703e-03 -3.09513095e-02 5.09182738e+00] [-5.21335981e-03 9.99975006e-01 4.77575707e-03 5.14488247e-01] [ 3.09761279e-02 -4.61204005e-03 9.99509484e-01 1.58080400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77255784400006 meters Centerline goodness : 0.154697 Centerline is valid? [False, False] Translation: X:5.09, Y:0.51, Z:1.58 [[ 9.99507898e-01 5.33012431e-03 -3.09120003e-02 5.09193980e+00] [-5.18796150e-03 9.99975603e-01 4.67733491e-03 5.14945508e-01] [ 3.09361770e-02 -4.51466292e-03 9.99511166e-01 1.58044406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80255784400003 meters Centerline goodness : 0.115764 Centerline is valid? [False, False] Translation: X:5.09, Y:0.52, Z:1.58 [[ 9.99511313e-01 5.26100014e-03 -3.08132476e-02 5.09176027e+00] [-5.12540464e-03 9.99976839e-01 4.47789113e-03 5.15871304e-01] [ 3.08360921e-02 -4.31777248e-03 9.99515129e-01 1.58032163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83255784400006 meters Centerline goodness : 0.134329 Centerline is valid? [False, False] Translation: X:5.09, Y:0.52, Z:1.58 [[ 9.99532567e-01 5.20863989e-03 -3.01250259e-02 5.08966922e+00] [-5.08941774e-03 9.99978917e-01 4.03290259e-03 5.18481561e-01] [ 3.01453967e-02 -3.87769864e-03 9.99538003e-01 1.58078987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86255784400004 meters Centerline goodness : 0.151231 Centerline is valid? [False, False] Translation: X:5.09, Y:0.52, Z:1.58 [[ 9.99539512e-01 5.12454525e-03 -2.99082585e-02 5.08884645e+00] [-5.01613594e-03 9.99980579e-01 3.69863266e-03 5.20423409e-01] [ 2.99266315e-02 -3.54690559e-03 9.99545805e-01 1.58118503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89255784400007 meters Centerline goodness : 0.162954 Centerline is valid? [False, False] Translation: X:5.09, Y:0.52, Z:1.58 [[ 9.99546297e-01 5.01186151e-03 -2.96998485e-02 5.08811288e+00] [-4.91637692e-03 9.99982512e-01 3.28713860e-03 5.22779640e-01] [ 2.97158038e-02 -3.13963156e-03 9.99553457e-01 1.58146990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92255784400004 meters Centerline goodness : 0.147688 Centerline is valid? [False, False] Translation: X:5.09, Y:0.53, Z:1.58 [[ 9.99554073e-01 4.86263434e-03 -2.94619981e-02 5.08722983e+00] [-4.78103074e-03 9.99984539e-01 2.83960399e-03 5.25232458e-01] [ 2.94753505e-02 -2.69747902e-03 9.99561868e-01 1.58184674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95255784400007 meters Centerline goodness : 0.148580 Centerline is valid? [False, False] Translation: X:5.09, Y:0.53, Z:1.58 [[ 9.99561775e-01 4.68084712e-03 -2.92292332e-02 5.08652485e+00] [-4.61442528e-03 9.99986617e-01 2.33948510e-03 5.27802325e-01] [ 2.92397928e-02 -2.20358377e-03 9.99569997e-01 1.58197879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98255784400004 meters Centerline goodness : 0.148955 Centerline is valid? [False, False] Translation: X:5.09, Y:0.53, Z:1.58 [[ 9.99565362e-01 4.46643457e-03 -2.91399626e-02 5.08633611e+00] [-4.41664082e-03 9.99988675e-01 1.77291918e-03 5.30639246e-01] [ 2.91475512e-02 -1.64344786e-03 9.99573769e-01 1.58184587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01255784400007 meters Centerline goodness : 0.116934 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.58 [[ 9.99567060e-01 4.08196610e-03 -2.91381050e-02 5.08693965e+00] [-4.06439114e-03 9.99991521e-01 6.62362556e-04 5.36568779e-01] [ 2.91405617e-02 -5.43647138e-04 9.99575176e-01 1.58075337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04255784400004 meters Centerline goodness : 0.149308 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.58 [[ 9.99568853e-01 3.86524703e-03 -2.91061631e-02 5.08686360e+00] [-3.86571572e-03 9.99992527e-01 4.01672966e-05 5.39896067e-01] [ 2.91061009e-02 7.23661737e-05 9.99576325e-01 1.58064912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0725578440001 meters Centerline goodness : 0.152225 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.58 [[ 9.99572961e-01 3.71021894e-03 -2.89849908e-02 5.08650144e+00] [-3.72763075e-03 9.99992903e-01 -5.46707046e-04 5.43310602e-01] [ 2.89827567e-02 6.54518924e-04 9.99579697e-01 1.58064247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10255784400005 meters Centerline goodness : 0.149587 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.58 [[ 9.99575732e-01 3.49599778e-03 -2.89159659e-02 5.08633520e+00] [-3.53278179e-03 9.99993014e-01 -1.22111026e-03 5.46921500e-01] [ 2.89114949e-02 1.32274598e-03 9.99581100e-01 1.58052305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1325578440001 meters Centerline goodness : 0.117592 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.58 [[ 9.99581746e-01 3.26990256e-03 -2.87339623e-02 5.08572970e+00] [-3.32440253e-03 9.99992764e-01 -1.84914225e-03 5.50016627e-01] [ 2.87277079e-02 1.94389210e-03 9.99585384e-01 1.58068486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16255784400005 meters Centerline goodness : 0.147821 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.58 [[ 9.99585676e-01 3.04826505e-03 -2.86213842e-02 5.08535214e+00] [-3.11853407e-03 9.99992231e-01 -2.41080646e-03 5.52754248e-01] [ 2.86138131e-02 2.49906437e-03 9.99587417e-01 1.58076071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1925578440001 meters Centerline goodness : 0.153285 Centerline is valid? [False, False] Translation: X:5.09, Y:0.56, Z:1.58 [[ 9.99587146e-01 2.65599695e-03 -2.86091318e-02 5.08556785e+00] [-2.75740641e-03 9.99990053e-01 -3.50578547e-03 5.58491359e-01] [ 2.85995359e-02 3.58322510e-03 9.99584527e-01 1.58022561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22255784400005 meters Centerline goodness : 0.147009 Centerline is valid? [False, False] Translation: X:5.09, Y:0.56, Z:1.58 [[ 9.99583828e-01 2.42339987e-03 -2.87453994e-02 5.08617544e+00] [-2.54067955e-03 9.99988595e-01 -4.04412402e-03 5.60938715e-01] [ 2.87352710e-02 4.11547382e-03 9.99578585e-01 1.57976081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2525578440001 meters Centerline goodness : 0.146941 Centerline is valid? [False, False] Translation: X:5.09, Y:0.56, Z:1.58 [[ 9.99579175e-01 2.22751376e-03 -2.89224916e-02 5.08684196e+00] [-2.35867360e-03 9.99987086e-01 -4.50154898e-03 5.62972361e-01] [ 2.89120909e-02 4.56787333e-03 9.99571521e-01 1.57936916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28255784400005 meters Centerline goodness : 0.153297 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.58 [[ 9.99573318e-01 2.04265635e-03 -2.91377581e-02 5.08747390e+00] [-2.18794092e-03 9.99985330e-01 -4.95511646e-03 5.65160758e-01] [ 2.91272091e-02 5.01675389e-03 9.99563124e-01 1.57915196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.312557844 meters Centerline goodness : 0.118803 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.58 [[ 9.99563825e-01 1.77112341e-03 -2.94792043e-02 5.08853832e+00] [-1.94468174e-03 9.99980940e-01 -5.85985511e-03 5.70243132e-01] [ 2.94682639e-02 5.91462686e-03 9.99548217e-01 1.57862950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34255784400005 meters Centerline goodness : 0.121873 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.58 [[ 9.99565721e-01 1.57154708e-03 -2.94261860e-02 5.08836171e+00] [-1.76078016e-03 9.99977931e-01 -6.40596391e-03 5.73036938e-01] [ 2.94154693e-02 6.45499498e-03 9.99546429e-01 1.57861987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.372557844 meters Centerline goodness : 0.156789 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.58 [[ 9.99569230e-01 1.37421583e-03 -2.93166516e-02 5.08792188e+00] [-1.57876875e-03 9.99974565e-01 -6.95535748e-03 5.75909156e-01] [ 2.93063477e-02 6.99864553e-03 9.99545975e-01 1.57882207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40255784400006 meters Centerline goodness : 0.151707 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.58 [[ 9.99571603e-01 1.10535612e-03 -2.92470345e-02 5.08745373e+00] [-1.33560581e-03 9.99968263e-01 -7.85421882e-03 5.81117923e-01] [ 2.92374246e-02 7.88991661e-03 9.99541356e-01 1.57908493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43255784400003 meters Centerline goodness : 0.127662 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99555410e-01 -4.47540096e-03 -2.94779962e-02 5.10990119e+00] [ 4.32260490e-03 9.99976902e-01 -5.24508109e-03 5.86913655e-01] [ 2.95007891e-02 5.11532745e-03 9.99551668e-01 1.57957149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46255784400006 meters Centerline goodness : 0.139936 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.58 [[ 9.99551346e-01 3.12331348e-03 -2.97884375e-02 5.09089893e+00] [-3.31980333e-03 9.99973044e-01 -6.54900410e-03 5.82001707e-01] [ 2.97671799e-02 6.64495762e-03 9.99534772e-01 1.57773687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49255784400003 meters Centerline goodness : 0.149608 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99550637e-01 -4.76877719e-03 -2.95936390e-02 5.11038889e+00] [ 4.59799651e-03 9.99972398e-01 -5.83622803e-03 5.88006880e-01] [ 2.96206538e-02 5.69753399e-03 9.99544974e-01 1.57955837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52255784400006 meters Centerline goodness : 0.151702 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99552139e-01 -4.84464643e-03 -2.95304900e-02 5.11013610e+00] [ 4.67154143e-03 9.99971517e-01 -5.92808351e-03 5.88257135e-01] [ 2.95583684e-02 5.78747565e-03 9.99546301e-01 1.57971790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55255784400003 meters Centerline goodness : 0.115210 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99546960e-01 -5.01655718e-03 -2.96767487e-02 5.11053540e+00] [ 4.83881600e-03 9.99969943e-01 -6.05802803e-03 5.88762495e-01] [ 2.97062472e-02 5.91168317e-03 9.99541190e-01 1.57963101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58255784400006 meters Centerline goodness : 0.158108 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99543355e-01 -5.01187953e-03 -2.97987148e-02 5.11104171e+00] [ 4.83425881e-03 9.99970136e-01 -6.02974271e-03 5.88824080e-01] [ 2.98280452e-02 5.88293456e-03 9.99537733e-01 1.57932272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61255784400004 meters Centerline goodness : 0.138212 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99535685e-01 -5.05989811e-03 -3.00468342e-02 5.11187229e+00] [ 4.88041467e-03 9.99969827e-01 -6.04379205e-03 5.88859667e-01] [ 3.00765085e-02 5.89434482e-03 9.99530220e-01 1.57903378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64255784400007 meters Centerline goodness : 0.156838 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99537682e-01 -5.17947679e-03 -2.99598868e-02 5.11155354e+00] [ 5.00031607e-03 9.99969185e-01 -6.05185360e-03 5.88402197e-01] [ 2.99903091e-02 5.89924682e-03 9.99532781e-01 1.57927878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67255784400004 meters Centerline goodness : 0.154079 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99539674e-01 -5.15859077e-03 -2.98969720e-02 5.11115958e+00] [ 4.98125797e-03 9.99969576e-01 -6.00291062e-03 5.88183743e-01] [ 2.99270289e-02 5.85122280e-03 9.99534960e-01 1.57966132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70255784400007 meters Centerline goodness : 0.160721 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.58 [[ 9.99567921e-01 2.66098462e-03 -2.92726891e-02 5.09139419e+00] [-2.86344119e-03 9.99972257e-01 -6.87648337e-03 5.82985612e-01] [ 2.92535788e-02 6.95733281e-03 9.99547810e-01 1.57777422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73255784400004 meters Centerline goodness : 0.158889 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.58 [[ 9.99568431e-01 2.61015406e-03 -2.92598405e-02 5.09141933e+00] [-2.81735677e-03 9.99971233e-01 -7.04248241e-03 5.83847405e-01] [ 2.92406168e-02 7.12187850e-03 9.99547030e-01 1.57767004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76255784400007 meters Centerline goodness : 0.131677 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.58 [[ 9.99558966e-01 2.41384821e-03 -2.95980714e-02 5.09252309e+00] [-2.63959253e-03 9.99967709e-01 -7.59029557e-03 5.86339030e-01] [ 2.95787938e-02 7.66507484e-03 9.99533062e-01 1.57720749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79255784400004 meters Centerline goodness : 0.158703 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.58 [[ 9.99557271e-01 2.33942766e-03 -2.96612425e-02 5.09259098e+00] [-2.57425025e-03 9.99965630e-01 -7.88110292e-03 5.87965433e-01] [ 2.96417857e-02 7.95396919e-03 9.99528939e-01 1.57727242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8225578440001 meters Centerline goodness : 0.118594 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.58 [[ 9.99564425e-01 2.34052659e-03 -2.94190932e-02 5.09183649e+00] [-2.58100906e-03 9.99963546e-01 -8.13905317e-03 5.89770884e-01] [ 2.93989711e-02 8.21143895e-03 9.99534028e-01 1.57747424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85255784400005 meters Centerline goodness : 0.162740 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.58 [[ 9.99614399e-01 -5.02998094e-03 -2.73084616e-02 5.07025603e+00] [ 4.84822424e-03 9.99965682e-01 -6.71782845e-03 5.95685500e-01] [ 2.73413150e-02 6.58284051e-03 9.99604481e-01 1.57541692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8825578440001 meters Centerline goodness : 0.110443 Centerline is valid? [False, False] Translation: X:5.09, Y:0.60, Z:1.58 [[ 9.99686511e-01 3.48918234e-03 -2.47932499e-02 5.08990469e+00] [-3.68713439e-03 9.99961657e-01 -7.94288599e-03 5.96657894e-01] [ 2.47645851e-02 8.03181203e-03 9.99661045e-01 1.57644516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91255784400005 meters Centerline goodness : 0.146924 Centerline is valid? [False, False] Translation: X:5.09, Y:0.60, Z:1.58 [[ 9.99699158e-01 3.56619104e-03 -2.42667430e-02 5.08857619e+00] [-3.77545084e-03 9.99956038e-01 -8.58297141e-03 6.00984860e-01] [ 2.42350677e-02 8.67200719e-03 9.99668674e-01 1.57630888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9425578440001 meters Centerline goodness : 0.135278 Centerline is valid? [False, False] Translation: X:5.09, Y:0.60, Z:1.58 [[ 9.99695897e-01 3.40918237e-03 -2.44231790e-02 5.08923104e+00] [-3.63162414e-03 9.99952279e-01 -9.06925615e-03 6.03435180e-01] [ 2.43910948e-02 9.15519397e-03 9.99660571e-01 1.57581665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97255784400005 meters Centerline goodness : 0.159662 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.58 [[ 9.99694336e-01 3.24961883e-03 -2.45086563e-02 5.08953554e+00] [-3.48334317e-03 9.99948809e-01 -9.49974416e-03 6.05591533e-01] [ 2.44765311e-02 9.58221249e-03 9.99654481e-01 1.57557023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0025578440001 meters Centerline goodness : 0.157274 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.58 [[ 9.99699401e-01 3.13800395e-03 -2.43158337e-02 5.08850830e+00] [-3.37787395e-03 9.99945979e-01 -9.82997903e-03 6.07593358e-01] [ 2.42836736e-02 9.90915998e-03 9.99655997e-01 1.57637546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03255784400005 meters Centerline goodness : 0.132358 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.58 [[ 9.99721987e-01 -4.58925806e-03 -2.31276403e-02 5.10749629e+00] [ 4.38985335e-03 9.99952820e-01 -8.66532955e-03 6.13220733e-01] [ 2.31663166e-02 8.56139352e-03 9.99694966e-01 1.57824582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.062557844 meters Centerline goodness : 0.143573 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.58 [[ 9.99726001e-01 -4.56620206e-03 -2.29580637e-02 5.10669416e+00] [ 4.37167699e-03 9.99954181e-01 -8.51612266e-03 6.12433613e-01] [ 2.29958981e-02 8.41342401e-03 9.99700157e-01 1.57886819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09255784400005 meters Centerline goodness : 0.131874 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.58 [[ 9.99724672e-01 -4.55512940e-03 -2.30180596e-02 5.10681105e+00] [ 4.36412111e-03 9.99955685e-01 -8.34162367e-03 6.11361769e-01] [ 2.30550368e-02 8.23887338e-03 9.99700248e-01 1.57895944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.122557844 meters Centerline goodness : 0.148611 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.58 [[ 0.99964844 -0.00568186 -0.02589816 5.06225838] [ 0.00546425 0.99994924 -0.00846559 0.60648752] [ 0.02594494 0.0083211 0.99962874 1.57895932] [ 0. 0. 0. 1. ]] SLAMing on 387.15255784400006 meters Centerline goodness : 0.119481 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.58 [[ 0.99964264 -0.0056758 -0.02612222 5.06273317] [ 0.00546537 0.99995209 -0.00812029 0.60434939] [ 0.02616706 0.00797462 0.99962578 1.57920089] [ 0. 0. 0. 1. ]] SLAMing on 387.18255784400003 meters Centerline goodness : 0.115520 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.58 [[ 0.99964636 -0.00561625 -0.0259927 5.06208651] [ 0.00541273 0.9999542 -0.00789348 0.60311033] [ 0.02603585 0.00775 0.99963097 1.5797361 ] [ 0. 0. 0. 1. ]] SLAMing on 387.21255784400006 meters Centerline goodness : 0.132959 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.58 [[ 0.99965191 -0.005538 -0.02579512 5.06124954] [ 0.0053426 0.99995656 -0.00763812 0.60180056] [ 0.0258363 0.00749765 0.99963807 1.58029548] [ 0. 0. 0. 1. ]] SLAMing on 387.24255784400003 meters Centerline goodness : 0.118582 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.58 [[ 0.99965437 -0.00544721 -0.02571889 5.06088916] [ 0.00525858 0.99995882 -0.00739637 0.60064623] [ 0.02575812 0.00725857 0.99964185 1.58059281] [ 0. 0. 0. 1. ]] SLAMing on 387.27255784400006 meters Centerline goodness : 0.120865 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.58 [[ 0.99964128 -0.00545826 -0.02622048 5.06267782] [ 0.00526713 0.99995909 -0.00735307 0.60011411] [ 0.02625954 0.00721232 0.99962914 1.5797679 ] [ 0. 0. 0. 1. ]] SLAMing on 387.30255784400003 meters Centerline goodness : 0.124322 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99606935e-01 2.92485646e-03 -2.78822653e-02 5.04278090e+00] [-3.15112595e-03 9.99962434e-01 -8.07469414e-03 5.95725346e-01] [ 2.78576005e-02 8.15938079e-03 9.99578601e-01 1.57833734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33255784400006 meters Centerline goodness : 0.117675 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99599809e-01 2.92897140e-03 -2.81361557e-02 5.04386796e+00] [-3.16277190e-03 9.99960812e-01 -8.26870473e-03 5.97104457e-01] [ 2.81108343e-02 8.35438391e-03 9.99569900e-01 1.57757156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36255784400004 meters Centerline goodness : 0.123998 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99599673e-01 2.91094993e-03 -2.81428417e-02 5.04407506e+00] [-3.15072284e-03 9.99959087e-01 -8.47926767e-03 5.98431735e-01] [ 2.81170076e-02 8.56454349e-03 9.99567948e-01 1.57724051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39255784400007 meters Centerline goodness : 0.126793 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99613821e-01 2.86009401e-03 -2.76410604e-02 5.04244805e+00] [-3.10775849e-03 9.99955376e-01 -8.92121887e-03 6.00608454e-01] [ 2.76143114e-02 9.00367543e-03 9.99578103e-01 1.57773676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42255784400004 meters Centerline goodness : 0.125723 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99615812e-01 2.82607071e-03 -2.75724740e-02 5.04198361e+00] [-3.07703802e-03 9.99954188e-01 -9.06391694e-03 6.01385287e-01] [ 2.75455955e-02 9.14527624e-03 9.99578713e-01 1.57815440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45255784400007 meters Centerline goodness : 0.132892 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99618005e-01 2.85391312e-03 -2.74900012e-02 5.04171065e+00] [-3.10456650e-03 9.99953960e-01 -9.07962284e-03 6.01752218e-01] [ 2.74628231e-02 9.16149901e-03 9.99580842e-01 1.57820399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48255784400004 meters Centerline goodness : 0.132892 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99618005e-01 2.85391312e-03 -2.74900012e-02 5.04171065e+00] [-3.10456650e-03 9.99953960e-01 -9.07962284e-03 6.01752218e-01] [ 2.74628231e-02 9.16149901e-03 9.99580842e-01 1.57820399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51255784400007 meters Centerline goodness : 0.122402 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.58 [[ 0.99959294 -0.00553717 -0.02798752 5.02183731] [ 0.00532491 0.99995654 -0.00765282 0.60435284] [ 0.02802867 0.00750067 0.99957898 1.57640274] [ 0. 0. 0. 1. ]] SLAMing on 387.54255784400004 meters Centerline goodness : 0.151980 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.58 [[ 0.99959104 -0.00556144 -0.02805037 5.02224456] [ 0.0053507 0.99995694 -0.00758245 0.60345081] [ 0.02809133 0.00742926 0.99957775 1.57609325] [ 0. 0. 0. 1. ]] SLAMing on 387.5725578440001 meters Centerline goodness : 0.154643 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.57 [[ 9.99610400e-01 1.99218240e-03 -2.78402592e-02 5.00333840e+00] [-2.24117223e-03 9.99957747e-01 -8.91517744e-03 5.97447785e-01] [ 2.78213222e-02 8.97409890e-03 9.99572628e-01 1.57381359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60255784400005 meters Centerline goodness : 0.124109 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.57 [[ 9.99613761e-01 1.96978666e-03 -2.77209144e-02 5.00288580e+00] [-2.22098466e-03 9.99956728e-01 -9.03380726e-03 5.98182643e-01] [ 2.77019202e-02 9.09188577e-03 9.99574880e-01 1.57399934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6325578440001 meters Centerline goodness : 0.130649 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.57 [[ 9.99618834e-01 1.99197231e-03 -2.75357599e-02 5.00220412e+00] [-2.24583325e-03 9.99955236e-01 -9.19146878e-03 5.99519832e-01] [ 2.75162181e-02 9.24980603e-03 9.99578561e-01 1.57427694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66255784400005 meters Centerline goodness : 0.117028 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.57 [[ 9.99623651e-01 1.98848362e-03 -2.73605908e-02 5.00165946e+00] [-2.24710121e-03 9.99953062e-01 -9.42469564e-03 6.01211923e-01] [ 2.73405657e-02 9.48263068e-03 9.99581199e-01 1.57440968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6925578440001 meters Centerline goodness : 0.114643 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.57 [[ 9.99606445e-01 2.10196662e-03 -2.79738627e-02 5.00373508e+00] [-2.38234861e-03 9.99947226e-01 -9.99344760e-03 6.04935374e-01] [ 2.79513805e-02 1.00561581e-02 9.99558700e-01 1.57335689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72255784400005 meters Centerline goodness : 0.102670 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.57 [[ 9.99603365e-01 1.96820080e-03 -2.80933821e-02 5.00437408e+00] [-2.26279535e-03 9.99942750e-01 -1.04583253e-02 6.07277004e-01] [ 2.80711896e-02 1.05177467e-02 9.99550592e-01 1.57271677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7525578440001 meters Centerline goodness : 0.139484 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.57 [[ 9.99603745e-01 1.86839619e-03 -2.80866849e-02 5.00454971e+00] [-2.17489355e-03 9.99938381e-01 -1.08859655e-02 6.09730204e-01] [ 2.80646150e-02 1.09427375e-02 9.99546214e-01 1.57228249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78255784400005 meters Centerline goodness : 0.160071 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.57 [[ 9.99604406e-01 1.70518889e-03 -2.80735435e-02 5.00452085e+00] [-2.03089420e-03 9.99930917e-01 -1.15774377e-02 6.13804577e-01] [ 2.80518624e-02 1.16298721e-02 9.99538813e-01 1.57214468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.812557844 meters Centerline goodness : 0.118210 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.57 [[ 9.99604049e-01 1.58116149e-03 -2.80935112e-02 5.00437481e+00] [-1.91407788e-03 9.99928222e-01 -1.18273576e-02 6.14910556e-01] [ 2.80727938e-02 1.18764477e-02 9.99535326e-01 1.57243426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84255784400005 meters Centerline goodness : 0.156680 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.57 [[ 0.99960009 -0.00626858 -0.02757479 5.02344288] [ 0.00597068 0.99992307 -0.01087236 0.62119534] [ 0.02764083 0.01070337 0.99956061 1.57430853] [ 0. 0. 0. 1. ]] SLAMing on 387.872557844 meters Centerline goodness : 0.156876 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.57 [[ 0.99960312 -0.00626287 -0.02746606 5.02303555] [ 0.00596793 0.99992379 -0.01080728 0.62092006] [ 0.02753165 0.01063908 0.99956431 1.57452972] [ 0. 0. 0. 1. ]] SLAMing on 387.90255784400006 meters Centerline goodness : 0.146464 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.57 [[ 0.99960487 -0.00625166 -0.02740489 5.02281622] [ 0.00596093 0.99992523 -0.01067744 0.62030591] [ 0.02746959 0.01050986 0.99956739 1.57469075] [ 0. 0. 0. 1. ]] SLAMing on 387.93255784400003 meters Centerline goodness : 0.159207 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.57 [[ 0.99960654 -0.00650347 -0.02728512 5.02256784] [ 0.00621958 0.99992578 -0.01047647 0.61867516] [ 0.02735123 0.01030264 0.99957279 1.57478625] [ 0. 0. 0. 1. ]] SLAMing on 387.96255784400006 meters Centerline goodness : 0.156503 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.57 [[ 0.99960492 -0.00642462 -0.02736302 5.02271286] [ 0.00614784 0.99992921 -0.01018712 0.61725415] [ 0.02742653 0.01001487 0.99957365 1.57492689] [ 0. 0. 0. 1. ]] SLAMing on 387.99255784400003 meters Centerline goodness : 0.162566 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.58 [[ 0.99960395 -0.00630507 -0.02742601 5.02279552] [ 0.0060377 0.99993355 -0.00982091 0.61549356] [ 0.02748611 0.00965143 0.99957559 1.5751064 ] [ 0. 0. 0. 1. ]] SLAMing on 388.02255784400006 meters Centerline goodness : 0.147470 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.58 [[ 0.99960262 -0.00624065 -0.02748928 5.02289643] [ 0.00597923 0.99993622 -0.00958185 0.61417244] [ 0.02754733 0.00941368 0.99957617 1.57526002] [ 0. 0. 0. 1. ]] SLAMing on 388.05255784400003 meters Centerline goodness : 0.160205 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.58 [[ 0.99960037 -0.00620424 -0.02757897 5.02326733] [ 0.00594599 0.9999378 -0.0094359 0.61320195] [ 0.0276358 0.00926814 0.99957509 1.57503919] [ 0. 0. 0. 1. ]] SLAMing on 388.08255784400006 meters Centerline goodness : 0.161158 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.57 [[ 0.99959657 -0.00617568 -0.02772306 5.02396263] [ 0.00591654 0.99993813 -0.00941965 0.61302753] [ 0.02777952 0.00925183 0.99957126 1.57449292] [ 0. 0. 0. 1. ]] SLAMing on 388.11255784400004 meters Centerline goodness : 0.127752 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.57 [[ 0.99959541 -0.00613682 -0.02777347 5.02426662] [ 0.00587592 0.99993794 -0.00946557 0.61351475] [ 0.02782983 0.00929854 0.99956943 1.57418686] [ 0. 0. 0. 1. ]] SLAMing on 388.14255784400007 meters Centerline goodness : 0.146024 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.57 [[ 0.99959678 -0.00611088 -0.02772952 5.02419607] [ 0.00584655 0.99993679 -0.00960367 0.61441558] [ 0.02778646 0.00943768 0.99956933 1.57406222] [ 0. 0. 0. 1. ]] SLAMing on 388.17255784400004 meters Centerline goodness : 0.147950 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.57 [[ 9.99600042e-01 2.41709721e-03 -2.81764894e-02 5.00287087e+00] [-2.70636982e-03 9.99943981e-01 -1.02328426e-02 6.09377081e-01] [ 2.81501772e-02 1.03050058e-02 9.99550586e-01 1.57311227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20255784400007 meters Centerline goodness : 0.116101 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.57 [[ 9.99605340e-01 -2.77219578e-03 -2.79549509e-02 5.02523912e+00] [ 2.56780668e-03 9.99969731e-01 -7.34462364e-03 6.14073695e-01] [ 2.79744655e-02 7.26994210e-03 9.99582201e-01 1.57304449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23255784400004 meters Centerline goodness : 0.142863 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.57 [[ 9.99608673e-01 -2.74326888e-03 -2.78383637e-02 5.02504713e+00] [ 2.53973557e-03 9.99969807e-01 -7.34397885e-03 6.14287591e-01] [ 2.78576697e-02 7.27040288e-03 9.99585460e-01 1.57284199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26255784400007 meters Centerline goodness : 0.113099 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.57 [[ 9.99609740e-01 -2.72279710e-03 -2.78020695e-02 5.02507943e+00] [ 2.52074976e-03 9.99970179e-01 -7.29981235e-03 6.14029193e-01] [ 2.78211163e-02 7.22688146e-03 9.99586793e-01 1.57264295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29255784400004 meters Centerline goodness : 0.151560 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.57 [[ 9.99610593e-01 -2.72418631e-03 -2.77712206e-02 5.02508609e+00] [ 2.52368172e-03 9.99970517e-01 -7.25236435e-03 6.13523012e-01] [ 2.77901586e-02 7.17945451e-03 9.99587996e-01 1.57251570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3225578440001 meters Centerline goodness : 0.144111 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.57 [[ 9.99609185e-01 -2.70145516e-03 -2.78240658e-02 5.02518834e+00] [ 2.50393924e-03 9.99971438e-01 -7.13114091e-03 6.12689448e-01] [ 2.78425355e-02 7.05868418e-03 9.99587399e-01 1.57257882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35255784400005 meters Centerline goodness : 0.149011 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.57 [[ 9.99609323e-01 -2.64795329e-03 -2.78242806e-02 5.02517965e+00] [ 2.45452753e-03 9.99972602e-01 -6.98354583e-03 6.11892190e-01] [ 2.78420104e-02 6.91252205e-03 9.99588435e-01 1.57260323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3825578440001 meters Centerline goodness : 0.149767 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.57 [[ 9.99612631e-01 -2.50404631e-03 -2.77185318e-02 5.02483924e+00] [ 2.32246168e-03 9.99975646e-01 -6.58127527e-03 6.10023402e-01] [ 2.77343366e-02 6.51435066e-03 9.99594103e-01 1.57276182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41255784400005 meters Centerline goodness : 0.136606 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.57 [[ 9.99613042e-01 -2.38487666e-03 -2.77142255e-02 5.02479030e+00] [ 2.21249225e-03 9.99978027e-01 -6.24907022e-03 6.08419630e-01] [ 2.77285198e-02 6.18533458e-03 9.99596354e-01 1.57284123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4425578440001 meters Centerline goodness : 0.152897 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.57 [[ 9.99610465e-01 -2.30448236e-03 -2.78138198e-02 5.02498187e+00] [ 2.13960104e-03 9.99979972e-01 -5.95634182e-03 6.06751956e-01] [ 2.78269891e-02 5.89451114e-03 9.99595375e-01 1.57297669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47255784400005 meters Centerline goodness : 0.143008 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.57 [[ 9.99596665e-01 -2.38006345e-03 -2.82991695e-02 5.02601748e+00] [ 2.22841716e-03 9.99982996e-01 -5.38901401e-03 6.02862327e-01] [ 2.83115145e-02 5.32377808e-03 9.99584972e-01 1.57335128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5025578440001 meters Centerline goodness : 0.148750 Centerline is valid? [False, False] Translation: X:4.98, Y:0.60, Z:1.57 [[ 9.99518384e-01 -3.47675804e-03 -3.08368691e-02 4.98036344e+00] [ 3.32171560e-03 9.99981592e-01 -5.07763062e-03 5.95723317e-01] [ 3.08539551e-02 4.97275384e-03 9.99511533e-01 1.57355607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53255784400005 meters Centerline goodness : 0.123332 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.57 [[ 9.99479263e-01 -1.18180292e-02 -3.00255973e-02 5.00143754e+00] [ 1.16975414e-02 9.99922822e-01 -4.18533188e-03 5.97543043e-01] [ 3.00727423e-02 3.83192676e-03 9.99540368e-01 1.57451248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.562557844 meters Centerline goodness : 0.147086 Centerline is valid? [False, False] Translation: X:4.98, Y:0.59, Z:1.57 [[ 0.99959622 -0.00547251 -0.02788293 4.98142054] [ 0.0053309 0.99997253 -0.00515027 0.58799034] [ 0.02791035 0.00499955 0.99959793 1.57224338] [ 0. 0. 0. 1. ]] SLAMing on 388.59255784400005 meters Centerline goodness : 0.106990 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99732274e-01 -1.68081608e-03 -2.30771643e-02 5.00054350e+00] [ 1.47686190e-03 9.99959729e-01 -8.85212215e-03 5.83143586e-01] [ 2.30911137e-02 8.81567043e-03 9.99694496e-01 1.57236372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.622557844 meters Centerline goodness : 0.156615 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99734385e-01 -1.61224923e-03 -2.29904521e-02 5.00012461e+00] [ 1.41873299e-03 9.99963451e-01 -8.43107207e-03 5.80838878e-01] [ 2.30032049e-02 8.39621534e-03 9.99700133e-01 1.57277201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65255784400006 meters Centerline goodness : 0.160318 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99730518e-01 -1.51289097e-03 -2.31646985e-02 5.00054150e+00] [ 1.32669717e-03 9.99966709e-01 -8.05108507e-03 5.78841084e-01] [ 2.31761078e-02 8.01818290e-03 9.99699243e-01 1.57282072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68255784400003 meters Centerline goodness : 0.120230 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99726599e-01 -1.43739239e-03 -2.33379900e-02 5.00105332e+00] [ 1.25740066e-03 9.99969369e-01 -7.72523599e-03 5.77066879e-01] [ 2.33483793e-02 7.69377870e-03 9.99697784e-01 1.57271885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71255784400006 meters Centerline goodness : 0.154775 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99725626e-01 -1.32489926e-03 -2.33862819e-02 5.00121557e+00] [ 1.15341115e-03 9.99972361e-01 -7.34481675e-03 5.75157580e-01] [ 2.33953667e-02 7.31582752e-03 9.99699523e-01 1.57265611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74255784400003 meters Centerline goodness : 0.152298 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99743735e-01 -1.42036222e-03 -2.25930547e-02 4.99882579e+00] [ 1.26496722e-03 9.99975458e-01 -6.89080387e-03 5.72035623e-01] [ 2.26022877e-02 6.86045853e-03 9.99720996e-01 1.57348620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77255784400006 meters Centerline goodness : 0.149200 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99746284e-01 -1.36175987e-03 -2.24836052e-02 4.99826347e+00] [ 1.21280511e-03 9.99977237e-01 -6.63734603e-03 5.70536250e-01] [ 2.24921319e-02 6.60839380e-03 9.99725179e-01 1.57397236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80255784400003 meters Centerline goodness : 0.148930 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99746314e-01 -1.31093369e-03 -2.24852957e-02 4.99834431e+00] [ 1.16654742e-03 9.99978626e-01 -6.43327944e-03 5.69377687e-01] [ 2.24932487e-02 6.40541724e-03 9.99726475e-01 1.57382748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83255784400006 meters Centerline goodness : 0.152936 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99743636e-01 -1.25618499e-03 -2.26071810e-02 4.99888585e+00] [ 1.11460550e-03 9.99979696e-01 -6.27410073e-03 5.68565194e-01] [ 2.26146034e-02 6.24729419e-03 9.99724738e-01 1.57343933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86255784400004 meters Centerline goodness : 0.152248 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99741188e-01 -1.13656068e-03 -2.27214837e-02 4.99955770e+00] [ 1.00097850e-03 9.99981633e-01 -5.97761861e-03 5.67126493e-01] [ 2.27278603e-02 5.95332781e-03 9.99723963e-01 1.57278956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89255784400007 meters Centerline goodness : 0.153180 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99740182e-01 -1.10227181e-03 -2.27673624e-02 4.99971541e+00] [ 9.69008929e-04 9.99982340e-01 -5.86344502e-03 5.66484227e-01] [ 2.27734235e-02 5.83985982e-03 9.99723595e-01 1.57272678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92255784400004 meters Centerline goodness : 0.152391 Centerline is valid? [False, False] Translation: X:4.98, Y:0.56, Z:1.57 [[ 0.99972905 0.00656569 -0.02233207 4.98050029] [-0.00672242 0.99995325 -0.00695019 0.56114755] [ 0.0222854 0.00709843 0.99972645 1.57045827] [ 0. 0. 0. 1. ]] SLAMing on 388.95255784400007 meters Centerline goodness : 0.150891 Centerline is valid? [False, False] Translation: X:4.98, Y:0.56, Z:1.57 [[ 0.99973183 0.00655984 -0.0222088 4.98028833] [-0.00671559 0.99995333 -0.00694587 0.5610848 ] [ 0.0221622 0.00709315 0.99972923 1.57030659] [ 0. 0. 0. 1. ]] SLAMing on 388.98255784400004 meters Centerline goodness : 0.155644 Centerline is valid? [False, False] Translation: X:4.98, Y:0.56, Z:1.57 [[ 0.99973554 0.00654036 -0.02204686 4.97993037] [-0.00669357 0.99995391 -0.00688281 0.56054093] [ 0.02200082 0.00702856 0.99973325 1.5702137 ] [ 0. 0. 0. 1. ]] SLAMing on 389.01255784400007 meters Centerline goodness : 0.149637 Centerline is valid? [False, False] Translation: X:4.98, Y:0.56, Z:1.57 [[ 0.99973559 0.00654972 -0.02204217 4.97998924] [-0.0067011 0.99995442 -0.00680098 0.55997161] [ 0.02199663 0.00694689 0.99973391 1.57009331] [ 0. 0. 0. 1. ]] SLAMing on 389.04255784400004 meters Centerline goodness : 0.152872 Centerline is valid? [False, False] Translation: X:4.98, Y:0.56, Z:1.57 [[ 0.99973287 0.00651118 -0.02217646 4.98036801] [-0.00666315 0.99995478 -0.00678577 0.55961268] [ 0.02213127 0.00693172 0.99973104 1.56997652] [ 0. 0. 0. 1. ]] SLAMing on 389.0725578440001 meters Centerline goodness : 0.157756 Centerline is valid? [False, False] Translation: X:4.98, Y:0.56, Z:1.57 [[ 0.99972814 0.00648628 -0.02239567 4.98115593] [-0.00663901 0.99995517 -0.00675162 0.55922952] [ 0.02235088 0.00689847 0.99972639 1.56955839] [ 0. 0. 0. 1. ]] SLAMing on 389.10255784400005 meters Centerline goodness : 0.155188 Centerline is valid? [False, False] Translation: X:5.00, Y:0.56, Z:1.57 [[ 9.99702748e-01 -9.30901648e-04 -2.43628501e-02 5.00140682e+00] [ 7.88648110e-04 9.99982590e-01 -5.84791016e-03 5.64909860e-01] [ 2.43678697e-02 5.82695814e-03 9.99686077e-01 1.57118048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1325578440001 meters Centerline goodness : 0.160030 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99686597e-01 -1.01720448e-03 -2.50134704e-02 5.00400067e+00] [ 8.65434498e-04 9.99981157e-01 -6.07760714e-03 5.66498485e-01] [ 2.50191813e-02 6.05405488e-03 9.99668640e-01 1.56960582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16255784400005 meters Centerline goodness : 0.154842 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99687566e-01 -1.12263581e-03 -2.49701761e-02 5.00375327e+00] [ 9.66122250e-04 9.99979819e-01 -6.27920102e-03 5.67446821e-01] [ 2.49767214e-02 6.25311494e-03 9.99668476e-01 1.56981940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1925578440001 meters Centerline goodness : 0.155316 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99692280e-01 -1.21370806e-03 -2.47764531e-02 5.00279081e+00] [ 1.05541477e-03 9.99978957e-01 -6.40093733e-03 5.67920883e-01] [ 2.47837006e-02 6.37281820e-03 9.99672524e-01 1.57052807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22255784400005 meters Centerline goodness : 0.113786 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99697567e-01 -1.30301136e-03 -2.45576239e-02 5.00180316e+00] [ 1.14453474e-03 9.99978439e-01 -6.46620698e-03 5.68178975e-01] [ 2.45655200e-02 6.43614433e-03 9.99677504e-01 1.57123537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2525578440001 meters Centerline goodness : 0.135099 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99715056e-01 -2.34169468e-03 -2.37554703e-02 4.99925724e+00] [ 2.17722627e-03 9.99973500e-01 -6.94689428e-03 5.68245819e-01] [ 2.37711082e-02 6.89319378e-03 9.99693662e-01 1.57168655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28255784400005 meters Centerline goodness : 0.158017 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99715593e-01 -2.63375151e-03 -2.37022347e-02 4.99920035e+00] [ 2.46902783e-03 9.99972617e-01 -6.97629453e-03 5.67586949e-01] [ 2.37199595e-02 6.91578895e-03 9.99694721e-01 1.57139104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.312557844 meters Centerline goodness : 0.108023 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99717500e-01 -2.94759344e-03 -2.35845480e-02 4.99890886e+00] [ 2.78308034e-03 9.99971590e-01 -7.00524657e-03 5.66911141e-01] [ 2.36045266e-02 6.93762990e-03 9.99697302e-01 1.57119790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34255784400005 meters Centerline goodness : 0.154742 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99727823e-01 -3.17397806e-03 -2.31129097e-02 4.99773091e+00] [ 3.01279606e-03 9.99970925e-01 -7.00516446e-03 5.66414025e-01] [ 2.31344719e-02 6.93362333e-03 9.99708318e-01 1.57105878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.372557844 meters Centerline goodness : 0.111251 Centerline is valid? [False, False] Translation: X:4.99, Y:0.57, Z:1.57 [[ 9.99752590e-01 -3.82033321e-03 -2.19126408e-02 4.99428753e+00] [ 3.66269832e-03 9.99967160e-01 -7.22941702e-03 5.66774828e-01] [ 2.19395400e-02 7.14736900e-03 9.99733750e-01 1.57135451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40255784400006 meters Centerline goodness : 0.111251 Centerline is valid? [False, False] Translation: X:4.99, Y:0.57, Z:1.57 [[ 9.99752590e-01 -3.82033321e-03 -2.19126408e-02 4.99428753e+00] [ 3.66269832e-03 9.99967160e-01 -7.22941702e-03 5.66774828e-01] [ 2.19395400e-02 7.14736900e-03 9.99733750e-01 1.57135451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43255784400003 meters Centerline goodness : 0.047465 Centerline is valid? [False, False] Translation: X:4.99, Y:0.57, Z:1.57 [[ 9.99756061e-01 -3.94375835e-03 -2.17316741e-02 4.99379166e+00] [ 3.78256003e-03 9.99965066e-01 -7.45378681e-03 5.67909111e-01] [ 2.17603109e-02 7.36976717e-03 9.99736053e-01 1.57135555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46255784400006 meters Centerline goodness : 0.160777 Centerline is valid? [False, False] Translation: X:4.99, Y:0.57, Z:1.57 [[ 9.99756921e-01 -4.10678951e-03 -2.16617810e-02 4.99368625e+00] [ 3.93792129e-03 9.99961571e-01 -7.83257966e-03 5.69781345e-01] [ 2.16931153e-02 7.74537334e-03 9.99734674e-01 1.57122114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49255784400003 meters Centerline goodness : 0.213550 Centerline is valid? [False, False] Translation: X:4.99, Y:0.57, Z:1.57 [[ 9.99758039e-01 -4.29139861e-03 -2.15742146e-02 4.99354573e+00] [ 4.11261203e-03 9.99956893e-01 -8.32459909e-03 5.72328706e-01] [ 2.16090088e-02 8.23385849e-03 9.99732591e-01 1.57109632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52255784400006 meters Centerline goodness : 0.157577 Centerline is valid? [False, False] Translation: X:4.99, Y:0.57, Z:1.57 [[ 9.99775632e-01 -1.12396541e-03 -2.11523766e-02 4.99232891e+00] [ 1.01135255e-03 9.99985264e-01 -5.33383139e-03 5.74107046e-01] [ 2.11580599e-02 5.31124214e-03 9.99762035e-01 1.57130510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55255784400003 meters Centerline goodness : 0.117756 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.57 [[ 9.99777329e-01 -1.27061270e-03 -2.10636746e-02 4.99193487e+00] [ 1.14888473e-03 9.99982577e-01 -5.79014139e-03 5.76644624e-01] [ 2.10706646e-02 5.76465236e-03 9.99761369e-01 1.57157026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58255784400006 meters Centerline goodness : 0.118928 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.57 [[ 9.99777924e-01 -1.54800001e-03 -2.10168062e-02 4.99183493e+00] [ 1.41438287e-03 9.99978705e-01 -6.37100971e-03 5.79354978e-01] [ 2.10262209e-02 6.33986905e-03 9.99758823e-01 1.57148754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61255784400004 meters Centerline goodness : 0.144970 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.57 [[ 9.99774188e-01 -1.62183826e-03 -2.11882660e-02 4.99244422e+00] [ 1.48662841e-03 9.99978443e-01 -6.39554869e-03 5.79631919e-01] [ 2.11981818e-02 6.36260542e-03 9.99755047e-01 1.57111856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64255784400007 meters Centerline goodness : 0.103599 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.57 [[ 9.99756778e-01 -1.88395273e-03 -2.19735383e-02 4.99472394e+00] [ 1.74506641e-03 9.99978392e-01 -6.33808049e-03 5.78947600e-01] [ 2.19850041e-02 6.29819365e-03 9.99738462e-01 1.57042156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67255784400004 meters Centerline goodness : 0.091933 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99750751e-01 -1.92847003e-03 -2.22422430e-02 4.99534644e+00] [ 1.79097854e-03 9.99979177e-01 -6.19981211e-03 5.78005930e-01] [ 2.22537360e-02 6.15843143e-03 9.99733387e-01 1.57041120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70255784400007 meters Centerline goodness : 0.129397 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99748116e-01 -2.03375718e-03 -2.23510253e-02 4.99575872e+00] [ 1.89803153e-03 9.99979642e-01 -6.09199484e-03 5.76969257e-01] [ 2.23629600e-02 6.04803741e-03 9.99731624e-01 1.57013303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73255784400004 meters Centerline goodness : 0.088396 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99745952e-01 -2.04832657e-03 -2.24462942e-02 4.99612842e+00] [ 1.91589972e-03 9.99980643e-01 -5.91963763e-03 5.75756951e-01] [ 2.24579851e-02 5.87512891e-03 9.99730525e-01 1.56986238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76255784400007 meters Centerline goodness : 0.121031 Centerline is valid? [False, False] Translation: X:4.95, Y:0.58, Z:1.57 [[ 9.99678250e-01 -1.92931861e-03 -2.52918004e-02 4.95098329e+00] [ 1.79448941e-03 9.99984065e-01 -5.35255831e-03 5.75183704e-01] [ 2.53017242e-02 5.30545025e-03 9.99665782e-01 1.56995296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79255784400004 meters Centerline goodness : 0.088722 Centerline is valid? [False, False] Translation: X:4.95, Y:0.57, Z:1.57 [[ 9.99684284e-01 1.47135069e-03 -2.50831947e-02 4.95063101e+00] [-1.51682211e-03 9.99997241e-01 -1.79389439e-03 5.74190421e-01] [ 2.50804860e-02 1.83137478e-03 9.99683758e-01 1.56977266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8225578440001 meters Centerline goodness : 0.147214 Centerline is valid? [False, False] Translation: X:4.95, Y:0.58, Z:1.57 [[ 9.99695399e-01 3.62945795e-03 -2.44118181e-02 4.94811712e+00] [-3.63177586e-03 9.99993404e-01 -5.06151977e-05 5.77058599e-01] [ 2.44114734e-02 1.39258032e-04 9.99701986e-01 1.57075241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85255784400005 meters Centerline goodness : 0.126639 Centerline is valid? [False, False] Translation: X:4.95, Y:0.58, Z:1.57 [[ 9.99697774e-01 3.62613511e-03 -2.43148371e-02 4.94781520e+00] [-3.63384079e-03 9.99993360e-01 -2.72735383e-04 5.78231124e-01] [ 2.43136867e-02 3.61009203e-04 9.99704313e-01 1.57082215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8825578440001 meters Centerline goodness : 0.124537 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99697705e-01 -4.03680150e-03 -2.42528829e-02 4.92898436e+00] [ 4.06423910e-03 9.99991155e-01 1.08212750e-03 5.83653847e-01] [ 2.42483001e-02 -1.18036989e-03 9.99705270e-01 1.56882435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91255784400005 meters Centerline goodness : 0.157186 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99699202e-01 -3.97105522e-03 -2.42020053e-02 4.92897027e+00] [ 3.99858107e-03 9.99991413e-01 1.08904953e-03 5.83981171e-01] [ 2.41974728e-02 -1.18549562e-03 9.99706495e-01 1.56857077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9425578440001 meters Centerline goodness : 0.123429 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99700889e-01 -3.87245485e-03 -2.41482014e-02 4.92914229e+00] [ 3.90576593e-03 9.99991485e-01 1.33243023e-03 5.82915807e-01] [ 2.41428360e-02 -1.42634891e-03 9.99707502e-01 1.56798933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97255784400005 meters Centerline goodness : 0.152085 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99701405e-01 -3.84297171e-03 -2.41315795e-02 4.92913921e+00] [ 3.88061313e-03 9.99991325e-01 1.51320497e-03 5.81869209e-01] [ 2.41255550e-02 -1.60639845e-03 9.99707646e-01 1.56786442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0025578440001 meters Centerline goodness : 0.180076 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99699806e-01 -3.80971158e-03 -2.42029816e-02 4.92915300e+00] [ 3.85370348e-03 9.99991006e-01 1.77124100e-03 5.80571710e-01] [ 2.41960160e-02 -1.86398039e-03 9.99705496e-01 1.56808304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03255784400005 meters Centerline goodness : 0.121547 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99699423e-01 -3.79576775e-03 -2.42209864e-02 4.92911118e+00] [ 3.84371038e-03 9.99990744e-01 1.93313483e-03 5.79647127e-01] [ 2.42134245e-02 -2.02565223e-03 9.99704760e-01 1.56816438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.062557844 meters Centerline goodness : 0.100013 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99694701e-01 -3.81390368e-03 -2.44122650e-02 4.92979916e+00] [ 3.86476067e-03 9.99990458e-01 2.03641381e-03 5.79041833e-01] [ 2.44042654e-02 -2.13013966e-03 9.99699902e-01 1.56779412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09255784400005 meters Centerline goodness : 0.142328 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99693770e-01 -3.85291259e-03 -2.44442662e-02 4.92998645e+00] [ 3.90059039e-03 9.99990582e-01 1.90308881e-03 5.79819327e-01] [ 2.44367036e-02 -1.99785309e-03 9.99699383e-01 1.56760102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.122557844 meters Centerline goodness : 0.131618 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99694969e-01 -3.89468644e-03 -2.43885116e-02 4.92995824e+00] [ 3.93773918e-03 9.99990772e-01 1.71751145e-03 5.80914509e-01] [ 2.43815974e-02 -1.81302315e-03 9.99701081e-01 1.56741591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15255784400006 meters Centerline goodness : 0.132472 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99697149e-01 -3.91511372e-03 -2.42957349e-02 4.92971836e+00] [ 3.95337255e-03 9.99991020e-01 1.52688135e-03 5.82222750e-01] [ 2.42895388e-02 -1.62246903e-03 9.99703649e-01 1.56739610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18255784400003 meters Centerline goodness : 0.127758 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99700226e-01 -3.92972886e-03 -2.41664201e-02 4.92938590e+00] [ 3.96268058e-03 9.99991283e-01 1.31579545e-03 5.83689440e-01] [ 2.41610387e-02 -1.41116481e-03 9.99707084e-01 1.56743705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21255784400006 meters Centerline goodness : 0.091471 Centerline is valid? [False, False] Translation: X:4.93, Y:0.59, Z:1.57 [[ 9.99716853e-01 -1.77064719e-03 -2.37292577e-02 4.92888017e+00] [ 1.84355603e-03 9.99993646e-01 3.05100526e-03 5.87773808e-01] [ 2.37237047e-02 -3.09388760e-03 9.99713766e-01 1.56681475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24255784400003 meters Centerline goodness : 0.092133 Centerline is valid? [False, False] Translation: X:4.93, Y:0.59, Z:1.57 [[ 9.99714848e-01 -1.77888342e-03 -2.38129921e-02 4.92919441e+00] [ 1.84824704e-03 9.99994113e-01 2.89115546e-03 5.88887304e-01] [ 2.38077089e-02 -2.93434334e-03 9.99712250e-01 1.56662090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27255784400006 meters Centerline goodness : 0.087739 Centerline is valid? [False, False] Translation: X:4.93, Y:0.59, Z:1.57 [[ 9.99711120e-01 -1.82379302e-03 -2.39655990e-02 4.92956723e+00] [ 1.88898068e-03 9.99994577e-01 2.69769464e-03 5.90067479e-01] [ 2.39605490e-02 -2.74218588e-03 9.99709144e-01 1.56659051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30255784400003 meters Centerline goodness : 0.090124 Centerline is valid? [False, False] Translation: X:4.93, Y:0.59, Z:1.57 [[ 9.99708201e-01 -1.96861812e-03 -2.40756507e-02 4.92972954e+00] [ 2.02549677e-03 9.99995215e-01 2.33833877e-03 5.91619324e-01] [ 2.40709322e-02 -2.38642159e-03 9.99707405e-01 1.56680018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33255784400006 meters SLAMing on 390.36255784400004 meters Centerline goodness : 0.058465 Centerline is valid? [False, False] Translation: X:4.93, Y:0.60, Z:1.57 [[ 9.99726358e-01 3.95575518e-04 -2.33891484e-02 4.92645627e+00] [-3.02419626e-04 9.99992009e-01 3.98627104e-03 5.97861565e-01] [ 2.33905383e-02 -3.97810690e-03 9.99718489e-01 1.56856415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39255784400007 meters Centerline goodness : 0.144956 Centerline is valid? [False, False] Translation: X:4.97, Y:0.60, Z:1.57 [[ 9.99768440e-01 1.62398699e-03 -2.14576290e-02 4.97030318e+00] [-1.52325759e-03 9.99987748e-01 4.70985091e-03 6.00930973e-01] [ 2.14650148e-02 -4.67607479e-03 9.99758665e-01 1.56890827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42255784400004 meters Centerline goodness : 0.106881 Centerline is valid? [False, False] Translation: X:4.97, Y:0.60, Z:1.57 [[ 9.99767361e-01 1.51803920e-03 -2.15155482e-02 4.97064405e+00] [-1.42781900e-03 9.99990127e-01 4.20799815e-03 6.03842794e-01] [ 2.15217237e-02 -4.17629890e-03 9.99759658e-01 1.56858630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45255784400007 meters Centerline goodness : 0.064186 Centerline is valid? [False, False] Translation: X:4.97, Y:0.61, Z:1.57 [[ 9.99761648e-01 1.39619959e-03 -2.17875429e-02 4.97143687e+00] [-1.32324776e-03 9.99993472e-01 3.36238536e-03 6.08413391e-01] [ 2.17920953e-02 -3.33275361e-03 9.99756969e-01 1.56830673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48255784400004 meters Centerline goodness : 0.039850 Centerline is valid? [False, False] Translation: X:4.97, Y:0.61, Z:1.57 [[ 9.99761469e-01 1.25475362e-03 -2.18043591e-02 4.97142295e+00] [-1.18975845e-03 9.99994812e-01 2.99355098e-03 6.10132871e-01] [ 2.18080021e-02 -2.96689500e-03 9.99757775e-01 1.56834881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51255784400007 meters Centerline goodness : 0.039548 Centerline is valid? [False, False] Translation: X:4.97, Y:0.61, Z:1.57 [[ 9.99763246e-01 1.17386055e-03 -2.17272692e-02 4.97127009e+00] [-1.11459803e-03 9.99995626e-01 2.73947326e-03 6.11453401e-01] [ 2.17303900e-02 -2.71460750e-03 9.99760182e-01 1.56822024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54255784400004 meters Centerline goodness : 0.156368 Centerline is valid? [False, False] Translation: X:4.97, Y:0.61, Z:1.57 [[ 9.99769337e-01 1.04656408e-03 -2.14517701e-02 4.97059262e+00] [-9.93188476e-04 9.99996385e-01 2.49867067e-03 6.12371262e-01] [ 2.14543075e-02 -2.47678866e-03 9.99766762e-01 1.56817033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5725578440001 meters Centerline goodness : 0.213854 Centerline is valid? [False, False] Translation: X:4.97, Y:0.61, Z:1.57 [[ 9.99773367e-01 1.04622579e-03 -2.12631038e-02 4.97007034e+00] [-9.91888631e-04 9.99996216e-01 2.56585272e-03 6.11870211e-01] [ 2.12657078e-02 -2.54418059e-03 9.99770622e-01 1.56826701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60255784400005 meters Centerline goodness : 0.094552 Centerline is valid? [False, False] Translation: X:4.97, Y:0.61, Z:1.57 [[ 9.99774000e-01 1.06263835e-03 -2.12325216e-02 4.96998763e+00] [-1.00711584e-03 9.99996046e-01 2.62549660e-03 6.11562601e-01] [ 2.12352276e-02 -2.60351963e-03 9.99771117e-01 1.56830517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6325578440001 meters Centerline goodness : 0.120739 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 9.99706547e-01 1.14824596e-03 -2.41971563e-02 4.92518841e+00] [-1.07905674e-03 9.99995293e-01 2.87225798e-03 6.10735247e-01] [ 2.42003405e-02 -2.84530500e-03 9.99703080e-01 1.56826440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66255784400005 meters Centerline goodness : 0.115441 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 9.99699303e-01 1.16576440e-03 -2.44937499e-02 4.92629865e+00] [-1.09631290e-03 9.99995341e-01 2.84871547e-03 6.10925773e-01] [ 2.44969568e-02 -2.82100606e-03 9.99695924e-01 1.56763424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6925578440001 meters Centerline goodness : 0.160083 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 9.99688924e-01 1.17612905e-03 -2.49132718e-02 4.92777964e+00] [-1.10703992e-03 9.99995504e-01 2.78679646e-03 6.11174049e-01] [ 2.49164374e-02 -2.75834957e-03 9.99685732e-01 1.56689216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72255784400005 meters Centerline goodness : 0.158076 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 9.99664798e-01 1.49754970e-03 -2.58466522e-02 4.93067069e+00] [-1.42959509e-03 9.99995474e-01 2.64742349e-03 6.12715144e-01] [ 2.58504999e-02 -2.60958582e-03 9.99662414e-01 1.56579267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7525578440001 meters Centerline goodness : 0.120020 Centerline is valid? [False, False] Translation: X:4.88, Y:0.61, Z:1.57 [[ 9.99608172e-01 2.07164548e-03 -2.79143436e-02 4.88411803e+00] [-1.98856268e-03 9.99993511e-01 3.00377968e-03 6.13169376e-01] [ 2.79203852e-02 -2.94709329e-03 9.99605806e-01 1.56612779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78255784400005 meters Centerline goodness : 0.114413 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99671992e-01 2.90347848e-03 -2.54456054e-02 4.92496852e+00] [-2.82906565e-03 9.99991618e-01 2.95989982e-03 6.15876860e-01] [ 2.54539862e-02 -2.88694166e-03 9.99671826e-01 1.56827929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8125578440001 meters Centerline goodness : 0.116294 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99687940e-01 2.92950810e-03 -2.48080695e-02 4.92300931e+00] [-2.86314037e-03 9.99992228e-01 2.71034500e-03 6.17394761e-01] [ 2.48158167e-02 -2.63847022e-03 9.99688558e-01 1.56888538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84255784400005 meters Centerline goodness : 0.117000 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99701441e-01 3.32635040e-03 -2.42067036e-02 4.92113610e+00] [-3.26607125e-03 9.99991468e-01 2.52929446e-03 6.19999577e-01] [ 2.42149104e-02 -2.44947850e-03 9.99703775e-01 1.56942126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.872557844 meters Centerline goodness : 0.164962 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99699006e-01 3.32941621e-03 -2.43066514e-02 4.92147475e+00] [-3.27651901e-03 9.99992177e-01 2.21574626e-03 6.22022372e-01] [ 2.43138384e-02 -2.13543813e-03 9.99702094e-01 1.56919379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90255784400006 meters Centerline goodness : 0.116037 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99697064e-01 3.31142224e-03 -2.43888207e-02 4.92182850e+00] [-3.26600407e-03 9.99992858e-01 1.90185145e-03 6.23921035e-01] [ 2.43949443e-02 -1.82162132e-03 9.99700739e-01 1.56886811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93255784400003 meters Centerline goodness : 0.157547 Centerline is valid? [False, False] Translation: X:4.92, Y:0.63, Z:1.57 [[ 9.99694526e-01 3.40718982e-03 -2.44794931e-02 4.92219311e+00] [-3.37127942e-03 9.99993180e-01 1.50807872e-03 6.26536226e-01] [ 2.44844645e-02 -1.42509083e-03 9.99699195e-01 1.56848728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96255784400006 meters Centerline goodness : 0.156332 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99687507e-01 -4.06286410e-03 -2.46654018e-02 4.94125086e+00] [ 4.12748089e-03 9.99988181e-01 2.56938828e-03 6.32767967e-01] [ 2.46546712e-02 -2.67039134e-03 9.99692461e-01 1.57009694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99255784400003 meters Centerline goodness : 0.162172 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99689386e-01 -4.10142816e-03 -2.45827241e-02 4.94095088e+00] [ 4.16302201e-03 9.99988321e-01 2.45492113e-03 6.33396278e-01] [ 2.45723683e-02 -2.55649701e-03 9.99694785e-01 1.57022587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02255784400006 meters Centerline goodness : 0.165801 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99691000e-01 -4.09526662e-03 -2.45180074e-02 4.94067491e+00] [ 4.15624622e-03 9.99988394e-01 2.43669247e-03 6.33615675e-01] [ 2.45077439e-02 -2.53784241e-03 9.99696419e-01 1.57038334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05255784400003 meters Centerline goodness : 0.160576 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99691259e-01 -4.04508811e-03 -2.45157879e-02 4.94068434e+00] [ 4.10843354e-03 9.99988350e-01 2.53404513e-03 6.33253361e-01] [ 2.45052518e-02 -2.63398425e-03 9.99696231e-01 1.57037243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08255784400006 meters Centerline goodness : 0.161273 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99694796e-01 -4.01589347e-03 -2.43759590e-02 4.94060493e+00] [ 4.08013023e-03 9.99988332e-01 2.58608661e-03 6.33206177e-01] [ 2.43652891e-02 -2.68475441e-03 9.99699517e-01 1.56993940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11255784400004 meters Centerline goodness : 0.159875 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99695584e-01 -4.01212529e-03 -2.43442412e-02 4.94071417e+00] [ 4.07605957e-03 9.99988372e-01 2.57720558e-03 6.33357699e-01] [ 2.43336181e-02 -2.67564962e-03 9.99700313e-01 1.56961720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14255784400007 meters Centerline goodness : 0.157972 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99698664e-01 -4.01714141e-03 -2.42166005e-02 4.94058904e+00] [ 4.07991307e-03 9.99988443e-01 2.54324171e-03 6.33544699e-01] [ 2.42061040e-02 -2.64127696e-03 9.99703500e-01 1.56929903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17255784400004 meters Centerline goodness : 0.157803 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99699116e-01 -4.01048163e-03 -2.41990314e-02 4.94061959e+00] [ 4.07264874e-03 9.99988531e-01 2.52025422e-03 6.33741059e-01] [ 2.41886464e-02 -2.61805007e-03 9.99703984e-01 1.56913625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20255784400007 meters Centerline goodness : 0.156314 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99700135e-01 -3.93047062e-03 -2.41700665e-02 4.94063702e+00] [ 3.99359166e-03 9.99988739e-01 2.56382279e-03 6.33886669e-01] [ 2.41597172e-02 -2.65957937e-03 9.99704574e-01 1.56900363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23255784400004 meters Centerline goodness : 0.161130 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99700481e-01 -3.90340867e-03 -2.41601128e-02 4.94060532e+00] [ 3.96740178e-03 9.99988746e-01 2.60134236e-03 6.33638485e-01] [ 2.41496868e-02 -2.69641608e-03 9.99704717e-01 1.56898834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26255784400007 meters Centerline goodness : 0.107984 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99699845e-01 -3.90658311e-03 -2.41859064e-02 4.94078036e+00] [ 3.97079034e-03 9.99988717e-01 2.60728111e-03 6.33383043e-01] [ 2.41754480e-02 -2.70253568e-03 9.99704078e-01 1.56882094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29255784400004 meters Centerline goodness : 0.107984 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99699845e-01 -3.90658311e-03 -2.41859064e-02 4.94078036e+00] [ 3.97079034e-03 9.99988717e-01 2.60728111e-03 6.33383043e-01] [ 2.41754480e-02 -2.70253568e-03 9.99704078e-01 1.56882094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3225578440001 meters Centerline goodness : 0.161080 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99698343e-01 -3.92576753e-03 -2.42448313e-02 4.94124017e+00] [ 3.98932668e-03 9.99988730e-01 2.57374354e-03 6.33345961e-01] [ 2.42344542e-02 -2.66968771e-03 9.99702738e-01 1.56830737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35255784400005 meters Centerline goodness : 0.150272 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99693915e-01 -3.89821637e-03 -2.44311506e-02 4.94228554e+00] [ 3.96267027e-03 9.99988794e-01 2.59032715e-03 6.33160019e-01] [ 2.44207791e-02 -2.68634689e-03 9.99698159e-01 1.56734830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3825578440001 meters SLAMing on 391.41255784400005 meters Centerline goodness : 0.158126 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99691512e-01 -3.85984591e-03 -2.45353286e-02 4.94259495e+00] [ 3.92422322e-03 9.99988982e-01 2.57625488e-03 6.33448081e-01] [ 2.45251143e-02 -2.67174225e-03 9.99695644e-01 1.56722424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4425578440001 meters Centerline goodness : 0.155543 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99687231e-01 -3.87188971e-03 -2.47072607e-02 4.94314362e+00] [ 3.93531129e-03 9.99989084e-01 2.51881409e-03 6.33715753e-01] [ 2.46972384e-02 -2.61525705e-03 9.99691556e-01 1.56699630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47255784400005 meters Centerline goodness : 0.109354 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.57 [[ 9.99656580e-01 4.38718798e-03 -2.58355308e-02 4.96584908e+00] [-4.35288041e-03 9.99989568e-01 1.38401176e-03 6.30560445e-01] [ 2.58413332e-02 -1.27107749e-03 9.99665249e-01 1.56809486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5025578440001 meters Centerline goodness : 0.159600 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.57 [[ 9.99654920e-01 4.38282668e-03 -2.59004078e-02 4.96626216e+00] [-4.35004026e-03 9.99989665e-01 1.32207309e-03 6.30897420e-01] [ 2.59059345e-02 -1.20894905e-03 9.99663654e-01 1.56765176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53255784400005 meters Centerline goodness : 0.153139 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.57 [[ 9.99657341e-01 4.39578189e-03 -2.58046195e-02 4.96623040e+00] [-4.36304883e-03 9.99989604e-01 1.32466225e-03 6.31002922e-01] [ 2.58101742e-02 -1.21162153e-03 9.99666128e-01 1.56729341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5625578440001 meters Centerline goodness : 0.160015 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.57 [[ 9.99669319e-01 -3.16739779e-03 -2.55190212e-02 4.98421001e+00] [ 3.23510726e-03 9.99991355e-01 2.61244605e-03 6.36428900e-01] [ 2.55105259e-02 -2.69413894e-03 9.99670923e-01 1.56925540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59255784400005 meters Centerline goodness : 0.154262 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.57 [[ 9.99691677e-01 4.72637086e-03 -2.43764663e-02 4.96383562e+00] [-4.68380020e-03 9.99987405e-01 1.80318377e-03 6.30831302e-01] [ 2.43846818e-02 -1.68845331e-03 9.99701224e-01 1.56775341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.622557844 meters Centerline goodness : 0.164988 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.57 [[ 9.99696002e-01 4.70487770e-03 -2.42026481e-02 4.96336840e+00] [-4.66389015e-03 9.99987593e-01 1.74968444e-03 6.31076759e-01] [ 2.42105798e-02 -1.63627405e-03 9.99705542e-01 1.56777141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65255784400006 meters Centerline goodness : 0.160512 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.57 [[ 9.99727162e-01 -2.93974629e-03 -2.31723956e-02 4.98194858e+00] [ 3.00507927e-03 9.99991606e-01 2.78511368e-03 6.38320980e-01] [ 2.31640136e-02 -2.85398868e-03 9.99727605e-01 1.56899531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68255784400003 meters Centerline goodness : 0.156185 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.57 [[ 9.99733602e-01 -2.97483135e-03 -2.28883448e-02 4.98114622e+00] [ 3.03547473e-03 9.99991973e-01 2.61524409e-03 6.39368456e-01] [ 2.28803812e-02 -2.68402439e-03 9.99734607e-01 1.56909315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71255784400006 meters Centerline goodness : 0.156876 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.57 [[ 9.99738713e-01 -3.06725354e-03 -2.26516601e-02 4.98033850e+00] [ 3.12165629e-03 9.99992327e-01 2.36674211e-03 6.40727577e-01] [ 2.26442269e-02 -2.43683440e-03 9.99740617e-01 1.56940546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74255784400003 meters Centerline goodness : 0.119940 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99739052e-01 5.01062089e-03 -2.22872603e-02 4.95967423e+00] [-4.98130772e-03 9.99986654e-01 1.37056643e-03 6.36251950e-01] [ 2.22938302e-02 -1.25918908e-03 9.99750669e-01 1.56821618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77255784400006 meters Centerline goodness : 0.163224 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99743693e-01 4.86232131e-03 -2.21112442e-02 4.95892405e+00] [-4.84007298e-03 9.99987725e-01 1.05960526e-03 6.37641198e-01] [ 2.21161249e-02 -9.52313639e-04 9.99754955e-01 1.56869575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80255784400003 meters Centerline goodness : 0.163820 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99739020e-01 4.79428752e-03 -2.23362183e-02 4.95975598e+00] [-4.77436650e-03 9.99988156e-01 9.45112868e-04 6.37993552e-01] [ 2.23404849e-02 -8.38224920e-04 9.99750069e-01 1.56823664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83255784400006 meters Centerline goodness : 0.162465 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.57 [[ 9.99730211e-01 -2.67726402e-03 -2.30724349e-02 4.97985454e+00] [ 2.72065039e-03 9.99994589e-01 1.84925669e-03 6.44132552e-01] [ 2.30673592e-02 -1.91152981e-03 9.99732086e-01 1.56922958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86255784400004 meters Centerline goodness : 0.162094 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.57 [[ 9.99658028e-01 -2.64761582e-03 -2.60156994e-02 4.93537842e+00] [ 2.70515514e-03 9.99993972e-01 2.17677011e-03 6.41157889e-01] [ 2.60097794e-02 -2.24640222e-03 9.99659164e-01 1.56871308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89255784400007 meters Centerline goodness : 0.168953 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.57 [[ 9.99663288e-01 -2.61681614e-03 -2.58159518e-02 4.93466495e+00] [ 2.67216266e-03 9.99994205e-01 2.10962329e-03 6.41776251e-01] [ 2.58102817e-02 -2.17789738e-03 9.99664487e-01 1.56904372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92255784400004 meters Centerline goodness : 0.107585 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.57 [[ 9.99676275e-01 5.50815048e-03 -2.48396040e-02 4.95420911e+00] [-5.49200750e-03 9.99984661e-01 7.18062823e-04 6.39764537e-01] [ 2.48431782e-02 -5.81411077e-04 9.99691192e-01 1.57107159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95255784400007 meters Centerline goodness : 0.103866 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.57 [[ 9.99676161e-01 5.48229112e-03 -2.48499003e-02 4.95418988e+00] [-5.46873856e-03 9.99984858e-01 6.13303725e-04 6.40384867e-01] [ 2.48528863e-02 -4.77207506e-04 9.99691005e-01 1.57114174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98255784400004 meters Centerline goodness : 0.160646 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.57 [[ 9.99602231e-01 -2.33969563e-03 -2.81052454e-02 4.93567220e+00] [ 2.39275195e-03 9.99995418e-01 1.85428993e-03 6.43758650e-01] [ 2.81007781e-02 -1.92080124e-03 9.99603250e-01 1.56958287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01255784400007 meters Centerline goodness : 0.108490 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.57 [[ 9.99591883e-01 -2.36420545e-03 -2.84688778e-02 4.93712283e+00] [ 2.41448405e-03 9.99995585e-01 1.73184388e-03 6.44270996e-01] [ 2.84646577e-02 -1.79987474e-03 9.99593179e-01 1.56864734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04255784400004 meters Centerline goodness : 0.166496 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.57 [[ 9.99588689e-01 -2.33974136e-03 -2.85828516e-02 4.93768412e+00] [ 2.39087972e-03 9.99995602e-01 1.75508234e-03 6.44140809e-01] [ 2.85786195e-02 -1.82269862e-03 9.99589886e-01 1.56818989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0725578440001 meters Centerline goodness : 0.157545 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.57 [[ 9.99589591e-01 -2.30135499e-03 -2.85543815e-02 4.93773396e+00] [ 2.35334726e-03 9.99995634e-01 1.78734330e-03 6.44126129e-01] [ 2.85501435e-02 -1.85380813e-03 9.99590643e-01 1.56795834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10255784400005 meters Centerline goodness : 0.167107 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.57 [[ 9.99591854e-01 -2.15134984e-03 -2.84867844e-02 4.93764007e+00] [ 2.20715590e-03 9.99995706e-01 1.92771694e-03 6.44132477e-01] [ 2.84825149e-02 -1.98980493e-03 9.99592310e-01 1.56779819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1325578440001 meters Centerline goodness : 0.162501 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99583523e-01 5.94898820e-03 -2.82380971e-02 4.95830155e+00] [-5.93056832e-03 9.99982143e-01 7.36012459e-04 6.41020186e-01] [ 2.82419714e-02 -5.68237963e-04 9.99600954e-01 1.56925911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16255784400005 meters Centerline goodness : 0.160151 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99580709e-01 5.93492214e-03 -2.83404740e-02 4.95880129e+00] [-5.91585463e-03 9.99982215e-01 7.56600366e-04 6.40659642e-01] [ 2.83444603e-02 -5.88625006e-04 9.99598042e-01 1.56888321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1925578440001 meters Centerline goodness : 0.156595 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99579172e-01 5.94250674e-03 -2.83930571e-02 4.95917068e+00] [-5.92154309e-03 9.99982129e-01 8.22363372e-04 6.40213510e-01] [ 2.83974366e-02 -6.53886587e-04 9.99596498e-01 1.56848295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22255784400005 meters Centerline goodness : 0.111022 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99581161e-01 6.02033183e-03 -2.83064973e-02 4.95886497e+00] [-5.99396600e-03 9.99981520e-01 1.01620050e-03 6.39405588e-01] [ 2.83120920e-02 -8.46106696e-04 9.99598774e-01 1.56864084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2525578440001 meters Centerline goodness : 0.090394 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.57 [[ 9.99634924e-01 4.12396958e-03 -2.67022907e-02 4.95159961e+00] [-4.13736306e-03 9.99991341e-01 -4.46356176e-04 6.37120020e-01] [ 2.67002187e-02 5.56670293e-04 9.99643331e-01 1.57261292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28255784400005 meters Centerline goodness : 0.163625 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.57 [[ 9.99677947e-01 -4.00746739e-03 -2.50587792e-02 4.97089149e+00] [ 4.02540699e-03 9.99991677e-01 6.65497740e-04 6.39481918e-01] [ 2.50559037e-02 -7.66155200e-04 9.99685758e-01 1.57435037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3125578440001 meters Centerline goodness : 0.157429 Centerline is valid? [False, False] Translation: X:4.99, Y:0.64, Z:1.58 [[ 9.99707063e-01 3.65903940e-03 -2.39248809e-02 4.98930797e+00] [-3.68100592e-03 9.99992843e-01 -8.74169738e-04 6.35012982e-01] [ 2.39215111e-02 9.61981290e-04 9.99713377e-01 1.57648735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34255784400005 meters Centerline goodness : 0.163463 Centerline is valid? [False, False] Translation: X:4.99, Y:0.63, Z:1.58 [[ 9.99707391e-01 3.79300993e-03 -2.38902919e-02 4.98945084e+00] [-3.80686631e-03 9.99992611e-01 -5.34546795e-04 6.33367864e-01] [ 2.38880878e-02 6.25337529e-04 9.99714443e-01 1.57615692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.372557844 meters Centerline goodness : 0.164820 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.57 [[ 9.99682772e-01 -4.77309715e-03 -2.47299856e-02 4.96832565e+00] [ 4.79410611e-03 9.99988196e-01 7.90315121e-04 6.33653233e-01] [ 2.47259215e-02 -9.08622587e-04 9.99693855e-01 1.57455879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40255784400006 meters Centerline goodness : 0.156046 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.57 [[ 9.99683229e-01 -4.72076490e-03 -2.47215543e-02 4.96829962e+00] [ 4.74524453e-03 9.99988307e-01 9.31643604e-04 6.32859289e-01] [ 2.47168671e-02 -1.04865831e-03 9.99693942e-01 1.57458092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.43255784400003 meters Centerline goodness : 0.162307 Centerline is valid? [False, False] Translation: X:4.99, Y:0.63, Z:1.58 [[ 9.99700249e-01 3.26311127e-03 -2.42644591e-02 4.98808980e+00] [-3.27501305e-03 9.99994536e-01 -4.50779303e-04 6.29897893e-01] [ 2.42628556e-02 5.30110602e-04 9.99705473e-01 1.57647753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46255784400006 meters Centerline goodness : 0.164627 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.58 [[ 9.99635255e-01 3.06411212e-03 -2.68322107e-02 4.94147385e+00] [-3.07075577e-03 9.99995264e-01 -2.06398218e-04 6.26747453e-01] [ 2.68314512e-02 2.88718102e-04 9.99639930e-01 1.57724368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49255784400003 meters Centerline goodness : 0.141952 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.58 [[ 9.99646517e-01 3.17506333e-03 -2.63962037e-02 4.93989140e+00] [-3.18050287e-03 9.99994929e-01 -1.64091321e-04 6.27094648e-01] [ 2.63955489e-02 2.47986520e-04 9.99651546e-01 1.57803096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52255784400006 meters Centerline goodness : 0.161005 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.58 [[ 9.99646208e-01 3.19031481e-03 -2.64060553e-02 4.93996388e+00] [-3.19437511e-03 9.99994892e-01 -1.11582449e-04 6.26743650e-01] [ 2.64055644e-02 1.95893818e-04 9.99651293e-01 1.57793276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55255784400003 meters Centerline goodness : 0.124165 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.58 [[ 9.99639545e-01 3.20921706e-03 -2.66548597e-02 4.94091693e+00] [-3.21025248e-03 9.99994847e-01 3.94677079e-06 6.25962258e-01] [ 2.66547351e-02 8.16234814e-05 9.99644696e-01 1.57740832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58255784400006 meters Centerline goodness : 0.159655 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99626783e-01 3.34639551e-03 -2.71126546e-02 4.94272086e+00] [-3.33613428e-03 9.99994345e-01 4.23691733e-04 6.23784093e-01] [ 2.71139191e-02 -3.33082148e-04 9.99632295e-01 1.57638077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61255784400004 meters Centerline goodness : 0.151797 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99629067e-01 3.41455446e-03 -2.70198041e-02 4.94246297e+00] [-3.39884277e-03 9.99994027e-01 6.27393001e-04 6.22650595e-01] [ 2.70217850e-02 -5.35324214e-04 9.99634702e-01 1.57645140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64255784400007 meters Centerline goodness : 0.163072 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99631603e-01 3.46357781e-03 -2.69195510e-02 4.94199803e+00] [-3.44298603e-03 9.99993744e-01 8.11250799e-04 6.21481401e-01] [ 2.69221924e-02 -7.18268299e-04 9.99637274e-01 1.57682861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67255784400004 meters Centerline goodness : 0.158739 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99631205e-01 3.47923330e-03 -2.69323002e-02 4.94185037e+00] [-3.45612986e-03 9.99993619e-01 9.04335628e-04 6.20696234e-01] [ 2.69352748e-02 -8.10920587e-04 9.99636851e-01 1.57712116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70255784400007 meters Centerline goodness : 0.158480 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99625415e-01 3.58792607e-03 -2.71322089e-02 4.94263725e+00] [-3.56185598e-03 9.99993147e-01 1.00912235e-03 6.20336765e-01] [ 2.71356437e-02 -9.12103324e-04 9.99631345e-01 1.57660312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73255784400004 meters Centerline goodness : 0.152838 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99619780e-01 3.61286128e-03 -2.73357301e-02 4.94356306e+00] [-3.58795991e-03 9.99993103e-01 9.59940186e-04 6.20718209e-01] [ 2.73390097e-02 -8.61495694e-04 9.99625848e-01 1.57588809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76255784400007 meters Centerline goodness : 0.154990 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99613216e-01 3.65119305e-03 -2.75696831e-02 4.94445563e+00] [-3.62781975e-03 9.99993016e-01 8.97761042e-04 6.21244819e-01] [ 2.75727685e-02 -7.97395962e-04 9.99619481e-01 1.57537090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79255784400004 meters Centerline goodness : 0.158435 Centerline is valid? [False, False] Translation: X:4.95, Y:0.62, Z:1.57 [[ 9.99605098e-01 3.69277334e-03 -2.78569834e-02 4.94571161e+00] [-3.67272246e-03 9.99992958e-01 7.70910706e-04 6.21834833e-01] [ 2.78596340e-02 -6.68295303e-04 9.99611622e-01 1.57441241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8225578440001 meters Centerline goodness : 0.160930 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99571850e-01 -5.07934954e-03 -2.88152227e-02 4.92443166e+00] [ 5.12761396e-03 9.99985572e-01 1.60131765e-03 6.24167451e-01] [ 2.88066733e-02 -1.74838539e-03 9.99583473e-01 1.57324868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85255784400005 meters Centerline goodness : 0.128431 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99573346e-01 -5.02330097e-03 -2.87731240e-02 4.92424565e+00] [ 5.07603012e-03 9.99985568e-01 1.75983442e-03 6.23477625e-01] [ 2.87638686e-02 -1.90513682e-03 9.99584419e-01 1.57339833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8825578440001 meters Centerline goodness : 0.162687 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99569111e-01 -4.94854447e-03 -2.89327529e-02 4.92479793e+00] [ 5.00827891e-03 9.99985473e-01 1.99249316e-03 6.22413425e-01] [ 2.89224727e-02 -2.13653791e-03 9.99579374e-01 1.57320174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91255784400005 meters Centerline goodness : 0.160746 Centerline is valid? [False, False] Translation: X:4.90, Y:0.62, Z:1.57 [[ 9.99560834e-01 -2.88513723e-05 -2.96334148e-02 4.90392942e+00] [-1.89621828e-05 9.99998699e-01 -1.61321908e-03 6.15757924e-01] [ 2.96334227e-02 1.61307252e-03 9.99559532e-01 1.57210356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9425578440001 meters Centerline goodness : 0.129743 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 0.99958353 0.00547164 -0.02833413 4.92595421] [-0.00562119 0.99997068 -0.00520107 0.61433817] [ 0.02830484 0.00535817 0.99958498 1.57251039] [ 0. 0. 0. 1. ]] SLAMing on 392.97255784400005 meters Centerline goodness : 0.138142 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 0.99958194 0.00551237 -0.02838223 4.92569323] [-0.00565596 0.9999716 -0.00498154 0.61300164] [ 0.02835397 0.00513998 0.99958473 1.57314049] [ 0. 0. 0. 1. ]] SLAMing on 393.0025578440001 meters Centerline goodness : 0.157388 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 9.99581546e-01 5.57029491e-03 -2.83849448e-02 4.92551396e+00] [-5.71068051e-03 9.99971849e-01 -4.86711357e-03 6.12610151e-01] [ 2.83570345e-02 5.02717426e-03 9.99585217e-01 1.57345404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03255784400005 meters Centerline goodness : 0.128489 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 0.99958071 0.00564903 -0.0283987 4.92560413] [-0.00579134 0.99997107 -0.00493141 0.61367977] [ 0.02837002 0.00509381 0.99958451 1.57334161] [ 0. 0. 0. 1. ]] SLAMing on 393.0625578440001 meters Centerline goodness : 0.168412 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 0.99958263 0.0056058 -0.02833961 4.92549136] [-0.00575284 0.9999704 -0.00510964 0.61471956] [ 0.02831012 0.00527054 0.99958529 1.57328807] [ 0. 0. 0. 1. ]] SLAMing on 393.09255784400005 meters Centerline goodness : 0.164561 Centerline is valid? [False, False] Translation: X:4.93, Y:0.62, Z:1.57 [[ 0.99958648 0.0055183 -0.02822081 4.9251307 ] [-0.00567304 0.9999693 -0.00540595 0.6162266 ] [ 0.02819011 0.00556382 0.9995871 1.57335602] [ 0. 0. 0. 1. ]] SLAMing on 393.122557844 meters Centerline goodness : 0.165119 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 0.99959814 0.00563075 -0.02778242 4.92363222] [-0.00579585 0.999966 -0.00586562 0.61954497] [ 0.02774845 0.00602428 0.99959678 1.57386158] [ 0. 0. 0. 1. ]] SLAMing on 393.15255784400006 meters Centerline goodness : 0.166258 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 0.99960073 0.00549339 -0.02771661 4.92343461] [-0.00566991 0.99996412 -0.00629438 0.62171071] [ 0.02768104 0.00644902 0.999596 1.57384256] [ 0. 0. 0. 1. ]] SLAMing on 393.18255784400003 meters Centerline goodness : 0.165473 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 0.9996033 0.00534474 -0.02765281 4.92323996] [-0.00553182 0.9999623 -0.00669305 0.62356437] [ 0.02761599 0.00684337 0.99959518 1.57383961] [ 0. 0. 0. 1. ]] SLAMing on 393.21255784400006 meters Centerline goodness : 0.165473 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 0.9996033 0.00534474 -0.02765281 4.92323996] [-0.00553182 0.9999623 -0.00669305 0.62356437] [ 0.02761599 0.00684337 0.99959518 1.57383961] [ 0. 0. 0. 1. ]] SLAMing on 393.24255784400003 meters Centerline goodness : 0.158254 Centerline is valid? [False, False] Translation: X:4.92, Y:0.63, Z:1.57 [[ 0.9996059 0.00521694 -0.02758298 4.92298751] [-0.00541342 0.99996047 -0.00705351 0.62539848] [ 0.02754509 0.00720005 0.99959463 1.57389748] [ 0. 0. 0. 1. ]] SLAMing on 393.27255784400006 meters Centerline goodness : 0.156191 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99657937e-01 -4.64924579e-05 -2.61535222e-02 4.94323417e+00] [-5.29935203e-05 9.99992766e-01 -3.80321679e-03 6.33623987e-01] [ 2.61535098e-02 3.80330182e-03 9.99650703e-01 1.57467490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30255784400003 meters Centerline goodness : 0.162457 Centerline is valid? [False, False] Translation: X:4.90, Y:0.63, Z:1.58 [[ 9.99599516e-01 -3.74217701e-05 -2.82985057e-02 4.89611891e+00] [-5.96248057e-05 9.99994121e-01 -3.42853712e-03 6.32446837e-01] [ 2.82984676e-02 3.42885134e-03 9.99593637e-01 1.57537060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33255784400006 meters Centerline goodness : 0.159421 Centerline is valid? [False, False] Translation: X:4.91, Y:0.64, Z:1.58 [[ 9.99580254e-01 -7.63096445e-03 -2.79478792e-02 4.91448937e+00] [ 7.56693476e-03 9.99968500e-01 -2.39608522e-03 6.40631977e-01] [ 2.79652832e-02 2.18359969e-03 9.99606510e-01 1.57767273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36255784400004 meters Centerline goodness : 0.166160 Centerline is valid? [False, False] Translation: X:4.89, Y:0.64, Z:1.58 [[ 9.99610312e-01 1.93069206e-04 -2.79139131e-02 4.89498802e+00] [-2.95972015e-04 9.99993176e-01 -3.68234971e-03 6.36287718e-01] [ 2.79130116e-02 3.68917648e-03 9.99603548e-01 1.57617990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39255784400007 meters Centerline goodness : 0.158832 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.58 [[ 9.99656955e-01 4.74739713e-04 -2.61867709e-02 4.93888188e+00] [-5.72872981e-04 9.99992842e-01 -3.74006192e-03 6.43569066e-01] [ 2.61848079e-02 3.75378061e-03 9.99650071e-01 1.57715185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42255784400004 meters Centerline goodness : 0.169642 Centerline is valid? [False, False] Translation: X:4.89, Y:0.64, Z:1.58 [[ 9.99576839e-01 1.34328152e-04 -2.90882429e-02 4.89391010e+00] [-2.38270033e-04 9.99993600e-01 -3.56989296e-03 6.41008735e-01] [ 2.90875772e-02 3.57531318e-03 9.99570473e-01 1.57699892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45255784400007 meters Centerline goodness : 0.160793 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99562672e-01 -9.37085083e-05 -2.95711899e-02 4.89546424e+00] [-1.87541368e-05 9.99992769e-01 -3.80281504e-03 6.41409576e-01] [ 2.95713325e-02 3.80170655e-03 9.99555443e-01 1.57652447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48255784400004 meters Centerline goodness : 0.105864 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99561989e-01 -1.08823325e-04 -2.95942381e-02 4.89543984e+00] [-3.49907881e-06 9.99992798e-01 -3.79533635e-03 6.41310861e-01] [ 2.95944379e-02 3.79377751e-03 9.99554789e-01 1.57664930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51255784400007 meters Centerline goodness : 0.163154 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99560706e-01 -9.48439256e-05 -2.96375794e-02 4.89527793e+00] [-1.75392061e-05 9.99992812e-01 -3.79163034e-03 6.41493890e-01] [ 2.96377259e-02 3.79048451e-03 9.99553519e-01 1.57705705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54255784400004 meters Centerline goodness : 0.167294 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99557829e-01 -1.07095233e-04 -2.97344052e-02 4.89549167e+00] [-7.69819356e-06 9.99992548e-01 -3.86048499e-03 6.42032955e-01] [ 2.97345970e-02 3.85900690e-03 9.99550380e-01 1.57709639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5725578440001 meters Centerline goodness : 0.163167 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99547799e-01 -1.45713714e-04 -3.00695278e-02 4.89687688e+00] [ 2.49342888e-05 9.99991931e-01 -4.01700772e-03 6.42832192e-01] [ 3.00698705e-02 4.01444146e-03 9.99539738e-01 1.57620075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60255784400005 meters Centerline goodness : 0.165526 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99547033e-01 -1.72209331e-04 -3.00948467e-02 4.89728121e+00] [ 5.03492486e-05 9.99991798e-01 -4.04991188e-03 6.42824717e-01] [ 3.00952973e-02 4.04656215e-03 9.99538843e-01 1.57565979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6325578440001 meters Centerline goodness : 0.166749 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99551681e-01 -1.66871251e-04 -2.99401050e-02 4.89671877e+00] [ 4.61944805e-05 9.99991873e-01 -4.03125255e-03 6.42674054e-01] [ 2.99405344e-02 4.02806219e-03 9.99543565e-01 1.57590511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66255784400005 meters Centerline goodness : 0.166562 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99556843e-01 -1.29298838e-04 -2.97674606e-02 4.89595522e+00] [ 1.21974764e-05 9.99992262e-01 -3.93401937e-03 6.42232097e-01] [ 2.97677389e-02 3.93191289e-03 9.99549109e-01 1.57643368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6925578440001 meters Centerline goodness : 0.168667 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99553711e-01 8.80037848e-06 -2.98727125e-02 4.89582522e+00] [-1.15133025e-04 9.99993664e-01 -3.55780612e-03 6.40366708e-01] [ 2.98724920e-02 3.55965764e-03 9.99547379e-01 1.57711585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72255784400005 meters Centerline goodness : 0.170091 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99552125e-01 1.05228703e-04 -2.99255428e-02 4.89599170e+00] [-2.03757873e-04 9.99994569e-01 -3.28944687e-03 6.38917966e-01] [ 2.99250341e-02 3.29407117e-03 9.99546718e-01 1.57708857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7525578440001 meters Centerline goodness : 0.168798 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99549069e-01 1.56840701e-04 -3.00272215e-02 4.89632334e+00] [-2.50132373e-04 9.99995154e-01 -3.10317222e-03 6.37728618e-01] [ 3.00265893e-02 3.10928369e-03 9.99544264e-01 1.57698675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78255784400005 meters Centerline goodness : 0.170804 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99549949e-01 2.30834321e-04 -2.99974250e-02 4.89629890e+00] [-3.18566933e-04 9.99995686e-01 -2.91992516e-03 6.36765390e-01] [ 2.99966216e-02 2.92816723e-03 9.99545711e-01 1.57691876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8125578440001 meters Centerline goodness : 0.114669 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99549972e-01 3.41054879e-04 -2.99956155e-02 4.89640893e+00] [-4.24344038e-04 9.99996072e-01 -2.77038930e-03 6.36254861e-01] [ 2.99945528e-02 2.78187100e-03 9.99546191e-01 1.57676042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84255784400005 meters Centerline goodness : 0.098943 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99548302e-01 3.57546437e-04 -3.00510160e-02 4.89663635e+00] [-4.41497084e-04 9.99996019e-01 -2.78701549e-03 6.36407961e-01] [ 3.00498998e-02 2.79902404e-03 9.99544481e-01 1.57661559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.872557844 meters Centerline goodness : 0.165404 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99545517e-01 3.66795239e-04 -3.01434156e-02 4.89697859e+00] [-4.53980770e-04 9.99995734e-01 -2.88556446e-03 6.36934240e-01] [ 3.01422285e-02 2.89793755e-03 9.99541419e-01 1.57638697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90255784400006 meters Centerline goodness : 0.166486 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99535025e-01 6.59916720e-04 -3.04843893e-02 4.89814427e+00] [-7.52098407e-04 9.99995179e-01 -3.01253078e-03 6.38455786e-01] [ 3.04822543e-02 3.03405729e-03 9.99530703e-01 1.57568703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93255784400003 meters Centerline goodness : 0.166468 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99533487e-01 6.57742704e-04 -3.05348295e-02 4.89831430e+00] [-7.58825626e-04 9.99994271e-01 -3.29894386e-03 6.40199945e-01] [ 3.05324847e-02 3.32057547e-03 9.99528259e-01 1.57551735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96255784400006 meters Centerline goodness : 0.161864 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99540667e-01 6.36413029e-04 -3.02993349e-02 4.89765955e+00] [-7.47073619e-04 9.99993092e-01 -3.64106444e-03 6.42277801e-01] [ 3.02968084e-02 3.66202781e-03 9.99534238e-01 1.57551000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99255784400003 meters Centerline goodness : 0.163313 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99555811e-01 5.76110574e-04 -2.97967965e-02 4.89608103e+00] [-6.96812461e-04 9.99991594e-01 -4.04060933e-03 6.44644929e-01] [ 2.97942182e-02 4.05957731e-03 9.99547810e-01 1.57586505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02255784400006 meters Centerline goodness : 0.163283 Centerline is valid? [False, False] Translation: X:4.89, Y:0.65, Z:1.58 [[ 9.99594266e-01 7.84478833e-04 -2.84725695e-02 4.89198741e+00] [-9.11178641e-04 9.99989741e-01 -4.43718860e-03 6.48697514e-01] [ 2.84687965e-02 4.46133188e-03 9.99584726e-01 1.57685770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05255784400003 meters Centerline goodness : 0.160125 Centerline is valid? [False, False] Translation: X:4.89, Y:0.65, Z:1.58 [[ 9.99597614e-01 6.93975884e-04 -2.83571731e-02 4.89176332e+00] [-8.29378044e-04 9.99988311e-01 -4.76339943e-03 6.50732346e-01] [ 2.83535359e-02 4.78500152e-03 9.99586505e-01 1.57669784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08255784400006 meters Centerline goodness : 0.180684 Centerline is valid? [False, False] Translation: X:4.89, Y:0.65, Z:1.58 [[ 9.99596309e-01 5.65711155e-04 -2.84059720e-02 4.89215555e+00] [-7.10132536e-04 9.99986873e-01 -5.07436016e-03 6.52402603e-01] [ 2.84027285e-02 5.09248369e-03 9.99583589e-01 1.57623835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11255784400004 meters Centerline goodness : 0.159827 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.58 [[ 9.99501035e-01 -3.57054463e-04 -3.15840589e-02 4.84780592e+00] [ 1.81295648e-04 9.99984485e-01 -5.56748381e-03 6.50038559e-01] [ 3.15855567e-02 5.55897978e-03 9.99485593e-01 1.57582012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14255784400007 meters Centerline goodness : 0.164355 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.58 [[ 9.99486881e-01 -7.94540712e-04 -3.20209701e-02 4.84858074e+00] [ 5.99065740e-04 9.99981132e-01 -6.11372394e-03 6.51930123e-01] [ 3.20252236e-02 6.09140421e-03 9.99468499e-01 1.57631772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17255784400004 meters Centerline goodness : 0.088373 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.58 [[ 9.99479361e-01 -9.08198002e-04 -3.22518449e-02 4.84908785e+00] [ 7.03462277e-04 9.99979535e-01 -6.35881107e-03 6.53233589e-01] [ 3.22569599e-02 6.33281247e-03 9.99459546e-01 1.57645497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20255784400007 meters Centerline goodness : 0.091448 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99470194e-01 -1.02401725e-03 -3.25312599e-02 4.84983919e+00] [ 8.06822480e-04 9.99977303e-01 -6.68891992e-03 6.55140283e-01] [ 3.25373711e-02 6.65912913e-03 9.99448336e-01 1.57636058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23255784400004 meters Centerline goodness : 0.162913 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99463967e-01 -1.21821231e-03 -3.27153642e-02 4.85050563e+00] [ 9.86148156e-04 9.99974247e-01 -7.10862897e-03 6.57133362e-01] [ 3.27231815e-02 7.07255632e-03 9.99439429e-01 1.57606251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26255784400007 meters Centerline goodness : 0.164263 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99466712e-01 -1.60789072e-03 -3.26145077e-02 4.85028737e+00] [ 1.34921424e-03 9.99967474e-01 -7.95178970e-03 6.61023754e-01] [ 3.26262325e-02 7.90354515e-03 9.99436373e-01 1.57593695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29255784400004 meters Centerline goodness : 0.162077 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99469939e-01 -1.71460674e-03 -3.25100083e-02 4.84981286e+00] [ 1.44597454e-03 9.99964635e-01 -8.28477226e-03 6.63077665e-01] [ 3.25230637e-02 8.23337218e-03 9.99437073e-01 1.57624964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3225578440001 meters Centerline goodness : 0.165092 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99471354e-01 -1.83869511e-03 -3.24596850e-02 4.84948704e+00] [ 1.55934581e-03 9.99961551e-01 -8.62925645e-03 6.65049844e-01] [ 3.24743035e-02 8.57407876e-03 9.99435793e-01 1.57650707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35255784400005 meters Centerline goodness : 0.164891 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99462502e-01 -2.13037091e-03 -3.27134303e-02 4.84978125e+00] [ 1.83602200e-03 9.99957586e-01 -9.02520492e-03 6.66566743e-01] [ 3.27312698e-02 8.96029131e-03 9.99424023e-01 1.57707985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3825578440001 meters Centerline goodness : 0.089839 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99456411e-01 -2.25745538e-03 -3.28905256e-02 4.85010336e+00] [ 1.96016926e-03 9.99956963e-01 -9.06809757e-03 6.66162278e-01] [ 3.29095809e-02 8.99869726e-03 9.99417822e-01 1.57731649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41255784400005 meters Centerline goodness : 0.163529 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99448827e-01 -2.33762990e-03 -3.31146034e-02 4.85066279e+00] [ 2.03978619e-03 9.99957191e-01 -9.02526007e-03 6.65546560e-01] [ 3.31342835e-02 8.95273889e-03 9.99410810e-01 1.57738502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4425578440001 meters Centerline goodness : 0.163478 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99440508e-01 -2.31701600e-03 -3.33661814e-02 4.85138446e+00] [ 2.02077207e-03 9.99958267e-01 -8.90955531e-03 6.64950290e-01] [ 3.33854326e-02 8.83714504e-03 9.99403481e-01 1.57729670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47255784400005 meters Centerline goodness : 0.106496 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99438785e-01 -2.20059324e-03 -3.34256237e-02 4.85179009e+00] [ 1.91195582e-03 9.99960633e-01 -8.66472415e-03 6.64017310e-01] [ 3.34433754e-02 8.59595306e-03 9.99403647e-01 1.57699888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5025578440001 meters Centerline goodness : 0.100030 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99440788e-01 -2.16285761e-03 -3.33681423e-02 4.85151173e+00] [ 1.87632835e-03 9.99961123e-01 -8.61583608e-03 6.63779777e-01] [ 3.33854798e-02 8.54840841e-03 9.99405991e-01 1.57722484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53255784400005 meters Centerline goodness : 0.106503 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99444785e-01 -2.18418107e-03 -3.32468323e-02 4.85096491e+00] [ 1.89601140e-03 9.99960386e-01 -8.69664319e-03 6.64032490e-01] [ 3.32645103e-02 8.62877830e-03 9.99409334e-01 1.57757679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5625578440001 meters Centerline goodness : 0.109334 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99455305e-01 -1.92925748e-03 -3.29449752e-02 4.84983137e+00] [ 1.64451539e-03 9.99961081e-01 -8.66787003e-03 6.64467342e-01] [ 3.29604156e-02 8.60897017e-03 9.99419580e-01 1.57805376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59255784400005 meters Centerline goodness : 0.113374 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99457725e-01 -1.88316448e-03 -3.28741576e-02 4.84982112e+00] [ 1.59896590e-03 9.99961143e-01 -8.66919504e-03 6.64565191e-01] [ 3.28892057e-02 8.61192929e-03 9.99421900e-01 1.57771397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.622557844 meters Centerline goodness : 0.159990 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99452508e-01 -1.84816739e-03 -3.30343578e-02 4.85054072e+00] [ 1.56215284e-03 9.99961092e-01 -8.68180649e-03 6.64697397e-01] [ 3.30491180e-02 8.62544856e-03 9.99416508e-01 1.57719139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65255784400006 meters Centerline goodness : 0.162094 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99449157e-01 -1.79483385e-03 -3.31385016e-02 4.85108601e+00] [ 1.50897941e-03 9.99961458e-01 -8.64904746e-03 6.64731602e-01] [ 3.31527480e-02 8.59427788e-03 9.99413345e-01 1.57669610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68255784400003 meters Centerline goodness : 0.160759 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99449259e-01 -1.68435021e-03 -3.31412416e-02 4.85119673e+00] [ 1.39928946e-03 9.99961845e-01 -8.62270466e-03 6.65170318e-01] [ 3.31545007e-02 8.57158159e-03 9.99413482e-01 1.57650165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71255784400006 meters Centerline goodness : 0.156476 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99452638e-01 -1.70588273e-03 -3.30380610e-02 4.85068457e+00] [ 1.42028764e-03 9.99961441e-01 -8.66596643e-03 6.65309175e-01] [ 3.30515702e-02 8.61429946e-03 9.99416524e-01 1.57687897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74255784400003 meters Centerline goodness : 0.117963 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99456020e-01 -1.74220905e-03 -3.29337072e-02 4.85022737e+00] [ 1.45586319e-03 9.99960950e-01 -8.71659520e-03 6.65413753e-01] [ 3.29476072e-02 8.66390657e-03 9.99419527e-01 1.57717937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77255784400006 meters Centerline goodness : 0.102372 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99449727e-01 -1.81628226e-03 -3.31201408e-02 4.85109635e+00] [ 1.51685683e-03 9.99957775e-01 -9.06347040e-03 6.67571869e-01] [ 3.31352041e-02 9.00824451e-03 9.99410281e-01 1.57647935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80255784400003 meters Centerline goodness : 0.107319 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99447018e-01 -1.89425753e-03 -3.31974430e-02 4.85169412e+00] [ 1.58458494e-03 9.99955013e-01 -9.35203416e-03 6.69164122e-01] [ 3.32136647e-02 9.29425849e-03 9.99405058e-01 1.57581338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83255784400006 meters Centerline goodness : 0.110269 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99447963e-01 -2.03995542e-03 -3.31603317e-02 4.85173418e+00] [ 1.71963613e-03 9.99951617e-01 -9.68536421e-03 6.70642582e-01] [ 3.31784850e-02 9.62299383e-03 9.99403115e-01 1.57557000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86255784400004 meters Centerline goodness : 0.109685 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99446035e-01 -2.20239337e-03 -3.32080268e-02 4.85181570e+00] [ 1.86985614e-03 9.99947835e-01 -1.00414932e-02 6.72166839e-01] [ 3.32284098e-02 9.97383633e-03 9.99398016e-01 1.57556872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89255784400007 meters Centerline goodness : 0.144320 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99437556e-01 -2.39957370e-03 -3.34486645e-02 4.85187500e+00] [ 2.04502621e-03 9.99941409e-01 -1.06299345e-02 6.75694590e-01] [ 3.34722120e-02 1.05555523e-02 9.99383906e-01 1.57626982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92255784400004 meters Centerline goodness : 0.111888 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99435767e-01 -2.52208877e-03 -3.34930848e-02 4.85182206e+00] [ 2.15833103e-03 9.99938347e-01 -1.08923990e-02 6.77021846e-01] [ 3.35184915e-02 1.08139640e-02 9.99379592e-01 1.57653956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95255784400007 meters Centerline goodness : 0.123143 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99435466e-01 -2.69048215e-03 -3.34889657e-02 4.85168723e+00] [ 2.31942156e-03 9.99935547e-01 -1.11140063e-02 6.77818045e-01] [ 3.35167093e-02 1.10300570e-02 9.99377290e-01 1.57674562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98255784400004 meters Centerline goodness : 0.090794 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99445857e-01 -3.38167669e-03 -3.31141060e-02 4.85046899e+00] [ 2.99718362e-03 9.99927599e-01 -1.16539188e-02 6.78995941e-01] [ 3.31511183e-02 1.15482118e-02 9.99383631e-01 1.57729491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01255784400007 meters Centerline goodness : 0.119519 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99442566e-01 -3.41485183e-03 -3.32098762e-02 4.85059460e+00] [ 3.03036588e-03 9.99927883e-01 -1.16209076e-02 6.78949327e-01] [ 3.32471649e-02 1.15137916e-02 9.99380838e-01 1.57754494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04255784400004 meters Centerline goodness : 0.104725 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99436607e-01 -3.44746571e-03 -3.33853840e-02 4.85101726e+00] [ 3.06262340e-03 9.99928357e-01 -1.15715542e-02 6.78809702e-01] [ 3.34228848e-02 1.14627880e-02 9.99375563e-01 1.57766891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0725578440001 meters Centerline goodness : 0.090889 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99429294e-01 -3.52300919e-03 -3.35957546e-02 4.85143213e+00] [ 3.13690732e-03 9.99928510e-01 -1.15383705e-02 6.78469705e-01] [ 3.36340027e-02 1.14263987e-02 9.99368896e-01 1.57785787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10255784400005 meters Centerline goodness : 0.090889 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99429294e-01 -3.52300919e-03 -3.35957546e-02 4.85143213e+00] [ 3.13690732e-03 9.99928510e-01 -1.15383705e-02 6.78469705e-01] [ 3.36340027e-02 1.14263987e-02 9.99368896e-01 1.57785787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1325578440001 meters Centerline goodness : 0.213772 Centerline is valid? [False, False] Translation: X:4.87, Y:0.68, Z:1.58 [[ 0.9993587 -0.01292126 -0.03339512 4.87260107] [ 0.01254649 0.99985622 -0.01140761 0.6826424 ] [ 0.03353772 0.01098131 0.99937712 1.57961912] [ 0. 0. 0. 1. ]] SLAMing on 395.16255784400005 meters Centerline goodness : 0.084905 Centerline is valid? [False, False] Translation: X:4.87, Y:0.68, Z:1.58 [[ 0.99935694 -0.01287342 -0.03346605 4.8726062 ] [ 0.01250224 0.99985825 -0.01127712 0.68211936] [ 0.03360648 0.01085146 0.99937623 1.57990884] [ 0. 0. 0. 1. ]] SLAMing on 395.1925578440001 meters Centerline goodness : 0.084408 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99471803e-01 -4.57107227e-03 -3.21748454e-02 4.85276286e+00] [ 4.19843261e-03 9.99923442e-01 -1.16397547e-02 6.76143966e-01] [ 3.22255883e-02 1.14985227e-02 9.99414476e-01 1.57789028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22255784400005 meters Centerline goodness : 0.105533 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99486246e-01 -4.44053838e-03 -3.17415448e-02 4.85135466e+00] [ 4.07689905e-03 9.99925426e-01 -1.15118125e-02 6.75928557e-01] [ 3.17902964e-02 1.13764912e-02 9.99429814e-01 1.57843035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2525578440001 meters Centerline goodness : 0.123974 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99487630e-01 -4.40218892e-03 -3.17032889e-02 4.85132125e+00] [ 4.03964116e-03 9.99925821e-01 -1.14906373e-02 6.75768049e-01] [ 3.17515211e-02 1.13566799e-02 9.99431272e-01 1.57831270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28255784400005 meters Centerline goodness : 0.105933 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99489358e-01 -4.36506741e-03 -3.16539008e-02 4.85123336e+00] [ 4.00391592e-03 9.99926272e-01 -1.14638076e-02 6.75568942e-01] [ 3.17016073e-02 1.13312141e-02 9.99433145e-01 1.57821644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3125578440001 meters Centerline goodness : 0.085725 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99511891e-01 -4.03848604e-03 -3.09785538e-02 4.84935917e+00] [ 3.69171511e-03 9.99929981e-01 -1.12429433e-02 6.75309483e-01] [ 3.10217892e-02 1.11230915e-02 9.99456815e-01 1.57847754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34255784400005 meters Centerline goodness : 0.125391 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99509896e-01 -3.93943341e-03 -3.10555600e-02 4.84962023e+00] [ 3.59327946e-03 9.99930887e-01 -1.11942196e-02 6.75323610e-01] [ 3.10975125e-02 1.10771420e-02 9.99454972e-01 1.57831003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.372557844 meters Centerline goodness : 0.134451 Centerline is valid? [False, False] Translation: X:4.83, Y:0.67, Z:1.58 [[ 9.99494446e-01 4.47090250e-03 -3.14779926e-02 4.82985033e+00] [-4.85553035e-03 9.99914359e-01 -1.21531261e-02 6.69223320e-01] [ 3.14209613e-02 1.22998244e-02 9.99430557e-01 1.57628969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40255784400006 meters Centerline goodness : 0.161679 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99498922e-01 -3.36436771e-03 -3.14735820e-02 4.84958170e+00] [ 3.01078276e-03 9.99931903e-01 -1.12749951e-02 6.73757987e-01] [ 3.15093719e-02 1.11745854e-02 9.99440988e-01 1.57744701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43255784400003 meters Centerline goodness : 0.108878 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99505419e-01 -3.20589613e-03 -3.12832235e-02 4.84906101e+00] [ 2.86204628e-03 9.99935071e-01 -1.10301041e-02 6.72614261e-01] [ 3.13165536e-02 1.09351148e-02 9.99449697e-01 1.57744047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46255784400006 meters Centerline goodness : 0.119039 Centerline is valid? [False, False] Translation: X:4.83, Y:0.67, Z:1.58 [[ 0.99950478 0.00531917 -0.03101466 4.82902114] [-0.00568132 0.99991657 -0.01160031 0.66681712] [ 0.03095037 0.01177077 0.99945161 1.57573826] [ 0. 0. 0. 1. ]] SLAMing on 395.49255784400003 meters Centerline goodness : 0.117385 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99518638e-01 -2.10622176e-03 -3.09524799e-02 4.84740210e+00] [ 1.79983716e-03 9.99949145e-01 -9.92307769e-03 6.71505570e-01] [ 3.09718060e-02 9.86259167e-03 9.99471599e-01 1.57788101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52255784400006 meters Centerline goodness : 0.156349 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99515209e-01 -2.01877575e-03 -3.10688055e-02 4.84774084e+00] [ 1.72384758e-03 9.99953230e-01 -9.51660203e-03 6.68874255e-01] [ 3.10865643e-02 9.45843059e-03 9.99471942e-01 1.57781752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55255784400003 meters Centerline goodness : 0.086854 Centerline is valid? [False, False] Translation: X:4.83, Y:0.66, Z:1.57 [[ 9.99562712e-01 4.22950442e-03 -2.92659448e-02 4.83179564e+00] [-4.55134819e-03 9.99929805e-01 -1.09393499e-02 6.61318832e-01] [ 2.92176224e-02 1.10677658e-02 9.99511798e-01 1.57412239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58255784400006 meters Centerline goodness : 0.162850 Centerline is valid? [False, False] Translation: X:4.83, Y:0.66, Z:1.57 [[ 9.99559423e-01 4.34292062e-03 -2.93615172e-02 4.83222661e+00] [-4.65665055e-03 9.99932709e-01 -1.06251511e-02 6.59801197e-01] [ 2.93133972e-02 1.07571963e-02 9.99512385e-01 1.57381258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61255784400004 meters Centerline goodness : 0.151197 Centerline is valid? [False, False] Translation: X:4.83, Y:0.66, Z:1.57 [[ 9.99553826e-01 4.44155914e-03 -2.95367902e-02 4.83298210e+00] [-4.74931772e-03 9.99935081e-01 -1.03575202e-02 6.58547289e-01] [ 2.94888691e-02 1.04931786e-02 9.99510030e-01 1.57329325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64255784400007 meters Centerline goodness : 0.099798 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99533696e-01 -4.05781910e-03 -3.02642363e-02 4.85507925e+00] [ 3.76269659e-03 9.99944879e-01 -9.80211075e-03 6.61930970e-01] [ 3.03023433e-02 9.68366485e-03 9.99493869e-01 1.57374953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67255784400004 meters Centerline goodness : 0.217039 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99532711e-01 -3.98008898e-03 -3.03070622e-02 4.85513172e+00] [ 3.69089398e-03 9.99947183e-01 -9.59213681e-03 6.60933409e-01] [ 3.03436390e-02 9.47579436e-03 9.99494609e-01 1.57383287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70255784400007 meters Centerline goodness : 0.238081 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99538976e-01 -3.86383704e-03 -3.01148958e-02 4.85426611e+00] [ 3.58342841e-03 9.99949776e-01 -9.35970786e-03 6.60118019e-01] [ 3.01495477e-02 9.24747824e-03 9.99502621e-01 1.57445179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73255784400004 meters Centerline goodness : 0.113998 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99545915e-01 -3.72972544e-03 -2.99007035e-02 4.85339672e+00] [ 3.45912768e-03 9.99952643e-01 -9.09650395e-03 6.59211339e-01] [ 2.99332149e-02 8.98894302e-03 9.99511481e-01 1.57498105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76255784400007 meters Centerline goodness : 0.127034 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99525934e-01 -3.67841609e-03 -3.05675613e-02 4.85540866e+00] [ 3.41040325e-03 9.99955328e-01 -8.81539978e-03 6.57414217e-01] [ 3.05986225e-02 8.70697299e-03 9.99493828e-01 1.57448722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79255784400004 meters Centerline goodness : 0.125538 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99509999e-01 -3.67326878e-03 -3.10848712e-02 4.85733127e+00] [ 3.40189269e-03 9.99955681e-01 -8.77855421e-03 6.56950825e-01] [ 3.11157396e-02 8.66850531e-03 9.99478198e-01 1.57343269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8225578440001 meters Centerline goodness : 0.087232 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99498847e-01 -3.43850123e-03 -3.14679583e-02 4.85866300e+00] [ 3.17055178e-03 9.99958328e-01 -8.56093313e-03 6.56669731e-01] [ 3.14960838e-02 8.45687199e-03 9.99468098e-01 1.57277806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85255784400005 meters Centerline goodness : 0.159557 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99513395e-01 -3.31933762e-03 -3.10153983e-02 4.85722233e+00] [ 3.05950389e-03 9.99959860e-01 -8.42127701e-03 6.56402384e-01] [ 3.10421064e-02 8.32228744e-03 9.99483430e-01 1.57327676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8825578440001 meters Centerline goodness : 0.119225 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99530123e-01 -3.22782489e-03 -3.04813695e-02 4.85532625e+00] [ 2.97545892e-03 9.99960952e-01 -8.32108400e-03 6.56012335e-01] [ 3.05070383e-02 8.22647805e-03 9.99500698e-01 1.57416815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91255784400005 meters Centerline goodness : 0.159552 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99538982e-01 -3.24101477e-03 -3.01880749e-02 4.85433738e+00] [ 2.98946353e-03 9.99960467e-01 -8.37421087e-03 6.56048459e-01] [ 3.02140224e-02 8.28010406e-03 9.99509156e-01 1.57455599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9425578440001 meters Centerline goodness : 0.154454 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99520918e-01 -3.02697381e-03 -3.08021523e-02 4.85615713e+00] [ 2.76586173e-03 9.99959912e-01 -8.51615219e-03 6.57273719e-01] [ 3.08266956e-02 8.42687776e-03 9.99489221e-01 1.57390448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97255784400005 meters Centerline goodness : 0.085677 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99418803e-01 -1.83563809e-03 -3.40394782e-02 4.81129636e+00] [ 1.58155584e-03 9.99970701e-01 -7.48976399e-03 6.54640216e-01] [ 3.40522294e-02 7.43157563e-03 9.99392424e-01 1.57357896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0025578440001 meters Centerline goodness : 0.147478 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99419865e-01 -1.81851263e-03 -3.40092161e-02 4.81120048e+00] [ 1.55515464e-03 9.99968615e-01 -7.76857416e-03 6.56493370e-01] [ 3.40222760e-02 7.71117774e-03 9.99391326e-01 1.57349426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03255784400005 meters Centerline goodness : 0.156302 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99430854e-01 -1.82137644e-03 -3.36845707e-02 4.81014122e+00] [ 1.55271644e-03 9.99966792e-01 -8.00019800e-03 6.58016202e-01] [ 3.36980235e-02 7.94334213e-03 9.99400494e-01 1.57381755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0625578440001 meters Centerline goodness : 0.084256 Centerline is valid? [False, False] Translation: X:4.83, Y:0.66, Z:1.57 [[ 0.9994813 0.00686104 -0.0314651 4.83067202] [-0.00715171 0.9999327 -0.00913455 0.66052514] [ 0.03140031 0.00935484 0.99946311 1.57481339] [ 0. 0. 0. 1. ]] SLAMing on 396.09255784400005 meters Centerline goodness : 0.107334 Centerline is valid? [False, False] Translation: X:4.83, Y:0.66, Z:1.57 [[ 0.99948417 0.00674384 -0.03139919 4.83049102] [-0.00704342 0.99993063 -0.00944024 0.66201761] [ 0.03133335 0.00965653 0.99946234 1.57476892] [ 0. 0. 0. 1. ]] SLAMing on 396.122557844 meters Centerline goodness : 0.156060 Centerline is valid? [False, False] Translation: X:4.83, Y:0.66, Z:1.57 [[ 0.99948377 0.00666644 -0.03142855 4.83058246] [-0.00697147 0.99992956 -0.00960595 0.66280431] [ 0.0313623 0.0098201 0.99945984 1.57471406] [ 0. 0. 0. 1. ]] SLAMing on 396.15255784400006 meters Centerline goodness : 0.101460 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99510623e-01 -2.25606794e-03 -3.11997423e-02 4.80836708e+00] [ 1.98267675e-03 9.99959395e-01 -8.79077309e-03 6.64972624e-01] [ 3.12183080e-02 8.72461208e-03 9.99474511e-01 1.57333826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18255784400003 meters Centerline goodness : 0.145069 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99515610e-01 -2.32643075e-03 -3.10343919e-02 4.80752059e+00] [ 2.05974853e-03 9.99960706e-01 -8.62232199e-03 6.63802410e-01] [ 3.10532317e-02 8.55422238e-03 9.99481126e-01 1.57414249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21255784400006 meters Centerline goodness : 0.160298 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99523745e-01 -2.43499178e-03 -3.07628815e-02 4.80668743e+00] [ 2.17510817e-03 9.99961690e-01 -8.47860202e-03 6.62665605e-01] [ 3.07823483e-02 8.40765145e-03 9.99490750e-01 1.57452204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24255784400003 meters Centerline goodness : 0.086877 Centerline is valid? [False, False] Translation: X:4.83, Y:0.67, Z:1.58 [[ 0.99948769 -0.01075116 -0.03014592 4.82671388] [ 0.01053101 0.99991678 -0.00745214 0.66690299] [ 0.03022353 0.00713085 0.99951773 1.57598217] [ 0. 0. 0. 1. ]] SLAMing on 396.27255784400006 meters Centerline goodness : 0.138760 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99531603e-01 -3.38405355e-03 -3.04158237e-02 4.80998642e+00] [ 3.11027614e-03 9.99954265e-01 -9.04395974e-03 6.60305214e-01] [ 3.04450379e-02 8.94512196e-03 9.99496415e-01 1.57269321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30255784400003 meters Centerline goodness : 0.085201 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99527469e-01 -3.39794569e-03 -3.05498335e-02 4.81061443e+00] [ 3.12215412e-03 9.99953986e-01 -9.07077046e-03 6.60433036e-01] [ 3.05792498e-02 8.97110295e-03 9.99492085e-01 1.57221857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33255784400006 meters Centerline goodness : 0.162050 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99520325e-01 -3.39674707e-03 -3.07828099e-02 4.81131930e+00] [ 3.11608194e-03 9.99953182e-01 -9.16098359e-03 6.61088189e-01] [ 3.08124862e-02 9.06066754e-03 9.99484114e-01 1.57198322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36255784400004 meters Centerline goodness : 0.111764 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99516555e-01 -3.31391545e-03 -3.09139831e-02 4.81170455e+00] [ 3.03052175e-03 9.99952999e-01 -9.20952272e-03 6.62090592e-01] [ 3.09430497e-02 9.11138493e-03 9.99479620e-01 1.57184402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39255784400007 meters Centerline goodness : 0.105993 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99520660e-01 -3.28270868e-03 -3.07843142e-02 4.81144901e+00] [ 3.00188580e-03 9.99953503e-01 -9.16405578e-03 6.61883727e-01] [ 3.08129657e-02 9.06725208e-03 9.99484040e-01 1.57172259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42255784400004 meters Centerline goodness : 0.113307 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99525043e-01 -3.26918877e-03 -3.06431130e-02 4.81104768e+00] [ 2.99326725e-03 9.99954605e-01 -9.04590800e-03 6.61042989e-01] [ 3.06712947e-02 8.94988856e-03 9.99489455e-01 1.57180649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45255784400007 meters Centerline goodness : 0.106465 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99524199e-01 -3.30684463e-03 -3.06666155e-02 4.81122967e+00] [ 3.03676011e-03 9.99956231e-01 -8.84951501e-03 6.59754877e-01] [ 3.06945373e-02 8.75217724e-03 9.99490493e-01 1.57166145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48255784400004 meters Centerline goodness : 0.137762 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99521339e-01 -3.23788132e-03 -3.07670087e-02 4.81156157e+00] [ 2.97285442e-03 9.99958118e-01 -8.65583937e-03 6.58908820e-01] [ 3.07937467e-02 8.56023032e-03 9.99489103e-01 1.57158904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51255784400007 meters Centerline goodness : 0.138421 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99519536e-01 -3.18677617e-03 -3.08308684e-02 4.81177774e+00] [ 2.92681273e-03 9.99959817e-01 -8.47337842e-03 6.58014084e-01] [ 3.08566322e-02 8.37907109e-03 9.99488699e-01 1.57155669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54255784400004 meters Centerline goodness : 0.121582 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99519782e-01 -3.16412772e-03 -3.08252170e-02 4.81162653e+00] [ 2.90940305e-03 9.99961282e-01 -8.30486636e-03 6.56966580e-01] [ 3.08503011e-02 8.21119524e-03 9.99490288e-01 1.57179748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5725578440001 meters Centerline goodness : 0.088359 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99526017e-01 -3.18515793e-03 -3.06201990e-02 4.81089351e+00] [ 2.94343053e-03 9.99964176e-01 -7.93621338e-03 6.54663404e-01] [ 3.06443802e-02 7.84232332e-03 9.99499585e-01 1.57223139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60255784400005 meters Centerline goodness : 0.131941 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99522342e-01 -3.06750923e-03 -3.07518959e-02 4.81133389e+00] [ 2.83369420e-03 9.99966769e-01 -7.64397205e-03 6.53356468e-01] [ 3.07743219e-02 7.55317938e-03 9.99497819e-01 1.57209690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6325578440001 meters Centerline goodness : 0.135912 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99513756e-01 -2.96166302e-03 -3.10399620e-02 4.81235743e+00] [ 2.73471570e-03 9.99969239e-01 -7.35136047e-03 6.51924120e-01] [ 3.10607794e-02 7.26290044e-03 9.99491110e-01 1.57163917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66255784400005 meters Centerline goodness : 0.099253 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99507096e-01 -2.84026162e-03 -3.12649716e-02 4.81329457e+00] [ 2.63008915e-03 9.99973683e-01 -6.76137223e-03 6.48427845e-01] [ 3.12833529e-02 6.67580986e-03 9.99488262e-01 1.57110499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6925578440001 meters Centerline goodness : 0.110064 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99513957e-01 -2.72347751e-03 -3.10553100e-02 4.81251813e+00] [ 2.52676365e-03 9.99976508e-01 -6.37179268e-03 6.46255896e-01] [ 3.10719339e-02 6.29022628e-03 9.99497358e-01 1.57157731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72255784400005 meters Centerline goodness : 0.104995 Centerline is valid? [False, False] Translation: X:4.81, Y:0.64, Z:1.57 [[ 9.99522536e-01 -2.56234603e-03 -3.07917863e-02 4.81145492e+00] [ 2.38174065e-03 9.99979755e-01 -5.90062243e-03 6.43833362e-01] [ 3.08062823e-02 5.82446705e-03 9.99508403e-01 1.57224813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7525578440001 meters Centerline goodness : 0.111864 Centerline is valid? [False, False] Translation: X:4.81, Y:0.64, Z:1.57 [[ 9.99531297e-01 -2.22653628e-03 -3.05324344e-02 4.81027321e+00] [ 2.06926008e-03 9.99984434e-01 -5.18174923e-03 6.40940731e-01] [ 3.05434965e-02 5.11614098e-03 9.99520345e-01 1.57313483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78255784400005 meters Centerline goodness : 0.225572 Centerline is valid? [False, False] Translation: X:4.81, Y:0.64, Z:1.57 [[ 9.99529154e-01 -2.13944104e-03 -3.06087062e-02 4.81069184e+00] [ 1.98648970e-03 9.99985394e-01 -5.02652477e-03 6.40298769e-01] [ 3.06190131e-02 4.96335417e-03 9.99518805e-01 1.57275939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8125578440001 meters Centerline goodness : 0.109407 Centerline is valid? [False, False] Translation: X:4.81, Y:0.64, Z:1.57 [[ 9.99521598e-01 -2.12075361e-03 -3.08557558e-02 4.81169018e+00] [ 1.96594073e-03 9.99985332e-01 -5.04678208e-03 6.40288709e-01] [ 3.08660062e-02 4.98370710e-03 9.99511107e-01 1.57216890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84255784400005 meters Centerline goodness : 0.143643 Centerline is valid? [False, False] Translation: X:4.81, Y:0.64, Z:1.57 [[ 9.99508152e-01 -1.91320350e-03 -3.13016658e-02 4.81306379e+00] [ 1.74983645e-03 9.99984710e-01 -5.24567780e-03 6.42012753e-01] [ 3.13112233e-02 5.18832492e-03 9.99496217e-01 1.57153229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.872557844 meters Centerline goodness : 0.085602 Centerline is valid? [False, False] Translation: X:4.86, Y:0.65, Z:1.57 [[ 9.99565987e-01 -2.90945636e-04 -2.94576498e-02 4.85657544e+00] [ 1.60948117e-04 9.99990240e-01 -4.41530584e-03 6.46514337e-01] [ 2.94586469e-02 4.40864839e-03 9.99556278e-01 1.57281912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90255784400006 meters Centerline goodness : 0.157082 Centerline is valid? [False, False] Translation: X:4.86, Y:0.65, Z:1.57 [[ 9.99574601e-01 -2.25021469e-04 -2.91644671e-02 4.85584029e+00] [ 8.89164865e-05 9.99989101e-01 -4.66802134e-03 6.48394832e-01] [ 2.91651996e-02 4.66344237e-03 9.99563727e-01 1.57278275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93255784400003 meters Centerline goodness : 0.076837 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99590443e-01 -1.04765141e-04 -2.86170328e-02 4.85453423e+00] [-4.22737567e-05 9.99986802e-01 -5.13750684e-03 6.51431196e-01] [ 2.86171933e-02 5.13661249e-03 9.99577246e-01 1.57257050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96255784400006 meters Centerline goodness : 0.148423 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99593249e-01 -2.03102187e-04 -2.85183316e-02 4.85423940e+00] [ 4.64938640e-05 9.99984917e-01 -5.49205238e-03 6.53196613e-01] [ 2.85190169e-02 5.48849256e-03 9.99578182e-01 1.57250904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99255784400003 meters Centerline goodness : 0.153713 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99594510e-01 -2.98843302e-04 -2.84732509e-02 4.85414710e+00] [ 1.32804695e-04 9.99982978e-01 -5.83310181e-03 6.55005620e-01] [ 2.84745094e-02 5.82695516e-03 9.99577535e-01 1.57240037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02255784400006 meters Centerline goodness : 0.153713 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99594510e-01 -2.98843302e-04 -2.84732509e-02 4.85414710e+00] [ 1.32804695e-04 9.99982978e-01 -5.83310181e-03 6.55005620e-01] [ 2.84745094e-02 5.82695516e-03 9.99577535e-01 1.57240037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05255784400003 meters Centerline goodness : 0.110940 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99594432e-01 -3.88481353e-04 -2.84749160e-02 4.85409668e+00] [ 2.14424799e-04 9.99981278e-01 -6.11542607e-03 6.56490493e-01] [ 2.84767586e-02 6.10684012e-03 9.99575800e-01 1.57239984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08255784400006 meters Centerline goodness : 0.164626 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99603992e-01 -5.21272004e-04 -2.81351563e-02 4.85300264e+00] [ 3.39150084e-04 9.99978963e-01 -6.47749236e-03 6.58521126e-01] [ 2.81379409e-02 6.46538518e-03 9.99583141e-01 1.57274969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11255784400004 meters Centerline goodness : 0.151966 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99609685e-01 -5.92368171e-04 -2.79307535e-02 4.85225711e+00] [ 4.08917592e-04 9.99978312e-01 -6.57330415e-03 6.58915234e-01] [ 2.79340415e-02 6.55931711e-03 9.99588248e-01 1.57306700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14255784400007 meters Centerline goodness : 0.097076 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99615438e-01 -5.95835217e-04 -2.77240244e-02 4.85156504e+00] [ 4.15494499e-04 9.99978722e-01 -6.51015961e-03 6.58577652e-01] [ 2.77273135e-02 6.49613687e-03 9.99594416e-01 1.57335211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17255784400004 meters Centerline goodness : 0.155927 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99616034e-01 -5.90788639e-04 -2.77026268e-02 4.85148720e+00] [ 4.14530900e-04 9.99979639e-01 -6.36780321e-03 6.57744705e-01] [ 2.77058248e-02 6.35387460e-03 9.99595926e-01 1.57342792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20255784400007 meters Centerline goodness : 0.131352 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99615614e-01 -8.17607693e-04 -2.77120074e-02 4.85179769e+00] [ 6.49314105e-04 9.99981297e-01 -6.08140295e-03 6.55389289e-01] [ 2.77164613e-02 6.06107155e-03 9.99597450e-01 1.57311658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23255784400004 meters Centerline goodness : 0.148765 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99611392e-01 -7.50113436e-04 -2.78657893e-02 4.85235168e+00] [ 5.90120631e-04 9.99983298e-01 -5.74932944e-03 6.53481352e-01] [ 2.78696365e-02 5.73065103e-03 9.99595140e-01 1.57288773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26255784400007 meters Centerline goodness : 0.112423 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99604590e-01 -7.20959833e-04 -2.81094806e-02 4.85300265e+00] [ 5.66697486e-04 9.99984739e-01 -5.49549186e-03 6.51860898e-01] [ 2.81130137e-02 5.47738932e-03 9.99589744e-01 1.57285004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29255784400004 meters Centerline goodness : 0.128501 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99605392e-01 -5.07871771e-04 -2.80856311e-02 4.85275424e+00] [ 3.65301633e-04 9.99987024e-01 -5.08116403e-03 6.50276155e-01] [ 2.80878472e-02 5.06889924e-03 9.99592607e-01 1.57311772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3225578440001 meters Centerline goodness : 0.163116 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99609306e-01 -4.02891322e-04 -2.79477013e-02 4.85247107e+00] [ 2.63614566e-04 9.99987530e-01 -4.98698346e-03 6.50271859e-01] [ 2.79493620e-02 4.97766766e-03 9.99596947e-01 1.57299976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35255784400005 meters Centerline goodness : 0.127886 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99613463e-01 -3.70791663e-04 -2.77990606e-02 4.85225686e+00] [ 2.32196800e-04 9.99987530e-01 -4.98865748e-03 6.50354063e-01] [ 2.78005637e-02 4.98027432e-03 9.99601083e-01 1.57270027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3825578440001 meters Centerline goodness : 0.113006 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99614207e-01 -3.74189407e-04 -2.77722321e-02 4.85236599e+00] [ 2.33794736e-04 9.99987179e-01 -5.05829236e-03 6.50581310e-01] [ 2.77737688e-02 5.04984791e-03 9.99601479e-01 1.57240509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41255784400005 meters Centerline goodness : 0.165734 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99592732e-01 -1.72367801e-04 -2.85366438e-02 4.85484588e+00] [ 2.49760506e-05 9.99986660e-01 -5.16527535e-03 6.51698515e-01] [ 2.85371535e-02 5.16245897e-03 9.99579401e-01 1.57125051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4425578440001 meters Centerline goodness : 0.161439 Centerline is valid? [False, False] Translation: X:4.86, Y:0.65, Z:1.57 [[ 9.99586533e-01 -1.36327572e-04 -2.87531658e-02 4.85582688e+00] [-1.53749472e-05 9.99986083e-01 -5.27574133e-03 6.52593056e-01] [ 2.87534848e-02 5.27400207e-03 9.99572620e-01 1.57046267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47255784400005 meters Centerline goodness : 0.151746 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99508428e-01 -2.23281264e-04 -3.13504824e-02 4.81045229e+00] [ 5.48855955e-05 9.99985568e-01 -5.37214783e-03 6.50001655e-01] [ 3.13512295e-02 5.36778634e-03 9.99494016e-01 1.57004808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5025578440001 meters Centerline goodness : 0.154782 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99515738e-01 -2.47630903e-04 -3.11163707e-02 4.80981534e+00] [ 7.90100352e-05 9.99985308e-01 -5.42015304e-03 6.50115405e-01] [ 3.11172558e-02 5.41506976e-03 9.99501072e-01 1.57010438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53255784400005 meters Centerline goodness : 0.161674 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99607527e-01 -9.61217546e-04 -2.79976337e-02 4.85163526e+00] [ 7.79646957e-04 9.99978601e-01 -6.49540645e-03 6.54416728e-01] [ 2.80032780e-02 6.47102891e-03 9.99586886e-01 1.57154281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5625578440001 meters Centerline goodness : 0.094978 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99605764e-01 -1.01023495e-03 -2.80587974e-02 4.85190943e+00] [ 8.26399838e-04 9.99978124e-01 -6.56260530e-03 6.54584465e-01] [ 2.80648133e-02 6.53683030e-03 9.99584732e-01 1.57135035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59255784400005 meters Centerline goodness : 0.161740 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99592104e-01 -1.03023954e-03 -2.85405564e-02 4.85358058e+00] [ 8.43789084e-04 9.99978231e-01 -6.54409842e-03 6.54436856e-01] [ 2.85466771e-02 6.51734690e-03 9.99571214e-01 1.57059552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.622557844 meters Centerline goodness : 0.165693 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99589980e-01 -9.66693449e-04 -2.86170756e-02 4.85383690e+00] [ 7.84728880e-04 9.99979409e-01 -6.36914900e-03 6.53670823e-01] [ 2.86226434e-02 6.34408088e-03 9.99570156e-01 1.57051848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65255784400006 meters Centerline goodness : 0.116225 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99593277e-01 -8.84565659e-04 -2.85043665e-02 4.85328328e+00] [ 7.11072757e-04 9.99981166e-01 -6.09609942e-03 6.52284402e-01] [ 2.85092221e-02 6.07335131e-03 9.99575079e-01 1.57100098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68255784400003 meters Centerline goodness : 0.169368 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99600679e-01 -7.67762946e-04 -2.82470001e-02 4.85232290e+00] [ 6.09216158e-04 9.99984016e-01 -5.62104963e-03 6.49767520e-01] [ 2.82508642e-02 5.60159650e-03 9.99585169e-01 1.57157063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71255784400006 meters Centerline goodness : 0.115603 Centerline is valid? [False, False] Translation: X:4.85, Y:0.64, Z:1.57 [[ 9.99616763e-01 -1.14330096e-03 -2.76589857e-02 4.85053532e+00] [ 1.00290310e-03 9.99986546e-01 -5.08937052e-03 6.43498459e-01] [ 2.76644323e-02 5.05968080e-03 9.99604461e-01 1.57224074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74255784400003 meters Centerline goodness : 0.169394 Centerline is valid? [False, False] Translation: X:4.85, Y:0.64, Z:1.57 [[ 9.99608102e-01 -9.94186351e-04 -2.79759386e-02 4.85175775e+00] [ 8.70649218e-04 9.99989819e-01 -4.42766972e-03 6.39561493e-01] [ 2.79800557e-02 4.40157730e-03 9.99598791e-01 1.57166556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77255784400006 meters Centerline goodness : 0.176517 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99514645e-01 -1.99141907e-03 -3.10887234e-02 4.80869730e+00] [ 1.84451427e-03 9.99987002e-01 -4.75330413e-03 6.32140469e-01] [ 3.10977851e-02 4.69365350e-03 9.99505326e-01 1.57021743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80255784400003 meters Centerline goodness : 0.108220 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99505497e-01 -1.71238123e-03 -3.13979277e-02 4.80990195e+00] [ 1.58836505e-03 9.99990841e-01 -3.97433731e-03 6.28121292e-01] [ 3.14044457e-02 3.92250062e-03 9.99499062e-01 1.56961312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83255784400006 meters Centerline goodness : 0.176060 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99503782e-01 -1.20877182e-03 -3.14758368e-02 4.81018223e+00] [ 1.12376089e-03 9.99995674e-01 -2.71838128e-03 6.21371667e-01] [ 3.14789866e-02 2.68166105e-03 9.99500816e-01 1.56958204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86255784400004 meters Centerline goodness : 0.176713 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99506001e-01 -9.56059741e-04 -3.14139925e-02 4.80992609e+00] [ 8.89629064e-04 9.99997339e-01 -2.12859313e-03 6.18521277e-01] [ 3.14159439e-02 2.09959481e-03 9.99504192e-01 1.56975151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89255784400007 meters Centerline goodness : 0.173760 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99507965e-01 -7.23357313e-04 -3.13576738e-02 4.80978419e+00] [ 6.71821438e-04 9.99998406e-01 -1.65399009e-03 6.16325894e-01] [ 3.13588203e-02 1.63210951e-03 9.99506859e-01 1.56978017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92255784400004 meters Centerline goodness : 0.170882 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99511484e-01 -3.08592096e-04 -3.12521668e-02 4.80989586e+00] [ 2.77695214e-04 9.99999468e-01 -9.92967196e-04 6.13550646e-01] [ 3.12524566e-02 9.83803538e-04 9.99511039e-01 1.56918742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95255784400007 meters Centerline goodness : 0.174667 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99515415e-01 -1.62952849e-04 -3.11273090e-02 4.80972907e+00] [ 1.40412962e-04 9.99999726e-01 -7.26303846e-04 6.12254235e-01] [ 3.11274189e-02 7.21581212e-04 9.99515164e-01 1.56894643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98255784400004 meters Centerline goodness : 0.168360 Centerline is valid? [False, False] Translation: X:4.83, Y:0.61, Z:1.57 [[ 9.99507005e-01 8.09629716e-03 -3.03347584e-02 4.82935186e+00] [-8.16012530e-03 9.99964744e-01 -1.98091863e-03 6.07861417e-01] [ 3.03176508e-02 2.22747748e-03 9.99537832e-01 1.57080271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01255784400007 meters Centerline goodness : 0.112029 Centerline is valid? [False, False] Translation: X:4.83, Y:0.60, Z:1.57 [[ 9.99507779e-01 8.41048245e-03 -3.02235485e-02 4.82890573e+00] [-8.45272949e-03 9.99963468e-01 -1.27032365e-03 6.04334051e-01] [ 3.02117604e-02 1.52516985e-03 9.99542357e-01 1.57102716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04255784400004 meters Centerline goodness : 0.165492 Centerline is valid? [False, False] Translation: X:4.83, Y:0.60, Z:1.57 [[ 9.99511511e-01 8.59472982e-03 -3.00478021e-02 4.82840620e+00] [-8.62370923e-03 9.99962467e-01 -8.34983099e-04 6.02302255e-01] [ 3.00394979e-02 1.09369873e-03 9.99548114e-01 1.57113962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0725578440001 meters Centerline goodness : 0.170608 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99532861e-01 9.45455358e-05 -3.05622545e-02 4.80830895e+00] [-7.62736768e-05 9.99999818e-01 5.99022306e-04 6.02942340e-01] [ 3.05623056e-02 -5.96411384e-04 9.99532686e-01 1.56916394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10255784400005 meters Centerline goodness : 0.089105 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99528360e-01 1.79334391e-04 -3.07087230e-02 4.80885943e+00] [-1.53135669e-04 9.99999622e-01 8.55485878e-04 6.01489365e-01] [ 3.07088648e-02 -8.50379795e-04 9.99528010e-01 1.56892986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1325578440001 meters Centerline goodness : 0.165842 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99515902e-01 2.58314765e-04 -3.11110066e-02 4.81032759e+00] [-2.23504437e-04 9.99999345e-01 1.12237951e-03 5.99789464e-01] [ 3.11112761e-02 -1.11488272e-03 9.99515305e-01 1.56822380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16255784400005 meters Centerline goodness : 0.168844 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99513641e-01 2.99002225e-04 -3.11832044e-02 4.81069874e+00] [-2.62627617e-04 9.99999280e-01 1.17057002e-03 5.99674003e-01] [ 3.11835320e-02 -1.16181113e-03 9.99513000e-01 1.56792310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1925578440001 meters Centerline goodness : 0.160913 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99517080e-01 3.38443018e-04 -3.10723685e-02 4.81052402e+00] [-3.02561100e-04 9.99999282e-01 1.15947993e-03 5.99945489e-01] [ 3.10727387e-02 -1.14951870e-03 9.99516465e-01 1.56770606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22255784400005 meters Centerline goodness : 0.161500 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99524256e-01 3.11487165e-04 -3.08409622e-02 4.81002968e+00] [-2.80075948e-04 9.99999438e-01 1.02280486e-03 6.00741468e-01] [ 3.08412635e-02 -1.01368045e-03 9.99523781e-01 1.56753223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2525578440001 meters Centerline goodness : 0.169244 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99530147e-01 2.35044659e-04 -3.06501294e-02 4.80957649e+00] [-2.18325411e-04 9.99999826e-01 5.48832516e-04 6.03270906e-01] [ 3.06502530e-02 -5.41882943e-04 9.99530024e-01 1.56736086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28255784400005 meters Centerline goodness : 0.166134 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99526184e-01 1.35890913e-04 -3.07796762e-02 4.81004099e+00] [-1.28066494e-04 9.99999959e-01 2.56178576e-04 6.04813301e-01] [ 3.07797097e-02 -2.52115350e-04 9.99526161e-01 1.56707067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3125578440001 meters Centerline goodness : 0.173278 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99520795e-01 3.69591578e-06 -3.09544725e-02 4.81063597e+00] [-6.23695405e-06 9.99999997e-01 -8.19929821e-05 6.06591987e-01] [ 3.09544721e-02 8.21467523e-05 9.99520792e-01 1.56675735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34255784400005 meters Centerline goodness : 0.172737 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99517998e-01 -3.01104647e-04 -3.10432194e-02 4.81097128e+00] [ 2.76433505e-04 9.99999643e-01 -7.99023956e-04 6.10038490e-01] [ 3.10434489e-02 7.90057439e-04 9.99517724e-01 1.56647169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.372557844 meters Centerline goodness : 0.172967 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99520364e-01 -4.32747663e-04 -3.09653752e-02 4.81072772e+00] [ 3.97216346e-04 9.99999256e-01 -1.15359538e-03 6.11983795e-01] [ 3.09658514e-02 1.14074212e-03 9.99519792e-01 1.56647574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40255784400006 meters Centerline goodness : 0.170747 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99520732e-01 -5.51332184e-04 -3.09516101e-02 4.81064226e+00] [ 5.06563294e-04 9.99998814e-01 -1.45423828e-03 6.13752546e-01] [ 3.09523751e-02 1.43786236e-03 9.99519826e-01 1.56650128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43255784400003 meters Centerline goodness : 0.172323 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99518917e-01 -6.63736040e-04 -3.10079705e-02 4.81084761e+00] [ 6.10927357e-04 9.99998347e-01 -1.71251108e-03 6.15093225e-01] [ 3.10090559e-02 1.69274361e-03 9.99517670e-01 1.56639239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46255784400006 meters Centerline goodness : 0.174643 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99513889e-01 -9.68968269e-04 -3.11616244e-02 4.81102886e+00] [ 9.03936395e-04 9.99997384e-01 -2.10094160e-03 6.16290473e-01] [ 3.11635786e-02 2.07175218e-03 9.99512151e-01 1.56674556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49255784400003 meters Centerline goodness : 0.169425 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99514211e-01 -1.04958016e-03 -3.11486748e-02 4.81078512e+00] [ 9.80421464e-04 9.99997021e-01 -2.23546754e-03 6.16800401e-01] [ 3.11509283e-02 2.20384275e-03 9.99512262e-01 1.56709010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52255784400006 meters Centerline goodness : 0.176556 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99515671e-01 -1.12662847e-03 -3.10990923e-02 4.81042032e+00] [ 1.05252787e-03 9.99996569e-01 -2.39899300e-03 6.17699183e-01] [ 3.11016883e-02 2.36509844e-03 9.99513427e-01 1.56745409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55255784400003 meters Centerline goodness : 0.173840 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99517131e-01 -1.15093525e-03 -3.10512461e-02 4.81026138e+00] [ 1.07121467e-03 9.99996088e-01 -2.58390070e-03 6.19109625e-01] [ 3.10540985e-02 2.54939047e-03 9.99514454e-01 1.56747511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58255784400006 meters Centerline goodness : 0.103309 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99524133e-01 -1.18634485e-03 -3.08237010e-02 4.80955989e+00] [ 1.09377490e-03 9.99994842e-01 -3.01989434e-03 6.22024317e-01] [ 3.08271246e-02 2.98474308e-03 9.99520275e-01 1.56760477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61255784400004 meters Centerline goodness : 0.173861 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99530404e-01 -1.23648310e-03 -3.06176855e-02 4.80868593e+00] [ 1.13879806e-03 9.99994207e-01 -3.20770973e-03 6.23062255e-01] [ 3.06214744e-02 3.17133604e-03 9.99526022e-01 1.56811468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64255784400007 meters Centerline goodness : 0.173657 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99538464e-01 -1.27146166e-03 -3.03519761e-02 4.80752039e+00] [ 1.16516780e-03 9.99993128e-01 -3.51947061e-03 6.25209787e-01] [ 3.03562423e-02 3.48248111e-03 9.99533076e-01 1.56879478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67255784400004 meters Centerline goodness : 0.173876 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99533287e-01 -1.30351923e-03 -3.05206368e-02 4.80813374e+00] [ 1.19258475e-03 9.99992618e-01 -3.65265846e-03 6.26065315e-01] [ 3.05251728e-02 3.61455527e-03 9.99527463e-01 1.56844481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70255784400007 meters Centerline goodness : 0.166425 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99521905e-01 -1.37122847e-03 -3.08882145e-02 4.80957698e+00] [ 1.25540697e-03 9.99992110e-01 -3.76877993e-03 6.26460908e-01] [ 3.08931386e-02 3.72820082e-03 9.99515740e-01 1.56763017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73255784400004 meters Centerline goodness : 0.169950 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99497552e-01 -1.69801320e-03 -3.16506126e-02 4.81212691e+00] [ 1.57206422e-03 9.99990749e-01 -4.00381374e-03 6.26021500e-01] [ 3.16571183e-02 3.95204524e-03 9.99490975e-01 1.56667365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76255784400007 meters Centerline goodness : 0.176035 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99497587e-01 -1.66392947e-03 -3.16512905e-02 4.81207528e+00] [ 1.54248596e-03 9.99991357e-01 -3.86095127e-03 6.25263439e-01] [ 3.16574413e-02 3.81018981e-03 9.99491515e-01 1.56677573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79255784400004 meters Centerline goodness : 0.173618 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99501102e-01 -1.54889304e-03 -3.15459516e-02 4.81163225e+00] [ 1.43710944e-03 9.99992610e-01 -3.56588165e-03 6.24027988e-01] [ 3.15512417e-02 3.51876766e-03 9.99495942e-01 1.56709175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8225578440001 meters Centerline goodness : 0.166863 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99499885e-01 -1.48440572e-03 -3.15875968e-02 4.81152768e+00] [ 1.38766356e-03 9.99994281e-01 -3.08436461e-03 6.21300206e-01] [ 3.15919946e-02 3.03898911e-03 9.99496228e-01 1.56753848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85255784400005 meters Centerline goodness : 0.100591 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99490249e-01 -1.44614033e-03 -3.18928177e-02 4.81246295e+00] [ 1.35534365e-03 9.99994968e-01 -2.86836669e-03 6.19879629e-01] [ 3.18968052e-02 2.82367881e-03 9.99487179e-01 1.56734666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8825578440001 meters Centerline goodness : 0.170787 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99484015e-01 -1.37143643e-03 -3.20908664e-02 4.81312231e+00] [ 1.28725193e-03 9.99995677e-01 -2.64382913e-03 6.18610766e-01] [ 3.20943535e-02 2.60115592e-03 9.99481459e-01 1.56711157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91255784400005 meters Centerline goodness : 0.170787 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99484015e-01 -1.37143643e-03 -3.20908664e-02 4.81312231e+00] [ 1.28725193e-03 9.99995677e-01 -2.64382913e-03 6.18610766e-01] [ 3.20943535e-02 2.60115592e-03 9.99481459e-01 1.56711157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9425578440001 meters Centerline goodness : 0.172936 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99483782e-01 -1.24285790e-03 -3.21033507e-02 4.81326890e+00] [ 1.16702482e-03 9.99996485e-01 -2.38078427e-03 6.17540451e-01] [ 3.21061968e-02 2.34208986e-03 9.99481719e-01 1.56695982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97255784400005 meters Centerline goodness : 0.103905 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99493838e-01 -1.04830654e-03 -3.17957405e-02 4.81252439e+00] [ 9.86233091e-04 9.99997577e-01 -1.96787692e-03 6.15541685e-01] [ 3.17977264e-02 1.93552285e-03 9.99492450e-01 1.56696491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0025578440001 meters Centerline goodness : 0.171422 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99495308e-01 -1.00376120e-03 -3.17509355e-02 4.81244097e+00] [ 9.46402622e-04 9.99997893e-01 -1.82149281e-03 6.14434930e-01] [ 3.17526970e-02 1.79052435e-03 9.99494152e-01 1.56695454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03255784400005 meters Centerline goodness : 0.170780 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99493742e-01 -9.83989153e-04 -3.18007953e-02 4.81255783e+00] [ 9.27647483e-04 9.99997974e-01 -1.78641147e-03 6.14053303e-01] [ 3.18024887e-02 1.75600716e-03 9.99492630e-01 1.56694356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0625578440001 meters Centerline goodness : 0.169703 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99502347e-01 -6.44101070e-04 -3.15379536e-02 4.81197864e+00] [ 5.90740404e-04 9.99998378e-01 -1.70123925e-03 6.14990645e-01] [ 3.15389982e-02 1.68176188e-03 9.99501107e-01 1.56672764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09255784400005 meters Centerline goodness : 0.117834 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99512520e-01 -5.87665150e-04 -3.12150004e-02 4.81107488e+00] [ 5.30572651e-04 9.99998171e-01 -1.83725985e-03 6.16291339e-01] [ 3.12160230e-02 1.81980240e-03 9.99511005e-01 1.56681738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.122557844 meters Centerline goodness : 0.168517 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99532350e-01 -5.59312223e-04 -3.05739875e-02 4.80933229e+00] [ 4.94961177e-04 9.99997647e-01 -2.11229231e-03 6.17924451e-01] [ 3.05750970e-02 2.09617156e-03 9.99530274e-01 1.56694627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15255784400006 meters Centerline goodness : 0.097696 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99530403e-01 -6.44735606e-04 -3.06358746e-02 4.80950322e+00] [ 5.75323265e-04 9.99997248e-01 -2.27448173e-03 6.18447688e-01] [ 3.06372567e-02 2.25578811e-03 9.99528024e-01 1.56688447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18255784400003 meters Centerline goodness : 0.165619 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99520315e-01 -6.16080302e-04 -3.09638566e-02 4.81046337e+00] [ 5.45817545e-04 9.99997257e-01 -2.27758734e-03 6.18680391e-01] [ 3.09651749e-02 2.25959420e-03 9.99517910e-01 1.56661788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21255784400006 meters Centerline goodness : 0.169728 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99519094e-01 -6.12013989e-04 -3.10033390e-02 4.81058557e+00] [ 5.42634711e-04 9.99997330e-01 -2.24616455e-03 6.18563660e-01] [ 3.10046309e-02 2.22826086e-03 9.99516757e-01 1.56656412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24255784400003 meters Centerline goodness : 0.099208 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99523733e-01 -6.00826616e-04 -3.08536142e-02 4.81015303e+00] [ 5.34730522e-04 9.99997545e-01 -2.15045449e-03 6.17885402e-01] [ 3.08548305e-02 2.13293194e-03 9.99521601e-01 1.56670895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27255784400006 meters Centerline goodness : 0.169078 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99529836e-01 -6.33393052e-04 -3.06546257e-02 4.80955500e+00] [ 5.71462656e-04 9.99997778e-01 -2.02898155e-03 6.16752779e-01] [ 3.06558427e-02 2.01050963e-03 9.99527977e-01 1.56694578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30255784400003 meters Centerline goodness : 0.098626 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99532364e-01 -5.67582992e-04 -3.05733853e-02 4.80938010e+00] [ 5.15114403e-04 9.99998381e-01 -1.72400129e-03 6.15063468e-01] [ 3.05743143e-02 1.70744629e-03 9.99531038e-01 1.56699949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33255784400006 meters Centerline goodness : 0.098160 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99527434e-01 -5.24375555e-04 -3.07349040e-02 4.80990806e+00] [ 4.73465140e-04 9.99998504e-01 -1.66369071e-03 6.15014630e-01] [ 3.07357304e-02 1.64835260e-03 9.99526187e-01 1.56678677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36255784400004 meters Centerline goodness : 0.167032 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99526195e-01 -4.75967210e-04 -3.07759350e-02 4.80998759e+00] [ 4.26326491e-04 9.99998598e-01 -1.61951365e-03 6.15086029e-01] [ 3.07766627e-02 1.60562572e-03 9.99524997e-01 1.56681233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39255784400007 meters Centerline goodness : 0.102400 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99528821e-01 -4.65179777e-04 -3.06907215e-02 4.80970982e+00] [ 4.15170886e-04 9.99998576e-01 -1.63579887e-03 6.15310339e-01] [ 3.06914387e-02 1.62228622e-03 9.99527590e-01 1.56692344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42255784400004 meters Centerline goodness : 0.164583 Centerline is valid? [False, False] Translation: X:4.83, Y:0.61, Z:1.57 [[ 9.99538938e-01 7.81801750e-03 -2.93392335e-02 4.82962044e+00] [-7.90823543e-03 9.99964348e-01 -2.96021622e-03 6.13987147e-01] [ 2.93150444e-02 3.19087295e-03 9.99565129e-01 1.56880730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45255784400007 meters Centerline goodness : 0.110614 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99562571e-01 -2.84188527e-04 -2.95734011e-02 4.81001214e+00] [ 2.39442388e-04 9.99998821e-01 -1.51658390e-03 6.17680300e-01] [ 2.95737972e-02 1.50883937e-03 9.99561461e-01 1.56672179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48255784400004 meters Centerline goodness : 0.130151 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99558461e-01 -2.50801721e-04 -2.97122988e-02 4.81061505e+00] [ 2.05907838e-04 9.99998833e-01 -1.51400291e-03 6.17825065e-01] [ 2.97126438e-02 1.50721643e-03 9.99557346e-01 1.56630108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51255784400007 meters Centerline goodness : 0.174986 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99557358e-01 -1.74651627e-04 -2.97499235e-02 4.81108852e+00] [ 1.42033592e-04 9.99999387e-01 -1.09851703e-03 6.15079078e-01] [ 2.97500971e-02 1.09380529e-03 9.99556769e-01 1.56580158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54255784400004 meters Centerline goodness : 0.111390 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99560595e-01 -1.31746693e-04 -2.96411897e-02 4.81071496e+00] [ 1.10080320e-04 9.99999726e-01 -7.32585533e-04 6.12728935e-01] [ 2.96412781e-02 7.29000719e-04 9.99560335e-01 1.56605273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5725578440001 meters Centerline goodness : 0.173651 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99563961e-01 -3.63999168e-05 -2.95277112e-02 4.81032826e+00] [ 2.74108453e-05 9.99999953e-01 -3.04833042e-04 6.10388728e-01] [ 2.95277209e-02 3.03890743e-04 9.99563916e-01 1.56628670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60255784400005 meters Centerline goodness : 0.172769 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99559657e-01 3.52797987e-05 -2.96730733e-02 4.81064768e+00] [-3.29838609e-05 9.99999996e-01 7.78639244e-05 6.08276575e-01] [ 2.96730759e-02 -7.68509050e-05 9.99559654e-01 1.56643623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6325578440001 meters Centerline goodness : 0.170641 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99520265e-01 -1.64115502e-04 -3.09711627e-02 4.81458379e+00] [ 1.76568771e-04 9.99999905e-01 3.99357910e-04 6.05197060e-01] [ 3.09710942e-02 -4.04634864e-04 9.99520199e-01 1.56548389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66255784400005 meters Centerline goodness : 0.173596 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99506579e-01 -7.21597339e-05 -3.14100733e-02 4.81606141e+00] [ 9.44037064e-05 9.99999746e-01 7.06697175e-04 6.03469091e-01] [ 3.14100144e-02 -7.09313704e-04 9.99506332e-01 1.56493771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6925578440001 meters Centerline goodness : 0.175746 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99500354e-01 7.53034336e-05 -3.16075509e-02 4.81685899e+00] [-4.05934074e-05 9.99999395e-01 1.09879640e-03 6.01542809e-01] [ 3.16076145e-02 -1.09696433e-03 9.99499753e-01 1.56451914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72255784400005 meters Centerline goodness : 0.171839 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99501713e-01 4.07044523e-04 -3.15620027e-02 4.81672698e+00] [-3.48056033e-04 9.99998183e-01 1.87444323e-03 5.97897038e-01] [ 3.15627083e-02 -1.86252388e-03 9.99500038e-01 1.56465060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7525578440001 meters Centerline goodness : 0.164968 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.57 [[ 9.99509593e-01 5.49771422e-04 -3.13092986e-02 4.81581847e+00] [-4.81704311e-04 9.99997504e-01 2.18152350e-03 5.96402586e-01] [ 3.13104198e-02 -2.16537184e-03 9.99507363e-01 1.56509622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78255784400005 meters Centerline goodness : 0.167142 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.57 [[ 9.99514577e-01 6.60027998e-04 -3.11476396e-02 4.81513245e+00] [-5.84529983e-04 9.99996870e-01 2.43291928e-03 5.95164440e-01] [ 3.11491479e-02 -2.41353155e-03 9.99511834e-01 1.56554391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8125578440001 meters Centerline goodness : 0.134543 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.57 [[ 9.99505283e-01 9.04688940e-04 -3.14383573e-02 4.81608792e+00] [-8.11854452e-04 9.99995273e-01 2.96554459e-03 5.92513739e-01] [ 3.14408916e-02 -2.93855411e-03 9.99501293e-01 1.56521399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84255784400005 meters Centerline goodness : 0.165822 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99497510e-01 1.02983670e-03 -3.16807020e-02 4.81726880e+00] [-9.27936995e-04 9.99994350e-01 3.23099405e-03 5.91146525e-01] [ 3.16838504e-02 -3.19997282e-03 9.99492818e-01 1.56431003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.872557844 meters Centerline goodness : 0.131551 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99489334e-01 1.14015033e-03 -3.19338727e-02 4.81847354e+00] [-1.02928733e-03 9.99993388e-01 3.48786640e-03 5.89752143e-01] [ 3.19376383e-02 -3.45321614e-03 9.99483898e-01 1.56344806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90255784400006 meters Centerline goodness : 0.158594 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99485917e-01 1.36959136e-03 -3.20316507e-02 4.81891128e+00] [-1.24281659e-03 9.99991318e-01 3.97737178e-03 5.87197484e-01] [ 3.20368200e-02 -3.93551761e-03 9.99478941e-01 1.56321765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93255784400003 meters Centerline goodness : 0.164274 Centerline is valid? [False, False] Translation: X:4.77, Y:0.58, Z:1.56 [[ 9.99410127e-01 1.09846308e-03 -3.43247797e-02 4.77147953e+00] [-9.51513901e-04 9.99990314e-01 4.29718151e-03 5.82891549e-01] [ 3.43291676e-02 -4.26198622e-03 9.99401493e-01 1.56407158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96255784400006 meters Centerline goodness : 0.133785 Centerline is valid? [False, False] Translation: X:4.79, Y:0.58, Z:1.57 [[ 9.99405164e-01 9.55366691e-03 -3.31367583e-02 4.79141444e+00] [-9.45915830e-03 9.99950738e-01 3.00767555e-03 5.80868590e-01] [ 3.31638602e-02 -2.69244064e-03 9.99446301e-01 1.56580885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99255784400003 meters Centerline goodness : 0.124293 Centerline is valid? [False, False] Translation: X:4.79, Y:0.58, Z:1.57 [[ 9.99403081e-01 9.61762946e-03 -3.31810751e-02 4.79172670e+00] [-9.53411558e-03 9.99950973e-01 2.67421863e-03 5.83269577e-01] [ 3.32051680e-02 -2.35627014e-03 9.99445779e-01 1.56536772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02255784400006 meters Centerline goodness : 0.139594 Centerline is valid? [False, False] Translation: X:4.79, Y:0.59, Z:1.57 [[ 9.99406428e-01 9.53081957e-03 -3.31052075e-02 4.79169032e+00] [-9.45829456e-03 9.99952516e-01 2.34665871e-03 5.85076010e-01] [ 3.31260011e-02 -2.03214700e-03 9.99449117e-01 1.56503948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05255784400003 meters Centerline goodness : 0.160850 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.56 [[ 9.99489352e-01 1.37406432e-03 -3.19240736e-02 4.77142236e+00] [-1.27019262e-03 9.99993835e-01 3.27376276e-03 5.90674415e-01] [ 3.19283752e-02 -3.23154130e-03 9.99484935e-01 1.56217570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08255784400006 meters Centerline goodness : 0.127658 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.56 [[ 9.99508062e-01 1.25040064e-03 -3.13380062e-02 4.76910334e+00] [-1.15868622e-03 9.99994993e-01 2.94460853e-03 5.92546621e-01] [ 3.13415313e-02 -2.90684905e-03 9.99504507e-01 1.56346205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11255784400004 meters Centerline goodness : 0.156733 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.56 [[ 9.99515349e-01 1.21349615e-03 -3.11061875e-02 4.76800452e+00] [-1.12053763e-03 9.99994855e-01 3.00568332e-03 5.92133105e-01] [ 3.11096748e-02 -2.96937096e-03 9.99511566e-01 1.56428115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14255784400007 meters Centerline goodness : 0.134559 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.56 [[ 9.99514337e-01 1.09401075e-03 -3.11430940e-02 4.76782884e+00] [-9.97552033e-04 9.99994658e-01 3.11264329e-03 5.91060832e-01] [ 3.11463329e-02 -3.08006474e-03 9.99510090e-01 1.56479466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17255784400004 meters Centerline goodness : 0.137679 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.57 [[ 9.99510824e-01 9.16321011e-04 -3.12613522e-02 4.76792638e+00] [-8.14749627e-04 9.99994349e-01 3.26168751e-03 5.89571844e-01] [ 3.12641643e-02 -3.23462179e-03 9.99505923e-01 1.56519437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20255784400007 meters Centerline goodness : 0.132252 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.57 [[ 9.99516134e-01 -2.79607313e-03 -3.09787138e-02 4.76662416e+00] [ 2.80347045e-03 9.99996051e-01 1.95355264e-04 5.86491705e-01] [ 3.09780452e-02 -2.82108647e-04 9.99520025e-01 1.56607633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23255784400004 meters Centerline goodness : 0.138706 Centerline is valid? [False, False] Translation: X:4.77, Y:0.58, Z:1.57 [[ 9.99524393e-01 -2.91740006e-03 -3.06997943e-02 4.76578973e+00] [ 2.93397074e-03 9.99995574e-01 4.94732184e-04 5.84244491e-01] [ 3.06982151e-02 -5.84569184e-04 9.99528528e-01 1.56648188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26255784400007 meters Centerline goodness : 0.131230 Centerline is valid? [False, False] Translation: X:4.77, Y:0.58, Z:1.57 [[ 9.99528217e-01 -2.92835711e-03 -3.05739856e-02 4.76528955e+00] [ 2.95639251e-03 9.99995250e-01 8.71804367e-04 5.81883518e-01] [ 3.05712874e-02 -9.61781766e-04 9.99532126e-01 1.56688912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29255784400004 meters Centerline goodness : 0.134906 Centerline is valid? [False, False] Translation: X:4.77, Y:0.58, Z:1.57 [[ 9.99497828e-01 -2.81145043e-03 -3.15624361e-02 4.76843594e+00] [ 2.86104628e-03 9.99994742e-01 1.52630483e-03 5.78407584e-01] [ 3.15579790e-02 -1.61583996e-03 9.99500617e-01 1.56594490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3225578440001 meters Centerline goodness : 0.134390 Centerline is valid? [False, False] Translation: X:4.77, Y:0.58, Z:1.57 [[ 9.99484669e-01 -2.68702241e-03 -3.19871211e-02 4.76986962e+00] [ 2.74955569e-03 9.99994394e-01 1.91112565e-03 5.76413727e-01] [ 3.19818066e-02 -1.99809116e-03 9.99486454e-01 1.56541893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35255784400005 meters Centerline goodness : 0.137391 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.57 [[ 9.99468714e-01 -6.55307009e-03 -3.19272117e-02 4.76960384e+00] [ 6.51180629e-03 9.99977823e-01 -1.39624163e-03 5.72884257e-01] [ 3.19356533e-02 1.18759600e-03 9.99489221e-01 1.56566473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3825578440001 meters Centerline goodness : 0.129499 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.57 [[ 9.99472957e-01 -6.38920874e-03 -3.18274398e-02 4.76905218e+00] [ 6.36830315e-03 9.99979435e-01 -7.58168546e-04 5.69341495e-01] [ 3.18316294e-02 5.55082173e-04 9.99493091e-01 1.56620622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41255784400005 meters Centerline goodness : 0.137487 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.57 [[ 9.99475038e-01 -6.13447926e-03 -3.18122099e-02 4.76874007e+00] [ 6.13728497e-03 9.99981167e-01 -9.44917060e-06 5.65678737e-01] [ 3.18116688e-02 -1.85796388e-04 9.99493864e-01 1.56667733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4425578440001 meters Centerline goodness : 0.133669 Centerline is valid? [False, False] Translation: X:4.79, Y:0.56, Z:1.57 [[ 9.99513469e-01 -3.99092649e-04 -3.11875827e-02 4.79044008e+00] [ 3.16419730e-04 9.99996424e-01 -2.65571850e-03 5.58599876e-01] [ 3.11885310e-02 2.64455804e-03 9.99510021e-01 1.56703310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47255784400005 meters Centerline goodness : 0.143733 Centerline is valid? [False, False] Translation: X:4.79, Y:0.56, Z:1.57 [[ 9.99511204e-01 -2.96991915e-04 -3.12612516e-02 4.79063683e+00] [ 2.27160375e-04 9.99997471e-01 -2.23733281e-03 5.56114237e-01] [ 3.12618370e-02 2.22913789e-03 9.99508744e-01 1.56703267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5025578440001 meters Centerline goodness : 0.136367 Centerline is valid? [False, False] Translation: X:4.79, Y:0.55, Z:1.57 [[ 9.99508385e-01 -1.60459728e-04 -3.13522420e-02 4.79099098e+00] [ 1.03116120e-04 9.99998319e-01 -1.83061970e-03 5.53932225e-01] [ 3.13524831e-02 1.82648681e-03 9.99506721e-01 1.56686929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53255784400005 meters Centerline goodness : 0.129275 Centerline is valid? [False, False] Translation: X:4.79, Y:0.55, Z:1.57 [[ 9.99504609e-01 4.19018864e-06 -3.14727887e-02 4.79143379e+00] [-4.82137457e-05 9.99999022e-01 -1.39802281e-03 5.51841501e-01] [ 3.14727520e-02 1.39884766e-03 9.99503631e-01 1.56664614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5625578440001 meters Centerline goodness : 0.135716 Centerline is valid? [False, False] Translation: X:4.79, Y:0.55, Z:1.57 [[ 9.99494407e-01 2.76540526e-04 -3.17939216e-02 4.79228354e+00] [-2.94494119e-04 9.99999800e-01 -5.60004982e-04 5.47595818e-01] [ 3.17937604e-02 5.69084971e-04 9.99494289e-01 1.56659182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59255784400005 meters Centerline goodness : 0.118852 Centerline is valid? [False, False] Translation: X:4.79, Y:0.54, Z:1.57 [[ 9.99490528e-01 4.34590161e-04 -3.19138784e-02 4.79251809e+00] [-4.36080008e-04 9.99999904e-01 -3.97231045e-05 5.44743234e-01] [ 3.19138581e-02 5.36198710e-05 9.99490622e-01 1.56673840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.622557844 meters Centerline goodness : 0.134978 Centerline is valid? [False, False] Translation: X:4.79, Y:0.54, Z:1.57 [[ 9.99492940e-01 5.72859168e-04 -3.18360713e-02 4.79211570e+00] [-5.55776028e-04 9.99999697e-01 5.45443510e-04 5.41436138e-01] [ 3.18363741e-02 -5.27473212e-04 9.99492955e-01 1.56710978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65255784400006 meters Centerline goodness : 0.132353 Centerline is valid? [False, False] Translation: X:4.79, Y:0.54, Z:1.57 [[ 9.99500111e-01 7.20686507e-04 -3.16071013e-02 4.79134970e+00] [-6.84339307e-04 9.99999092e-01 1.16077204e-03 5.37899834e-01] [ 3.16079091e-02 -1.13856180e-03 9.99499697e-01 1.56747969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68255784400003 meters Centerline goodness : 0.133400 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:1.57 [[ 9.99513400e-01 8.79866525e-04 -3.11799558e-02 4.79016696e+00] [-8.15479506e-04 9.99997509e-01 2.07766937e-03 5.30657917e-01] [ 3.11817062e-02 -2.05123176e-03 9.99511628e-01 1.56781780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71255784400006 meters Centerline goodness : 0.122963 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:1.57 [[ 9.99513329e-01 1.04537035e-03 -3.11771165e-02 4.79028445e+00] [-9.67984851e-04 9.99996414e-01 2.49711492e-03 5.28564749e-01] [ 3.11796151e-02 -2.46572067e-03 9.99510756e-01 1.56762827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74255784400003 meters Centerline goodness : 0.119905 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:1.57 [[ 9.99511013e-01 1.22265914e-03 -3.12448466e-02 4.79088904e+00] [-1.13163122e-03 9.99995065e-01 2.93089115e-03 5.26280931e-01] [ 3.12482758e-02 -2.89410034e-03 9.99507463e-01 1.56701913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77255784400006 meters Centerline goodness : 0.133258 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:1.57 [[ 9.99509681e-01 1.27209307e-03 -3.12854453e-02 4.79099681e+00] [-1.17958621e-03 9.99994879e-01 2.97514429e-03 5.26086490e-01] [ 3.12890697e-02 -2.93678164e-03 9.99506063e-01 1.56697787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80255784400003 meters Centerline goodness : 0.133649 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:1.57 [[ 9.99512338e-01 1.33472842e-03 -3.11978367e-02 4.79070544e+00] [-1.23975256e-03 9.99994539e-01 3.06345450e-03 5.25729661e-01] [ 3.12017552e-02 -3.02328297e-03 9.99508534e-01 1.56708702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83255784400006 meters Centerline goodness : 0.133649 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:1.57 [[ 9.99512338e-01 1.33472842e-03 -3.11978367e-02 4.79070544e+00] [-1.23975256e-03 9.99994539e-01 3.06345450e-03 5.25729661e-01] [ 3.12017552e-02 -3.02328297e-03 9.99508534e-01 1.56708702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86255784400004 meters Centerline goodness : 0.131983 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99512121e-01 1.41365663e-03 -3.12013195e-02 4.79046970e+00] [-1.30989406e-03 9.99993545e-01 3.34577225e-03 5.23883561e-01] [ 3.12058479e-02 -3.30326949e-03 9.99507520e-01 1.56743017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89255784400007 meters Centerline goodness : 0.122565 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99504361e-01 1.47115585e-03 -3.14462866e-02 4.79128902e+00] [-1.35892001e-03 9.99992632e-01 3.59020232e-03 5.22365693e-01] [ 3.14513367e-02 -3.54568988e-03 9.99498995e-01 1.56711394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92255784400004 meters Centerline goodness : 0.134715 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99485042e-01 1.47404328e-03 -3.20542869e-02 4.79319628e+00] [-1.35172004e-03 9.99991723e-01 3.83746229e-03 5.20702992e-01] [ 3.20596782e-02 -3.79215774e-03 9.99478762e-01 1.56648201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95255784400007 meters Centerline goodness : 0.133667 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.57 [[ 9.99451309e-01 1.40991112e-03 -3.30921910e-02 4.79612647e+00] [-1.26348507e-03 9.99989321e-01 4.44528603e-03 5.16452470e-01] [ 3.30981051e-02 -4.40103545e-03 9.99442418e-01 1.56600276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98255784400004 meters Centerline goodness : 0.128108 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.57 [[ 9.99456319e-01 1.56021941e-03 -3.29337661e-02 4.79549226e+00] [-1.39890615e-03 9.99986915e-01 4.92058523e-03 5.14007854e-01] [ 3.29410123e-02 -4.87183876e-03 9.99445424e-01 1.56643191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01255784400007 meters Centerline goodness : 0.113300 Centerline is valid? [False, False] Translation: X:4.79, Y:0.51, Z:1.57 [[ 9.99460219e-01 1.72814348e-03 -3.28067575e-02 4.79493623e+00] [-1.55281294e-03 9.99984381e-01 5.36906844e-03 5.11822144e-01] [ 3.28155237e-02 -5.31522757e-03 9.99447292e-01 1.56685606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04255784400004 meters Centerline goodness : 0.126218 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.57 [[ 9.99447298e-01 1.88290530e-03 -3.31896574e-02 4.79580213e+00] [-1.69402492e-03 9.99982216e-01 5.71814228e-03 5.09684705e-01] [ 3.31998338e-02 -5.65875774e-03 9.99432714e-01 1.56717545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0725578440001 meters Centerline goodness : 0.129402 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.57 [[ 9.99436805e-01 1.93434748e-03 -3.35012207e-02 4.79667594e+00] [-1.74302012e-03 9.99982011e-01 5.73932002e-03 5.09552485e-01] [ 3.35117199e-02 -5.67769436e-03 9.99422197e-01 1.56715653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10255784400005 meters Centerline goodness : 0.124173 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.57 [[ 9.99437960e-01 2.01653736e-03 -3.34618733e-02 4.79667815e+00] [-1.82482043e-03 9.99981752e-01 5.75896506e-03 5.09822026e-01] [ 3.34728759e-02 -5.69466638e-03 9.99423402e-01 1.56699096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1325578440001 meters Centerline goodness : 0.125834 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.57 [[ 9.99447204e-01 2.17701998e-03 -3.31745000e-02 4.79596251e+00] [-1.98464865e-03 9.99981032e-01 5.83059727e-03 5.10089065e-01] [ 3.31865640e-02 -5.76153441e-03 9.99432567e-01 1.56697126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16255784400005 meters Centerline goodness : 0.168092 Centerline is valid? [False, False] Translation: X:4.79, Y:0.51, Z:1.57 [[ 9.99479396e-01 2.74064895e-03 -3.21469362e-02 4.79326683e+00] [-2.54536231e-03 9.99978069e-01 6.11416461e-03 5.10314208e-01] [ 3.21629879e-02 -6.02915596e-03 9.99464452e-01 1.56719436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1925578440001 meters Centerline goodness : 0.125107 Centerline is valid? [False, False] Translation: X:4.79, Y:0.51, Z:1.57 [[ 9.99482504e-01 2.75480990e-03 -3.20489477e-02 4.79289844e+00] [-2.56259896e-03 9.99978494e-01 6.03694791e-03 5.10759455e-01] [ 3.20648891e-02 -5.95169522e-03 9.99468069e-01 1.56736877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22255784400005 meters Centerline goodness : 0.140470 Centerline is valid? [False, False] Translation: X:4.81, Y:0.51, Z:1.57 [[ 9.99438919e-01 1.14959324e-02 -3.14593420e-02 4.81342092e+00] [-1.13478960e-02 9.99923702e-01 4.88015185e-03 5.08353775e-01] [ 3.15130436e-02 -4.52041635e-03 9.99493118e-01 1.56877877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2525578440001 meters Centerline goodness : 0.122665 Centerline is valid? [False, False] Translation: X:4.81, Y:0.51, Z:1.57 [[ 9.99435274e-01 1.14974272e-02 -3.15743990e-02 4.81394047e+00] [-1.13523673e-02 9.99924184e-01 4.76966199e-03 5.09167562e-01] [ 3.16268440e-02 -4.40852426e-03 9.99490024e-01 1.56843640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28255784400005 meters Centerline goodness : 0.115945 Centerline is valid? [False, False] Translation: X:4.81, Y:0.51, Z:1.57 [[ 9.99434733e-01 1.15162261e-02 -3.15846577e-02 4.81413809e+00] [-1.13772849e-02 9.99924810e-01 4.57521139e-03 5.10597519e-01] [ 3.16349720e-02 -4.21327753e-03 9.99490609e-01 1.56814546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3125578440001 meters Centerline goodness : 0.131415 Centerline is valid? [False, False] Translation: X:4.81, Y:0.51, Z:1.57 [[ 9.99442651e-01 1.14049039e-02 -3.13738065e-02 4.81324672e+00] [-1.12736424e-02 9.99926956e-01 4.35751310e-03 5.11438447e-01] [ 3.14212119e-02 -4.00138737e-03 9.99498222e-01 1.56868044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34255784400005 meters Centerline goodness : 0.127238 Centerline is valid? [False, False] Translation: X:4.81, Y:0.51, Z:1.57 [[ 9.99450708e-01 1.13296911e-02 -3.11435528e-02 4.81225040e+00] [-1.12042949e-02 9.99928418e-01 4.19796804e-03 5.12129158e-01] [ 3.11888852e-02 -3.84672058e-03 9.99506106e-01 1.56930880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.372557844 meters Centerline goodness : 0.126575 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99510232e-01 3.01795397e-03 -3.11478542e-02 4.79382899e+00] [-2.85687558e-03 9.99982323e-01 5.21462079e-03 5.18888013e-01] [ 3.11630411e-02 -5.12308129e-03 9.99501185e-01 1.56730597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40255784400006 meters Centerline goodness : 0.130392 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99503240e-01 2.94930072e-03 -3.13779392e-02 4.79462007e+00] [-2.79169508e-03 9.99983274e-01 5.06544140e-03 5.19518909e-01] [ 3.13923538e-02 -4.97532745e-03 9.99494755e-01 1.56689107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43255784400003 meters Centerline goodness : 0.130049 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.57 [[ 9.99499474e-01 2.88524021e-03 -3.15036122e-02 4.79508860e+00] [-2.73109731e-03 9.99984094e-01 4.93479898e-03 5.20012694e-01] [ 3.15173492e-02 -4.84628955e-03 9.99491456e-01 1.56665247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46255784400006 meters Centerline goodness : 0.130247 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99500474e-01 2.85751227e-03 -3.14743828e-02 4.79493820e+00] [-2.70657583e-03 9.99984638e-01 4.83709410e-03 5.20532296e-01] [ 3.14877214e-02 -4.74949004e-03 9.99492854e-01 1.56675814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49255784400003 meters Centerline goodness : 0.122250 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99504185e-01 2.83492945e-03 -3.13583592e-02 4.79465700e+00] [-2.68654933e-03 9.99985001e-01 4.77287843e-03 5.20849900e-01] [ 3.13714196e-02 -4.68626618e-03 9.99496810e-01 1.56671431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52255784400006 meters Centerline goodness : 0.120079 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99505375e-01 2.81267905e-03 -3.13224291e-02 4.79476994e+00] [-2.66507887e-03 9.99985153e-01 4.75303602e-03 5.20714007e-01] [ 3.13353329e-02 -4.66720830e-03 9.99498031e-01 1.56639319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55255784400003 meters Centerline goodness : 0.126809 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.57 [[ 9.99500737e-01 2.81019356e-03 -3.14702978e-02 4.79538507e+00] [-2.66141161e-03 9.99985089e-01 4.76858500e-03 5.20506368e-01] [ 3.14832292e-02 -4.68244881e-03 9.99493312e-01 1.56599296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58255784400006 meters Centerline goodness : 0.121306 Centerline is valid? [False, False] Translation: X:4.82, Y:0.52, Z:1.57 [[ 9.99455248e-01 1.13639759e-02 -3.09849392e-02 4.81591433e+00] [-1.12587817e-02 9.99930254e-01 3.56737368e-03 5.17502137e-01] [ 3.10233177e-02 -3.21657768e-03 9.99513485e-01 1.56725059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61255784400004 meters Centerline goodness : 0.130695 Centerline is valid? [False, False] Translation: X:4.82, Y:0.52, Z:1.57 [[ 9.99457051e-01 1.13406253e-02 -3.09353105e-02 4.81558946e+00] [-1.12397460e-02 9.99930939e-01 3.43292789e-03 5.18143145e-01] [ 3.09721056e-02 -3.08335895e-03 9.99515493e-01 1.56760497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64255784400007 meters Centerline goodness : 0.147836 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99504090e-01 4.70225527e-03 -3.11361972e-02 4.83165600e+00] [-4.54172253e-03 9.99976038e-01 5.22454118e-03 5.24672600e-01] [ 3.11600183e-02 -5.08053831e-03 9.99501496e-01 1.57071828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67255784400004 meters Centerline goodness : 0.121401 Centerline is valid? [False, False] Translation: X:4.83, Y:0.53, Z:1.57 [[ 9.99511052e-01 4.76931633e-03 -3.09016133e-02 4.83098471e+00] [-4.61067292e-03 9.99975835e-01 5.20304675e-03 5.25250407e-01] [ 3.09256815e-02 -5.05802550e-03 9.99508889e-01 1.57081597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70255784400007 meters Centerline goodness : 0.129059 Centerline is valid? [False, False] Translation: X:4.83, Y:0.53, Z:1.57 [[ 9.99511321e-01 4.75600188e-03 -3.08949817e-02 4.83101605e+00] [-4.60117491e-03 9.99976508e-01 5.08055766e-03 5.26095327e-01] [ 3.09184191e-02 -4.93592168e-03 9.99509724e-01 1.57068216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73255784400004 meters Centerline goodness : 0.144778 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99384946e-01 3.82027202e-03 -3.48587966e-02 4.79050089e+00] [-3.64461931e-03 9.99980347e-01 5.10113049e-03 5.24030571e-01] [ 3.48775993e-02 -4.97094597e-03 9.99379229e-01 1.56860672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76255784400007 meters Centerline goodness : 0.136525 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.57 [[ 9.99390093e-01 4.59708236e-03 -3.46165970e-02 4.83622457e+00] [-4.45411369e-03 9.99981235e-01 4.20604620e-03 5.27985669e-01] [ 3.46352829e-02 -4.04929465e-03 9.99391815e-01 1.56918393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79255784400004 meters Centerline goodness : 0.142929 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.57 [[ 9.99380722e-01 4.57433879e-03 -3.48890915e-02 4.83702420e+00] [-4.43177133e-03 9.99981516e-01 4.16254486e-03 5.28134653e-01] [ 3.49074875e-02 -4.00534661e-03 9.99382522e-01 1.56898357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8225578440001 meters Centerline goodness : 0.166486 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.57 [[ 9.99388092e-01 4.65436237e-03 -3.46666712e-02 4.83591518e+00] [-4.50328507e-03 9.99980026e-01 4.43480506e-03 5.26940138e-01] [ 3.46866199e-02 -4.27597746e-03 9.99389091e-01 1.56986972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85255784400005 meters Centerline goodness : 0.148353 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.57 [[ 9.99396094e-01 4.67975097e-03 -3.44317814e-02 4.83500232e+00] [-4.52420952e-03 9.99979214e-01 4.59390620e-03 5.25946719e-01] [ 3.44525640e-02 -4.43535532e-03 9.99396492e-01 1.57043919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8825578440001 meters Centerline goodness : 0.143587 Centerline is valid? [False, False] Translation: X:4.83, Y:0.53, Z:1.57 [[ 9.99438484e-01 1.34646660e-03 -3.34799065e-02 4.83230949e+00] [-1.30345222e-03 9.99998297e-01 1.30657482e-03 5.25830550e-01] [ 3.34816088e-02 -1.26220170e-03 9.99438537e-01 1.57077420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91255784400005 meters Centerline goodness : 0.136187 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99436241e-01 1.37746132e-03 -3.35455327e-02 4.83244133e+00] [-1.32668356e-03 9.99997940e-01 1.53590795e-03 5.24464538e-01] [ 3.35475793e-02 -1.49053776e-03 9.99436010e-01 1.57084623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9425578440001 meters Centerline goodness : 0.122810 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99435026e-01 1.54728770e-03 -3.35743059e-02 4.83251399e+00] [-1.48001859e-03 9.99996848e-01 2.02834901e-03 5.22261665e-01] [ 3.35773385e-02 -1.97751245e-03 9.99434166e-01 1.57091991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97255784400005 meters Centerline goodness : 0.116565 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99437052e-01 1.60365089e-03 -3.35112960e-02 4.83226021e+00] [-1.53089180e-03 9.99996415e-01 2.19672649e-03 5.21355954e-01] [ 3.35146986e-02 -2.14418768e-03 9.99435925e-01 1.57110754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0025578440001 meters Centerline goodness : 0.146301 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99438782e-01 1.59172753e-03 -3.34602294e-02 4.83189674e+00] [-1.51773689e-03 9.99996347e-01 2.23658388e-03 5.20703002e-01] [ 3.34636672e-02 -2.18454485e-03 9.99437547e-01 1.57151425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03255784400005 meters Centerline goodness : 0.116428 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99437819e-01 1.56823538e-03 -3.34900875e-02 4.83203697e+00] [-1.49779331e-03 9.99996613e-01 2.12835465e-03 5.21231493e-01] [ 3.34933119e-02 -2.07699690e-03 9.99436783e-01 1.57137081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0625578440001 meters Centerline goodness : 0.165109 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99435241e-01 1.58785532e-03 -3.35660131e-02 4.83219855e+00] [-1.51968893e-03 9.99996731e-01 2.05623044e-03 5.21825633e-01] [ 3.35691684e-02 -2.00405927e-03 9.99434387e-01 1.57137223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09255784400005 meters Centerline goodness : 0.115682 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99440352e-01 1.67481057e-03 -3.34092566e-02 4.83192063e+00] [-1.60709146e-03 9.99996600e-01 2.05370694e-03 5.22250841e-01] [ 3.34125826e-02 -1.99886586e-03 9.99439645e-01 1.57112518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.122557844 meters Centerline goodness : 0.142172 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99443782e-01 1.68846194e-03 -3.33057834e-02 4.83160927e+00] [-1.61978817e-03 9.99996507e-01 2.08879118e-03 5.21948040e-01] [ 3.33091939e-02 -2.03368104e-03 9.99443026e-01 1.57119567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15255784400006 meters Centerline goodness : 0.118419 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99446889e-01 1.68835227e-03 -3.32124195e-02 4.83130037e+00] [-1.61792653e-03 9.99996386e-01 2.14722472e-03 5.21441255e-01] [ 3.32159247e-02 -2.09230181e-03 9.99446009e-01 1.57132116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18255784400003 meters Centerline goodness : 0.148638 Centerline is valid? [False, False] Translation: X:4.81, Y:0.52, Z:1.57 [[ 9.99432302e-01 8.84790081e-03 -3.25082723e-02 4.81252109e+00] [-8.81941512e-03 9.99960588e-01 1.01954785e-03 5.15104612e-01] [ 3.25160119e-02 -7.32265105e-04 9.99470946e-01 1.56892430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21255784400006 meters Centerline goodness : 0.115187 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99483687e-01 9.27410544e-04 -3.21169533e-02 4.83329725e+00] [-8.68036929e-04 9.99997889e-01 1.86256256e-03 5.17726796e-01] [ 3.21186129e-02 -1.83372220e-03 9.99482382e-01 1.57024976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24255784400003 meters Centerline goodness : 0.143178 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99479463e-01 1.03234876e-03 -3.22449595e-02 4.83362573e+00] [-9.62460891e-04 9.99997154e-01 2.18285047e-03 5.16034001e-01] [ 3.22471212e-02 -2.15067970e-03 9.99477612e-01 1.57028450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27255784400006 meters Centerline goodness : 0.166275 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.57 [[ 9.99480109e-01 1.13310426e-03 -3.22215269e-02 4.83346323e+00] [-1.05053445e-03 9.99996122e-01 2.57938054e-03 5.13803368e-01] [ 3.22243246e-02 -2.54418972e-03 9.99477423e-01 1.57052689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30255784400003 meters Centerline goodness : 0.118793 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.57 [[ 9.99483396e-01 1.24963896e-03 -3.21151077e-02 4.83307022e+00] [-1.15191309e-03 9.99994651e-01 3.06130916e-03 5.11099774e-01] [ 3.21187614e-02 -3.02273386e-03 9.99479489e-01 1.57081724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33255784400006 meters Centerline goodness : 0.056528 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.57 [[ 9.99478682e-01 1.37509006e-03 -3.22563793e-02 4.83336266e+00] [-1.26039776e-03 9.99992813e-01 3.57571060e-03 5.08219499e-01] [ 3.22610644e-02 -3.53319064e-03 9.99473231e-01 1.57098173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36255784400004 meters Centerline goodness : 0.124409 Centerline is valid? [False, False] Translation: X:4.83, Y:0.50, Z:1.57 [[ 9.99473195e-01 -2.34446452e-03 -3.23702817e-02 4.83420780e+00] [ 2.36192010e-03 9.99997085e-01 5.01019305e-04 5.04490026e-01] [ 3.23690128e-02 -5.77211385e-04 9.99475820e-01 1.57026232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39255784400007 meters Centerline goodness : 0.137950 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:1.57 [[ 9.99464404e-01 3.81726792e-03 -3.25012953e-02 4.85741639e+00] [-3.89701748e-03 9.99989549e-01 -2.39074222e-03 5.00349064e-01] [ 3.24918295e-02 2.51611986e-03 9.99468834e-01 1.57050346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42255784400004 meters Centerline goodness : 0.145824 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:1.57 [[ 9.99447557e-01 3.98231163e-03 -3.29957831e-02 4.85850779e+00] [-4.04326843e-03 9.99990240e-01 -1.78089401e-03 4.97053948e-01] [ 3.29883690e-02 1.91332098e-03 9.99453904e-01 1.57080240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45255784400007 meters Centerline goodness : 0.143626 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99438532e-01 4.21993448e-03 -3.32387158e-02 4.85903476e+00] [-4.26085978e-03 9.99990249e-01 -1.16051780e-03 4.94030590e-01] [ 3.32334944e-02 1.30149172e-03 9.99446767e-01 1.57097232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48255784400004 meters Centerline goodness : 0.153246 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99432105e-01 4.59072631e-03 -3.33825171e-02 4.85923944e+00] [-4.60253978e-03 9.99989370e-01 -2.77046633e-04 4.89932188e-01] [ 3.33808904e-02 4.30533663e-04 9.99442610e-01 1.57128551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51255784400007 meters Centerline goodness : 0.171169 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99432073e-01 4.70205574e-03 -3.33679819e-02 4.85912510e+00] [-4.70567112e-03 9.99988928e-01 -2.98179579e-05 4.88665580e-01] [ 3.33674723e-02 1.86819772e-04 9.99443133e-01 1.57144425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54255784400004 meters Centerline goodness : 0.135044 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99432554e-01 4.76378055e-03 -3.33448242e-02 4.85913771e+00] [-4.76330804e-03 9.99988651e-01 9.36087177e-05 4.87982607e-01] [ 3.33448917e-02 6.52760695e-05 9.99443902e-01 1.57134381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5725578440001 meters Centerline goodness : 0.171328 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99432538e-01 4.84148471e-03 -3.33340987e-02 4.85926573e+00] [-4.83839717e-03 9.99988280e-01 1.73288050e-04 4.87750470e-01] [ 3.33345470e-02 -1.19061069e-05 9.99444249e-01 1.57111616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60255784400005 meters Centerline goodness : 0.172128 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99437131e-01 5.34038039e-03 -3.31195112e-02 4.85893492e+00] [-5.32624654e-03 9.99985683e-01 5.14964229e-04 4.87631869e-01] [ 3.31217871e-02 -3.38271690e-04 9.99451266e-01 1.57071864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6325578440001 meters Centerline goodness : 0.137008 Centerline is valid? [False, False] Translation: X:4.88, Y:0.49, Z:1.57 [[ 9.99467342e-01 -1.39136422e-03 -3.26051702e-02 4.87686738e+00] [ 1.45360365e-03 9.99997166e-01 1.88525628e-03 4.93286630e-01] [ 3.26024547e-02 -1.93164708e-03 9.99466532e-01 1.57280596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66255784400005 meters Centerline goodness : 0.162896 Centerline is valid? [False, False] Translation: X:4.88, Y:0.49, Z:1.57 [[ 9.99476805e-01 -1.34319999e-03 -3.23158285e-02 4.87604689e+00] [ 1.40366490e-03 9.99997306e-01 1.84844831e-03 4.93708552e-01] [ 3.23132586e-02 -1.89284181e-03 9.99475998e-01 1.57295524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6925578440001 meters Centerline goodness : 0.146470 Centerline is valid? [False, False] Translation: X:4.88, Y:0.49, Z:1.57 [[ 9.99480832e-01 -1.38739512e-03 -3.21891389e-02 4.87568870e+00] [ 1.44215725e-03 9.99997552e-01 1.67810663e-03 4.94470926e-01] [ 3.21867319e-02 -1.72365722e-03 9.99480387e-01 1.57299737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72255784400005 meters Centerline goodness : 0.146470 Centerline is valid? [False, False] Translation: X:4.88, Y:0.49, Z:1.57 [[ 9.99480832e-01 -1.38739512e-03 -3.21891389e-02 4.87568870e+00] [ 1.44215725e-03 9.99997552e-01 1.67810663e-03 4.94470926e-01] [ 3.21867319e-02 -1.72365722e-03 9.99480387e-01 1.57299737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7525578440001 meters Centerline goodness : 0.131568 Centerline is valid? [False, False] Translation: X:4.88, Y:0.50, Z:1.57 [[ 9.99484796e-01 -1.46337182e-03 -3.20624467e-02 4.87546932e+00] [ 1.51122485e-03 9.99997780e-01 1.46831235e-03 4.95431744e-01] [ 3.20602269e-02 -1.51600944e-03 9.99484789e-01 1.57282041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78255784400005 meters Centerline goodness : 0.133304 Centerline is valid? [False, False] Translation: X:4.87, Y:0.50, Z:1.57 [[ 9.99504175e-01 -1.30934734e-03 -3.14593369e-02 4.87404328e+00] [ 1.34600432e-03 9.99998440e-01 1.14406843e-03 4.98188446e-01] [ 3.14577899e-02 -1.18584557e-03 9.99504378e-01 1.57253205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8125578440001 meters Centerline goodness : 0.160043 Centerline is valid? [False, False] Translation: X:4.87, Y:0.50, Z:1.57 [[ 9.99513569e-01 -1.30125302e-03 -3.11597892e-02 4.87330639e+00] [ 1.32872712e-03 9.99998747e-01 8.61026216e-04 5.00243698e-01] [ 3.11586298e-02 -9.02010243e-04 9.99514045e-01 1.57241434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84255784400005 meters Centerline goodness : 0.105066 Centerline is valid? [False, False] Translation: X:4.87, Y:0.50, Z:1.57 [[ 9.99524268e-01 -1.39165606e-03 -3.08107165e-02 4.87237331e+00] [ 1.40660095e-03 9.99998903e-01 4.63385783e-04 5.02494899e-01] [ 3.08100378e-02 -5.06503719e-04 9.99525130e-01 1.57245192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.872557844 meters Centerline goodness : 0.151557 Centerline is valid? [False, False] Translation: X:4.89, Y:0.50, Z:1.57 [[ 9.99547457e-01 7.05284289e-03 -2.92427520e-02 4.89213274e+00] [-7.09594751e-03 9.99973884e-01 -1.37051359e-03 5.03117837e-01] [ 2.92323223e-02 1.57739841e-03 9.99571400e-01 1.57377223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90255784400006 meters Centerline goodness : 0.160153 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99546203e-01 6.77302317e-03 -2.93515590e-02 4.89281974e+00] [-6.83947969e-03 9.99974268e-01 -2.16435059e-03 5.07031168e-01] [ 2.93361446e-02 2.36411781e-03 9.99566807e-01 1.57298905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93255784400003 meters Centerline goodness : 0.159293 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99546575e-01 6.63680420e-03 -2.93700200e-02 4.89317330e+00] [-6.71294135e-03 9.99974357e-01 -2.49450006e-03 5.08663816e-01] [ 2.93527113e-02 2.69052821e-03 9.99565495e-01 1.57247312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96255784400006 meters Centerline goodness : 0.098761 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99547448e-01 6.51411365e-03 -2.93677666e-02 4.89320832e+00] [-6.59860901e-03 9.99974361e-01 -2.78114989e-03 5.10035288e-01] [ 2.93488970e-02 2.97367769e-03 9.99564805e-01 1.57237151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99255784400003 meters Centerline goodness : 0.114402 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99548522e-01 6.34925126e-03 -2.93673308e-02 4.89315698e+00] [-6.44349485e-03 9.99974387e-01 -3.11560891e-03 5.11523917e-01] [ 2.93467968e-02 3.30343053e-03 9.99563831e-01 1.57242161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02255784400006 meters Centerline goodness : 0.162055 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99555888e-01 6.05008619e-03 -2.91791521e-02 4.89263638e+00] [-6.16309866e-03 9.99973846e-01 -3.78467476e-03 5.14738743e-01] [ 2.91554913e-02 3.96282793e-03 9.99567033e-01 1.57241853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05255784400003 meters Centerline goodness : 0.160848 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99536252e-01 -2.80518113e-03 -3.03218126e-02 4.87266459e+00] [ 2.72553149e-03 9.99992727e-01 -2.66782200e-03 5.19668264e-01] [ 3.03290758e-02 2.58394175e-03 9.99536628e-01 1.57076478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08255784400006 meters Centerline goodness : 0.159343 Centerline is valid? [False, False] Translation: X:4.89, Y:0.52, Z:1.57 [[ 9.99548949e-01 5.68460895e-03 -2.94886997e-02 4.89345547e+00] [-5.80911498e-03 9.99974564e-01 -4.13820946e-03 5.20090220e-01] [ 2.94644255e-02 4.30764616e-03 9.99556548e-01 1.57143550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11255784400004 meters Centerline goodness : 0.126923 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99524058e-01 -3.06443709e-03 -3.06963495e-02 4.87471445e+00] [ 2.97676051e-03 9.99991360e-01 -2.90154594e-03 5.25138209e-01] [ 3.07049759e-02 2.80878929e-03 9.99524545e-01 1.56914662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14255784400007 meters Centerline goodness : 0.156871 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99519257e-01 -3.19445041e-03 -3.08390917e-02 4.87543219e+00] [ 3.09616386e-03 9.99989976e-01 -3.23430355e-03 5.26825464e-01] [ 3.08491144e-02 3.13726580e-03 9.99519129e-01 1.56851071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17255784400004 meters Centerline goodness : 0.156302 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99512061e-01 -3.37913627e-03 -3.10519165e-02 4.87626794e+00] [ 3.26520899e-03 9.99987754e-01 -3.71890488e-03 5.29421155e-01] [ 3.10641029e-02 3.61569928e-03 9.99510854e-01 1.56798225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20255784400007 meters Centerline goodness : 0.161283 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99515471e-01 -3.41326357e-03 -3.09381974e-02 4.87579259e+00] [ 3.29713828e-03 9.99987330e-01 -3.80369942e-03 5.29912314e-01] [ 3.09507885e-02 3.69984890e-03 9.99514062e-01 1.56827503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23255784400004 meters Centerline goodness : 0.154003 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99519811e-01 -3.43787834e-03 -3.07949480e-02 4.87518479e+00] [ 3.32198344e-03 9.99987210e-01 -3.81381103e-03 5.29899426e-01] [ 3.08076655e-02 3.70967937e-03 9.99518447e-01 1.56865676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26255784400007 meters Centerline goodness : 0.104003 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99523165e-01 -3.49287628e-03 -3.06796752e-02 4.87484502e+00] [ 3.37448748e-03 9.99986663e-01 -3.90979659e-03 5.30355170e-01] [ 3.06929224e-02 3.80440408e-03 9.99521621e-01 1.56873011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29255784400004 meters Centerline goodness : 0.116544 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99531369e-01 -3.63927183e-03 -3.03940598e-02 4.87448720e+00] [ 3.50809514e-03 9.99984306e-01 -4.36807650e-03 5.32924946e-01] [ 3.04094794e-02 4.25940423e-03 9.99528449e-01 1.56812089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3225578440001 meters Centerline goodness : 0.116231 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99534146e-01 -3.77127092e-03 -3.02864469e-02 4.87439355e+00] [ 3.62869655e-03 9.99982082e-01 -4.76111434e-03 5.34908277e-01] [ 3.03038596e-02 4.64899603e-03 9.99529921e-01 1.56774334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35255784400005 meters Centerline goodness : 0.139983 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99533949e-01 -3.90006656e-03 -3.02766347e-02 4.87463556e+00] [ 3.74543119e-03 9.99979660e-01 -5.16244996e-03 5.36946084e-01] [ 3.02961528e-02 5.04664494e-03 9.99528226e-01 1.56724364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3825578440001 meters Centerline goodness : 0.106398 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99532402e-01 -4.01338288e-03 -3.03128586e-02 4.87489250e+00] [ 3.84618173e-03 9.99977079e-01 -5.57214436e-03 5.39096643e-01] [ 3.03345269e-02 5.45295008e-03 9.99524928e-01 1.56687046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41255784400005 meters Centerline goodness : 0.123936 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99532388e-01 -4.15939445e-03 -3.02936536e-02 4.87482785e+00] [ 3.97690698e-03 9.99973598e-01 -6.08171290e-03 5.41864245e-01] [ 3.03181500e-02 5.95839397e-03 9.99522540e-01 1.56677797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4425578440001 meters Centerline goodness : 0.156432 Centerline is valid? [False, False] Translation: X:4.89, Y:0.54, Z:1.57 [[ 9.99567310e-01 4.16778172e-03 -2.91173946e-02 4.89410016e+00] [-4.39135355e-03 9.99961336e-01 -7.61856897e-03 5.40594070e-01] [ 2.90845162e-02 7.74313727e-03 9.99546965e-01 1.56838560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47255784400005 meters Centerline goodness : 0.122295 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99562627e-01 -4.66008822e-03 -2.92034100e-02 4.87377025e+00] [ 4.47273735e-03 9.99969018e-01 -6.47741976e-03 5.44255993e-01] [ 2.92326906e-02 6.34396753e-03 9.99552502e-01 1.56658011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5025578440001 meters Centerline goodness : 0.118268 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99565147e-01 -4.65026051e-03 -2.91185740e-02 4.87351228e+00] [ 4.46401772e-03 9.99969184e-01 -6.45775729e-03 5.44252758e-01] [ 2.91477070e-02 6.32496328e-03 9.99555104e-01 1.56662680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53255784400005 meters Centerline goodness : 0.132237 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99566821e-01 -4.62491650e-03 -2.90651030e-02 4.87336586e+00] [ 4.44183248e-03 9.99969907e-01 -6.36051227e-03 5.43733004e-01] [ 2.90936452e-02 6.22865471e-03 9.99557284e-01 1.56665852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5625578440001 meters Centerline goodness : 0.161409 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99562600e-01 -4.66008361e-03 -2.92043048e-02 4.87377774e+00] [ 4.48591330e-03 9.99971778e-01 -6.02654089e-03 5.41285364e-01] [ 2.92315648e-02 5.89289691e-03 9.99555296e-01 1.56664513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59255784400005 meters Centerline goodness : 0.138362 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99562254e-01 -4.56606194e-03 -2.92309983e-02 4.87366506e+00] [ 4.40036092e-03 9.99973899e-01 -5.73049483e-03 5.39736943e-01] [ 2.92564012e-02 5.59935939e-03 9.99556257e-01 1.56695345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.622557844 meters Centerline goodness : 0.128947 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99565794e-01 -4.47467555e-03 -2.91238820e-02 4.87319451e+00] [ 4.31755768e-03 9.99975798e-01 -5.45546395e-03 5.38401786e-01] [ 2.91475886e-02 5.32735111e-03 9.99560922e-01 1.56730058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65255784400006 meters Centerline goodness : 0.105865 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99567777e-01 -4.34774678e-03 -2.90750075e-02 4.87294438e+00] [ 4.20302439e-03 9.99978482e-01 -5.03681671e-03 5.36183531e-01] [ 2.90962807e-02 4.91243672e-03 9.99564542e-01 1.56755775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68255784400003 meters Centerline goodness : 0.112956 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99567397e-01 -4.25810537e-03 -2.91013389e-02 4.87312166e+00] [ 4.11958582e-03 9.99979907e-01 -4.81820217e-03 5.35117242e-01] [ 2.91212706e-02 4.69623234e-03 9.99564854e-01 1.56739706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71255784400006 meters Centerline goodness : 0.128567 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99567006e-01 -4.16809780e-03 -2.91277776e-02 4.87326818e+00] [ 4.03472060e-03 9.99981113e-01 -4.63631265e-03 5.34328185e-01] [ 2.91465521e-02 4.51678271e-03 9.99564944e-01 1.56725198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74255784400003 meters Centerline goodness : 0.165792 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99571065e-01 -4.07352417e-03 -2.90015903e-02 4.87293887e+00] [ 3.94558199e-03 9.99982237e-01 -4.46741795e-03 5.33699328e-01] [ 2.90192732e-02 4.35107357e-03 9.99569382e-01 1.56724911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77255784400006 meters Centerline goodness : 0.140510 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99578801e-01 -3.89164733e-03 -2.87589377e-02 4.87206249e+00] [ 3.77535537e-03 9.99984481e-01 -4.09687412e-03 5.32097103e-01] [ 2.87744350e-02 3.98657331e-03 9.99577981e-01 1.56766546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80255784400003 meters Centerline goodness : 0.138784 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99581241e-01 -3.79656439e-03 -2.86867213e-02 4.87182609e+00] [ 3.68848349e-03 9.99985903e-01 -3.81960562e-03 5.30645441e-01] [ 2.87008183e-02 3.71219563e-03 9.99581154e-01 1.56778870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83255784400006 meters Centerline goodness : 0.134219 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99583140e-01 -3.71600589e-03 -2.86310687e-02 4.87173227e+00] [ 3.61847071e-03 9.99987475e-01 -3.45767844e-03 5.28542392e-01] [ 2.86435588e-02 3.35263639e-03 9.99584067e-01 1.56775283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86255784400004 meters Centerline goodness : 0.140395 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99586365e-01 -3.60930174e-03 -2.85319531e-02 4.87140070e+00] [ 3.52503811e-03 9.99989278e-01 -3.00305450e-03 5.26037488e-01] [ 2.85424861e-02 2.90123611e-03 9.99588370e-01 1.56792933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89255784400007 meters Centerline goodness : 0.119326 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99590275e-01 -3.46426198e-03 -2.84126835e-02 4.87103516e+00] [ 3.39607107e-03 9.99991237e-01 -2.44792094e-03 5.23258251e-01] [ 2.84209147e-02 2.35042647e-03 9.99593281e-01 1.56808323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92255784400004 meters Centerline goodness : 0.151974 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99591592e-01 -3.32846327e-03 -2.83825735e-02 4.87086972e+00] [ 3.27552653e-03 9.99992809e-01 -1.91140366e-03 5.20559839e-01] [ 2.83887314e-02 1.81765515e-03 9.99595306e-01 1.56825797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95255784400007 meters Centerline goodness : 0.120356 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99568217e-01 -3.62099917e-03 -2.91593486e-02 4.87313624e+00] [ 3.57649596e-03 9.99992359e-01 -1.57821828e-03 5.16976769e-01] [ 2.91648405e-02 1.47324854e-03 9.99573530e-01 1.56787856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98255784400004 meters Centerline goodness : 0.121424 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99561861e-01 -3.53314259e-03 -2.93871177e-02 4.87385804e+00] [ 3.49671829e-03 9.99993053e-01 -1.29076315e-03 5.15394797e-01] [ 2.93914740e-02 1.18743915e-03 9.99567272e-01 1.56763964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01255784400007 meters Centerline goodness : 0.129299 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99557405e-01 -3.42032986e-03 -2.95515893e-02 4.87457469e+00] [ 3.39028488e-03 9.99993684e-01 -1.06674133e-03 5.14493143e-01] [ 2.95550513e-02 9.66080891e-04 9.99562687e-01 1.56712272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04255784400004 meters Centerline goodness : 0.130804 Centerline is valid? [False, False] Translation: X:4.88, Y:0.51, Z:1.57 [[ 9.99548619e-01 -3.33273208e-03 -2.98571651e-02 4.87618173e+00] [ 3.31069294e-03 9.99994210e-01 -7.87557133e-04 5.12847185e-01] [ 2.98596170e-02 6.88353739e-04 9.99553865e-01 1.56578612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0725578440001 meters Centerline goodness : 0.128924 Centerline is valid? [False, False] Translation: X:4.88, Y:0.51, Z:1.57 [[ 9.99547695e-01 -3.30718637e-03 -2.98909427e-02 4.87645629e+00] [ 3.29020054e-03 9.99994397e-01 -6.17426897e-04 5.11589046e-01] [ 2.98928172e-02 5.18800435e-04 9.99552975e-01 1.56550582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10255784400005 meters Centerline goodness : 0.126223 Centerline is valid? [False, False] Translation: X:4.88, Y:0.51, Z:1.57 [[ 9.99549010e-01 -3.23332586e-03 -2.98550089e-02 4.87630685e+00] [ 3.22413303e-03 9.99994739e-01 -3.56049964e-04 5.10031882e-01] [ 2.98560030e-02 2.59632869e-04 9.99554176e-01 1.56561334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1325578440001 meters Centerline goodness : 0.135055 Centerline is valid? [False, False] Translation: X:4.90, Y:0.51, Z:1.57 [[ 9.99583461e-01 5.22056214e-03 -2.83839665e-02 4.89541813e+00] [-5.26608913e-03 9.99984964e-01 -1.52945347e-03 5.05332993e-01] [ 2.83755551e-02 1.67828889e-03 9.99595924e-01 1.56692889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16255784400005 meters Centerline goodness : 0.147256 Centerline is valid? [False, False] Translation: X:4.89, Y:0.50, Z:1.57 [[ 9.99587858e-01 5.57161491e-03 -2.81615320e-02 4.89479294e+00] [-5.58793906e-03 9.99984262e-01 -5.00995803e-04 5.00350492e-01] [ 2.81582974e-02 6.58154246e-04 9.99603260e-01 1.56705672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1925578440001 meters Centerline goodness : 0.168509 Centerline is valid? [False, False] Translation: X:4.89, Y:0.50, Z:1.57 [[ 9.99610513e-01 2.23053589e-03 -2.78181174e-02 4.89441774e+00] [-2.32904099e-03 9.99991131e-01 -3.50914298e-03 4.97820693e-01] [ 2.78100434e-02 3.57256575e-03 9.99606842e-01 1.56646850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22255784400005 meters Centerline goodness : 0.135518 Centerline is valid? [False, False] Translation: X:4.90, Y:0.49, Z:1.57 [[ 9.99600985e-01 2.35185378e-03 -2.81485320e-02 4.89522113e+00] [-2.43567730e-03 9.99992700e-01 -2.94398383e-03 4.94397259e-01] [ 2.81414027e-02 3.01136988e-03 9.99599416e-01 1.56651005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2525578440001 meters SLAMing on 404.28255784400005 meters Centerline goodness : 0.142341 Centerline is valid? [False, False] Translation: X:4.89, Y:0.49, Z:1.57 [[ 9.99606413e-01 2.68366215e-03 -2.79251926e-02 4.89440163e+00] [-2.73396716e-03 9.99994708e-01 -1.76339552e-03 4.87236399e-01] [ 2.79203125e-02 1.83904803e-03 9.99608460e-01 1.56699809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3125578440001 meters Centerline goodness : 0.143881 Centerline is valid? [False, False] Translation: X:4.89, Y:0.48, Z:1.57 [[ 9.99621201e-01 3.09879997e-03 -2.73468689e-02 4.89272820e+00] [-3.11249249e-03 9.99995051e-01 -4.58145476e-04 4.81194333e-01] [ 2.73453138e-02 5.43088855e-04 9.99625899e-01 1.56742423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34255784400005 meters Centerline goodness : 0.113260 Centerline is valid? [False, False] Translation: X:4.89, Y:0.48, Z:1.57 [[ 9.99619921e-01 3.33633476e-03 -2.73657164e-02 4.89278751e+00] [-3.33404436e-03 9.99994434e-01 1.29323580e-04 4.78343531e-01] [ 2.73659956e-02 -3.80359146e-05 9.99625480e-01 1.56749546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.372557844 meters Centerline goodness : 0.134937 Centerline is valid? [False, False] Translation: X:4.89, Y:0.48, Z:1.57 [[ 9.99608641e-01 3.57664747e-03 -2.77447833e-02 4.89388913e+00] [-3.55878512e-03 9.99993427e-01 6.93161077e-04 4.75603302e-01] [ 2.77470802e-02 -5.94152080e-04 9.99614799e-01 1.56739802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40255784400006 meters Centerline goodness : 0.156946 Centerline is valid? [False, False] Translation: X:4.90, Y:0.47, Z:1.57 [[ 9.99595776e-01 3.90315483e-03 -2.81611427e-02 4.89518208e+00] [-3.86681324e-03 9.99991620e-01 1.34482971e-03 4.72710198e-01] [ 2.81661557e-02 -1.23539222e-03 9.99602492e-01 1.56711965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43255784400003 meters Centerline goodness : 0.131186 Centerline is valid? [False, False] Translation: X:4.90, Y:0.47, Z:1.57 [[ 9.99574620e-01 4.45445203e-03 -2.88225144e-02 4.89685147e+00] [-4.38492395e-03 9.99987323e-01 2.47504003e-03 4.67444175e-01] [ 2.88331740e-02 -2.34760266e-03 9.99581481e-01 1.56735811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46255784400006 meters Centerline goodness : 0.138953 Centerline is valid? [False, False] Translation: X:4.90, Y:0.47, Z:1.57 [[ 9.99572984e-01 4.62837903e-03 -2.88518141e-02 4.89664110e+00] [-4.54599035e-03 9.99985402e-01 2.92052116e-03 4.65055812e-01] [ 2.88649102e-02 -2.78811399e-03 9.99579433e-01 1.56788906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49255784400003 meters Centerline goodness : 0.136239 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99577056e-01 4.82460392e-03 -2.86780755e-02 4.89602770e+00] [-4.72860552e-03 9.99982991e-01 3.41432532e-03 4.62601327e-01] [ 2.86940605e-02 -3.27727394e-03 9.99582868e-01 1.56818018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52255784400006 meters Centerline goodness : 0.139394 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99578980e-01 5.01575451e-03 -2.85780360e-02 4.89571576e+00] [-4.90759200e-03 9.99980532e-01 3.85369602e-03 4.60603525e-01] [ 2.85968089e-02 -3.71182420e-03 9.99584136e-01 1.56828263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55255784400003 meters Centerline goodness : 0.102877 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99572305e-01 5.46307421e-03 -2.87291252e-02 4.89666721e+00] [-5.33295131e-03 9.99975181e-01 4.60397542e-03 4.58213563e-01] [ 2.87535641e-02 -4.44879530e-03 9.99576631e-01 1.56746263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58255784400006 meters Centerline goodness : 0.137751 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99558801e-01 5.53413648e-03 -2.91818036e-02 4.89819959e+00] [-5.40312551e-03 9.99974977e-01 4.56641919e-03 4.58234058e-01] [ 2.92063445e-02 -4.40673154e-03 9.99563690e-01 1.56702089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61255784400004 meters Centerline goodness : 0.135263 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99549172e-01 5.55266916e-03 -2.95062819e-02 4.89921658e+00] [-5.42413076e-03 9.99975456e-01 4.43456315e-03 4.58625119e-01] [ 2.95301814e-02 -4.27251799e-03 9.99554758e-01 1.56685595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64255784400007 meters Centerline goodness : 0.135263 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99549172e-01 5.55266916e-03 -2.95062819e-02 4.89921658e+00] [-5.42413076e-03 9.99975456e-01 4.43456315e-03 4.58625119e-01] [ 2.95301814e-02 -4.27251799e-03 9.99554758e-01 1.56685595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67255784400004 meters Centerline goodness : 0.161634 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99548636e-01 5.49260836e-03 -2.95356521e-02 4.89913298e+00] [-5.36857855e-03 9.99976443e-01 4.27698709e-03 4.59178268e-01] [ 2.95584481e-02 -4.11649214e-03 9.99554577e-01 1.56714021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70255784400007 meters Centerline goodness : 0.172518 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:1.57 [[ 9.99593944e-01 -2.95352942e-03 -2.83412120e-02 4.87930309e+00] [ 3.08075087e-03 9.99985370e-01 4.44630622e-03 4.65840532e-01] [ 2.83276651e-02 -4.53181298e-03 9.99588418e-01 1.56655984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73255784400004 meters Centerline goodness : 0.163903 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99658756e-01 5.48621228e-03 -2.55396171e-02 4.89798769e+00] [-5.41079630e-03 9.99980798e-01 3.02107244e-03 4.63287879e-01] [ 2.55557009e-02 -2.88185185e-03 9.99669246e-01 1.56770644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76255784400007 meters Centerline goodness : 0.103286 Centerline is valid? [False, False] Translation: X:4.89, Y:0.46, Z:1.57 [[ 9.99703400e-01 2.83210259e-03 -2.41886441e-02 4.89416888e+00] [-2.80659662e-03 9.99995469e-01 1.08834445e-03 4.58824535e-01] [ 2.41916168e-02 -1.02013388e-03 9.99706820e-01 1.56781464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79255784400004 meters Centerline goodness : 0.129735 Centerline is valid? [False, False] Translation: X:4.89, Y:0.46, Z:1.57 [[ 9.99700143e-01 2.89312449e-03 -2.43157192e-02 4.89479097e+00] [-2.86080111e-03 9.99994978e-01 1.36400191e-03 4.57647163e-01] [ 2.43195433e-02 -1.29403046e-03 9.99703399e-01 1.56719583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8225578440001 meters Centerline goodness : 0.170214 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99696932e-01 3.03073550e-03 -2.44307054e-02 4.89545397e+00] [-2.98887616e-03 9.99994003e-01 1.74972423e-03 4.56393229e-01] [ 2.44358618e-02 -1.67617359e-03 9.99699995e-01 1.56645612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85255784400005 meters Centerline goodness : 0.170989 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99699021e-01 3.09178367e-03 -2.43374025e-02 4.89518926e+00] [-3.04227554e-03 9.99993228e-01 2.07100387e-03 4.55034242e-01] [ 2.43436408e-02 -1.99633945e-03 9.99701656e-01 1.56640660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8825578440001 meters Centerline goodness : 0.170060 Centerline is valid? [False, False] Translation: X:4.89, Y:0.46, Z:1.57 [[ 9.99700782e-01 2.98550114e-03 -2.42782335e-02 4.89457041e+00] [-2.93921655e-03 9.99993795e-01 1.94188476e-03 4.55005139e-01] [ 2.42838803e-02 -1.86994472e-03 9.99703354e-01 1.56716012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91255784400005 meters Centerline goodness : 0.101916 Centerline is valid? [False, False] Translation: X:4.89, Y:0.46, Z:1.57 [[ 9.99699904e-01 2.88491707e-03 -2.43265201e-02 4.89436002e+00] [-2.84461159e-03 9.99994524e-01 1.69129582e-03 4.55648575e-01] [ 2.43312662e-02 -1.62158877e-03 9.99702636e-01 1.56780874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9425578440001 meters Centerline goodness : 0.150992 Centerline is valid? [False, False] Translation: X:4.85, Y:0.45, Z:1.57 [[ 9.99636884e-01 2.64400008e-03 -2.68162253e-02 4.84955929e+00] [-2.58518336e-03 9.99994177e-01 2.22775743e-03 4.54331544e-01] [ 2.68219593e-02 -2.15762363e-03 9.99637898e-01 1.56852774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97255784400005 meters Centerline goodness : 0.140365 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:1.57 [[ 9.99634343e-01 2.85146094e-03 -2.68895625e-02 4.84997840e+00] [-2.79594154e-03 9.99993882e-01 2.10209107e-03 4.55746047e-01] [ 2.68953921e-02 -2.02614078e-03 9.99636200e-01 1.56833916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0025578440001 meters Centerline goodness : 0.164744 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:1.57 [[ 0.99960822 0.00644399 -0.02723758 4.85099619] [-0.00630545 0.99996676 0.00516928 0.45840664] [ 0.02726999 -0.0049955 0.99961562 1.56843614] [ 0. 0. 0. 1. ]] SLAMing on 405.03255784400005 meters Centerline goodness : 0.116778 Centerline is valid? [False, False] Translation: X:4.83, Y:0.46, Z:1.57 [[ 9.99432598e-01 1.69764937e-02 -2.90909211e-02 4.83265437e+00] [-1.68288856e-02 9.99844277e-01 5.31139052e-03 4.57937057e-01] [ 2.91765597e-02 -4.81880904e-03 9.99562658e-01 1.56752324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0625578440001 meters Centerline goodness : 0.105049 Centerline is valid? [False, False] Translation: X:4.83, Y:0.46, Z:1.57 [[ 9.99420769e-01 1.69055861e-02 -2.95351772e-02 4.83394425e+00] [-1.67761918e-02 9.99848581e-01 4.62335845e-03 4.61157623e-01] [ 2.96088656e-02 -4.12519266e-03 9.99553049e-01 1.56736208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09255784400005 meters Centerline goodness : 0.161211 Centerline is valid? [False, False] Translation: X:4.83, Y:0.46, Z:1.57 [[ 9.99410974e-01 1.69364874e-02 -2.98472945e-02 4.83488373e+00] [-1.68214362e-02 9.99850097e-01 4.10156570e-03 4.64074872e-01] [ 2.99122864e-02 -3.59707541e-03 9.99546055e-01 1.56717099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.122557844 meters Centerline goodness : 0.115441 Centerline is valid? [False, False] Translation: X:4.82, Y:0.47, Z:1.57 [[ 9.99496751e-01 8.44303845e-03 -3.05771246e-02 4.81662008e+00] [-8.29175625e-03 9.99952765e-01 5.07098732e-03 4.72674669e-01] [ 3.06184949e-02 -4.81489728e-03 9.99519547e-01 1.56542536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15255784400006 meters Centerline goodness : 0.132895 Centerline is valid? [False, False] Translation: X:4.82, Y:0.48, Z:1.56 [[ 9.99488775e-01 8.26595215e-03 -3.08846682e-02 4.81799167e+00] [-8.14034347e-03 9.99958086e-01 4.19055056e-03 4.77466044e-01] [ 3.09180126e-02 -3.93699644e-03 9.99514170e-01 1.56421623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18255784400003 meters Centerline goodness : 0.151787 Centerline is valid? [False, False] Translation: X:4.84, Y:0.49, Z:1.57 [[ 9.99493700e-01 9.44347622e-04 -3.18033375e-02 4.83672627e+00] [-7.96527571e-04 9.99988824e-01 4.66029008e-03 4.87588304e-01] [ 3.18073829e-02 -4.63259834e-03 9.99483281e-01 1.56535795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21255784400006 meters Centerline goodness : 0.107303 Centerline is valid? [False, False] Translation: X:4.84, Y:0.49, Z:1.57 [[ 9.99498159e-01 8.24962398e-04 -3.16662302e-02 4.83648906e+00] [-6.88469683e-04 9.99990427e-01 4.32101702e-03 4.89334392e-01] [ 3.16694917e-02 -4.29704732e-03 9.99489159e-01 1.56511496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24255784400003 meters Centerline goodness : 0.116316 Centerline is valid? [False, False] Translation: X:4.84, Y:0.49, Z:1.57 [[ 9.99503983e-01 6.88977779e-04 -3.14851123e-02 4.83594624e+00] [-5.64490495e-04 9.99991990e-01 3.96256364e-03 4.91139291e-01] [ 3.14875902e-02 -3.94282509e-03 9.99496366e-01 1.56520746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27255784400006 meters Centerline goodness : 0.105039 Centerline is valid? [False, False] Translation: X:4.84, Y:0.49, Z:1.57 [[ 9.99505050e-01 6.01618355e-04 -3.14530183e-02 4.83567994e+00] [-4.83871920e-04 9.99992848e-01 3.75104301e-03 4.92207291e-01] [ 3.14550500e-02 -3.73396720e-03 9.99498193e-01 1.56545726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30255784400003 meters Centerline goodness : 0.136567 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99519555e-01 7.45208298e-03 -3.00852939e-02 4.85735029e+00] [-7.43361005e-03 9.99972107e-01 7.25819884e-04 4.93545926e-01] [ 3.00898636e-02 -5.01828824e-04 9.99547072e-01 1.56563524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33255784400006 meters Centerline goodness : 0.134188 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99517546e-01 7.39976852e-03 -3.01648476e-02 4.85754282e+00] [-7.38279953e-03 9.99972520e-01 6.73880298e-04 4.93650083e-01] [ 3.01690052e-02 -4.50854159e-04 9.99544710e-01 1.56565802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36255784400004 meters Centerline goodness : 0.080660 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99514288e-01 7.30839498e-03 -3.02948123e-02 4.85804301e+00] [-7.29607640e-03 9.99973250e-01 5.17146952e-04 4.94243312e-01] [ 3.02977814e-02 -2.95862502e-04 9.99540873e-01 1.56536753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39255784400007 meters Centerline goodness : 0.168134 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:1.56 [[ 9.99509816e-01 7.15521747e-03 -3.04783630e-02 4.85878895e+00] [-7.15119371e-03 9.99974401e-01 2.41023478e-04 4.95216530e-01] [ 3.04793073e-02 -2.29486550e-05 9.99535398e-01 1.56490738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42255784400004 meters Centerline goodness : 0.160275 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:1.56 [[ 9.99506216e-01 6.84418314e-03 -3.06672627e-02 4.85952686e+00] [-6.86492281e-03 9.99976273e-01 -5.71041122e-04 4.99009101e-01] [ 3.06626268e-02 7.81287543e-04 9.99529486e-01 1.56442927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45255784400007 meters Centerline goodness : 0.160241 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:1.56 [[ 9.99515628e-01 6.73504486e-03 -3.03833598e-02 4.85881817e+00] [-6.77027958e-03 9.99976523e-01 -1.05694398e-03 5.01845963e-01] [ 3.03755279e-02 1.26213586e-03 9.99537760e-01 1.56433500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48255784400004 meters Centerline goodness : 0.129682 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99535221e-01 6.42567400e-04 -3.04783327e-02 4.87477272e+00] [-6.38383741e-04 9.99999785e-01 1.46997133e-04 5.11121270e-01] [ 3.04784206e-02 -1.27471940e-04 9.99535417e-01 1.56705426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51255784400007 meters Centerline goodness : 0.136575 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99546078e-01 4.96229209e-04 -3.01229303e-02 4.87388510e+00] [-5.09436482e-04 9.99999777e-01 -4.30772805e-04 5.14370609e-01] [ 3.01227098e-02 4.45922988e-04 9.99546109e-01 1.56694743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54255784400004 meters Centerline goodness : 0.129632 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99550450e-01 2.46570164e-04 -2.99806153e-02 4.87355533e+00] [-2.79124537e-04 9.99999376e-01 -1.08166717e-03 5.17482902e-01] [ 2.99803298e-02 1.08954923e-03 9.99549895e-01 1.56682498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5725578440001 meters Centerline goodness : 0.157213 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99549035e-01 -3.77889711e-05 -3.00287505e-02 4.87368430e+00] [-1.40987019e-05 9.99998507e-01 -1.72771953e-03 5.20340215e-01] [ 3.00287710e-02 1.72736375e-03 9.99547542e-01 1.56672789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60255784400005 meters Centerline goodness : 0.243905 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99543793e-01 -5.60363534e-04 -3.01975613e-02 4.87442997e+00] [ 4.74611137e-04 9.99995835e-01 -2.84680552e-03 5.25746352e-01] [ 3.01990308e-02 2.83117469e-03 9.99539896e-01 1.56604396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6325578440001 meters Centerline goodness : 0.174025 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99544802e-01 -7.94564174e-04 -3.01588784e-02 4.87454229e+00] [ 6.92651376e-04 9.99994016e-01 -3.38949398e-03 5.28476705e-01] [ 3.01613911e-02 3.36706150e-03 9.99539371e-01 1.56564377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66255784400005 meters Centerline goodness : 0.168519 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99548376e-01 -1.01893788e-03 -3.00334097e-02 4.87412153e+00] [ 9.01578491e-04 9.99991907e-01 -3.92091072e-03 5.31171629e-01] [ 3.00371618e-02 3.89206247e-03 9.99541205e-01 1.56572529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6925578440001 meters Centerline goodness : 0.140043 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99554574e-01 -1.18710623e-03 -2.98202149e-02 4.87326751e+00] [ 1.05968736e-03 9.99990244e-01 -4.28834260e-03 5.33040799e-01] [ 2.98250146e-02 4.25483235e-03 9.99546079e-01 1.56618919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72255784400005 meters Centerline goodness : 0.137210 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99555971e-01 -1.33293861e-03 -2.97671679e-02 4.87290820e+00] [ 1.19764132e-03 9.99988874e-01 -4.56255165e-03 5.34317239e-01] [ 2.97729183e-02 4.52487536e-03 9.99546447e-01 1.56650413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7525578440001 meters Centerline goodness : 0.195562 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99548395e-01 -1.49478171e-03 -3.00128523e-02 4.87342289e+00] [ 1.35418269e-03 9.99988017e-01 -4.70440672e-03 5.34701750e-01] [ 3.00195248e-02 4.66163931e-03 9.99538442e-01 1.56666538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78255784400005 meters Centerline goodness : 0.083632 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99522676e-01 -2.26284367e-03 -3.08106920e-02 4.87588936e+00] [ 2.10441053e-03 9.99984403e-01 -5.17360437e-03 5.34693085e-01] [ 3.08219185e-02 5.10629654e-03 9.99511848e-01 1.56604365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8125578440001 meters Centerline goodness : 0.139924 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99513414e-01 -2.34247286e-03 -3.11038427e-02 4.87678459e+00] [ 2.18529419e-03 9.99984676e-01 -5.08638475e-03 5.33847446e-01] [ 3.11152808e-02 5.01593874e-03 9.99503216e-01 1.56579853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84255784400005 meters SLAMing on 405.872557844 meters Centerline goodness : 0.140081 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99516157e-01 -2.31396621e-03 -3.10176828e-02 4.87644433e+00] [ 2.15926733e-03 9.99985068e-01 -5.02000992e-03 5.33749278e-01] [ 3.10288358e-02 4.95060555e-03 9.99506230e-01 1.56598279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90255784400006 meters Centerline goodness : 0.141052 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99557190e-01 -1.67994079e-03 -2.97086154e-02 4.87241580e+00] [ 1.53850172e-03 9.99987377e-01 -4.78309486e-03 5.35416566e-01] [ 2.97162758e-02 4.73527010e-03 9.99547158e-01 1.56708689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93255784400003 meters Centerline goodness : 0.148622 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99558306e-01 -1.71975478e-03 -2.96687629e-02 4.87216471e+00] [ 1.56628668e-03 9.99985278e-01 -5.19518157e-03 5.37712195e-01] [ 2.96772606e-02 5.14641710e-03 9.99546284e-01 1.56730136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96255784400006 meters Centerline goodness : 0.131986 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99557782e-01 -1.79102485e-03 -2.96822043e-02 4.87227226e+00] [ 1.62507022e-03 9.99982920e-01 -5.61422831e-03 5.39863222e-01] [ 2.96917525e-02 5.56350993e-03 9.99543619e-01 1.56710428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99255784400003 meters Centerline goodness : 0.143349 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.57 [[ 0.99951173 0.00630495 -0.03060313 4.85133557] [-0.00650856 0.99995731 -0.00655843 0.53671558] [ 0.03056047 0.00675441 0.9995101 1.56562905] [ 0. 0. 0. 1. ]] SLAMing on 406.02255784400006 meters Centerline goodness : 0.167510 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99484059e-01 9.64889696e-05 -3.21186195e-02 4.86885487e+00] [-2.73990212e-04 9.99984716e-01 -5.52207278e-03 5.43579566e-01] [ 3.21175958e-02 5.52802390e-03 9.99468809e-01 1.56820199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05255784400003 meters Centerline goodness : 0.230631 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99477493e-01 -5.39895697e-05 -3.23224134e-02 4.86958429e+00] [-1.32277366e-04 9.99983399e-01 -5.76061326e-03 5.44302587e-01] [ 3.23221878e-02 5.76187882e-03 9.99460893e-01 1.56781857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08255784400006 meters Centerline goodness : 0.138923 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99471716e-01 -7.13361079e-05 -3.25005293e-02 4.86988114e+00] [-1.12381303e-04 9.99984027e-01 -5.65088958e-03 5.43517778e-01] [ 3.25004132e-02 5.65155675e-03 9.99455743e-01 1.56804902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11255784400004 meters Centerline goodness : 0.144536 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99469044e-01 -7.98250627e-05 -3.25825656e-02 4.86988223e+00] [-9.89248161e-05 9.99984956e-01 -5.48441014e-03 5.42530019e-01] [ 3.25825132e-02 5.48472138e-03 9.99454000e-01 1.56841316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14255784400007 meters Centerline goodness : 0.218869 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99467652e-01 -8.11566626e-05 -3.26252326e-02 4.86979532e+00] [-9.11467545e-05 9.99986058e-01 -5.27977121e-03 5.41361909e-01] [ 3.26252062e-02 5.27993422e-03 9.99453710e-01 1.56874198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17255784400004 meters Centerline goodness : 0.139559 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99464977e-01 -6.87238626e-05 -3.27070954e-02 4.86997141e+00] [-9.70973762e-05 9.99987152e-01 -5.06827049e-03 5.40192698e-01] [ 3.27070235e-02 5.06873463e-03 9.99452129e-01 1.56882832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20255784400007 meters Centerline goodness : 0.142894 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99464844e-01 -6.13988430e-05 -3.27112035e-02 4.86981276e+00] [-9.73542187e-05 9.99988226e-01 -4.85155610e-03 5.38950921e-01] [ 3.27111163e-02 4.85214433e-03 9.99453070e-01 1.56912678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23255784400004 meters Centerline goodness : 0.139181 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99495970e-01 -4.97427050e-04 -3.17420654e-02 4.86690130e+00] [ 3.43786443e-04 9.99988201e-01 -4.84555793e-03 5.37457989e-01] [ 3.17441012e-02 4.83220313e-03 9.99484348e-01 1.57014603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26255784400007 meters Centerline goodness : 0.150419 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99501016e-01 -4.67691713e-04 -3.15832394e-02 4.86627734e+00] [ 3.21312586e-04 9.99989185e-01 -4.63962538e-03 5.36305106e-01] [ 3.15850677e-02 4.62716219e-03 9.99490357e-01 1.57051125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29255784400004 meters Centerline goodness : 0.133715 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99500656e-01 -4.36022903e-04 -3.15950632e-02 4.86630027e+00] [ 2.95137411e-04 9.99989994e-01 -4.46362471e-03 5.35295617e-01] [ 3.15966933e-02 4.45207094e-03 9.99490784e-01 1.57053532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3225578440001 meters Centerline goodness : 0.158185 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99472584e-01 -5.82277875e-04 -3.24686725e-02 4.86906156e+00] [ 4.43224082e-04 9.99990701e-01 -4.28973936e-03 5.33413385e-01] [ 3.24708684e-02 4.27308598e-03 9.99463548e-01 1.56971830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35255784400005 meters Centerline goodness : 0.164630 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99462012e-01 -5.68471378e-04 -3.27927201e-02 4.87002248e+00] [ 4.31558124e-04 9.99991162e-01 -4.18203801e-03 5.32583611e-01] [ 3.27948077e-02 4.16563616e-03 9.99453425e-01 1.56952032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3825578440001 meters Centerline goodness : 0.210483 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99460087e-01 -5.30187951e-04 -3.28519949e-02 4.87000094e+00] [ 3.94364599e-04 9.99991349e-01 -4.14074361e-03 5.32474384e-01] [ 3.28539061e-02 4.12555231e-03 9.99451650e-01 1.56979143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41255784400005 meters Centerline goodness : 0.153350 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99466186e-01 -4.68729455e-04 -3.26668617e-02 4.86928752e+00] [ 3.31557585e-04 9.99991106e-01 -4.20440423e-03 5.33314693e-01] [ 3.26685419e-02 4.19132892e-03 9.99457452e-01 1.57013370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4425578440001 meters Centerline goodness : 0.131301 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99479727e-01 -3.25146003e-04 -3.22516661e-02 4.86793705e+00] [ 1.88376759e-04 9.99990978e-01 -4.24363558e-03 5.34375291e-01] [ 3.22527549e-02 4.23535227e-03 9.99470771e-01 1.57055460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47255784400005 meters Centerline goodness : 0.151842 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99491644e-01 -3.07287341e-04 -3.18803935e-02 4.86688893e+00] [ 1.67557969e-04 9.99990370e-01 -4.38550394e-03 5.35480310e-01] [ 3.18814341e-02 4.37793273e-03 9.99482070e-01 1.57070502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5025578440001 meters Centerline goodness : 0.237516 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99493282e-01 -3.78033794e-04 -3.18282411e-02 4.86713882e+00] [ 2.33354584e-04 9.99989625e-01 -4.54921569e-03 5.36019884e-01] [ 3.18296306e-02 4.53948326e-03 9.99483000e-01 1.57007754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53255784400005 meters Centerline goodness : 0.237516 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99493282e-01 -3.78033794e-04 -3.18282411e-02 4.86713882e+00] [ 2.33354584e-04 9.99989625e-01 -4.54921569e-03 5.36019884e-01] [ 3.18296306e-02 4.53948326e-03 9.99483000e-01 1.57007754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5625578440001 meters Centerline goodness : 0.126497 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99492178e-01 -3.36834477e-04 -3.18633325e-02 4.86731473e+00] [ 1.96340698e-04 9.99990247e-01 -4.41228799e-03 5.35270216e-01] [ 3.18645080e-02 4.40379127e-03 9.99482496e-01 1.56991659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59255784400005 meters Centerline goodness : 0.141937 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99495523e-01 -2.38235214e-04 -3.17591389e-02 4.86693392e+00] [ 1.06411844e-04 9.99991373e-01 -4.15234799e-03 5.34076650e-01] [ 3.17598541e-02 4.14687368e-03 9.99486926e-01 1.57006869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.622557844 meters Centerline goodness : 0.140330 Centerline is valid? [False, False] Translation: X:4.89, Y:0.54, Z:1.57 [[ 9.99483735e-01 -7.97661538e-03 -3.11229315e-02 4.88706057e+00] [ 7.88570665e-03 9.99964278e-01 -3.04260878e-03 5.37530263e-01] [ 3.11460895e-02 2.79561168e-03 9.99510933e-01 1.57184881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65255784400006 meters Centerline goodness : 0.143421 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99524597e-01 -3.41524197e-03 -3.06417287e-02 4.86599718e+00] [ 3.22865611e-03 9.99975958e-01 -6.13668582e-03 5.30041620e-01] [ 3.06619502e-02 6.03483682e-03 9.99511594e-01 1.57035464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68255784400003 meters Centerline goodness : 0.088816 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99512513e-01 -3.43392423e-03 -3.10313418e-02 4.86700900e+00] [ 3.25408881e-03 9.99977629e-01 -5.84392825e-03 5.28163428e-01] [ 3.10507152e-02 5.74010067e-03 9.99501328e-01 1.57028743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71255784400006 meters Centerline goodness : 0.128313 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99507073e-01 -3.32083948e-03 -3.12183249e-02 4.86746729e+00] [ 3.15092457e-03 9.99979963e-01 -5.49041454e-03 5.26508993e-01] [ 3.12359322e-02 5.38934158e-03 9.99497510e-01 1.57031623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74255784400003 meters Centerline goodness : 0.143394 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99509807e-01 -3.14362021e-03 -3.11490580e-02 4.86734486e+00] [ 2.98787511e-03 9.99982809e-01 -5.04527927e-03 5.24899808e-01] [ 3.11643829e-02 4.94973661e-03 9.99502017e-01 1.57009827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77255784400006 meters Centerline goodness : 0.143022 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99512292e-01 -3.11595576e-03 -3.10719853e-02 4.86711070e+00] [ 2.96528088e-03 9.99983627e-01 -4.89412069e-03 5.24277173e-01] [ 3.10867265e-02 4.79959662e-03 9.99505167e-01 1.57009379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80255784400003 meters Centerline goodness : 0.137727 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99514340e-01 -3.09986193e-03 -3.10076552e-02 4.86673203e+00] [ 2.95280065e-03 9.99984181e-01 -4.78740820e-03 5.23557488e-01] [ 3.10220049e-02 4.69352372e-03 9.99507682e-01 1.57044289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83255784400006 meters Centerline goodness : 0.138848 Centerline is valid? [False, False] Translation: X:4.86, Y:0.52, Z:1.57 [[ 9.99538777e-01 -3.43625229e-03 -3.01732665e-02 4.86414485e+00] [ 3.29214039e-03 9.99982943e-01 -4.82452549e-03 5.23157987e-01] [ 3.01893301e-02 4.72296567e-03 9.99533040e-01 1.57083988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86255784400004 meters Centerline goodness : 0.156676 Centerline is valid? [False, False] Translation: X:4.86, Y:0.52, Z:1.57 [[ 9.99542840e-01 -3.36008338e-03 -3.00469756e-02 4.86403548e+00] [ 3.22571541e-03 9.99984585e-01 -4.51928523e-03 5.22132549e-01] [ 3.00616976e-02 4.42029620e-03 9.99538271e-01 1.57030795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89255784400007 meters Centerline goodness : 0.142528 Centerline is valid? [False, False] Translation: X:4.85, Y:0.51, Z:1.57 [[ 0.99953516 0.00484797 -0.03009906 4.84646738] [-0.00502186 0.99997112 -0.00570452 0.51383456] [ 0.03007053 0.00585302 0.99953064 1.56803738] [ 0. 0. 0. 1. ]] SLAMing on 406.92255784400004 meters Centerline goodness : 0.141012 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99502176e-01 -3.61513667e-03 -3.13421485e-02 4.86869908e+00] [ 3.44998752e-03 9.99979888e-01 -5.32171345e-03 5.15644842e-01] [ 3.13607569e-02 5.21093415e-03 9.99494547e-01 1.56947228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95255784400007 meters Centerline goodness : 0.140287 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99503940e-01 -3.65969828e-03 -3.12806681e-02 4.86860120e+00] [ 3.50259650e-03 9.99980985e-01 -5.07564882e-03 5.14455115e-01] [ 3.12986486e-02 4.96356744e-03 9.99497753e-01 1.56911320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98255784400004 meters SLAMing on 407.01255784400007 meters Centerline goodness : 0.154464 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99500205e-01 -3.91893778e-03 -3.13684925e-02 4.86887763e+00] [ 3.76418864e-03 9.99980461e-01 -4.99080074e-03 5.13175534e-01] [ 3.13874383e-02 4.87022943e-03 9.99495427e-01 1.56899837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04255784400004 meters Centerline goodness : 0.133613 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99502440e-01 -3.93751452e-03 -3.12948774e-02 4.86863792e+00] [ 3.78381103e-03 9.99980495e-01 -4.96916364e-03 5.13072665e-01] [ 3.13138331e-02 4.84827728e-03 9.99497843e-01 1.56906015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0725578440001 meters Centerline goodness : 0.116019 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99502178e-01 -4.03079415e-03 -3.12913688e-02 4.86896322e+00] [ 3.87286610e-03 9.99979465e-01 -5.10598530e-03 5.13822097e-01] [ 3.13113074e-02 4.98225614e-03 9.99497263e-01 1.56849151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10255784400005 meters Centerline goodness : 0.153013 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99530719e-01 4.27921498e-03 -3.03319954e-02 4.88877179e+00] [-4.47764961e-03 9.99968998e-01 -6.47718716e-03 5.10804500e-01] [ 3.03033377e-02 6.60996359e-03 9.99518892e-01 1.56938818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1325578440001 meters Centerline goodness : 0.138526 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99527914e-01 4.19442187e-03 -3.04361036e-02 4.88906259e+00] [-4.39657917e-03 9.99968699e-01 -6.57814234e-03 5.11016509e-01] [ 3.04075594e-02 6.70885163e-03 9.99515068e-01 1.56932984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16255784400005 meters Centerline goodness : 0.134443 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99486995e-01 -3.11498881e-03 -3.18754374e-02 4.90834900e+00] [ 2.93421092e-03 9.99979355e-01 -5.71659151e-03 5.14949372e-01] [ 3.18925865e-02 5.62012961e-03 9.99475501e-01 1.57212655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1925578440001 meters Centerline goodness : 0.158576 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99479541e-01 -3.34591432e-03 -3.20850773e-02 4.90884878e+00] [ 3.16416941e-03 9.99978671e-01 -5.71357104e-03 5.14409710e-01] [ 3.21035101e-02 5.60907474e-03 9.99468810e-01 1.57202686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22255784400005 meters Centerline goodness : 0.147098 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99486600e-01 -3.30287633e-03 -3.18689080e-02 4.90826028e+00] [ 3.12797291e-03 9.99979781e-01 -5.53651040e-03 5.13740361e-01] [ 3.18865501e-02 5.43398287e-03 9.99476723e-01 1.57202689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2525578440001 meters Centerline goodness : 0.135027 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99469097e-01 -1.11469297e-02 -3.06148537e-02 4.92822438e+00] [ 1.10177497e-02 9.99929688e-01 -4.38498228e-03 5.16887207e-01] [ 3.06615802e-02 4.04534748e-03 9.99521637e-01 1.57359546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28255784400005 meters Centerline goodness : 0.120875 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99559746e-01 -2.12617068e-03 -2.95938218e-02 4.91029507e+00] [ 1.95997511e-03 9.99982153e-01 -5.64376295e-03 5.11891469e-01] [ 2.96052933e-02 5.58327510e-03 9.99546074e-01 1.57143238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3125578440001 meters Centerline goodness : 0.135987 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99550047e-01 -2.28758085e-03 -2.99077136e-02 4.91131606e+00] [ 2.11995677e-03 9.99981875e-01 -5.63521817e-03 5.11242617e-01] [ 2.99200625e-02 5.56927953e-03 9.99536779e-01 1.57101113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34255784400005 meters Centerline goodness : 0.134065 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99545922e-01 -2.26493666e-03 -3.00469661e-02 4.91186651e+00] [ 2.09724189e-03 9.99982057e-01 -5.61142974e-03 5.11348284e-01] [ 3.00591365e-02 5.54586595e-03 9.99532737e-01 1.57065846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.372557844 meters Centerline goodness : 0.138339 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99541316e-01 -2.20998733e-03 -3.02038556e-02 4.91257491e+00] [ 2.04385217e-03 9.99982619e-01 -5.53022861e-03 5.11280009e-01] [ 3.02155523e-02 5.46595977e-03 9.99528461e-01 1.57011091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40255784400006 meters Centerline goodness : 0.141936 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99538278e-01 -2.21255663e-03 -3.03040597e-02 4.91307760e+00] [ 2.04592524e-03 9.99982624e-01 -5.52855281e-03 5.11316395e-01] [ 3.03157654e-02 5.46400032e-03 9.99525437e-01 1.56968814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43255784400003 meters Centerline goodness : 0.152438 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99542985e-01 -2.29979201e-03 -3.01418506e-02 4.91274121e+00] [ 2.12838958e-03 9.99981391e-01 -5.71737746e-03 5.12066004e-01] [ 3.01544384e-02 5.65061094e-03 9.99529279e-01 1.56959218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46255784400006 meters Centerline goodness : 0.139293 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99545101e-01 -2.34883970e-03 -3.00678206e-02 4.91244985e+00] [ 2.17298274e-03 9.99980352e-01 -5.88001700e-03 5.12986544e-01] [ 3.00810411e-02 5.81200533e-03 9.99530566e-01 1.56971251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49255784400003 meters Centerline goodness : 0.133290 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99544982e-01 3.24582942e-04 -3.01616122e-02 4.91210074e+00] [-4.22936463e-04 9.99994614e-01 -3.25456163e-03 5.14480369e-01] [ 3.01603933e-02 3.26583719e-03 9.99539737e-01 1.57033126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52255784400006 meters Centerline goodness : 0.154267 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99534011e-01 1.34153669e-04 -3.05244670e-02 4.91343491e+00] [-2.52361987e-04 9.99992484e-01 -3.86875644e-03 5.17777169e-01] [ 3.05237186e-02 3.87465686e-03 9.99526533e-01 1.56966721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55255784400003 meters Centerline goodness : 0.144718 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99532217e-01 -2.13066553e-06 -3.05834335e-02 4.91362077e+00] [-1.25551355e-04 9.99991285e-01 -4.17295433e-03 5.19195159e-01] [ 3.05831759e-02 4.17484208e-03 9.99523507e-01 1.56959538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58255784400006 meters Centerline goodness : 0.133943 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99533833e-01 -9.74731045e-05 -3.05304375e-02 4.91338812e+00] [-3.52006897e-05 9.99990560e-01 -4.34505613e-03 5.19986370e-01] [ 3.05305728e-02 4.34410530e-03 9.99524393e-01 1.56970845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61255784400004 meters Centerline goodness : 0.137415 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99527539e-01 -7.79900868e-03 -2.97300208e-02 4.93295425e+00] [ 7.70562377e-03 9.99965016e-01 -3.25437612e-03 5.24054997e-01] [ 2.97543617e-02 3.02375020e-03 9.99552667e-01 1.57152108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64255784400007 meters Centerline goodness : 0.340233 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99541641e-01 -7.95838246e-03 -2.92091220e-02 4.93137416e+00] [ 7.87059980e-03 9.99964162e-01 -3.11906005e-03 5.22867318e-01] [ 2.92328979e-02 2.88773709e-03 9.99568456e-01 1.57192241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67255784400004 meters Centerline goodness : 0.145740 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99540505e-01 -8.06000477e-03 -2.92201306e-02 4.93107632e+00] [ 7.97548423e-03 9.99963671e-01 -3.00794086e-03 5.21795753e-01] [ 2.92433131e-02 2.77351404e-03 9.99568475e-01 1.57235340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70255784400007 meters Centerline goodness : 0.107232 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99536647e-01 -8.12582701e-03 -2.93336411e-02 4.93124175e+00] [ 8.04580916e-03 9.99963585e-01 -2.84485638e-03 5.20578252e-01] [ 2.93556897e-02 2.60752533e-03 9.99565628e-01 1.57242064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73255784400004 meters Centerline goodness : 0.125588 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99525628e-01 -8.15423483e-03 -2.96989402e-02 4.93226826e+00] [ 8.08023406e-03 9.99963946e-01 -2.61086114e-03 5.19445693e-01] [ 2.97191590e-02 2.36964823e-03 9.99555479e-01 1.57210406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76255784400007 meters Centerline goodness : 0.136544 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99520740e-01 -8.09758844e-03 -2.98784152e-02 4.93301328e+00] [ 8.03052772e-03 9.99964961e-01 -2.36376996e-03 5.18314978e-01] [ 2.98965091e-02 2.12269766e-03 9.99550746e-01 1.57154137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79255784400004 meters Centerline goodness : 0.132160 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99518267e-01 -8.04832070e-03 -2.99742959e-02 4.93335002e+00] [ 7.98947394e-03 9.99965915e-01 -2.08249200e-03 5.16940902e-01] [ 2.99900348e-02 1.84200994e-03 9.99548500e-01 1.57129711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8225578440001 meters Centerline goodness : 0.131748 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99594323e-01 -3.16793393e-03 -2.83046546e-02 4.90905282e+00] [ 3.02456159e-03 9.99982387e-01 -5.10670541e-03 5.12524891e-01] [ 2.83203337e-02 5.01902457e-03 9.99586298e-01 1.57083840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85255784400005 meters Centerline goodness : 0.139806 Centerline is valid? [False, False] Translation: X:4.93, Y:0.51, Z:1.57 [[ 9.99591579e-01 -1.08232190e-02 -2.64486918e-02 4.92838432e+00] [ 1.07258076e-02 9.99935172e-01 -3.82213351e-03 5.14732660e-01] [ 2.64883450e-02 3.53688889e-03 9.99642865e-01 1.57266475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8825578440001 meters Centerline goodness : 0.108380 Centerline is valid? [False, False] Translation: X:4.93, Y:0.51, Z:1.57 [[ 9.99595178e-01 -1.07371499e-02 -2.63475409e-02 4.92798927e+00] [ 1.06440957e-02 9.99936617e-01 -3.66951188e-03 5.14326395e-01] [ 2.63852710e-02 3.38758064e-03 9.99646108e-01 1.57281937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91255784400005 meters SLAMing on 407.9425578440001 meters Centerline goodness : 0.111560 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99576020e-01 -3.22814691e-03 -2.89371665e-02 4.90985989e+00] [ 3.08510196e-03 9.99982808e-01 -4.98657909e-03 5.10286293e-01] [ 2.89527664e-02 4.89519077e-03 9.99568794e-01 1.56991631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97255784400005 meters Centerline goodness : 0.120579 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99577106e-01 -3.22408985e-03 -2.89000677e-02 4.90970184e+00] [ 3.07984179e-03 9.99982585e-01 -5.03439515e-03 5.10635347e-01] [ 2.89157958e-02 4.94325850e-03 9.99569628e-01 1.56999089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0025578440001 meters Centerline goodness : 0.138227 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99580114e-01 -3.22162899e-03 -2.87961205e-02 4.90930072e+00] [ 3.07374307e-03 9.99981868e-01 -5.17841029e-03 5.11713569e-01] [ 2.88122812e-02 5.08772408e-03 9.99571892e-01 1.57023796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03255784400005 meters Centerline goodness : 0.091518 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99580780e-01 -3.23370837e-03 -2.87716566e-02 4.90916882e+00] [ 3.08017843e-03 9.99980790e-01 -5.37887307e-03 5.13155075e-01] [ 2.87884976e-02 5.28799630e-03 9.99571538e-01 1.57036888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0625578440001 meters Centerline goodness : 0.107388 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99577634e-01 -3.27618226e-03 -2.88759408e-02 4.90952014e+00] [ 3.11559419e-03 9.99979441e-01 -5.60454946e-03 5.14470278e-01] [ 2.88937086e-02 5.51221658e-03 9.99567291e-01 1.57023960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09255784400005 meters Centerline goodness : 0.144079 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99574349e-01 -3.46320179e-03 -2.89676852e-02 4.90991964e+00] [ 3.29304311e-03 9.99977056e-01 -5.91973097e-03 5.15499818e-01] [ 2.89875217e-02 5.82181939e-03 9.99562819e-01 1.56994726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.122557844 meters Centerline goodness : 0.127050 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99573744e-01 -3.49895741e-03 -2.89842740e-02 4.90996238e+00] [ 3.32779133e-03 9.99976752e-01 -5.95161440e-03 5.15581050e-01] [ 2.90044246e-02 5.85262387e-03 9.99562149e-01 1.56991512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15255784400006 meters Centerline goodness : 0.092107 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99574667e-01 -3.50099482e-03 -2.89521698e-02 4.90996887e+00] [ 3.32932495e-03 9.99976604e-01 -5.97551169e-03 5.15831059e-01] [ 2.89724126e-02 5.87657893e-03 9.99562937e-01 1.56973894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18255784400003 meters Centerline goodness : 0.131569 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99576268e-01 -5.18293358e-04 -2.91035273e-02 4.91049205e+00] [ 4.29843761e-04 9.99995271e-01 -3.04531074e-03 5.17230132e-01] [ 2.91049680e-02 3.03151037e-03 9.99571764e-01 1.56947036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21255784400006 meters Centerline goodness : 0.132658 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99574246e-01 -6.34042142e-04 -2.91706293e-02 4.91071521e+00] [ 5.35972834e-04 9.99994179e-01 -3.36961568e-03 5.18912011e-01] [ 2.91725960e-02 3.35254639e-03 9.99568767e-01 1.56940687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24255784400003 meters Centerline goodness : 0.127010 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99573471e-01 -7.52561649e-04 -2.91943467e-02 4.91073323e+00] [ 6.44174627e-04 9.99992866e-01 -3.72183059e-03 5.20763010e-01] [ 2.91969394e-02 3.70143686e-03 9.99566825e-01 1.56945967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27255784400006 meters Centerline goodness : 0.137677 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99575153e-01 -8.77279050e-04 -2.91331951e-02 4.91049891e+00] [ 7.59255628e-04 9.99991462e-01 -4.06198148e-03 5.22578497e-01] [ 2.91365098e-02 4.03813622e-03 9.99567285e-01 1.56959115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30255784400003 meters Centerline goodness : 0.093835 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99575934e-01 -1.01731630e-03 -2.91018587e-02 4.91050119e+00] [ 8.90225469e-04 9.99990013e-01 -4.37972679e-03 5.24207850e-01] [ 2.91060236e-02 4.35196228e-03 9.99566856e-01 1.56944373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33255784400006 meters Centerline goodness : 0.094967 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99487937e-01 -3.15659719e-03 -3.18418023e-02 4.86700062e+00] [ 2.98382585e-03 9.99980577e-01 -5.47198741e-03 5.28693625e-01] [ 3.18584567e-02 5.37417501e-03 9.99477942e-01 1.56800396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36255784400004 meters Centerline goodness : 0.116596 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99540539e-01 -3.15794245e-03 -3.01452715e-02 4.91137719e+00] [ 2.97967017e-03 9.99977818e-01 -5.95686386e-03 5.28204660e-01] [ 3.01634142e-02 5.86430395e-03 9.99527778e-01 1.56845424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39255784400007 meters Centerline goodness : 0.097376 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99538780e-01 -3.23138759e-03 -3.01957877e-02 4.91163924e+00] [ 3.04957064e-03 9.99976955e-01 -6.06538256e-03 5.28871212e-01] [ 3.02146914e-02 5.97050089e-03 9.99525600e-01 1.56814664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42255784400004 meters Centerline goodness : 0.040431 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99535642e-01 -3.29960731e-03 -3.02921413e-02 4.91214902e+00] [ 3.11381793e-03 9.99976066e-01 -6.17837920e-03 5.29664755e-01] [ 3.03118025e-02 6.08118600e-03 9.99521993e-01 1.56765797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45255784400007 meters Centerline goodness : 0.040431 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99535642e-01 -3.29960731e-03 -3.02921413e-02 4.91214902e+00] [ 3.11381793e-03 9.99976066e-01 -6.17837920e-03 5.29664755e-01] [ 3.03118025e-02 6.08118600e-03 9.99521993e-01 1.56765797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48255784400004 meters Centerline goodness : 0.104293 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99531368e-01 -3.40932594e-03 -3.04207319e-02 4.91264123e+00] [ 3.21984729e-03 9.99975126e-01 -6.27541674e-03 5.30071459e-01] [ 3.04413702e-02 6.17452577e-03 9.99517483e-01 1.56733145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51255784400007 meters Centerline goodness : 0.122777 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99533185e-01 -3.97527157e-03 -3.02920764e-02 4.91221733e+00] [ 3.77638837e-03 9.99970957e-01 -6.61990371e-03 5.30403045e-01] [ 3.03175125e-02 6.50241879e-03 9.99519168e-01 1.56737808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54255784400004 meters Centerline goodness : 0.085316 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99535055e-01 -4.02245215e-03 -3.02240739e-02 4.91201906e+00] [ 3.82520064e-03 9.99971027e-01 -6.58129264e-03 5.29989870e-01] [ 3.02496711e-02 6.46261955e-03 9.99521481e-01 1.56735201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5725578440001 meters Centerline goodness : 0.128902 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99532796e-01 -4.05788844e-03 -3.02939632e-02 4.91237884e+00] [ 3.86078092e-03 9.99971016e-01 -6.56215488e-03 5.29828349e-01] [ 3.03197137e-02 6.44213066e-03 9.99519492e-01 1.56699616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60255784400005 meters Centerline goodness : 0.090318 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99530726e-01 -4.14164909e-03 -3.03508520e-02 4.91295757e+00] [ 3.93589075e-03 9.99968889e-01 -6.83593656e-03 5.31595195e-01] [ 3.03782198e-02 6.71327099e-03 9.99515931e-01 1.56636389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6325578440001 meters Centerline goodness : 0.102060 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99530467e-01 -4.23642204e-03 -3.03462918e-02 4.91298749e+00] [ 4.02221074e-03 9.99966588e-01 -7.11646466e-03 5.32976107e-01] [ 3.03754262e-02 6.99106406e-03 9.99514111e-01 1.56636015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66255784400005 meters Centerline goodness : 0.093052 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99530225e-01 -4.32642212e-03 -3.03415660e-02 4.91276412e+00] [ 4.10367654e-03 9.99964201e-01 -7.39970058e-03 5.34328650e-01] [ 3.03724940e-02 7.27171241e-03 9.99512198e-01 1.56678399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6925578440001 meters Centerline goodness : 0.152528 Centerline is valid? [False, False] Translation: X:4.91, Y:0.54, Z:1.57 [[ 9.99532948e-01 -4.41881874e-03 -3.02383732e-02 4.91225413e+00] [ 4.18637382e-03 9.99961236e-01 -7.74608064e-03 5.36067328e-01] [ 3.02714295e-02 7.61587368e-03 9.99512701e-01 1.56725548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72255784400005 meters Centerline goodness : 0.090274 Centerline is valid? [False, False] Translation: X:4.91, Y:0.54, Z:1.57 [[ 9.99549944e-01 -7.17098258e-04 -2.99899352e-02 4.91101353e+00] [ 5.92129272e-04 9.99991106e-01 -4.17570425e-03 5.35909867e-01] [ 2.99926628e-02 4.15606702e-03 9.99541479e-01 1.56799665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7525578440001 meters Centerline goodness : 0.103924 Centerline is valid? [False, False] Translation: X:4.91, Y:0.54, Z:1.57 [[ 9.99549067e-01 3.09713655e-03 -2.98675541e-02 4.91068196e+00] [-3.12559887e-03 9.99994705e-01 -9.06310678e-04 5.38784430e-01] [ 2.98645890e-02 9.99255986e-04 9.99553454e-01 1.56815698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78255784400005 meters Centerline goodness : 0.114055 Centerline is valid? [False, False] Translation: X:4.91, Y:0.54, Z:1.57 [[ 9.99548761e-01 2.97491028e-03 -2.98902172e-02 4.91093602e+00] [-3.01747707e-03 9.99994496e-01 -1.37909870e-03 5.41176941e-01] [ 2.98859500e-02 1.46866944e-03 9.99552236e-01 1.56790807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8125578440001 meters Centerline goodness : 0.091228 Centerline is valid? [False, False] Translation: X:4.91, Y:0.54, Z:1.57 [[ 9.99547322e-01 2.84014076e-03 -2.99513611e-02 4.91116592e+00] [-2.89481026e-03 9.99994222e-01 -1.78207258e-03 5.43149552e-01] [ 2.99461267e-02 1.86796938e-03 9.99549769e-01 1.56783782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84255784400005 meters Centerline goodness : 0.094110 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.57 [[ 9.99459861e-01 3.08606044e-03 -3.27179334e-02 4.86577977e+00] [-3.13046267e-03 9.99994247e-01 -1.30598417e-03 5.47703928e-01] [ 3.27137148e-02 1.40770103e-03 9.99463772e-01 1.56789593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.872557844 meters Centerline goodness : 0.125155 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.57 [[ 9.99458121e-01 3.00089160e-03 -3.27789420e-02 4.86607017e+00] [-3.05459365e-03 9.99994073e-01 -1.58835568e-03 5.49383034e-01] [ 3.27739813e-02 1.68762133e-03 9.99461364e-01 1.56768164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90255784400006 meters Centerline goodness : 0.090783 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.57 [[ 9.99454261e-01 2.79559650e-03 -3.29145076e-02 4.86658389e+00] [-2.86083756e-03 9.99994035e-01 -1.93520929e-03 5.50785577e-01] [ 3.29089012e-02 2.02831623e-03 9.99456297e-01 1.56740653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93255784400003 meters Centerline goodness : 0.108489 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.57 [[ 9.99451881e-01 2.67289537e-03 -3.29968809e-02 4.86698531e+00] [-2.74083674e-03 9.99994216e-01 -2.01396385e-03 5.50731772e-01] [ 3.29913070e-02 2.10329902e-03 9.99453426e-01 1.56701939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96255784400006 meters Centerline goodness : 0.101384 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.57 [[ 9.99452244e-01 2.61950235e-03 -3.29901472e-02 4.86713018e+00] [-2.68694026e-03 9.99994390e-01 -2.00001570e-03 5.50492848e-01] [ 3.29847231e-02 2.08756274e-03 9.99453676e-01 1.56668266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99255784400003 meters Centerline goodness : 0.101618 Centerline is valid? [False, False] Translation: X:4.85, Y:0.56, Z:1.57 [[ 9.99429969e-01 -5.91009877e-03 -3.32386641e-02 4.84662857e+00] [ 5.88841227e-03 9.99982382e-01 -7.50299728e-04 5.55980187e-01] [ 3.32425128e-02 5.54149076e-04 9.99447161e-01 1.56506943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02255784400006 meters SLAMing on 409.05255784400003 meters SLAMing on 409.08255784400006 meters Centerline goodness : 0.086913 Centerline is valid? [False, False] Translation: X:4.85, Y:0.56, Z:1.56 [[ 9.99441526e-01 -6.61322165e-03 -3.27551678e-02 4.84589483e+00] [ 6.58670206e-03 9.99977887e-01 -9.17468824e-04 5.55400069e-01] [ 3.27605108e-02 7.01207910e-04 9.99462984e-01 1.56419134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11255784400004 meters Centerline goodness : 0.102784 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.56 [[ 9.99474400e-01 4.94804521e-04 -3.24141780e-02 4.86725448e+00] [-5.83857995e-04 9.99996081e-01 -2.73795426e-03 5.50788308e-01] [ 3.24126963e-02 2.75544047e-03 9.99470772e-01 1.56431597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14255784400007 meters Centerline goodness : 0.115398 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.56 [[ 9.99474530e-01 5.08323426e-04 -3.24099716e-02 4.86751583e+00] [-5.94063870e-04 9.99996349e-01 -2.63592136e-03 5.50245204e-01] [ 3.24085133e-02 2.65378985e-03 9.99471183e-01 1.56381050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17255784400004 meters Centerline goodness : 0.110584 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.56 [[ 9.99470279e-01 4.57091345e-04 -3.25415431e-02 4.86800470e+00] [-5.38956490e-04 9.99996712e-01 -2.50698473e-03 5.49301629e-01] [ 3.25402901e-02 2.52319520e-03 9.99467240e-01 1.56344281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20255784400007 meters Centerline goodness : 0.171567 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.56 [[ 9.99465551e-01 4.18577795e-04 -3.26869522e-02 4.86832048e+00] [-4.98643163e-04 9.99996896e-01 -2.44134623e-03 5.48666144e-01] [ 3.26858288e-02 2.45634058e-03 9.99462657e-01 1.56346194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23255784400004 meters Centerline goodness : 0.132165 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.56 [[ 9.99463690e-01 4.26172176e-04 -3.27437118e-02 4.86840959e+00] [-5.04839085e-04 9.99997006e-01 -2.39427449e-03 5.48305193e-01] [ 3.27425934e-02 2.40952072e-03 9.99460913e-01 1.56350458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26255784400007 meters Centerline goodness : 0.139626 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.56 [[ 9.99462366e-01 3.83670493e-04 -3.27846318e-02 4.86844451e+00] [-4.66355375e-04 9.99996730e-01 -2.51445275e-03 5.48840856e-01] [ 3.27835598e-02 2.52839019e-03 9.99459277e-01 1.56360380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29255784400004 meters Centerline goodness : 0.125332 Centerline is valid? [False, False] Translation: X:4.86, Y:0.55, Z:1.57 [[ 9.99497367e-01 2.17124581e-03 -3.16275124e-02 4.86359663e+00] [-2.20827998e-03 9.99996916e-01 -1.13606501e-03 5.51859641e-01] [ 3.16249482e-02 1.20533639e-03 9.99499079e-01 1.56571810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3225578440001 meters Centerline goodness : 0.171855 Centerline is valid? [False, False] Translation: X:4.86, Y:0.55, Z:1.57 [[ 9.99502303e-01 2.09633461e-03 -3.14762158e-02 4.86323852e+00] [-2.14644856e-03 9.99996482e-01 -1.55841600e-03 5.54352312e-01] [ 3.14728381e-02 1.62520246e-03 9.99503286e-01 1.56581463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35255784400005 meters Centerline goodness : 0.114997 Centerline is valid? [False, False] Translation: X:4.86, Y:0.56, Z:1.57 [[ 9.99503319e-01 1.95716851e-03 -3.14529034e-02 4.86309244e+00] [-2.02188251e-03 9.99995904e-01 -2.02581547e-03 5.56776158e-01] [ 3.14488097e-02 2.08840336e-03 9.99503182e-01 1.56604570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3825578440001 meters Centerline goodness : 0.173285 Centerline is valid? [False, False] Translation: X:4.86, Y:0.56, Z:1.57 [[ 9.99504819e-01 1.74233418e-03 -3.14178413e-02 4.86299463e+00] [-1.82475676e-03 9.99994968e-01 -2.59495102e-03 5.59417692e-01] [ 3.14131619e-02 2.65099597e-03 9.99502969e-01 1.56618651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41255784400005 meters Centerline goodness : 0.170847 Centerline is valid? [False, False] Translation: X:4.86, Y:0.56, Z:1.57 [[ 9.99507698e-01 1.49342296e-03 -3.13389722e-02 4.86264236e+00] [-1.59492618e-03 9.99993563e-01 -3.21413363e-03 5.62202435e-01] [ 3.13339704e-02 3.26253466e-03 9.99503646e-01 1.56653273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4425578440001 meters Centerline goodness : 0.144936 Centerline is valid? [False, False] Translation: X:4.86, Y:0.57, Z:1.57 [[ 9.99511600e-01 1.22246253e-03 -3.12260796e-02 4.86238812e+00] [-1.34433658e-03 9.99991560e-01 -3.88226095e-03 5.65378938e-01] [ 3.12210701e-02 3.92234321e-03 9.99504807e-01 1.56655463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47255784400005 meters Centerline goodness : 0.096998 Centerline is valid? [False, False] Translation: X:4.86, Y:0.57, Z:1.57 [[ 9.99513998e-01 8.05822634e-04 -3.11627887e-02 4.86269359e+00] [-9.60024314e-04 9.99987369e-01 -4.93361762e-03 5.71121139e-01] [ 3.11584195e-02 4.96113690e-03 9.99502146e-01 1.56596997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5025578440001 meters Centerline goodness : 0.175029 Centerline is valid? [False, False] Translation: X:4.86, Y:0.57, Z:1.57 [[ 9.99511107e-01 6.08954641e-04 -3.12598234e-02 4.86329941e+00] [-7.76974272e-04 9.99985317e-01 -5.36307301e-03 5.73241827e-01] [ 3.12560986e-02 5.38473911e-03 9.99496904e-01 1.56539387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53255784400005 meters Centerline goodness : 0.121547 Centerline is valid? [False, False] Translation: X:4.86, Y:0.58, Z:1.56 [[ 9.99509081e-01 1.76271542e-04 -3.13299451e-02 4.86395736e+00] [-3.68854694e-04 9.99981074e-01 -6.14126228e-03 5.76759390e-01] [ 3.13282696e-02 6.14980362e-03 9.99490230e-01 1.56464225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5625578440001 meters Centerline goodness : 0.170809 Centerline is valid? [False, False] Translation: X:4.86, Y:0.58, Z:1.56 [[ 9.99513347e-01 -5.20826142e-06 -3.11940553e-02 4.86366005e+00] [-1.97853913e-04 9.99978813e-01 -6.50655314e-03 5.78514386e-01] [ 3.11934282e-02 6.50955857e-03 9.99492169e-01 1.56456776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59255784400005 meters Centerline goodness : 0.169186 Centerline is valid? [False, False] Translation: X:4.86, Y:0.58, Z:1.56 [[ 9.99521794e-01 -1.55108462e-04 -3.09218361e-02 4.86293308e+00] [-5.49371809e-05 9.99976934e-01 -6.79182806e-03 5.79896401e-01] [ 3.09221763e-02 6.79027892e-03 9.99498730e-01 1.56459989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.622557844 meters Centerline goodness : 0.086704 Centerline is valid? [False, False] Translation: X:4.86, Y:0.58, Z:1.56 [[ 9.99529599e-01 -3.14099001e-04 -3.06672900e-02 4.86233541e+00] [ 9.82204733e-05 9.99975210e-01 -7.04062681e-03 5.80986202e-01] [ 3.06687412e-02 7.03430274e-03 9.99504851e-01 1.56452373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65255784400006 meters Centerline goodness : 0.170785 Centerline is valid? [False, False] Translation: X:4.86, Y:0.58, Z:1.56 [[ 9.99532109e-01 -4.31650623e-04 -3.05839421e-02 4.86235583e+00] [ 2.12304004e-04 9.99974238e-01 -7.17483816e-03 5.81575145e-01] [ 3.05862512e-02 7.16498802e-03 9.99506450e-01 1.56408808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68255784400003 meters Centerline goodness : 0.153252 Centerline is valid? [False, False] Translation: X:4.86, Y:0.58, Z:1.56 [[ 9.99520698e-01 -6.32627814e-04 -3.09511585e-02 4.86394189e+00] [ 4.01956946e-04 9.99972105e-01 -7.45839222e-03 5.83371515e-01] [ 3.09550135e-02 7.44237636e-03 9.99493071e-01 1.56303776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71255784400006 meters Centerline goodness : 0.176358 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99406804e-01 -3.37688376e-04 -3.44372751e-02 4.82073944e+00] [ 9.14371638e-05 9.99974420e-01 -7.15204130e-03 5.88814919e-01] [ 3.44388094e-02 7.14464989e-03 9.99381270e-01 1.56215403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74255784400003 meters Centerline goodness : 0.170204 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99395662e-01 -4.92840109e-04 -3.47572642e-02 4.82190390e+00] [ 2.34398327e-04 9.99972301e-01 -7.43930204e-03 5.90139199e-01] [ 3.47599678e-02 7.42665914e-03 9.99368095e-01 1.56157281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77255784400006 meters Centerline goodness : 0.172994 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99388283e-01 -6.02482747e-04 -3.49670843e-02 4.82271438e+00] [ 3.33251729e-04 9.99970261e-01 -7.70487339e-03 5.91477360e-01] [ 3.49706864e-02 7.68850735e-03 9.99358763e-01 1.56115022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80255784400003 meters Centerline goodness : 0.134365 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99379733e-01 -6.76820934e-04 -3.52092405e-02 4.82356361e+00] [ 3.96541232e-04 9.99968186e-01 -7.96677595e-03 5.93034267e-01] [ 3.52135125e-02 7.94787250e-03 9.99348208e-01 1.56082574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83255784400006 meters Centerline goodness : 0.171848 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99393269e-01 2.97458575e-03 -3.47022340e-02 4.82237294e+00] [-3.13431224e-03 9.99984740e-01 -4.54928040e-03 5.94791995e-01] [ 3.46881722e-02 4.65528785e-03 9.99387342e-01 1.56072687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86255784400004 meters Centerline goodness : 0.169502 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99396240e-01 2.86238555e-03 -3.46260396e-02 4.82197567e+00] [-3.03226758e-03 9.99983619e-01 -4.85467465e-03 5.96252498e-01] [ 3.46115764e-02 4.95673900e-03 9.99388548e-01 1.56108845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89255784400007 meters Centerline goodness : 0.171067 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99396652e-01 2.72791565e-03 -3.46249908e-02 4.82191531e+00] [-2.90775078e-03 9.99982539e-01 -5.14450304e-03 5.97438665e-01] [ 3.46103525e-02 5.24207996e-03 9.99387134e-01 1.56121090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92255784400004 meters Centerline goodness : 0.167152 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99393544e-01 2.62840277e-03 -3.47222591e-02 4.82208095e+00] [-2.81801061e-03 9.99981380e-01 -5.41289066e-03 5.98724370e-01] [ 3.47073853e-02 5.50745567e-03 9.99382342e-01 1.56137261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95255784400007 meters Centerline goodness : 0.173118 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99391764e-01 2.59058361e-03 -3.47763104e-02 4.82223454e+00] [-2.78970498e-03 9.99979986e-01 -5.67847529e-03 6.00568979e-01] [ 3.47609038e-02 5.77203708e-03 9.99378989e-01 1.56143298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98255784400004 meters Centerline goodness : 0.167013 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99393455e-01 2.54570153e-03 -3.47309950e-02 4.82210200e+00] [-2.74874347e-03 9.99979404e-01 -5.79963602e-03 6.01230745e-01] [ 3.47155155e-02 5.89158488e-03 9.99379869e-01 1.56148824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01255784400007 meters Centerline goodness : 0.170227 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99398977e-01 2.49736073e-03 -3.45752427e-02 4.82169860e+00] [-2.70326710e-03 9.99978883e-01 -5.90984692e-03 6.01657761e-01] [ 3.45597535e-02 5.99976109e-03 9.99384624e-01 1.56153399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04255784400004 meters Centerline goodness : 0.168304 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.56 [[ 9.99400029e-01 -5.47016441e-03 -3.42002949e-02 4.84059328e+00] [ 5.30925633e-03 9.99974415e-01 -4.79392134e-03 6.04567738e-01] [ 3.42256434e-02 4.60946699e-03 9.99403501e-01 1.56402180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0725578440001 meters Centerline goodness : 0.174359 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.56 [[ 9.99400596e-01 -5.52030017e-03 -3.41756599e-02 4.84036894e+00] [ 5.35418602e-03 9.99973414e-01 -4.95021060e-03 6.05435644e-01] [ 3.42020779e-02 4.76426058e-03 9.99403582e-01 1.56426768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10255784400005 meters Centerline goodness : 0.170834 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99421525e-01 -3.40570417e-03 -3.38380827e-02 4.83742575e+00] [ 3.30116229e-03 9.99989606e-01 -3.14486258e-03 6.08480166e-01] [ 3.38484415e-02 3.03133835e-03 9.99422380e-01 1.56639975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1325578440001 meters Centerline goodness : 0.168111 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99420416e-01 -3.48306187e-03 -3.38629720e-02 4.83737451e+00] [ 3.37214134e-03 9.99988763e-01 -3.33213009e-03 6.09295911e-01] [ 3.38741975e-02 3.21600811e-03 9.99420930e-01 1.56661118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16255784400005 meters Centerline goodness : 0.169422 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99425242e-01 -3.53516600e-03 -3.37148002e-02 4.83680854e+00] [ 3.42087461e-03 9.99988208e-01 -3.44702840e-03 6.09705979e-01] [ 3.37265884e-02 3.32971309e-03 9.99425550e-01 1.56689985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1925578440001 meters Centerline goodness : 0.172285 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99434751e-01 -3.55139728e-03 -3.34300223e-02 4.83599957e+00] [ 3.43710379e-03 9.99988053e-01 -3.47573459e-03 6.09797718e-01] [ 3.34419667e-02 3.35886747e-03 9.99435017e-01 1.56700907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22255784400005 meters Centerline goodness : 0.172827 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99445178e-01 -3.57161773e-03 -3.31146354e-02 4.83505633e+00] [ 3.45891876e-03 9.99988032e-01 -3.45995976e-03 6.09592651e-01] [ 3.31265968e-02 3.34349927e-03 9.99445571e-01 1.56717939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2525578440001 meters Centerline goodness : 0.169984 Centerline is valid? [False, False] Translation: X:4.83, Y:0.61, Z:1.57 [[ 9.99457794e-01 -3.56015031e-03 -3.27328945e-02 4.83416932e+00] [ 3.45312026e-03 9.99988508e-01 -3.32575045e-03 6.08785142e-01] [ 3.27443584e-02 3.21091659e-03 9.99458602e-01 1.56697790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28255784400005 meters Centerline goodness : 0.169856 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99450441e-01 -3.52532505e-03 -3.29603888e-02 4.83500979e+00] [ 3.42272456e-03 9.99989122e-01 -3.16874694e-03 6.07895296e-01] [ 3.29712011e-02 3.05419120e-03 9.99451636e-01 1.56649071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3125578440001 meters Centerline goodness : 0.125247 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99441058e-01 -3.44091543e-03 -3.32525514e-02 4.83601772e+00] [ 3.34624596e-03 9.99990190e-01 -2.90221529e-03 6.06537287e-01] [ 3.32622115e-02 2.78932190e-03 9.99442767e-01 1.56596521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34255784400005 meters Centerline goodness : 0.125247 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99441058e-01 -3.44091543e-03 -3.32525514e-02 4.83601772e+00] [ 3.34624596e-03 9.99990190e-01 -2.90221529e-03 6.06537287e-01] [ 3.32622115e-02 2.78932190e-03 9.99442767e-01 1.56596521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.372557844 meters Centerline goodness : 0.171068 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99431555e-01 -3.35939871e-03 -3.35452267e-02 4.83699292e+00] [ 3.27270795e-03 9.99991163e-01 -2.63886795e-03 6.05241472e-01] [ 3.35537953e-02 2.52758417e-03 9.99433717e-01 1.56550118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40255784400006 meters Centerline goodness : 0.167624 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99427063e-01 -3.24630685e-03 -3.36898797e-02 4.83747567e+00] [ 3.16622981e-03 9.99992035e-01 -2.42996531e-03 6.04429975e-01] [ 3.36974998e-02 2.32190319e-03 9.99429381e-01 1.56528642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43255784400003 meters Centerline goodness : 0.120760 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99429315e-01 -3.12763900e-03 -3.36342482e-02 4.83722799e+00] [ 3.05283310e-03 9.99992752e-01 -2.27522347e-03 6.04006913e-01] [ 3.36411205e-02 2.17124528e-03 9.99431619e-01 1.56546666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46255784400006 meters Centerline goodness : 0.161953 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99428045e-01 -3.09368660e-03 -3.36751077e-02 4.83732454e+00] [ 3.01828721e-03 9.99992824e-01 -2.28962940e-03 6.04321958e-01] [ 3.36819494e-02 2.18667869e-03 9.99430210e-01 1.56551137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49255784400003 meters Centerline goodness : 0.166382 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99421248e-01 -3.04009773e-03 -3.38810569e-02 4.83786244e+00] [ 2.96336552e-03 9.99992930e-01 -2.31473823e-03 6.04714654e-01] [ 3.38878544e-02 2.21299661e-03 9.99423192e-01 1.56552331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52255784400006 meters Centerline goodness : 0.167973 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99404534e-01 -2.81016418e-03 -3.43901104e-02 4.83933434e+00] [ 2.72944833e-03 9.99993410e-01 -2.39378774e-03 6.05915526e-01] [ 3.43966107e-02 2.29849629e-03 9.99405618e-01 1.56531763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55255784400003 meters Centerline goodness : 0.156233 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99405834e-01 -2.81811717e-03 -3.43516735e-02 4.83925177e+00] [ 2.73070377e-03 9.99992914e-01 -2.59131257e-03 6.06959106e-01] [ 3.43587327e-02 2.49596866e-03 9.99406448e-01 1.56538629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58255784400006 meters Centerline goodness : 0.121396 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99412810e-01 -2.79853178e-03 -3.41497245e-02 4.83854150e+00] [ 2.70321490e-03 9.99992322e-01 -2.83699782e-03 6.08457427e-01] [ 3.41574017e-02 2.74301792e-03 9.99412701e-01 1.56581213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61255784400004 meters Centerline goodness : 0.171210 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99416699e-01 -2.78163535e-03 -3.40371122e-02 4.83803577e+00] [ 2.67657749e-03 9.99991514e-01 -3.13174374e-03 6.10438083e-01] [ 3.40455348e-02 3.03881402e-03 9.99415663e-01 1.56625755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64255784400007 meters Centerline goodness : 0.113536 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99410463e-01 -2.76533098e-03 -3.42210489e-02 4.83830099e+00] [ 2.64964182e-03 9.99990623e-01 -3.42553167e-03 6.12559008e-01] [ 3.42302007e-02 3.33283867e-03 9.99408418e-01 1.56664230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67255784400004 meters Centerline goodness : 0.171730 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99396635e-01 -2.78893019e-03 -3.46206377e-02 4.83945867e+00] [ 2.66096271e-03 9.99989459e-01 -3.74180319e-03 6.14647552e-01] [ 3.46307084e-02 3.64742128e-03 9.99393521e-01 1.56646937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70255784400007 meters Centerline goodness : 0.174029 Centerline is valid? [False, False] Translation: X:4.84, Y:0.62, Z:1.57 [[ 9.99370342e-01 -2.79710373e-03 -3.53708274e-02 4.84185191e+00] [ 2.65063071e-03 9.99987720e-01 -4.18728283e-03 6.17578727e-01] [ 3.53821054e-02 4.09089127e-03 9.99365484e-01 1.56570895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73255784400004 meters Centerline goodness : 0.172598 Centerline is valid? [False, False] Translation: X:4.84, Y:0.62, Z:1.57 [[ 9.99367452e-01 -2.89844843e-03 -3.54442443e-02 4.84211260e+00] [ 2.74050294e-03 9.99986102e-01 -4.50393898e-03 6.19209253e-01] [ 3.54568061e-02 4.40395497e-03 9.99361506e-01 1.56561883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76255784400007 meters Centerline goodness : 0.173954 Centerline is valid? [False, False] Translation: X:4.84, Y:0.62, Z:1.57 [[ 9.99368902e-01 -3.01183967e-03 -3.53938817e-02 4.84200398e+00] [ 2.84108021e-03 9.99984087e-01 -4.87385154e-03 6.21253970e-01] [ 3.54079977e-02 4.77021881e-03 9.99361556e-01 1.56563832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79255784400004 meters Centerline goodness : 0.176203 Centerline is valid? [False, False] Translation: X:4.84, Y:0.62, Z:1.57 [[ 9.99371753e-01 -3.12121134e-03 -3.53037737e-02 4.84168167e+00] [ 2.93941967e-03 9.99982159e-01 -5.20008594e-03 6.23053020e-01] [ 3.53193744e-02 5.09304639e-03 9.99363099e-01 1.56582523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8225578440001 meters Centerline goodness : 0.163488 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99370218e-01 -3.41446739e-03 -3.53200830e-02 4.84189870e+00] [ 3.21057530e-03 9.99977864e-01 -5.82780262e-03 6.25917279e-01] [ 3.53392000e-02 5.71073459e-03 9.99359059e-01 1.56559704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85255784400005 meters Centerline goodness : 0.175219 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99367397e-01 -3.53284089e-03 -3.53881905e-02 4.84239533e+00] [ 3.32039362e-03 9.99976124e-01 -6.06031009e-03 6.26964599e-01] [ 3.54087557e-02 5.93897360e-03 9.99355266e-01 1.56506908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8825578440001 meters Centerline goodness : 0.165547 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.56 [[ 9.99365375e-01 -3.61261005e-03 -3.54372270e-02 4.84267327e+00] [ 3.39372787e-03 9.99974804e-01 -6.23482497e-03 6.27921063e-01] [ 3.54588582e-02 6.11060389e-03 9.99352455e-01 1.56480251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91255784400005 meters Centerline goodness : 0.158283 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.56 [[ 9.99370165e-01 -3.70938282e-03 -3.52918341e-02 4.84222284e+00] [ 3.48278628e-03 9.99972940e-01 -6.47996191e-03 6.29554491e-01] [ 3.53149158e-02 6.35296669e-03 9.99356041e-01 1.56493965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9425578440001 meters Centerline goodness : 0.155972 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99374193e-01 -3.80554005e-03 -3.51673232e-02 4.84167627e+00] [ 3.57455498e-03 9.99971641e-01 -6.62871409e-03 6.30023504e-01] [ 3.51915517e-02 6.49885826e-03 9.99359455e-01 1.56529670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97255784400005 meters Centerline goodness : 0.177945 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99377216e-01 -3.92675965e-03 -3.50679571e-02 4.84124147e+00] [ 3.68969961e-03 9.99969922e-01 -6.82217729e-03 6.30578317e-01] [ 3.50936914e-02 6.68853831e-03 9.99361644e-01 1.56559470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0025578440001 meters Centerline goodness : 0.095846 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99378012e-01 -3.99547714e-03 -3.50374857e-02 4.84101361e+00] [ 3.75345838e-03 9.99968661e-01 -6.97048167e-03 6.31160784e-01] [ 3.50642381e-02 6.83463437e-03 9.99361690e-01 1.56581960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03255784400005 meters Centerline goodness : 0.176971 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99421200e-01 -1.20515443e-03 -3.39972561e-02 4.83740337e+00] [ 1.06089975e-03 9.99990360e-01 -4.26084701e-03 6.32883325e-01] [ 3.40020633e-02 4.22231315e-03 9.99412844e-01 1.56688289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0625578440001 meters Centerline goodness : 0.179539 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99426346e-01 -1.23981913e-03 -3.38443711e-02 4.83695876e+00] [ 1.09098318e-03 9.99989655e-01 -4.41577028e-03 6.33752749e-01] [ 3.38494958e-02 4.37631352e-03 9.99417360e-01 1.56704049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09255784400005 meters Centerline goodness : 0.170576 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99428219e-01 -1.33263430e-03 -3.37854890e-02 4.83668272e+00] [ 1.17729979e-03 9.99988648e-01 -4.61714631e-03 6.34464511e-01] [ 3.37912584e-02 4.57473066e-03 9.99418442e-01 1.56726276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.122557844 meters Centerline goodness : 0.110505 Centerline is valid? [False, False] Translation: X:4.84, Y:0.64, Z:1.57 [[ 9.99430447e-01 -1.39457951e-03 -3.37170104e-02 4.83638697e+00] [ 1.23410642e-03 9.99987815e-01 -4.77975296e-03 6.35164366e-01] [ 3.37232653e-02 4.73542026e-03 9.99419990e-01 1.56747399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15255784400006 meters Centerline goodness : 0.135982 Centerline is valid? [False, False] Translation: X:4.84, Y:0.64, Z:1.57 [[ 9.99429534e-01 -1.42262581e-03 -3.37428972e-02 4.83621745e+00] [ 1.25745630e-03 9.99987127e-01 -4.91565769e-03 6.35968460e-01] [ 3.37494559e-02 4.87042325e-03 9.99418458e-01 1.56787349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18255784400003 meters Centerline goodness : 0.273184 Centerline is valid? [False, False] Translation: X:4.86, Y:0.64, Z:1.57 [[ 9.99430708e-01 -6.59487417e-03 -3.30872645e-02 4.85815100e+00] [ 6.56982180e-03 9.99978044e-01 -8.65823207e-04 6.36114787e-01] [ 3.30922480e-02 6.47952869e-04 9.99452092e-01 1.56920673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21255784400006 meters Centerline goodness : 0.171369 Centerline is valid? [False, False] Translation: X:4.86, Y:0.64, Z:1.57 [[ 9.99425505e-01 -6.53487724e-03 -3.32558959e-02 4.85872654e+00] [ 6.51511680e-03 9.99978530e-01 -7.02523020e-04 6.35230226e-01] [ 3.32597728e-02 4.85453378e-04 9.99446623e-01 1.56896513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24255784400003 meters Centerline goodness : 0.172824 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 9.99426093e-01 -6.45143503e-03 -3.32545411e-02 4.85877192e+00] [ 6.44066759e-03 9.99979166e-01 -4.30899726e-04 6.33607982e-01] [ 3.32566282e-02 2.16470984e-04 9.99446822e-01 1.56884072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27255784400006 meters Centerline goodness : 0.148449 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 9.99435007e-01 -6.36883665e-03 -3.30015896e-02 4.85796976e+00] [ 6.36920749e-03 9.99979712e-01 -9.38898047e-05 6.31626343e-01] [ 3.30015180e-02 -1.16357214e-04 9.99455295e-01 1.56900866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30255784400003 meters Centerline goodness : 0.143815 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 9.99445943e-01 -6.24915182e-03 -3.26918109e-02 4.85692342e+00] [ 6.26398294e-03 9.99980319e-01 3.51265371e-04 6.29245102e-01] [ 3.26889724e-02 -5.55851696e-04 9.99465418e-01 1.56933563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33255784400006 meters Centerline goodness : 0.127644 Centerline is valid? [False, False] Translation: X:4.86, Y:0.62, Z:1.57 [[ 9.99441932e-01 -6.05919275e-03 -3.28498149e-02 4.85734118e+00] [ 6.10661768e-03 9.99980452e-01 1.34355329e-03 6.23986077e-01] [ 3.28410319e-02 -1.54340475e-03 9.99459396e-01 1.56908939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36255784400004 meters Centerline goodness : 0.128337 Centerline is valid? [False, False] Translation: X:4.86, Y:0.62, Z:1.57 [[ 9.99431385e-01 -5.86172791e-03 -3.32046242e-02 4.85856701e+00] [ 5.92930831e-03 9.99980545e-01 1.93716849e-03 6.21014949e-01] [ 3.31926230e-02 -2.13294744e-03 9.99446697e-01 1.56848097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39255784400007 meters Centerline goodness : 0.164297 Centerline is valid? [False, False] Translation: X:4.86, Y:0.62, Z:1.57 [[ 9.99435528e-01 -5.55480099e-03 -3.31326184e-02 4.85838703e+00] [ 5.65231927e-03 9.99979963e-01 2.85033305e-03 6.15981102e-01] [ 3.31161215e-02 -3.03600025e-03 9.99446900e-01 1.56835933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42255784400004 meters Centerline goodness : 0.157218 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99444363e-01 -5.35736550e-03 -3.28977680e-02 4.85723193e+00] [ 5.46786903e-03 9.99979705e-01 3.26995163e-03 6.14008671e-01] [ 3.28795820e-02 -3.44801541e-03 9.99453373e-01 1.56922805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45255784400007 meters Centerline goodness : 0.167435 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99451112e-01 -5.21897495e-03 -3.27144780e-02 4.85619616e+00] [ 5.33856973e-03 9.99979379e-01 3.56943233e-03 6.12548039e-01] [ 3.26951746e-02 -3.74212164e-03 9.99458364e-01 1.57012405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48255784400004 meters Centerline goodness : 0.178341 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99451349e-01 -5.07031301e-03 -3.27306048e-02 4.85618930e+00] [ 5.20131075e-03 9.99978796e-01 3.91839826e-03 6.10796671e-01] [ 3.27100432e-02 -4.08649048e-03 9.99456529e-01 1.57016417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51255784400007 meters Centerline goodness : 0.181661 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99390116e-01 2.78582903e-03 -3.48085601e-02 4.83819656e+00] [-2.69796154e-03 9.99993055e-01 2.57102243e-03 6.03759687e-01] [ 3.48154808e-02 -2.47554225e-03 9.99390691e-01 1.56713157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54255784400004 meters Centerline goodness : 0.180854 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99383122e-01 2.94566033e-03 -3.49957053e-02 4.83894289e+00] [-2.84388916e-03 9.99991583e-01 2.95752590e-03 6.01967442e-01] [ 3.50041226e-02 -2.85617755e-03 9.99383087e-01 1.56659907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5725578440001 meters Centerline goodness : 0.099006 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99380082e-01 3.07755481e-03 -3.50710876e-02 4.83924383e+00] [-2.96471342e-03 9.99990262e-01 3.26905463e-03 6.00527997e-01] [ 3.50808067e-02 -3.16305236e-03 9.99379474e-01 1.56634984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60255784400005 meters Centerline goodness : 0.090956 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99379643e-01 3.17075108e-03 -3.50752787e-02 4.83914416e+00] [-3.04701524e-03 9.99988947e-01 3.58061403e-03 5.98898524e-01] [ 3.50862442e-02 -3.47151787e-03 9.99378259e-01 1.56644700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6325578440001 meters Centerline goodness : 0.162253 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99382672e-01 3.24040388e-03 -3.49824851e-02 4.83862274e+00] [-3.10613377e-03 9.99987603e-01 3.89187438e-03 5.97074961e-01] [ 3.49946627e-02 -3.78081154e-03 9.99380348e-01 1.56682094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66255784400005 meters Centerline goodness : 0.157655 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99418928e-01 1.19387247e-03 -3.40643691e-02 4.83378063e+00] [-1.11619525e-03 9.99996734e-01 2.29923288e-03 5.93174081e-01] [ 3.40670028e-02 -2.25987437e-03 9.99416996e-01 1.56949669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6925578440001 meters Centerline goodness : 0.180017 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99422650e-01 1.36388435e-03 -3.39485726e-02 4.83346608e+00] [-1.27012642e-03 9.99995320e-01 2.78317599e-03 5.90728774e-01] [ 3.39522097e-02 -2.73845014e-03 9.99419706e-01 1.56945694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72255784400005 meters Centerline goodness : 0.173048 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99426879e-01 1.45520667e-03 -3.38200560e-02 4.83314502e+00] [-1.35006701e-03 9.99994186e-01 3.13142442e-03 5.88762227e-01] [ 3.38244162e-02 -3.08397040e-03 9.99423033e-01 1.56936192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7525578440001 meters Centerline goodness : 0.181662 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99432491e-01 1.54555042e-03 -3.36497859e-02 4.83262152e+00] [-1.43065227e-03 9.99993066e-01 3.43833823e-03 5.86961178e-01] [ 3.36548667e-02 -3.38824580e-03 9.99427771e-01 1.56943671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78255784400005 meters Centerline goodness : 0.155323 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99440682e-01 1.59017177e-03 -3.34035050e-02 4.83176303e+00] [-1.47121235e-03 9.99992490e-01 3.58556241e-03 5.86123961e-01] [ 3.34089558e-02 -3.53441329e-03 9.99435515e-01 1.56978732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8125578440001 meters Centerline goodness : 0.182547 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99453786e-01 1.81378492e-03 -3.29975743e-02 4.83026989e+00] [-1.69180430e-03 9.99991634e-01 3.72419911e-03 5.86125328e-01] [ 3.30040531e-02 -3.66633947e-03 9.99448493e-01 1.57061275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84255784400005 meters Centerline goodness : 0.179895 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99444857e-01 1.82882188e-03 -3.32660927e-02 4.83099795e+00] [-1.71009101e-03 9.99992068e-01 3.59722739e-03 5.87051196e-01] [ 3.32724075e-02 -3.53834237e-03 9.99440057e-01 1.57061600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.872557844 meters Centerline goodness : 0.164013 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99430646e-01 1.84604018e-03 -3.36894139e-02 4.83235139e+00] [-1.73081198e-03 9.99992554e-01 3.44915171e-03 5.88145492e-01] [ 3.36955303e-02 -3.38887788e-03 9.99426399e-01 1.57021104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90255784400006 meters Centerline goodness : 0.177516 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99424047e-01 1.85572441e-03 -3.38840690e-02 4.83319544e+00] [-1.74402807e-03 9.99992949e-01 3.32568475e-03 5.89064500e-01] [ 3.38900016e-02 -3.26467454e-03 9.99420237e-01 1.56970496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93255784400003 meters Centerline goodness : 0.177072 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99418447e-01 1.87896567e-03 -3.40475796e-02 4.83390915e+00] [-1.76920579e-03 9.99993142e-01 3.25356113e-03 5.89599022e-01] [ 3.40534594e-02 -3.19143184e-03 9.99414917e-01 1.56928256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96255784400006 meters Centerline goodness : 0.114689 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99419200e-01 1.89181460e-03 -3.40247548e-02 4.83378701e+00] [-1.77910978e-03 9.99992832e-01 3.34240659e-03 5.88920893e-01] [ 3.40308341e-02 -3.27993154e-03 9.99415401e-01 1.56935953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99255784400003 meters Centerline goodness : 0.115648 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99415351e-01 1.95721338e-03 -3.41339227e-02 4.83417775e+00] [-1.83772846e-03 9.99992076e-01 3.53149663e-03 5.87911108e-01] [ 3.41405641e-02 -3.46670307e-03 9.99411028e-01 1.56909135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02255784400006 meters Centerline goodness : 0.120776 Centerline is valid? [False, False] Translation: X:4.86, Y:0.59, Z:1.57 [[ 9.99387509e-01 -6.06868383e-03 -3.44641592e-02 4.85558005e+00] [ 6.22970069e-03 9.99970168e-01 4.56654871e-03 5.89715301e-01] [ 3.44354182e-02 -4.77845314e-03 9.99395501e-01 1.57045935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05255784400003 meters Centerline goodness : 0.181338 Centerline is valid? [False, False] Translation: X:4.86, Y:0.59, Z:1.57 [[ 9.99383521e-01 -5.99721859e-03 -3.45920579e-02 4.85621740e+00] [ 6.16435227e-03 9.99969828e-01 4.72693585e-03 5.89032244e-01] [ 3.45626657e-02 -4.93725943e-03 9.99390337e-01 1.56994603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08255784400006 meters Centerline goodness : 0.162591 Centerline is valid? [False, False] Translation: X:4.88, Y:0.58, Z:1.57 [[ 9.99386436e-01 1.64358774e-03 -3.49864356e-02 4.87541666e+00] [-1.52906468e-03 9.99993386e-01 3.29986072e-03 5.83505339e-01] [ 3.49916278e-02 -3.24433952e-03 9.99382339e-01 1.57168519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11255784400004 meters Centerline goodness : 0.177112 Centerline is valid? [False, False] Translation: X:4.88, Y:0.58, Z:1.57 [[ 9.99380638e-01 1.55847924e-03 -3.51555334e-02 4.87588341e+00] [-1.45288651e-03 9.99994357e-01 3.02893428e-03 5.84926883e-01] [ 3.51600555e-02 -2.97598127e-03 9.99377263e-01 1.57168372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14255784400007 meters Centerline goodness : 0.179477 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.57 [[ 9.99372061e-01 1.54027329e-03 -3.53993012e-02 4.87660986e+00] [-1.44376425e-03 9.99995172e-01 2.75169844e-03 5.86715561e-01] [ 3.54033686e-02 -2.69886230e-03 9.99369460e-01 1.57160311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17255784400004 meters Centerline goodness : 0.175337 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.57 [[ 9.99351683e-01 1.98133802e-03 -3.59484041e-02 4.87843114e+00] [-1.89237398e-03 9.99995063e-01 2.50862647e-03 5.90291229e-01] [ 3.59531970e-02 -2.43897226e-03 9.99350499e-01 1.57112847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20255784400007 meters Centerline goodness : 0.160050 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.57 [[ 9.99349900e-01 1.88056643e-03 -3.60033383e-02 4.87871938e+00] [-1.80410196e-03 9.99996048e-01 2.15618585e-03 5.92068676e-01] [ 3.60072509e-02 -2.08983042e-03 9.99349344e-01 1.57095897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23255784400004 meters Centerline goodness : 0.184047 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.57 [[ 9.99346789e-01 1.76169597e-03 -3.60955859e-02 4.87901489e+00] [-1.69605370e-03 9.99996852e-01 1.84910687e-03 5.93396603e-01] [ 3.60987298e-02 -1.78667897e-03 9.99346631e-01 1.57089952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26255784400007 meters Centerline goodness : 0.184047 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.57 [[ 9.99346789e-01 1.76169597e-03 -3.60955859e-02 4.87901489e+00] [-1.69605370e-03 9.99996852e-01 1.84910687e-03 5.93396603e-01] [ 3.60987298e-02 -1.78667897e-03 9.99346631e-01 1.57089952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29255784400004 meters Centerline goodness : 0.106409 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.57 [[ 9.99346777e-01 1.63926025e-03 -3.61016995e-02 4.87902368e+00] [-1.58432097e-03 9.99997543e-01 1.55034723e-03 5.94670352e-01] [ 3.61041523e-02 -1.49213783e-03 9.99346919e-01 1.57093318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3225578440001 meters Centerline goodness : 0.108536 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99354300e-01 1.48895022e-03 -3.58993866e-02 4.87828313e+00] [-1.45026279e-03 9.99998339e-01 1.10367882e-03 5.97111197e-01] [ 3.59009703e-02 -1.05090263e-03 9.99354800e-01 1.57134536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35255784400005 meters Centerline goodness : 0.182145 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99361404e-01 1.43707620e-03 -3.57032091e-02 4.87753270e+00] [-1.40339360e-03 9.99998546e-01 9.68448138e-04 5.97859409e-01] [ 3.57045489e-02 -9.17724035e-04 9.99361968e-01 1.57172913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3825578440001 meters Centerline goodness : 0.121467 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99368158e-01 1.35466318e-03 -3.55168835e-02 4.87681704e+00] [-1.32435323e-03 9.99998739e-01 8.76907438e-04 5.98062006e-01] [ 3.55180266e-02 -8.29316472e-04 9.99368692e-01 1.57208854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41255784400005 meters Centerline goodness : 0.135442 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99372048e-01 1.31906832e-03 -3.54086190e-02 4.87632063e+00] [-1.28752721e-03 9.99998754e-01 9.13562033e-04 5.97657477e-01] [ 3.54097800e-02 -8.67398800e-04 9.99372501e-01 1.57238620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4425578440001 meters Centerline goodness : 0.109254 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99372724e-01 1.34599938e-03 -3.53885244e-02 4.87611571e+00] [-1.31038456e-03 9.99998611e-01 1.02956881e-03 5.97078927e-01] [ 3.53898611e-02 -9.82550408e-04 9.99373100e-01 1.57258004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47255784400005 meters Centerline goodness : 0.102058 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99380938e-01 1.36547783e-03 -3.51550265e-02 4.87528243e+00] [-1.32910532e-03 9.99998557e-01 1.05798070e-03 5.97235806e-01] [ 3.51564204e-02 -1.01060101e-03 9.99381311e-01 1.57294613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5025578440001 meters Centerline goodness : 0.166753 Centerline is valid? [False, False] Translation: X:4.87, Y:0.60, Z:1.57 [[ 9.99392570e-01 1.30194084e-03 -3.48252333e-02 4.87415032e+00] [-1.27078791e-03 9.99998772e-01 9.16670149e-04 5.97925185e-01] [ 3.48263840e-02 -8.71857850e-04 9.99392997e-01 1.57346135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53255784400005 meters Centerline goodness : 0.167183 Centerline is valid? [False, False] Translation: X:4.87, Y:0.60, Z:1.57 [[ 9.99408645e-01 1.21518224e-03 -3.43639914e-02 4.87246824e+00] [-1.19137257e-03 9.99999036e-01 7.13334594e-04 5.98811262e-01] [ 3.43648251e-02 -6.71972443e-04 9.99409129e-01 1.57426309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5625578440001 meters Centerline goodness : 0.173846 Centerline is valid? [False, False] Translation: X:4.87, Y:0.60, Z:1.57 [[ 9.99416936e-01 1.12784590e-03 -3.41250050e-02 4.87154689e+00] [-1.11179550e-03 9.99999262e-01 4.89313176e-04 5.99867367e-01] [ 3.41255317e-02 -4.51087848e-04 9.99417453e-01 1.57480674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59255784400005 meters Centerline goodness : 0.111555 Centerline is valid? [False, False] Translation: X:4.87, Y:0.60, Z:1.57 [[ 9.99414165e-01 1.05863955e-03 -3.42082694e-02 4.87176354e+00] [-1.05035186e-03 9.99999415e-01 2.60241100e-04 6.01263375e-01] [ 3.42085248e-02 -2.24157922e-04 9.99414692e-01 1.57480883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.622557844 meters Centerline goodness : 0.105006 Centerline is valid? [False, False] Translation: X:4.87, Y:0.60, Z:1.57 [[ 9.99396603e-01 1.27606784e-03 -3.47102555e-02 4.87331087e+00] [-1.27632765e-03 9.99999185e-01 1.46723760e-05 6.04359340e-01] [ 3.47102460e-02 2.96381363e-05 9.99397417e-01 1.57452629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65255784400006 meters Centerline goodness : 0.101086 Centerline is valid? [False, False] Translation: X:4.87, Y:0.61, Z:1.57 [[ 9.99392324e-01 1.16993574e-03 -3.48369590e-02 4.87371380e+00] [-1.18102964e-03 9.99999258e-01 -2.97875670e-04 6.05843016e-01] [ 3.48365846e-02 3.38838139e-04 9.99392965e-01 1.57445298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68255784400003 meters Centerline goodness : 0.172244 Centerline is valid? [False, False] Translation: X:4.87, Y:0.61, Z:1.57 [[ 9.99387487e-01 9.90504315e-04 -3.49809923e-02 4.87428396e+00] [-1.01478562e-03 9.99999256e-01 -6.76380854e-04 6.07335082e-01] [ 3.49802964e-02 7.11464770e-04 9.99387749e-01 1.57418150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71255784400006 meters Centerline goodness : 0.105911 Centerline is valid? [False, False] Translation: X:4.87, Y:0.61, Z:1.57 [[ 9.99382710e-01 7.85118762e-04 -3.51223835e-02 4.87485123e+00] [-8.30985457e-04 9.99998821e-01 -1.29133210e-03 6.10394199e-01] [ 3.51213283e-02 1.31972117e-03 9.99382184e-01 1.57388888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74255784400003 meters Centerline goodness : 0.174992 Centerline is valid? [False, False] Translation: X:4.88, Y:0.61, Z:1.57 [[ 9.99378228e-01 7.14776709e-04 -3.52511966e-02 4.87536323e+00] [-7.71322138e-04 9.99998438e-01 -1.59049805e-03 6.12319006e-01] [ 3.52500046e-02 1.61669915e-03 9.99377218e-01 1.57364374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77255784400006 meters Centerline goodness : 0.178043 Centerline is valid? [False, False] Translation: X:4.88, Y:0.61, Z:1.57 [[ 9.99376207e-01 6.79836355e-04 -3.53091268e-02 4.87575249e+00] [-7.44980821e-04 9.99998045e-01 -1.83185164e-03 6.13950433e-01] [ 3.53078124e-02 1.85701357e-03 9.99374759e-01 1.57334100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80255784400003 meters Centerline goodness : 0.177148 Centerline is valid? [False, False] Translation: X:4.88, Y:0.62, Z:1.57 [[ 9.99369986e-01 5.35857203e-04 -3.54872442e-02 4.87648743e+00] [-6.14908975e-04 9.99997354e-01 -2.21673421e-03 6.15808612e-01] [ 3.54859625e-02 2.23715906e-03 9.99367671e-01 1.57298522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83255784400006 meters Centerline goodness : 0.178070 Centerline is valid? [False, False] Translation: X:4.88, Y:0.62, Z:1.57 [[ 9.99351972e-01 3.55792895e-04 -3.59931865e-02 4.87821641e+00] [-4.56566671e-04 9.99995999e-01 -2.79162088e-03 6.18543007e-01] [ 3.59920492e-02 2.80624512e-03 9.99348136e-01 1.57235899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86255784400004 meters Centerline goodness : 0.178737 Centerline is valid? [False, False] Translation: X:4.88, Y:0.62, Z:1.57 [[ 9.99347804e-01 3.12062339e-04 -3.61091431e-02 4.87878454e+00] [-4.23092920e-04 9.99995206e-01 -3.06726019e-03 6.20326186e-01] [ 3.61080128e-02 3.08053726e-03 9.99343145e-01 1.57197630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89255784400007 meters Centerline goodness : 0.179294 Centerline is valid? [False, False] Translation: X:4.88, Y:0.62, Z:1.57 [[ 9.99342846e-01 2.67391111e-04 -3.62464310e-02 4.87938453e+00] [-3.89296227e-04 9.99994292e-01 -3.35621497e-03 6.22221234e-01] [ 3.62453267e-02 3.36812002e-03 9.99337246e-01 1.57162322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92255784400004 meters Centerline goodness : 0.095980 Centerline is valid? [False, False] Translation: X:4.88, Y:0.62, Z:1.57 [[ 9.99333676e-01 2.45655648e-04 -3.64985403e-02 4.88030704e+00] [-3.76332121e-04 9.99993544e-01 -3.57349360e-03 6.23599397e-01] [ 3.64974268e-02 3.58484807e-03 9.99327317e-01 1.57122695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95255784400007 meters Centerline goodness : 0.181223 Centerline is valid? [False, False] Translation: X:4.88, Y:0.63, Z:1.57 [[ 9.99324484e-01 1.25933230e-04 -3.67499519e-02 4.88115687e+00] [-2.70366819e-04 9.99992260e-01 -3.92522764e-03 6.25286664e-01] [ 3.67491731e-02 3.93251206e-03 9.99316783e-01 1.57093357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98255784400004 meters Centerline goodness : 0.096903 Centerline is valid? [False, False] Translation: X:4.88, Y:0.63, Z:1.57 [[ 9.99289796e-01 4.02627240e-04 -3.76794571e-02 4.88360312e+00] [-5.65525319e-04 9.99990540e-01 -4.31270145e-03 6.28778116e-01] [ 3.76773642e-02 4.33094723e-03 9.99280571e-01 1.57081874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01255784400007 meters Centerline goodness : 0.100904 Centerline is valid? [False, False] Translation: X:4.88, Y:0.63, Z:1.57 [[ 9.99320543e-01 2.38656155e-03 -3.67798278e-02 4.87930631e+00] [-2.48594754e-03 9.99993381e-01 -2.65669242e-03 6.30870881e-01] [ 3.67732440e-02 2.74632003e-03 9.99319862e-01 1.57289515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04255784400004 meters Centerline goodness : 0.189220 Centerline is valid? [False, False] Translation: X:4.88, Y:0.63, Z:1.57 [[ 9.99328477e-01 2.45581835e-03 -3.65590600e-02 4.87853278e+00] [-2.56614664e-03 9.99992293e-01 -2.97119213e-03 6.33058827e-01] [ 3.65514816e-02 3.06301281e-03 9.99327077e-01 1.57334255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0725578440001 meters Centerline goodness : 0.099246 Centerline is valid? [False, False] Translation: X:4.88, Y:0.64, Z:1.57 [[ 9.99336598e-01 2.39050125e-03 -3.63407507e-02 4.87786891e+00] [-2.51565420e-03 9.99991061e-01 -3.39853819e-03 6.35366824e-01] [ 3.63323017e-02 3.48770436e-03 9.99333678e-01 1.57359061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10255784400005 meters Centerline goodness : 0.097824 Centerline is valid? [False, False] Translation: X:4.88, Y:0.64, Z:1.57 [[ 9.99340298e-01 2.78655827e-03 -3.62105442e-02 4.87745906e+00] [-2.92101934e-03 9.99989033e-01 -3.66093993e-03 6.38327195e-01] [ 3.61999457e-02 3.76429650e-03 9.99337478e-01 1.57378766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1325578440001 meters Centerline goodness : 0.099670 Centerline is valid? [False, False] Translation: X:4.88, Y:0.64, Z:1.57 [[ 9.99338268e-01 2.84417786e-03 -3.62620473e-02 4.87772311e+00] [-2.98678029e-03 9.99988016e-01 -3.87898869e-03 6.40056826e-01] [ 3.62505802e-02 3.98472860e-03 9.99334787e-01 1.57361156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16255784400005 meters SLAMing on 413.1925578440001 meters Centerline goodness : 0.097110 Centerline is valid? [False, False] Translation: X:4.88, Y:0.64, Z:1.57 [[ 9.99359357e-01 3.08268897e-03 -3.56563147e-02 4.87602114e+00] [-3.23124270e-03 9.99986336e-01 -4.10939212e-03 6.42146465e-01] [ 3.56431595e-02 4.22197367e-03 9.99355662e-01 1.57400962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22255784400005 meters Centerline goodness : 0.099947 Centerline is valid? [False, False] Translation: X:4.86, Y:0.65, Z:1.57 [[ 9.99435018e-01 -3.08232032e-03 -3.34685617e-02 4.85694834e+00] [ 2.98540932e-03 9.99991207e-01 -2.94516969e-03 6.48524561e-01] [ 3.34773453e-02 2.84358836e-03 9.99435431e-01 1.57203069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2525578440001 meters SLAMing on 413.28255784400005 meters SLAMing on 413.3125578440001 meters Centerline goodness : 0.270683 Centerline is valid? [False, False] Translation: X:4.86, Y:0.65, Z:1.57 [[ 9.99454008e-01 1.19397109e-03 -3.30190785e-02 4.85516659e+00] [-1.15519502e-03 9.99998621e-01 1.19340553e-03 6.48116945e-01] [ 3.30204579e-02 -1.15461046e-03 9.99454009e-01 1.57307205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34255784400005 meters Centerline goodness : 0.090471 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99466960e-01 1.16931019e-03 -3.26255793e-02 4.85400244e+00] [-1.13605829e-03 9.99998816e-01 1.03771583e-03 6.48517343e-01] [ 3.26267541e-02 -1.00009812e-03 9.99467105e-01 1.57340572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.372557844 meters SLAMing on 413.40255784400006 meters Centerline goodness : 0.098815 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99475116e-01 1.23487870e-03 -3.23723224e-02 4.85313396e+00] [-1.20108060e-03 9.99998713e-01 1.06346853e-03 6.48587124e-01] [ 3.23735940e-02 -1.02402856e-03 9.99475313e-01 1.57379785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43255784400003 meters Centerline goodness : 0.098528 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.57 [[ 9.99497351e-01 -4.94265118e-03 -3.13147914e-02 4.87556027e+00] [ 5.06811823e-03 9.99979440e-01 3.92853258e-03 6.49790040e-01] [ 3.12947302e-02 -4.08526497e-03 9.99501851e-01 1.57377940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46255784400006 meters Centerline goodness : 0.085598 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.57 [[ 9.99495481e-01 -4.84543196e-03 -3.13895757e-02 4.87572445e+00] [ 4.97750218e-03 9.99979081e-01 4.13068159e-03 6.48914854e-01] [ 3.13689041e-02 -4.28483927e-03 9.99498690e-01 1.57382479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49255784400003 meters Centerline goodness : 0.300709 Centerline is valid? [False, False] Translation: X:4.86, Y:0.64, Z:1.57 [[ 9.99486832e-01 2.64484961e-03 -3.19229860e-02 4.85702770e+00] [-2.56478167e-03 9.99993463e-01 2.54884719e-03 6.40916215e-01] [ 3.19295187e-02 -2.46566371e-03 9.99487082e-01 1.57112968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52255784400006 meters Centerline goodness : 0.126262 Centerline is valid? [False, False] Translation: X:4.86, Y:0.64, Z:1.57 [[ 9.99483076e-01 2.73784034e-03 -3.20325629e-02 4.85745033e+00] [-2.64908173e-03 9.99992535e-01 2.81299840e-03 6.39399842e-01] [ 3.20400254e-02 -2.72668742e-03 9.99482867e-01 1.57089300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55255784400003 meters SLAMing on 413.58255784400006 meters Centerline goodness : 0.037693 Centerline is valid? [False, False] Translation: X:4.88, Y:0.64, Z:1.57 [[ 9.99496795e-01 -2.10671176e-03 -3.16499486e-02 4.87909121e+00] [ 2.32459595e-03 9.99973844e-01 6.84896978e-03 6.39126651e-01] [ 3.16346919e-02 -6.91909669e-03 9.99475549e-01 1.57148666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61255784400004 meters Centerline goodness : 0.091543 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 0.99947009 0.00679562 -0.03183333 4.85786126] [-0.00659583 0.99995791 0.00637682 0.63366966] [ 0.03187532 -0.00616347 0.99947285 1.56957063] [ 0. 0. 0. 1. ]] SLAMing on 413.64255784400007 meters Centerline goodness : 0.090020 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 0.99946541 0.00687766 -0.03196223 4.85837104] [-0.00667236 0.99995645 0.00652544 0.63284839] [ 0.03200572 -0.00630869 0.99946778 1.56925551] [ 0. 0. 0. 1. ]] SLAMing on 413.67255784400004 meters Centerline goodness : 0.037835 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 0.99945701 0.00698016 -0.03220185 4.85913647] [-0.00676618 0.99995433 0.00674907 0.63168463] [ 0.03224749 -0.00652752 0.9994586 1.56899867] [ 0. 0. 0. 1. ]] SLAMing on 413.70255784400007 meters Centerline goodness : 0.178302 Centerline is valid? [False, False] Translation: X:4.82, Y:0.63, Z:1.57 [[ 0.99933289 0.0071918 -0.03580568 4.81683627] [-0.00693245 0.99994887 0.00736207 0.62749818] [ 0.03585679 -0.00710894 0.99933165 1.56787146] [ 0. 0. 0. 1. ]] SLAMing on 413.73255784400004 meters Centerline goodness : 0.169541 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 0.99940396 0.00700171 -0.03380389 4.86267139] [-0.00677266 0.99995336 0.00688561 0.6265661 ] [ 0.03385052 -0.00665256 0.99940477 1.5680114 ] [ 0. 0. 0. 1. ]] SLAMing on 413.76255784400007 meters Centerline goodness : 0.180078 Centerline is valid? [False, False] Translation: X:4.82, Y:0.62, Z:1.57 [[ 0.99930731 0.00653798 -0.03663535 4.81714401] [-0.00629489 0.99995743 0.00674688 0.6237269 ] [ 0.0366779 -0.0065116 0.99930592 1.5680226 ] [ 0. 0. 0. 1. ]] SLAMing on 413.79255784400004 meters Centerline goodness : 0.134501 Centerline is valid? [False, False] Translation: X:4.82, Y:0.62, Z:1.57 [[ 0.99930524 0.00672631 -0.03665775 4.81727942] [-0.00646806 0.99995345 0.00715907 0.62175072] [ 0.03670419 -0.00691699 0.99930224 1.56792665] [ 0. 0. 0. 1. ]] SLAMing on 413.8225578440001 meters Centerline goodness : 0.169625 Centerline is valid? [False, False] Translation: X:4.82, Y:0.62, Z:1.57 [[ 0.99930489 0.00714495 -0.03658798 4.81708564] [-0.00685133 0.99994336 0.00814413 0.61670167] [ 0.0366441 -0.00788779 0.99929725 1.568062 ] [ 0. 0. 0. 1. ]] SLAMing on 413.85255784400005 meters Centerline goodness : 0.128337 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 0.9993915 0.00716234 -0.03413699 4.86080859] [-0.00689517 0.99994472 0.0079376 0.61454402] [ 0.03419195 -0.00769739 0.99938564 1.56925292] [ 0. 0. 0. 1. ]] SLAMing on 413.8825578440001 meters Centerline goodness : 0.142950 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 0.99939374 0.00734775 -0.03403167 4.86019382] [-0.00706498 0.99993958 0.00842202 0.6118778 ] [ 0.0340915 -0.00817649 0.99938527 1.56983084] [ 0. 0. 0. 1. ]] SLAMing on 413.91255784400005 meters Centerline goodness : 0.130484 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 0.99939107 0.00751401 -0.03407387 4.86012451] [-0.00721797 0.9999352 0.008803 0.60986547] [ 0.03413781 -0.0085517 0.99938055 1.57013062] [ 0. 0. 0. 1. ]] SLAMing on 413.9425578440001 meters Centerline goodness : 0.175474 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 0.99938595 0.00769636 -0.03418315 4.86047185] [-0.00738721 0.99993075 0.00916118 0.60829323] [ 0.03425129 -0.00890304 0.9993736 1.5700288 ] [ 0. 0. 0. 1. ]] SLAMing on 413.97255784400005 meters Centerline goodness : 0.140989 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 0.99939 0.00800251 -0.03399402 4.85980162] [-0.00767379 0.99992264 0.00978962 0.60530813] [ 0.03406974 -0.00952278 0.99937409 1.57039426] [ 0. 0. 0. 1. ]] SLAMing on 414.0025578440001 meters Centerline goodness : 0.159356 Centerline is valid? [False, False] Translation: X:4.86, Y:0.60, Z:1.57 [[ 0.99939902 0.0081324 -0.03369651 4.85868551] [-0.0077952 0.99991834 0.01012645 0.60348549] [ 0.03377611 -0.0098577 0.99938081 1.57099179] [ 0. 0. 0. 1. ]] SLAMing on 414.03255784400005 meters Centerline goodness : 0.141820 Centerline is valid? [False, False] Translation: X:4.88, Y:0.61, Z:1.57 [[ 9.99496582e-01 2.97461127e-04 -3.17252949e-02 4.87801314e+00] [ 6.27884681e-05 9.99935543e-01 1.13536790e-02 6.06482784e-01] [ 3.17266272e-02 -1.13499553e-02 9.99432139e-01 1.57220918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0625578440001 meters Centerline goodness : 0.139973 Centerline is valid? [False, False] Translation: X:4.88, Y:0.61, Z:1.57 [[ 9.99497804e-01 3.97950908e-04 -3.16856532e-02 4.87772722e+00] [-3.07307664e-05 9.99932843e-01 1.15891204e-02 6.05394757e-01] [ 3.16881372e-02 -1.15823266e-02 9.99430694e-01 1.57251343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09255784400005 meters Centerline goodness : 0.126855 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99481321e-01 4.39855578e-04 -3.22008497e-02 4.87941372e+00] [-6.13423364e-05 9.99930908e-01 1.17548037e-02 6.04450194e-01] [ 3.22037953e-02 -1.17467315e-02 9.99412292e-01 1.57186483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.122557844 meters Centerline goodness : 0.140440 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99472263e-01 3.99516177e-04 -3.24813266e-02 4.88028263e+00] [-1.75411281e-05 9.99930857e-01 1.17592698e-02 6.04240709e-01] [ 3.24837788e-02 -1.17524942e-02 9.99403163e-01 1.57156412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15255784400006 meters Centerline goodness : 0.140440 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99472263e-01 3.99516177e-04 -3.24813266e-02 4.88028263e+00] [-1.75411281e-05 9.99930857e-01 1.17592698e-02 6.04240709e-01] [ 3.24837788e-02 -1.17524942e-02 9.99403163e-01 1.57156412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18255784400003 meters Centerline goodness : 0.167011 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99472290e-01 3.85512173e-04 -3.24806393e-02 4.88020551e+00] [-1.89488650e-06 9.99930261e-01 1.18098476e-02 6.03852470e-01] [ 3.24829270e-02 -1.18035539e-02 9.99402589e-01 1.57165772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21255784400006 meters Centerline goodness : 0.136953 Centerline is valid? [False, False] Translation: X:4.90, Y:0.61, Z:1.57 [[ 9.99618227e-01 3.43135734e-03 -2.74158134e-02 4.90319932e+00] [-3.21815663e-03 9.99964269e-01 7.81690131e-03 6.07954992e-01] [ 2.74416564e-02 -7.72568865e-03 9.99593552e-01 1.57015791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24255784400003 meters Centerline goodness : 0.142098 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99568132e-01 2.68628935e-03 -2.92631688e-02 4.85562027e+00] [-2.46258915e-03 9.99967493e-01 7.67778715e-03 6.07342307e-01] [ 2.92828423e-02 -7.60240820e-03 9.99542255e-01 1.57092256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27255784400006 meters Centerline goodness : 0.129101 Centerline is valid? [False, False] Translation: X:4.85, Y:0.61, Z:1.57 [[ 9.99591307e-01 -4.66365158e-04 -2.85832471e-02 4.85387117e+00] [ 5.94156416e-04 9.99989866e-01 4.46251455e-03 6.08448339e-01] [ 2.85808763e-02 -4.47767367e-03 9.99581454e-01 1.57093673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30255784400003 meters Centerline goodness : 0.114317 Centerline is valid? [False, False] Translation: X:4.85, Y:0.61, Z:1.57 [[ 9.99588816e-01 -6.20251398e-04 -2.86673048e-02 4.85415307e+00] [ 7.45015838e-04 9.99990297e-01 4.34167497e-03 6.08636372e-01] [ 2.86643337e-02 -4.36124734e-03 9.99579579e-01 1.57070942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33255784400006 meters Centerline goodness : 0.167670 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99565668e-01 -1.14653374e-03 -2.94475902e-02 4.85647258e+00] [ 1.26207935e-03 9.99991577e-01 3.90548443e-03 6.09705868e-01] [ 2.94428644e-02 -3.94095335e-03 9.99558696e-01 1.56982843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36255784400004 meters Centerline goodness : 0.140683 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99560492e-01 -1.27620333e-03 -2.96174764e-02 4.85699068e+00] [ 1.39015598e-03 9.99991710e-01 3.82720795e-03 6.09876744e-01] [ 2.96123466e-02 -3.86669877e-03 9.99553979e-01 1.56962133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39255784400007 meters Centerline goodness : 0.183727 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99560831e-01 -1.39810626e-03 -2.96005135e-02 4.85684395e+00] [ 1.51256712e-03 9.99991465e-01 3.84481589e-03 6.09553036e-01] [ 2.95948854e-02 -3.88790013e-03 9.99554414e-01 1.56977087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42255784400004 meters Centerline goodness : 0.111615 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99554423e-01 -1.55408654e-03 -2.98084054e-02 4.85733282e+00] [ 1.67091961e-03 9.99991019e-01 3.89495864e-03 6.09043939e-01] [ 2.98020846e-02 -3.94303058e-03 9.99548042e-01 1.56982117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45255784400007 meters Centerline goodness : 0.133999 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99524724e-01 -2.30776556e-03 -3.07408540e-02 4.86045530e+00] [ 2.41969777e-03 9.99990576e-01 3.60445190e-03 6.08089119e-01] [ 3.07322461e-02 -3.67712236e-03 9.99520889e-01 1.56856215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48255784400004 meters Centerline goodness : 0.093872 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99508928e-01 -2.45041215e-03 -3.12393711e-02 4.86194752e+00] [ 2.56824382e-03 9.99989737e-01 3.73232974e-03 6.06780466e-01] [ 3.12299047e-02 -3.81072721e-03 9.99504963e-01 1.56808818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51255784400007 meters Centerline goodness : 0.102989 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99505035e-01 -2.45373354e-03 -3.13634150e-02 4.86222800e+00] [ 2.57895935e-03 9.99988862e-01 3.95290670e-03 6.05373112e-01] [ 3.13533663e-02 -4.03183513e-03 9.99500230e-01 1.56808431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54255784400004 meters Centerline goodness : 0.089139 Centerline is valid? [False, False] Translation: X:4.86, Y:0.60, Z:1.57 [[ 9.99507672e-01 -2.39821805e-03 -3.12835754e-02 4.86194248e+00] [ 2.53079529e-03 9.99987982e-01 4.19901085e-03 6.04196498e-01] [ 3.12731293e-02 -4.27611588e-03 9.99501729e-01 1.56818430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5725578440001 meters Centerline goodness : 0.230963 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99518912e-01 5.42706959e-03 -3.05367125e-02 4.88081464e+00] [-5.33519078e-03 9.99980995e-01 3.08947358e-03 5.98691327e-01] [ 3.05528990e-02 -2.92506809e-03 9.99528871e-01 1.56992169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60255784400005 meters Centerline goodness : 0.091960 Centerline is valid? [False, False] Translation: X:4.86, Y:0.60, Z:1.57 [[ 9.99480358e-01 -3.06197263e-03 -3.20879930e-02 4.86090705e+00] [ 3.20294991e-03 9.99985440e-01 4.34297895e-03 6.01258441e-01] [ 3.20742277e-02 -4.44349838e-03 9.99475612e-01 1.56819643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6325578440001 meters Centerline goodness : 0.133504 Centerline is valid? [False, False] Translation: X:4.86, Y:0.60, Z:1.57 [[ 9.99475964e-01 -3.02182281e-03 -3.22283524e-02 4.86160455e+00] [ 3.16672541e-03 9.99985102e-01 4.44602761e-03 6.00724553e-01] [ 3.22144371e-02 -4.54575607e-03 9.99470643e-01 1.56762172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66255784400005 meters Centerline goodness : 0.166659 Centerline is valid? [False, False] Translation: X:4.86, Y:0.60, Z:1.57 [[ 9.99475625e-01 -2.98610622e-03 -3.22421883e-02 4.86167358e+00] [ 3.13258157e-03 9.99984998e-01 4.49341391e-03 6.00516238e-01] [ 3.22282868e-02 -4.59205896e-03 9.99469985e-01 1.56757679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6925578440001 meters Centerline goodness : 0.092794 Centerline is valid? [False, False] Translation: X:4.86, Y:0.60, Z:1.57 [[ 9.99480613e-01 -2.92425206e-03 -3.20928767e-02 4.86096091e+00] [ 3.07174742e-03 9.99984942e-01 4.54755020e-03 6.00460849e-01] [ 3.20790953e-02 -4.64376948e-03 9.99474545e-01 1.56807715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72255784400005 meters Centerline goodness : 0.233252 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99448978e-01 -2.60855155e-03 -3.30898110e-02 4.81141931e+00] [ 2.78247017e-03 9.99982552e-01 5.21099774e-03 6.00424006e-01] [ 3.30756405e-02 -5.30019777e-03 9.99438797e-01 1.56965571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7525578440001 meters Centerline goodness : 0.104629 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99448857e-01 -2.61336281e-03 -3.30930998e-02 4.81134225e+00] [ 2.78721439e-03 9.99982552e-01 5.20836750e-03 6.00344079e-01] [ 3.30789111e-02 -5.29773451e-03 9.99438702e-01 1.56977129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78255784400005 meters Centerline goodness : 0.177656 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99448068e-01 -2.63231327e-03 -3.31154103e-02 4.81138898e+00] [ 2.80642316e-03 9.99982478e-01 5.21228821e-03 6.00176218e-01] [ 3.31011097e-02 -5.30234723e-03 9.99437943e-01 1.56979755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8125578440001 meters Centerline goodness : 0.125274 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99445099e-01 -2.63089559e-03 -3.32049968e-02 4.81149858e+00] [ 2.80623586e-03 9.99982360e-01 5.23504050e-03 6.00040068e-01] [ 3.31906383e-02 -5.32531662e-03 9.99434852e-01 1.56993204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84255784400005 meters Centerline goodness : 0.131421 Centerline is valid? [False, False] Translation: X:4.83, Y:0.60, Z:1.57 [[ 9.99490521e-01 5.57761016e-03 -3.14259297e-02 4.83081019e+00] [-5.44513646e-03 9.99975932e-01 4.29943205e-03 5.97305843e-01] [ 3.14491539e-02 -4.12612310e-03 9.99496836e-01 1.57146596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.872557844 meters Centerline goodness : 0.098016 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99521377e-01 -2.51516206e-03 -3.08332844e-02 4.81099534e+00] [ 2.68359457e-03 9.99981697e-01 5.42252064e-03 6.02960197e-01] [ 3.08190815e-02 -5.50266933e-03 9.99509832e-01 1.56966521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90255784400006 meters Centerline goodness : 0.165944 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99519465e-01 -2.58773882e-03 -3.08891843e-02 4.81112088e+00] [ 2.75449689e-03 9.99981856e-01 5.35726000e-03 6.03182502e-01] [ 3.08747606e-02 -5.43976981e-03 9.99508458e-01 1.56967734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93255784400003 meters Centerline goodness : 0.140439 Centerline is valid? [False, False] Translation: X:4.77, Y:0.60, Z:1.57 [[ 9.99420315e-01 -3.20748973e-03 -3.38931618e-02 4.76539877e+00] [ 3.38325429e-03 9.99981119e-01 5.12976332e-03 6.04092112e-01] [ 3.38760682e-02 -5.24145885e-03 9.99412297e-01 1.56986976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96255784400006 meters Centerline goodness : 0.107285 Centerline is valid? [False, False] Translation: X:4.79, Y:0.60, Z:1.57 [[ 9.99436178e-01 2.79698823e-03 -3.34589859e-02 4.78790202e+00] [-2.72677174e-03 9.99993984e-01 2.14403011e-03 6.02132155e-01] [ 3.34647814e-02 -2.05158625e-03 9.99437792e-01 1.56991844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99255784400003 meters SLAMing on 415.02255784400006 meters Centerline goodness : 0.183086 Centerline is valid? [False, False] Translation: X:4.77, Y:0.61, Z:1.57 [[ 9.99429341e-01 -6.29813552e-03 -3.31862175e-02 4.76536083e+00] [ 6.38621963e-03 9.99976359e-01 2.54890904e-03 6.08247753e-01] [ 3.31693796e-02 -2.75938896e-03 9.99445936e-01 1.56902615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05255784400003 meters Centerline goodness : 0.108287 Centerline is valid? [False, False] Translation: X:4.77, Y:0.61, Z:1.57 [[ 9.99431261e-01 -6.37998181e-03 -3.31126856e-02 4.76505310e+00] [ 6.46571730e-03 9.99976015e-01 2.48277063e-03 6.08293487e-01] [ 3.30960513e-02 -2.69545585e-03 9.99448541e-01 1.56918238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08255784400006 meters Centerline goodness : 0.090960 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99433222e-01 -6.47509146e-03 -3.30349423e-02 4.76478681e+00] [ 6.55957988e-03 9.99975485e-01 2.44981010e-03 6.08100589e-01] [ 3.30182697e-02 -2.66511694e-03 9.99451195e-01 1.56924091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11255784400004 meters Centerline goodness : 0.209073 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99452308e-01 -6.82033806e-03 -3.23815917e-02 4.76310466e+00] [ 6.89891734e-03 9.99973521e-01 2.31555614e-03 6.08011754e-01] [ 3.23649414e-02 -2.53768585e-03 9.99472896e-01 1.56929224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14255784400007 meters Centerline goodness : 0.115115 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99459279e-01 -6.82129717e-03 -3.21654955e-02 4.76260819e+00] [ 6.90138719e-03 9.99973354e-01 2.37957033e-03 6.07824456e-01] [ 3.21484067e-02 -2.60027019e-03 9.99479724e-01 1.56918102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17255784400004 meters Centerline goodness : 0.108489 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99462631e-01 -6.82233607e-03 -3.20609455e-02 4.76242564e+00] [ 6.90537106e-03 9.99973083e-01 2.47989868e-03 6.07267755e-01] [ 3.20431638e-02 -2.69995878e-03 9.99482839e-01 1.56900802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20255784400007 meters Centerline goodness : 0.110912 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99447335e-01 -7.04204109e-03 -3.24874321e-02 4.76370335e+00] [ 7.12586761e-03 9.99971572e-01 2.46521491e-03 6.06598868e-01] [ 3.24691484e-02 -2.69535361e-03 9.99469104e-01 1.56859259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23255784400004 meters Centerline goodness : 0.091002 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99437286e-01 -7.06137130e-03 -3.27909914e-02 4.76482154e+00] [ 7.14593745e-03 9.99971436e-01 2.46246684e-03 6.06625523e-01] [ 3.27726663e-02 -2.69540355e-03 9.99459197e-01 1.56803375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26255784400007 meters SLAMing on 415.29255784400004 meters Centerline goodness : 0.092081 Centerline is valid? [False, False] Translation: X:4.77, Y:0.61, Z:1.57 [[ 9.99434521e-01 -7.11513318e-03 -3.28635582e-02 4.76542387e+00] [ 7.19312620e-03 9.99971585e-01 2.25561809e-03 6.08055629e-01] [ 3.28465754e-02 -2.49073430e-03 9.99457302e-01 1.56736912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3225578440001 meters SLAMing on 415.35255784400005 meters Centerline goodness : 0.089368 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99478999e-01 -4.74511874e-03 -3.19251411e-02 4.76122436e+00] [ 4.86905062e-03 9.99980906e-01 3.80533040e-03 6.14599843e-01] [ 3.19064748e-02 -3.95879294e-03 9.99483019e-01 1.56936700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3825578440001 meters Centerline goodness : 0.177511 Centerline is valid? [False, False] Translation: X:4.76, Y:0.62, Z:1.57 [[ 9.99469153e-01 -4.83372119e-03 -3.22187426e-02 4.76225704e+00] [ 4.94341504e-03 9.99982250e-01 3.32587314e-03 6.17538579e-01] [ 3.22020944e-02 -3.48337822e-03 9.99475308e-01 1.56892611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41255784400005 meters Centerline goodness : 0.105972 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.57 [[ 9.99427838e-01 3.95464580e-03 -3.35910203e-02 4.74158515e+00] [-3.87608041e-03 9.99989599e-01 2.40367819e-03 6.18236827e-01] [ 3.36001767e-02 -2.27210140e-03 9.99432772e-01 1.56737708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4425578440001 meters Centerline goodness : 0.106229 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.57 [[ 9.99416689e-01 3.80610425e-03 -3.39381030e-02 4.74273434e+00] [-3.75409269e-03 9.99991680e-01 1.59613209e-03 6.22991467e-01] [ 3.39438957e-02 -1.46779427e-03 9.99422662e-01 1.56697620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47255784400005 meters Centerline goodness : 0.237065 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.57 [[ 9.99421170e-01 3.58909717e-03 -3.38296144e-02 4.74229783e+00] [-3.55229089e-03 9.99993032e-01 1.14803068e-03 6.24934698e-01] [ 3.38334991e-02 -1.02719353e-03 9.99426955e-01 1.56722349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5025578440001 meters Centerline goodness : 0.183554 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.57 [[ 9.99337703e-01 3.25074009e-03 -3.62434545e-02 4.69599166e+00] [-3.22469414e-03 9.99994499e-01 7.77071924e-04 6.28771043e-01] [ 3.62457811e-02 -6.59683216e-04 9.99342688e-01 1.56724698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53255784400005 meters Centerline goodness : 0.181351 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.57 [[ 9.99319505e-01 2.89002239e-03 -3.67719393e-02 4.69774873e+00] [-2.88139889e-03 9.99995807e-01 2.87506189e-04 6.30857394e-01] [ 3.67726160e-02 -1.81355917e-04 9.99323642e-01 1.56644007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5625578440001 meters Centerline goodness : 0.176044 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.57 [[ 9.99310942e-01 2.69860566e-03 -3.70183476e-02 4.69882047e+00] [-2.69867164e-03 9.99996357e-01 4.81849244e-05 6.31724905e-01] [ 3.70183428e-02 5.17486427e-05 9.99314585e-01 1.56573716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59255784400005 meters Centerline goodness : 0.178630 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.57 [[ 9.99311425e-01 2.58488129e-03 -3.70134326e-02 4.69899766e+00] [-2.59056069e-03 9.99996639e-01 -1.05483149e-04 6.32291984e-01] [ 3.70130356e-02 2.01296059e-04 9.99314763e-01 1.56538181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.622557844 meters Centerline goodness : 0.176459 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.57 [[ 9.99317775e-01 2.46547751e-03 -3.68497685e-02 4.69847162e+00] [-2.47806335e-03 9.99996886e-01 -2.95874822e-04 6.33077396e-01] [ 3.68489242e-02 3.86989029e-04 9.99320773e-01 1.56554706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65255784400006 meters Centerline goodness : 0.176961 Centerline is valid? [False, False] Translation: X:4.72, Y:0.64, Z:1.57 [[ 9.99353282e-01 -5.56014743e-03 -3.55260883e-02 4.71688830e+00] [ 5.59993835e-03 9.99983799e-01 1.02064179e-03 6.38184567e-01] [ 3.55198379e-02 -1.21892562e-03 9.99368228e-01 1.56823474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68255784400003 meters Centerline goodness : 0.178106 Centerline is valid? [False, False] Translation: X:4.70, Y:0.64, Z:1.57 [[ 9.99384032e-01 2.65457147e-03 -3.49929829e-02 4.69571668e+00] [-2.65434563e-03 9.99996476e-01 5.29098829e-05 6.35196806e-01] [ 3.49930001e-02 4.00061793e-05 9.99387557e-01 1.56632030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71255784400006 meters Centerline goodness : 0.109421 Centerline is valid? [False, False] Translation: X:4.70, Y:0.64, Z:1.57 [[ 9.99389496e-01 2.61089191e-03 -3.48398896e-02 4.69535024e+00] [-2.61269263e-03 9.99996587e-01 -6.15873792e-06 6.35374758e-01] [ 3.48397546e-02 9.71809007e-05 9.99392907e-01 1.56628052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74255784400003 meters Centerline goodness : 0.172431 Centerline is valid? [False, False] Translation: X:4.70, Y:0.64, Z:1.57 [[ 9.99388974e-01 2.53062139e-03 -3.48607989e-02 4.69549357e+00] [-2.53559714e-03 9.99996781e-01 -9.85226800e-05 6.35635982e-01] [ 3.48604374e-02 1.86855422e-04 9.99392173e-01 1.56613314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77255784400006 meters Centerline goodness : 0.119627 Centerline is valid? [False, False] Translation: X:4.70, Y:0.64, Z:1.56 [[ 9.99376669e-01 2.43863595e-03 -3.52182774e-02 4.69716998e+00] [-2.44329919e-03 9.99997011e-01 -8.93723903e-05 6.35073173e-01] [ 3.52179542e-02 1.75365470e-04 9.99379640e-01 1.56485329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80255784400003 meters Centerline goodness : 0.122085 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99370427e-01 2.47266247e-03 -3.53925966e-02 4.69791177e+00] [-2.47251655e-03 9.99996942e-01 4.78911916e-05 6.34301545e-01] [ 3.53926068e-02 3.96477401e-05 9.99373485e-01 1.56430227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83255784400006 meters Centerline goodness : 0.178783 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99365024e-01 2.52615127e-03 -3.55410753e-02 4.69852457e+00] [-2.52095806e-03 9.99996804e-01 1.90930634e-04 6.33708709e-01] [ 3.55414440e-02 -1.01211837e-04 9.99368198e-01 1.56384226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86255784400004 meters Centerline goodness : 0.105573 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99364577e-01 2.60723437e-03 -3.55477904e-02 4.69856329e+00] [-2.59566824e-03 9.99996562e-01 3.71514472e-04 6.32981356e-01] [ 3.55486368e-02 -2.79008133e-04 9.99367909e-01 1.56377929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89255784400007 meters Centerline goodness : 0.177803 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99365675e-01 2.66619980e-03 -3.55125054e-02 4.69841665e+00] [-2.64917704e-03 9.99996352e-01 5.26391170e-04 6.32208420e-01] [ 3.55137794e-02 -4.31978353e-04 9.99369093e-01 1.56384742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92255784400004 meters Centerline goodness : 0.174096 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99374826e-01 2.68437505e-03 -3.52526791e-02 4.69761212e+00] [-2.66534042e-03 9.99996276e-01 5.86932420e-04 6.31577828e-01] [ 3.52541234e-02 -4.92605095e-04 9.99378259e-01 1.56407811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95255784400007 meters Centerline goodness : 0.180741 Centerline is valid? [False, False] Translation: X:4.68, Y:0.64, Z:1.56 [[ 9.99346342e-01 -5.56685857e-03 -3.57197193e-02 4.67742670e+00] [ 5.62296461e-03 9.99983110e-01 1.47046450e-03 6.37153018e-01] [ 3.57109301e-02 -1.67035404e-03 9.99360765e-01 1.56288428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98255784400004 meters Centerline goodness : 0.180311 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99376244e-01 2.56485841e-03 -3.52213581e-02 4.69744274e+00] [-2.54821026e-03 9.99996619e-01 5.17553595e-04 6.32447078e-01] [ 3.52225665e-02 -4.27479342e-04 9.99379401e-01 1.56424860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01255784400007 meters Centerline goodness : 0.103178 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99372305e-01 2.67610562e-03 -3.53247059e-02 4.69798349e+00] [-2.66310526e-03 9.99996368e-01 4.15070818e-04 6.33965635e-01] [ 3.53256884e-02 -3.20736870e-04 9.99375802e-01 1.56383628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04255784400004 meters Centerline goodness : 0.179101 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99376359e-01 2.65575137e-03 -3.52113753e-02 4.69766180e+00] [-2.64602167e-03 9.99996447e-01 3.22919530e-04 6.34487564e-01] [ 3.52121078e-02 -2.29548082e-04 9.99379835e-01 1.56389361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0725578440001 meters Centerline goodness : 0.179101 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99376359e-01 2.65575137e-03 -3.52113753e-02 4.69766180e+00] [-2.64602167e-03 9.99996447e-01 3.22919530e-04 6.34487564e-01] [ 3.52121078e-02 -2.29548082e-04 9.99379835e-01 1.56389361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10255784400005 meters Centerline goodness : 0.104373 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99382110e-01 2.61031138e-03 -3.50511698e-02 4.69722131e+00] [-2.60391952e-03 9.99996584e-01 2.28006098e-04 6.34849953e-01] [ 3.50516452e-02 -1.36594790e-04 9.99385493e-01 1.56394522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1325578440001 meters Centerline goodness : 0.106051 Centerline is valid? [False, False] Translation: X:4.70, Y:0.64, Z:1.56 [[ 9.99380244e-01 2.55993644e-03 -3.51080367e-02 4.69725674e+00] [-2.55621092e-03 9.99996721e-01 1.51001197e-04 6.35119513e-01] [ 3.51083081e-02 -6.11640668e-05 9.99383511e-01 1.56406496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16255784400005 meters Centerline goodness : 0.178852 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99369204e-01 2.60406822e-03 -3.54177006e-02 4.69824876e+00] [-2.59416056e-03 9.99996582e-01 3.25688721e-04 6.34534144e-01] [ 3.54184276e-02 -2.33604076e-04 9.99372543e-01 1.56361986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1925578440001 meters Centerline goodness : 0.176337 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99362525e-01 2.62459393e-03 -3.56041312e-02 4.69893859e+00] [-2.60944399e-03 9.99996484e-01 4.71972616e-04 6.33798390e-01] [ 3.56052448e-02 -3.78764760e-04 9.99365860e-01 1.56322312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22255784400005 meters Centerline goodness : 0.098472 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99361983e-01 2.59942664e-03 -3.56212008e-02 4.69910037e+00] [-2.58145220e-03 9.99996516e-01 5.50581974e-04 6.33184541e-01] [ 3.56225079e-02 -4.58276266e-04 9.99365212e-01 1.56296956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2525578440001 meters Centerline goodness : 0.176928 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99367203e-01 2.52976780e-03 -3.54794981e-02 4.69847604e+00] [-2.51343005e-03 9.99996714e-01 5.05078428e-04 6.33096070e-01] [ 3.54806592e-02 -4.15583579e-04 9.99370277e-01 1.56334327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28255784400005 meters Centerline goodness : 0.102793 Centerline is valid? [False, False] Translation: X:4.72, Y:0.63, Z:1.56 [[ 9.99517578e-01 -2.78566733e-03 -3.09329993e-02 4.72019287e+00] [ 2.87445753e-03 9.99991875e-01 2.82630631e-03 6.34429434e-01] [ 3.09248748e-02 -2.91385843e-03 9.99517464e-01 1.56319622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3125578440001 meters Centerline goodness : 0.177892 Centerline is valid? [False, False] Translation: X:4.72, Y:0.64, Z:1.56 [[ 9.99518287e-01 -2.97142641e-03 -3.08928068e-02 4.72000909e+00] [ 3.04245327e-03 9.99992835e-01 2.25238720e-03 6.37432827e-01] [ 3.08858926e-02 -2.34529211e-03 9.99520166e-01 1.56342774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34255784400005 meters Centerline goodness : 0.175645 Centerline is valid? [False, False] Translation: X:4.72, Y:0.64, Z:1.56 [[ 9.99514840e-01 -3.15801682e-03 -3.09856794e-02 4.72037527e+00] [ 3.21041232e-03 9.99993500e-01 1.64135388e-03 6.40796055e-01] [ 3.09802946e-02 -1.74003436e-03 9.99518481e-01 1.56324799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.372557844 meters Centerline goodness : 0.176577 Centerline is valid? [False, False] Translation: X:4.72, Y:0.64, Z:1.56 [[ 9.99512722e-01 -3.32157405e-03 -3.10368329e-02 4.72074147e+00] [ 3.35662211e-03 9.99993786e-01 1.07720670e-03 6.43892385e-01] [ 3.10330621e-02 -1.18086072e-03 9.99517661e-01 1.56292829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40255784400006 meters Centerline goodness : 0.102200 Centerline is valid? [False, False] Translation: X:4.72, Y:0.65, Z:1.56 [[ 9.99517169e-01 -3.52386534e-03 -3.08708700e-02 4.72033625e+00] [ 3.54291926e-03 9.99993566e-01 5.62535554e-04 6.46399901e-01] [ 3.08686891e-02 -6.71636945e-04 9.99523223e-01 1.56294397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43255784400003 meters Centerline goodness : 0.151539 Centerline is valid? [False, False] Translation: X:4.74, Y:0.65, Z:1.56 [[ 9.99577068e-01 3.82940669e-03 -2.88274403e-02 4.73866330e+00] [-3.86959285e-03 9.99991617e-01 -1.33836670e-03 6.45232068e-01] [ 2.88220735e-02 1.44935111e-03 9.99583507e-01 1.56450276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46255784400006 meters Centerline goodness : 0.177041 Centerline is valid? [False, False] Translation: X:4.74, Y:0.65, Z:1.56 [[ 9.99576842e-01 3.73786311e-03 -2.88472795e-02 4.73873386e+00] [-3.78149703e-03 9.99991787e-01 -1.45817712e-03 6.45736957e-01] [ 2.88415921e-02 1.56664599e-03 9.99582767e-01 1.56443119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49255784400003 meters Centerline goodness : 0.178265 Centerline is valid? [False, False] Translation: X:4.74, Y:0.65, Z:1.56 [[ 9.99569892e-01 3.65830685e-03 -2.90972072e-02 4.73951545e+00] [-3.70361693e-03 9.99992011e-01 -1.50345546e-03 6.45719542e-01] [ 2.90914747e-02 1.61057372e-03 9.99575456e-01 1.56415218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52255784400006 meters Centerline goodness : 0.178794 Centerline is valid? [False, False] Translation: X:4.72, Y:0.65, Z:1.56 [[ 9.99522157e-01 -4.81161898e-03 -3.05336815e-02 4.72026916e+00] [ 4.79534176e-03 9.99988318e-01 -6.06295359e-04 6.50842598e-01] [ 3.05362421e-02 4.59586208e-04 9.99533555e-01 1.56241292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55255784400003 meters Centerline goodness : 0.112020 Centerline is valid? [False, False] Translation: X:4.72, Y:0.65, Z:1.56 [[ 9.99501558e-01 -4.90881648e-03 -3.11855638e-02 4.72251911e+00] [ 4.88822510e-03 9.99987781e-01 -7.36491561e-04 6.51539013e-01] [ 3.11887980e-02 5.83682407e-04 9.99513341e-01 1.56130694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58255784400006 meters Centerline goodness : 0.112993 Centerline is valid? [False, False] Translation: X:4.72, Y:0.65, Z:1.56 [[ 9.99496991e-01 -4.99175949e-03 -3.13184671e-02 4.72282171e+00] [ 4.96263266e-03 9.99987178e-01 -1.00768247e-03 6.53115208e-01] [ 3.13230957e-02 8.51753552e-04 9.99508949e-01 1.56141152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61255784400004 meters Centerline goodness : 0.164611 Centerline is valid? [False, False] Translation: X:4.74, Y:0.65, Z:1.56 [[ 9.99556705e-01 3.20198091e-03 -2.95996667e-02 4.74294557e+00] [-3.26471606e-03 9.99992526e-01 -2.07136957e-03 6.51368820e-01] [ 2.95928130e-02 2.16708585e-03 9.99559688e-01 1.56252469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64255784400007 meters Centerline goodness : 0.165449 Centerline is valid? [False, False] Translation: X:4.74, Y:0.66, Z:1.57 [[ 9.99564114e-01 5.84617837e-03 -2.89379305e-02 4.73891225e+00] [-5.86185500e-03 9.99982715e-01 -4.56929089e-04 6.58811314e-01] [ 2.89347591e-02 6.26359873e-04 9.99581106e-01 1.56557930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67255784400004 meters Centerline goodness : 0.103353 Centerline is valid? [False, False] Translation: X:4.74, Y:0.66, Z:1.57 [[ 9.99560060e-01 5.76879846e-03 -2.90930842e-02 4.73929688e+00] [-5.80360225e-03 9.99982541e-01 -1.11199205e-03 6.62855361e-01] [ 2.90861614e-02 1.28034753e-03 9.99576088e-01 1.56573311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70255784400007 meters Centerline goodness : 0.175567 Centerline is valid? [False, False] Translation: X:4.74, Y:0.67, Z:1.57 [[ 9.99559056e-01 5.62264547e-03 -2.91561244e-02 4.73961533e+00] [-5.67715299e-03 9.99982288e-01 -1.78706189e-03 6.66799735e-01] [ 2.91455599e-02 1.95179767e-03 9.99573272e-01 1.56560784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73255784400004 meters Centerline goodness : 0.124271 Centerline is valid? [False, False] Translation: X:4.74, Y:0.67, Z:1.57 [[ 9.99564269e-01 5.37966952e-03 -2.90229486e-02 4.73931820e+00] [-5.45224024e-03 9.99982204e-01 -2.42190210e-03 6.69847185e-01] [ 2.90094030e-02 2.57908689e-03 9.99575811e-01 1.56559192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76255784400007 meters Centerline goodness : 0.141058 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99604048e-01 -2.64600748e-03 -2.80133323e-02 4.71933515e+00] [ 2.58953493e-03 9.99994542e-01 -2.05200287e-03 6.79256352e-01] [ 2.80186090e-02 1.97864887e-03 9.99605443e-01 1.56344269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79255784400004 meters Centerline goodness : 0.132213 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99592479e-01 -2.77513105e-03 -2.84108286e-02 4.72039998e+00] [ 2.71504389e-03 9.99993996e-01 -2.15329632e-03 6.79789026e-01] [ 2.84166337e-02 2.07528216e-03 9.99594012e-01 1.56328548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8225578440001 meters Centerline goodness : 0.131333 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99578841e-01 -2.80931706e-03 -2.88833663e-02 4.72192577e+00] [ 2.74869165e-03 9.99993936e-01 -2.13846304e-03 6.79896014e-01] [ 2.88891987e-02 2.05817093e-03 9.99580501e-01 1.56273066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85255784400005 meters Centerline goodness : 0.136468 Centerline is valid? [False, False] Translation: X:4.68, Y:0.68, Z:1.56 [[ 9.99471421e-01 -2.95114545e-03 -3.23754407e-02 4.67882397e+00] [ 2.86808219e-03 9.99992476e-01 -2.61176571e-03 6.83188176e-01] [ 3.23829048e-02 2.51752976e-03 9.99472366e-01 1.56197481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8825578440001 meters Centerline goodness : 0.138980 Centerline is valid? [False, False] Translation: X:4.68, Y:0.68, Z:1.56 [[ 9.99461591e-01 -3.21967303e-03 -3.26521393e-02 4.67969808e+00] [ 3.13306758e-03 9.99991438e-01 -2.70318464e-03 6.82818846e-01] [ 3.26605631e-02 2.59942787e-03 9.99463121e-01 1.56156593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91255784400005 meters Centerline goodness : 0.144207 Centerline is valid? [False, False] Translation: X:4.68, Y:0.68, Z:1.56 [[ 9.99469764e-01 -3.25781766e-03 -3.23971787e-02 4.67889721e+00] [ 3.17264827e-03 9.99991376e-01 -2.67997242e-03 6.82472200e-01] [ 3.24056301e-02 2.57576655e-03 9.99471481e-01 1.56180170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9425578440001 meters Centerline goodness : 0.137087 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99556221e-01 -3.98590158e-03 -2.95207435e-02 4.72041149e+00] [ 3.90858508e-03 9.99988780e-01 -2.67629873e-03 6.79324867e-01] [ 2.95310797e-02 2.55972671e-03 9.99560585e-01 1.56334374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97255784400005 meters Centerline goodness : 0.121892 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99567159e-01 -4.03778471e-03 -2.91408981e-02 4.71885636e+00] [ 3.96161137e-03 9.99988585e-01 -2.67122855e-03 6.78874150e-01] [ 2.91513513e-02 2.55462742e-03 9.99571745e-01 1.56428002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0025578440001 meters Centerline goodness : 0.165729 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99567232e-01 -4.03058917e-03 -2.91393896e-02 4.71874918e+00] [ 3.95495509e-03 9.99988661e-01 -2.65276501e-03 6.78690043e-01] [ 2.91497514e-02 2.53637200e-03 9.99571838e-01 1.56441632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03255784400005 meters Centerline goodness : 0.126971 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99567943e-01 -4.02383134e-03 -2.91158956e-02 4.71873721e+00] [ 3.94826829e-03 9.99988688e-01 -2.65227648e-03 6.78618971e-01] [ 2.91262385e-02 2.53617318e-03 9.99572524e-01 1.56431696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0625578440001 meters Centerline goodness : 0.099080 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99567672e-01 -3.99696511e-03 -2.91289098e-02 4.71872743e+00] [ 3.92097388e-03 9.99988761e-01 -2.66544311e-03 6.78823253e-01] [ 2.91392361e-02 2.55007707e-03 9.99572109e-01 1.56438550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09255784400005 meters Centerline goodness : 0.146022 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99568440e-01 -3.96864880e-03 -2.91064240e-02 4.71869157e+00] [ 3.89201538e-03 9.99988811e-01 -2.68905104e-03 6.79190890e-01] [ 2.91167702e-02 2.57460790e-03 9.99572701e-01 1.56437844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.122557844 meters Centerline goodness : 0.137268 Centerline is valid? [False, False] Translation: X:4.74, Y:0.68, Z:1.57 [[ 9.99594870e-01 4.54824568e-03 -2.80964381e-02 4.73829395e+00] [-4.65188844e-03 9.99982611e-01 -3.62455992e-03 6.75766540e-01] [ 2.80794642e-02 3.75379300e-03 9.99598646e-01 1.56597537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15255784400006 meters Centerline goodness : 0.096751 Centerline is valid? [False, False] Translation: X:4.74, Y:0.68, Z:1.57 [[ 9.99596371e-01 4.48070438e-03 -2.80538505e-02 4.73792452e+00] [-4.59260918e-03 9.99981748e-01 -3.92576657e-03 6.77258225e-01] [ 2.80357482e-02 4.05302239e-03 9.99598704e-01 1.56645251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18255784400003 meters Centerline goodness : 0.145314 Centerline is valid? [False, False] Translation: X:4.74, Y:0.68, Z:1.57 [[ 9.99595437e-01 4.41669977e-03 -2.80972556e-02 4.73791322e+00] [-4.53649364e-03 9.99980885e-01 -4.20122877e-03 6.78693666e-01] [ 2.80781630e-02 4.32699213e-03 9.99596365e-01 1.56667522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21255784400006 meters Centerline goodness : 0.152884 Centerline is valid? [False, False] Translation: X:4.74, Y:0.68, Z:1.57 [[ 9.99591784e-01 4.34688136e-03 -2.82377363e-02 4.73833925e+00] [-4.47676536e-03 9.99979682e-01 -4.53807009e-03 6.80578133e-01] [ 2.82174361e-02 4.66263130e-03 9.99590934e-01 1.56661609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24255784400003 meters Centerline goodness : 0.136161 Centerline is valid? [False, False] Translation: X:4.74, Y:0.68, Z:1.57 [[ 9.99587058e-01 4.24912060e-03 -2.84193273e-02 4.73909840e+00] [-4.39083772e-03 9.99978227e-01 -4.92610095e-03 6.82735346e-01] [ 2.83977769e-02 5.04885141e-03 9.99583951e-01 1.56618419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27255784400006 meters Centerline goodness : 0.118767 Centerline is valid? [False, False] Translation: X:4.74, Y:0.69, Z:1.57 [[ 9.99556288e-01 4.39027629e-03 -2.94610420e-02 4.74228924e+00] [-4.55291756e-03 9.99974753e-01 -5.45574472e-03 6.87390418e-01] [ 2.94363459e-02 5.58745764e-03 9.99551040e-01 1.56538023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30255784400003 meters Centerline goodness : 0.148307 Centerline is valid? [False, False] Translation: X:4.74, Y:0.69, Z:1.57 [[ 9.99554371e-01 4.21154495e-03 -2.95520272e-02 4.74263572e+00] [-4.38998864e-03 9.99972507e-01 -5.97600879e-03 6.90109014e-01] [ 2.95260465e-02 6.10307877e-03 9.99545379e-01 1.56525018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33255784400006 meters Centerline goodness : 0.144979 Centerline is valid? [False, False] Translation: X:4.72, Y:0.70, Z:1.56 [[ 9.99535149e-01 -3.82456469e-03 -3.02466135e-02 4.72306116e+00] [ 3.66930587e-03 9.99979816e-01 -5.18693778e-03 6.98248996e-01] [ 3.02658408e-02 5.07354255e-03 9.99529008e-01 1.56367923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36255784400004 meters Centerline goodness : 0.121571 Centerline is valid? [False, False] Translation: X:4.74, Y:0.71, Z:1.57 [[ 9.99475290e-01 -1.24514467e-02 -2.99016025e-02 4.74354203e+00] [ 1.23207277e-02 9.99913736e-01 -4.55191849e-03 7.05176320e-01] [ 2.99557010e-02 4.18112055e-03 9.99542482e-01 1.56519926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39255784400007 meters Centerline goodness : 0.139817 Centerline is valid? [False, False] Translation: X:4.74, Y:0.71, Z:1.57 [[ 9.99478741e-01 -1.25317479e-02 -2.97523291e-02 4.74303330e+00] [ 1.23965941e-02 9.99912006e-01 -4.72275424e-03 7.06123762e-01] [ 2.98088955e-02 4.35146492e-03 9.99546144e-01 1.56538771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42255784400004 meters Centerline goodness : 0.127619 Centerline is valid? [False, False] Translation: X:4.72, Y:0.70, Z:1.56 [[ 9.99577167e-01 -4.03478881e-03 -2.87959805e-02 4.72241630e+00] [ 3.87495558e-03 9.99976789e-01 -5.60418603e-03 7.03602754e-01] [ 2.88179238e-02 5.49023325e-03 9.99569600e-01 1.56353100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45255784400007 meters Centerline goodness : 0.129083 Centerline is valid? [False, False] Translation: X:4.72, Y:0.70, Z:1.56 [[ 9.99581517e-01 -4.17059750e-03 -2.86251177e-02 4.72169982e+00] [ 4.00684951e-03 9.99975295e-01 -5.77540867e-03 7.04356456e-01] [ 2.86484974e-02 5.65829522e-03 9.99573533e-01 1.56396991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48255784400004 meters Centerline goodness : 0.129514 Centerline is valid? [False, False] Translation: X:4.72, Y:0.71, Z:1.56 [[ 9.99576654e-01 -4.56710693e-03 -2.87342176e-02 4.72186333e+00] [ 4.39401031e-03 9.99971836e-01 -6.08432039e-03 7.05059578e-01] [ 2.87611961e-02 5.95548616e-03 9.99568570e-01 1.56409495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51255784400007 meters Centerline goodness : 0.128855 Centerline is valid? [False, False] Translation: X:4.72, Y:0.70, Z:1.56 [[ 9.99565701e-01 -4.60787148e-03 -2.91063116e-02 4.72313803e+00] [ 4.43494282e-03 9.99972147e-01 -6.00304195e-03 7.04496588e-01] [ 2.91331621e-02 5.87135001e-03 9.99558296e-01 1.56348923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54255784400004 meters Centerline goodness : 0.149642 Centerline is valid? [False, False] Translation: X:4.72, Y:0.70, Z:1.56 [[ 9.99554112e-01 -4.60233198e-03 -2.95024745e-02 4.72445711e+00] [ 4.43202616e-03 9.99973152e-01 -5.83539002e-03 7.03582826e-01] [ 2.95285388e-02 5.70203235e-03 9.99547674e-01 1.56290859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5725578440001 meters Centerline goodness : 0.148932 Centerline is valid? [False, False] Translation: X:4.72, Y:0.70, Z:1.56 [[ 9.99552017e-01 -4.56036137e-03 -2.95798597e-02 4.72484593e+00] [ 4.39325755e-03 9.99974037e-01 -5.71177561e-03 7.03009210e-01] [ 2.96051395e-02 5.57926489e-03 9.99546101e-01 1.56255671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60255784400005 meters Centerline goodness : 0.151452 Centerline is valid? [False, False] Translation: X:4.74, Y:0.70, Z:1.56 [[ 9.99616614e-01 3.66491775e-03 -2.74443822e-02 4.74373867e+00] [-3.84329776e-03 9.99971814e-01 -6.44976612e-03 6.99553556e-01] [ 2.74199708e-02 6.55277030e-03 9.99602524e-01 1.56411875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6325578440001 meters Centerline goodness : 0.138203 Centerline is valid? [False, False] Translation: X:4.74, Y:0.70, Z:1.57 [[ 9.99625599e-01 3.65291607e-03 -2.71167320e-02 4.74241355e+00] [-3.83751201e-03 9.99969797e-01 -6.75853945e-03 7.01440574e-01] [ 2.70912246e-02 6.86006983e-03 9.99609426e-01 1.56506291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66255784400005 meters Centerline goodness : 0.161820 Centerline is valid? [False, False] Translation: X:4.69, Y:0.71, Z:1.57 [[ 0.99956705 0.00531457 -0.0289392 4.69468841] [-0.00550875 0.99996282 -0.00663438 0.70788132] [ 0.02890287 0.00679092 0.99955916 1.56627775] [ 0. 0. 0. 1. ]] SLAMing on 417.6925578440001 meters Centerline goodness : 0.118263 Centerline is valid? [False, False] Translation: X:4.70, Y:0.71, Z:1.57 [[ 0.99956186 0.00525955 -0.02912766 4.69502436] [-0.00546961 0.99995957 -0.00713668 0.71070275] [ 0.02908895 0.00729287 0.99955022 1.56664053] [ 0. 0. 0. 1. ]] SLAMing on 417.72255784400005 meters Centerline goodness : 0.124495 Centerline is valid? [False, False] Translation: X:4.70, Y:0.71, Z:1.57 [[ 0.9995499 0.00521739 -0.02954272 4.69615959] [-0.00544511 0.99995604 -0.00763308 0.71356911] [ 0.0295016 0.00779051 0.99953437 1.56656899] [ 0. 0. 0. 1. ]] SLAMing on 417.7525578440001 meters Centerline goodness : 0.125254 Centerline is valid? [False, False] Translation: X:4.70, Y:0.72, Z:1.57 [[ 0.99952188 0.00591461 -0.03034852 4.69916365] [-0.00615082 0.99995147 -0.00769582 0.7200815 ] [ 0.03030153 0.00787881 0.99950975 1.56553501] [ 0. 0. 0. 1. ]] SLAMing on 417.78255784400005 meters Centerline goodness : 0.126347 Centerline is valid? [False, False] Translation: X:4.70, Y:0.72, Z:1.57 [[ 0.99952395 0.00567252 -0.03032663 4.69915537] [-0.0059269 0.99994795 -0.00830473 0.722866 ] [ 0.03027794 0.00848052 0.99950554 1.56550487] [ 0. 0. 0. 1. ]] SLAMing on 417.8125578440001 meters Centerline goodness : 0.134131 Centerline is valid? [False, False] Translation: X:4.70, Y:0.73, Z:1.57 [[ 0.99952875 0.00547721 -0.03020393 4.69876239] [-0.00574597 0.99994461 -0.0088185 0.72529417] [ 0.03015396 0.0089879 0.99950486 1.56573457] [ 0. 0. 0. 1. ]] SLAMing on 417.84255784400005 meters Centerline goodness : 0.124587 Centerline is valid? [False, False] Translation: X:4.70, Y:0.73, Z:1.57 [[ 0.99953259 0.0053364 -0.03010197 4.69826181] [-0.00561734 0.99994138 -0.00925623 0.72768211] [ 0.03005081 0.009421 0.99950397 1.56616024] [ 0. 0. 0. 1. ]] SLAMing on 417.872557844 meters Centerline goodness : 0.134080 Centerline is valid? [False, False] Translation: X:4.72, Y:0.73, Z:1.57 [[ 9.99560435e-01 -2.28677857e-03 -2.95585307e-02 4.71657162e+00] [ 2.07124278e-03 9.99971060e-01 -7.32039275e-03 7.34900751e-01] [ 2.95744154e-02 7.25595207e-03 9.99536245e-01 1.56892947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90255784400006 meters Centerline goodness : 0.133281 Centerline is valid? [False, False] Translation: X:4.72, Y:0.73, Z:1.57 [[ 9.99560434e-01 -2.33761058e-03 -2.95545876e-02 4.71686238e+00] [ 2.12266389e-03 9.99971086e-01 -7.30215422e-03 7.34643280e-01] [ 2.95708027e-02 7.23620999e-03 9.99536495e-01 1.56841743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93255784400003 meters Centerline goodness : 0.133226 Centerline is valid? [False, False] Translation: X:4.72, Y:0.73, Z:1.57 [[ 9.99551699e-01 -2.50139052e-03 -2.98352777e-02 4.71790605e+00] [ 2.28793113e-03 9.99971559e-01 -7.18659070e-03 7.33277777e-01] [ 2.98524056e-02 7.11510788e-03 9.99528994e-01 1.56772383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96255784400006 meters Centerline goodness : 0.133226 Centerline is valid? [False, False] Translation: X:4.72, Y:0.73, Z:1.57 [[ 9.99551699e-01 -2.50139052e-03 -2.98352777e-02 4.71790605e+00] [ 2.28793113e-03 9.99971559e-01 -7.18659070e-03 7.33277777e-01] [ 2.98524056e-02 7.11510788e-03 9.99528994e-01 1.56772383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99255784400003 meters Centerline goodness : 0.124959 Centerline is valid? [False, False] Translation: X:4.72, Y:0.73, Z:1.56 [[ 0.99952092 -0.00578099 -0.03040579 4.72145148] [ 0.00548652 0.99993733 -0.00975907 0.72922008] [ 0.0304603 0.00958757 0.99948999 1.56491735] [ 0. 0. 0. 1. ]] SLAMing on 418.02255784400006 meters Centerline goodness : 0.118921 Centerline is valid? [False, False] Translation: X:4.72, Y:0.73, Z:1.56 [[ 0.99951485 -0.0056575 -0.03062788 4.7222333 ] [ 0.00537822 0.99994328 -0.00919333 0.72644093] [ 0.03067815 0.00902414 0.99948858 1.56433797] [ 0. 0. 0. 1. ]] SLAMing on 418.05255784400003 meters Centerline goodness : 0.125607 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 0.9995142 -0.00548324 -0.0306807 4.72241677] [ 0.00522108 0.99994923 -0.00861843 0.72369331] [ 0.03072639 0.00845406 0.99949208 1.56418249] [ 0. 0. 0. 1. ]] SLAMing on 418.08255784400006 meters Centerline goodness : 0.123813 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 0.99951547 -0.00532173 -0.03066771 4.72242427] [ 0.00507438 0.99995401 -0.00813787 0.72129127] [ 0.0307096 0.0079783 0.99949651 1.56404119] [ 0. 0. 0. 1. ]] SLAMing on 418.11255784400004 meters Centerline goodness : 0.156636 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 0.99952012 -0.00507354 -0.03055811 4.72226388] [ 0.00484611 0.99996004 -0.00751214 0.71805317] [ 0.030595 0.00736045 0.99950476 1.56379071] [ 0. 0. 0. 1. ]] SLAMing on 418.14255784400007 meters Centerline goodness : 0.155882 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 0.99952124 -0.00497726 -0.03053729 4.72202306] [ 0.00475223 0.99996105 -0.0074373 0.71789503] [ 0.03057311 0.00728862 0.99950596 1.56412771] [ 0. 0. 0. 1. ]] SLAMing on 418.17255784400004 meters Centerline goodness : 0.107608 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 9.99518672e-01 -4.88528420e-03 -3.06359008e-02 4.72208646e+00] [ 4.65832236e-03 9.99961209e-01 -7.47536409e-03 7.18463029e-01] [ 3.06712317e-02 7.32905408e-03 9.99502657e-01 1.56447194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20255784400007 meters Centerline goodness : 0.149150 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 9.99514279e-01 -4.80313698e-03 -3.07918184e-02 4.72250520e+00] [ 4.57288926e-03 9.99961090e-01 -7.54362678e-03 7.19024194e-01] [ 3.08268534e-02 7.39915511e-03 9.99497352e-01 1.56447008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23255784400004 meters Centerline goodness : 0.137515 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 9.99511438e-01 -4.51674239e-03 -3.09270934e-02 4.72283758e+00] [ 4.28287094e-03 9.99961764e-01 -7.62409834e-03 7.19916422e-01] [ 3.09603469e-02 7.48791674e-03 9.99492565e-01 1.56450803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26255784400007 meters Centerline goodness : 0.129643 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 9.99515675e-01 -4.54146221e-03 -3.07861917e-02 4.72221268e+00] [ 4.30270301e-03 9.99960188e-01 -7.81721555e-03 7.20899496e-01] [ 3.08204676e-02 7.68096564e-03 9.99495423e-01 1.56498847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29255784400004 meters Centerline goodness : 0.145386 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99598376e-01 -3.53362012e-03 -2.81176262e-02 4.76384537e+00] [ 3.35845318e-03 9.99974675e-01 -6.27457997e-03 7.20164602e-01] [ 2.81390861e-02 6.17762821e-03 9.99584928e-01 1.56693468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3225578440001 meters Centerline goodness : 0.162467 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99596458e-01 -3.57636149e-03 -2.81803114e-02 4.76406511e+00] [ 3.39617618e-03 9.99973500e-01 -6.43928425e-03 7.21135089e-01] [ 2.82025938e-02 6.34098043e-03 9.99582116e-01 1.56682287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35255784400005 meters Centerline goodness : 0.172722 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99592081e-01 -3.66467745e-03 -2.83238842e-02 4.76455128e+00] [ 3.47669847e-03 9.99971624e-01 -6.68316512e-03 7.22344978e-01] [ 2.83475721e-02 6.58196533e-03 9.99576457e-01 1.56663730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3825578440001 meters Centerline goodness : 0.124719 Centerline is valid? [False, False] Translation: X:4.77, Y:0.72, Z:1.57 [[ 9.99586540e-01 -3.77559753e-03 -2.85042705e-02 4.76506588e+00] [ 3.57722314e-03 9.99969050e-01 -7.00725098e-03 7.23983391e-01] [ 2.85298448e-02 6.90238763e-03 9.99569110e-01 1.56658171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41255784400005 meters Centerline goodness : 0.150814 Centerline is valid? [False, False] Translation: X:4.77, Y:0.73, Z:1.57 [[ 9.99585762e-01 -3.89136547e-03 -2.85159731e-02 4.76500258e+00] [ 3.68338043e-03 9.99966259e-01 -7.34253505e-03 7.25696956e-01] [ 2.85435834e-02 7.23445832e-03 9.99566369e-01 1.56677245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4425578440001 meters Centerline goodness : 0.153749 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99620757e-01 -1.66668007e-03 -2.74875159e-02 4.76049800e+00] [ 1.51281615e-03 9.99983078e-01 -5.61743879e-03 7.30179839e-01] [ 2.74964132e-02 5.57372486e-03 9.99606363e-01 1.56893462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47255784400005 meters Centerline goodness : 0.148626 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99622534e-01 -1.75924738e-03 -2.74170564e-02 4.76028153e+00] [ 1.59794880e-03 9.99981295e-01 -5.90394680e-03 7.31733636e-01] [ 2.74269301e-02 5.85790721e-03 9.99606647e-01 1.56902517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5025578440001 meters Centerline goodness : 0.151680 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99623729e-01 -1.81222783e-03 -2.73699768e-02 4.76027061e+00] [ 1.64839862e-03 9.99980599e-01 -6.00710363e-03 7.32234167e-01] [ 2.73803320e-02 5.95972671e-03 9.99607322e-01 1.56884638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53255784400005 meters Centerline goodness : 0.131542 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99624519e-01 -1.85998020e-03 -2.73379056e-02 4.76032752e+00] [ 1.69635514e-03 9.99980517e-01 -6.00725521e-03 7.32035903e-01] [ 2.73485464e-02 5.95862480e-03 9.99608199e-01 1.56858128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5625578440001 meters Centerline goodness : 0.124733 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99643094e-01 -2.27337515e-03 -2.66179683e-02 4.75829162e+00] [ 2.11530007e-03 9.99979970e-01 -5.96531282e-03 7.30159018e-01] [ 2.66309965e-02 5.90687878e-03 9.99627880e-01 1.56887765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59255784400005 meters Centerline goodness : 0.129324 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:1.57 [[ 9.99611702e-01 -1.11406115e-02 -2.55407807e-02 4.77896995e+00] [ 1.10213398e-02 9.99927714e-01 -4.80588097e-03 7.30756846e-01] [ 2.55924749e-02 4.52252123e-03 9.99662229e-01 1.57023411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.622557844 meters Centerline goodness : 0.155237 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99692279e-01 -2.99766422e-03 -2.46244129e-02 4.75980240e+00] [ 2.85633970e-03 9.99979260e-01 -5.77237337e-03 7.25119864e-01] [ 2.46412059e-02 5.70026140e-03 9.99680108e-01 1.56783847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65255784400006 meters Centerline goodness : 0.120657 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99690196e-01 -2.90018732e-03 -2.47204697e-02 4.76021589e+00] [ 2.76562190e-03 9.99981183e-01 -5.47593353e-03 7.23715955e-01] [ 2.47358858e-02 5.40586959e-03 9.99679405e-01 1.56753295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68255784400003 meters Centerline goodness : 0.146262 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99684590e-01 -2.80748401e-03 -2.49567433e-02 4.76110666e+00] [ 2.67767793e-03 9.99982722e-01 -5.23314040e-03 7.22591320e-01] [ 2.49710041e-02 5.16466369e-03 9.99674835e-01 1.56700941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71255784400006 meters Centerline goodness : 0.149408 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99673597e-01 -2.61605713e-03 -2.54137016e-02 4.76278826e+00] [ 2.49419542e-03 9.99985246e-01 -4.82563437e-03 7.20709115e-01] [ 2.54259508e-02 4.76067252e-03 9.99665373e-01 1.56611242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74255784400003 meters Centerline goodness : 0.149598 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99673127e-01 -2.51105066e-03 -2.54427482e-02 4.76295011e+00] [ 2.39316163e-03 9.99986265e-01 -4.66289262e-03 7.20153832e-01] [ 2.54541075e-02 4.60047984e-03 9.99665406e-01 1.56595494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77255784400006 meters Centerline goodness : 0.145043 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99676168e-01 -2.48186897e-03 -2.53258754e-02 4.76254128e+00] [ 2.36461229e-03 9.99986352e-01 -4.65881399e-03 7.20204754e-01] [ 2.53370923e-02 4.59741944e-03 9.99668393e-01 1.56615086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80255784400003 meters Centerline goodness : 0.118281 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99680169e-01 -2.43448493e-03 -2.51720630e-02 4.76190594e+00] [ 2.31414116e-03 9.99985760e-01 -4.80887200e-03 7.20951745e-01] [ 2.51834117e-02 4.74908227e-03 9.99671567e-01 1.56659439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83255784400006 meters Centerline goodness : 0.117215 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99675995e-01 -2.38066827e-03 -2.53424211e-02 4.76225614e+00] [ 2.25763310e-03 9.99985532e-01 -4.88241497e-03 7.21638435e-01] [ 2.53536779e-02 4.82361915e-03 9.99666906e-01 1.56674181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86255784400004 meters Centerline goodness : 0.142107 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99665970e-01 -2.25488399e-03 -2.57461522e-02 4.76328303e+00] [ 2.12943274e-03 9.99985733e-01 -4.89899872e-03 7.22331041e-01] [ 2.57568316e-02 4.84253760e-03 9.99656509e-01 1.56670766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89255784400007 meters Centerline goodness : 0.155811 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99660825e-01 -2.19572995e-03 -2.59502183e-02 4.76395371e+00] [ 2.06785788e-03 9.99985594e-01 -4.95339964e-03 7.22879513e-01] [ 2.59607208e-02 4.89805821e-03 9.99650964e-01 1.56648758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92255784400004 meters Centerline goodness : 0.174881 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99669470e-01 -2.04422556e-03 -2.56275462e-02 4.76303759e+00] [ 1.91863798e-03 9.99986036e-01 -4.92412324e-03 7.22667095e-01] [ 2.56372544e-02 4.87332569e-03 9.99659433e-01 1.56668882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95255784400007 meters Centerline goodness : 0.160867 Centerline is valid? [False, False] Translation: X:4.78, Y:0.72, Z:1.57 [[ 0.99969242 0.00592199 -0.02408304 4.78245909] [-0.00606784 0.99996366 -0.00598752 0.7175142 ] [ 0.0240467 0.00613181 0.99969203 1.56805714] [ 0. 0. 0. 1. ]] SLAMing on 418.98255784400004 meters Centerline goodness : 0.139110 Centerline is valid? [False, False] Translation: X:4.78, Y:0.72, Z:1.57 [[ 0.99970029 0.00602166 -0.02372927 4.78119358] [-0.00616476 0.99996323 -0.00596179 0.71756876] [ 0.0236925 0.00610629 0.99970064 1.56864557] [ 0. 0. 0. 1. ]] SLAMing on 419.01255784400007 meters Centerline goodness : 0.137305 Centerline is valid? [False, False] Translation: X:4.78, Y:0.72, Z:1.57 [[ 0.99970587 0.00616772 -0.02345483 4.78029101] [-0.00630729 0.99996281 -0.00588127 0.71763265] [ 0.02341769 0.00602747 0.9997076 1.56900097] [ 0. 0. 0. 1. ]] SLAMing on 419.04255784400004 meters Centerline goodness : 0.154820 Centerline is valid? [False, False] Translation: X:4.78, Y:0.72, Z:1.57 [[ 0.99970638 0.00659084 -0.02331757 4.77973917] [-0.00672388 0.99996153 -0.00563215 0.71724989] [ 0.02327955 0.00578728 0.99971224 1.56937181] [ 0. 0. 0. 1. ]] SLAMing on 419.0725578440001 meters Centerline goodness : 0.128819 Centerline is valid? [False, False] Translation: X:4.78, Y:0.72, Z:1.57 [[ 0.9997073 0.00662419 -0.02326876 4.77962654] [-0.00675767 0.99996113 -0.00566242 0.71726545] [ 0.02323034 0.005818 0.99971321 1.56933129] [ 0. 0. 0. 1. ]] SLAMing on 419.10255784400005 meters Centerline goodness : 0.157236 Centerline is valid? [False, False] Translation: X:4.78, Y:0.72, Z:1.57 [[ 0.99970804 0.00668006 -0.02322085 4.77940977] [-0.00681342 0.99996072 -0.00566894 0.71744012] [ 0.02318207 0.0058255 0.99971429 1.56946018] [ 0. 0. 0. 1. ]] SLAMing on 419.1325578440001 meters Centerline goodness : 0.140276 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99747542e-01 1.09068066e-03 -2.24424486e-02 4.75616319e+00] [-1.15082690e-03 9.99995781e-01 -2.66728018e-03 7.20910788e-01] [ 2.24394447e-02 2.69243418e-03 9.99744578e-01 1.56882191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16255784400005 meters Centerline goodness : 0.146029 Centerline is valid? [False, False] Translation: X:4.75, Y:0.72, Z:1.57 [[ 9.99758681e-01 1.39452539e-03 -2.19233918e-02 4.75476861e+00] [-1.44855147e-03 9.99995953e-01 -2.44862481e-03 7.20846184e-01] [ 2.19198884e-02 2.47979107e-03 9.99756655e-01 1.56903249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1925578440001 meters Centerline goodness : 0.141007 Centerline is valid? [False, False] Translation: X:4.75, Y:0.72, Z:1.57 [[ 9.99760729e-01 1.42204871e-03 -2.18280189e-02 4.75457601e+00] [-1.47565970e-03 9.99995934e-01 -2.44015212e-03 7.20813955e-01] [ 2.18244601e-02 2.47177899e-03 9.99758763e-01 1.56892865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22255784400005 meters Centerline goodness : 0.142054 Centerline is valid? [False, False] Translation: X:4.75, Y:0.72, Z:1.57 [[ 9.99760480e-01 1.43252473e-03 -2.18387577e-02 4.75469314e+00] [-1.48753398e-03 9.99995761e-01 -2.50284498e-03 7.21053565e-01] [ 2.18350797e-02 2.53473140e-03 9.99758373e-01 1.56873262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2525578440001 meters Centerline goodness : 0.138713 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99757872e-01 1.40221960e-03 -2.19597400e-02 4.75516387e+00] [-1.46094319e-03 9.99995399e-01 -2.65833317e-03 7.21779637e-01] [ 2.19559114e-02 2.68977145e-03 9.99755322e-01 1.56840941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28255784400005 meters Centerline goodness : 0.144538 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99724823e-01 3.59060320e-03 -2.31815917e-02 4.76062602e+00] [-3.60530432e-03 9.99993325e-01 -5.92408947e-04 7.22845553e-01] [ 2.31793099e-02 6.75822622e-04 9.99731095e-01 1.56563035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3125578440001 meters Centerline goodness : 0.132253 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99725000e-01 3.56261612e-03 -2.31782679e-02 4.76078557e+00] [-3.58207575e-03 9.99993266e-01 -7.98098760e-04 7.23932867e-01] [ 2.31752685e-02 8.80905594e-04 9.99731029e-01 1.56532086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34255784400005 meters Centerline goodness : 0.131329 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99724998e-01 3.47857309e-03 -2.31911117e-02 4.76089660e+00] [-3.50558490e-03 9.99993224e-01 -1.12419547e-03 7.25525964e-01] [ 2.31870439e-02 1.20518472e-03 9.99730418e-01 1.56511618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3725578440001 meters Centerline goodness : 0.143954 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.56 [[ 9.99724696e-01 3.45345584e-03 -2.32078656e-02 4.76105424e+00] [-3.48709907e-03 9.99992927e-01 -1.40933438e-03 7.26956308e-01] [ 2.32028344e-02 1.48987451e-03 9.99729668e-01 1.56477827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40255784400006 meters Centerline goodness : 0.137023 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.56 [[ 9.99722421e-01 3.55226126e-03 -2.32908356e-02 4.76120646e+00] [-3.58862047e-03 9.99992406e-01 -1.51948438e-03 7.28015167e-01] [ 2.32852612e-02 1.60264457e-03 9.99727577e-01 1.56473399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43255784400003 meters Centerline goodness : 0.198616 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:1.56 [[ 9.99752895e-01 -1.47196896e-03 -2.21806801e-02 4.78254767e+00] [ 1.51830816e-03 9.99996700e-01 2.07247386e-03 7.30658536e-01] [ 2.21775563e-02 -2.10563885e-03 9.99751830e-01 1.56431984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46255784400006 meters Centerline goodness : 0.150695 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:1.56 [[ 9.99756934e-01 -1.48902130e-03 -2.19967225e-02 4.78199704e+00] [ 1.53345495e-03 9.99996818e-01 2.00328304e-03 7.30717115e-01] [ 2.19936696e-02 -2.03652709e-03 9.99756036e-01 1.56441658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49255784400003 meters Centerline goodness : 0.218850 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:1.56 [[ 9.99761860e-01 -1.47783496e-03 -2.17724254e-02 4.78125388e+00] [ 1.52119070e-03 9.99996893e-01 1.97488706e-03 7.30474047e-01] [ 2.17694392e-02 -2.00753677e-03 9.99761002e-01 1.56465785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52255784400006 meters Centerline goodness : 0.203813 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:1.56 [[ 9.99776954e-01 -1.03315941e-03 -2.10944331e-02 4.77940447e+00] [ 1.07706901e-03 9.99997277e-01 2.07031751e-03 7.31301961e-01] [ 2.10922367e-02 -2.09257589e-03 9.99775344e-01 1.56493834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55255784400003 meters Centerline goodness : 0.103154 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:1.56 [[ 9.99776666e-01 -9.52591697e-04 -2.11118761e-02 4.77962503e+00] [ 9.91434669e-04 9.99997835e-01 1.82947327e-03 7.33025088e-01] [ 2.11100877e-02 -1.84999573e-03 9.99775446e-01 1.56461043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58255784400006 meters Centerline goodness : 0.263901 Centerline is valid? [False, False] Translation: X:4.78, Y:0.74, Z:1.56 [[ 9.99773471e-01 -9.45434576e-04 -2.12629296e-02 4.78014983e+00] [ 9.76321732e-04 9.99998483e-01 1.44229535e-03 7.35271312e-01] [ 2.12615338e-02 -1.46272809e-03 9.99772878e-01 1.56424150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61255784400004 meters Centerline goodness : 0.100223 Centerline is valid? [False, False] Translation: X:4.78, Y:0.74, Z:1.56 [[ 9.99772369e-01 -5.07358746e-04 -2.13296037e-02 4.78035515e+00] [ 5.28897627e-04 9.99999356e-01 1.00418248e-03 7.39373017e-01] [ 2.13290805e-02 -1.01523508e-03 9.99771994e-01 1.56403931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64255784400007 meters Centerline goodness : 0.181192 Centerline is valid? [False, False] Translation: X:4.78, Y:0.74, Z:1.56 [[ 9.99767943e-01 -6.13363281e-04 -2.15333426e-02 4.78085308e+00] [ 6.24624728e-04 9.99999672e-01 5.16255176e-04 7.41964399e-01] [ 2.15330188e-02 -5.29585634e-04 9.99767997e-01 1.56390925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67255784400004 meters Centerline goodness : 0.098463 Centerline is valid? [False, False] Translation: X:4.78, Y:0.74, Z:1.56 [[ 9.99764369e-01 -7.02539562e-04 -2.16959054e-02 4.78136626e+00] [ 7.05966003e-04 9.99999740e-01 1.50271530e-04 7.43956051e-01] [ 2.16957942e-02 -1.65552693e-04 9.99764605e-01 1.56361228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70255784400007 meters SLAMing on 419.73255784400004 meters Centerline goodness : 0.127511 Centerline is valid? [False, False] Translation: X:4.74, Y:0.74, Z:1.56 [[ 9.99702847e-01 -5.86069980e-04 -2.43695324e-02 4.73648167e+00] [ 5.78918707e-04 9.99999787e-01 -3.00505396e-04 7.44966268e-01] [ 2.43697033e-02 2.86308122e-04 9.99702974e-01 1.56356765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76255784400007 meters Centerline goodness : 0.145977 Centerline is valid? [False, False] Translation: X:4.76, Y:0.74, Z:1.56 [[ 9.99722990e-01 4.40631214e-03 -2.31198731e-02 4.75883150e+00] [-4.49851312e-03 9.99982130e-01 -3.93746039e-03 7.43660560e-01] [ 2.31021102e-02 4.04037473e-03 9.99724946e-01 1.56356494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79255784400004 meters Centerline goodness : 0.207056 Centerline is valid? [False, False] Translation: X:4.76, Y:0.74, Z:1.56 [[ 9.99724052e-01 4.38095265e-03 -2.30787200e-02 4.75857440e+00] [-4.46832363e-03 9.99983040e-01 -3.73557372e-03 7.42155322e-01] [ 2.30619632e-02 3.83766609e-03 9.99726672e-01 1.56381072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8225578440001 meters Centerline goodness : 0.112597 Centerline is valid? [False, False] Translation: X:4.74, Y:0.74, Z:1.56 [[ 9.99705167e-01 -4.17533962e-03 -2.39195479e-02 4.73658794e+00] [ 4.10614555e-03 9.99987244e-01 -2.94116910e-03 7.44659536e-01] [ 2.39315231e-02 2.84208480e-03 9.99709560e-01 1.56321788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85255784400005 meters Centerline goodness : 0.146520 Centerline is valid? [False, False] Translation: X:4.74, Y:0.74, Z:1.56 [[ 9.99708197e-01 -3.98505917e-03 -2.38252169e-02 4.73627502e+00] [ 3.93064748e-03 9.99989560e-01 -2.33018057e-03 7.42049148e-01] [ 2.38342541e-02 2.23585209e-03 9.99713424e-01 1.56343041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8825578440001 meters Centerline goodness : 0.146520 Centerline is valid? [False, False] Translation: X:4.74, Y:0.74, Z:1.56 [[ 9.99708197e-01 -3.98505917e-03 -2.38252169e-02 4.73627502e+00] [ 3.93064748e-03 9.99989560e-01 -2.33018057e-03 7.42049148e-01] [ 2.38342541e-02 2.23585209e-03 9.99713424e-01 1.56343041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91255784400005 meters Centerline goodness : 0.147002 Centerline is valid? [False, False] Translation: X:4.74, Y:0.74, Z:1.56 [[ 9.99713112e-01 -3.90404968e-03 -2.36315992e-02 4.73566277e+00] [ 3.85648478e-03 9.99990446e-01 -2.05800656e-03 7.40450614e-01] [ 2.36394080e-02 1.96628124e-03 9.99718616e-01 1.56363367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9425578440001 meters Centerline goodness : 0.141274 Centerline is valid? [False, False] Translation: X:4.71, Y:0.73, Z:1.56 [[ 9.99748182e-01 2.31198674e-03 -2.23209969e-02 4.71347099e+00] [-2.42048617e-03 9.99985382e-01 -4.83507553e-03 7.34944849e-01] [ 2.23094920e-02 4.88788564e-03 9.99739164e-01 1.56244691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97255784400005 meters Centerline goodness : 0.146896 Centerline is valid? [False, False] Translation: X:4.71, Y:0.73, Z:1.56 [[ 9.99750162e-01 2.57023112e-03 -2.22037723e-02 4.71302685e+00] [-2.66265769e-03 9.99987910e-01 -4.13409080e-03 7.31253492e-01] [ 2.21928783e-02 4.19217899e-03 9.99744918e-01 1.56270012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0025578440001 meters Centerline goodness : 0.145786 Centerline is valid? [False, False] Translation: X:4.71, Y:0.73, Z:1.56 [[ 9.99749323e-01 2.75069158e-03 -2.22199305e-02 4.71314014e+00] [-2.83453578e-03 9.99988979e-01 -3.74276420e-03 7.29427925e-01] [ 2.22093904e-02 3.80480916e-03 9.99746101e-01 1.56258352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03255784400005 meters Centerline goodness : 0.136468 Centerline is valid? [False, False] Translation: X:4.67, Y:0.73, Z:1.56 [[ 9.99682006e-01 3.20049971e-03 -2.50128521e-02 4.66797083e+00] [-3.29163055e-03 9.99988092e-01 -3.60303710e-03 7.25894851e-01] [ 2.50010227e-02 3.68422443e-03 9.99680637e-01 1.56266906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0625578440001 meters Centerline goodness : 0.131886 Centerline is valid? [False, False] Translation: X:4.67, Y:0.72, Z:1.56 [[ 9.99678780e-01 3.39672499e-03 -2.51157101e-02 4.66834553e+00] [-3.47568703e-03 9.99989152e-01 -3.10094476e-03 7.23239034e-01] [ 2.51049045e-02 3.18724303e-03 9.99679741e-01 1.56246142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09255784400005 meters Centerline goodness : 0.097091 Centerline is valid? [False, False] Translation: X:4.67, Y:0.72, Z:1.56 [[ 9.99674115e-01 3.77644744e-03 -2.52468257e-02 4.66871434e+00] [-3.83529180e-03 9.99990040e-01 -2.28274683e-03 7.18701069e-01] [ 2.52379535e-02 2.37883186e-03 9.99678642e-01 1.56232211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1225578440001 meters Centerline goodness : 0.109951 Centerline is valid? [False, False] Translation: X:4.67, Y:0.72, Z:1.56 [[ 9.99675351e-01 3.98149629e-03 -2.51662706e-02 4.66851967e+00] [-4.03048594e-03 9.99990080e-01 -1.89621468e-03 7.16966941e-01] [ 2.51584712e-02 1.99703137e-03 9.99681481e-01 1.56228386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15255784400006 meters Centerline goodness : 0.091485 Centerline is valid? [False, False] Translation: X:4.67, Y:0.72, Z:1.56 [[ 9.99678575e-01 4.17999705e-03 -2.50054870e-02 4.66812280e+00] [-4.22024712e-03 9.99989882e-01 -1.55709296e-03 7.15546011e-01] [ 2.49987254e-02 1.66212181e-03 9.99686101e-01 1.56226928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18255784400003 meters Centerline goodness : 0.037197 Centerline is valid? [False, False] Translation: X:4.67, Y:0.71, Z:1.56 [[ 9.99681705e-01 4.36108871e-03 -2.48489237e-02 4.66771381e+00] [-4.39249335e-03 9.99989622e-01 -1.20937998e-03 7.13993864e-01] [ 2.48433916e-02 1.31814377e-03 9.99690486e-01 1.56227476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21255784400006 meters Centerline goodness : 0.180592 Centerline is valid? [False, False] Translation: X:4.62, Y:0.71, Z:1.56 [[ 9.99614068e-01 4.42995561e-03 -2.74242581e-02 4.62238521e+00] [-4.47157399e-03 9.99988942e-01 -1.45643508e-03 7.09848012e-01] [ 2.74175029e-02 1.57850260e-03 9.99622823e-01 1.56211797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24255784400003 meters SLAMing on 420.27255784400006 meters Centerline goodness : 0.184467 Centerline is valid? [False, False] Translation: X:4.63, Y:0.70, Z:1.56 [[ 9.99593444e-01 3.06183438e-03 -2.83473317e-02 4.62722786e+00] [-3.13054928e-03 9.99992268e-01 -2.37997148e-03 7.03318391e-01] [ 2.83398255e-02 2.46774661e-03 9.99595300e-01 1.55902338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30255784400003 meters Centerline goodness : 0.090096 Centerline is valid? [False, False] Translation: X:4.63, Y:0.70, Z:1.56 [[ 9.99586199e-01 3.28890666e-03 -2.85764716e-02 4.62818916e+00] [-3.34324000e-03 9.99992693e-01 -1.85376048e-03 7.00844674e-01] [ 2.85701659e-02 1.94853139e-03 9.99589890e-01 1.55842526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33255784400006 meters Centerline goodness : 0.097496 Centerline is valid? [False, False] Translation: X:4.63, Y:0.70, Z:1.56 [[ 9.99581674e-01 3.50850919e-03 -2.87083305e-02 4.62870361e+00] [-3.54832777e-03 9.99992812e-01 -1.33617795e-03 6.98365070e-01] [ 2.87034361e-02 1.43748556e-03 9.99586938e-01 1.55812508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36255784400004 meters Centerline goodness : 0.097941 Centerline is valid? [False, False] Translation: X:4.62, Y:0.69, Z:1.56 [[ 9.99609217e-01 1.25101163e-03 -2.79257520e-02 4.62458890e+00] [-1.33037927e-03 9.99995128e-01 -2.82369628e-03 6.91869880e-01] [ 2.79220834e-02 2.85974467e-03 9.99606012e-01 1.56049826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39255784400007 meters Centerline goodness : 0.190768 Centerline is valid? [False, False] Translation: X:4.62, Y:0.69, Z:1.56 [[ 9.99610841e-01 1.44560475e-03 -2.78581528e-02 4.62416026e+00] [-1.50572081e-03 9.99996583e-01 -2.13707749e-03 6.88226174e-01] [ 2.78549683e-02 2.17819243e-03 9.99609602e-01 1.56094974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42255784400004 meters Centerline goodness : 0.095112 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.56 [[ 9.99610899e-01 1.68027945e-03 -2.78429169e-02 4.62410102e+00] [-1.72029023e-03 9.99997522e-01 -1.41312715e-03 6.84480862e-01] [ 2.78404734e-02 1.46047519e-03 9.99611312e-01 1.56103775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45255784400007 meters Centerline goodness : 0.105177 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.56 [[ 9.99606809e-01 1.93594986e-03 -2.79728464e-02 4.62480636e+00] [-1.94747456e-03 9.99998030e-01 -3.84758575e-04 6.76515848e-01] [ 2.79720464e-02 4.39083698e-04 9.99608609e-01 1.56058533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48255784400004 meters Centerline goodness : 0.144271 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.56 [[ 9.99605196e-01 2.18441627e-03 -2.80121377e-02 4.62502122e+00] [-2.17757211e-03 9.99997591e-01 2.74831083e-04 6.73151054e-01] [ 2.80126706e-02 -2.13724129e-04 9.99607545e-01 1.56045569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51255784400007 meters Centerline goodness : 0.197511 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.56 [[ 9.99524331e-01 2.11901178e-03 -3.07672003e-02 4.57957862e+00] [-2.09982178e-03 9.99997580e-01 6.56013420e-04 6.68248950e-01] [ 3.07685159e-02 -5.91095738e-04 9.99526362e-01 1.56052981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54255784400004 meters Centerline goodness : 0.191906 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.56 [[ 9.99522702e-01 2.33225014e-03 -3.08047040e-02 4.57988125e+00] [-2.29869503e-03 9.99996726e-01 1.12465408e-03 6.66119271e-01] [ 3.08072261e-02 -1.05330666e-03 9.99524790e-01 1.56020314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5725578440001 meters Centerline goodness : 0.185131 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99523889e-01 2.65823713e-03 -3.07396887e-02 4.57982165e+00] [-2.60245100e-03 9.99994894e-01 1.85465810e-03 6.62485954e-01] [ 3.07444619e-02 -1.77377655e-03 9.99525703e-01 1.56009779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60255784400005 meters Centerline goodness : 0.178893 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99520900e-01 2.75055182e-03 -3.08286275e-02 4.58009905e+00] [-2.68765957e-03 9.99994222e-01 2.08131270e-03 6.61103100e-01] [ 3.08341742e-02 -1.99745869e-03 9.99522518e-01 1.56002196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6325578440001 meters Centerline goodness : 0.161475 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99520500e-01 2.89592767e-03 -3.08283014e-02 4.58003146e+00] [-2.82603132e-03 9.99993337e-01 2.31060849e-03 6.60081352e-01] [ 3.08347873e-02 -2.22237881e-03 9.99522024e-01 1.56011178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66255784400005 meters Centerline goodness : 0.173437 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99541336e-01 3.61893170e-03 -3.00669273e-02 4.57810634e+00] [-3.52851230e-03 9.99989094e-01 3.05978493e-03 6.58169466e-01] [ 3.00776726e-02 -2.95228999e-03 9.99543204e-01 1.56011547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6925578440001 meters Centerline goodness : 0.184191 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99551368e-01 3.78092899e-03 -2.97114065e-02 4.57704616e+00] [-3.68441299e-03 9.99987759e-01 3.30252515e-03 6.57250516e-01] [ 2.97235294e-02 -3.19157444e-03 9.99553063e-01 1.56040062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72255784400005 meters Centerline goodness : 0.186324 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99558434e-01 3.84956304e-03 -2.94638486e-02 4.57641232e+00] [-3.75043050e-03 9.99987122e-01 3.41907233e-03 6.56535805e-01] [ 2.94766311e-02 -3.30706047e-03 9.99559999e-01 1.56041368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7525578440001 meters Centerline goodness : 0.175740 Centerline is valid? [False, False] Translation: X:4.60, Y:0.65, Z:1.56 [[ 9.99518495e-01 1.21610599e-02 -2.85462212e-02 4.59657143e+00] [-1.21043468e-02 9.99924410e-01 2.15867801e-03 6.53007852e-01] [ 2.85703152e-02 -1.81210523e-03 9.99590143e-01 1.56213703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78255784400005 meters Centerline goodness : 0.180870 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99580106e-01 4.98285360e-03 -2.85443914e-02 4.57727255e+00] [-4.88134007e-03 9.99981516e-01 3.62491774e-03 6.57078568e-01] [ 2.85619262e-02 -3.48406078e-03 9.99585953e-01 1.56036213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8125578440001 meters Centerline goodness : 0.098214 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99574789e-01 4.98156917e-03 -2.87302232e-02 4.57779594e+00] [-4.88648073e-03 9.99982352e-01 3.37896155e-03 6.58536882e-01] [ 2.87465487e-02 -3.23713510e-03 9.99581491e-01 1.56018693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84255784400005 meters Centerline goodness : 0.176746 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99571188e-01 4.93869290e-03 -2.88625904e-02 4.57834447e+00] [-4.85016223e-03 9.99983319e-01 3.13652023e-03 6.59791285e-01] [ 2.88775993e-02 -2.99518700e-03 9.99578468e-01 1.55972342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8725578440001 meters Centerline goodness : 0.138427 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99568399e-01 4.87671715e-03 -2.89695081e-02 4.57882077e+00] [-4.79458950e-03 9.99984290e-01 2.90375605e-03 6.60908472e-01] [ 2.89832138e-02 -2.76360588e-03 9.99576078e-01 1.55930542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90255784400006 meters Centerline goodness : 0.173663 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99574039e-01 4.86281707e-03 -2.87766144e-02 4.57820765e+00] [-4.78238439e-03 9.99984465e-01 2.86323626e-03 6.61060438e-01] [ 2.87900907e-02 -2.72439580e-03 9.99581767e-01 1.55942884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93255784400003 meters Centerline goodness : 0.176023 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99575702e-01 4.92664322e-03 -2.87078944e-02 4.57789378e+00] [-4.84030061e-03 9.99983554e-01 3.07634245e-03 6.60083024e-01] [ 2.87225783e-02 -2.93608233e-03 9.99583110e-01 1.55969970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96255784400006 meters Centerline goodness : 0.179306 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99575040e-01 4.98360012e-03 -2.87211245e-02 4.57776963e+00] [-4.88931445e-03 9.99982429e-01 3.35209226e-03 6.58635094e-01] [ 2.87373253e-02 -3.21024114e-03 9.99581843e-01 1.55997876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99255784400003 meters Centerline goodness : 0.179870 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99586674e-01 1.06534778e-03 -2.87288558e-02 4.57767675e+00] [-1.07145531e-03 9.99999407e-01 -1.97199053e-04 6.57209777e-01] [ 2.87286287e-02 2.27899230e-04 9.99587222e-01 1.56012031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02255784400006 meters Centerline goodness : 0.179056 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99582240e-01 1.10521311e-03 -2.88811919e-02 4.57827484e+00] [-1.10462813e-03 9.99999389e-01 3.62093610e-05 6.55863865e-01] [ 2.88812142e-02 -4.29125722e-06 9.99582851e-01 1.55981683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05255784400003 meters Centerline goodness : 0.158938 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.56 [[ 9.99580791e-01 1.14960169e-03 -2.89295920e-02 4.57849360e+00] [-1.14253244e-03 9.99999313e-01 2.60889380e-04 6.54635791e-01] [ 2.89298721e-02 -2.27727015e-04 9.99581418e-01 1.55970208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08255784400006 meters Centerline goodness : 0.176258 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.56 [[ 9.99579085e-01 1.21022745e-03 -2.89860076e-02 4.57871414e+00] [-1.19902490e-03 9.99999200e-01 4.03859238e-04 6.54068262e-01] [ 2.89864731e-02 -3.68934303e-04 9.99579736e-01 1.55958226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11255784400004 meters Centerline goodness : 0.177211 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.56 [[ 9.99573686e-01 1.24467239e-03 -2.91701399e-02 4.57956073e+00] [-1.23428180e-03 9.99999168e-01 3.74209796e-04 6.54657121e-01] [ 2.91705814e-02 -3.38046093e-04 9.99574391e-01 1.55898366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14255784400007 meters Centerline goodness : 0.176556 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99568040e-01 1.17062319e-03 -2.93660248e-02 4.58040128e+00] [-1.16467550e-03 9.99999298e-01 2.19640533e-04 6.55189723e-01] [ 2.93662613e-02 -1.85343768e-04 9.99568701e-01 1.55840026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17255784400004 meters Centerline goodness : 0.152457 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99561744e-01 1.09482392e-03 -2.95824511e-02 4.58109762e+00] [-1.09329290e-03 9.99999400e-01 6.79288747e-05 6.55724218e-01] [ 2.95825078e-02 -3.55568205e-05 9.99562341e-01 1.55812367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20255784400007 meters Centerline goodness : 0.176271 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99561452e-01 1.06852390e-03 -2.95932628e-02 4.58101086e+00] [-1.06903673e-03 9.99999429e-01 -1.50763753e-06 6.56129653e-01] [ 2.95932443e-02 3.31432612e-05 9.99562023e-01 1.55828028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23255784400004 meters Centerline goodness : 0.174164 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99565978e-01 1.05431563e-03 -2.94405248e-02 4.58034096e+00] [-1.05747029e-03 9.99999437e-01 -9.15842542e-05 6.56807907e-01] [ 2.94404117e-02 1.22676985e-04 9.99566530e-01 1.55872831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26255784400007 meters Centerline goodness : 0.171746 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99564121e-01 9.73400625e-04 -2.95062741e-02 4.58069409e+00] [-9.80263764e-04 9.99999496e-01 -2.18135069e-04 6.57100064e-01] [ 2.95060469e-02 2.46963920e-04 9.99564571e-01 1.55842515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29255784400004 meters Centerline goodness : 0.177599 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99559934e-01 9.00126330e-04 -2.96501054e-02 4.58126062e+00] [-9.09215928e-04 9.99999544e-01 -2.93081337e-04 6.57046989e-01] [ 2.96498281e-02 3.19910710e-04 9.99560296e-01 1.55807504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3225578440001 meters Centerline goodness : 0.175270 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99556606e-01 8.30733354e-04 -2.97640794e-02 4.58174548e+00] [-8.42553307e-04 9.99999571e-01 -3.84581895e-04 6.57247324e-01] [ 2.97637471e-02 4.09489197e-04 9.99556878e-01 1.55773309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35255784400005 meters Centerline goodness : 0.179935 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99549802e-01 8.40237058e-04 -2.99914603e-02 4.58258895e+00] [-8.53179569e-04 9.99999548e-01 -4.18745547e-04 6.57765570e-01] [ 2.99910949e-02 4.44145130e-04 9.99550067e-01 1.55726420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3825578440001 meters Centerline goodness : 0.172076 Centerline is valid? [False, False] Translation: X:4.63, Y:0.66, Z:1.56 [[ 9.99612552e-01 1.13177047e-03 -2.78112436e-02 4.62657441e+00] [-1.14527566e-03 9.99999234e-01 -4.69677989e-04 6.60401190e-01] [ 2.78106907e-02 5.01347553e-04 9.99613082e-01 1.55780438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41255784400005 meters Centerline goodness : 0.171645 Centerline is valid? [False, False] Translation: X:4.63, Y:0.66, Z:1.56 [[ 9.99618643e-01 1.12353554e-03 -2.75917660e-02 4.62584882e+00] [-1.13438513e-03 9.99999285e-01 -3.77568633e-04 6.59744382e-01] [ 2.75913221e-02 4.08724333e-04 9.99619203e-01 1.55811554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4425578440001 meters Centerline goodness : 0.104559 Centerline is valid? [False, False] Translation: X:4.63, Y:0.66, Z:1.56 [[ 9.99620649e-01 1.11631469e-03 -2.75193063e-02 4.62537631e+00] [-1.12359744e-03 9.99999338e-01 -2.49179549e-04 6.58733567e-01] [ 2.75190099e-02 2.80005645e-04 9.99621241e-01 1.55859390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47255784400005 meters Centerline goodness : 0.173337 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.56 [[ 9.99529175e-01 -1.56281008e-04 -3.06823022e-02 4.58069076e+00] [ 1.38351518e-04 9.99999818e-01 -5.86481450e-04 6.54066629e-01] [ 3.06823882e-02 5.81960377e-04 9.99529015e-01 1.55878831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5025578440001 meters Centerline goodness : 0.176095 Centerline is valid? [False, False] Translation: X:4.60, Y:0.66, Z:1.56 [[ 9.99498069e-01 -7.97601421e-03 -3.06593139e-02 4.60068119e+00] [ 8.00145484e-03 9.99967738e-01 7.07184090e-04 6.58362066e-01] [ 3.06526843e-02 -9.52148248e-04 9.99529643e-01 1.56049786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53255784400005 meters Centerline goodness : 0.177487 Centerline is valid? [False, False] Translation: X:4.62, Y:0.65, Z:1.56 [[ 9.99552147e-01 -2.31438094e-05 -2.99249894e-02 4.61931653e+00] [ 1.05789551e-05 9.99999912e-01 -4.20036574e-04 6.54117362e-01] [ 2.99249965e-02 4.19531884e-04 9.99552059e-01 1.56254491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5625578440001 meters Centerline goodness : 0.184898 Centerline is valid? [False, False] Translation: X:4.62, Y:0.65, Z:1.56 [[ 9.99560614e-01 8.31802517e-05 -2.96407212e-02 4.61820858e+00] [-8.72593818e-05 9.99999987e-01 -1.36325653e-04 6.52798873e-01] [ 2.96407094e-02 1.38852184e-04 9.99560608e-01 1.56324855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59255784400005 meters Centerline goodness : 0.176017 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99664653e-01 -3.05176113e-04 -2.58937872e-02 4.65405954e+00] [ 2.90053853e-04 9.99999785e-01 -5.87765025e-04 6.52367122e-01] [ 2.58939610e-02 5.80057327e-04 9.99664527e-01 1.56754549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6225578440001 meters Centerline goodness : 0.178332 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99670389e-01 -2.26518752e-04 -2.56722154e-02 4.65296313e+00] [ 2.16593147e-04 9.99999901e-01 -3.89408320e-04 6.51476868e-01] [ 2.56723010e-02 3.83719541e-04 9.99670339e-01 1.56843434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65255784400006 meters Centerline goodness : 0.175982 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99676606e-01 -1.27716591e-04 -2.54296535e-02 4.65212028e+00] [ 1.22745729e-04 9.99999973e-01 -1.97035890e-04 6.50654431e-01] [ 2.54296780e-02 1.93850789e-04 9.99676595e-01 1.56882094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68255784400003 meters Centerline goodness : 0.178518 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99680990e-01 -6.06296892e-05 -2.52569716e-02 4.65155093e+00] [ 5.96606193e-05 9.99999997e-01 -3.91219537e-05 6.49847952e-01] [ 2.52569739e-02 3.76026269e-05 9.99680991e-01 1.56901110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71255784400006 meters Centerline goodness : 0.179006 Centerline is valid? [False, False] Translation: X:4.63, Y:0.64, Z:1.57 [[ 9.99628560e-01 6.53941404e-03 -2.64571167e-02 4.62932251e+00] [-6.60632246e-03 9.99975195e-01 -2.44232091e-03 6.44649570e-01] [ 2.64404891e-02 2.61619798e-03 9.99646966e-01 1.56918685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74255784400003 meters Centerline goodness : 0.177751 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99636932e-01 -6.04622546e-04 -2.69376829e-02 4.64765165e+00] [ 5.81666857e-04 9.99999461e-01 -8.60005205e-04 6.48868822e-01] [ 2.69381883e-02 8.44024207e-04 9.99636745e-01 1.57150682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77255784400006 meters Centerline goodness : 0.177751 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99636932e-01 -6.04622546e-04 -2.69376829e-02 4.64765165e+00] [ 5.81666857e-04 9.99999461e-01 -8.60005205e-04 6.48868822e-01] [ 2.69381883e-02 8.44024207e-04 9.99636745e-01 1.57150682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80255784400003 meters Centerline goodness : 0.172939 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99635386e-01 -5.04719597e-04 -2.69970299e-02 4.64788596e+00] [ 4.85326005e-04 9.99999619e-01 -7.24907746e-04 6.48427846e-01] [ 2.69973855e-02 7.11541074e-04 9.99635251e-01 1.57134298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83255784400006 meters Centerline goodness : 0.177621 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99634204e-01 -4.43402804e-04 -2.70418495e-02 4.64810912e+00] [ 4.28558758e-04 9.99999754e-01 -5.54721742e-04 6.47498862e-01] [ 2.70420889e-02 5.42929805e-04 9.99634148e-01 1.57117826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86255784400004 meters Centerline goodness : 0.178888 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99636299e-01 -2.95210190e-04 -2.69663225e-02 4.64778465e+00] [ 2.93787728e-04 9.99999955e-01 -5.67114415e-05 6.44483807e-01] [ 2.69663381e-02 4.87684409e-05 9.99636341e-01 1.57142398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89255784400007 meters Centerline goodness : 0.172390 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99637244e-01 -1.50120133e-04 -2.69324633e-02 4.64763277e+00] [ 1.58588586e-04 9.99999939e-01 3.12297235e-04 6.42646229e-01] [ 2.69324148e-02 -3.16455129e-04 9.99637207e-01 1.57152984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92255784400004 meters Centerline goodness : 0.176042 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99636721e-01 6.66437851e-06 -2.69522781e-02 4.64781581e+00] [ 1.14197916e-05 9.99999775e-01 6.70816025e-04 6.40965685e-01] [ 2.69522765e-02 -6.70880121e-04 9.99636496e-01 1.57134939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95255784400007 meters Centerline goodness : 0.138004 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99631983e-01 2.07540977e-04 -2.71266742e-02 4.64867991e+00] [-1.78252688e-04 9.99999399e-01 1.08209964e-03 6.38781097e-01] [ 2.71268825e-02 -1.07686601e-03 9.99631418e-01 1.57074319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98255784400004 meters Centerline goodness : 0.139353 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99633738e-01 3.00060157e-04 -2.70610475e-02 4.64845341e+00] [-2.66595612e-04 9.99999195e-01 1.24023091e-03 6.38039325e-01] [ 2.70613978e-02 -1.23256230e-03 9.99633013e-01 1.57079972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01255784400007 meters Centerline goodness : 0.131636 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99636847e-01 3.80487370e-04 -2.69449320e-02 4.64819691e+00] [-3.46428683e-04 9.99999135e-01 1.26866767e-03 6.38055397e-01] [ 2.69453914e-02 -1.25887245e-03 9.99636114e-01 1.57071003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04255784400004 meters Centerline goodness : 0.149385 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99626884e-01 7.30198598e-04 -2.73049487e-02 4.64953678e+00] [-6.92078247e-04 9.99998773e-01 1.40552107e-03 6.38328318e-01] [ 2.73059415e-02 -1.38609948e-03 9.99626162e-01 1.56987629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0725578440001 meters Centerline goodness : 0.131419 Centerline is valid? [False, False] Translation: X:4.61, Y:0.64, Z:1.57 [[ 9.99521953e-01 6.69559546e-04 -3.09098310e-02 4.60624117e+00] [-6.11247422e-04 9.99998016e-01 1.89593402e-03 6.35076211e-01] [ 3.09110391e-02 -1.87613412e-03 9.99520379e-01 1.56911766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10255784400005 meters Centerline goodness : 0.176599 Centerline is valid? [False, False] Translation: X:4.61, Y:0.64, Z:1.57 [[ 9.99518363e-01 6.45120530e-04 -3.10262260e-02 4.60694121e+00] [-5.88990227e-04 9.99998174e-01 1.81822968e-03 6.35346777e-01] [ 3.10273423e-02 -1.79907981e-03 9.99516917e-01 1.56841418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1325578440001 meters Centerline goodness : 0.141440 Centerline is valid? [False, False] Translation: X:4.61, Y:0.64, Z:1.57 [[ 9.99513783e-01 6.17396695e-04 -3.11739551e-02 4.60767934e+00] [-5.62373163e-04 9.99998269e-01 1.77378513e-03 6.35429177e-01] [ 3.11749962e-02 -1.75539129e-03 9.99512400e-01 1.56779959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16255784400005 meters Centerline goodness : 0.142392 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99508778e-01 5.80389048e-04 -3.13347267e-02 4.60814102e+00] [-5.24413373e-04 9.99998252e-01 1.79456693e-03 6.34904302e-01] [ 3.13357135e-02 -1.77725305e-03 9.99507336e-01 1.56769968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1925578440001 meters Centerline goodness : 0.144091 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99508906e-01 5.71948823e-04 -3.13308033e-02 4.60806962e+00] [-5.13268822e-04 9.99998099e-01 1.88092777e-03 6.34354726e-01] [ 3.13318195e-02 -1.86392293e-03 9.99507300e-01 1.56778992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22255784400005 meters Centerline goodness : 0.164413 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99509071e-01 6.13117330e-04 -3.13247587e-02 4.60787708e+00] [-5.48590619e-04 9.99997710e-01 2.06847966e-03 6.33489969e-01] [ 3.13259552e-02 -2.05027972e-03 9.99507119e-01 1.56810764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2525578440001 meters Centerline goodness : 0.170529 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99510627e-01 6.36533244e-04 -3.12746214e-02 4.60775545e+00] [-5.66666676e-04 9.99997324e-01 2.24278259e-03 6.32693119e-01] [ 3.12759653e-02 -2.22396274e-03 9.99508313e-01 1.56815131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28255784400005 meters Centerline goodness : 0.139442 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99509086e-01 4.99237900e-04 -3.13263269e-02 4.60780593e+00] [-4.23905729e-04 9.99997003e-01 2.41135120e-03 6.31087070e-01] [ 3.13274369e-02 -2.39688803e-03 9.99506301e-01 1.56837354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3125578440001 meters Centerline goodness : 0.141325 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99502163e-01 5.30948601e-04 -3.15459193e-02 4.60834990e+00] [-4.50017663e-04 9.99996590e-01 2.57254075e-03 6.30126672e-01] [ 3.15471776e-02 -2.55706382e-03 9.99498993e-01 1.56839122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34255784400005 meters Centerline goodness : 0.167400 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99493928e-01 5.56423597e-04 -3.18053259e-02 4.60909504e+00] [-4.71128088e-04 9.99996273e-01 2.68923076e-03 6.29470378e-01] [ 3.18067037e-02 -2.67288544e-03 9.99490465e-01 1.56825114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3725578440001 meters Centerline goodness : 0.144816 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99489307e-01 5.79029415e-04 -3.19497915e-02 4.60957368e+00] [-4.90512929e-04 9.99996020e-01 2.77825546e-03 6.28980569e-01] [ 3.19512731e-02 -2.76116484e-03 9.99485614e-01 1.56806670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40255784400006 meters Centerline goodness : 0.140152 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99487332e-01 5.20906755e-04 -3.20125173e-02 4.60969596e+00] [-4.33880849e-04 9.99996192e-01 2.72538265e-03 6.28927311e-01] [ 3.20138151e-02 -2.71009582e-03 9.99483752e-01 1.56811162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43255784400003 meters Centerline goodness : 0.140443 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99489128e-01 5.04668728e-04 -3.19566624e-02 4.60947537e+00] [-4.21119387e-04 9.99996476e-01 2.62113420e-03 6.29503065e-01] [ 3.19578726e-02 -2.60633756e-03 9.99485818e-01 1.56818600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46255784400006 meters Centerline goodness : 0.132263 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99493176e-01 4.62441250e-04 -3.18304366e-02 4.60905215e+00] [-3.86196214e-04 9.99997042e-01 2.40145628e-03 6.30885252e-01] [ 3.18314530e-02 -2.38794638e-03 9.99490398e-01 1.56831611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49255784400003 meters Centerline goodness : 0.144536 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99503393e-01 4.27089871e-04 -3.15084785e-02 4.60813579e+00] [-3.59597279e-04 9.99997629e-01 2.14768093e-03 6.32505273e-01] [ 3.15093211e-02 -2.13528402e-03 9.99501177e-01 1.56844165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52255784400006 meters Centerline goodness : 0.112291 Centerline is valid? [False, False] Translation: X:4.63, Y:0.63, Z:1.57 [[ 9.99546795e-01 8.86806373e-03 -2.87673645e-02 4.62807685e+00] [-8.84701984e-03 9.99960496e-01 8.58718508e-04 6.34249328e-01] [ 2.87738433e-02 -6.03823888e-04 9.99585765e-01 1.56954768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55255784400003 meters Centerline goodness : 0.164835 Centerline is valid? [False, False] Translation: X:4.61, Y:0.64, Z:1.57 [[ 9.99605115e-01 2.66926221e-04 -2.80987982e-02 4.60695978e+00] [-2.25102543e-04 9.99998862e-01 1.49160345e-03 6.39296288e-01] [ 2.80991644e-02 -1.48468933e-03 9.99604038e-01 1.56792642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58255784400006 meters Centerline goodness : 0.179926 Centerline is valid? [False, False] Translation: X:4.61, Y:0.64, Z:1.57 [[ 9.99607037e-01 2.07600786e-04 -2.80308643e-02 4.60678803e+00] [-1.69148865e-04 9.99999042e-01 1.37413500e-03 6.39780332e-01] [ 2.80311227e-02 -1.36885362e-03 9.99606114e-01 1.56788871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61255784400004 meters Centerline goodness : 0.170570 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99655069e-01 6.05381049e-04 -2.62559624e-02 4.65161624e+00] [-5.79653875e-04 9.99999344e-01 9.87460199e-04 6.43215215e-01] [ 2.62565430e-02 -9.71900223e-04 9.99654765e-01 1.56803751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64255784400007 meters Centerline goodness : 0.176348 Centerline is valid? [False, False] Translation: X:4.63, Y:0.64, Z:1.57 [[ 9.99589097e-01 8.57169013e-03 -2.73525567e-02 4.63254502e+00] [-8.58440785e-03 9.99963093e-01 -3.47562728e-04 6.39342772e-01] [ 2.73485680e-02 5.82225416e-04 9.99625788e-01 1.56596438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67255784400004 meters Centerline goodness : 0.167473 Centerline is valid? [False, False] Translation: X:4.63, Y:0.64, Z:1.57 [[ 9.99588532e-01 8.52206801e-03 -2.73886886e-02 4.63257846e+00] [-8.53948395e-03 9.99963403e-01 -5.18977109e-04 6.40238463e-01] [ 2.73832635e-02 7.52648833e-04 9.99624725e-01 1.56601268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70255784400007 meters Centerline goodness : 0.164693 Centerline is valid? [False, False] Translation: X:4.63, Y:0.64, Z:1.57 [[ 9.99590024e-01 8.46124789e-03 -2.73530745e-02 4.63232515e+00] [-8.48494777e-03 9.99963721e-01 -7.50490781e-04 6.41497483e-01] [ 2.73457320e-02 9.82272506e-04 9.99625553e-01 1.56621985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73255784400004 meters Centerline goodness : 0.100729 Centerline is valid? [False, False] Translation: X:4.63, Y:0.64, Z:1.57 [[ 9.99592773e-01 8.42975426e-03 -2.72621999e-02 4.63207375e+00] [-8.45855554e-03 9.99963783e-01 -9.41304294e-04 6.42690859e-01] [ 2.72532776e-02 1.17151980e-03 9.99627874e-01 1.56620203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76255784400007 meters Centerline goodness : 0.131909 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99651045e-01 6.18848055e-04 -2.64084408e-02 4.61192478e+00] [-6.11856621e-04 9.99999776e-01 2.72822052e-04 6.48515142e-01] [ 2.64086037e-02 -2.56568670e-04 9.99651199e-01 1.56382757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79255784400004 meters Centerline goodness : 0.098135 Centerline is valid? [False, False] Translation: X:4.63, Y:0.65, Z:1.57 [[ 9.99647480e-01 8.72440014e-03 -2.50759120e-02 4.63135327e+00] [-8.75702888e-03 9.99960946e-01 -1.19167834e-03 6.46145997e-01] [ 2.50645360e-02 1.41084874e-03 9.99684840e-01 1.56528047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8225578440001 meters Centerline goodness : 0.166250 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99702566e-01 -1.41495923e-04 -2.43876876e-02 4.60937351e+00] [ 1.25827756e-04 9.99999785e-01 -6.43995546e-04 6.49465209e-01] [ 2.43877735e-02 6.40735352e-04 9.99702369e-01 1.56398358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85255784400005 meters Centerline goodness : 0.153511 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99702083e-01 -6.02857347e-05 -2.44078265e-02 4.60945094e+00] [ 4.98279818e-05 9.99999907e-01 -4.29066960e-04 6.48525872e-01] [ 2.44078501e-02 4.27722941e-04 9.99701993e-01 1.56394821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8825578440001 meters Centerline goodness : 0.173884 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99699574e-01 -4.95198926e-05 -2.45103799e-02 4.60987519e+00] [ 3.99599906e-05 9.99999923e-01 -3.90524472e-04 6.48235024e-01] [ 2.45103973e-02 3.89427714e-04 9.99699499e-01 1.56367021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91255784400005 meters Centerline goodness : 0.146912 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99697799e-01 -5.29103288e-05 -2.45826709e-02 4.61014597e+00] [ 4.35483749e-05 9.99999926e-01 -3.81370699e-04 6.48019924e-01] [ 2.45826892e-02 3.80184913e-04 9.99697728e-01 1.56355445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9425578440001 meters Centerline goodness : 0.153830 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99696430e-01 -7.40444593e-05 -2.46382138e-02 4.61023915e+00] [ 6.32753306e-05 9.99999902e-01 -4.37869807e-04 6.48152912e-01] [ 2.46382438e-02 4.36177892e-04 9.99696337e-01 1.56362069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97255784400005 meters Centerline goodness : 0.173760 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99695359e-01 -1.24398253e-04 -2.46814460e-02 4.61030183e+00] [ 1.09537852e-04 9.99999812e-01 -6.03439021e-04 6.48918077e-01] [ 2.46815165e-02 6.00551636e-04 9.99695185e-01 1.56363832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0025578440001 meters Centerline goodness : 0.158017 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99690801e-01 2.51729460e-04 -2.48644110e-02 4.61097399e+00] [-2.71352945e-04 9.99999654e-01 -7.85848930e-04 6.51368361e-01] [ 2.48642046e-02 7.92352977e-04 9.99690524e-01 1.56307379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03255784400005 meters Centerline goodness : 0.146982 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99692101e-01 2.10450766e-04 -2.48124892e-02 4.61101322e+00] [-2.37985492e-04 9.99999359e-01 -1.10676462e-03 6.53235216e-01] [ 2.48122404e-02 1.11232886e-03 9.99691510e-01 1.56266548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0625578440001 meters Centerline goodness : 0.167426 Centerline is valid? [False, False] Translation: X:4.63, Y:0.65, Z:1.56 [[ 9.99688770e-01 9.07332382e-03 -2.32387151e-02 4.63200735e+00] [-9.12761085e-03 9.99955854e-01 -2.23105285e-03 6.54811277e-01] [ 2.32174461e-02 2.44247243e-03 9.99727455e-01 1.56341240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09255784400005 meters Centerline goodness : 0.143161 Centerline is valid? [False, False] Translation: X:4.65, Y:0.66, Z:1.57 [[ 9.99716002e-01 2.02650556e-03 -2.37446481e-02 4.64879192e+00] [-2.04990890e-03 9.99997437e-01 -9.61326573e-04 6.61156334e-01] [ 2.37426392e-02 1.00972792e-03 9.99717594e-01 1.56658409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1225578440001 meters Centerline goodness : 0.169421 Centerline is valid? [False, False] Translation: X:4.60, Y:0.66, Z:1.57 [[ 9.99651833e-01 1.34123075e-03 -2.63517498e-02 4.60206853e+00] [-1.36839181e-03 9.99998551e-01 -1.01270605e-03 6.57788792e-01] [ 2.63503533e-02 1.04841298e-03 9.99652219e-01 1.56757957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15255784400006 meters Centerline goodness : 0.146063 Centerline is valid? [False, False] Translation: X:4.60, Y:0.66, Z:1.57 [[ 9.99651451e-01 1.30096293e-03 -2.63682331e-02 4.60201226e+00] [-1.32903296e-03 9.99998569e-01 -1.04704221e-03 6.57879949e-01] [ 2.63668332e-02 1.08172152e-03 9.99651749e-01 1.56773223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18255784400003 meters Centerline goodness : 0.108369 Centerline is valid? [False, False] Translation: X:4.60, Y:0.66, Z:1.57 [[ 9.99649082e-01 1.28906217e-03 -2.64584694e-02 4.60217555e+00] [-1.31506514e-03 9.99998669e-01 -9.65407888e-04 6.57379221e-01] [ 2.64571898e-02 9.99863720e-04 9.99649447e-01 1.56787931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21255784400006 meters Centerline goodness : 0.150053 Centerline is valid? [False, False] Translation: X:4.60, Y:0.66, Z:1.57 [[ 9.99634914e-01 1.08104008e-03 -2.69975964e-02 4.60369720e+00] [-1.10516069e-03 9.99999003e-01 -8.78530265e-04 6.56242955e-01] [ 2.69966198e-02 9.08046208e-04 9.99635112e-01 1.56769416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24255784400003 meters Centerline goodness : 0.155238 Centerline is valid? [False, False] Translation: X:4.60, Y:0.65, Z:1.57 [[ 9.99631420e-01 1.14191177e-03 -2.71241468e-02 4.60400266e+00] [-1.15923815e-03 9.99999134e-01 -6.23064702e-04 6.54884313e-01] [ 2.71234118e-02 6.54278399e-04 9.99631878e-01 1.56775243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27255784400006 meters Centerline goodness : 0.177091 Centerline is valid? [False, False] Translation: X:4.60, Y:0.65, Z:1.57 [[ 9.99633379e-01 1.21675795e-03 -2.70485978e-02 4.60363249e+00] [-1.22522614e-03 9.99999205e-01 -2.96501927e-04 6.53166361e-01] [ 2.70482156e-02 3.29533872e-04 9.99634076e-01 1.56816005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30255784400003 meters Centerline goodness : 0.151537 Centerline is valid? [False, False] Translation: X:4.62, Y:0.66, Z:1.57 [[ 9.99631796e-01 -6.84644194e-03 -2.62563957e-02 4.62366829e+00] [ 6.86722637e-03 9.99976174e-01 7.01505564e-04 6.56633404e-01] [ 2.62509673e-02 -8.81555880e-04 9.99654995e-01 1.56974681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33255784400006 meters Centerline goodness : 0.156646 Centerline is valid? [False, False] Translation: X:4.62, Y:0.65, Z:1.57 [[ 9.99626754e-01 -6.69108974e-03 -2.64874113e-02 4.62422831e+00] [ 6.72536011e-03 9.99976659e-01 1.20496241e-03 6.53993861e-01] [ 2.64787305e-02 -1.38265004e-03 9.99648421e-01 1.56986008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36255784400004 meters Centerline goodness : 0.168992 Centerline is valid? [False, False] Translation: X:4.62, Y:0.65, Z:1.57 [[ 9.99624984e-01 -6.60630417e-03 -2.65753194e-02 4.62459158e+00] [ 6.64626079e-03 9.99976912e-01 1.41547486e-03 6.52987383e-01] [ 2.65653548e-02 -1.59157053e-03 9.99645812e-01 1.56964467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39255784400007 meters Centerline goodness : 0.145983 Centerline is valid? [False, False] Translation: X:4.62, Y:0.65, Z:1.57 [[ 9.99627573e-01 -6.51010106e-03 -2.65015734e-02 4.62457642e+00] [ 6.55584298e-03 9.99977166e-01 1.63948747e-03 6.51927878e-01] [ 2.64902951e-02 -1.81261703e-03 9.99647427e-01 1.56941678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42255784400004 meters Centerline goodness : 0.165023 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99664763e-01 1.66355852e-03 -2.58378571e-02 4.64356396e+00] [-1.65519415e-03 9.99998571e-01 3.45108889e-04 6.47951165e-01] [ 2.58383943e-02 -3.02226526e-04 9.99666087e-01 1.57137211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45255784400007 meters Centerline goodness : 0.117552 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99668664e-01 1.74475156e-03 -2.56810718e-02 4.64303850e+00] [-1.73054061e-03 9.99998337e-01 5.75577302e-04 6.46785670e-01] [ 2.56820334e-02 -5.30944455e-04 9.99670021e-01 1.57160989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48255784400004 meters Centerline goodness : 0.149459 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99670520e-01 1.89290446e-03 -2.55982169e-02 4.64275979e+00] [-1.87519788e-03 9.99997986e-01 7.15698396e-04 6.46461622e-01] [ 2.55995201e-02 -6.67460866e-04 9.99672056e-01 1.57170609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51255784400007 meters Centerline goodness : 0.154461 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99664929e-01 1.89808183e-03 -2.58152485e-02 4.64363122e+00] [-1.88463435e-03 9.99998075e-01 5.45232419e-04 6.47492784e-01] [ 2.58162337e-02 -4.96397423e-04 9.99666582e-01 1.57109099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54255784400004 meters Centerline goodness : 0.152348 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99658243e-01 1.84348604e-03 -2.60767829e-02 4.64465708e+00] [-1.83792109e-03 9.99998283e-01 2.37372523e-04 6.49048324e-01] [ 2.60771758e-02 -1.89364330e-04 9.99659915e-01 1.57036962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5725578440001 meters Centerline goodness : 0.107666 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99648076e-01 2.04324695e-03 -2.64489817e-02 4.64593680e+00] [-2.05238718e-03 9.99997843e-01 -3.18437658e-04 6.52914172e-01] [ 2.64482740e-02 3.72609143e-04 9.99650114e-01 1.56942133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60255784400005 meters Centerline goodness : 0.166572 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99651407e-01 1.94600779e-03 -2.63301661e-02 4.64571737e+00] [-1.96513177e-03 9.99997824e-01 -7.00458418e-04 6.54998993e-01] [ 2.63287457e-02 7.51956489e-04 9.99653056e-01 1.56923206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6325578440001 meters Centerline goodness : 0.165154 Centerline is valid? [False, False] Translation: X:4.65, Y:0.66, Z:1.57 [[ 9.99655145e-01 1.82890068e-03 -2.61962984e-02 4.64538047e+00] [-1.85632570e-03 9.99997754e-01 -1.02262388e-03 6.56627431e-01] [ 2.61943693e-02 1.07090008e-03 9.99656295e-01 1.56915747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66255784400005 meters Centerline goodness : 0.161909 Centerline is valid? [False, False] Translation: X:4.64, Y:0.66, Z:1.57 [[ 9.99660007e-01 1.53278375e-03 -2.60292483e-02 4.64435791e+00] [-1.56700682e-03 9.99997934e-01 -1.29444626e-03 6.57100250e-01] [ 2.60272105e-02 1.33479417e-03 9.99660344e-01 1.57010762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6925578440001 meters Centerline goodness : 0.161909 Centerline is valid? [False, False] Translation: X:4.64, Y:0.66, Z:1.57 [[ 9.99660007e-01 1.53278375e-03 -2.60292483e-02 4.64435791e+00] [-1.56700682e-03 9.99997934e-01 -1.29444626e-03 6.57100250e-01] [ 2.60272105e-02 1.33479417e-03 9.99660344e-01 1.57010762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72255784400005 meters Centerline goodness : 0.129800 Centerline is valid? [False, False] Translation: X:4.64, Y:0.66, Z:1.57 [[ 9.99662312e-01 1.42368255e-03 -2.59467665e-02 4.64366313e+00] [-1.45573646e-03 9.99998200e-01 -1.21652471e-03 6.56342823e-01] [ 2.59449878e-02 1.25388556e-03 9.99662586e-01 1.57095590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7525578440001 meters Centerline goodness : 0.158781 Centerline is valid? [False, False] Translation: X:4.64, Y:0.66, Z:1.57 [[ 9.99662820e-01 1.34968416e-03 -2.59311436e-02 4.64326056e+00] [-1.37661929e-03 9.99998531e-01 -1.02089348e-03 6.55164488e-01] [ 2.59297276e-02 1.05624657e-03 9.99663210e-01 1.57161367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78255784400005 meters Centerline goodness : 0.176229 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99661091e-01 1.32090035e-03 -2.59991913e-02 4.64332742e+00] [-1.34075029e-03 9.99998823e-01 -7.46065559e-04 6.53733448e-01] [ 2.59981752e-02 7.80671134e-04 9.99661685e-01 1.57187333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8125578440001 meters Centerline goodness : 0.173866 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99653317e-01 7.69390083e-04 -2.63183198e-02 4.64420250e+00] [-7.86143488e-04 9.99999495e-01 -6.26227311e-04 6.51388200e-01] [ 2.63178246e-02 6.46700184e-04 9.99653417e-01 1.57195406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84255784400005 meters Centerline goodness : 0.168648 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99645660e-01 7.35745223e-04 -2.66085065e-02 4.64488546e+00] [-7.45549254e-04 9.99999658e-01 -3.58535919e-04 6.49570788e-01] [ 2.66082336e-02 3.78246827e-04 9.99645867e-01 1.57211431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8725578440001 meters Centerline goodness : 0.176949 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99642338e-01 8.08926749e-04 -2.67309234e-02 4.64488917e+00] [-8.08141553e-04 9.99999673e-01 4.01771732e-05 6.47281906e-01] [ 2.67309472e-02 -1.85604334e-05 9.99642664e-01 1.57266901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90255784400006 meters Centerline goodness : 0.169209 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99642626e-01 9.04953765e-04 -2.67170739e-02 4.64454853e+00] [-8.94004871e-04 9.99999511e-01 4.21750767e-04 6.45241308e-01] [ 2.67174426e-02 -3.97714850e-04 9.99642946e-01 1.57323243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93255784400003 meters Centerline goodness : 0.169975 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99645012e-01 1.21660726e-03 -2.66152250e-02 4.64390326e+00] [-1.18540548e-03 9.99998592e-01 1.18807487e-03 6.41649425e-01] [ 2.66166329e-02 -1.15610328e-03 9.99645046e-01 1.57393858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96255784400006 meters Centerline goodness : 0.173293 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99645708e-01 1.32596077e-03 -2.65838201e-02 4.64384386e+00] [-1.28908160e-03 9.99998183e-01 1.40436811e-03 6.40687948e-01] [ 2.65856340e-02 -1.36960184e-03 9.99645601e-01 1.57390846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99255784400003 meters Centerline goodness : 0.165359 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99644248e-01 1.37264442e-03 -2.66363245e-02 4.64403632e+00] [-1.33318072e-03 9.99997987e-01 1.49927640e-03 6.40081398e-01] [ 2.66383288e-02 -1.46323200e-03 9.99644066e-01 1.57378578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02255784400006 meters Centerline goodness : 0.135798 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99637542e-01 1.49059899e-03 -2.68805222e-02 4.64488273e+00] [-1.44632140e-03 9.99997565e-01 1.66656711e-03 6.39096271e-01] [ 2.68829409e-02 -1.62708517e-03 9.99637264e-01 1.57336738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05255784400003 meters Centerline goodness : 0.145437 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99638387e-01 1.57985217e-03 -2.68439664e-02 4.64485615e+00] [-1.53169006e-03 9.99997181e-01 1.81461771e-03 6.38514109e-01] [ 2.68467575e-02 -1.77284488e-03 9.99637989e-01 1.57320582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08255784400006 meters Centerline goodness : 0.147453 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99639911e-01 1.68851048e-03 -2.67805357e-02 4.64455817e+00] [-1.63584052e-03 9.99996685e-01 1.98851179e-03 6.37843650e-01] [ 2.67838045e-02 -1.94398707e-03 9.99639359e-01 1.57342649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11255784400004 meters Centerline goodness : 0.136406 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99644737e-01 1.78855939e-03 -2.65932393e-02 4.64382965e+00] [-1.73117222e-03 9.99996124e-01 2.18082708e-03 6.36999459e-01] [ 2.65970367e-02 -2.13401484e-03 9.99643958e-01 1.57381542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14255784400007 meters Centerline goodness : 0.137834 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99653773e-01 2.01272245e-03 -2.62351632e-02 4.64235986e+00] [-1.94571189e-03 9.99994780e-01 2.57950401e-03 6.35433314e-01] [ 2.62402181e-02 -2.52756484e-03 9.99652471e-01 1.57473506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17255784400004 meters Centerline goodness : 0.152907 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99653607e-01 2.02513954e-03 -2.62405161e-02 4.64239504e+00] [-1.95687381e-03 9.99994635e-01 2.62695682e-03 6.35104722e-01] [ 2.62456953e-02 -2.57469748e-03 9.99652207e-01 1.57470536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20255784400007 meters Centerline goodness : 0.138749 Centerline is valid? [False, False] Translation: X:4.64, Y:0.63, Z:1.57 [[ 9.99651047e-01 2.06113221e-03 -2.63350649e-02 4.64278778e+00] [-1.98976372e-03 9.99994278e-01 2.73593503e-03 6.34443219e-01] [ 2.63405533e-02 -2.68257976e-03 9.99649428e-01 1.57445958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23255784400004 meters Centerline goodness : 0.139595 Centerline is valid? [False, False] Translation: X:4.64, Y:0.63, Z:1.57 [[ 9.99649152e-01 2.14534801e-03 -2.64002142e-02 4.64324447e+00] [-2.06779893e-03 9.99993468e-01 2.96439062e-03 6.33273242e-01] [ 2.64064015e-02 -2.90876024e-03 9.99647058e-01 1.57398121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26255784400007 meters Centerline goodness : 0.137747 Centerline is valid? [False, False] Translation: X:4.64, Y:0.63, Z:1.57 [[ 9.99641290e-01 2.35224142e-03 -2.66787801e-02 4.64446296e+00] [-2.25523333e-03 9.99990738e-01 3.66565782e-03 6.29465561e-01] [ 2.66871556e-02 -3.60417604e-03 9.99637337e-01 1.57322581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29255784400004 meters Centerline goodness : 0.137088 Centerline is valid? [False, False] Translation: X:4.65, Y:0.63, Z:1.57 [[ 9.99632746e-01 2.41816871e-03 -2.69911998e-02 4.64559407e+00] [-2.31067258e-03 9.99989278e-01 4.01311557e-03 6.27243210e-01] [ 2.70006148e-02 -3.94927391e-03 9.99627616e-01 1.57273665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3225578440001 meters Centerline goodness : 0.131875 Centerline is valid? [False, False] Translation: X:4.65, Y:0.62, Z:1.57 [[ 9.99620679e-01 2.58861414e-03 -2.74189026e-02 4.64697426e+00] [-2.46352564e-03 9.99986409e-01 4.59492433e-03 6.23811229e-01] [ 2.74304244e-02 -4.52563421e-03 9.99613471e-01 1.57232835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35255784400005 meters Centerline goodness : 0.130721 Centerline is valid? [False, False] Translation: X:4.65, Y:0.62, Z:1.57 [[ 9.99620623e-01 2.66450906e-03 -2.74137058e-02 4.64700403e+00] [-2.53466194e-03 9.99985410e-01 4.77023570e-03 6.22927558e-01] [ 2.74260162e-02 -4.69894151e-03 9.99612792e-01 1.57228121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3825578440001 meters Centerline goodness : 0.134569 Centerline is valid? [False, False] Translation: X:4.65, Y:0.62, Z:1.57 [[ 9.99622378e-01 2.70454220e-03 -2.73456745e-02 4.64692255e+00] [-2.57205811e-03 9.99984791e-01 4.87880530e-03 6.22300892e-01] [ 2.73584536e-02 -4.80662830e-03 9.99614131e-01 1.57214258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41255784400005 meters Centerline goodness : 0.125234 Centerline is valid? [False, False] Translation: X:4.65, Y:0.62, Z:1.57 [[ 9.99624046e-01 2.74904240e-03 -2.72802179e-02 4.64692752e+00] [-2.61415899e-03 9.99984189e-01 4.97880008e-03 6.21757327e-01] [ 2.72934735e-02 -4.90561345e-03 9.99615427e-01 1.57186232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4425578440001 meters Centerline goodness : 0.132005 Centerline is valid? [False, False] Translation: X:4.65, Y:0.62, Z:1.57 [[ 9.99630037e-01 2.80157611e-03 -2.70543930e-02 4.64640385e+00] [-2.66573462e-03 9.99983666e-01 5.05581311e-03 6.21424928e-01] [ 2.70681153e-02 -4.98182281e-03 9.99621178e-01 1.57177038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47255784400005 meters Centerline goodness : 0.134021 Centerline is valid? [False, False] Translation: X:4.64, Y:0.62, Z:1.57 [[ 9.99643040e-01 2.92793216e-03 -2.65559571e-02 4.64471460e+00] [-2.79036032e-03 9.99982503e-01 5.21602949e-03 6.20909261e-01] [ 2.65707646e-02 -5.14006689e-03 9.99633720e-01 1.57246251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5025578440001 meters Centerline goodness : 0.135393 Centerline is valid? [False, False] Translation: X:4.64, Y:0.62, Z:1.57 [[ 9.99642174e-01 2.93384268e-03 -2.65879001e-02 4.64467343e+00] [-2.79514847e-03 9.99982301e-01 5.25210568e-03 6.20645615e-01] [ 2.66028384e-02 -5.17590921e-03 9.99632682e-01 1.57262766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53255784400005 meters Centerline goodness : 0.134553 Centerline is valid? [False, False] Translation: X:4.65, Y:0.62, Z:1.57 [[ 9.99637965e-01 2.91714322e-03 -2.67474959e-02 4.64521541e+00] [-2.77833096e-03 9.99982488e-01 5.22542458e-03 6.20643710e-01] [ 2.67622708e-02 -5.14921940e-03 9.99628564e-01 1.57240885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5625578440001 meters Centerline goodness : 0.123126 Centerline is valid? [False, False] Translation: X:4.60, Y:0.62, Z:1.57 [[ 9.99559158e-01 2.32735355e-03 -2.95985199e-02 4.60017026e+00] [-2.16219960e-03 9.99981923e-01 5.61058686e-03 6.17331088e-01] [ 2.96110427e-02 -5.54411557e-03 9.99546121e-01 1.57237641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59255784400005 meters Centerline goodness : 0.133732 Centerline is valid? [False, False] Translation: X:4.60, Y:0.62, Z:1.57 [[ 9.99562550e-01 2.33835491e-03 -2.94828796e-02 4.59986429e+00] [-2.17573750e-03 9.99982251e-01 5.54652998e-03 6.17903069e-01] [ 2.94953260e-02 -5.47995665e-03 9.99549897e-01 1.57238900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6225578440001 meters Centerline goodness : 0.132989 Centerline is valid? [False, False] Translation: X:4.60, Y:0.62, Z:1.57 [[ 9.99575129e-01 2.19386139e-03 -2.90645584e-02 4.59853369e+00] [-2.04623239e-03 9.99984860e-01 5.10811691e-03 6.20063945e-01] [ 2.90753249e-02 -5.04647378e-03 9.99564484e-01 1.57275701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65255784400006 meters Centerline goodness : 0.133318 Centerline is valid? [False, False] Translation: X:4.60, Y:0.62, Z:1.57 [[ 9.99574984e-01 2.05045890e-03 -2.90799971e-02 4.59850721e+00] [-1.91341264e-03 9.99986937e-01 4.73977697e-03 6.21778971e-01] [ 2.90893359e-02 -4.68212045e-03 9.99565850e-01 1.57280268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68255784400003 meters Centerline goodness : 0.122786 Centerline is valid? [False, False] Translation: X:4.60, Y:0.62, Z:1.57 [[ 9.99569433e-01 1.87021649e-03 -2.92822789e-02 4.59908165e+00] [-1.74533816e-03 9.99989276e-01 4.28961700e-03 6.23918355e-01] [ 2.92899874e-02 -4.23666255e-03 9.99561978e-01 1.57261423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71255784400006 meters Centerline goodness : 0.131497 Centerline is valid? [False, False] Translation: X:4.60, Y:0.63, Z:1.57 [[ 9.99555663e-01 1.78351906e-03 -2.97539019e-02 4.60050576e+00] [-1.67486625e-03 9.99991840e-01 3.67623925e-03 6.27845868e-01] [ 2.97602158e-02 -3.62477196e-03 9.99550494e-01 1.57196749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74255784400003 meters Centerline goodness : 0.137760 Centerline is valid? [False, False] Translation: X:4.60, Y:0.63, Z:1.57 [[ 9.99557676e-01 1.68288088e-03 -2.96920942e-02 4.60025576e+00] [-1.58343092e-03 9.99993059e-01 3.37257000e-03 6.29511747e-01] [ 2.96975637e-02 -3.32406285e-03 9.99553403e-01 1.57207204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77255784400006 meters Centerline goodness : 0.134094 Centerline is valid? [False, False] Translation: X:4.62, Y:0.63, Z:1.57 [[ 9.99567326e-01 1.00931122e-02 -2.76277000e-02 4.62016778e+00] [-1.00390404e-02 9.99947413e-01 2.09516777e-03 6.29499710e-01] [ 2.76473938e-02 -1.81690565e-03 9.99616087e-01 1.57288372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80255784400003 meters Centerline goodness : 0.125594 Centerline is valid? [False, False] Translation: X:4.62, Y:0.63, Z:1.57 [[ 9.99574563e-01 9.96672296e-03 -2.74108958e-02 4.61944069e+00] [-9.92239862e-03 9.99949236e-01 1.75257848e-03 6.31290550e-01] [ 2.74269718e-02 -1.47985103e-03 9.99622714e-01 1.57313025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83255784400006 meters Centerline goodness : 0.130778 Centerline is valid? [False, False] Translation: X:4.62, Y:0.64, Z:1.57 [[ 9.99586150e-01 9.69325799e-03 -2.70844955e-02 4.61831387e+00] [-9.66968120e-03 9.99952746e-01 1.00133089e-03 6.35257890e-01] [ 2.70929218e-02 -7.39018057e-04 9.99632646e-01 1.57352928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86255784400004 meters Centerline goodness : 0.161644 Centerline is valid? [False, False] Translation: X:4.62, Y:0.64, Z:1.57 [[ 9.99588466e-01 9.54740793e-03 -2.70507956e-02 4.61828180e+00] [-9.53343044e-03 9.99954347e-01 6.45635661e-04 6.36991131e-01] [ 2.70557248e-02 -3.87483082e-04 9.99633852e-01 1.57338456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89255784400007 meters Centerline goodness : 0.133465 Centerline is valid? [False, False] Translation: X:4.62, Y:0.64, Z:1.57 [[ 9.99586521e-01 9.39929986e-03 -2.71742508e-02 4.61863338e+00] [-9.39404384e-03 9.99955823e-01 3.21077120e-04 6.38450342e-01] [ 2.71760683e-02 -6.56682581e-05 9.99630660e-01 1.57328974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92255784400004 meters Centerline goodness : 0.132242 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.58 [[ 9.99624715e-01 1.67290241e-03 -2.73428190e-02 4.63775105e+00] [-1.64583971e-03 9.99998133e-01 1.01223044e-03 6.45330093e-01] [ 2.73444613e-02 -9.66848673e-04 9.99625603e-01 1.57503225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95255784400007 meters Centerline goodness : 0.105566 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.58 [[ 9.99625983e-01 1.49699898e-03 -2.73066388e-02 4.63759144e+00] [-1.48089902e-03 9.99998718e-01 6.09812173e-04 6.47257617e-01] [ 2.73075167e-02 -5.69145718e-04 9.99626918e-01 1.57506309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98255784400004 meters Centerline goodness : 0.157260 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.58 [[ 9.99626077e-01 1.36140278e-03 -2.73102896e-02 4.63759908e+00] [-1.35294475e-03 9.99999031e-01 3.28177098e-04 6.48476810e-01] [ 2.73107100e-02 -2.91105072e-04 9.99626951e-01 1.57500827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01255784400007 meters Centerline goodness : 0.156176 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99623285e-01 1.28490888e-03 -2.74160094e-02 4.63792938e+00] [-1.28147899e-03 9.99999169e-01 1.42674904e-04 6.49386893e-01] [ 2.74161699e-02 -1.07488117e-04 9.99624100e-01 1.57486203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04255784400004 meters Centerline goodness : 0.108084 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99622180e-01 1.17525812e-03 -2.74611564e-02 4.63839512e+00] [-1.18134584e-03 9.99999281e-01 -2.05462394e-04 6.51363986e-01] [ 2.74608952e-02 2.37825890e-04 9.99622850e-01 1.57421882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0725578440001 meters Centerline goodness : 0.164594 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99621475e-01 1.11918772e-03 -2.74891563e-02 4.63857376e+00] [-1.12991366e-03 9.99999291e-01 -3.74658230e-04 6.52268073e-01] [ 2.74887175e-02 4.05576786e-04 9.99622032e-01 1.57400754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10255784400005 meters Centerline goodness : 0.160046 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99623193e-01 1.03716555e-03 -2.74298550e-02 4.63856742e+00] [-1.05298430e-03 9.99999288e-01 -5.62260188e-04 6.53064155e-01] [ 2.74292523e-02 5.90931531e-04 9.99623573e-01 1.57373359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1325578440001 meters Centerline goodness : 0.102924 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99622555e-01 9.42545233e-04 -2.74564781e-02 4.63858310e+00] [-9.63573084e-04 9.99999253e-01 -7.52640612e-04 6.53795579e-01] [ 2.74557481e-02 7.78812855e-04 9.99622717e-01 1.57380720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16255784400005 meters Centerline goodness : 0.161133 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99623393e-01 8.63092684e-04 -2.74285985e-02 4.63821099e+00] [-8.89424344e-04 9.99999155e-01 -9.47821856e-04 6.54698901e-01] [ 2.74277572e-02 9.71860562e-04 9.99623316e-01 1.57420409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1925578440001 meters Centerline goodness : 0.157879 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99622751e-01 8.77412194e-04 -2.74515090e-02 4.63811441e+00] [-9.03023384e-04 9.99999169e-01 -9.20577999e-04 6.54633129e-01] [ 2.74506785e-02 9.45020067e-04 9.99622712e-01 1.57441302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22255784400005 meters Centerline goodness : 0.163980 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99619984e-01 9.03344578e-04 -2.75512415e-02 4.63844954e+00] [-9.26382361e-04 9.99999232e-01 -8.23427025e-04 6.54156578e-01] [ 2.75504765e-02 8.48637094e-04 9.99620053e-01 1.57429419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2525578440001 meters Centerline goodness : 0.171561 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99611260e-01 8.33023371e-04 -2.78681536e-02 4.63956355e+00] [-8.56052703e-04 9.99999302e-01 -8.14446925e-04 6.53729407e-01] [ 2.78674557e-02 8.37986925e-04 9.99611276e-01 1.57378441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28255784400005 meters Centerline goodness : 0.157912 Centerline is valid? [False, False] Translation: X:4.66, Y:0.66, Z:1.58 [[ 9.99597080e-01 -6.85160350e-03 -2.75451269e-02 4.65883559e+00] [ 6.86039608e-03 9.99976442e-01 2.24714693e-04 6.59749080e-01] [ 2.75429383e-02 -4.13594632e-04 9.99620536e-01 1.57531214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3125578440001 meters Centerline goodness : 0.106536 Centerline is valid? [False, False] Translation: X:4.66, Y:0.66, Z:1.58 [[ 9.99600154e-01 -6.81698499e-03 -2.74419517e-02 4.65848150e+00] [ 6.82625235e-03 9.99976671e-01 2.44040316e-04 6.59914056e-01] [ 2.74396479e-02 -4.31268424e-04 9.99623369e-01 1.57543093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34255784400005 meters Centerline goodness : 0.163571 Centerline is valid? [False, False] Translation: X:4.66, Y:0.66, Z:1.58 [[ 9.99602769e-01 -6.81513940e-03 -2.73470076e-02 4.65802237e+00] [ 6.82358163e-03 9.99976696e-01 2.15398701e-04 6.60192779e-01] [ 2.73449024e-02 -4.01917677e-04 9.99625977e-01 1.57577058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3725578440001 meters Centerline goodness : 0.156978 Centerline is valid? [False, False] Translation: X:4.68, Y:0.66, Z:1.58 [[ 9.99698249e-01 1.10787641e-03 -2.45394452e-02 4.67680461e+00] [-1.14621856e-03 9.99998144e-01 -1.54845928e-03 6.60716223e-01] [ 2.45376841e-02 1.57611960e-03 9.99697663e-01 1.57740703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40255784400006 meters Centerline goodness : 0.158372 Centerline is valid? [False, False] Translation: X:4.68, Y:0.66, Z:1.58 [[ 9.99708495e-01 1.05307917e-03 -2.41208771e-02 4.67543309e+00] [-1.09688151e-03 9.99997773e-01 -1.80279276e-03 6.62213129e-01] [ 2.41189249e-02 1.82872498e-03 9.99707424e-01 1.57783017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43255784400003 meters Centerline goodness : 0.160583 Centerline is valid? [False, False] Translation: X:4.67, Y:0.66, Z:1.58 [[ 9.99717292e-01 1.02787767e-03 -2.37545491e-02 4.67431154e+00] [-1.07578987e-03 9.99997413e-01 -2.00427808e-03 6.63548752e-01] [ 2.37524275e-02 2.02926636e-03 9.99715812e-01 1.57808591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46255784400006 meters Centerline goodness : 0.115643 Centerline is valid? [False, False] Translation: X:4.67, Y:0.67, Z:1.58 [[ 9.99721141e-01 8.93736996e-04 -2.35974710e-02 4.67440768e+00] [-9.54422705e-04 9.99996266e-01 -2.56056661e-03 6.66400596e-01] [ 2.35950944e-02 2.58237454e-03 9.99718262e-01 1.57714805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49255784400003 meters Centerline goodness : 0.159048 Centerline is valid? [False, False] Translation: X:4.68, Y:0.67, Z:1.58 [[ 9.99717305e-01 7.86431551e-04 -2.37632237e-02 4.67518878e+00] [-8.53733387e-04 9.99995653e-01 -2.82217215e-03 6.67488487e-01] [ 2.37609010e-02 2.84166180e-03 9.99713631e-01 1.57648496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52255784400006 meters Centerline goodness : 0.101791 Centerline is valid? [False, False] Translation: X:4.68, Y:0.67, Z:1.58 [[ 9.99712026e-01 7.34243915e-04 -2.39859722e-02 4.67592578e+00] [-8.05971854e-04 9.99995232e-01 -2.98088146e-03 6.68332774e-01] [ 2.39836692e-02 2.99935506e-03 9.99707851e-01 1.57614424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55255784400003 meters Centerline goodness : 0.161646 Centerline is valid? [False, False] Translation: X:4.68, Y:0.67, Z:1.58 [[ 9.99707265e-01 6.95587754e-04 -2.41847031e-02 4.67660134e+00] [-7.70552175e-04 9.99994928e-01 -3.09048173e-03 6.68959399e-01] [ 2.41824307e-02 3.10821261e-03 9.99702730e-01 1.57583256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58255784400006 meters Centerline goodness : 0.161646 Centerline is valid? [False, False] Translation: X:4.68, Y:0.67, Z:1.58 [[ 9.99707265e-01 6.95587754e-04 -2.41847031e-02 4.67660134e+00] [-7.70552175e-04 9.99994928e-01 -3.09048173e-03 6.68959399e-01] [ 2.41824307e-02 3.10821261e-03 9.99702730e-01 1.57583256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61255784400004 meters Centerline goodness : 0.141775 Centerline is valid? [False, False] Translation: X:4.68, Y:0.67, Z:1.58 [[ 9.99702311e-01 6.73556147e-04 -2.43892720e-02 4.67722262e+00] [-7.51068186e-04 9.99994696e-01 -3.16909934e-03 6.69442670e-01] [ 2.43870081e-02 3.18647393e-03 9.99697514e-01 1.57564233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64255784400007 meters Centerline goodness : 0.159642 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.58 [[ 9.99640072e-01 -1.16262239e-04 -2.68274501e-02 4.63032780e+00] [ 2.26392167e-05 9.99993909e-01 -3.49009924e-03 6.67012208e-01] [ 2.68276924e-02 3.48823570e-03 9.99633987e-01 1.57624166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67255784400004 meters Centerline goodness : 0.105862 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.58 [[ 9.99641953e-01 -1.95050867e-04 -2.67568435e-02 4.63006615e+00] [ 9.54187659e-05 9.99993058e-01 -3.72483815e-03 6.68243389e-01] [ 2.67573843e-02 3.72095138e-03 9.99635032e-01 1.57627975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70255784400007 meters Centerline goodness : 0.111027 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.58 [[ 9.99645921e-01 -2.98034814e-04 -2.66072157e-02 4.62975778e+00] [ 1.90621118e-04 9.99991823e-01 -4.03945889e-03 6.69932551e-01] [ 2.66082020e-02 4.03295671e-03 9.99637804e-01 1.57611830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73255784400004 meters Centerline goodness : 0.160552 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.58 [[ 9.99648130e-01 -4.17702969e-04 -2.65224840e-02 4.62959916e+00] [ 3.01063829e-04 9.99990268e-01 -4.40158658e-03 6.71816130e-01] [ 2.65240644e-02 4.39205284e-03 9.99638527e-01 1.57596627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76255784400007 meters Centerline goodness : 0.127528 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.58 [[ 9.99650733e-01 -5.72568750e-04 -2.64212733e-02 4.62936775e+00] [ 4.46132612e-04 9.99988423e-01 -4.79103816e-03 6.73722475e-01] [ 2.64237106e-02 4.77757742e-03 9.99639416e-01 1.57585677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79255784400004 meters Centerline goodness : 0.162513 Centerline is valid? [False, False] Translation: X:4.63, Y:0.68, Z:1.58 [[ 9.99649135e-01 -8.42739415e-04 -2.64744467e-02 4.62970677e+00] [ 6.94163242e-04 9.99983963e-01 -5.62074879e-03 6.77959593e-01] [ 2.64787589e-02 5.60039908e-03 9.99633688e-01 1.57533100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8225578440001 meters Centerline goodness : 0.136027 Centerline is valid? [False, False] Translation: X:4.63, Y:0.68, Z:1.57 [[ 9.99645544e-01 -9.67434676e-04 -2.66054734e-02 4.63029819e+00] [ 8.07678299e-04 9.99981585e-01 -6.01473408e-03 6.80042930e-01] [ 2.66108024e-02 5.99111346e-03 9.99627917e-01 1.57480838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85255784400005 meters Centerline goodness : 0.161429 Centerline is valid? [False, False] Translation: X:4.63, Y:0.68, Z:1.57 [[ 9.99641659e-01 -1.07152114e-03 -2.67470754e-02 4.63081893e+00] [ 9.02300881e-04 9.99979508e-01 -6.33795030e-03 6.81834705e-01] [ 2.67533185e-02 6.31154524e-03 9.99622141e-01 1.57446141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8825578440001 meters Centerline goodness : 0.168024 Centerline is valid? [False, False] Translation: X:4.63, Y:0.68, Z:1.57 [[ 9.99639829e-01 -1.16583615e-03 -2.68114243e-02 4.63096133e+00] [ 9.90511165e-04 9.99978048e-01 -6.55154082e-03 6.82902560e-01] [ 2.68184738e-02 6.52262414e-03 9.99619040e-01 1.57445835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91255784400005 meters Centerline goodness : 0.161576 Centerline is valid? [False, False] Translation: X:4.65, Y:0.69, Z:1.58 [[ 0.99961685 -0.00986682 -0.02586101 4.65100565] [ 0.00971356 0.99993455 -0.00604504 0.68857409] [ 0.02591896 0.00579152 0.99964727 1.5762331 ] [ 0. 0. 0. 1. ]] SLAMing on 425.9425578440001 meters Centerline goodness : 0.165086 Centerline is valid? [False, False] Translation: X:4.63, Y:0.68, Z:1.57 [[ 9.99706480e-01 -2.58910591e-03 -2.40883674e-02 4.63004344e+00] [ 2.42567469e-03 9.99973860e-01 -6.81140083e-03 6.81620036e-01] [ 2.41053732e-02 6.75097101e-03 9.99686629e-01 1.57480326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97255784400005 meters Centerline goodness : 0.164700 Centerline is valid? [False, False] Translation: X:4.63, Y:0.68, Z:1.58 [[ 9.99716996e-01 -2.80524229e-03 -2.36232707e-02 4.62859675e+00] [ 2.64883135e-03 9.99974382e-01 -6.64974417e-03 6.80119782e-01] [ 2.36413197e-02 6.58528821e-03 9.99698816e-01 1.57540837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0025578440001 meters Centerline goodness : 0.104041 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.58 [[ 9.99640104e-01 -3.79042022e-03 -2.65573860e-02 4.58374342e+00] [ 3.60078714e-03 9.99967707e-01 -7.18468979e-03 6.76807705e-01] [ 2.65837614e-02 7.08647656e-03 9.99621471e-01 1.57518561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03255784400005 meters Centerline goodness : 0.167501 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99634797e-01 -3.80715517e-03 -2.67540290e-02 4.58448647e+00] [ 3.61540228e-03 9.99967458e-01 -7.21197354e-03 6.76815715e-01] [ 2.67806155e-02 7.11261313e-03 9.99616031e-01 1.57474834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0625578440001 meters Centerline goodness : 0.166803 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.57 [[ 9.99630105e-01 -3.81207638e-03 -2.69280802e-02 4.58504169e+00] [ 3.61814354e-03 9.99967195e-01 -7.24693783e-03 6.77049246e-01] [ 2.69548227e-02 7.14682757e-03 9.99611105e-01 1.57454924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09255784400005 meters Centerline goodness : 0.163674 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.57 [[ 9.99629915e-01 -3.86055138e-03 -2.69282268e-02 4.58513116e+00] [ 3.66231991e-03 9.99965862e-01 -7.40691358e-03 6.77964827e-01] [ 2.69559023e-02 7.30555261e-03 9.99609928e-01 1.57436431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1225578440001 meters Centerline goodness : 0.162067 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99633326e-01 -3.89556872e-03 -2.67962501e-02 4.58465574e+00] [ 3.68784515e-03 9.99962802e-01 -7.79702013e-03 6.80296921e-01] [ 2.68256271e-02 7.69534074e-03 9.99610508e-01 1.57448036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15255784400006 meters Centerline goodness : 0.119461 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99632782e-01 -3.97783883e-03 -2.68044567e-02 4.58473308e+00] [ 3.76269450e-03 9.99960341e-01 -8.07210215e-03 6.81717760e-01] [ 2.68355031e-02 7.96828094e-03 9.99608104e-01 1.57434619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18255784400003 meters Centerline goodness : 0.163348 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99631531e-01 -4.01168478e-03 -2.68460039e-02 4.58493561e+00] [ 3.79019632e-03 9.99958403e-01 -8.29613804e-03 6.83100270e-01] [ 2.68781687e-02 8.19132954e-03 9.99605155e-01 1.57408029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21255784400006 meters Centerline goodness : 0.164604 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99632885e-01 -4.06636125e-03 -2.67872925e-02 4.58475089e+00] [ 3.83963824e-03 9.99956419e-01 -8.50983292e-03 6.84218568e-01] [ 2.68207292e-02 8.40385533e-03 9.99604934e-01 1.57407876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24255784400003 meters Centerline goodness : 0.089467 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99635164e-01 -4.05686008e-03 -2.67035585e-02 4.58433830e+00] [ 3.83392874e-03 9.99957418e-01 -8.39428734e-03 6.83345000e-01] [ 2.67364759e-02 8.28884527e-03 9.99608151e-01 1.57440577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27255784400006 meters Centerline goodness : 0.168379 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99637824e-01 -4.01881490e-03 -2.66095805e-02 4.58394685e+00] [ 3.80349068e-03 9.99959655e-01 -8.13765586e-03 6.81856455e-01] [ 2.66412106e-02 8.03349930e-03 9.99612779e-01 1.57471899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30255784400003 meters Centerline goodness : 0.163996 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99642678e-01 -3.85944109e-03 -2.64503327e-02 4.58353332e+00] [ 3.66485309e-03 9.99965894e-01 -7.40126445e-03 6.78456157e-01] [ 2.64779953e-02 7.30168323e-03 9.99622729e-01 1.57486002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33255784400006 meters Centerline goodness : 0.092118 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99642234e-01 -3.70906860e-03 -2.64885996e-02 4.58378215e+00] [ 3.52439119e-03 9.99969182e-01 -7.01524478e-03 6.76745397e-01] [ 2.65138033e-02 6.91937878e-03 9.99624500e-01 1.57467847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36255784400004 meters Centerline goodness : 0.122200 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99643866e-01 -3.60848040e-03 -2.64408759e-02 4.58364614e+00] [ 3.43281666e-03 9.99971756e-01 -6.68602522e-03 6.75005364e-01] [ 2.64642555e-02 6.59287742e-03 9.99628019e-01 1.57477166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39255784400007 meters Centerline goodness : 0.168003 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.58 [[ 9.99646171e-01 -3.54383111e-03 -2.63623774e-02 4.58331987e+00] [ 3.37635553e-03 9.99973854e-01 -6.39462727e-03 6.73226787e-01] [ 2.63843496e-02 6.30335591e-03 9.99631999e-01 1.57505296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42255784400004 meters Centerline goodness : 0.121381 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.58 [[ 9.99650221e-01 -3.35710668e-03 -2.62328907e-02 4.58279499e+00] [ 3.20739812e-03 9.99978343e-01 -5.74689775e-03 6.69635134e-01] [ 2.62516155e-02 5.66074829e-03 9.99639339e-01 1.57543209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45255784400007 meters Centerline goodness : 0.164432 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.58 [[ 9.99649010e-01 -3.19668771e-03 -2.62990225e-02 4.58313519e+00] [ 3.05527802e-03 9.99980669e-01 -5.41542048e-03 6.68262617e-01] [ 2.63158255e-02 5.33316889e-03 9.99639452e-01 1.57514524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48255784400004 meters Centerline goodness : 0.098458 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.57 [[ 9.99648266e-01 -3.05871416e-03 -2.63436532e-02 4.58342081e+00] [ 2.92285068e-03 9.99982238e-01 -5.19431442e-03 6.67457756e-01] [ 2.63590732e-02 5.11548884e-03 9.99639451e-01 1.57486413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51255784400007 meters Centerline goodness : 0.109184 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.57 [[ 9.99650216e-01 -2.97947230e-03 -2.62786751e-02 4.58331969e+00] [ 2.84722421e-03 9.99983102e-01 -5.06850740e-03 6.66887239e-01] [ 2.62933325e-02 4.99191324e-03 9.99641807e-01 1.57475570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54255784400004 meters Centerline goodness : 0.135193 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.57 [[ 9.99657469e-01 -2.85495502e-03 -2.60152741e-02 4.58264445e+00] [ 2.72742947e-03 9.99984098e-01 -4.93611471e-03 6.66055653e-01] [ 2.60289528e-02 4.86346911e-03 9.99649359e-01 1.57474037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5725578440001 meters Centerline goodness : 0.147273 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.57 [[ 9.99661368e-01 -2.76787802e-03 -2.58744537e-02 4.58227820e+00] [ 2.64366482e-03 9.99984824e-01 -4.83358713e-03 6.65724999e-01] [ 2.58874398e-02 4.76354694e-03 9.99653515e-01 1.57473565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60255784400005 meters Centerline goodness : 0.160082 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.57 [[ 9.99664154e-01 -2.66279450e-03 -2.57776793e-02 4.58197970e+00] [ 2.54269270e-03 9.99985765e-01 -4.69079650e-03 6.65281482e-01] [ 2.57898030e-02 4.62367640e-03 9.99656695e-01 1.57475733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6325578440001 meters Centerline goodness : 0.090041 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.57 [[ 9.99664282e-01 -2.52726606e-03 -2.57863503e-02 4.58198018e+00] [ 2.41302715e-03 9.99987141e-01 -4.46036425e-03 6.64327802e-01] [ 2.57972912e-02 4.39664366e-03 9.99657526e-01 1.57477096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66255784400005 meters Centerline goodness : 0.090463 Centerline is valid? [False, False] Translation: X:4.56, Y:0.66, Z:1.57 [[ 9.99639064e-01 3.27745162e-03 -2.66645847e-02 4.56036405e+00] [-3.47842775e-03 9.99965867e-01 -7.49430419e-03 6.57043344e-01] [ 2.66391123e-02 7.58435005e-03 9.99616344e-01 1.57438980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6925578440001 meters Centerline goodness : 0.107364 Centerline is valid? [False, False] Translation: X:4.56, Y:0.65, Z:1.57 [[ 9.99632817e-01 3.37446138e-03 -2.68857484e-02 4.56102134e+00] [-3.56713960e-03 9.99968277e-01 -7.12182040e-03 6.54893620e-01] [ 2.68608631e-02 7.21511061e-03 9.99613143e-01 1.57424318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72255784400005 meters Centerline goodness : 0.150037 Centerline is valid? [False, False] Translation: X:4.56, Y:0.65, Z:1.57 [[ 9.99625726e-01 3.51443868e-03 -2.71303500e-02 4.56189737e+00] [-3.69725493e-03 9.99970779e-01 -6.69122061e-03 6.52684237e-01] [ 2.71060414e-02 6.78902409e-03 9.99609510e-01 1.57382600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7525578440001 meters Centerline goodness : 0.133333 Centerline is valid? [False, False] Translation: X:4.56, Y:0.65, Z:1.57 [[ 9.99618657e-01 3.68607470e-03 -2.73670225e-02 4.56251916e+00] [-3.85577748e-03 9.99973650e-01 -6.15081652e-03 6.49990862e-01] [ 2.73436290e-02 6.25399210e-03 9.99606529e-01 1.57383735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78255784400005 meters Centerline goodness : 0.151254 Centerline is valid? [False, False] Translation: X:4.56, Y:0.65, Z:1.57 [[ 9.99616442e-01 3.85908914e-03 -2.74239969e-02 4.56263831e+00] [-4.01336762e-03 9.99976418e-01 -5.57286127e-03 6.46944036e-01] [ 2.74018440e-02 5.68078634e-03 9.99608357e-01 1.57395500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8125578440001 meters Centerline goodness : 0.121645 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99621508e-01 4.02221889e-03 -2.72151263e-02 4.56194963e+00] [-4.15209846e-03 9.99980252e-01 -4.71750380e-03 6.41734933e-01] [ 2.71956140e-02 4.82871815e-03 9.99618468e-01 1.57434624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84255784400005 meters Centerline goodness : 0.121117 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99617813e-01 4.13693316e-03 -2.73333903e-02 4.56249575e+00] [-4.25884385e-03 9.99981236e-01 -4.40342898e-03 6.40079867e-01] [ 2.73146607e-02 4.51815469e-03 9.99616674e-01 1.57398463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8725578440001 meters Centerline goodness : 0.147527 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99612055e-01 4.21268360e-03 -2.75316556e-02 4.56322294e+00] [-4.33033748e-03 9.99981740e-01 -4.21517950e-03 6.39036791e-01] [ 2.75133957e-02 4.33276560e-03 9.99612045e-01 1.57360169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90255784400006 meters Centerline goodness : 0.156747 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99606229e-01 4.23339250e-03 -2.77392339e-02 4.56407260e+00] [-4.35150070e-03 9.99981717e-01 -4.19882210e-03 6.38866134e-01] [ 2.77209515e-02 4.31787602e-03 9.99606375e-01 1.57302722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93255784400003 meters Centerline goodness : 0.154654 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99600406e-01 4.36393057e-03 -2.79282110e-02 4.56480774e+00] [-4.48296812e-03 9.99981127e-01 -4.20107631e-03 6.39275818e-01] [ 2.79093507e-02 4.32459886e-03 9.99601103e-01 1.57250398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96255784400006 meters Centerline goodness : 0.111747 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99604650e-01 4.38299185e-03 -2.77728938e-02 4.56435047e+00] [-4.50364928e-03 9.99980685e-01 -4.28336960e-03 6.40015134e-01] [ 2.77535833e-02 4.40675554e-03 9.99605082e-01 1.57255078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99255784400003 meters Centerline goodness : 0.147794 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99610318e-01 4.36612579e-03 -2.75707922e-02 4.56373485e+00] [-4.48949259e-03 9.99980179e-01 -4.41423170e-03 6.40891837e-01] [ 2.75509726e-02 4.53629042e-03 9.99610107e-01 1.57266259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02255784400006 meters Centerline goodness : 0.155090 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99622867e-01 4.28596369e-03 -2.71247775e-02 4.56228582e+00] [-4.41363358e-03 9.99979455e-01 -4.64864360e-03 6.42127724e-01] [ 2.71042963e-02 4.76660927e-03 9.99621247e-01 1.57316701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05255784400003 meters Centerline goodness : 0.157085 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99623572e-01 4.24184030e-03 -2.71057235e-02 4.56205328e+00] [-4.37189389e-03 9.99979207e-01 -4.74055204e-03 6.42534250e-01] [ 2.70850512e-02 4.85727091e-03 9.99621332e-01 1.57344042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08255784400006 meters Centerline goodness : 0.157079 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.58 [[ 9.99624902e-01 -3.39069291e-03 -2.71764370e-02 4.58125184e+00] [ 3.28849112e-03 9.99987356e-01 -3.80448791e-03 6.48944494e-01] [ 2.71889932e-02 3.71369138e-03 9.99623413e-01 1.57540128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11255784400004 meters Centerline goodness : 0.154813 Centerline is valid? [False, False] Translation: X:4.53, Y:0.65, Z:1.58 [[ 9.99549431e-01 -4.07031460e-03 -2.97383219e-02 4.53480809e+00] [ 3.96201994e-03 9.99985308e-01 -3.69960423e-03 6.45188405e-01] [ 2.97529435e-02 3.58011347e-03 9.99550872e-01 1.57609822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14255784400007 meters Centerline goodness : 0.159534 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.58 [[ 9.99637738e-01 -3.56609694e-03 -2.66772585e-02 4.57502094e+00] [ 3.47799020e-03 9.99988346e-01 -3.34836230e-03 6.49152809e-01] [ 2.66888882e-02 3.25436608e-03 9.99638491e-01 1.57825641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17255784400004 meters Centerline goodness : 0.157217 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.58 [[ 9.99709869e-01 2.28949896e-03 -2.39778332e-02 4.55806239e+00] [-2.39397259e-03 9.99987763e-01 -4.32929341e-03 6.43290021e-01] [ 2.39676279e-02 4.38543962e-03 9.99703116e-01 1.57526974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20255784400007 meters Centerline goodness : 0.114932 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.58 [[ 9.99710106e-01 2.24386800e-03 -2.39722488e-02 4.55792934e+00] [-2.34598302e-03 9.99988291e-01 -4.23244462e-03 6.42455443e-01] [ 2.39624710e-02 4.28745615e-03 9.99703665e-01 1.57548768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23255784400004 meters Centerline goodness : 0.159478 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.58 [[ 9.99704490e-01 2.21413410e-03 -2.42080451e-02 4.55843341e+00] [-2.31365453e-03 9.99988985e-01 -4.08381253e-03 6.41366589e-01] [ 2.41987363e-02 4.13861478e-03 9.99698601e-01 1.57567573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26255784400007 meters Centerline goodness : 0.105230 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.58 [[ 9.99694835e-01 2.19834894e-03 -2.46049738e-02 4.55948376e+00] [-2.29472297e-03 9.99989804e-01 -3.88930206e-03 6.40059874e-01] [ 2.45961729e-02 3.94457678e-03 9.99689686e-01 1.57563791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29255784400004 meters Centerline goodness : 0.116334 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.58 [[ 9.99681195e-01 2.11525786e-03 -2.51601625e-02 4.56104965e+00] [-2.20571605e-03 9.99991202e-01 -3.56808508e-03 6.37814710e-01] [ 2.51523937e-02 3.62244373e-03 9.99677065e-01 1.57542300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3225578440001 meters Centerline goodness : 0.162022 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.58 [[ 9.99680365e-01 2.21622621e-03 -2.51844318e-02 4.56118140e+00] [-2.30045940e-03 9.99991855e-01 -3.31617289e-03 6.36643698e-01] [ 2.51768773e-02 3.37304869e-03 9.99677322e-01 1.57532530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35255784400005 meters Centerline goodness : 0.144352 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.58 [[ 9.99670873e-01 -5.21213360e-03 -2.51192837e-02 4.58052872e+00] [ 5.16316247e-03 9.99984643e-01 -2.01400733e-03 6.41664663e-01] [ 2.51293952e-02 1.88364952e-03 9.99682432e-01 1.57700210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3825578440001 meters Centerline goodness : 0.135482 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.58 [[ 9.99668092e-01 -5.18655022e-03 -2.52349987e-02 4.58100435e+00] [ 5.13799463e-03 9.99984823e-01 -1.98859599e-03 6.41570180e-01] [ 2.52449297e-02 1.85827867e-03 9.99679569e-01 1.57668665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41255784400005 meters Centerline goodness : 0.158430 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99653795e-01 2.55060525e-03 -2.61874744e-02 4.56217437e+00] [-2.64220164e-03 9.99990511e-01 -3.46371120e-03 6.35516392e-01] [ 2.61783913e-02 3.53170464e-03 9.99651049e-01 1.57443539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4425578440001 meters Centerline goodness : 0.152889 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99653944e-01 2.56221284e-03 -2.61806490e-02 4.56203155e+00] [-2.65243409e-03 9.99990662e-01 -3.41195853e-03 6.35128960e-01] [ 2.61716624e-02 3.48022025e-03 9.99651405e-01 1.57461901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47255784400005 meters Centerline goodness : 0.154631 Centerline is valid? [False, False] Translation: X:4.56, Y:0.63, Z:1.57 [[ 9.99654791e-01 2.65533568e-03 -2.61390148e-02 4.56171990e+00] [-2.73945685e-03 9.99991182e-01 -3.18293924e-03 6.34104031e-01] [ 2.61303325e-02 3.25344716e-03 9.99653250e-01 1.57494145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5025578440001 meters Centerline goodness : 0.154631 Centerline is valid? [False, False] Translation: X:4.56, Y:0.63, Z:1.57 [[ 9.99654791e-01 2.65533568e-03 -2.61390148e-02 4.56171990e+00] [-2.73945685e-03 9.99991182e-01 -3.18293924e-03 6.34104031e-01] [ 2.61303325e-02 3.25344716e-03 9.99653250e-01 1.57494145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53255784400005 meters Centerline goodness : 0.157759 Centerline is valid? [False, False] Translation: X:4.56, Y:0.63, Z:1.58 [[ 9.99658831e-01 2.75761599e-03 -2.59733870e-02 4.56118026e+00] [-2.83407651e-03 9.99991757e-01 -2.90745134e-03 6.32876286e-01] [ 2.59651553e-02 2.98006998e-03 9.99658407e-01 1.57515745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5625578440001 meters Centerline goodness : 0.156370 Centerline is valid? [False, False] Translation: X:4.56, Y:0.63, Z:1.58 [[ 9.99674758e-01 -1.13563551e-03 -2.54772325e-02 4.55973392e+00] [ 9.71649761e-04 9.99978739e-01 -6.44801692e-03 6.30970749e-01] [ 2.54840135e-02 6.42116480e-03 9.99654607e-01 1.57554268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59255784400005 meters Centerline goodness : 0.117880 Centerline is valid? [False, False] Translation: X:4.56, Y:0.63, Z:1.58 [[ 9.99671327e-01 -1.08959632e-03 -2.56134925e-02 4.56003192e+00] [ 9.35406920e-04 9.99981375e-01 -6.03106161e-03 6.28299264e-01] [ 2.56195868e-02 6.00512033e-03 9.99653728e-01 1.57563458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6225578440001 meters Centerline goodness : 0.110442 Centerline is valid? [False, False] Translation: X:4.56, Y:0.63, Z:1.58 [[ 9.99666112e-01 -9.24509087e-04 -2.58226557e-02 4.56064757e+00] [ 7.82608373e-04 9.99984542e-01 -5.50476791e-03 6.25609227e-01] [ 2.58273458e-02 5.48272090e-03 9.99651383e-01 1.57551007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65255784400006 meters Centerline goodness : 0.152505 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.58 [[ 9.99662594e-01 -5.26576822e-04 -2.59696219e-02 4.56114100e+00] [ 4.12125397e-04 9.99990181e-01 -4.41228249e-03 6.20560373e-01] [ 2.59716903e-02 4.40009102e-03 9.99652995e-01 1.57539792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68255784400003 meters Centerline goodness : 0.120436 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.58 [[ 9.99664959e-01 -3.06142336e-04 -2.58819663e-02 4.56091644e+00] [ 2.06869864e-04 9.99992613e-01 -3.83817518e-03 6.17705905e-01] [ 2.58829502e-02 3.83153503e-03 9.99657638e-01 1.57546689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71255784400006 meters Centerline goodness : 0.150436 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.58 [[ 9.99663925e-01 -1.38479686e-04 -2.59232899e-02 4.56085161e+00] [ 5.17452475e-05 9.99994399e-01 -3.34645228e-03 6.15018191e-01] [ 2.59236082e-02 3.34398622e-03 9.99658334e-01 1.57577938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74255784400003 meters Centerline goodness : 0.154736 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.58 [[ 9.99662033e-01 6.98112332e-05 -2.59964250e-02 4.56099075e+00] [-1.42151933e-04 9.99996123e-01 -2.78087958e-03 6.12104435e-01] [ 2.59961301e-02 2.78363518e-03 9.99658168e-01 1.57585432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77255784400006 meters Centerline goodness : 0.154027 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.58 [[ 9.99655298e-01 5.46130347e-04 -2.62485539e-02 4.56158091e+00] [-5.93123231e-04 9.99998235e-01 -1.78255140e-03 6.07707192e-01] [ 2.62475341e-02 1.79750558e-03 9.99653858e-01 1.57596004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80255784400003 meters Centerline goodness : 0.144307 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.58 [[ 9.99656338e-01 7.61323988e-04 -2.62035635e-02 4.56150093e+00] [-7.99023855e-04 9.99998661e-01 -1.42829018e-03 6.06305889e-01] [ 2.62024410e-02 1.44873660e-03 9.99655607e-01 1.57592029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83255784400006 meters Centerline goodness : 0.148581 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.58 [[ 9.99660120e-01 9.61840671e-04 -2.60522482e-02 4.56123267e+00] [-9.93046034e-04 9.99998805e-01 -1.18488795e-03 6.05392676e-01] [ 2.60510774e-02 1.21035631e-03 9.99659880e-01 1.57571415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86255784400004 meters Centerline goodness : 0.124435 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.58 [[ 9.99667814e-01 1.17341120e-03 -2.57465522e-02 4.56046437e+00] [-1.19824919e-03 9.99998832e-01 -9.49304579e-04 6.04515041e-01] [ 2.57454082e-02 9.79840018e-04 9.99668052e-01 1.57569836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89255784400007 meters Centerline goodness : 0.150853 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.58 [[ 9.99681368e-01 1.98282742e-03 -2.51640661e-02 4.55923051e+00] [-1.99395913e-03 9.99997925e-01 -4.17280898e-04 6.03765734e-01] [ 2.51631865e-02 4.67324058e-04 9.99683248e-01 1.57521973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92255784400004 meters Centerline goodness : 0.142262 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99674524e-01 2.08004870e-03 -2.54267322e-02 4.56029144e+00] [-2.09567647e-03 9.99997631e-01 -5.87987678e-04 6.04881989e-01] [ 2.54254489e-02 6.41082507e-04 9.99676515e-01 1.57444763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95255784400007 meters Centerline goodness : 0.150602 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99656976e-01 2.66216890e-03 -2.60546034e-02 4.56255170e+00] [-2.68149032e-03 9.99996155e-01 -7.06663765e-04 6.07286255e-01] [ 2.60526219e-02 7.76286529e-04 9.99660271e-01 1.57301080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98255784400004 meters Centerline goodness : 0.125835 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99659600e-01 2.65088360e-03 -2.59548869e-02 4.56247287e+00] [-2.67835751e-03 9.99995889e-01 -1.02381862e-03 6.09191050e-01] [ 2.59520662e-02 1.09298657e-03 9.99662591e-01 1.57259656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01255784400007 meters Centerline goodness : 0.135260 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99664116e-01 2.61588928e-03 -2.57839704e-02 4.56220862e+00] [-2.64990620e-03 9.99995663e-01 -1.28522520e-03 6.10801538e-01] [ 2.57804966e-02 1.35311861e-03 9.99666712e-01 1.57222111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04255784400004 meters Centerline goodness : 0.144663 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99669114e-01 2.54290234e-03 -2.55968012e-02 4.56171587e+00] [-2.58255260e-03 9.99995516e-01 -1.51609310e-03 6.12074852e-01] [ 2.55928312e-02 1.58169653e-03 9.99671199e-01 1.57215545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0725578440001 meters Centerline goodness : 0.143638 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99673086e-01 2.49203202e-03 -2.54462394e-02 4.56114442e+00] [-2.53334995e-03 9.99995524e-01 -1.59162589e-03 6.12411434e-01] [ 2.54421591e-02 1.65556979e-03 9.99674925e-01 1.57242592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10255784400005 meters Centerline goodness : 0.147932 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99677691e-01 2.09271242e-03 -2.53008663e-02 4.56035820e+00] [-2.13269137e-03 9.99996519e-01 -1.55326088e-03 6.11379229e-01] [ 2.52975277e-02 1.60671919e-03 9.99678675e-01 1.57320676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1325578440001 meters Centerline goodness : 0.141678 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99677755e-01 1.98354774e-03 -2.53071494e-02 4.56018581e+00] [-2.01651989e-03 9.99997151e-01 -1.27742510e-03 6.09576223e-01] [ 2.53045435e-02 1.32804582e-03 9.99678907e-01 1.57362006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16255784400005 meters Centerline goodness : 0.153206 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99680754e-01 1.78043081e-03 -2.52035737e-02 4.55985513e+00] [-1.80750866e-03 9.99997813e-01 -1.05162499e-03 6.07583313e-01] [ 2.52016463e-02 1.09684494e-03 9.99681786e-01 1.57391142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1925578440001 meters Centerline goodness : 0.153100 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99677261e-01 1.51780941e-03 -2.53588388e-02 4.56023808e+00] [-1.54113365e-03 9.99998407e-01 -9.00248931e-04 6.05670805e-01] [ 2.53574320e-02 9.39039745e-04 9.99678008e-01 1.57405888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22255784400005 meters Centerline goodness : 0.153958 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99669655e-01 1.43852440e-03 -2.56614730e-02 4.56115998e+00] [-1.45454501e-03 9.99998759e-01 -6.05650969e-04 6.03507125e-01] [ 2.56605699e-02 6.42776663e-04 9.99670507e-01 1.57389447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2525578440001 meters Centerline goodness : 0.147274 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99651581e-01 1.25863321e-03 -2.63653467e-02 4.56346513e+00] [-1.26526893e-03 9.99999172e-01 -2.35002529e-04 6.00349907e-01] [ 2.63650291e-02 2.68279903e-04 9.99652346e-01 1.57309157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28255784400005 meters Centerline goodness : 0.144045 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99648516e-01 1.32218878e-03 -2.64782122e-02 4.56406904e+00] [-1.32351352e-03 9.99999124e-01 -3.25061468e-05 5.99265164e-01] [ 2.64781460e-02 6.75389930e-05 9.99649390e-01 1.57259210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3125578440001 meters Centerline goodness : 0.145363 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99647554e-01 1.39342933e-03 -2.65108857e-02 4.56430854e+00] [-1.39074563e-03 9.99999026e-01 1.19668203e-04 5.98600877e-01] [ 2.65110266e-02 -8.27561282e-05 9.99648518e-01 1.57233743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34255784400005 meters Centerline goodness : 0.144215 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99650359e-01 1.47142223e-03 -2.64006517e-02 4.56389949e+00] [-1.46672011e-03 9.99998905e-01 1.97470019e-04 5.98418124e-01] [ 2.64009134e-02 -1.58678608e-04 9.99651423e-01 1.57253839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3725578440001 meters Centerline goodness : 0.152484 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99664517e-01 1.79130010e-03 -2.58388381e-02 4.56228031e+00] [-1.77886569e-03 9.99998291e-01 5.04207300e-04 5.97793787e-01] [ 2.58396971e-02 -4.58074324e-04 9.99665994e-01 1.57282437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40255784400006 meters Centerline goodness : 0.144068 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99665210e-01 1.84236895e-03 -2.58083948e-02 4.56232390e+00] [-1.82897011e-03 9.99998180e-01 5.42761683e-04 5.97693900e-01] [ 2.58093478e-02 -4.95377189e-04 9.99666761e-01 1.57262947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43255784400003 meters Centerline goodness : 0.133634 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99663196e-01 1.85427956e-03 -2.58854254e-02 4.56281380e+00] [-1.84004024e-03 9.99998142e-01 5.73898633e-04 5.97319854e-01] [ 2.58864415e-02 -5.26075118e-04 9.99664752e-01 1.57212737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46255784400006 meters Centerline goodness : 0.153792 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99660678e-01 1.86105393e-03 -2.59820109e-02 4.56329199e+00] [-1.84501885e-03 9.99998092e-01 6.41120177e-04 5.96666727e-01] [ 2.59831545e-02 -5.92965332e-04 9.99662205e-01 1.57174490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49255784400003 meters Centerline goodness : 0.148981 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.57 [[ 9.99670125e-01 -5.87877552e-03 -2.50016416e-02 4.58323519e+00] [ 5.92766522e-03 9.99980661e-01 1.88179622e-03 5.98735173e-01] [ 2.49900955e-02 -2.02937682e-03 9.99685639e-01 1.57327451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52255784400006 meters Centerline goodness : 0.119067 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.57 [[ 9.99673098e-01 -5.70947630e-03 -2.49218735e-02 4.58272970e+00] [ 5.76924219e-03 9.99980651e-01 2.32688713e-03 5.96691981e-01] [ 2.49081060e-02 -2.46990678e-03 9.99686694e-01 1.57379479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55255784400003 meters Centerline goodness : 0.152856 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.57 [[ 9.99676358e-01 -5.64942744e-03 -2.48044981e-02 4.58218188e+00] [ 5.72538949e-03 9.99979132e-01 2.99248006e-03 5.92861018e-01] [ 2.47870747e-02 -3.13352698e-03 9.99687842e-01 1.57440855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58255784400006 meters Centerline goodness : 0.144061 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.57 [[ 9.99672107e-01 -5.56311312e-03 -2.49946149e-02 4.58273254e+00] [ 5.64855118e-03 9.99978439e-01 3.34895691e-03 5.90822688e-01] [ 2.49754454e-02 -3.48904217e-03 9.99681976e-01 1.57434086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61255784400004 meters Centerline goodness : 0.125346 Centerline is valid? [False, False] Translation: X:4.60, Y:0.59, Z:1.58 [[ 9.99678474e-01 2.28706697e-03 -2.52530696e-02 4.60253504e+00] [-2.24057194e-03 9.99995743e-01 1.86930532e-03 5.86059248e-01] [ 2.52572373e-02 -1.81212297e-03 9.99679343e-01 1.57610217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64255784400007 meters Centerline goodness : 0.153312 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.58 [[ 9.99674895e-01 2.33858379e-03 -2.53896845e-02 4.60307467e+00] [-2.28673197e-03 9.99995241e-01 2.07108190e-03 5.84917747e-01] [ 2.53944071e-02 -2.01234918e-03 9.99675485e-01 1.57583009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67255784400004 meters Centerline goodness : 0.156981 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.58 [[ 9.99670098e-01 2.41186878e-03 -2.55710464e-02 4.60356909e+00] [-2.35065709e-03 9.99994300e-01 2.42357807e-03 5.82965227e-01] [ 2.55767460e-02 -2.36266977e-03 9.99670070e-01 1.57580848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70255784400007 meters Centerline goodness : 0.154063 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.58 [[ 9.99668846e-01 2.46169041e-03 -2.56152093e-02 4.60357273e+00] [-2.39536269e-03 9.99993700e-01 2.61974985e-03 5.81893979e-01] [ 2.56214969e-02 -2.55752460e-03 9.99668444e-01 1.57597720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73255784400004 meters Centerline goodness : 0.161901 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.58 [[ 9.99669083e-01 2.51357585e-03 -2.56009214e-02 4.60338632e+00] [-2.44223094e-03 9.99993048e-01 2.81769626e-03 5.80847323e-01] [ 2.56078259e-02 -2.75424047e-03 9.99668272e-01 1.57624659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76255784400007 meters Centerline goodness : 0.141665 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.58 [[ 9.99669133e-01 2.57071870e-03 -2.55932686e-02 4.60326697e+00] [-2.49353493e-03 9.99992248e-01 3.04724145e-03 5.79715507e-01] [ 2.56009038e-02 -2.98241551e-03 9.99667794e-01 1.57642600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79255784400004 meters Centerline goodness : 0.153630 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.58 [[ 9.99668960e-01 2.62569613e-03 -2.55944707e-02 4.60317335e+00] [-2.54322785e-03 9.99991471e-01 3.25413233e-03 5.78716213e-01] [ 2.56027968e-02 -3.18796251e-03 9.99667111e-01 1.57660747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8225578440001 meters Centerline goodness : 0.118420 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.58 [[ 9.99664094e-01 -4.87025245e-03 -2.54554332e-02 4.62265731e+00] [ 4.98632725e-03 9.99977450e-01 4.49843791e-03 5.81991156e-01] [ 2.54329506e-02 -4.62385598e-03 9.99665837e-01 1.57844257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85255784400005 meters Centerline goodness : 0.158145 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.58 [[ 9.99667779e-01 -4.80559141e-03 -2.53226676e-02 4.62222479e+00] [ 4.92409448e-03 9.99977207e-01 4.61944683e-03 5.81483023e-01] [ 2.52998912e-02 -4.74260336e-03 9.99668657e-01 1.57856898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8825578440001 meters Centerline goodness : 0.118339 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99696200e-01 3.72474290e-03 -2.43646043e-02 4.64140872e+00] [-3.64587657e-03 9.99987973e-01 3.28054377e-03 5.78236076e-01] [ 2.43765304e-02 -3.19071680e-03 9.99697756e-01 1.58040693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91255784400005 meters Centerline goodness : 0.141205 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99696206e-01 3.74467778e-03 -2.43613028e-02 4.64141447e+00] [-3.66476384e-03 9.99987760e-01 3.32418337e-03 5.77995574e-01] [ 2.43734526e-02 -3.23389508e-03 9.99697693e-01 1.58038158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9425578440001 meters Centerline goodness : 0.118244 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99693971e-01 3.76064180e-03 -2.44504107e-02 4.64170737e+00] [-3.67824586e-03 9.99987407e-01 3.41402185e-03 5.77357774e-01] [ 2.44629418e-02 -3.32304243e-03 9.99695214e-01 1.58026098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97255784400005 meters Centerline goodness : 0.156491 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99686303e-01 3.80275890e-03 -2.47554792e-02 4.64260462e+00] [-3.71652786e-03 9.99986869e-01 3.52838932e-03 5.76659666e-01] [ 2.47685717e-02 -3.43527805e-03 9.99687309e-01 1.58002921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0025578440001 meters Centerline goodness : 0.155108 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99687086e-01 3.81383090e-03 -2.47221416e-02 4.64253343e+00] [-3.72918038e-03 9.99987029e-01 3.46927737e-03 5.77124963e-01] [ 2.47350521e-02 -3.37599846e-03 9.99688341e-01 1.57997812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03255784400005 meters Centerline goodness : 0.157101 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99689377e-01 3.78198668e-03 -2.46342539e-02 4.64236736e+00] [-3.70246916e-03 9.99987790e-01 3.27273658e-03 5.78244689e-01] [ 2.46463306e-02 -3.18051242e-03 9.99691174e-01 1.57985648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0625578440001 meters Centerline goodness : 0.152649 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99699540e-01 3.68989653e-03 -2.42325019e-02 4.64104550e+00] [-3.62296172e-03 9.99989502e-01 2.80551412e-03 5.80687288e-01] [ 2.42425996e-02 -2.71687775e-03 9.99702413e-01 1.58028403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09255784400005 meters Centerline goodness : 0.160423 Centerline is valid? [False, False] Translation: X:4.59, Y:0.58, Z:1.58 [[ 9.99632246e-01 3.10119636e-03 -2.69398411e-02 4.59489723e+00] [-3.01547558e-03 9.99990263e-01 3.22197625e-03 5.78692544e-01] [ 2.69495708e-02 -3.13955492e-03 9.99631864e-01 1.58083658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1225578440001 meters Centerline goodness : 0.120254 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99586395e-01 -3.05836285e-03 -2.85951936e-02 4.61317562e+00] [ 3.18642519e-03 9.99985093e-01 4.43396203e-03 5.85589239e-01] [ 2.85812067e-02 -4.52324457e-03 9.99581240e-01 1.58324070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15255784400006 meters Centerline goodness : 0.113774 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99585062e-01 -3.11951741e-03 -2.86351659e-02 4.61340220e+00] [ 3.24251793e-03 9.99985712e-01 4.25000670e-03 5.86585745e-01] [ 2.86214988e-02 -4.34109325e-03 9.99580895e-01 1.58297271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18255784400003 meters Centerline goodness : 0.125389 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99587428e-01 -3.12953571e-03 -2.85513588e-02 4.61304326e+00] [ 3.25116842e-03 9.99985833e-01 4.21471020e-03 5.86898258e-01] [ 2.85377642e-02 -4.30579660e-03 9.99583441e-01 1.58319246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21255784400006 meters Centerline goodness : 0.137671 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99591820e-01 -3.15093644e-03 -2.83948131e-02 4.61205960e+00] [ 3.27606935e-03 9.99985122e-01 4.36144995e-03 5.85849987e-01] [ 2.83806480e-02 -4.45269307e-03 9.99587271e-01 1.58417311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24255784400003 meters Centerline goodness : 0.144377 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99588147e-01 -3.15270586e-03 -2.85236337e-02 4.61214640e+00] [ 3.28019773e-03 9.99984834e-01 4.42400604e-03 5.85449464e-01] [ 2.85092536e-02 -4.51574715e-03 9.99583328e-01 1.58451859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27255784400006 meters Centerline goodness : 0.118070 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99585710e-01 -3.11361046e-03 -2.86131785e-02 4.61216350e+00] [ 3.24401440e-03 9.99984558e-01 4.51218857e-03 5.85068650e-01] [ 2.85986875e-02 -4.60314078e-03 9.99580375e-01 1.58488222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30255784400003 meters Centerline goodness : 0.134337 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.59 [[ 9.99587179e-01 -3.08402020e-03 -2.85650057e-02 4.61192287e+00] [ 3.21609350e-03 9.99984345e-01 4.57881625e-03 5.84749935e-01] [ 2.85504374e-02 -4.66879375e-03 9.99581450e-01 1.58505858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33255784400006 meters Centerline goodness : 0.133483 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.59 [[ 9.99586386e-01 -3.02370631e-03 -2.85992097e-02 4.61194366e+00] [ 3.16081051e-03 9.99983723e-01 4.74999356e-03 5.83789923e-01] [ 2.85843816e-02 -4.83842558e-03 9.99579673e-01 1.58516828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36255784400004 meters Centerline goodness : 0.134229 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.59 [[ 9.99586627e-01 -2.99777271e-03 -2.85935114e-02 4.61194632e+00] [ 3.13658855e-03 9.99983507e-01 4.81118618e-03 5.83442277e-01] [ 2.85786170e-02 -4.89888344e-03 9.99579543e-01 1.58514072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39255784400007 meters Centerline goodness : 0.134229 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.59 [[ 9.99586627e-01 -2.99777271e-03 -2.85935114e-02 4.61194632e+00] [ 3.13658855e-03 9.99983507e-01 4.81118618e-03 5.83442277e-01] [ 2.85786170e-02 -4.89888344e-03 9.99579543e-01 1.58514072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42255784400004 meters Centerline goodness : 0.128027 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.59 [[ 9.99585240e-01 -2.96875133e-03 -2.86449730e-02 4.61210026e+00] [ 3.10856961e-03 9.99983466e-01 4.83777908e-03 5.83473029e-01] [ 2.86301372e-02 -4.92481746e-03 9.99577942e-01 1.58507203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45255784400007 meters Centerline goodness : 0.134942 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.58 [[ 9.99585600e-01 -2.96350287e-03 -2.86329403e-02 4.61229553e+00] [ 3.10276383e-03 9.99983568e-01 4.82045774e-03 5.83609251e-01] [ 2.86181844e-02 -4.90730139e-03 9.99578370e-01 1.58467732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48255784400004 meters Centerline goodness : 0.130806 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99578954e-01 -2.96081200e-03 -2.88642930e-02 4.61330331e+00] [ 3.09280715e-03 9.99984959e-01 4.52938420e-03 5.85406898e-01] [ 2.88504482e-02 -4.61674882e-03 9.99573078e-01 1.58389122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51255784400007 meters Centerline goodness : 0.154407 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99579159e-01 -3.05031651e-03 -2.88479013e-02 4.61349184e+00] [ 3.17114238e-03 9.99986387e-01 4.14355439e-03 5.87514572e-01] [ 2.88348695e-02 -4.23329142e-03 9.99575225e-01 1.58343448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54255784400004 meters Centerline goodness : 0.127560 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99579708e-01 -3.09693681e-03 -2.88238949e-02 4.61349996e+00] [ 3.20755697e-03 9.99987665e-01 3.79234846e-03 5.89564271e-01] [ 2.88117947e-02 -3.88320885e-03 9.99577311e-01 1.58321525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5725578440001 meters Centerline goodness : 0.131039 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99584455e-01 -3.23894668e-03 -2.86430748e-02 4.61305441e+00] [ 3.33575452e-03 9.99988883e-01 3.33266241e-03 5.91923588e-01] [ 2.86319621e-02 -3.42682380e-03 9.99584147e-01 1.58309151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60255784400005 meters Centerline goodness : 0.141692 Centerline is valid? [False, False] Translation: X:4.63, Y:0.59, Z:1.58 [[ 9.99626765e-01 5.19375105e-03 -2.68208122e-02 4.63236027e+00] [-5.15336552e-03 9.99985482e-01 1.57465560e-03 5.94640783e-01] [ 2.68286011e-02 -1.43585043e-03 9.99639017e-01 1.58381558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6325578440001 meters Centerline goodness : 0.157509 Centerline is valid? [False, False] Translation: X:4.59, Y:0.59, Z:1.58 [[ 9.99554412e-01 4.07948244e-03 -2.95691587e-02 4.58697594e+00] [-4.03415202e-03 9.99990595e-01 1.59252477e-03 5.93155165e-01] [ 2.95753773e-02 -1.47252868e-03 9.99561468e-01 1.58375356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66255784400005 meters Centerline goodness : 0.140840 Centerline is valid? [False, False] Translation: X:4.59, Y:0.59, Z:1.58 [[ 9.99551279e-01 3.91783408e-03 -2.96966523e-02 4.58745079e+00] [-3.88066869e-03 9.99991613e-01 1.30903183e-03 5.94401907e-01] [ 2.97015318e-02 -1.19320157e-03 9.99558100e-01 1.58348013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6925578440001 meters Centerline goodness : 0.121877 Centerline is valid? [False, False] Translation: X:4.59, Y:0.60, Z:1.58 [[ 9.99549307e-01 3.81344425e-03 -2.97765228e-02 4.58764645e+00] [-3.78148637e-03 9.99992212e-01 1.12949637e-03 5.95192194e-01] [ 2.97805982e-02 -1.01638780e-03 9.99555943e-01 1.58348692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72255784400005 meters Centerline goodness : 0.134703 Centerline is valid? [False, False] Translation: X:4.59, Y:0.60, Z:1.58 [[ 9.99541348e-01 3.66194457e-03 -3.00613186e-02 4.58810687e+00] [-3.63656385e-03 9.99992984e-01 8.98927261e-04 5.96390864e-01] [ 3.00643995e-02 -7.89195062e-04 9.99547652e-01 1.58384657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7525578440001 meters Centerline goodness : 0.134396 Centerline is valid? [False, False] Translation: X:4.59, Y:0.60, Z:1.58 [[ 9.99540892e-01 3.61309396e-03 -3.00824000e-02 4.58800854e+00] [-3.59132731e-03 9.99993249e-01 7.77566440e-04 5.97165386e-01] [ 3.00850063e-02 -6.69173709e-04 9.99547120e-01 1.58408974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78255784400005 meters Centerline goodness : 0.132326 Centerline is valid? [False, False] Translation: X:4.61, Y:0.60, Z:1.59 [[ 9.99541806e-01 -3.84195265e-03 -3.00236116e-02 4.60705070e+00] [ 3.89902203e-03 9.99990701e-01 1.84250290e-03 6.03589553e-01] [ 3.00162536e-02 -1.95872140e-03 9.99547492e-01 1.58641378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8125578440001 meters Centerline goodness : 0.135310 Centerline is valid? [False, False] Translation: X:4.61, Y:0.60, Z:1.59 [[ 9.99545094e-01 -3.92966517e-03 -2.99025420e-02 4.60652634e+00] [ 3.98151032e-03 9.99990672e-01 1.67445973e-03 6.04360073e-01] [ 2.98956830e-02 -1.79275529e-03 9.99551416e-01 1.58670739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84255784400005 meters Centerline goodness : 0.125855 Centerline is valid? [False, False] Translation: X:4.61, Y:0.60, Z:1.59 [[ 9.99547100e-01 -3.93232409e-03 -2.98350866e-02 4.60629458e+00] [ 3.98566264e-03 9.99990563e-01 1.72852008e-03 6.03948922e-01] [ 2.98280080e-02 -1.84664982e-03 9.99553340e-01 1.58682049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8725578440001 meters Centerline goodness : 0.126770 Centerline is valid? [False, False] Translation: X:4.61, Y:0.60, Z:1.59 [[ 9.99547210e-01 -3.93598735e-03 -2.98309062e-02 4.60604531e+00] [ 3.99278081e-03 9.99990328e-01 1.84451794e-03 6.03081875e-01] [ 2.98233577e-02 -1.96279104e-03 9.99553258e-01 1.58722217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90255784400006 meters Centerline goodness : 0.134421 Centerline is valid? [False, False] Translation: X:4.62, Y:0.60, Z:1.59 [[ 9.99587831e-01 2.71951528e-03 -2.85792412e-02 4.62448415e+00] [-2.73946820e-03 9.99996030e-01 -6.59030559e-04 5.97971925e-01] [ 2.85773355e-02 7.37050849e-04 9.99591313e-01 1.58941271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93255784400003 meters Centerline goodness : 0.124675 Centerline is valid? [False, False] Translation: X:4.62, Y:0.60, Z:1.59 [[ 9.99586374e-01 2.80854629e-03 -2.86215554e-02 4.62454295e+00] [-2.81987995e-03 9.99995961e-01 -3.55628090e-04 5.96443469e-01] [ 2.86204410e-02 4.36190343e-04 9.99590256e-01 1.58951378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96255784400006 meters Centerline goodness : 0.126564 Centerline is valid? [False, False] Translation: X:4.62, Y:0.59, Z:1.59 [[ 9.99583433e-01 2.87473681e-03 -2.87175163e-02 4.62483686e+00] [-2.87864379e-03 9.99995852e-01 -9.47072028e-05 5.94955669e-01] [ 2.87171249e-02 1.77335251e-04 9.99587563e-01 1.58947966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99255784400003 meters Centerline goodness : 0.127495 Centerline is valid? [False, False] Translation: X:4.63, Y:0.59, Z:1.59 [[ 9.99582286e-01 2.92693568e-03 -2.87521623e-02 4.62512434e+00] [-2.92516785e-03 9.99995716e-01 1.03546194e-04 5.93770916e-01] [ 2.87523422e-02 -1.93980404e-05 9.99586566e-01 1.58921315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02255784400006 meters Centerline goodness : 0.122364 Centerline is valid? [False, False] Translation: X:4.63, Y:0.59, Z:1.59 [[ 9.99582402e-01 2.97916716e-03 -2.87427496e-02 4.62517920e+00] [-2.97202952e-03 9.99995541e-01 2.91046096e-04 5.92526104e-01] [ 2.87434885e-02 -2.05500255e-04 9.99586799e-01 1.58912969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05255784400003 meters Centerline goodness : 0.139789 Centerline is valid? [False, False] Translation: X:4.62, Y:0.59, Z:1.59 [[ 9.99588790e-01 3.02331291e-03 -2.85150831e-02 4.62463969e+00] [-3.01567854e-03 9.99995405e-01 3.10732031e-04 5.92646816e-01] [ 2.85158915e-02 -2.24611931e-04 9.99593314e-01 1.58906863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08255784400006 meters Centerline goodness : 0.135856 Centerline is valid? [False, False] Translation: X:4.62, Y:0.59, Z:1.59 [[ 9.99590948e-01 3.04785969e-03 -2.84367148e-02 4.62455525e+00] [-3.04273610e-03 9.99995346e-01 2.23444864e-04 5.93373322e-01] [ 2.84372635e-02 -1.36828044e-04 9.99595570e-01 1.58888068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11255784400004 meters Centerline goodness : 0.136460 Centerline is valid? [False, False] Translation: X:4.62, Y:0.59, Z:1.59 [[ 9.99593141e-01 3.07921805e-03 -2.83561279e-02 4.62458616e+00] [-3.07715342e-03 9.99995259e-01 1.16447394e-04 5.94209658e-01] [ 2.83563520e-02 -2.91438603e-05 9.99597877e-01 1.58847624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14255784400007 meters Centerline goodness : 0.135725 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.59 [[ 9.99589361e-01 3.06135861e-03 -2.84910166e-02 4.62523714e+00] [-3.06500635e-03 9.99995299e-01 -8.43603038e-05 5.95388754e-01] [ 2.84906244e-02 1.71650809e-04 9.99594045e-01 1.58792929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17255784400004 meters Centerline goodness : 0.133282 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99492625e-01 2.73337712e-03 -3.17336085e-02 4.58039478e+00] [-2.72472571e-03 9.99996238e-01 3.15866664e-04 5.93092887e-01] [ 3.17343525e-02 -2.29241022e-04 9.99496312e-01 1.58795925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20255784400007 meters Centerline goodness : 0.133807 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99487766e-01 2.70987073e-03 -3.18882782e-02 4.58084902e+00] [-2.70972306e-03 9.99996328e-01 4.78461185e-05 5.94495196e-01] [ 3.18882908e-02 3.85867927e-05 9.99491438e-01 1.58775558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23255784400004 meters Centerline goodness : 0.135592 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99491032e-01 2.70266175e-03 -3.17863549e-02 4.58056027e+00] [-2.70444315e-03 9.99996343e-01 -1.30496870e-05 5.94905785e-01] [ 3.17862034e-02 9.90074347e-05 9.99494686e-01 1.58774966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26255784400007 meters Centerline goodness : 0.134832 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99495367e-01 2.72422004e-03 -3.16479193e-02 4.58010589e+00] [-2.72549075e-03 9.99996286e-01 2.98745693e-06 5.94946651e-01] [ 3.16478099e-02 8.32701619e-05 9.99499079e-01 1.58788703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29255784400004 meters Centerline goodness : 0.135003 Centerline is valid? [False, False] Translation: X:4.60, Y:0.60, Z:1.59 [[ 9.99500837e-01 -4.91771284e-03 -3.12072719e-02 4.59977611e+00] [ 4.94923696e-03 9.99987317e-01 9.32988270e-04 6.00015187e-01] [ 3.12022879e-02 -1.08697474e-03 9.99512499e-01 1.58932965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3225578440001 meters Centerline goodness : 0.135429 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99518618e-01 3.11420805e-04 -3.10231452e-02 4.57685883e+00] [-3.70353603e-04 9.99998138e-01 -1.89391165e-03 5.93992658e-01] [ 3.10224977e-02 1.90448948e-03 9.99516872e-01 1.58862099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35255784400005 meters Centerline goodness : 0.158262 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99513702e-01 3.85265600e-04 -3.11803051e-02 4.57722066e+00] [-4.36045881e-04 9.99998590e-01 -1.62181787e-03 5.92678883e-01] [ 3.11796363e-02 1.63462522e-03 9.99512460e-01 1.58869933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3825578440001 meters Centerline goodness : 0.133557 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99508637e-01 4.60931706e-04 -3.13412220e-02 4.57741997e+00] [-5.03069064e-04 9.99998980e-01 -1.33659875e-03 5.91266779e-01] [ 3.13405740e-02 1.35170879e-03 9.99507850e-01 1.58905242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41255784400005 meters Centerline goodness : 0.137086 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99505809e-01 5.45676889e-04 -3.14299142e-02 4.57742033e+00] [-5.78656472e-04 9.99999292e-01 -1.04021928e-03 5.89717967e-01] [ 3.14293243e-02 1.05789234e-03 9.99505417e-01 1.58946346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4425578440001 meters Centerline goodness : 0.133765 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99501794e-01 5.71315319e-04 -3.15569065e-02 4.57787863e+00] [-5.95381878e-04 9.99999539e-01 -7.53248684e-04 5.87597216e-01] [ 3.15564616e-02 7.71661821e-04 9.99501673e-01 1.58932672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47255784400005 meters Centerline goodness : 0.132645 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99500277e-01 5.74020814e-04 -3.16048385e-02 4.57816468e+00] [-5.98730660e-04 9.99999522e-01 -7.72379231e-04 5.87631292e-01] [ 3.16043801e-02 7.90916041e-04 9.99500144e-01 1.58905896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5025578440001 meters Centerline goodness : 0.132754 Centerline is valid? [False, False] Translation: X:4.60, Y:0.59, Z:1.59 [[ 9.99486456e-01 9.28075106e-03 -3.06707108e-02 4.59873857e+00] [-9.34290648e-03 9.99954580e-01 -1.88384788e-03 5.85726937e-01] [ 3.06518342e-02 2.16943402e-03 9.99527768e-01 1.59019463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53255784400005 meters Centerline goodness : 0.123958 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99534573e-01 8.69078452e-04 -3.04939645e-02 4.57891824e+00] [-8.97082245e-04 9.99999188e-01 -9.04669908e-04 5.91603437e-01] [ 3.04931535e-02 9.31604445e-04 9.99534542e-01 1.58880174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5625578440001 meters Centerline goodness : 0.120678 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99542788e-01 9.15938580e-04 -3.02221040e-02 4.57794169e+00] [-9.48037949e-04 9.99999002e-01 -1.04780359e-03 5.92654365e-01] [ 3.02211141e-02 1.07597623e-03 9.99542659e-01 1.58920528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59255784400005 meters Centerline goodness : 0.132761 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99542060e-01 9.43370192e-04 -3.02453402e-02 4.57804655e+00] [-9.74369240e-04 9.99999015e-01 -1.01019776e-03 5.92434679e-01] [ 3.02443574e-02 1.03920528e-03 9.99541995e-01 1.58911138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6225578440001 meters Centerline goodness : 0.133335 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99542246e-01 9.90855546e-04 -3.02376668e-02 4.57815681e+00] [-1.01843479e-03 9.99999079e-01 -8.96694798e-04 5.91779756e-01] [ 3.02367505e-02 9.27079424e-04 9.99542335e-01 1.58891290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65255784400006 meters Centerline goodness : 0.120948 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99542205e-01 1.06601370e-03 -3.02364556e-02 4.57825149e+00] [-1.08740542e-03 9.99999170e-01 -6.91046520e-04 5.90680141e-01] [ 3.02356938e-02 7.23609448e-04 9.99542535e-01 1.58877085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68255784400003 meters Centerline goodness : 0.133192 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99541843e-01 1.11729864e-03 -3.02465742e-02 4.57824002e+00] [-1.13353092e-03 9.99999223e-01 -5.19523649e-04 5.89704884e-01] [ 3.02459702e-02 5.53571052e-04 9.99542333e-01 1.58884623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71255784400006 meters Centerline goodness : 0.121385 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99539796e-01 1.19354690e-03 -3.03112579e-02 4.57823369e+00] [-1.20279555e-03 9.99999235e-01 -2.86891134e-04 5.88364458e-01] [ 3.03108923e-02 3.23217351e-04 9.99540467e-01 1.58915827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74255784400003 meters Centerline goodness : 0.132233 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99539151e-01 1.17615421e-03 -3.03331750e-02 4.57828711e+00] [-1.18698809e-03 9.99999238e-01 -3.39158569e-04 5.88478916e-01] [ 3.03327530e-02 3.75007385e-04 9.99539786e-01 1.58917993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77255784400006 meters Centerline goodness : 0.153653 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99542014e-01 1.16779841e-03 -3.02390227e-02 4.57803822e+00] [-1.18148623e-03 9.99999208e-01 -4.34790753e-04 5.88993042e-01] [ 3.02384910e-02 4.70318614e-04 9.99542602e-01 1.58914966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80255784400003 meters Centerline goodness : 0.126612 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99566502e-01 1.68167286e-03 -2.93935511e-02 4.57575404e+00] [-1.69155113e-03 9.99998521e-01 -3.11206897e-04 5.90458706e-01] [ 2.93929843e-02 3.60792684e-04 9.99567868e-01 1.58929283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83255784400006 meters Centerline goodness : 0.123539 Centerline is valid? [False, False] Translation: X:4.57, Y:0.59, Z:1.59 [[ 9.99576193e-01 1.73247019e-03 -2.90591422e-02 4.57487880e+00] [-1.74831750e-03 9.99998337e-01 -5.19947925e-04 5.92219893e-01] [ 2.90581931e-02 5.70532174e-04 9.99577559e-01 1.58926380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86255784400004 meters Centerline goodness : 0.125777 Centerline is valid? [False, False] Translation: X:4.57, Y:0.59, Z:1.59 [[ 9.99578719e-01 1.69461993e-03 -2.89743301e-02 4.57478187e+00] [-1.71905265e-03 9.99998188e-01 -8.18365226e-04 5.94005776e-01] [ 2.89728908e-02 8.67828864e-04 9.99579821e-01 1.58899994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89255784400007 meters Centerline goodness : 0.127346 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99557484e-01 1.53253942e-03 -2.97066746e-02 4.57721157e+00] [-1.57720315e-03 9.99997661e-01 -1.48011752e-03 5.97218080e-01] [ 2.97043367e-02 1.52631601e-03 9.99557563e-01 1.58786566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92255784400004 meters Centerline goodness : 0.127073 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99549591e-01 1.39402667e-03 -2.99778517e-02 4.57818456e+00] [-1.44815031e-03 9.99997360e-01 -1.78381901e-03 5.98614428e-01] [ 2.99752858e-02 1.82642799e-03 9.99548971e-01 1.58734174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95255784400007 meters Centerline goodness : 0.128896 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99542457e-01 1.29342109e-03 -3.02192502e-02 4.57894318e+00] [-1.35421204e-03 9.99997100e-01 -1.99128363e-03 5.99682928e-01] [ 3.02165870e-02 2.03129580e-03 9.99541311e-01 1.58708126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98255784400004 meters Centerline goodness : 0.120365 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99539888e-01 1.22486987e-03 -3.03069554e-02 4.57907382e+00] [-1.28979418e-03 9.99996915e-01 -2.12276799e-03 6.00367267e-01] [ 3.03042618e-02 2.16088102e-03 9.99538385e-01 1.58717655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01255784400007 meters Centerline goodness : 0.142540 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99541322e-01 1.15869032e-03 -3.02622455e-02 4.57883565e+00] [-1.22398240e-03 9.99996963e-01 -2.13910688e-03 6.00279504e-01] [ 3.02596751e-02 2.17516617e-03 9.99539704e-01 1.58741478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04255784400004 meters Centerline goodness : 0.133795 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99546162e-01 1.11453835e-03 -3.01036068e-02 4.57818086e+00] [-1.17925910e-03 9.99997031e-01 -2.13226519e-03 6.00116742e-01] [ 3.01011410e-02 2.16679744e-03 9.99544509e-01 1.58785214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0725578440001 meters Centerline goodness : 0.146624 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99552652e-01 9.67434812e-04 -2.98924875e-02 4.57755231e+00] [-1.03377126e-03 9.99997037e-01 -2.20379309e-03 6.00304042e-01] [ 2.98902669e-02 2.23370922e-03 9.99550690e-01 1.58805973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10255784400005 meters Centerline goodness : 0.121005 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99548119e-01 9.08880724e-04 -3.00455056e-02 4.57800671e+00] [-9.77002892e-04 9.99996985e-01 -2.25269694e-03 6.00295490e-01] [ 3.00433676e-02 2.28103353e-03 9.99545993e-01 1.58796223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1325578440001 meters Centerline goodness : 0.121786 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99542501e-01 8.08797292e-04 -3.02346428e-02 4.57852298e+00] [-8.80815251e-04 9.99996807e-01 -2.36872551e-03 6.00482768e-01] [ 3.02326305e-02 2.39427296e-03 9.99540022e-01 1.58789199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16255784400005 meters Centerline goodness : 0.123183 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99536704e-01 7.45806836e-04 -3.04273020e-02 4.57894453e+00] [-8.20431626e-04 9.99996686e-01 -2.44014928e-03 6.00641010e-01] [ 3.04253813e-02 2.46398229e-03 9.99534004e-01 1.58799310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1925578440001 meters Centerline goodness : 0.119813 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99532066e-01 6.90433628e-04 -3.05805948e-02 4.57952093e+00] [-7.69732079e-04 9.99996372e-01 -2.58140078e-03 6.01549621e-01] [ 3.05787016e-02 2.60373172e-03 9.99528971e-01 1.58764640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22255784400005 meters Centerline goodness : 0.154323 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99534942e-01 6.83490090e-04 -3.04866092e-02 4.57923690e+00] [-7.63295243e-04 9.99996313e-01 -2.60615065e-03 6.01784847e-01] [ 3.04847155e-02 2.62820892e-03 9.99531778e-01 1.58772324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2525578440001 meters Centerline goodness : 0.124672 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99542055e-01 7.10997074e-04 -3.02518568e-02 4.57848430e+00] [-7.88776406e-04 9.99996414e-01 -2.55920374e-03 6.01626871e-01] [ 3.02499287e-02 2.58189372e-03 9.99539032e-01 1.58797821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28255784400005 meters Centerline goodness : 0.123594 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99548175e-01 6.93309499e-04 -3.00493680e-02 4.57767872e+00] [-7.70558858e-04 9.99996428e-01 -2.55924445e-03 6.01495134e-01] [ 3.00474863e-02 2.58124293e-03 9.99545139e-01 1.58846830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3125578440001 meters Centerline goodness : 0.123594 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99548175e-01 6.93309499e-04 -3.00493680e-02 4.57767872e+00] [-7.70558858e-04 9.99996428e-01 -2.55924445e-03 6.01495134e-01] [ 3.00474863e-02 2.58124293e-03 9.99545139e-01 1.58846830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34255784400005 meters Centerline goodness : 0.134275 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99546936e-01 6.61384325e-04 -3.00912941e-02 4.57780394e+00] [-7.40828461e-04 9.99996270e-01 -2.62903151e-03 6.01825185e-01] [ 3.00894430e-02 2.65013287e-03 9.99543697e-01 1.58844569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3725578440001 meters Centerline goodness : 0.132091 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99545762e-01 6.34899345e-04 -3.01308108e-02 4.57793600e+00] [-7.16137870e-04 9.99996138e-01 -2.68547969e-03 6.02087245e-01] [ 3.01289894e-02 2.70583766e-03 9.99542356e-01 1.58837173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40255784400006 meters Centerline goodness : 0.159255 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99458226e-01 -3.82632138e-05 -3.29128078e-02 4.53259794e+00] [-4.32888059e-05 9.99996931e-01 -2.47710405e-03 6.00053264e-01] [ 3.29128015e-02 2.47718678e-03 9.99455157e-01 1.58820820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43255784400003 meters Centerline goodness : 0.124509 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99455525e-01 -9.50327439e-05 -3.29946277e-02 4.53286786e+00] [ 8.17567172e-06 9.99996535e-01 -2.63258598e-03 6.00922390e-01] [ 3.29947635e-02 2.63088285e-03 9.99452062e-01 1.58804723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46255784400006 meters Centerline goodness : 0.132819 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99458011e-01 -2.21005826e-04 -3.29186144e-02 4.53243297e+00] [ 1.22005951e-04 9.99995464e-01 -3.00939148e-03 6.02945436e-01] [ 3.29191302e-02 3.00374416e-03 9.99453505e-01 1.58837954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49255784400003 meters Centerline goodness : 0.159584 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99464002e-01 -2.83638705e-04 -3.27357319e-02 4.53167908e+00] [ 1.80174608e-04 9.99994980e-01 -3.16349262e-03 6.03719136e-01] [ 3.27364649e-02 3.15589885e-03 9.99459036e-01 1.58881814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52255784400006 meters Centerline goodness : 0.123290 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99470863e-01 -3.10585189e-04 -3.25253315e-02 4.53078419e+00] [ 2.04969887e-04 9.99994696e-01 -3.25045454e-03 6.04240957e-01] [ 3.25261685e-02 3.24206789e-03 9.99465626e-01 1.58938397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55255784400003 meters Centerline goodness : 0.123387 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99477579e-01 -3.28414935e-04 -3.23181264e-02 4.52993559e+00] [ 2.21773172e-04 9.99994520e-01 -3.30328005e-03 6.04587912e-01] [ 3.23190342e-02 3.29438705e-03 9.99472174e-01 1.58985652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58255784400006 meters Centerline goodness : 0.145122 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99479206e-01 -3.08483913e-04 -3.22679703e-02 4.52991282e+00] [ 2.04406893e-04 9.99994767e-01 -3.22864621e-03 6.04350537e-01] [ 3.22687974e-02 3.22036896e-03 9.99474039e-01 1.58968830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61255784400004 meters Centerline goodness : 0.130149 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99474405e-01 -3.29631527e-04 -3.24161389e-02 4.53043616e+00] [ 2.25656007e-04 9.99994819e-01 -3.21112937e-03 6.04081107e-01] [ 3.24170294e-02 3.20212672e-03 9.99469300e-01 1.58947772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64255784400007 meters Centerline goodness : 0.136147 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99472632e-01 -3.31711116e-04 -3.24707346e-02 4.53056061e+00] [ 2.29599344e-04 9.99995017e-01 -3.14841051e-03 6.03608951e-01] [ 3.24716172e-02 3.13929487e-03 9.99467728e-01 1.58949439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67255784400004 meters Centerline goodness : 0.137204 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99470578e-01 -2.92889128e-04 -3.25342492e-02 4.53064965e+00] [ 1.95502986e-04 9.99995491e-01 -2.99648300e-03 6.02782090e-01] [ 3.25349802e-02 2.98853605e-03 9.99466129e-01 1.58959877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70255784400007 meters Centerline goodness : 0.137478 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99460950e-01 -2.14803986e-04 -3.28293176e-02 4.53125533e+00] [ 1.27065271e-04 9.99996415e-01 -2.67463494e-03 6.00948455e-01] [ 3.28297745e-02 2.66902171e-03 9.99457394e-01 1.58984078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73255784400004 meters Centerline goodness : 0.156032 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99459239e-01 -1.58234341e-04 -3.28816605e-02 4.53125952e+00] [ 7.65980179e-05 9.99996912e-01 -2.48397599e-03 5.99842167e-01] [ 3.28819521e-02 2.48011409e-03 9.99456165e-01 1.59005551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76255784400007 meters Centerline goodness : 0.136175 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99459798e-01 -9.01200416e-05 -3.28649337e-02 4.53119839e+00] [ 1.37767890e-05 9.99997301e-01 -2.32315855e-03 5.99005235e-01] [ 3.28650544e-02 2.32145080e-03 9.99457102e-01 1.59008433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79255784400004 meters Centerline goodness : 0.138156 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99465429e-01 -1.67664399e-05 -3.26933514e-02 4.53069619e+00] [-5.47878008e-05 9.99997605e-01 -2.18775101e-03 5.98480561e-01] [ 3.26933098e-02 2.18837270e-03 9.99463035e-01 1.59017686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8225578440001 meters Centerline goodness : 0.123072 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99470389e-01 4.13926665e-05 -3.25413446e-02 4.53026757e+00] [-1.09556333e-04 9.99997804e-01 -2.09289863e-03 5.98170094e-01] [ 3.25411865e-02 2.09535532e-03 9.99468199e-01 1.59027611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85255784400005 meters Centerline goodness : 0.120658 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99473831e-01 -3.04299786e-06 -3.24354973e-02 4.53005964e+00] [-7.08604889e-05 9.99997404e-01 -2.27732578e-03 5.98987272e-01] [ 3.24354200e-02 2.27842592e-03 9.99471236e-01 1.59014466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8825578440001 meters Centerline goodness : 0.137802 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99470774e-01 -5.61183979e-06 -3.25295670e-02 4.53037541e+00] [-6.96744345e-05 9.99997322e-01 -2.31326121e-03 5.99144824e-01] [ 3.25294929e-02 2.31430345e-03 9.99468097e-01 1.59000269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91255784400005 meters Centerline goodness : 0.124585 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99472912e-01 -3.36237754e-06 -3.24637988e-02 4.53033517e+00] [-7.35159665e-05 9.99997196e-01 -2.36693142e-03 5.99486586e-01] [ 3.24637157e-02 2.36807044e-03 9.99470109e-01 1.58979725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9425578440001 meters Centerline goodness : 0.137414 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99479766e-01 3.04227666e-05 -3.22520653e-02 4.52980898e+00] [-1.07398089e-04 9.99997150e-01 -2.38494920e-03 5.99825696e-01] [ 3.22519009e-02 2.38717228e-03 9.99476921e-01 1.58977451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97255784400005 meters Centerline goodness : 0.135218 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99483951e-01 3.24611838e-05 -3.21221332e-02 4.52935671e+00] [-1.09555258e-04 9.99997118e-01 -2.39827261e-03 5.99829455e-01] [ 3.21219628e-02 2.40055413e-03 9.99481074e-01 1.58992241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0025578440001 meters Centerline goodness : 0.139676 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99477950e-01 -2.34328923e-05 -3.23082952e-02 4.52996298e+00] [-5.52996324e-05 9.99997031e-01 -2.43601792e-03 5.99592866e-01] [ 3.23082563e-02 2.43653283e-03 9.99474982e-01 1.58970810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03255784400005 meters Centerline goodness : 0.136420 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99471805e-01 5.10734099e-06 -3.24978634e-02 4.53061331e+00] [-8.34588227e-05 9.99997093e-01 -2.40961731e-03 5.99576071e-01] [ 3.24977566e-02 2.41105679e-03 9.99468900e-01 1.58941485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0625578440001 meters Centerline goodness : 0.132174 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99469611e-01 1.36054043e-04 -3.25649971e-02 4.53070794e+00] [-2.13036392e-04 9.99997191e-01 -2.36050195e-03 6.00088958e-01] [ 3.25645844e-02 2.36618750e-03 9.99466832e-01 1.58947622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09255784400005 meters Centerline goodness : 0.122497 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99472144e-01 1.58609806e-04 -3.24870567e-02 4.53033678e+00] [-2.35141360e-04 9.99997207e-01 -2.35194827e-03 6.00003488e-01] [ 3.24865929e-02 2.35834583e-03 9.99469389e-01 1.58973152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1225578440001 meters Centerline goodness : 0.141830 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99475481e-01 1.41234631e-04 -3.23843051e-02 4.52997365e+00] [-2.19371551e-04 9.99997074e-01 -2.40926181e-03 6.00063992e-01] [ 3.23838701e-02 2.41510230e-03 9.99472587e-01 1.58988312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15255784400006 meters Centerline goodness : 0.130657 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99477470e-01 1.52374159e-04 -3.23228142e-02 4.52976292e+00] [-2.33171518e-04 9.99996858e-01 -2.49594597e-03 6.00567900e-01] [ 3.23223323e-02 2.50217853e-03 9.99474365e-01 1.58990956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18255784400003 meters Centerline goodness : 0.130148 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99479611e-01 2.01257970e-04 -3.22562743e-02 4.52987141e+00] [-2.85782805e-04 9.99996538e-01 -2.61582640e-03 6.01563971e-01] [ 3.22556361e-02 2.62368344e-03 9.99476208e-01 1.58941501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21255784400006 meters Centerline goodness : 0.140007 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99474719e-01 4.72378872e-04 -3.24046800e-02 4.53071764e+00] [-5.62232798e-04 9.99996023e-01 -2.76381295e-03 6.03447149e-01] [ 3.24032456e-02 2.78058014e-03 9.99471009e-01 1.58852458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24255784400003 meters Centerline goodness : 0.132461 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99475163e-01 4.43018498e-04 -3.23913793e-02 4.53084247e+00] [-5.36049514e-04 9.99995757e-01 -2.86346429e-03 6.03870350e-01] [ 3.23899733e-02 2.87932483e-03 9.99471160e-01 1.58820896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27255784400006 meters Centerline goodness : 0.134326 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99475985e-01 4.56776284e-04 -3.23658322e-02 4.53087573e+00] [-5.47175819e-04 9.99995974e-01 -2.78425238e-03 6.03304758e-01] [ 3.23644301e-02 2.80050319e-03 9.99472211e-01 1.58802485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30255784400003 meters Centerline goodness : 0.135279 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99473607e-01 5.21510743e-04 -3.24382140e-02 4.53104611e+00] [-6.04150334e-04 9.99996597e-01 -2.53785072e-03 6.01942727e-01] [ 3.24367801e-02 2.55611237e-03 9.99470521e-01 1.58806912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33255784400006 meters Centerline goodness : 0.140522 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99461634e-01 5.44886431e-04 -3.28046668e-02 4.53191145e+00] [-6.16957763e-04 9.99997418e-01 -2.18690195e-03 5.99835741e-01] [ 3.28033905e-02 2.20596369e-03 9.99459390e-01 1.58818713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36255784400004 meters Centerline goodness : 0.149906 Centerline is valid? [False, False] Translation: X:4.49, Y:0.59, Z:1.59 [[ 9.99369546e-01 -2.97952016e-03 -3.53784135e-02 4.48682366e+00] [ 2.86961766e-03 9.99990900e-01 -3.15685571e-03 5.89763412e-01] [ 3.53874975e-02 3.05334294e-03 9.99369002e-01 1.58846213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39255784400007 meters Centerline goodness : 0.129449 Centerline is valid? [False, False] Translation: X:4.49, Y:0.59, Z:1.59 [[ 9.99374674e-01 -2.95765797e-03 -3.52351012e-02 4.48622833e+00] [ 2.86838992e-03 9.99992548e-01 -2.58377833e-03 5.86299557e-01] [ 3.52424805e-02 2.48109462e-03 9.99375711e-01 1.58896097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42255784400004 meters Centerline goodness : 0.141037 Centerline is valid? [False, False] Translation: X:4.49, Y:0.58, Z:1.59 [[ 9.99382547e-01 -2.90806424e-03 -3.50152463e-02 4.48538257e+00] [ 2.83988102e-03 9.99993974e-01 -1.99682121e-03 5.82821630e-01] [ 3.50208422e-02 1.89614914e-03 9.99384783e-01 1.58959453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45255784400007 meters Centerline goodness : 0.125410 Centerline is valid? [False, False] Translation: X:4.46, Y:0.58, Z:1.59 [[ 9.99445374e-01 2.32778416e-03 -3.32193568e-02 4.46157716e+00] [-2.47148133e-03 9.99987764e-01 -4.28529994e-03 5.75042844e-01] [ 3.32089750e-02 4.36502422e-03 9.99438898e-01 1.58899955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48255784400004 meters Centerline goodness : 0.128908 Centerline is valid? [False, False] Translation: X:4.50, Y:0.57, Z:1.59 [[ 9.99514606e-01 2.59314033e-03 -3.10455801e-02 4.50399343e+00] [-2.72910107e-03 9.99986868e-01 -4.33781882e-03 5.72715686e-01] [ 3.10339238e-02 4.42043979e-03 9.99508557e-01 1.59077988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51255784400007 meters Centerline goodness : 0.128827 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99429187e-01 1.79439066e-03 -3.37354463e-02 4.45877927e+00] [-1.92596692e-03 9.99990664e-01 -3.86814638e-03 5.68470471e-01] [ 3.37281904e-02 3.93091175e-03 9.99423312e-01 1.59043679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54255784400004 meters Centerline goodness : 0.157044 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99421877e-01 1.80158305e-03 -3.39509503e-02 4.45945965e+00] [-1.93247339e-03 9.99990826e-01 -3.82285814e-03 5.68009095e-01] [ 3.39437516e-02 3.88625737e-03 9.99416189e-01 1.59023072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5725578440001 meters Centerline goodness : 0.131256 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99412309e-01 1.78646117e-03 -3.42322364e-02 4.46011178e+00] [-1.92305624e-03 9.99990319e-01 -3.95773717e-03 5.68492800e-01] [ 3.42248347e-02 4.02124175e-03 9.99406069e-01 1.59025866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60255784400005 meters Centerline goodness : 0.155048 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99420285e-01 1.80633007e-03 -3.39975129e-02 4.45945452e+00] [-1.94612214e-03 9.99989786e-01 -4.07919023e-03 5.69483622e-01] [ 3.39897973e-02 4.14298878e-03 9.99413593e-01 1.59032249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6325578440001 meters Centerline goodness : 0.155946 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99430159e-01 1.81891011e-03 -3.37053172e-02 4.45860765e+00] [-1.96319210e-03 9.99989050e-01 -4.24808935e-03 5.70794243e-01] [ 3.36972212e-02 4.31183863e-03 9.99422786e-01 1.59047460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66255784400005 meters Centerline goodness : 0.123129 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99437747e-01 1.75941043e-03 -3.34827445e-02 4.45816646e+00] [-1.91044397e-03 9.99988143e-01 -4.47932962e-03 5.72050370e-01] [ 3.34744665e-02 4.54077801e-03 9.99429258e-01 1.59025281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6925578440001 meters Centerline goodness : 0.123671 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99437356e-01 1.60036889e-03 -3.35023972e-02 4.45831623e+00] [-1.76359156e-03 9.99986718e-01 -4.84298643e-03 5.73578370e-01] [ 3.34942016e-02 4.89934610e-03 9.99426903e-01 1.59002929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72255784400005 meters Centerline goodness : 0.159121 Centerline is valid? [False, False] Translation: X:4.46, Y:0.58, Z:1.59 [[ 9.99428590e-01 1.38028467e-03 -3.37726044e-02 4.45952659e+00] [-1.56436975e-03 9.99984061e-01 -5.42490548e-03 5.76510718e-01] [ 3.37645782e-02 5.47463847e-03 9.99414820e-01 1.58906290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7525578440001 meters Centerline goodness : 0.162024 Centerline is valid? [False, False] Translation: X:4.46, Y:0.58, Z:1.59 [[ 9.99431533e-01 1.31959543e-03 -3.36878113e-02 4.45933032e+00] [-1.50951588e-03 9.99983108e-01 -5.61285004e-03 5.77783382e-01] [ 3.36798356e-02 5.66051161e-03 9.99416643e-01 1.58896923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78255784400005 meters Centerline goodness : 0.117061 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99449940e-01 -6.33606162e-03 -3.25525944e-02 4.47837046e+00] [ 6.19330080e-03 9.99970766e-01 -4.48450503e-03 5.83874399e-01] [ 3.25800568e-02 4.28043028e-03 9.99459963e-01 1.59101817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8125578440001 meters Centerline goodness : 0.131010 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99461351e-01 -6.41386956e-03 -3.21849375e-02 4.47705260e+00] [ 6.27480530e-03 9.99970545e-01 -4.41993267e-03 5.83345501e-01] [ 3.22123384e-02 4.21559766e-03 9.99472158e-01 1.59165592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84255784400005 meters Centerline goodness : 0.161146 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99468825e-01 -6.58053728e-03 -3.19180977e-02 4.47608923e+00] [ 6.44561971e-03 9.99969861e-01 -4.32804595e-03 5.82345309e-01] [ 3.19456165e-02 4.12001508e-03 9.99481117e-01 1.59221908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8725578440001 meters Centerline goodness : 0.158051 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99454109e-01 -7.20336316e-03 -3.22427689e-02 4.47701503e+00] [ 7.06693002e-03 9.99965596e-01 -4.34339524e-03 5.80469928e-01] [ 3.22729467e-02 4.11316683e-03 9.99470629e-01 1.59216726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90255784400006 meters Centerline goodness : 0.147233 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99445834e-01 -7.19359693e-03 -3.25004205e-02 4.47779035e+00] [ 7.06295537e-03 9.99966517e-01 -4.13270793e-03 5.79290789e-01] [ 3.25290613e-02 3.90086870e-03 9.99463178e-01 1.59200881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93255784400003 meters Centerline goodness : 0.154893 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99445608e-01 -7.16623341e-03 -3.25134106e-02 4.47789769e+00] [ 7.04126400e-03 9.99967383e-01 -3.95649925e-03 5.78297129e-01] [ 3.25407033e-02 3.72537029e-03 9.99463468e-01 1.59196961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96255784400006 meters Centerline goodness : 0.158466 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99445900e-01 -7.19038940e-03 -3.24990983e-02 4.47791715e+00] [ 7.06936640e-03 9.99967649e-01 -3.83726113e-03 5.77245442e-01] [ 3.25256384e-02 3.60538687e-03 9.99464399e-01 1.59189212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99255784400003 meters Centerline goodness : 0.161017 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99474381e-01 7.75720954e-04 -3.24092665e-02 4.45753489e+00] [-9.21316848e-04 9.99989551e-01 -4.47772363e-03 5.71227411e-01] [ 3.24054544e-02 4.50522925e-03 9.99464651e-01 1.59021485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02255784400006 meters Centerline goodness : 0.160758 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99472045e-01 8.31678276e-04 -3.24798327e-02 4.45788584e+00] [-9.75496224e-04 9.99989790e-01 -4.41232018e-03 5.71018505e-01] [ 3.24758314e-02 4.44167463e-03 9.99462652e-01 1.58994127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05255784400003 meters Centerline goodness : 0.110689 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99382757e-01 2.19623079e-04 -3.51291506e-02 4.41253725e+00] [-3.64181053e-04 9.99991493e-01 -4.10869754e-03 5.68619222e-01] [ 3.51279494e-02 4.11895485e-03 9.99374335e-01 1.58952071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08255784400006 meters Centerline goodness : 0.159524 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99379954e-01 2.22296059e-04 -3.52087688e-02 4.41286607e+00] [-3.68590233e-04 9.99991327e-01 -4.14861309e-03 5.68751081e-01] [ 3.52075412e-02 4.15901837e-03 9.99371368e-01 1.58931869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11255784400004 meters Centerline goodness : 0.140261 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99385415e-01 2.65032347e-04 -3.50531417e-02 4.41279349e+00] [-4.19277742e-04 9.99990263e-01 -4.39305257e-03 5.70097587e-01] [ 3.50516361e-02 4.40504967e-03 9.99375794e-01 1.58882114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14255784400007 meters Centerline goodness : 0.126976 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99379340e-01 2.98310140e-04 -3.52256304e-02 4.41348744e+00] [-4.61194896e-04 9.99989240e-01 -4.61600598e-03 5.71559216e-01] [ 3.52238744e-02 4.62938689e-03 9.99368724e-01 1.58834741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17255784400004 meters Centerline goodness : 0.120235 Centerline is valid? [False, False] Translation: X:4.37, Y:0.57, Z:1.59 [[ 9.99271975e-01 5.05442979e-04 -3.81479297e-02 4.36837205e+00] [-6.51253183e-04 9.99992530e-01 -3.80990141e-03 5.70716700e-01] [ 3.81457191e-02 3.83197167e-03 9.99264840e-01 1.58769099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20255784400007 meters Centerline goodness : 0.120235 Centerline is valid? [False, False] Translation: X:4.37, Y:0.57, Z:1.59 [[ 9.99271975e-01 5.05442979e-04 -3.81479297e-02 4.36837205e+00] [-6.51253183e-04 9.99992530e-01 -3.80990141e-03 5.70716700e-01] [ 3.81457191e-02 3.83197167e-03 9.99264840e-01 1.58769099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23255784400004 meters Centerline goodness : 0.139322 Centerline is valid? [False, False] Translation: X:4.37, Y:0.57, Z:1.59 [[ 9.99261597e-01 5.19938812e-04 -3.84186172e-02 4.36913174e+00] [-6.79104017e-04 9.99991241e-01 -4.12998484e-03 5.72826927e-01] [ 3.84161333e-02 4.15302548e-03 9.99253198e-01 1.58747608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26255784400007 meters Centerline goodness : 0.132246 Centerline is valid? [False, False] Translation: X:4.37, Y:0.57, Z:1.59 [[ 9.99257251e-01 4.66534822e-04 -3.85321759e-02 4.36945998e+00] [-6.39173630e-04 9.99989813e-01 -4.46818304e-03 5.74848989e-01] [ 3.85296988e-02 4.48949305e-03 9.99247370e-01 1.58732491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29255784400004 meters Centerline goodness : 0.157216 Centerline is valid? [False, False] Translation: X:4.37, Y:0.58, Z:1.59 [[ 9.99261975e-01 3.82016664e-04 -3.84103956e-02 4.36922482e+00] [-5.77040892e-04 9.99986999e-01 -5.06642333e-03 5.78469911e-01] [ 3.84079608e-02 5.08484855e-03 9.99249205e-01 1.58708798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3225578440001 meters Centerline goodness : 0.161477 Centerline is valid? [False, False] Translation: X:4.37, Y:0.58, Z:1.59 [[ 9.99268235e-01 2.86794506e-04 -3.82480472e-02 4.36880085e+00] [-4.89666498e-04 9.99985862e-01 -5.29485139e-03 5.79552372e-01] [ 3.82459879e-02 5.30970559e-03 9.99254248e-01 1.58710155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35255784400005 meters Centerline goodness : 0.125469 Centerline is valid? [False, False] Translation: X:4.39, Y:0.59, Z:1.59 [[ 9.99268180e-01 -7.42101919e-03 -3.75237606e-02 4.38816005e+00] [ 7.26070748e-03 9.99963931e-01 -4.40674295e-03 5.85347936e-01] [ 3.75551097e-02 4.13106896e-03 9.99286019e-01 1.58888828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3825578440001 meters Centerline goodness : 0.133255 Centerline is valid? [False, False] Translation: X:4.39, Y:0.58, Z:1.59 [[ 9.99266003e-01 -7.50643701e-03 -3.75647285e-02 4.38801972e+00] [ 7.34786498e-03 9.99963510e-01 -4.35758311e-03 5.84975750e-01] [ 3.75960677e-02 4.07836410e-03 9.99284695e-01 1.58923296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41255784400005 meters Centerline goodness : 0.141487 Centerline is valid? [False, False] Translation: X:4.39, Y:0.58, Z:1.59 [[ 9.99259233e-01 -7.46746170e-03 -3.77521051e-02 4.38866695e+00] [ 7.31538815e-03 9.99964569e-01 -4.16474690e-03 5.83948148e-01] [ 3.77818676e-02 3.88549049e-03 9.99278456e-01 1.58899948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4425578440001 meters Centerline goodness : 0.163227 Centerline is valid? [False, False] Translation: X:4.39, Y:0.58, Z:1.59 [[ 9.99252950e-01 -7.41205248e-03 -3.79289140e-02 4.38915454e+00] [ 7.26736011e-03 9.99965786e-01 -3.95128259e-03 5.82800718e-01] [ 3.79569034e-02 3.67268771e-03 9.99272628e-01 1.58893982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47255784400005 meters Centerline goodness : 0.117630 Centerline is valid? [False, False] Translation: X:4.39, Y:0.58, Z:1.59 [[ 9.99251554e-01 -7.34103767e-03 -3.79794737e-02 4.38926061e+00] [ 7.20716015e-03 9.99967327e-01 -3.66071006e-03 5.81245488e-01] [ 3.80051062e-02 3.38424606e-03 9.99271814e-01 1.58898419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5025578440001 meters Centerline goodness : 0.134494 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99308570e-01 2.57657449e-04 -3.71794918e-02 4.40696708e+00] [-4.54997026e-04 9.99985855e-01 -5.29938990e-03 5.74896158e-01] [ 3.71776004e-02 5.31264231e-03 9.99294552e-01 1.59172629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53255784400005 meters Centerline goodness : 0.151781 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99310974e-01 3.34146348e-04 -3.71142344e-02 4.40674021e+00] [-5.21359379e-04 9.99987190e-01 -5.03467427e-03 5.73375803e-01] [ 3.71120767e-02 5.05055510e-03 9.99298347e-01 1.59184424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5625578440001 meters Centerline goodness : 0.149242 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99313073e-01 4.07649284e-04 -3.70569294e-02 4.40641770e+00] [-5.85769984e-04 9.99988328e-01 -4.79594719e-03 5.71993665e-01] [ 3.70545418e-02 4.81435956e-03 9.99301648e-01 1.59215216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59255784400005 meters Centerline goodness : 0.135539 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99316939e-01 6.42324756e-04 -3.69491839e-02 4.40608303e+00] [-7.99211657e-04 9.99990728e-01 -4.23140461e-03 5.69294011e-01] [ 3.69461234e-02 4.25804452e-03 9.99308187e-01 1.59224166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6225578440001 meters Centerline goodness : 0.135703 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99318335e-01 7.76616661e-04 -3.69088441e-02 4.40603821e+00] [-9.24138589e-04 9.99991653e-01 -3.98003408e-03 5.68239169e-01] [ 3.69054450e-02 4.01142991e-03 9.99310711e-01 1.59217021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65255784400006 meters Centerline goodness : 0.132464 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99322992e-01 9.12263896e-04 -3.67794252e-02 4.40587929e+00] [-1.04937226e-03 9.99992572e-01 -3.70872329e-03 5.67040487e-01] [ 3.67757687e-02 3.74480776e-03 9.99316526e-01 1.59193754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68255784400003 meters Centerline goodness : 0.115564 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99325173e-01 9.79055961e-04 -3.67183941e-02 4.40579013e+00] [-1.11061409e-03 9.99993037e-01 -3.56266875e-03 5.66268200e-01] [ 3.67146504e-02 3.60104453e-03 9.99319302e-01 1.59189842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71255784400006 meters Centerline goodness : 0.126781 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99327090e-01 9.66949773e-04 -3.66664953e-02 4.40562378e+00] [-1.10016785e-03 9.99992867e-01 -3.61323496e-03 5.66235445e-01] [ 3.66627400e-02 3.65114288e-03 9.99321026e-01 1.59196323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74255784400003 meters Centerline goodness : 0.130526 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99326869e-01 9.29550998e-04 -3.66734885e-02 4.40562919e+00] [-1.07140227e-03 9.99992021e-01 -3.84848838e-03 5.67392613e-01] [ 3.66696185e-02 3.88518990e-03 9.99319891e-01 1.59195338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77255784400006 meters Centerline goodness : 0.160160 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99294210e-01 4.69852512e-03 -3.72693748e-02 4.40751994e+00] [-4.73378211e-03 9.99988428e-01 -8.57817026e-04 5.71740751e-01] [ 3.72649130e-02 1.03363669e-03 9.99304887e-01 1.59127521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80255784400003 meters Centerline goodness : 0.122100 Centerline is valid? [False, False] Translation: X:4.41, Y:0.58, Z:1.59 [[ 9.99292505e-01 4.76786040e-03 -3.73062675e-02 4.40772798e+00] [-4.82113193e-03 9.99987483e-01 -1.33812032e-03 5.75041420e-01] [ 3.72994205e-02 1.51703204e-03 9.99302983e-01 1.59093915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83255784400006 meters Centerline goodness : 0.150582 Centerline is valid? [False, False] Translation: X:4.41, Y:0.58, Z:1.59 [[ 9.99300564e-01 4.69718560e-03 -3.70987893e-02 4.40722538e+00] [-4.76905297e-03 9.99986919e-01 -1.84893256e-03 5.77980441e-01] [ 3.70896192e-02 2.02456544e-03 9.99309893e-01 1.59080644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86255784400004 meters Centerline goodness : 0.123663 Centerline is valid? [False, False] Translation: X:4.41, Y:0.58, Z:1.59 [[ 9.99316859e-01 4.58437593e-03 -3.66715065e-02 4.40602100e+00] [-4.67307864e-03 9.99986358e-01 -2.33349747e-03 5.80628724e-01] [ 3.66603086e-02 2.50327220e-03 9.99324650e-01 1.59093968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89255784400007 meters Centerline goodness : 0.126054 Centerline is valid? [False, False] Translation: X:4.40, Y:0.58, Z:1.59 [[ 9.99334321e-01 4.33605402e-03 -3.62230981e-02 4.40465459e+00] [-4.45144883e-03 9.99985270e-01 -3.10562751e-03 5.84790829e-01] [ 3.62090983e-02 3.26480543e-03 9.99338903e-01 1.59119011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92255784400004 meters Centerline goodness : 0.147238 Centerline is valid? [False, False] Translation: X:4.42, Y:0.59, Z:1.59 [[ 9.99316519e-01 -2.97583041e-03 -3.68461500e-02 4.42451168e+00] [ 2.88935815e-03 9.99992946e-01 -2.39987328e-03 5.92565993e-01] [ 3.68530318e-02 2.29177129e-03 9.99318068e-01 1.59280881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95255784400007 meters Centerline goodness : 0.165374 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99198542e-01 -4.41663130e-03 -3.97840056e-02 4.38030284e+00] [ 4.30919226e-03 9.99986835e-01 -2.78590682e-03 5.90599960e-01] [ 3.97957862e-02 2.61223710e-03 9.99204419e-01 1.59168420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98255784400004 meters Centerline goodness : 0.159029 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99195083e-01 -4.57104396e-03 -3.98533826e-02 4.38049330e+00] [ 4.45608075e-03 9.99985652e-01 -2.97300755e-03 5.91136445e-01] [ 3.98664006e-02 2.79302464e-03 9.99201115e-01 1.59163330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01255784400007 meters Centerline goodness : 0.153806 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99212542e-01 -4.95840943e-03 -3.93663468e-02 4.37881100e+00] [ 4.83258885e-03 9.99982909e-01 -3.29066060e-03 5.92337096e-01] [ 3.93819904e-02 3.09782797e-03 9.99219426e-01 1.59239853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04255784400004 meters Centerline goodness : 0.142286 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99215182e-01 -5.05803024e-03 -3.92865991e-02 4.37832171e+00] [ 4.92848253e-03 9.99982096e-01 -3.39365362e-03 5.92976745e-01] [ 3.93030609e-02 3.19736690e-03 9.99222221e-01 1.59283433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0725578440001 meters Centerline goodness : 0.137732 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99214556e-01 -5.15861270e-03 -3.92894404e-02 4.37815775e+00] [ 5.02622298e-03 9.99981356e-01 -3.46763305e-03 5.93168092e-01] [ 3.93065961e-02 3.26743193e-03 9.99221855e-01 1.59311363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10255784400005 meters Centerline goodness : 0.148262 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99205869e-01 -5.27468547e-03 -3.94944263e-02 4.37869766e+00] [ 5.14076446e-03 9.99980690e-01 -3.49167231e-03 5.92873797e-01] [ 3.95120812e-02 3.28586792e-03 9.99213690e-01 1.59311614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1325578440001 meters Centerline goodness : 0.140423 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99191803e-01 -5.36789533e-03 -3.98362366e-02 4.37988606e+00] [ 5.23297724e-03 9.99980217e-01 -3.49031888e-03 5.92368743e-01] [ 3.98541841e-02 3.27903589e-03 9.99200126e-01 1.59262124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16255784400005 meters Centerline goodness : 0.146424 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99177579e-01 -5.37668518e-03 -4.01902554e-02 4.38155513e+00] [ 5.24191358e-03 9.99980282e-01 -3.45796874e-03 5.92298668e-01] [ 4.02080553e-02 3.24445099e-03 9.99186062e-01 1.59141779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1925578440001 meters Centerline goodness : 0.146811 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99180514e-01 -5.36880662e-03 -4.01182884e-02 4.38136253e+00] [ 5.23191181e-03 9.99980130e-01 -3.51649152e-03 5.92877529e-01] [ 4.01363706e-02 3.30371445e-03 9.99188750e-01 1.59142639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22255784400005 meters Centerline goodness : 0.151257 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99192315e-01 -5.35070958e-03 -3.98257030e-02 4.38044081e+00] [ 5.21174260e-03 9.99979966e-01 -3.59238422e-03 5.93471688e-01] [ 3.98441269e-02 3.38192140e-03 9.99200184e-01 1.59174151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2525578440001 meters Centerline goodness : 0.137226 Centerline is valid? [False, False] Translation: X:4.40, Y:0.59, Z:1.59 [[ 9.99245398e-01 2.87750413e-03 -3.87344214e-02 4.39941728e+00] [-3.08672382e-03 9.99980964e-01 -5.34266965e-03 5.91462513e-01] [ 3.87183105e-02 5.45820052e-03 9.99235258e-01 1.59430002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28255784400005 meters Centerline goodness : 0.163338 Centerline is valid? [False, False] Translation: X:4.40, Y:0.59, Z:1.59 [[ 9.99259883e-01 2.83954967e-03 -3.83617355e-02 4.39853029e+00] [-3.05952734e-03 9.99979206e-01 -5.67681067e-03 5.93086181e-01] [ 3.83448182e-02 5.78997795e-03 9.99247793e-01 1.59419599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3125578440001 meters Centerline goodness : 0.152437 Centerline is valid? [False, False] Translation: X:4.40, Y:0.59, Z:1.59 [[ 9.99262801e-01 2.84447614e-03 -3.82853032e-02 4.39866684e+00] [-3.06964662e-03 9.99978330e-01 -5.82388448e-03 5.94110882e-01] [ 3.82679076e-02 5.93711347e-03 9.99249878e-01 1.59361152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34255784400005 meters Centerline goodness : 0.150011 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:1.59 [[ 9.99264355e-01 2.86072712e-03 -3.82434885e-02 4.39883655e+00] [-3.09013636e-03 9.99977578e-01 -5.94088421e-03 5.95101831e-01] [ 3.82256357e-02 6.05469143e-03 9.99250790e-01 1.59313689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3725578440001 meters Centerline goodness : 0.164858 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:1.59 [[ 9.99270450e-01 2.77010840e-03 -3.80906077e-02 4.39848352e+00] [-3.01004889e-03 9.99975980e-01 -6.24329881e-03 5.96747991e-01] [ 3.80723982e-02 6.35339861e-03 9.99254786e-01 1.59303274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40255784400006 meters Centerline goodness : 0.165264 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:1.59 [[ 9.99269266e-01 2.70543355e-03 -3.81263095e-02 4.39859473e+00] [-2.95012653e-03 9.99975403e-01 -6.36315877e-03 5.97260502e-01] [ 3.81081566e-02 6.47098643e-03 9.99252668e-01 1.59299026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.43255784400003 meters Centerline goodness : 0.144389 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:1.59 [[ 0.99925572 -0.00490835 -0.03826112 4.41837946] [ 0.0047014 0.99997384 -0.00549691 0.6033307 ] [ 0.0382871 0.00531294 0.99925266 1.59476944] [ 0. 0. 0. 1. ]] SLAMing on 434.46255784400006 meters Centerline goodness : 0.140749 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:1.59 [[ 9.99244900e-01 2.90536105e-03 -3.87451750e-02 4.39847615e+00] [-3.16160846e-03 9.99973524e-01 -6.55402899e-03 5.98109596e-01] [ 3.87251074e-02 6.67157711e-03 9.99227630e-01 1.59281846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49255784400003 meters Centerline goodness : 0.143321 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:1.59 [[ 9.99247758e-01 2.87970601e-03 -3.86733282e-02 4.39834966e+00] [-3.13706288e-03 9.99973328e-01 -6.59560109e-03 5.98325048e-01] [ 3.86533033e-02 6.71196026e-03 9.99230140e-01 1.59271748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52255784400006 meters Centerline goodness : 0.145887 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:1.59 [[ 9.99254315e-01 2.71736556e-03 -3.85153184e-02 4.39760047e+00] [-2.96889742e-03 9.99974630e-01 -6.47500651e-03 5.97192983e-01] [ 3.84967463e-02 6.58452623e-03 9.99237031e-01 1.59326765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55255784400003 meters Centerline goodness : 0.132583 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:1.59 [[ 0.99924909 -0.0055838 -0.03834149 4.41873334] [ 0.00537079 0.99996958 -0.0056564 0.59984776] [ 0.03837191 0.00544623 0.99924869 1.59487249] [ 0. 0. 0. 1. ]] SLAMing on 434.58255784400006 meters Centerline goodness : 0.156461 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:1.59 [[ 0.99924292 -0.00585328 -0.03846198 4.41910297] [ 0.00564599 0.99996896 -0.00549579 0.59780441] [ 0.03849295 0.00527447 0.99924495 1.59483287] [ 0. 0. 0. 1. ]] SLAMing on 434.61255784400004 meters Centerline goodness : 0.153712 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:1.60 [[ 0.9992424 -0.0060829 -0.03843997 4.41894266] [ 0.00588752 0.99996918 -0.00519387 0.5951364 ] [ 0.03847038 0.00496362 0.99924741 1.59505709] [ 0. 0. 0. 1. ]] SLAMing on 434.64255784400007 meters Centerline goodness : 0.158292 Centerline is valid? [False, False] Translation: X:4.42, Y:0.59, Z:1.60 [[ 0.99923427 -0.00983624 -0.03786984 4.41710555] [ 0.00954724 0.99992396 -0.00780485 0.58900761] [ 0.03794373 0.00743732 0.9992522 1.59577781] [ 0. 0. 0. 1. ]] SLAMing on 434.67255784400004 meters Centerline goodness : 0.141806 Centerline is valid? [False, False] Translation: X:4.42, Y:0.59, Z:1.60 [[ 0.99923998 -0.0101241 -0.0376427 4.41636684] [ 0.00985175 0.99992399 -0.00741354 0.58566411] [ 0.0377149 0.00703706 0.99926376 1.59590853] [ 0. 0. 0. 1. ]] SLAMing on 434.70255784400007 meters Centerline goodness : 0.130258 Centerline is valid? [False, False] Translation: X:4.42, Y:0.58, Z:1.60 [[ 0.99923667 -0.01024168 -0.03769859 4.41657065] [ 0.00998701 0.99992606 -0.00693757 0.58245294] [ 0.03776685 0.00655578 0.99926507 1.59563167] [ 0. 0. 0. 1. ]] SLAMing on 434.73255784400004 meters Centerline goodness : 0.142318 Centerline is valid? [False, False] Translation: X:4.42, Y:0.58, Z:1.60 [[ 0.99923736 -0.01020897 -0.03768924 4.41663306] [ 0.00997477 0.99992979 -0.00639684 0.57941002] [ 0.0377519 0.00601602 0.99926903 1.5953597 ] [ 0. 0. 0. 1. ]] SLAMing on 434.76255784400007 meters Centerline goodness : 0.138657 Centerline is valid? [False, False] Translation: X:4.41, Y:0.58, Z:1.60 [[ 0.99926449 -0.01022472 -0.03695867 4.41474454] [ 0.01002019 0.99993347 -0.00571482 0.5754873 ] [ 0.03701464 0.00534028 0.99930045 1.59533126] [ 0. 0. 0. 1. ]] SLAMing on 434.79255784400004 meters Centerline goodness : 0.131108 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.60 [[ 0.99927163 -0.01012055 -0.03679373 4.41428252] [ 0.00992689 0.99993592 -0.00544232 0.5742995 ] [ 0.03684645 0.00507311 0.99930806 1.59536602] [ 0. 0. 0. 1. ]] SLAMing on 434.8225578440001 meters Centerline goodness : 0.155925 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.60 [[ 0.99927347 -0.01003958 -0.03676607 4.41408581] [ 0.00985024 0.99993729 -0.00532741 0.57389071] [ 0.03681725 0.00496139 0.9993097 1.59563195] [ 0. 0. 0. 1. ]] SLAMing on 434.85255784400005 meters Centerline goodness : 0.162690 Centerline is valid? [False, False] Translation: X:4.42, Y:0.57, Z:1.60 [[ 0.99925856 -0.00997179 -0.03718731 4.41526382] [ 0.00977898 0.9999378 -0.00536301 0.57382586] [ 0.03723847 0.00499538 0.99929392 1.59561488] [ 0. 0. 0. 1. ]] SLAMing on 434.8825578440001 meters Centerline goodness : 0.171652 Centerline is valid? [False, False] Translation: X:4.42, Y:0.57, Z:1.60 [[ 0.9992494 -0.00989542 -0.03745286 4.4160827 ] [ 0.00970257 0.99993874 -0.00532758 0.57369574] [ 0.03750328 0.00496019 0.99928419 1.59544495] [ 0. 0. 0. 1. ]] SLAMing on 434.91255784400005 meters Centerline goodness : 0.168565 Centerline is valid? [False, False] Translation: X:4.43, Y:0.57, Z:1.60 [[ 9.99252449e-01 -1.96600318e-03 -3.86092974e-02 4.43399354e+00] [ 1.74712445e-03 9.99982217e-01 -5.70199004e-03 5.68601585e-01] [ 3.86198209e-02 5.63027226e-03 9.99238114e-01 1.59745786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9425578440001 meters Centerline goodness : 0.157315 Centerline is valid? [False, False] Translation: X:4.43, Y:0.57, Z:1.60 [[ 9.99262706e-01 -1.84477192e-03 -3.83489298e-02 4.43308239e+00] [ 1.63404570e-03 9.99983399e-01 -5.52558752e-03 5.68139009e-01] [ 3.83584866e-02 5.45884963e-03 9.99249132e-01 1.59785199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.97255784400005 meters Centerline goodness : 0.129996 Centerline is valid? [False, False] Translation: X:4.45, Y:0.57, Z:1.60 [[ 9.99282537e-01 -9.41935334e-03 -3.66835991e-02 4.45208930e+00] [ 9.27274060e-03 9.99948334e-01 -4.16477485e-03 5.71660172e-01] [ 3.67209333e-02 3.82162928e-03 9.99318252e-01 1.59979072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0025578440001 meters Centerline goodness : 0.161149 Centerline is valid? [False, False] Translation: X:4.43, Y:0.56, Z:1.60 [[ 9.99372695e-01 -2.05681220e-03 -3.53551382e-02 4.43343466e+00] [ 1.86217117e-03 9.99982935e-01 -5.53735867e-03 5.62639895e-01] [ 3.53659242e-02 5.46804774e-03 9.99359471e-01 1.59713015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.03255784400005 meters Centerline goodness : 0.167711 Centerline is valid? [False, False] Translation: X:4.43, Y:0.56, Z:1.60 [[ 9.99358850e-01 -2.05053149e-03 -3.57447153e-02 4.43471625e+00] [ 1.85994445e-03 9.99983882e-01 -5.36433109e-03 5.61395401e-01] [ 3.57551389e-02 5.29440856e-03 9.99346556e-01 1.59660422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0625578440001 meters Centerline goodness : 0.159766 Centerline is valid? [False, False] Translation: X:4.46, Y:0.56, Z:1.60 [[ 9.99288904e-01 -9.58565924e-03 -3.64664552e-02 4.45562509e+00] [ 9.43585345e-03 9.99946331e-01 -4.27793526e-03 5.64996465e-01] [ 3.65055048e-02 3.93080111e-03 9.99325721e-01 1.59832678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.09255784400005 meters Centerline goodness : 0.176835 Centerline is valid? [False, False] Translation: X:4.46, Y:0.56, Z:1.60 [[ 9.99288235e-01 -9.34593713e-03 -3.65469062e-02 4.45597743e+00] [ 9.21271861e-03 9.99950297e-01 -3.81184901e-03 5.63320138e-01] [ 3.65807150e-02 3.47243951e-03 9.99324669e-01 1.59802043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1225578440001 meters Centerline goodness : 0.176835 Centerline is valid? [False, False] Translation: X:4.46, Y:0.56, Z:1.60 [[ 9.99288235e-01 -9.34593713e-03 -3.65469062e-02 4.45597743e+00] [ 9.21271861e-03 9.99950297e-01 -3.81184901e-03 5.63320138e-01] [ 3.65807150e-02 3.47243951e-03 9.99324669e-01 1.59802043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.15255784400006 meters Centerline goodness : 0.151935 Centerline is valid? [False, False] Translation: X:4.46, Y:0.56, Z:1.60 [[ 9.99292279e-01 -9.24813311e-03 -3.64611182e-02 4.45567366e+00] [ 9.12475047e-03 9.99952071e-01 -3.54890818e-03 5.62134160e-01] [ 3.64921914e-02 3.21369794e-03 9.99328771e-01 1.59810258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18255784400003 meters Centerline goodness : 0.127600 Centerline is valid? [False, False] Translation: X:4.45, Y:0.56, Z:1.60 [[ 9.99303402e-01 -9.55915264e-03 -3.60740118e-02 4.45423013e+00] [ 9.44074488e-03 9.99949479e-01 -3.45127203e-03 5.60396686e-01] [ 3.61051805e-02 3.10830234e-03 9.99343161e-01 1.59849241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.21255784400006 meters Centerline goodness : 0.149098 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.60 [[ 9.99367695e-01 -1.55643072e-03 -3.55216640e-02 4.43561375e+00] [ 1.39030132e-03 9.99987983e-01 -4.70106881e-03 5.52842852e-01] [ 3.55285540e-02 4.64871048e-03 9.99357849e-01 1.59617774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24255784400003 meters Centerline goodness : 0.168840 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.60 [[ 9.99362995e-01 -1.50135177e-03 -3.56559903e-02 4.43598964e+00] [ 1.34070216e-03 9.99988845e-01 -4.52902569e-03 5.52114359e-01] [ 3.56623922e-02 4.47833662e-03 9.99353860e-01 1.59604863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.27255784400006 meters Centerline goodness : 0.124590 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.60 [[ 9.99347886e-01 -1.65697731e-03 -3.60701574e-02 4.43743160e+00] [ 1.49248433e-03 9.99988367e-01 -4.58681044e-03 5.51986204e-01] [ 3.60773381e-02 4.52998517e-03 9.99338734e-01 1.59536844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30255784400003 meters Centerline goodness : 0.150718 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.60 [[ 9.99349020e-01 -1.71337325e-03 -3.60361121e-02 4.43743465e+00] [ 1.54729591e-03 9.99988057e-01 -4.63601994e-03 5.52007387e-01] [ 3.60436250e-02 4.57724345e-03 9.99339735e-01 1.59520186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.33255784400006 meters Centerline goodness : 0.146993 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.60 [[ 9.99349228e-01 -1.77046848e-03 -3.60275604e-02 4.43746064e+00] [ 1.60286126e-03 9.99987762e-01 -4.68054570e-03 5.52053865e-01] [ 3.60354063e-02 4.61975255e-03 9.99339836e-01 1.59511397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36255784400004 meters Centerline goodness : 0.131753 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.60 [[ 9.99349848e-01 -1.78303218e-03 -3.60097632e-02 4.43740592e+00] [ 1.61557450e-03 9.99987749e-01 -4.67890342e-03 5.52126383e-01] [ 3.60176647e-02 4.61768496e-03 9.99340485e-01 1.59510577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.39255784400007 meters Centerline goodness : 0.124596 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.59 [[ 9.99344588e-01 -1.85689839e-03 -3.61517099e-02 4.43792243e+00] [ 1.68871237e-03 9.99987613e-01 -4.68220784e-03 5.52143181e-01] [ 3.61599564e-02 4.61808923e-03 9.99335345e-01 1.59477680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42255784400004 meters Centerline goodness : 0.147832 Centerline is valid? [False, False] Translation: X:4.46, Y:0.56, Z:1.60 [[ 9.99306153e-01 -9.92729239e-03 -3.58979179e-02 4.45869675e+00] [ 9.79117816e-03 9.99944202e-01 -3.96551929e-03 5.56227555e-01] [ 3.59352817e-02 3.61128492e-03 9.99347594e-01 1.59638817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.45255784400007 meters Centerline goodness : 0.130035 Centerline is valid? [False, False] Translation: X:4.48, Y:0.55, Z:1.60 [[ 9.99379860e-01 -1.70981964e-03 -3.51706155e-02 4.47705930e+00] [ 1.53232695e-03 9.99985958e-01 -5.07295473e-03 5.52243753e-01] [ 3.51787954e-02 5.01591590e-03 9.99368447e-01 1.59814752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48255784400004 meters Centerline goodness : 0.125396 Centerline is valid? [False, False] Translation: X:4.48, Y:0.55, Z:1.60 [[ 9.99381732e-01 -1.74482174e-03 -3.51156447e-02 4.47693514e+00] [ 1.56475924e-03 9.99985491e-01 -5.15452953e-03 5.52841816e-01] [ 3.51241289e-02 5.09639512e-03 9.99369963e-01 1.59808025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.51255784400007 meters Centerline goodness : 0.151384 Centerline is valid? [False, False] Translation: X:4.48, Y:0.55, Z:1.60 [[ 9.99382347e-01 -1.79823880e-03 -3.50954646e-02 4.47685158e+00] [ 1.61215403e-03 9.99984497e-01 -5.32982381e-03 5.54121317e-01] [ 3.51045048e-02 5.26995253e-03 9.99369752e-01 1.59811458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54255784400004 meters Centerline goodness : 0.113778 Centerline is valid? [False, False] Translation: X:4.48, Y:0.56, Z:1.60 [[ 9.99384051e-01 -1.89340774e-03 -3.50418747e-02 4.47685222e+00] [ 1.69655452e-03 9.99982619e-01 -5.64653853e-03 5.56081415e-01] [ 3.50519568e-02 5.58361010e-03 9.99369893e-01 1.59790845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5725578440001 meters Centerline goodness : 0.115296 Centerline is valid? [False, False] Translation: X:4.52, Y:0.56, Z:1.60 [[ 9.99433217e-01 -1.38205672e-03 -3.36353086e-02 4.52128135e+00] [ 1.16431064e-03 9.99978246e-01 -6.49246090e-03 5.61888674e-01] [ 3.36435499e-02 6.44961914e-03 9.99413085e-01 1.59870714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60255784400005 meters Centerline goodness : 0.124480 Centerline is valid? [False, False] Translation: X:4.52, Y:0.56, Z:1.60 [[ 9.99429744e-01 -1.54442339e-03 -3.37313192e-02 4.52167687e+00] [ 1.31291916e-03 9.99975441e-01 -6.88425477e-03 5.64000751e-01] [ 3.37411230e-02 6.83604248e-03 9.99407227e-01 1.59847298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6325578440001 meters Centerline goodness : 0.119711 Centerline is valid? [False, False] Translation: X:4.52, Y:0.57, Z:1.60 [[ 9.99430156e-01 -1.65811519e-03 -3.37137177e-02 4.52173971e+00] [ 1.41665631e-03 9.99973186e-01 -7.18466271e-03 5.65729693e-01] [ 3.37247267e-02 7.13280782e-03 9.99405706e-01 1.59827213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66255784400005 meters Centerline goodness : 0.130997 Centerline is valid? [False, False] Translation: X:4.52, Y:0.57, Z:1.60 [[ 9.99430708e-01 -1.74902519e-03 -3.36927446e-02 4.52159689e+00] [ 1.50023887e-03 9.99971436e-01 -7.40783922e-03 5.67031009e-01] [ 3.37047387e-02 7.35307483e-03 9.99404784e-01 1.59839341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6925578440001 meters Centerline goodness : 0.122129 Centerline is valid? [False, False] Translation: X:4.57, Y:0.57, Z:1.60 [[ 9.99498114e-01 -1.99407866e-03 -3.16155552e-02 4.56548775e+00] [ 1.74560791e-03 9.99967391e-01 -7.88478384e-03 5.68646044e-01] [ 3.16302471e-02 7.82563821e-03 9.99469002e-01 1.59957758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72255784400005 meters Centerline goodness : 0.146686 Centerline is valid? [False, False] Translation: X:4.52, Y:0.57, Z:1.60 [[ 9.99394176e-01 -2.30282654e-03 -3.47271927e-02 4.51867725e+00] [ 2.03649402e-03 9.99968260e-01 -7.70270114e-03 5.69643680e-01] [ 3.47438284e-02 7.62731294e-03 9.99367145e-01 1.60011361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7525578440001 meters Centerline goodness : 0.120255 Centerline is valid? [False, False] Translation: X:4.54, Y:0.57, Z:1.60 [[ 0.99933458 -0.01013358 -0.03503854 4.53910739] [ 0.00989594 0.99992689 -0.006949 0.57426373] [ 0.0351064 0.00659764 0.9993618 1.60198865] [ 0. 0. 0. 1. ]] SLAMing on 435.78255784400005 meters Centerline goodness : 0.137731 Centerline is valid? [False, False] Translation: X:4.52, Y:0.57, Z:1.60 [[ 9.99349605e-01 -1.75525264e-03 -3.60178488e-02 4.51827518e+00] [ 1.47877251e-03 9.99969250e-01 -7.70140245e-03 5.71061471e-01] [ 3.60302592e-02 7.64313129e-03 9.99321471e-01 1.60061020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8125578440001 meters SLAMing on 435.84255784400005 meters Centerline goodness : 0.134507 Centerline is valid? [False, False] Translation: X:4.50, Y:0.58, Z:1.60 [[ 9.99281841e-01 -7.38601625e-03 -3.71651520e-02 4.49589758e+00] [ 7.22952261e-03 9.99964434e-01 -4.34339387e-03 5.77025043e-01] [ 3.71959105e-02 4.07158832e-03 9.99299698e-01 1.60019725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8725578440001 meters Centerline goodness : 0.133757 Centerline is valid? [False, False] Translation: X:4.54, Y:0.58, Z:1.60 [[ 9.99348584e-01 -6.16834637e-03 -3.55578163e-02 4.53914790e+00] [ 6.03040123e-03 9.99973875e-01 -3.98540494e-03 5.78837782e-01] [ 3.55814707e-02 3.76838088e-03 9.99359674e-01 1.60184627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90255784400006 meters Centerline goodness : 0.326205 Centerline is valid? [False, False] Translation: X:4.54, Y:0.58, Z:1.60 [[ 9.99351674e-01 -6.27511246e-03 -3.54521412e-02 4.53873051e+00] [ 6.12418914e-03 9.99971724e-01 -4.36409057e-03 5.80957337e-01] [ 3.54785239e-02 4.14414560e-03 9.99361847e-01 1.60210757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.93255784400003 meters Centerline goodness : 0.124359 Centerline is valid? [False, False] Translation: X:4.54, Y:0.58, Z:1.60 [[ 0.99935186 -0.00641351 -0.03542203 4.53853834] [ 0.00624755 0.99996899 -0.00479394 0.58314863] [ 0.03545167 0.00456953 0.99936094 1.60234338] [ 0. 0. 0. 1. ]] SLAMing on 435.96255784400006 meters Centerline goodness : 0.133504 Centerline is valid? [False, False] Translation: X:4.54, Y:0.59, Z:1.60 [[ 9.99344014e-01 -3.52249877e-03 -3.60434871e-02 4.54046158e+00] [ 3.44306969e-03 9.99991506e-01 -2.26553458e-03 5.85832091e-01] [ 3.60511613e-02 2.13994819e-03 9.99347654e-01 1.60183321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99255784400003 meters Centerline goodness : 0.099139 Centerline is valid? [False, False] Translation: X:4.54, Y:0.59, Z:1.60 [[ 9.99345229e-01 -3.59457248e-03 -3.60026726e-02 4.54035587e+00] [ 3.50405100e-03 9.99990540e-01 -2.57708155e-03 5.87811780e-01] [ 3.60115955e-02 2.44923895e-03 9.99348371e-01 1.60183228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02255784400006 meters Centerline goodness : 0.100453 Centerline is valid? [False, False] Translation: X:4.54, Y:0.59, Z:1.60 [[ 9.99347471e-01 -3.70028636e-03 -3.59296445e-02 4.54011792e+00] [ 3.59880657e-03 9.99989352e-01 -2.88866524e-03 5.89614645e-01] [ 3.59399508e-02 2.75747646e-03 9.99350147e-01 1.60195232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05255784400003 meters Centerline goodness : 0.100845 Centerline is valid? [False, False] Translation: X:4.54, Y:0.59, Z:1.60 [[ 9.99343515e-01 -4.03518678e-03 -3.60035593e-02 4.54013923e+00] [ 3.90964601e-03 9.99986032e-01 -3.55662156e-03 5.92569507e-01] [ 3.60174081e-02 3.41352552e-03 9.99345333e-01 1.60218460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08255784400006 meters Centerline goodness : 0.314459 Centerline is valid? [False, False] Translation: X:4.54, Y:0.59, Z:1.60 [[ 9.99337991e-01 -4.19427049e-03 -3.61384465e-02 4.54056755e+00] [ 4.05640009e-03 9.99984216e-01 -3.88753773e-03 5.94285855e-01] [ 3.61541815e-02 3.73837215e-03 9.99339232e-01 1.60201414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.11255784400004 meters Centerline goodness : 0.147899 Centerline is valid? [False, False] Translation: X:4.54, Y:0.60, Z:1.60 [[ 9.99329102e-01 -4.32922936e-03 -3.63676163e-02 4.54124839e+00] [ 4.17950557e-03 9.99982479e-01 -4.19197033e-03 5.96002248e-01] [ 3.63851271e-02 4.03715929e-03 9.99329687e-01 1.60179253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14255784400007 meters Centerline goodness : 0.327473 Centerline is valid? [False, False] Translation: X:4.54, Y:0.60, Z:1.60 [[ 9.99323891e-01 -4.48770962e-03 -3.64913888e-02 4.54163194e+00] [ 4.32684282e-03 9.99980576e-01 -4.48612818e-03 5.97579578e-01] [ 3.65108124e-02 4.32520256e-03 9.99323898e-01 1.60163185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.17255784400004 meters Centerline goodness : 0.131372 Centerline is valid? [False, False] Translation: X:4.54, Y:0.60, Z:1.60 [[ 0.99932708 -0.00481228 -0.03636254 4.54084172] [ 0.00463506 0.99997698 -0.00495627 0.59941547] [ 0.03638556 0.0047844 0.99932637 1.60238456] [ 0. 0. 0. 1. ]] SLAMing on 436.20255784400007 meters Centerline goodness : 0.097020 Centerline is valid? [False, False] Translation: X:4.54, Y:0.60, Z:1.60 [[ 0.99933293 -0.00496445 -0.03618067 4.54010643] [ 0.00478236 0.99997547 -0.00511765 0.59983964] [ 0.03620519 0.00494121 0.99933216 1.60279245] [ 0. 0. 0. 1. ]] SLAMing on 436.23255784400004 meters SLAMing on 436.26255784400007 meters Centerline goodness : 0.097389 Centerline is valid? [False, False] Translation: X:4.54, Y:0.60, Z:1.60 [[ 0.99934397 -0.00515886 -0.03584724 4.53886718] [ 0.0049681 0.99997303 -0.00540845 0.60158549] [ 0.03587417 0.00522681 0.99934265 1.60335678] [ 0. 0. 0. 1. ]] SLAMing on 436.29255784400004 meters SLAMing on 436.3225578440001 meters Centerline goodness : 0.097482 Centerline is valid? [False, False] Translation: X:4.54, Y:0.61, Z:1.60 [[ 0.99933716 -0.00556936 -0.03597522 4.53910103] [ 0.0053539 0.99996717 -0.0060826 0.6051172 ] [ 0.03600791 0.00588596 0.99933417 1.60350685] [ 0. 0. 0. 1. ]] SLAMing on 436.35255784400005 meters Centerline goodness : 0.100285 Centerline is valid? [False, False] Translation: X:4.54, Y:0.61, Z:1.60 [[ 0.99933785 -0.00567667 -0.03593949 4.53898623] [ 0.00545595 0.99996567 -0.00623671 0.60561857] [ 0.03597366 0.0060365 0.99933451 1.60352069] [ 0. 0. 0. 1. ]] SLAMing on 436.3825578440001 meters Centerline goodness : 0.170195 Centerline is valid? [False, False] Translation: X:4.54, Y:0.61, Z:1.60 [[ 0.99934162 -0.00573262 -0.03582539 4.53862924] [ 0.00550829 0.99996462 -0.00635738 0.60628298] [ 0.03586056 0.00615586 0.99933784 1.60362579] [ 0. 0. 0. 1. ]] SLAMing on 436.41255784400005 meters Centerline goodness : 0.131215 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.60 [[ 9.99401803e-01 2.61344138e-03 -3.44848762e-02 4.55756615e+00] [-2.86332192e-03 9.99969990e-01 -7.19869600e-03 6.02686798e-01] [ 3.44650279e-02 7.29313106e-03 9.99379293e-01 1.60493497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4425578440001 meters SLAMing on 436.47255784400005 meters SLAMing on 436.5025578440001 meters Centerline goodness : 0.313617 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99403779e-01 2.19433564e-03 -3.44567940e-02 4.55767779e+00] [-2.47127994e-03 9.99964971e-01 -7.99690605e-03 6.05903096e-01] [ 3.44380391e-02 8.07729052e-03 9.99374194e-01 1.60477292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.53255784400005 meters Centerline goodness : 0.093822 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99387766e-01 2.17946703e-03 -3.49191044e-02 4.55948361e+00] [-2.46732414e-03 9.99963314e-01 -8.20257251e-03 6.07779513e-01] [ 3.48999462e-02 8.28370736e-03 9.99356480e-01 1.60383011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5625578440001 meters Centerline goodness : 0.190595 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99380784e-01 2.12052786e-03 -3.51219722e-02 4.56042720e+00] [-2.41498426e-03 9.99962276e-01 -8.34352326e-03 6.08478212e-01] [ 3.51029546e-02 8.42317582e-03 9.99348204e-01 1.60317336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.59255784400005 meters Centerline goodness : 0.093971 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99378473e-01 2.03459392e-03 -3.51927289e-02 4.56080991e+00] [-2.33566371e-03 9.99961011e-01 -8.51589083e-03 6.09140118e-01] [ 3.51740305e-02 8.59279636e-03 9.99344261e-01 1.60283490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6225578440001 meters Centerline goodness : 0.151435 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99375602e-01 1.93843140e-03 -3.52795832e-02 4.56101468e+00] [-2.24636021e-03 9.99959712e-01 -8.69070035e-03 6.09841579e-01] [ 3.52613156e-02 8.76452455e-03 9.99339693e-01 1.60284721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.65255784400006 meters Centerline goodness : 0.091479 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99372646e-01 1.87675693e-03 -3.53665542e-02 4.56131381e+00] [-2.19153040e-03 9.99958316e-01 -8.86365219e-03 6.10839398e-01] [ 3.53484450e-02 8.93559842e-03 9.99335100e-01 1.60271270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.68255784400003 meters SLAMing on 436.71255784400006 meters Centerline goodness : 0.188026 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99363243e-01 1.61475588e-03 -3.56440776e-02 4.56219158e+00] [-1.95818861e-03 9.99951980e-01 -9.60225108e-03 6.14905731e-01] [ 3.56268607e-02 9.66593461e-03 9.99318416e-01 1.60256120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74255784400003 meters Centerline goodness : 0.120517 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99363813e-01 1.44461916e-03 -3.56354119e-02 4.56225071e+00] [-1.80050440e-03 9.99948809e-01 -9.95677391e-03 6.16503411e-01] [ 3.56192040e-02 1.00146013e-02 9.99315256e-01 1.60244728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.77255784400006 meters Centerline goodness : 0.151411 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99361492e-01 1.19587974e-03 -3.57096423e-02 4.56268341e+00] [-1.57398527e-03 9.99942981e-01 -1.05620973e-02 6.19574784e-01] [ 3.56949752e-02 1.06115597e-02 9.99306391e-01 1.60211723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80255784400003 meters Centerline goodness : 0.130650 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99359147e-01 1.13564263e-03 -3.57771781e-02 4.56293125e+00] [-1.52128889e-03 9.99941020e-01 -1.07537357e-02 6.20905580e-01] [ 3.57628555e-02 1.08012716e-02 9.99301932e-01 1.60198635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.83255784400006 meters Centerline goodness : 0.151097 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.99932572 -0.00673501 -0.03609348 4.58288066] [ 0.00640056 0.99993558 -0.0093737 0.62486013] [ 0.03615428 0.00913636 0.99930446 1.60452915] [ 0. 0. 0. 1. ]] SLAMing on 436.86255784400004 meters Centerline goodness : 0.152733 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.99932711 -0.00679128 -0.03604452 4.58271527] [ 0.00645691 0.99993511 -0.0093851 0.62485042] [ 0.03610592 0.00914605 0.99930612 1.60452453] [ 0. 0. 0. 1. ]] SLAMing on 436.89255784400007 meters Centerline goodness : 0.160515 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.99932668 -0.0069066 -0.03603449 4.58262066] [ 0.00657471 0.99993495 -0.00932077 0.62396102] [ 0.03609652 0.00907758 0.99930708 1.60454619] [ 0. 0. 0. 1. ]] SLAMing on 436.92255784400004 meters Centerline goodness : 0.187195 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99354674e-01 6.52324112e-04 -3.59139335e-02 4.56185060e+00] [-1.04004421e-03 9.99941373e-01 -1.07781894e-02 6.19273256e-01] [ 3.59047971e-02 1.08085860e-02 9.99296763e-01 1.60230672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.95255784400007 meters Centerline goodness : 0.102637 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99352429e-01 4.40798228e-04 -3.59795555e-02 4.56232417e+00] [-8.21726279e-04 9.99943764e-01 -1.05732466e-02 6.17644341e-01] [ 3.59728715e-02 1.05959650e-02 9.99296592e-01 1.60162725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98255784400004 meters Centerline goodness : 0.166939 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99353330e-01 5.08299026e-04 -3.59536271e-02 4.56243435e+00] [-8.81588719e-04 9.99945868e-01 -1.03674411e-02 6.16837590e-01] [ 3.59464111e-02 1.03924331e-02 9.99299681e-01 1.60132485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.01255784400007 meters Centerline goodness : 0.166939 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99353330e-01 5.08299026e-04 -3.59536271e-02 4.56243435e+00] [-8.81588719e-04 9.99945868e-01 -1.03674411e-02 6.16837590e-01] [ 3.59464111e-02 1.03924331e-02 9.99299681e-01 1.60132485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04255784400004 meters Centerline goodness : 0.172499 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99358373e-01 5.65808137e-04 -3.58123099e-02 4.56199828e+00] [-9.30245686e-04 9.99947948e-01 -1.01604764e-02 6.15727740e-01] [ 3.58046970e-02 1.01872714e-02 9.99306881e-01 1.60137199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0725578440001 meters Centerline goodness : 0.169307 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99368200e-01 4.51611056e-04 -3.55386676e-02 4.56095508e+00] [-8.11384344e-04 9.99948567e-01 -1.01096611e-02 6.14471879e-01] [ 3.55322741e-02 1.01321093e-02 9.99317166e-01 1.60186946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10255784400005 meters Centerline goodness : 0.183407 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99369822e-01 4.42784601e-04 -3.54931508e-02 4.56064906e+00] [-8.05060535e-04 9.99947723e-01 -1.01932835e-02 6.15064596e-01] [ 3.54867819e-02 1.02154341e-02 9.99317934e-01 1.60219300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1325578440001 meters Centerline goodness : 0.163840 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.99941435 -0.00515835 -0.03382831 4.5822685 ] [ 0.00493218 0.99996495 -0.00676562 0.61579106] [ 0.03386202 0.00659481 0.99940476 1.60279206] [ 0. 0. 0. 1. ]] SLAMing on 437.16255784400005 meters Centerline goodness : 0.177490 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.999417 -0.0051981 -0.03374388 4.58185895] [ 0.00496491 0.99996324 -0.0069908 0.61724813] [ 0.03377898 0.00681919 0.99940606 1.6031907 ] [ 0. 0. 0. 1. ]] SLAMing on 437.1925578440001 meters Centerline goodness : 0.164067 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.99941941 -0.00524413 -0.0336652 4.58154627] [ 0.00500432 0.99996153 -0.00720377 0.61849245] [ 0.03370168 0.00703112 0.9994072 1.60340506] [ 0. 0. 0. 1. ]] SLAMing on 437.22255784400005 meters Centerline goodness : 0.178041 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.9994297 -0.00541288 -0.03333123 4.58040585] [ 0.00515964 0.9999572 -0.00767912 0.62066012] [ 0.03337137 0.00750276 0.99941486 1.60398015] [ 0. 0. 0. 1. ]] SLAMing on 437.2525578440001 meters Centerline goodness : 0.145067 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.99943164 -0.00551654 -0.03325603 4.57992006] [ 0.00525541 0.99995471 -0.00793442 0.62188027] [ 0.03329829 0.00775513 0.99941537 1.60444588] [ 0. 0. 0. 1. ]] SLAMing on 437.28255784400005 meters Centerline goodness : 0.164927 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.9994311 -0.00559636 -0.03325904 4.57978814] [ 0.00532796 0.99995257 -0.0081531 0.62306588] [ 0.03330309 0.00797125 0.99941351 1.60466965] [ 0. 0. 0. 1. ]] SLAMing on 437.3125578440001 meters Centerline goodness : 0.169070 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99438482e-01 -2.83622035e-03 -3.33867619e-02 4.58000404e+00] [ 2.65886871e-03 9.99982126e-01 -5.35523475e-03 6.23763380e-01] [ 3.34013538e-02 5.26345668e-03 9.99428159e-01 1.60463668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34255784400005 meters Centerline goodness : 0.174712 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99430316e-01 -2.87552101e-03 -3.36269980e-02 4.58085725e+00] [ 2.69207251e-03 9.99981255e-01 -5.49939751e-03 6.24764907e-01] [ 3.36421813e-02 5.40573828e-03 9.99419322e-01 1.60422476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3725578440001 meters Centerline goodness : 0.169812 Centerline is valid? [False, False] Translation: X:4.58, Y:0.63, Z:1.60 [[ 9.99420417e-01 -2.99739300e-03 -3.39093790e-02 4.58186877e+00] [ 2.80443345e-03 9.99979613e-01 -5.73657938e-03 6.26120460e-01] [ 3.39258825e-02 5.63815795e-03 9.99408448e-01 1.60370719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40255784400006 meters Centerline goodness : 0.157715 Centerline is valid? [False, False] Translation: X:4.58, Y:0.63, Z:1.60 [[ 9.99417704e-01 -3.06096537e-03 -3.39835663e-02 4.58222994e+00] [ 2.86464248e-03 9.99978936e-01 -5.82418215e-03 6.26495749e-01] [ 3.40006781e-02 5.72343998e-03 9.99405421e-01 1.60338101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.43255784400003 meters Centerline goodness : 0.161462 Centerline is valid? [False, False] Translation: X:4.58, Y:0.63, Z:1.60 [[ 9.99409807e-01 -3.10727701e-03 -3.42108578e-02 4.58304249e+00] [ 2.91036360e-03 9.99978920e-01 -5.80416863e-03 6.26251040e-01] [ 3.42281718e-02 5.70117702e-03 9.99397783e-01 1.60294756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46255784400006 meters Centerline goodness : 0.162582 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99391968e-01 -3.41543782e-03 -3.46991353e-02 4.58465876e+00] [ 3.21699507e-03 9.99978160e-01 -5.77317544e-03 6.24783672e-01] [ 3.47180954e-02 5.65803822e-03 9.99381129e-01 1.60214848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49255784400003 meters Centerline goodness : 0.089976 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99395785e-01 -3.40410359e-03 -3.45901321e-02 4.58438144e+00] [ 3.21267462e-03 9.99979225e-01 -5.58828141e-03 6.23559185e-01] [ 3.46084366e-02 5.47377805e-03 9.99385958e-01 1.60208477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52255784400006 meters Centerline goodness : 0.152589 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99397714e-01 -3.33648254e-03 -3.45409348e-02 4.58405192e+00] [ 3.15218012e-03 9.99980512e-01 -5.38884979e-03 6.22548711e-01] [ 3.45582414e-02 5.27672491e-03 9.99388755e-01 1.60235131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55255784400003 meters Centerline goodness : 0.095134 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99401912e-01 -3.27230154e-03 -3.44254245e-02 4.58358009e+00] [ 3.09215889e-03 9.99981255e-01 -5.28477712e-03 6.22297360e-01] [ 3.44420726e-02 5.17516748e-03 9.99393297e-01 1.60260574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58255784400006 meters Centerline goodness : 0.117102 Centerline is valid? [False, False] Translation: X:4.54, Y:0.63, Z:1.60 [[ 9.99335210e-01 -2.38350664e-03 -3.63793521e-02 4.53610201e+00] [ 2.21073584e-03 9.99986091e-01 -4.78863189e-03 6.26214041e-01] [ 3.63902598e-02 4.70502332e-03 9.99326579e-01 1.60292697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.61255784400004 meters Centerline goodness : 0.161080 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99399507e-01 -2.02545280e-03 -3.45908030e-02 4.57910936e+00] [ 1.87870465e-03 9.99989100e-01 -4.27437954e-03 6.23323396e-01] [ 3.45990835e-02 4.20682690e-03 9.99392418e-01 1.60474949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64255784400007 meters Centerline goodness : 0.152137 Centerline is valid? [False, False] Translation: X:4.58, Y:0.63, Z:1.61 [[ 9.99417273e-01 2.03148286e-04 -3.41331623e-02 4.57688434e+00] [-2.89759735e-04 9.99996751e-01 -2.53253002e-03 6.27105704e-01] [ 3.41325369e-02 2.54094466e-03 9.99414085e-01 1.60585332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.67255784400004 meters Centerline goodness : 0.163893 Centerline is valid? [False, False] Translation: X:4.58, Y:0.63, Z:1.61 [[ 9.99406081e-01 1.74637532e-04 -3.44594639e-02 4.57775856e+00] [-2.73852199e-04 9.99995831e-01 -2.87447157e-03 6.29330659e-01] [ 3.44588183e-02 2.88220116e-03 9.99401963e-01 1.60581538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70255784400007 meters Centerline goodness : 0.159311 Centerline is valid? [False, False] Translation: X:4.58, Y:0.63, Z:1.61 [[ 9.99401856e-01 9.21639676e-05 -3.45821077e-02 4.57805841e+00] [-2.05245134e-04 9.99994644e-01 -3.26639703e-03 6.31664342e-01] [ 3.45816215e-02 3.27154106e-03 9.99396522e-01 1.60588215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.73255784400004 meters Centerline goodness : 0.109317 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.61 [[ 9.99413412e-01 1.62210408e-05 -3.42466222e-02 4.57694154e+00] [-1.53730207e-04 9.99991938e-01 -4.01263283e-03 6.36478333e-01] [ 3.42462810e-02 4.01554381e-03 9.99405357e-01 1.60646743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76255784400007 meters Centerline goodness : 0.088025 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.61 [[ 9.99415039e-01 -1.41228503e-04 -3.41988159e-02 4.57653611e+00] [-1.14210104e-05 9.99990039e-01 -4.46335411e-03 6.38823446e-01] [ 3.41991056e-02 4.46113381e-03 9.99405083e-01 1.60700749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.79255784400004 meters Centerline goodness : 0.155048 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.61 [[ 9.99417599e-01 -2.93498292e-04 -3.41229779e-02 4.57632609e+00] [ 1.27326349e-04 9.99988124e-01 -4.87186708e-03 6.40934147e-01] [ 3.41240025e-02 4.86468495e-03 9.99405767e-01 1.60706208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8225578440001 meters Centerline goodness : 0.120709 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.61 [[ 9.99413909e-01 -4.01654623e-04 -3.42297578e-02 4.57681640e+00] [ 2.24196243e-04 9.99986517e-01 -5.18801112e-03 6.42677143e-01] [ 3.42313801e-02 5.17729629e-03 9.99400524e-01 1.60675742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.85255784400005 meters Centerline goodness : 0.119003 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.61 [[ 9.99409107e-01 -4.55116493e-04 -3.43690297e-02 4.57734798e+00] [ 2.71136525e-04 9.99985611e-01 -5.35754525e-03 6.43712033e-01] [ 3.43709735e-02 5.34506082e-03 9.99394850e-01 1.60647034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8825578440001 meters Centerline goodness : 0.098037 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99416015e-01 -5.58678647e-04 -3.41660300e-02 4.57652846e+00] [ 3.67723582e-04 9.99984280e-01 -5.59506118e-03 6.45052913e-01] [ 3.41686188e-02 5.57923010e-03 9.99400509e-01 1.60692734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.91255784400005 meters Centerline goodness : 0.136189 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99419750e-01 -6.16504017e-04 -3.40555787e-02 4.57582600e+00] [ 4.20534469e-04 9.99983315e-01 -5.76126688e-03 6.45982628e-01] [ 3.40585623e-02 5.74360236e-03 9.99403335e-01 1.60762221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9425578440001 meters Centerline goodness : 0.134033 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99418193e-01 -6.81438873e-04 -3.41000079e-02 4.57570973e+00] [ 4.77839396e-04 9.99982015e-01 -5.97845115e-03 6.47124990e-01] [ 3.41034685e-02 5.95867852e-03 9.99400544e-01 1.60804590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.97255784400005 meters Centerline goodness : 0.122146 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99414767e-01 -7.68307494e-04 -3.41984256e-02 4.57600025e+00] [ 5.54479917e-04 9.99980242e-01 -6.26160103e-03 6.48538944e-01] [ 3.42025607e-02 6.23897420e-03 9.99395447e-01 1.60804924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0025578440001 meters Centerline goodness : 0.115733 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99409230e-01 -9.06788064e-04 -3.43565072e-02 4.57650106e+00] [ 6.79541972e-04 9.99977821e-01 -6.62545328e-03 6.50118341e-01] [ 3.43617531e-02 6.59819246e-03 9.99387679e-01 1.60790798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.03255784400005 meters Centerline goodness : 0.098390 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99415126e-01 -1.07210065e-03 -3.41797816e-02 4.57590423e+00] [ 8.27612422e-04 9.99973979e-01 -7.16635299e-03 6.52677496e-01] [ 3.41865752e-02 7.13387396e-03 9.99390007e-01 1.60824192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0625578440001 meters Centerline goodness : 0.158936 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99413597e-01 -1.14725306e-03 -3.42220113e-02 4.57583621e+00] [ 8.92501617e-04 9.99971787e-01 -7.45842901e-03 6.54339696e-01] [ 3.42296025e-02 7.42351216e-03 9.99386425e-01 1.60855687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.09255784400005 meters Centerline goodness : 0.126095 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.61 [[ 9.99409802e-01 -1.22352346e-03 -3.43300323e-02 4.57592947e+00] [ 9.58125777e-04 9.99969539e-01 -7.74615941e-03 6.56042622e-01] [ 3.43384641e-02 7.70869515e-03 9.99380531e-01 1.60884711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1225578440001 meters Centerline goodness : 0.172054 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.61 [[ 9.99402203e-01 -1.31856152e-03 -3.45470319e-02 4.57640777e+00] [ 1.04051916e-03 9.99966936e-01 -8.06497037e-03 6.57953648e-01] [ 3.45565238e-02 8.02420231e-03 9.99370531e-01 1.60898959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.15255784400006 meters Centerline goodness : 0.129029 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.61 [[ 9.99383553e-01 -1.45120138e-03 -3.50771846e-02 4.57792185e+00] [ 1.14982853e-03 9.99962269e-01 -8.61035179e-03 6.61281551e-01] [ 3.50883565e-02 8.56471121e-03 9.99347514e-01 1.60872014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18255784400003 meters Centerline goodness : 0.147829 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.61 [[ 9.99379954e-01 -1.56452723e-03 -3.51747063e-02 4.57822640e+00] [ 1.25048633e-03 9.99959182e-01 -8.94825958e-03 6.63184693e-01] [ 3.51872703e-02 8.89872576e-03 9.99341117e-01 1.60864233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.21255784400006 meters Centerline goodness : 0.150373 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.61 [[ 9.99380161e-01 -1.70534819e-03 -3.51622833e-02 4.57830729e+00] [ 1.37804488e-03 9.99955520e-01 -9.33049817e-03 6.65210624e-01] [ 3.51766311e-02 9.27625955e-03 9.99338059e-01 1.60851350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24255784400003 meters Centerline goodness : 0.118424 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.61 [[ 9.99381058e-01 -1.88162091e-03 -3.51277608e-02 4.57831631e+00] [ 1.53763410e-03 9.99950631e-01 -9.81689752e-03 6.67716775e-01] [ 3.51444982e-02 9.75680779e-03 9.99334613e-01 1.60843015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.27255784400006 meters Centerline goodness : 0.152850 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.61 [[ 9.99381935e-01 -2.10688199e-03 -3.50900184e-02 4.57821643e+00] [ 1.74281949e-03 9.99944374e-01 -1.04024589e-02 6.70697060e-01] [ 3.51099832e-02 1.03348740e-02 9.99330015e-01 1.60851632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30255784400003 meters Centerline goodness : 0.157943 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.61 [[ 9.99397675e-01 1.29631731e-03 -3.46786181e-02 4.57729091e+00] [-1.56396298e-03 9.99969194e-01 -7.69187480e-03 6.75564834e-01] [ 3.46675787e-02 7.74147786e-03 9.99368915e-01 1.60849551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.33255784400006 meters Centerline goodness : 0.131154 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.61 [[ 9.99394536e-01 1.08039018e-03 -3.47763513e-02 4.57760914e+00] [-1.36997877e-03 9.99964579e-01 -8.30441861e-03 6.78946694e-01] [ 3.47661475e-02 8.34703345e-03 9.99360617e-01 1.60843924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36255784400004 meters Centerline goodness : 0.151797 Centerline is valid? [False, False] Translation: X:4.60, Y:0.68, Z:1.61 [[ 0.99938397 -0.00536995 -0.03468213 4.60063416] [ 0.00517523 0.99997035 -0.00570175 0.68286547] [ 0.03471172 0.00551875 0.99938213 1.60878737] [ 0. 0. 0. 1. ]] SLAMing on 438.39255784400007 meters Centerline goodness : 0.119151 Centerline is valid? [False, False] Translation: X:4.60, Y:0.69, Z:1.61 [[ 0.99937738 -0.00566289 -0.03482505 4.60107141] [ 0.00544414 0.99996487 -0.00637301 0.68645495] [ 0.03485992 0.00617945 0.9993731 1.60870592] [ 0. 0. 0. 1. ]] SLAMing on 438.42255784400004 meters Centerline goodness : 0.150693 Centerline is valid? [False, False] Translation: X:4.60, Y:0.69, Z:1.61 [[ 0.99938259 -0.00582804 -0.03464771 4.6006885 ] [ 0.00560583 0.99996312 -0.00650708 0.68659001] [ 0.03468436 0.00630883 0.9993784 1.60856597] [ 0. 0. 0. 1. ]] SLAMing on 438.45255784400007 meters Centerline goodness : 0.141095 Centerline is valid? [False, False] Translation: X:4.60, Y:0.69, Z:1.61 [[ 0.99939305 -0.006014 -0.03431272 4.59989057] [ 0.00579215 0.9999617 -0.00656141 0.68620017] [ 0.03435087 0.00635869 0.99938961 1.6084176 ] [ 0. 0. 0. 1. ]] SLAMing on 438.48255784400004 meters Centerline goodness : 0.154047 Centerline is valid? [False, False] Translation: X:4.60, Y:0.69, Z:1.61 [[ 0.99940194 -0.00613813 -0.03403061 4.59916421] [ 0.00591962 0.99996124 -0.00651809 0.68553849] [ 0.0340693 0.00631275 0.99939954 1.60836437] [ 0. 0. 0. 1. ]] SLAMing on 438.51255784400007 meters Centerline goodness : 0.146142 Centerline is valid? [False, False] Translation: X:4.55, Y:0.69, Z:1.61 [[ 0.99930576 -0.00612951 -0.0367482 4.55385581] [ 0.00587854 0.99995868 -0.0069336 0.68865466] [ 0.03678918 0.00671276 0.9993005 1.60786432] [ 0. 0. 0. 1. ]] SLAMing on 438.54255784400004 meters Centerline goodness : 0.130324 Centerline is valid? [False, False] Translation: X:4.56, Y:0.69, Z:1.61 [[ 0.99928247 -0.00629391 -0.03734867 4.55579532] [ 0.00604497 0.99995878 -0.00677439 0.68731041] [ 0.03738977 0.00654375 0.99927933 1.60704116] [ 0. 0. 0. 1. ]] SLAMing on 438.5725578440001 meters Centerline goodness : 0.145922 Centerline is valid? [False, False] Translation: X:4.56, Y:0.69, Z:1.61 [[ 0.99928283 -0.00627097 -0.03734291 4.55585232] [ 0.00602677 0.99995974 -0.00664847 0.68646498] [ 0.0373831 0.00641864 0.99928039 1.60687749] [ 0. 0. 0. 1. ]] SLAMing on 438.60255784400005 meters Centerline goodness : 0.128175 Centerline is valid? [False, False] Translation: X:4.56, Y:0.69, Z:1.61 [[ 0.99928494 -0.00622259 -0.0372947 4.55557782] [ 0.00598214 0.99996062 -0.00655546 0.68603362] [ 0.03733402 0.00632767 0.99928281 1.60709708] [ 0. 0. 0. 1. ]] SLAMing on 438.6325578440001 meters Centerline goodness : 0.122060 Centerline is valid? [False, False] Translation: X:4.55, Y:0.68, Z:1.61 [[ 9.99332583e-01 -2.52226673e-03 -3.64421005e-02 4.55322592e+00] [ 2.42302567e-03 9.99993236e-01 -2.76716122e-03 6.84810539e-01] [ 3.64488335e-02 2.67701423e-03 9.99331935e-01 1.60727720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66255784400005 meters Centerline goodness : 0.125816 Centerline is valid? [False, False] Translation: X:4.55, Y:0.68, Z:1.61 [[ 9.99334338e-01 -2.48784682e-03 -3.63963153e-02 4.55304638e+00] [ 2.38914164e-03 9.99993350e-01 -2.75519645e-03 6.84736428e-01] [ 3.64029278e-02 2.66640647e-03 9.99333637e-01 1.60743112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6925578440001 meters Centerline goodness : 0.126415 Centerline is valid? [False, False] Translation: X:4.53, Y:0.68, Z:1.60 [[ 9.99308674e-01 5.72895121e-03 -3.67335441e-02 4.53320708e+00] [-5.89543476e-03 9.99972829e-01 -4.42547918e-03 6.81123462e-01] [ 3.67071927e-02 4.63897994e-03 9.99315297e-01 1.60489342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72255784400005 meters Centerline goodness : 0.128825 Centerline is valid? [False, False] Translation: X:4.53, Y:0.68, Z:1.60 [[ 9.99305319e-01 5.69009071e-03 -3.68307227e-02 4.53341077e+00] [-5.85630815e-03 9.99973142e-01 -4.40670142e-03 6.80268764e-01] [ 3.68046589e-02 4.61933223e-03 9.99311803e-01 1.60491304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7525578440001 meters Centerline goodness : 0.127550 Centerline is valid? [False, False] Translation: X:4.55, Y:0.68, Z:1.61 [[ 9.99319615e-01 -2.58469552e-03 -3.67916655e-02 4.55302396e+00] [ 2.46882828e-03 9.99991850e-01 -3.19436303e-03 6.80725212e-01] [ 3.67996221e-02 3.10135733e-03 9.99317852e-01 1.60697558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78255784400005 meters Centerline goodness : 0.129340 Centerline is valid? [False, False] Translation: X:4.55, Y:0.68, Z:1.61 [[ 9.99323427e-01 -2.38709848e-03 -3.67013497e-02 4.55262305e+00] [ 2.28799373e-03 9.99993623e-01 -2.74206610e-03 6.78549831e-01] [ 3.67076613e-02 2.65623844e-03 9.99322517e-01 1.60717442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8125578440001 meters Centerline goodness : 0.148439 Centerline is valid? [False, False] Translation: X:4.55, Y:0.67, Z:1.61 [[ 9.99336452e-01 -2.04415714e-03 -3.63658917e-02 4.55166390e+00] [ 1.98821211e-03 9.99996784e-01 -1.57448985e-03 6.71895964e-01] [ 3.63689933e-02 1.50114200e-03 9.99337302e-01 1.60713610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84255784400005 meters Centerline goodness : 0.130272 Centerline is valid? [False, False] Translation: X:4.55, Y:0.67, Z:1.61 [[ 9.99337592e-01 -1.90763128e-03 -3.63419723e-02 4.55168095e+00] [ 1.87585349e-03 9.99997828e-01 -9.08487688e-04 6.67839442e-01] [ 3.63436265e-02 8.39713682e-04 9.99338999e-01 1.60685957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8725578440001 meters Centerline goodness : 0.106854 Centerline is valid? [False, False] Translation: X:4.55, Y:0.66, Z:1.61 [[ 9.99337887e-01 -1.72493199e-03 -3.63429875e-02 4.55165479e+00] [ 1.72012769e-03 9.99998507e-01 -1.63460513e-04 6.63537659e-01] [ 3.63432152e-02 1.00837704e-04 9.99339362e-01 1.60671113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90255784400006 meters Centerline goodness : 0.126322 Centerline is valid? [False, False] Translation: X:4.55, Y:0.66, Z:1.61 [[ 9.99332243e-01 -1.53512623e-03 -3.65063082e-02 4.55207666e+00] [ 1.55594351e-03 9.99998643e-01 5.41834242e-04 6.59717981e-01] [ 3.65054269e-02 -5.98274182e-04 9.99333276e-01 1.60650322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.93255784400003 meters Centerline goodness : 0.126322 Centerline is valid? [False, False] Translation: X:4.55, Y:0.66, Z:1.61 [[ 9.99332243e-01 -1.53512623e-03 -3.65063082e-02 4.55207666e+00] [ 1.55594351e-03 9.99998643e-01 5.41834242e-04 6.59717981e-01] [ 3.65054269e-02 -5.98274182e-04 9.99333276e-01 1.60650322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96255784400006 meters Centerline goodness : 0.142003 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99330264e-01 -1.00290038e-03 -3.65789103e-02 4.55194489e+00] [ 1.06832921e-03 9.99997864e-01 1.76920176e-03 6.54082191e-01] [ 3.65770578e-02 -1.80709518e-03 9.99329202e-01 1.60681755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99255784400003 meters Centerline goodness : 0.130915 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99333683e-01 -8.63907927e-04 -3.64889595e-02 4.55141972e+00] [ 9.40650624e-04 9.99997382e-01 2.08606077e-03 6.52560114e-01] [ 3.64870618e-02 -2.11899415e-03 9.99331879e-01 1.60727406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02255784400006 meters Centerline goodness : 0.140476 Centerline is valid? [False, False] Translation: X:4.57, Y:0.65, Z:1.61 [[ 9.99354874e-01 7.00644478e-03 -3.52242135e-02 4.57008333e+00] [-6.97048145e-03 9.99975052e-01 1.14368405e-03 6.45588724e-01] [ 3.52313479e-02 -8.97416503e-04 9.99378780e-01 1.60909158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05255784400003 meters Centerline goodness : 0.138005 Centerline is valid? [False, False] Translation: X:4.57, Y:0.64, Z:1.61 [[ 9.99373954e-01 7.20763858e-03 -3.46373963e-02 4.56825971e+00] [-7.16035050e-03 9.99973256e-01 1.48908473e-03 6.43915167e-01] [ 3.46472027e-02 -1.24013660e-03 9.99398836e-01 1.60961121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08255784400006 meters Centerline goodness : 0.103553 Centerline is valid? [False, False] Translation: X:4.57, Y:0.64, Z:1.61 [[ 9.99374897e-01 7.28872123e-03 -3.45932039e-02 4.56829311e+00] [-7.23423373e-03 9.99972388e-01 1.69999809e-03 6.42768210e-01] [ 3.46046395e-02 -1.44868009e-03 9.99400030e-01 1.60934362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.11255784400004 meters Centerline goodness : 0.113260 Centerline is valid? [False, False] Translation: X:4.57, Y:0.64, Z:1.61 [[ 9.99371659e-01 7.39665233e-03 -3.46637762e-02 4.56869676e+00] [-7.33159379e-03 9.99971116e-01 2.00357984e-03 6.41115193e-01] [ 3.46775948e-02 -1.74818018e-03 9.99397022e-01 1.60892179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14255784400007 meters Centerline goodness : 0.129874 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99362047e-01 -7.11825023e-04 -3.57070405e-02 4.54970194e+00] [ 8.26336885e-04 9.99994563e-01 3.19232751e-03 6.45072028e-01] [ 3.57045740e-02 -3.21979700e-03 9.99357202e-01 1.60732485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.17255784400004 meters Centerline goodness : 0.166852 Centerline is valid? [False, False] Translation: X:4.55, Y:0.64, Z:1.61 [[ 9.99353158e-01 -5.92356272e-04 -3.59571221e-02 4.55029785e+00] [ 7.17600559e-04 9.99993721e-01 3.47035095e-03 6.43789357e-01] [ 3.59548406e-02 -3.49390903e-03 9.99347308e-01 1.60729344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20255784400007 meters Centerline goodness : 0.169325 Centerline is valid? [False, False] Translation: X:4.55, Y:0.64, Z:1.61 [[ 9.99344908e-01 -4.65315203e-04 -3.61875442e-02 4.55080614e+00] [ 5.99064155e-04 9.99993030e-01 3.68523911e-03 6.43072822e-01] [ 3.61855771e-02 -3.70450360e-03 9.99338221e-01 1.60738510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.23255784400004 meters Centerline goodness : 0.174218 Centerline is valid? [False, False] Translation: X:4.55, Y:0.64, Z:1.61 [[ 9.99343213e-01 -3.26205052e-04 -3.62358305e-02 4.55074989e+00] [ 4.65723859e-04 9.99992511e-01 3.84192570e-03 6.42685663e-01] [ 3.62343059e-02 -3.85627826e-03 9.99335882e-01 1.60768679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26255784400007 meters Centerline goodness : 0.097029 Centerline is valid? [False, False] Translation: X:4.55, Y:0.64, Z:1.61 [[ 9.99347510e-01 -3.30891190e-04 -3.61170998e-02 4.55026382e+00] [ 4.65546117e-04 9.99992973e-01 3.71994120e-03 6.43375054e-01] [ 3.61156151e-02 -3.73432815e-03 9.99340641e-01 1.60801955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.29255784400004 meters Centerline goodness : 0.100679 Centerline is valid? [False, False] Translation: X:4.55, Y:0.64, Z:1.61 [[ 9.99354207e-01 -3.02069973e-04 -3.59315580e-02 4.54960019e+00] [ 4.29978389e-04 9.99993599e-01 3.55210516e-03 6.44575579e-01] [ 3.59302550e-02 -3.56526103e-03 9.99347940e-01 1.60838933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3225578440001 meters Centerline goodness : 0.141354 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99346936e-01 1.96854545e-04 -3.61339677e-02 4.55027491e+00] [-7.38928381e-05 9.99994203e-01 3.40424345e-03 6.47411656e-01] [ 3.61344283e-02 -3.39935022e-03 9.99341157e-01 1.60826768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.35255784400005 meters Centerline goodness : 0.177783 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99342663e-01 1.81380499e-04 -3.62520190e-02 4.55058314e+00] [-7.10600780e-05 9.99995363e-01 3.04441777e-03 6.49503362e-01] [ 3.62524031e-02 -3.03984049e-03 9.99338042e-01 1.60835632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3825578440001 meters Centerline goodness : 0.127046 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99332776e-01 1.82127710e-04 -3.65235582e-02 4.55117279e+00] [-8.50272199e-05 9.99996458e-01 2.66010711e-03 6.51867812e-01] [ 3.65239134e-02 -2.65522673e-03 9.99329252e-01 1.60852752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.41255784400005 meters Centerline goodness : 0.141600 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99331976e-01 2.16573668e-04 -3.65452487e-02 4.55112676e+00] [-1.34993863e-04 9.99997494e-01 2.23474855e-03 6.54648512e-01] [ 3.65456411e-02 -2.22832230e-03 9.99329501e-01 1.60876059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4425578440001 meters Centerline goodness : 0.129389 Centerline is valid? [False, False] Translation: X:4.55, Y:0.66, Z:1.61 [[ 9.99331696e-01 3.91291999e-03 -3.63434971e-02 4.55056947e+00] [-3.73331981e-03 9.99980489e-01 5.00829137e-03 6.60171829e-01] [ 3.63623851e-02 -4.86926242e-03 9.99326807e-01 1.60895770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.47255784400005 meters Centerline goodness : 0.114833 Centerline is valid? [False, False] Translation: X:4.55, Y:0.66, Z:1.61 [[ 9.99327471e-01 3.84134778e-03 -3.64671066e-02 4.55080259e+00] [-3.68400574e-03 9.99983618e-01 4.38084424e-03 6.63839999e-01] [ 3.64833376e-02 -4.24355296e-03 9.99325252e-01 1.60912606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5025578440001 meters Centerline goodness : 0.128366 Centerline is valid? [False, False] Translation: X:4.53, Y:0.67, Z:1.61 [[ 9.99361278e-01 -1.94699265e-03 -3.56825558e-02 4.52830936e+00] [ 2.18221467e-03 9.99976139e-01 6.55431351e-03 6.72018227e-01] [ 3.56689431e-02 -6.62799412e-03 9.99341681e-01 1.60810514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.53255784400005 meters Centerline goodness : 0.097579 Centerline is valid? [False, False] Translation: X:4.55, Y:0.67, Z:1.61 [[ 0.99935998 0.00641721 -0.03519161 4.54939017] [-0.00623143 0.99996608 0.00538649 0.67171314] [ 0.03522498 -0.00516374 0.99936607 1.6095442 ] [ 0. 0. 0. 1. ]] SLAMing on 439.5625578440001 meters Centerline goodness : 0.118336 Centerline is valid? [False, False] Translation: X:4.55, Y:0.67, Z:1.61 [[ 0.99935108 0.00643935 -0.03543937 4.54996387] [-0.0062688 0.99996824 0.0049215 0.6748353 ] [ 0.03546994 -0.00469614 0.99935971 1.60963538] [ 0. 0. 0. 1. ]] SLAMing on 439.59255784400005 meters Centerline goodness : 0.139130 Centerline is valid? [False, False] Translation: X:4.55, Y:0.68, Z:1.61 [[ 9.99351435e-01 6.83627289e-03 -3.53549880e-02 4.54963529e+00] [-6.68459007e-03 9.99967948e-01 4.40670776e-03 6.80480034e-01] [ 3.53839803e-02 -4.16751612e-03 9.99365101e-01 1.60986450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6225578440001 meters Centerline goodness : 0.154218 Centerline is valid? [False, False] Translation: X:4.55, Y:0.68, Z:1.61 [[ 9.99356902e-01 6.72035683e-03 -3.52224288e-02 4.54910981e+00] [-6.58885831e-03 9.99970889e-01 3.84812087e-03 6.83476014e-01] [ 3.52472641e-02 -3.61357056e-03 9.99372089e-01 1.61020316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.65255784400006 meters Centerline goodness : 0.127005 Centerline is valid? [False, False] Translation: X:4.55, Y:0.69, Z:1.61 [[ 9.99359133e-01 6.60657877e-03 -3.51806215e-02 4.54890058e+00] [-6.49405037e-03 9.99973429e-01 3.31189932e-03 6.86504990e-01] [ 3.52015671e-02 -3.08131210e-03 9.99375483e-01 1.61039201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68255784400003 meters Centerline goodness : 0.147029 Centerline is valid? [False, False] Translation: X:4.55, Y:0.69, Z:1.61 [[ 9.99359914e-01 6.54615972e-03 -3.51697378e-02 4.54879543e+00] [-6.45072316e-03 9.99975200e-01 2.82638524e-03 6.89563286e-01] [ 3.51873676e-02 -2.59770587e-03 9.99377357e-01 1.61049783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.71255784400006 meters Centerline goodness : 0.121103 Centerline is valid? [False, False] Translation: X:4.53, Y:0.70, Z:1.61 [[ 9.99449999e-01 1.60075395e-03 -3.31230693e-02 4.53075783e+00] [-1.43306673e-03 9.99986041e-01 5.08567203e-03 7.00869058e-01] [ 3.31307478e-02 -5.03540733e-03 9.99438341e-01 1.60742215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74255784400003 meters Centerline goodness : 0.145962 Centerline is valid? [False, False] Translation: X:4.53, Y:0.70, Z:1.61 [[ 9.99447503e-01 1.43704088e-03 -3.32057843e-02 4.53101991e+00] [-1.28418428e-03 9.99988484e-01 4.62418117e-03 7.03177613e-01] [ 3.32120471e-02 -4.57898398e-03 9.99437838e-01 1.60729405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.77255784400006 meters Centerline goodness : 0.131642 Centerline is valid? [False, False] Translation: X:4.53, Y:0.71, Z:1.61 [[ 9.99442730e-01 1.26939070e-03 -3.33559263e-02 4.53141814e+00] [-1.13124190e-03 9.99990706e-01 4.16020241e-03 7.05428143e-01] [ 3.33608972e-02 -4.12015043e-03 9.99434878e-01 1.60724638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80255784400003 meters Centerline goodness : 0.134040 Centerline is valid? [False, False] Translation: X:4.55, Y:0.70, Z:1.61 [[ 9.99414552e-01 9.28180247e-03 -3.29302456e-02 4.55192434e+00] [-9.19032196e-03 9.99953480e-01 2.92828590e-03 7.03510536e-01] [ 3.29558935e-02 -2.62393198e-03 9.99453363e-01 1.60876049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.83255784400006 meters Centerline goodness : 0.121699 Centerline is valid? [False, False] Translation: X:4.55, Y:0.71, Z:1.61 [[ 9.99411378e-01 9.18468687e-03 -3.30535901e-02 4.55221774e+00] [-9.10481014e-03 9.99955257e-01 2.56628932e-03 7.05620284e-01] [ 3.30756817e-02 -2.26383208e-03 9.99450286e-01 1.60876751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86255784400004 meters Centerline goodness : 0.153984 Centerline is valid? [False, False] Translation: X:4.53, Y:0.72, Z:1.61 [[ 9.99489299e-01 3.02844373e-03 -3.18114817e-02 4.53470788e+00] [-2.88145372e-03 9.99984965e-01 4.66548669e-03 7.16184820e-01] [ 3.18251325e-02 -4.57144071e-03 9.99482998e-01 1.60574462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.89255784400007 meters Centerline goodness : 0.149664 Centerline is valid? [False, False] Translation: X:4.53, Y:0.72, Z:1.61 [[ 9.99494206e-01 2.89252761e-03 -3.16696342e-02 4.53428348e+00] [-2.75821606e-03 9.99987020e-01 4.28388582e-03 7.18014752e-01] [ 3.16816144e-02 -4.19436737e-03 9.99489211e-01 1.60581620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92255784400004 meters Centerline goodness : 0.146295 Centerline is valid? [False, False] Translation: X:4.53, Y:0.72, Z:1.61 [[ 9.99499799e-01 2.72293389e-03 -3.15077339e-02 4.53376402e+00] [-2.60058078e-03 9.99988921e-01 3.92360024e-03 7.19498046e-01] [ 3.15180686e-02 -3.83969924e-03 9.99495807e-01 1.60600211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.95255784400007 meters Centerline goodness : 0.153231 Centerline is valid? [False, False] Translation: X:4.53, Y:0.72, Z:1.61 [[ 9.99503144e-01 2.61248824e-03 -3.14108309e-02 4.53330948e+00] [-2.49840594e-03 9.99990142e-01 3.67064140e-03 7.20590486e-01] [ 3.14201108e-02 -3.59034062e-03 9.99499818e-01 1.60629563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98255784400004 meters Centerline goodness : 0.119445 Centerline is valid? [False, False] Translation: X:4.53, Y:0.72, Z:1.61 [[ 9.99505910e-01 2.54859522e-03 -3.13279546e-02 4.53288789e+00] [-2.44074322e-03 9.99990965e-01 3.48043545e-03 7.21661755e-01] [ 3.13365418e-02 -3.40225231e-03 9.99503099e-01 1.60659127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.01255784400007 meters Centerline goodness : 0.128687 Centerline is valid? [False, False] Translation: X:4.55, Y:0.72, Z:1.61 [[ 9.99560657e-01 -3.41933799e-03 -2.94414790e-02 4.55494861e+00] [ 3.60811021e-03 9.99973259e-01 6.36104109e-03 7.24507430e-01] [ 2.94189411e-02 -6.46447451e-03 9.99546265e-01 1.60663770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04255784400004 meters Centerline goodness : 0.151702 Centerline is valid? [False, False] Translation: X:4.55, Y:0.72, Z:1.61 [[ 9.99561952e-01 -3.51262763e-03 -2.93864972e-02 4.55462612e+00] [ 3.69711447e-03 9.99973784e-01 6.22596890e-03 7.24773361e-01] [ 2.93638572e-02 -6.33188686e-03 9.99548734e-01 1.60691724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0725578440001 meters Centerline goodness : 0.149031 Centerline is valid? [False, False] Translation: X:4.57, Y:0.72, Z:1.61 [[ 9.99569703e-01 3.95748232e-03 -2.90645383e-02 4.57409233e+00] [-3.82179243e-03 9.99981545e-01 4.72264029e-03 7.19966618e-01] [ 2.90826917e-02 -4.60952952e-03 9.99566381e-01 1.60877338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10255784400005 meters Centerline goodness : 0.146749 Centerline is valid? [False, False] Translation: X:4.58, Y:0.72, Z:1.61 [[ 9.99560929e-01 3.99562900e-03 -2.93595761e-02 4.57506688e+00] [-3.85744764e-03 9.99981223e-01 4.76165003e-03 7.19717091e-01] [ 2.93780506e-02 -4.64630630e-03 9.99557573e-01 1.60836538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1325578440001 meters Centerline goodness : 0.124595 Centerline is valid? [False, False] Translation: X:4.58, Y:0.72, Z:1.61 [[ 9.99559255e-01 4.01739096e-03 -2.94135540e-02 4.57526547e+00] [-3.87789476e-03 9.99980970e-01 4.79809107e-03 7.19480997e-01] [ 2.94322701e-02 -4.68191367e-03 9.99555812e-01 1.60822793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16255784400005 meters Centerline goodness : 0.152546 Centerline is valid? [False, False] Translation: X:4.60, Y:0.72, Z:1.61 [[ 9.99585660e-01 -4.36502089e-03 -2.84509247e-02 4.59534958e+00] [ 4.52737116e-03 9.99973821e-01 5.64440971e-03 7.22902505e-01] [ 2.84255419e-02 -5.77087890e-03 9.99579254e-01 1.60936343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1925578440001 meters Centerline goodness : 0.129087 Centerline is valid? [False, False] Translation: X:4.59, Y:0.72, Z:1.61 [[ 9.99592201e-01 -4.38862080e-03 -2.82165224e-02 4.59441222e+00] [ 4.54930750e-03 9.99973786e-01 5.63310187e-03 7.22597918e-01] [ 2.81910612e-02 -5.75917034e-03 9.99585962e-01 1.60989488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22255784400005 meters Centerline goodness : 0.146497 Centerline is valid? [False, False] Translation: X:4.61, Y:0.72, Z:1.61 [[ 9.99617501e-01 3.40486057e-03 -2.74455586e-02 4.61322801e+00] [-3.28904188e-03 9.99985500e-01 4.26398223e-03 7.18621218e-01] [ 2.74596789e-02 -4.17208167e-03 9.99614205e-01 1.61232808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2525578440001 meters Centerline goodness : 0.120406 Centerline is valid? [False, False] Translation: X:4.61, Y:0.72, Z:1.61 [[ 9.99618728e-01 3.43478108e-03 -2.73970794e-02 4.61301511e+00] [-3.32046285e-03 9.99985595e-01 4.21704619e-03 7.18745941e-01] [ 2.74111693e-02 -4.12446736e-03 9.99615734e-01 1.61240674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28255784400005 meters Centerline goodness : 0.212090 Centerline is valid? [False, False] Translation: X:4.61, Y:0.72, Z:1.61 [[ 9.99606173e-01 3.91552559e-03 -2.77879006e-02 4.61427521e+00] [-3.79744280e-03 9.99983541e-01 4.30093253e-03 7.19784507e-01] [ 2.78042836e-02 -4.19371574e-03 9.99604589e-01 1.61183083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3125578440001 meters Centerline goodness : 0.080716 Centerline is valid? [False, False] Translation: X:4.62, Y:0.72, Z:1.61 [[ 9.99593027e-01 3.99519332e-03 -2.82456945e-02 4.61569291e+00] [-3.88111214e-03 9.99984094e-01 4.09255781e-03 7.21163833e-01] [ 2.82615958e-02 -3.98126755e-03 9.99592633e-01 1.61126316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34255784400005 meters Centerline goodness : 0.135301 Centerline is valid? [False, False] Translation: X:4.60, Y:0.72, Z:1.61 [[ 9.99489023e-01 1.29629684e-02 -2.92173568e-02 4.59546041e+00] [-1.28760886e-02 9.99912107e-01 3.15976056e-03 7.18583919e-01] [ 2.92557487e-02 -2.78194072e-03 9.99568088e-01 1.60969625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3725578440001 meters Centerline goodness : 0.126688 Centerline is valid? [False, False] Translation: X:4.60, Y:0.72, Z:1.61 [[ 9.99481960e-01 1.30571029e-02 -2.94163954e-02 4.59597917e+00] [-1.29761193e-02 9.99911478e-01 2.94223577e-03 7.20275273e-01] [ 2.94522085e-02 -2.55900092e-03 9.99562914e-01 1.60952417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40255784400006 meters Centerline goodness : 0.093352 Centerline is valid? [False, False] Translation: X:4.61, Y:0.73, Z:1.61 [[ 9.99529649e-01 5.87116926e-03 -3.01000171e-02 4.61483099e+00] [-5.74636274e-03 9.99974538e-01 4.23122149e-03 7.26662575e-01] [ 3.01240929e-02 -4.05626571e-03 9.99537936e-01 1.61149917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.43255784400003 meters Centerline goodness : 0.127778 Centerline is valid? [False, False] Translation: X:4.60, Y:0.73, Z:1.61 [[ 9.99470366e-01 -1.55035298e-03 -3.25051423e-02 4.59768761e+00] [ 1.72574770e-03 9.99984100e-01 5.36854605e-03 7.33069707e-01] [ 3.24963023e-02 -5.42179836e-03 9.99457150e-01 1.60877097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46255784400006 meters Centerline goodness : 0.140107 Centerline is valid? [False, False] Translation: X:4.60, Y:0.73, Z:1.61 [[ 9.99461322e-01 -1.52157388e-03 -3.27833803e-02 4.59868106e+00] [ 1.69319927e-03 9.99985005e-01 5.20800822e-03 7.34158573e-01] [ 3.27749643e-02 -5.26071158e-03 9.99448911e-01 1.60819841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49255784400003 meters Centerline goodness : 0.197546 Centerline is valid? [False, False] Translation: X:4.60, Y:0.74, Z:1.61 [[ 9.99461487e-01 -1.51016212e-03 -3.27789004e-02 4.59855310e+00] [ 1.67611271e-03 9.99985915e-01 5.03583882e-03 7.35516711e-01] [ 3.27708338e-02 -5.08806809e-03 9.99449941e-01 1.60827364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52255784400006 meters Centerline goodness : 0.106144 Centerline is valid? [False, False] Translation: X:4.60, Y:0.74, Z:1.61 [[ 9.99474372e-01 -1.45037342e-03 -3.23863709e-02 4.59724800e+00] [ 1.61050172e-03 9.99986606e-01 4.91877270e-03 7.36754717e-01] [ 3.23788031e-02 -4.96834556e-03 9.99463320e-01 1.60875727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55255784400003 meters Centerline goodness : 0.182146 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99504999e-01 -1.55604946e-03 -3.14219052e-02 4.59376879e+00] [ 1.69944788e-03 9.99988262e-01 4.53745417e-03 7.38597891e-01] [ 3.14144758e-02 -4.58860801e-03 9.99495911e-01 1.61044868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58255784400006 meters Centerline goodness : 0.103767 Centerline is valid? [False, False] Translation: X:4.57, Y:0.73, Z:1.61 [[ 9.99481436e-01 6.67883611e-03 -3.15000350e-02 4.57365214e+00] [-6.58162332e-03 9.99973257e-01 3.18879552e-03 7.33985880e-01] [ 3.15204900e-02 -2.97982056e-03 9.99498664e-01 1.60884712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.61255784400004 meters SLAMing on 440.64255784400007 meters Centerline goodness : 0.105735 Centerline is valid? [False, False] Translation: X:4.58, Y:0.74, Z:1.61 [[ 9.99466590e-01 6.77095386e-03 -3.19482256e-02 4.57511264e+00] [-6.67804818e-03 9.99973160e-01 3.01381616e-03 7.35794117e-01] [ 3.19677745e-02 -2.79885677e-03 9.99484981e-01 1.60818695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.67255784400004 meters Centerline goodness : 0.269181 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99495283e-01 -1.31592647e-03 -3.17403036e-02 4.59406363e+00] [ 1.44087243e-03 9.99991302e-01 3.91395685e-03 7.41065248e-01] [ 3.17348770e-02 -3.95771514e-03 9.99488486e-01 1.60985106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70255784400007 meters Centerline goodness : 0.101735 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99500777e-01 -1.34369779e-03 -3.15656543e-02 4.59332911e+00] [ 1.46826024e-03 9.99991226e-01 3.92329106e-03 7.40687693e-01] [ 3.15601056e-02 -3.96767906e-03 9.99493981e-01 1.61027456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.73255784400004 meters Centerline goodness : 0.288306 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99508100e-01 -1.37003241e-03 -3.13317900e-02 4.59250971e+00] [ 1.49385532e-03 9.99991166e-01 3.92892302e-03 7.40367640e-01] [ 3.13261305e-02 -3.97379555e-03 9.99501317e-01 1.61062534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76255784400007 meters Centerline goodness : 0.116853 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99512671e-01 -1.39427086e-03 -3.11845601e-02 4.59189735e+00] [ 1.51653673e-03 9.99991255e-01 3.89740965e-03 7.40412018e-01] [ 3.11788533e-02 -3.94280286e-03 9.99506045e-01 1.61096782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.79255784400004 meters Centerline goodness : 0.097257 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99515601e-01 -1.34822751e-03 -3.10925480e-02 4.59144672e+00] [ 1.47187162e-03 9.99991099e-01 3.95410298e-03 7.40274833e-01] [ 3.10869402e-02 -3.99795185e-03 9.99508689e-01 1.61127169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8225578440001 meters Centerline goodness : 0.097257 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99515601e-01 -1.34822751e-03 -3.10925480e-02 4.59144672e+00] [ 1.47187162e-03 9.99991099e-01 3.95410298e-03 7.40274833e-01] [ 3.10869402e-02 -3.99795185e-03 9.99508689e-01 1.61127169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.85255784400005 meters Centerline goodness : 0.147041 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99515740e-01 -1.25185076e-03 -3.10920855e-02 4.59120367e+00] [ 1.38197015e-03 9.99990376e-01 4.16383135e-03 7.39298462e-01] [ 3.10865738e-02 -4.20478331e-03 9.99507851e-01 1.61167512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8825578440001 meters Centerline goodness : 0.100496 Centerline is valid? [False, False] Translation: X:4.61, Y:0.73, Z:1.61 [[ 9.99499932e-01 6.33969773e-03 -3.09789273e-02 4.61121058e+00] [-6.25145091e-03 9.99976124e-01 2.94463410e-03 7.34869168e-01] [ 3.09968558e-02 -2.74949834e-03 9.99515700e-01 1.61373893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.91255784400005 meters SLAMing on 440.9425578440001 meters Centerline goodness : 0.149075 Centerline is valid? [False, False] Translation: X:4.61, Y:0.73, Z:1.61 [[ 9.99499594e-01 6.58540688e-03 -3.09385637e-02 4.61107013e+00] [-6.47711689e-03 9.99972546e-01 3.59908055e-03 7.31325376e-01] [ 3.09614157e-02 -3.39688686e-03 9.99514808e-01 1.61382810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.97255784400005 meters Centerline goodness : 0.152834 Centerline is valid? [False, False] Translation: X:4.61, Y:0.73, Z:1.61 [[ 9.99520298e-01 3.08809964e-03 -3.08161898e-02 4.61060754e+00] [-3.07110119e-03 9.99995105e-01 5.98923693e-04 7.28133968e-01] [ 3.08178885e-02 -5.03996751e-04 9.99524889e-01 1.61395910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0025578440001 meters SLAMing on 441.03255784400005 meters SLAMing on 441.0625578440001 meters SLAMing on 441.09255784400005 meters SLAMing on 441.1225578440001 meters Centerline goodness : 0.091141 Centerline is valid? [False, False] Translation: X:4.61, Y:0.71, Z:1.61 [[ 9.99518196e-01 -7.07620009e-05 -3.10382042e-02 4.61167830e+00] [ 4.36749039e-05 9.99999618e-01 -8.73378899e-04 7.11774373e-01] [ 3.10382542e-02 8.71602512e-04 9.99517817e-01 1.61346863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.15255784400006 meters Centerline goodness : 0.182502 Centerline is valid? [False, False] Translation: X:4.61, Y:0.71, Z:1.61 [[ 9.99512984e-01 3.19565050e-04 -3.12040454e-02 4.61260224e+00] [-3.19066805e-04 9.99999949e-01 2.09466460e-05 7.07150497e-01] [ 3.12040505e-02 -1.09802696e-05 9.99513035e-01 1.61275148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18255784400003 meters SLAMing on 441.21255784400006 meters Centerline goodness : 0.183855 Centerline is valid? [False, False] Translation: X:4.61, Y:0.70, Z:1.61 [[ 9.99507752e-01 7.37119510e-04 -3.13641653e-02 4.61335352e+00] [-7.15933158e-04 9.99999508e-01 6.86720235e-04 7.04338167e-01] [ 3.13646561e-02 -6.63927552e-04 9.99507788e-01 1.61216032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24255784400003 meters Centerline goodness : 0.186949 Centerline is valid? [False, False] Translation: X:4.61, Y:0.70, Z:1.61 [[ 9.99511630e-01 1.06858206e-03 -3.12307500e-02 4.61351593e+00] [-1.02720222e-03 9.99998573e-01 1.34098500e-03 7.01148845e-01] [ 3.12321384e-02 -1.30824981e-03 9.99511302e-01 1.61139920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.27255784400006 meters Centerline goodness : 0.183576 Centerline is valid? [False, False] Translation: X:4.61, Y:0.70, Z:1.61 [[ 9.99511136e-01 1.23684918e-03 -3.12403483e-02 4.61370264e+00] [-1.18259117e-03 9.99997760e-01 1.75520957e-03 6.98904107e-01] [ 3.12424493e-02 -1.71740695e-03 9.99510360e-01 1.61115390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30255784400003 meters Centerline goodness : 0.183885 Centerline is valid? [False, False] Translation: X:4.61, Y:0.70, Z:1.61 [[ 9.99509317e-01 1.39877587e-03 -3.12916862e-02 4.61384110e+00] [-1.32950980e-03 9.99996620e-01 2.23425817e-03 6.96168941e-01] [ 3.12947056e-02 -2.19155926e-03 9.99507798e-01 1.61116424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.33255784400006 meters Centerline goodness : 0.146383 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99502702e-01 1.58928152e-03 -3.14932141e-02 4.61431100e+00] [-1.50055580e-03 9.99994839e-01 2.84073053e-03 6.92751178e-01] [ 3.14975663e-02 -2.79206052e-03 9.99499929e-01 1.61126284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36255784400004 meters Centerline goodness : 0.188975 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99498273e-01 1.81344794e-03 -3.16214204e-02 4.61460407e+00] [-1.70457870e-03 9.99992528e-01 3.46951270e-03 6.89495640e-01] [ 3.16274759e-02 -3.41387076e-03 9.99493896e-01 1.61135376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.39255784400007 meters Centerline goodness : 0.183164 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99497176e-01 2.20094182e-03 -3.16315022e-02 4.61469277e+00] [-2.05751382e-03 9.99987458e-01 4.56617467e-03 6.83755595e-01] [ 3.16411554e-02 -4.49879643e-03 9.99489169e-01 1.61141045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42255784400004 meters Centerline goodness : 0.168948 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99499856e-01 2.34490119e-03 -3.15363086e-02 4.61457742e+00] [-2.18806070e-03 9.99985071e-01 5.00692201e-03 6.81315103e-01] [ 3.15475785e-02 -4.93541448e-03 9.99490066e-01 1.61128361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.45255784400007 meters Centerline goodness : 0.181535 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99502306e-01 2.47851971e-03 -3.14483355e-02 4.61433256e+00] [-2.31061109e-03 9.99982888e-01 5.37440829e-03 6.79241631e-01] [ 3.14611179e-02 -5.29906860e-03 9.99490929e-01 1.61136520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48255784400004 meters Centerline goodness : 0.185373 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99506185e-01 2.58312680e-03 -3.13163522e-02 4.61380013e+00] [-2.40712833e-03 9.99981105e-01 5.65641656e-03 6.77680690e-01] [ 3.13303718e-02 -5.57824085e-03 9.99493517e-01 1.61169933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.51255784400007 meters Centerline goodness : 0.184652 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99505760e-01 2.65503701e-03 -3.13238878e-02 4.61376145e+00] [-2.47324256e-03 9.99979883e-01 5.84101858e-03 6.76682120e-01] [ 3.13387658e-02 -5.76066014e-03 9.99492219e-01 1.61177160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54255784400004 meters Centerline goodness : 0.179158 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99495444e-01 2.74390061e-03 -3.16437606e-02 4.61468871e+00] [-2.55679189e-03 9.99979018e-01 5.95192196e-03 6.76259898e-01] [ 3.16594281e-02 -5.86801237e-03 9.99481489e-01 1.61152010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5725578440001 meters Centerline goodness : 0.178965 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99470769e-01 2.87579104e-03 -3.24023482e-02 4.61752902e+00] [-2.68192497e-03 9.99978253e-01 6.02496103e-03 6.76001025e-01] [ 3.24189700e-02 -5.93487177e-03 9.99456746e-01 1.60989721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60255784400005 meters Centerline goodness : 0.174470 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99470690e-01 2.89655185e-03 -3.24029155e-02 4.61776178e+00] [-2.70309908e-03 9.99978272e-01 6.01244091e-03 6.76111847e-01] [ 3.24196268e-02 -5.92167017e-03 9.99456803e-01 1.60947876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6325578440001 meters Centerline goodness : 0.178226 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99491725e-01 2.95732092e-03 -3.17418764e-02 4.61545457e+00] [-2.76703577e-03 9.99977949e-01 6.03702049e-03 6.76432588e-01] [ 3.17590298e-02 -5.94612111e-03 9.99477868e-01 1.61047044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66255784400005 meters Centerline goodness : 0.176700 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99498537e-01 2.99259212e-03 -3.15233209e-02 4.61440812e+00] [-2.80116571e-03 9.99977380e-01 6.11494569e-03 6.76223323e-01] [ 3.15409074e-02 -6.02357723e-03 9.99484311e-01 1.61124066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6925578440001 meters Centerline goodness : 0.178315 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99504774e-01 3.00797050e-03 -3.13234652e-02 4.61344307e+00] [-2.81504567e-03 9.99976809e-01 6.20139411e-03 6.75860408e-01] [ 3.13413924e-02 -6.11014603e-03 9.99490062e-01 1.61199214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72255784400005 meters Centerline goodness : 0.184454 Centerline is valid? [False, False] Translation: X:4.61, Y:0.67, Z:1.61 [[ 9.99513055e-01 3.02259389e-03 -3.10566772e-02 4.61231975e+00] [-2.82612718e-03 9.99975730e-01 6.36801922e-03 6.74859098e-01] [ 3.10751714e-02 -6.27714822e-03 9.99497339e-01 1.61276910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7525578440001 meters Centerline goodness : 0.176661 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.61 [[ 9.99546766e-01 8.99264109e-03 -2.87296952e-02 4.63409640e+00] [-8.89674277e-03 9.99954423e-01 3.46403839e-03 6.74060574e-01] [ 2.87595366e-02 -3.20686766e-03 9.99581215e-01 1.61268066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78255784400005 meters Centerline goodness : 0.151869 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.61 [[ 9.99578369e-01 5.96238552e-03 -2.84171561e-02 4.63340644e+00] [-5.95397329e-03 9.99982203e-01 3.80632671e-04 6.74318611e-01] [ 2.84189199e-02 -2.11277196e-04 9.99596079e-01 1.61251173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8125578440001 meters Centerline goodness : 0.160795 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.61 [[ 9.99571693e-01 5.93665941e-03 -2.86563441e-02 4.63455281e+00] [-5.92852565e-03 9.99982358e-01 3.68792552e-04 6.74166407e-01] [ 2.86580279e-02 -1.98744725e-04 9.99589255e-01 1.61165065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84255784400005 meters Centerline goodness : 0.177305 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99565780e-01 -2.10071264e-03 -2.93911383e-02 4.61545353e+00] [ 2.15156261e-03 9.99996243e-01 1.69859386e-03 6.78385691e-01] [ 2.93874596e-02 -1.76109317e-03 9.99566544e-01 1.60951556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8725578440001 meters Centerline goodness : 0.175787 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99556367e-01 -2.06863397e-03 -2.97117962e-02 4.61633121e+00] [ 2.11608566e-03 9.99996535e-01 1.56571108e-03 6.79454690e-01] [ 2.97084544e-02 -1.62788918e-03 9.99557281e-01 1.60933251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90255784400006 meters Centerline goodness : 0.173162 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99549502e-01 -2.02983294e-03 -2.99445007e-02 4.61709838e+00] [ 2.07314413e-03 9.99996849e-01 1.41540614e-03 6.80489039e-01] [ 2.99415333e-02 -1.47684777e-03 9.99550561e-01 1.60898352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.93255784400003 meters Centerline goodness : 0.171079 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99554303e-01 -2.04156194e-03 -2.97830032e-02 4.61667337e+00] [ 2.07462940e-03 9.99997265e-01 1.07942052e-03 6.81989318e-01] [ 2.97807181e-02 -1.14072812e-03 9.99555805e-01 1.60882968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96255784400006 meters Centerline goodness : 0.172002 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99567356e-01 -1.96743309e-03 -2.93467104e-02 4.61544119e+00] [ 1.99794314e-03 9.99997494e-01 1.01035443e-03 6.82822330e-01] [ 2.93446490e-02 -1.06855036e-03 9.99568782e-01 1.60899904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99255784400003 meters Centerline goodness : 0.140778 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99584551e-01 -1.73177347e-03 -2.87702281e-02 4.61392607e+00] [ 1.76367706e-03 9.99997858e-01 1.08357089e-03 6.83680373e-01] [ 2.87682900e-02 -1.13386211e-03 9.99585464e-01 1.60900684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02255784400006 meters Centerline goodness : 0.174708 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.61 [[ 9.99575015e-01 6.77650648e-03 -2.83525593e-02 4.59259565e+00] [-6.76800105e-03 9.99977018e-01 3.95942673e-04 6.79563389e-01] [ 2.83545908e-02 -2.03884252e-04 9.99597907e-01 1.60760548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05255784400003 meters Centerline goodness : 0.166022 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99593834e-01 -5.38306654e-04 -2.84934666e-02 4.61110409e+00] [ 5.70415361e-04 9.99999211e-01 1.11876341e-03 6.86721400e-01] [ 2.84928419e-02 -1.13456212e-03 9.99593353e-01 1.60928609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08255784400006 meters Centerline goodness : 0.178294 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99589268e-01 -5.95572047e-04 -2.86520494e-02 4.61164485e+00] [ 6.23526882e-04 9.99999338e-01 9.66741558e-04 6.87270233e-01] [ 2.86514546e-02 -9.84209809e-04 9.99588978e-01 1.60898762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.11255784400004 meters Centerline goodness : 0.169948 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99588582e-01 -6.18092949e-04 -2.86754981e-02 4.61178500e+00] [ 6.42538595e-04 9.99999438e-01 8.43285830e-04 6.88024753e-01] [ 2.86749607e-02 -8.61364002e-04 9.99588418e-01 1.60878433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14255784400007 meters Centerline goodness : 0.168814 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99593824e-01 -5.95379053e-04 -2.84926849e-02 4.61123258e+00] [ 6.19084037e-04 9.99999470e-01 8.23153122e-04 6.88437257e-01] [ 2.84921797e-02 -8.40458143e-04 9.99593662e-01 1.60888118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.17255784400004 meters Centerline goodness : 0.169812 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99600623e-01 -6.02266369e-04 -2.82529968e-02 4.61051218e+00] [ 6.25888803e-04 9.99999462e-01 8.27267712e-04 6.88360636e-01] [ 2.82524834e-02 -8.44620555e-04 9.99600462e-01 1.60906514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20255784400007 meters Centerline goodness : 0.148752 Centerline is valid? [False, False] Translation: X:4.63, Y:0.69, Z:1.61 [[ 9.99619330e-01 4.85619691e-03 -2.71590194e-02 4.63311185e+00] [-4.93141635e-03 9.99984187e-01 -2.70330052e-03 6.87736686e-01] [ 2.71454622e-02 2.83620389e-03 9.99627471e-01 1.60940888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.23255784400004 meters Centerline goodness : 0.171763 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.61 [[ 9.99523838e-01 4.37627512e-03 -3.05441644e-02 4.58898440e+00] [-4.45831965e-03 9.99986633e-01 -2.61850822e-03 6.83893643e-01] [ 3.05322969e-02 2.75343703e-03 9.99529988e-01 1.60902354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26255784400007 meters Centerline goodness : 0.150680 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99499608e-01 -3.01922650e-03 -3.14867814e-02 4.60916085e+00] [ 2.97744858e-03 9.99994624e-01 -1.37364220e-03 6.89525716e-01] [ 3.14907595e-02 1.27920457e-03 9.99503224e-01 1.61066639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.29255784400004 meters Centerline goodness : 0.173994 Centerline is valid? [False, False] Translation: X:4.57, Y:0.68, Z:1.61 [[ 9.99388238e-01 -3.49773740e-03 -3.47982240e-02 4.56574449e+00] [ 3.45460657e-03 9.99993188e-01 -1.29950299e-03 6.84965255e-01] [ 3.48025323e-02 1.17849383e-03 9.99393514e-01 1.60957974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3225578440001 meters Centerline goodness : 0.149652 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.61 [[ 9.99416199e-01 1.72876168e-03 -3.41214527e-02 4.58852032e+00] [-1.89365332e-03 9.99986683e-01 -4.80076711e-03 6.81694809e-01] [ 3.41126990e-02 4.86257862e-03 9.99406163e-01 1.60975375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.35255784400005 meters Centerline goodness : 0.159444 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.61 [[ 9.99418510e-01 1.82271562e-03 -3.40487805e-02 4.58796410e+00] [-1.97564921e-03 9.99988109e-01 -4.45849858e-03 6.79774980e-01] [ 3.40402491e-02 4.52317445e-03 9.99410227e-01 1.61037974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3825578440001 meters Centerline goodness : 0.152764 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99422280e-01 -5.78574133e-03 -3.34907745e-02 4.60706808e+00] [ 5.69338334e-03 9.99979724e-01 -2.85242335e-03 6.83527632e-01] [ 3.35065989e-02 2.66009963e-03 9.99434956e-01 1.61253836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.41255784400005 meters Centerline goodness : 0.175857 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.61 [[ 9.99412114e-01 2.11540337e-03 -3.42191662e-02 4.58828144e+00] [-2.24447965e-03 9.99990509e-01 -3.73407302e-03 6.75621704e-01] [ 3.42109424e-02 3.80868203e-03 9.99407377e-01 1.61069394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4425578440001 meters Centerline goodness : 0.175618 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99385436e-01 2.17304336e-03 -3.49861039e-02 4.59073798e+00] [-2.28606546e-03 9.99992296e-01 -3.19080706e-03 6.71813074e-01] [ 3.49789007e-02 3.26882663e-03 9.99382705e-01 1.60991592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.47255784400005 meters Centerline goodness : 0.174449 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99388055e-01 2.30233325e-03 -3.49029426e-02 4.59042948e+00] [-2.40150315e-03 9.99993197e-01 -2.79964842e-03 6.69675104e-01] [ 3.48962595e-02 2.88175471e-03 9.99386785e-01 1.61012707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5025578440001 meters Centerline goodness : 0.103529 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99397633e-01 2.47969422e-03 -3.46153557e-02 4.58935766e+00] [-2.56347492e-03 9.99993891e-01 -2.37616183e-03 6.67661062e-01] [ 3.46092520e-02 2.46346610e-03 9.99397884e-01 1.61066664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.53255784400005 meters Centerline goodness : 0.169643 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99404413e-01 2.70377162e-03 -3.44021761e-02 4.58857828e+00] [-2.76957880e-03 9.99994425e-01 -1.86536824e-03 6.65356478e-01] [ 3.43969408e-02 1.95953679e-03 9.99406329e-01 1.61107369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5625578440001 meters Centerline goodness : 0.175356 Centerline is valid? [False, False] Translation: X:4.59, Y:0.66, Z:1.61 [[ 9.99375452e-01 8.44314305e-04 -3.53269559e-02 4.59332043e+00] [-9.62531608e-04 9.99993994e-01 -3.32950361e-03 6.60442998e-01] [ 3.53239326e-02 3.36142749e-03 9.99370262e-01 1.60841605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.59255784400005 meters Centerline goodness : 0.170530 Centerline is valid? [False, False] Translation: X:4.59, Y:0.66, Z:1.61 [[ 9.99362109e-01 8.85647785e-04 -3.57014175e-02 4.59464942e+00] [-9.95458538e-04 9.99994828e-01 -3.05815137e-03 6.58336098e-01] [ 3.56985244e-02 3.09173988e-03 9.99357822e-01 1.60784467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6225578440001 meters Centerline goodness : 0.106575 Centerline is valid? [False, False] Translation: X:4.60, Y:0.66, Z:1.61 [[ 9.99357635e-01 1.07370706e-03 -3.58212723e-02 4.59503214e+00] [-1.16919121e-03 9.99995819e-01 -2.64472995e-03 6.56315341e-01] [ 3.58182828e-02 2.68491299e-03 9.99354713e-01 1.60769811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.65255784400006 meters Centerline goodness : 0.170320 Centerline is valid? [False, False] Translation: X:4.59, Y:0.66, Z:1.61 [[ 9.99357631e-01 1.28079457e-03 -3.58145934e-02 4.59490596e+00] [-1.36374014e-03 9.99996444e-01 -2.29163844e-03 6.55004716e-01] [ 3.58115309e-02 2.33900816e-03 9.99355824e-01 1.60786725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68255784400003 meters Centerline goodness : 0.111512 Centerline is valid? [False, False] Translation: X:4.59, Y:0.65, Z:1.61 [[ 9.99363273e-01 1.50873256e-03 -3.56478834e-02 4.59436090e+00] [-1.57919617e-03 9.99996855e-01 -1.94858253e-03 6.53863075e-01] [ 3.56448314e-02 2.00363682e-03 9.99362513e-01 1.60806809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.71255784400006 meters Centerline goodness : 0.164907 Centerline is valid? [False, False] Translation: X:4.59, Y:0.65, Z:1.61 [[ 9.99378144e-01 1.71899450e-03 -3.52188954e-02 4.59356338e+00] [-1.78117456e-03 9.99996910e-01 -1.73423186e-03 6.52956994e-01] [ 3.52158054e-02 1.79588442e-03 9.99378118e-01 1.60763564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74255784400003 meters Centerline goodness : 0.164907 Centerline is valid? [False, False] Translation: X:4.59, Y:0.65, Z:1.61 [[ 9.99378144e-01 1.71899450e-03 -3.52188954e-02 4.59356338e+00] [-1.78117456e-03 9.99996910e-01 -1.73423186e-03 6.52956994e-01] [ 3.52158054e-02 1.79588442e-03 9.99378118e-01 1.60763564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.77255784400006 meters Centerline goodness : 0.144326 Centerline is valid? [False, False] Translation: X:4.59, Y:0.65, Z:1.61 [[ 9.99382294e-01 1.76678226e-03 -3.50985676e-02 4.59339451e+00] [-1.82920866e-03 9.99996802e-01 -1.74657092e-03 6.53150219e-01] [ 3.50953696e-02 1.80969466e-03 9.99382329e-01 1.60739560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80255784400003 meters Centerline goodness : 0.171254 Centerline is valid? [False, False] Translation: X:4.59, Y:0.65, Z:1.61 [[ 9.99384067e-01 1.83273798e-03 -3.50446586e-02 4.59344262e+00] [-1.89617280e-03 9.99996623e-01 -1.77696380e-03 6.53746383e-01] [ 3.50412836e-02 1.84232003e-03 9.99384168e-01 1.60702274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.83255784400006 meters Centerline goodness : 0.169531 Centerline is valid? [False, False] Translation: X:4.59, Y:0.65, Z:1.61 [[ 9.99385138e-01 1.88783755e-03 -3.50111657e-02 4.59345945e+00] [-1.95385189e-03 9.99996377e-01 -1.85140457e-03 6.54589483e-01] [ 3.50075437e-02 1.91867284e-03 9.99385206e-01 1.60678921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86255784400004 meters Centerline goodness : 0.161847 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.61 [[ 9.99373181e-01 1.04143418e-02 -3.38347095e-02 4.61395718e+00] [-1.05227224e-02 9.99940054e-01 -3.02674347e-03 6.53888503e-01] [ 3.38011597e-02 3.38087950e-03 9.99422859e-01 1.60825455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.89255784400007 meters Centerline goodness : 0.165408 Centerline is valid? [False, False] Translation: X:4.59, Y:0.66, Z:1.61 [[ 9.99441909e-01 1.59327929e-03 -3.33666362e-02 4.59151162e+00] [-1.68586806e-03 9.99994806e-01 -2.74694069e-03 6.58575015e-01] [ 3.33620863e-02 2.80165939e-03 9.99439404e-01 1.60729884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92255784400004 meters Centerline goodness : 0.105484 Centerline is valid? [False, False] Translation: X:4.59, Y:0.66, Z:1.61 [[ 9.99454128e-01 1.48001021e-03 -3.30038728e-02 4.59023087e+00] [-1.58948569e-03 9.99993321e-01 -3.29105944e-03 6.61742078e-01] [ 3.29987816e-02 3.34172213e-03 9.99449805e-01 1.60769151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.95255784400007 meters Centerline goodness : 0.164424 Centerline is valid? [False, False] Translation: X:4.59, Y:0.66, Z:1.61 [[ 9.99460343e-01 1.38082497e-03 -3.28194429e-02 4.58969860e+00] [-1.50090967e-03 9.99992268e-01 -3.63459529e-03 6.63783418e-01] [ 3.28141704e-02 3.68189288e-03 9.99454688e-01 1.60772036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98255784400004 meters Centerline goodness : 0.163312 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99463779e-01 1.28073534e-03 -3.27187236e-02 4.58936109e+00] [-1.41120194e-03 9.99991145e-01 -3.96473959e-03 6.65713706e-01] [ 3.27133561e-02 4.00878634e-03 9.99456735e-01 1.60776153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.01255784400007 meters Centerline goodness : 0.102048 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99462793e-01 1.01122569e-03 -3.27582594e-02 4.58950228e+00] [-1.16277511e-03 9.99988709e-01 -4.60757653e-03 6.69019382e-01] [ 3.27532302e-02 4.64319180e-03 9.99452684e-01 1.60760415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04255784400004 meters Centerline goodness : 0.156139 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99462201e-01 9.39754246e-04 -3.27784242e-02 4.58928726e+00] [-1.09565136e-03 9.99988173e-01 -4.73845210e-03 6.69704192e-01] [ 3.27735836e-02 4.77181749e-03 9.99451411e-01 1.60800897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0725578440001 meters Centerline goodness : 0.165564 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99461206e-01 8.77801990e-04 -3.28104840e-02 4.58913407e+00] [-1.03602515e-03 9.99987916e-01 -4.80564587e-03 6.69957920e-01] [ 3.28058691e-02 4.83704910e-03 9.99450038e-01 1.60839265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10255784400005 meters Centerline goodness : 0.169224 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99435236e-01 3.75702623e-04 -3.36016050e-02 4.59107569e+00] [-5.49403113e-04 9.99986535e-01 -5.16032691e-03 6.69871886e-01] [ 3.35992138e-02 5.17587337e-03 9.99421985e-01 1.60847131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1325578440001 meters Centerline goodness : 0.097601 Centerline is valid? [False, False] Translation: X:4.61, Y:0.67, Z:1.61 [[ 9.99391731e-01 -7.74001705e-03 -3.40038272e-02 4.61160580e+00] [ 7.58920673e-03 9.99960796e-01 -4.56193225e-03 6.74966739e-01] [ 3.40378035e-02 4.30109529e-03 9.99411291e-01 1.60991601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16255784400005 meters Centerline goodness : 0.108585 Centerline is valid? [False, False] Translation: X:4.57, Y:0.67, Z:1.61 [[ 9.99282212e-01 -8.47446832e-03 -3.69221451e-02 4.56692580e+00] [ 8.31142783e-03 9.99955030e-01 -4.56704903e-03 6.70219416e-01] [ 3.69591881e-02 4.25689511e-03 9.99307709e-01 1.60946989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1925578440001 meters Centerline goodness : 0.169387 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99301165e-01 -4.56188261e-04 -3.73761188e-02 4.58676982e+00] [ 2.51532625e-04 9.99984953e-01 -5.48009150e-03 6.67191528e-01] [ 3.73780564e-02 5.46686050e-03 9.99286242e-01 1.61143361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22255784400005 meters Centerline goodness : 0.170656 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99303133e-01 -4.07340471e-04 -3.73240240e-02 4.58661169e+00] [ 2.08496259e-04 9.99985767e-01 -5.33125015e-03 6.66501339e-01] [ 3.73256644e-02 5.31975305e-03 9.99288995e-01 1.61150110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2525578440001 meters Centerline goodness : 0.171826 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99313927e-01 -3.62503590e-04 -3.70343675e-02 4.58555957e+00] [ 1.73772882e-04 9.99986984e-01 -5.09918824e-03 6.65154786e-01] [ 3.70357339e-02 5.08925426e-03 9.99300983e-01 1.61207239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28255784400005 meters Centerline goodness : 0.098798 Centerline is valid? [False, False] Translation: X:4.61, Y:0.67, Z:1.61 [[ 9.99353540e-01 -9.29504687e-03 -3.47290000e-02 4.60524737e+00] [ 9.14231512e-03 9.99947838e-01 -4.55403378e-03 6.65498776e-01] [ 3.47695184e-02 4.23358632e-03 9.99386390e-01 1.61367983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3125578440001 meters Centerline goodness : 0.171506 Centerline is valid? [False, False] Translation: X:4.61, Y:0.66, Z:1.61 [[ 9.99353200e-01 -9.16110226e-03 -3.47743577e-02 4.60525978e+00] [ 9.02716671e-03 9.99951227e-01 -4.00661650e-03 6.62597980e-01] [ 3.48093667e-02 3.69011109e-03 9.99387158e-01 1.61394698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34255784400005 meters Centerline goodness : 0.168705 Centerline is valid? [False, False] Translation: X:4.61, Y:0.66, Z:1.61 [[ 9.99339722e-01 -9.01951050e-03 -3.51961429e-02 4.60638792e+00] [ 8.90546183e-03 9.99954580e-01 -3.39580055e-03 6.59354214e-01] [ 3.52251728e-02 3.08012047e-03 9.99374655e-01 1.61391421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3725578440001 meters Centerline goodness : 0.171802 Centerline is valid? [False, False] Translation: X:4.61, Y:0.66, Z:1.61 [[ 9.99329825e-01 -8.84662458e-03 -3.55195454e-02 4.60750542e+00] [ 8.75512761e-03 9.99957945e-01 -2.73067641e-03 6.55707201e-01] [ 3.55422089e-02 2.41786823e-03 9.99365251e-01 1.61358531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40255784400006 meters Centerline goodness : 0.105184 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.61 [[ 0.9992911 -0.01244347 -0.03553108 4.6077463 ] [ 0.01225741 0.99991003 -0.00544941 0.65000346] [ 0.03559569 0.00501003 0.99935371 1.61363412] [ 0. 0. 0. 1. ]] SLAMing on 443.43255784400003 meters Centerline goodness : 0.174139 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.61 [[ 9.99298815e-01 -1.21841375e-02 -3.54037544e-02 4.60713695e+00] [ 1.20248498e-02 9.99916612e-01 -4.70863612e-03 6.46196688e-01] [ 3.54581728e-02 4.27960967e-03 9.99361998e-01 1.61418813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46255784400006 meters Centerline goodness : 0.125315 Centerline is valid? [False, False] Translation: X:4.63, Y:0.64, Z:1.62 [[ 9.99386615e-01 -4.13799572e-03 -3.47745738e-02 4.62535324e+00] [ 3.94670792e-03 9.99976712e-01 -5.56763936e-03 6.38598754e-01] [ 3.47968028e-02 5.42697917e-03 9.99379673e-01 1.61672620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49255784400003 meters Centerline goodness : 0.168322 Centerline is valid? [False, False] Translation: X:4.62, Y:0.64, Z:1.62 [[ 9.99392727e-01 -3.90369972e-03 -3.46256779e-02 4.62491933e+00] [ 3.73437499e-03 9.99980759e-01 -4.95347412e-03 6.35372328e-01] [ 3.46443485e-02 4.82116075e-03 9.99388076e-01 1.61688912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52255784400006 meters Centerline goodness : 0.126780 Centerline is valid? [False, False] Translation: X:4.63, Y:0.63, Z:1.62 [[ 9.99394817e-01 -3.43173979e-03 -3.46153552e-02 4.62502656e+00] [ 3.29923068e-03 9.99987013e-01 -3.88443727e-03 6.29637014e-01] [ 3.46282360e-02 3.76788243e-03 9.99393160e-01 1.61677424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55255784400003 meters Centerline goodness : 0.129838 Centerline is valid? [False, False] Translation: X:4.63, Y:0.63, Z:1.62 [[ 9.99390450e-01 -3.20635913e-03 -3.47627328e-02 4.62558372e+00] [ 3.08958651e-03 9.99989405e-01 -3.41232969e-03 6.27415193e-01] [ 3.47733056e-02 3.30284723e-03 9.99389768e-01 1.61650414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58255784400006 meters Centerline goodness : 0.141956 Centerline is valid? [False, False] Translation: X:4.63, Y:0.63, Z:1.62 [[ 9.99378859e-01 -2.93020506e-03 -3.51185038e-02 4.62693751e+00] [ 2.83048843e-03 9.99991822e-01 -2.88881313e-03 6.25041105e-01] [ 3.51266814e-02 2.78761625e-03 9.99378980e-01 1.61582323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.61255784400004 meters Centerline goodness : 0.135987 Centerline is valid? [False, False] Translation: X:4.61, Y:0.62, Z:1.61 [[ 9.99316683e-01 4.96569242e-03 -3.66266056e-02 4.60819654e+00] [-5.10559495e-03 9.99980020e-01 -3.72715397e-03 6.16399407e-01] [ 3.66073660e-02 3.91160775e-03 9.99322070e-01 1.61384368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64255784400007 meters Centerline goodness : 0.140086 Centerline is valid? [False, False] Translation: X:4.61, Y:0.61, Z:1.61 [[ 9.99311244e-01 5.16750277e-03 -3.67469102e-02 4.60864489e+00] [-5.28820745e-03 9.99980935e-01 -3.18832022e-03 6.13501734e-01] [ 3.67297340e-02 3.38044953e-03 9.99319518e-01 1.61363995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.67255784400004 meters Centerline goodness : 0.141514 Centerline is valid? [False, False] Translation: X:4.63, Y:0.61, Z:1.61 [[ 9.99375229e-01 -3.12584579e-03 -3.52048469e-02 4.62852686e+00] [ 3.05303274e-03 9.99993088e-01 -2.12183528e-03 6.10574710e-01] [ 3.52112361e-02 2.01302807e-03 9.99377865e-01 1.61492798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70255784400007 meters Centerline goodness : 0.134181 Centerline is valid? [False, False] Translation: X:4.63, Y:0.61, Z:1.62 [[ 9.99380093e-01 -2.90490411e-03 -3.50854759e-02 4.62821442e+00] [ 2.85366757e-03 9.99994788e-01 -1.51032296e-03 6.07348849e-01] [ 3.50896804e-02 1.40926442e-03 9.99383174e-01 1.61500399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.73255784400004 meters Centerline goodness : 0.135869 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.61 [[ 9.99382492e-01 -2.70792180e-03 -3.50328775e-02 4.62829504e+00] [ 2.67563660e-03 9.99995952e-01 -9.68417877e-04 6.04498171e-01] [ 3.50353580e-02 8.74084622e-04 9.99385691e-01 1.61474354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76255784400007 meters Centerline goodness : 0.137072 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.61 [[ 9.99385803e-01 -2.53306247e-03 -3.49513888e-02 4.62818767e+00] [ 2.51483562e-03 9.99996678e-01 -5.65443518e-04 6.02570088e-01] [ 3.49527050e-02 4.77199227e-04 9.99388854e-01 1.61461632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.79255784400004 meters Centerline goodness : 0.122306 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.61 [[ 9.99392720e-01 -2.22041723e-03 -3.47744362e-02 4.62760625e+00] [ 2.22378686e-03 9.99997526e-01 5.82226733e-05 5.99964737e-01] [ 3.47742209e-02 -1.35518250e-04 9.99395185e-01 1.61487491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8225578440001 meters Centerline goodness : 0.135443 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.61 [[ 9.99389765e-01 -2.11687686e-03 -3.48656936e-02 4.62781418e+00] [ 2.12677159e-03 9.99997708e-01 2.46710810e-04 5.99119804e-01] [ 3.48650914e-02 -3.20711625e-04 9.99391976e-01 1.61489118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.85255784400005 meters Centerline goodness : 0.155679 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.61 [[ 9.99385192e-01 -2.06997884e-03 -3.49993401e-02 4.62844579e+00] [ 2.08458647e-03 9.99997755e-01 3.80883252e-04 5.98265609e-01] [ 3.49984731e-02 -4.53608233e-04 9.99387263e-01 1.61441531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8825578440001 meters Centerline goodness : 0.137430 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.61 [[ 9.99376427e-01 -2.00239063e-03 -3.52526160e-02 4.62947709e+00] [ 2.02415572e-03 9.99997782e-01 5.81724744e-04 5.97011478e-01] [ 3.52513730e-02 -6.52718780e-04 9.99378264e-01 1.61383966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.91255784400005 meters Centerline goodness : 0.128621 Centerline is valid? [False, False] Translation: X:4.63, Y:0.59, Z:1.61 [[ 9.99367103e-01 -1.83198977e-03 -3.55251599e-02 4.63052776e+00] [ 1.87357397e-03 9.99997598e-01 1.13730150e-03 5.94031999e-01] [ 3.55229910e-02 -1.20314072e-03 9.99368135e-01 1.61332684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9425578440001 meters Centerline goodness : 0.128058 Centerline is valid? [False, False] Translation: X:4.63, Y:0.59, Z:1.61 [[ 9.99369932e-01 -1.71269594e-03 -3.54514571e-02 4.63033631e+00] [ 1.76791429e-03 9.99997272e-01 1.52628751e-03 5.91910900e-01] [ 3.54487463e-02 -1.58800098e-03 9.99370234e-01 1.61340600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.97255784400005 meters Centerline goodness : 0.128247 Centerline is valid? [False, False] Translation: X:4.63, Y:0.59, Z:1.61 [[ 9.99373039e-01 -1.62749643e-03 -3.53677948e-02 4.62988273e+00] [ 1.69591375e-03 9.99996748e-01 1.90453893e-03 5.89697860e-01] [ 3.53645802e-02 -1.96332559e-03 9.99372549e-01 1.61387382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0025578440001 meters Centerline goodness : 0.136771 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99394309e-01 6.20078221e-03 -3.42427561e-02 4.64865494e+00] [-6.19731931e-03 9.99980775e-01 2.07265893e-04 5.84644157e-01] [ 3.42433830e-02 5.07294000e-06 9.99413523e-01 1.61604569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.03255784400005 meters Centerline goodness : 0.108706 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.62 [[ 9.99317592e-01 4.72794200e-03 -3.66332707e-02 4.60285323e+00] [-4.72556297e-03 9.99988823e-01 1.51527650e-04 5.79840599e-01] [ 3.66335777e-02 2.16885814e-05 9.99328765e-01 1.61601769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0625578440001 meters Centerline goodness : 0.131446 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99312931e-01 -2.69461294e-03 -3.69649054e-02 4.62367202e+00] [ 2.74778130e-03 9.99995262e-01 1.38761938e-03 5.82847857e-01] [ 3.69609911e-02 -1.48823746e-03 9.99315601e-01 1.61717401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.09255784400005 meters Centerline goodness : 0.158947 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99305793e-01 -2.67099376e-03 -3.71590894e-02 4.62446530e+00] [ 2.72655499e-03 9.99995239e-01 1.44463033e-03 5.82524382e-01] [ 3.71550539e-02 -1.54494376e-03 9.99308318e-01 1.61674418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1225578440001 meters Centerline goodness : 0.117914 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99304359e-01 -2.62596247e-03 -3.72008344e-02 4.62463623e+00] [ 2.68350171e-03 9.99995279e-01 1.49687191e-03 5.82283132e-01] [ 3.71967281e-02 -1.59565912e-03 9.99306688e-01 1.61662271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.15255784400006 meters Centerline goodness : 0.161258 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99307364e-01 -2.56355013e-03 -3.71243914e-02 4.62437815e+00] [ 2.62341697e-03 9.99995336e-01 1.56397781e-03 5.82040189e-01] [ 3.71202089e-02 -1.66028730e-03 9.99309428e-01 1.61672804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18255784400003 meters Centerline goodness : 0.127923 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99319235e-01 -2.39465583e-03 -3.68148262e-02 4.62329532e+00] [ 2.46055983e-03 9.99995450e-01 1.74494476e-03 5.81666575e-01] [ 3.68104802e-02 -1.83434195e-03 9.99320581e-01 1.61718370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.21255784400006 meters Centerline goodness : 0.144986 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.62 [[ 9.99353402e-01 5.88994654e-03 -3.54695065e-02 4.64246640e+00] [-5.87998991e-03 9.99982639e-01 3.85016958e-04 5.77994617e-01] [ 3.54711585e-02 -1.76207667e-04 9.99370685e-01 1.61885669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24255784400003 meters Centerline goodness : 0.138987 Centerline is valid? [False, False] Translation: X:4.60, Y:0.57, Z:1.62 [[ 9.99279702e-01 4.33023468e-03 -3.77004921e-02 4.59538957e+00] [-4.33092903e-03 9.99990619e-01 6.32509133e-05 5.73632296e-01] [ 3.77004123e-02 1.00072802e-04 9.99289082e-01 1.61901844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.27255784400006 meters Centerline goodness : 0.129064 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.62 [[ 9.99320500e-01 -3.31021452e-03 -3.67094167e-02 4.61483023e+00] [ 3.35445101e-03 9.99993720e-01 1.14351946e-03 5.76631132e-01] [ 3.67054009e-02 -1.26588237e-03 9.99325328e-01 1.62042543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30255784400003 meters Centerline goodness : 0.146557 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99320103e-01 -3.19561713e-03 -3.67303663e-02 4.61507552e+00] [ 3.24578959e-03 9.99993879e-01 1.30641793e-03 5.76288949e-01] [ 3.67259666e-02 -1.42474874e-03 9.99324358e-01 1.62009604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.33255784400006 meters Centerline goodness : 0.126362 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99318638e-01 -3.09506757e-03 -3.67788136e-02 4.61547981e+00] [ 3.14979049e-03 9.99994017e-01 1.43004314e-03 5.76092236e-01] [ 3.67741674e-02 -1.54491432e-03 9.99322407e-01 1.61964970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36255784400004 meters Centerline goodness : 0.118909 Centerline is valid? [False, False] Translation: X:4.64, Y:0.57, Z:1.62 [[ 9.99326830e-01 5.25089067e-03 -3.63086136e-02 4.63528218e+00] [-5.24997679e-03 9.99986212e-01 1.20511530e-04 5.72957438e-01] [ 3.63087457e-02 7.01889733e-05 9.99340618e-01 1.62139225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.39255784400007 meters Centerline goodness : 0.152624 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.62 [[ 9.99331747e-01 -3.64683806e-03 -3.63697631e-02 4.61452926e+00] [ 3.68522031e-03 9.99992721e-01 9.88352052e-04 5.75761813e-01] [ 3.63658940e-02 -1.12172217e-03 9.99337913e-01 1.61979113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42255784400004 meters Centerline goodness : 0.134053 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99393610e-01 4.79699522e-03 -3.44877076e-02 4.63370821e+00] [-4.81518964e-03 9.99988308e-01 -4.44524398e-04 5.73650402e-01] [ 3.44851720e-02 6.10319695e-04 9.99405023e-01 1.62177248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.45255784400007 meters Centerline goodness : 0.156352 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.62 [[ 9.99405134e-01 -3.29638046e-03 -3.43294633e-02 4.61391260e+00] [ 3.34251172e-03 9.99993586e-01 1.28647675e-03 5.77441830e-01] [ 3.43250024e-02 -1.40045810e-03 9.99409742e-01 1.61921477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48255784400004 meters Centerline goodness : 0.150718 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.62 [[ 9.99404945e-01 -3.27345156e-03 -3.43371488e-02 4.61409587e+00] [ 3.32002901e-03 9.99993644e-01 1.29954445e-03 5.77547868e-01] [ 3.43326766e-02 -1.41277148e-03 9.99409461e-01 1.61893932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.51255784400007 meters Centerline goodness : 0.157515 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.62 [[ 9.99400957e-01 -3.27252184e-03 -3.44531308e-02 4.61462679e+00] [ 3.32186478e-03 9.99993537e-01 1.37503184e-03 5.76866314e-01] [ 3.44484083e-02 -1.48865678e-03 9.99405369e-01 1.61858600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54255784400004 meters Centerline goodness : 0.152613 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.62 [[ 9.99396040e-01 -3.22972845e-03 -3.45994810e-02 4.61494089e+00] [ 3.28622984e-03 9.99993358e-01 1.57626904e-03 5.75427825e-01] [ 3.45941603e-02 -1.68901888e-03 9.99400016e-01 1.61867698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5725578440001 meters Centerline goodness : 0.092259 Centerline is valid? [False, False] Translation: X:4.62, Y:0.57, Z:1.62 [[ 9.99386494e-01 -3.24554658e-03 -3.48726506e-02 4.61528330e+00] [ 3.32370913e-03 9.99992092e-01 2.18363401e-03 5.71055670e-01] [ 3.48652877e-02 -2.29820089e-03 9.99389379e-01 1.61929308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60255784400005 meters Centerline goodness : 0.153943 Centerline is valid? [False, False] Translation: X:4.62, Y:0.57, Z:1.62 [[ 9.99382872e-01 -3.08540557e-03 -3.49907821e-02 4.61561054e+00] [ 3.17823903e-03 9.99991575e-01 2.59777188e-03 5.69035150e-01] [ 3.49824721e-02 -2.70737779e-03 9.99384259e-01 1.61927839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6325578440001 meters Centerline goodness : 0.153943 Centerline is valid? [False, False] Translation: X:4.62, Y:0.57, Z:1.62 [[ 9.99382872e-01 -3.08540557e-03 -3.49907821e-02 4.61561054e+00] [ 3.17823903e-03 9.99991575e-01 2.59777188e-03 5.69035150e-01] [ 3.49824721e-02 -2.70737779e-03 9.99384259e-01 1.61927839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66255784400005 meters Centerline goodness : 0.104280 Centerline is valid? [False, False] Translation: X:4.64, Y:0.56, Z:1.62 [[ 9.99352515e-01 4.90855520e-03 -3.56434564e-02 4.63553216e+00] [-4.86642430e-03 9.99987354e-01 1.26866954e-03 5.64148714e-01] [ 3.56492330e-02 -1.09439191e-03 9.99363765e-01 1.62148667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6925578440001 meters Centerline goodness : 0.158790 Centerline is valid? [False, False] Translation: X:4.64, Y:0.56, Z:1.62 [[ 9.99345695e-01 4.79620590e-03 -3.58493890e-02 4.63635512e+00] [-4.75834899e-03 9.99988028e-01 1.14124398e-03 5.63821798e-01] [ 3.58544334e-02 -9.69913356e-04 9.99356552e-01 1.62105466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72255784400005 meters Centerline goodness : 0.159478 Centerline is valid? [False, False] Translation: X:4.64, Y:0.56, Z:1.62 [[ 9.99347116e-01 4.79612565e-03 -3.58097606e-02 4.63635431e+00] [-4.76372171e-03 9.99988163e-01 9.90158338e-04 5.64779624e-01] [ 3.58140856e-02 -8.18924145e-04 9.99358134e-01 1.62081601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7525578440001 meters Centerline goodness : 0.142253 Centerline is valid? [False, False] Translation: X:4.64, Y:0.57, Z:1.62 [[ 9.99351062e-01 4.87595766e-03 -3.56886639e-02 4.63617679e+00] [-4.84946783e-03 9.99987898e-01 8.28773693e-04 5.66415235e-01] [ 3.56922730e-02 -6.55164843e-04 9.99362613e-01 1.62054988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78255784400005 meters Centerline goodness : 0.141656 Centerline is valid? [False, False] Translation: X:4.64, Y:0.57, Z:1.62 [[ 9.99360292e-01 4.95333561e-03 -3.54185063e-02 4.63555610e+00] [-4.93359994e-03 9.99987622e-01 6.44590201e-04 5.68179334e-01] [ 3.54212608e-02 -4.69437111e-04 9.99372360e-01 1.62039709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8125578440001 meters Centerline goodness : 0.105418 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99378711e-01 5.08812220e-03 -3.48755441e-02 4.63382439e+00] [-5.07792467e-03 9.99987035e-01 3.80966688e-04 5.70576713e-01] [ 3.48770304e-02 -2.03634611e-04 9.99391591e-01 1.62085527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84255784400005 meters Centerline goodness : 0.105278 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99381527e-01 4.98496619e-03 -3.48096656e-02 4.63362017e+00] [-4.98281008e-03 9.99987575e-01 1.48691504e-04 5.71609956e-01] [ 3.48099743e-02 2.48504102e-05 9.99393949e-01 1.62086657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8725578440001 meters Centerline goodness : 0.138408 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99376934e-01 4.88810741e-03 -3.49549850e-02 4.63415988e+00] [-4.89365313e-03 9.99988023e-01 -7.30995294e-05 5.72574415e-01] [ 3.49542091e-02 2.44111555e-04 9.99388885e-01 1.62052169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90255784400006 meters Centerline goodness : 0.156898 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99374917e-01 4.78597086e-03 -3.50266947e-02 4.63460144e+00] [-4.79650725e-03 9.99988473e-01 -2.16787295e-04 5.73019071e-01] [ 3.50252534e-02 3.84657580e-04 9.99386354e-01 1.62010624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.93255784400003 meters Centerline goodness : 0.146534 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99376272e-01 4.72347635e-03 -3.49965066e-02 4.63443949e+00] [-4.73629742e-03 9.99988744e-01 -2.83458917e-04 5.73120930e-01] [ 3.49947737e-02 4.49035979e-04 9.99387394e-01 1.62021828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96255784400006 meters Centerline goodness : 0.118748 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99423027e-01 -3.17443253e-03 -3.38162044e-02 4.65318805e+00] [ 3.19828658e-03 9.99994673e-01 6.51333893e-04 5.78595336e-01] [ 3.38139567e-02 -7.59112004e-04 9.99427856e-01 1.62243671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99255784400003 meters Centerline goodness : 0.150565 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99424176e-01 -3.22885367e-03 -3.37770905e-02 4.65296711e+00] [ 3.24899491e-03 9.99994575e-01 5.41429212e-04 5.79229318e-01] [ 3.37751590e-02 -6.50859039e-04 9.99429245e-01 1.62262221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02255784400006 meters Centerline goodness : 0.151717 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99422468e-01 -3.33192027e-03 -3.38175735e-02 4.65323780e+00] [ 3.34365583e-03 9.99994368e-01 2.90477934e-04 5.80503917e-01] [ 3.38164152e-02 -4.03384501e-04 9.99427980e-01 1.62230481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05255784400003 meters Centerline goodness : 0.142466 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99420351e-01 -3.45550532e-03 -3.38677014e-02 4.65364515e+00] [ 3.45628363e-03 9.99994026e-01 -3.55642596e-05 5.82166693e-01] [ 3.38676220e-02 -8.15127372e-05 9.99426324e-01 1.62179631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08255784400006 meters Centerline goodness : 0.111307 Centerline is valid? [False, False] Translation: X:4.65, Y:0.59, Z:1.62 [[ 9.99427135e-01 -3.63230355e-03 -3.36483074e-02 4.65329956e+00] [ 3.61511344e-03 9.99993302e-01 -5.71700689e-04 5.85456068e-01] [ 3.36501586e-02 4.49730733e-04 9.99433572e-01 1.62137794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.11255784400004 meters Centerline goodness : 0.155683 Centerline is valid? [False, False] Translation: X:4.65, Y:0.59, Z:1.62 [[ 9.99427184e-01 -3.74635584e-03 -3.36343497e-02 4.65328559e+00] [ 3.72121741e-03 9.99992748e-01 -8.09970556e-04 5.86686763e-01] [ 3.36371403e-02 6.84345864e-04 9.99433877e-01 1.62129164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14255784400007 meters Centerline goodness : 0.100020 Centerline is valid? [False, False] Translation: X:4.65, Y:0.59, Z:1.62 [[ 9.99422302e-01 -3.89498213e-03 -3.37622750e-02 4.65353787e+00] [ 3.86127215e-03 9.99991980e-01 -1.06359517e-03 5.87746684e-01] [ 3.37661469e-02 9.32615401e-04 9.99429326e-01 1.62137805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.17255784400004 meters Centerline goodness : 0.153684 Centerline is valid? [False, False] Translation: X:4.65, Y:0.59, Z:1.62 [[ 9.99422980e-01 -4.31866681e-03 -3.36905852e-02 4.65298078e+00] [ 4.27541116e-03 9.99989941e-01 -1.35584508e-03 5.88030919e-01] [ 3.36961017e-02 1.21102162e-03 9.99431391e-01 1.62198125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20255784400007 meters Centerline goodness : 0.119491 Centerline is valid? [False, False] Translation: X:4.65, Y:0.59, Z:1.62 [[ 9.99422517e-01 -4.30775952e-03 -3.37057149e-02 4.65277227e+00] [ 4.26778873e-03 9.99990102e-01 -1.25773113e-03 5.87701816e-01] [ 3.37107993e-02 1.11315594e-03 9.99431010e-01 1.62236783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.23255784400004 meters Centerline goodness : 0.122850 Centerline is valid? [False, False] Translation: X:4.65, Y:0.59, Z:1.62 [[ 9.99424313e-01 -4.28500851e-03 -3.36553198e-02 4.65258901e+00] [ 4.24946458e-03 9.99990335e-01 -1.12757426e-03 5.87236919e-01] [ 3.36598262e-02 9.83908042e-04 9.99432863e-01 1.62244796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26255784400007 meters Centerline goodness : 0.132503 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99467552e-01 2.43530229e-03 -3.25373781e-02 4.63423153e+00] [-2.51198564e-03 9.99994163e-01 -2.31610747e-03 5.80675140e-01] [ 3.25315477e-02 2.39660769e-03 9.99467836e-01 1.61993885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.29255784400004 meters Centerline goodness : 0.160339 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99491566e-01 1.87004744e-03 -3.18294422e-02 4.63213743e+00] [-1.94800789e-03 9.99995178e-01 -2.41848506e-03 5.79068743e-01] [ 3.18247660e-02 2.47925942e-03 9.99490389e-01 1.62069266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3225578440001 meters Centerline goodness : 0.162178 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99494881e-01 1.90308943e-03 -3.17232079e-02 4.63173579e+00] [-1.97606458e-03 9.99995473e-01 -2.26917830e-03 5.78295473e-01] [ 3.17187458e-02 2.33071920e-03 9.99494116e-01 1.62090404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.35255784400005 meters Centerline goodness : 0.161033 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99496817e-01 1.95957967e-03 -3.16586972e-02 4.63152379e+00] [-2.02849309e-03 9.99995643e-01 -2.14478990e-03 5.77893433e-01] [ 3.16543563e-02 2.20793012e-03 9.99496437e-01 1.62096999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3825578440001 meters Centerline goodness : 0.111679 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99498813e-01 1.97804180e-03 -3.15944681e-02 4.63148048e+00] [-2.04469064e-03 9.99995752e-01 -2.07734051e-03 5.77604475e-01] [ 3.15902248e-02 2.14090029e-03 9.99498611e-01 1.62079766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.41255784400005 meters Centerline goodness : 0.126853 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99499332e-01 1.96725250e-03 -3.15787025e-02 4.63154742e+00] [-2.03311197e-03 9.99995825e-01 -2.05359189e-03 5.77311607e-01] [ 3.15745307e-02 2.11676677e-03 9.99499159e-01 1.62065816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4425578440001 meters Centerline goodness : 0.142671 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99491415e-01 1.86414910e-03 -3.18345139e-02 4.63223339e+00] [-1.93313193e-03 9.99995850e-01 -2.13627917e-03 5.77058487e-01] [ 3.18303994e-02 2.19673301e-03 9.99490870e-01 1.62054950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.47255784400005 meters Centerline goodness : 0.128250 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99487604e-01 1.87394764e-03 -3.19533623e-02 4.63244137e+00] [-1.94295657e-03 9.99995847e-01 -2.12876352e-03 5.77112575e-01] [ 3.19492404e-02 2.18975674e-03 9.99487094e-01 1.62067729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5025578440001 meters Centerline goodness : 0.162414 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99486103e-01 1.90949513e-03 -3.19981775e-02 4.63248530e+00] [-1.97708618e-03 9.99995881e-01 -2.08083415e-03 5.77020962e-01] [ 3.19940723e-02 2.14302797e-03 9.99485761e-01 1.62078377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.53255784400005 meters Centerline goodness : 0.147214 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99486572e-01 1.95008838e-03 -3.19810948e-02 4.63253522e+00] [-2.01550090e-03 9.99995942e-01 -2.01323989e-03 5.76672083e-01] [ 3.19770391e-02 2.07666416e-03 9.99486446e-01 1.62062639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5625578440001 meters Centerline goodness : 0.135000 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99486164e-01 1.94749090e-03 -3.19939932e-02 4.63303696e+00] [-2.00810633e-03 9.99996249e-01 -1.86256532e-03 5.75112165e-01] [ 3.19902458e-02 1.92585561e-03 9.99486326e-01 1.61995259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.59255784400005 meters Centerline goodness : 0.153035 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99486552e-01 1.99820529e-03 -3.19787294e-02 4.63308158e+00] [-2.05347227e-03 9.99996454e-01 -1.69549304e-03 5.74112191e-01] [ 3.19752280e-02 1.76028993e-03 9.99487112e-01 1.61984084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6225578440001 meters Centerline goodness : 0.154368 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99487842e-01 2.04959459e-03 -3.19351358e-02 4.63292566e+00] [-2.10081554e-03 9.99996560e-01 -1.57043478e-03 5.73418006e-01] [ 3.19318072e-02 1.63672029e-03 9.99488710e-01 1.61989317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.65255784400006 meters Centerline goodness : 0.152450 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99488747e-01 2.08109574e-03 -3.19047498e-02 4.63286400e+00] [-2.12950909e-03 9.99996632e-01 -1.48352964e-03 5.72883964e-01] [ 3.19015550e-02 1.55071264e-03 9.99489813e-01 1.61987807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68255784400003 meters Centerline goodness : 0.116317 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99487297e-01 2.19329427e-03 -3.19426367e-02 4.63320527e+00] [-2.23921207e-03 9.99996510e-01 -1.40180688e-03 5.72757143e-01] [ 3.19394507e-02 1.47261451e-03 9.99488721e-01 1.61945450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.71255784400006 meters Centerline goodness : 0.155387 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99487096e-01 2.23446529e-03 -3.19460899e-02 4.63339484e+00] [-2.28195517e-03 9.99996345e-01 -1.45018139e-03 5.73351756e-01] [ 3.19427327e-02 1.52233713e-03 9.99488541e-01 1.61911286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74255784400003 meters Centerline goodness : 0.157142 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99488847e-01 2.24767948e-03 -3.18903140e-02 4.63331376e+00] [-2.29801551e-03 9.99996171e-01 -1.54184757e-03 5.74081367e-01] [ 3.18867263e-02 1.61434389e-03 9.99490185e-01 1.61900778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.77255784400006 meters Centerline goodness : 0.141389 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99490872e-01 2.22011956e-03 -3.18287116e-02 4.63314675e+00] [-2.27397280e-03 9.99996044e-01 -1.65587246e-03 5.74632966e-01] [ 3.18249094e-02 1.72740704e-03 9.99491967e-01 1.61897503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80255784400003 meters Centerline goodness : 0.144942 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99491374e-01 2.14052670e-03 -3.18184103e-02 4.63304412e+00] [-2.19959817e-03 9.99995922e-01 -1.82163188e-03 5.75207983e-01] [ 3.18143813e-02 1.89069306e-03 9.99492006e-01 1.61897970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.83255784400006 meters Centerline goodness : 0.131509 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99509783e-01 -5.12927338e-03 -3.08850318e-02 4.65140623e+00] [ 5.12023395e-03 9.99986822e-01 -3.71761669e-04 5.80181475e-01] [ 3.08865317e-02 2.13440836e-04 9.99522874e-01 1.62099697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86255784400004 meters Centerline goodness : 0.151362 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99519021e-01 -5.05127373e-03 -3.05975584e-02 4.65038980e+00] [ 5.04874495e-03 9.99987242e-01 -1.59903953e-04 5.79216014e-01] [ 3.05979757e-02 5.34777367e-06 9.99531772e-01 1.62148451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.89255784400007 meters Centerline goodness : 0.106236 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99522831e-01 -5.00302657e-03 -3.04808301e-02 4.64977982e+00] [ 5.00889306e-03 9.99987449e-01 1.16112244e-04 5.77624484e-01] [ 3.04798666e-02 -2.68732057e-04 9.99535345e-01 1.62199265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92255784400004 meters Centerline goodness : 0.116280 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99519051e-01 -5.03916146e-03 -3.05985939e-02 4.64993921e+00] [ 5.05411435e-03 9.99987143e-01 4.11355676e-04 5.75539513e-01] [ 3.05961276e-02 -5.65806628e-04 9.99531669e-01 1.62227170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.95255784400007 meters Centerline goodness : 0.149791 Centerline is valid? [False, False] Translation: X:4.65, Y:0.57, Z:1.62 [[ 9.99500464e-01 -5.59156597e-03 -3.11055753e-02 4.65149559e+00] [ 5.61377128e-03 9.99984046e-01 6.26583385e-04 5.70591585e-01] [ 3.11015755e-02 -8.00889970e-04 9.99515908e-01 1.62207763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98255784400004 meters Centerline goodness : 0.146242 Centerline is valid? [False, False] Translation: X:4.65, Y:0.57, Z:1.62 [[ 9.99496899e-01 -5.40841140e-03 -3.12521647e-02 4.65182517e+00] [ 5.44995482e-03 9.99984375e-01 1.24426770e-03 5.67282719e-01] [ 3.12449469e-02 -1.41396459e-03 9.99510757e-01 1.62222113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.01255784400007 meters Centerline goodness : 0.115133 Centerline is valid? [False, False] Translation: X:4.65, Y:0.56, Z:1.62 [[ 9.99496714e-01 -5.19207703e-03 -3.12947372e-02 4.65200822e+00] [ 5.25261758e-03 9.99984489e-01 1.85262835e-03 5.64189921e-01] [ 3.12846328e-02 -2.01607523e-03 9.99508483e-01 1.62217334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04255784400004 meters Centerline goodness : 0.143686 Centerline is valid? [False, False] Translation: X:4.65, Y:0.56, Z:1.62 [[ 9.99492914e-01 -4.97872297e-03 -3.14503771e-02 4.65244304e+00] [ 5.05607463e-03 9.99984385e-01 2.38043379e-03 5.61504574e-01] [ 3.14380344e-02 -2.53824216e-03 9.99502480e-01 1.62215146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0725578440001 meters Centerline goodness : 0.109630 Centerline is valid? [False, False] Translation: X:4.65, Y:0.56, Z:1.62 [[ 9.99487087e-01 -4.62157891e-03 -3.16891775e-02 4.65312918e+00] [ 4.72108953e-03 9.99984155e-01 3.06610486e-03 5.58299604e-01] [ 3.16745052e-02 -3.21413966e-03 9.99493069e-01 1.62211797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10255784400005 meters Centerline goodness : 0.147504 Centerline is valid? [False, False] Translation: X:4.65, Y:0.56, Z:1.62 [[ 9.99491506e-01 -4.44667846e-03 -3.15746112e-02 4.65287955e+00] [ 4.55208385e-03 9.99984302e-01 3.26719723e-03 5.57545241e-01] [ 3.15595874e-02 -3.40926616e-03 9.99496058e-01 1.62206941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1325578440001 meters Centerline goodness : 0.147444 Centerline is valid? [False, False] Translation: X:4.63, Y:0.55, Z:1.62 [[ 9.99518698e-01 3.35518576e-03 -3.08401640e-02 4.63233152e+00] [-3.28119928e-03 9.99991617e-01 2.44932552e-03 5.51316935e-01] [ 3.08481234e-02 -2.34695393e-03 9.99521328e-01 1.61977130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16255784400005 meters Centerline goodness : 0.104593 Centerline is valid? [False, False] Translation: X:4.63, Y:0.55, Z:1.62 [[ 9.99523009e-01 3.43728809e-03 -3.06910476e-02 4.63220118e+00] [-3.36528450e-03 9.99991464e-01 2.39742415e-03 5.51701209e-01] [ 3.06990262e-02 -2.29299650e-03 9.99526044e-01 1.61937021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1925578440001 meters Centerline goodness : 0.120458 Centerline is valid? [False, False] Translation: X:4.63, Y:0.55, Z:1.62 [[ 9.99530605e-01 4.17533888e-03 -3.03502196e-02 4.63148898e+00] [-4.09383263e-03 9.99987847e-01 2.74716711e-03 5.52096770e-01] [ 3.03613211e-02 -2.62162888e-03 9.99535551e-01 1.61896894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22255784400005 meters Centerline goodness : 0.118829 Centerline is valid? [False, False] Translation: X:4.63, Y:0.55, Z:1.62 [[ 9.99532237e-01 4.21842495e-03 -3.02904694e-02 4.63148150e+00] [-4.14502317e-03 9.99988320e-01 2.48564632e-03 5.53872730e-01] [ 3.03006011e-02 -2.35892892e-03 9.99538048e-01 1.61861634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2525578440001 meters Centerline goodness : 0.107540 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99531059e-01 4.26371231e-03 -3.03229888e-02 4.63177165e+00] [-4.19839052e-03 9.99988728e-01 2.21754293e-03 5.55792014e-01] [ 3.03321019e-02 -2.08919528e-03 9.99537693e-01 1.61818099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28255784400005 meters Centerline goodness : 0.147354 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99535095e-01 4.58755540e-03 -3.01421348e-02 4.63161787e+00] [-4.53057140e-03 9.99987819e-01 1.95853434e-03 5.58816838e-01] [ 3.01507525e-02 -1.82106271e-03 9.99543704e-01 1.61750757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3125578440001 meters Centerline goodness : 0.149874 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99535484e-01 4.45771949e-03 -3.01487202e-02 4.63189824e+00] [-4.41092041e-03 9.99988962e-01 1.61860318e-03 5.60389785e-01] [ 3.01556027e-02 -1.48486771e-03 9.99544113e-01 1.61702196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34255784400005 meters Centerline goodness : 0.129732 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99532386e-01 4.30874250e-03 -3.02728284e-02 4.63241555e+00] [-4.27006743e-03 9.99989983e-01 1.34208300e-03 5.61462639e-01] [ 3.02783078e-02 -1.21218840e-03 9.99540772e-01 1.61666630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3725578440001 meters Centerline goodness : 0.161039 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99530313e-01 4.19272658e-03 -3.03574374e-02 4.63270749e+00] [-4.15918071e-03 9.99990668e-01 1.16809122e-03 5.61986798e-01] [ 3.03620516e-02 -1.04128052e-03 9.99538424e-01 1.61649595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40255784400006 meters Centerline goodness : 0.155551 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99522045e-01 3.92903722e-03 -3.06633906e-02 4.63317216e+00] [-3.89626641e-03 9.99991773e-01 1.12840488e-03 5.61581327e-01] [ 3.06675719e-02 -1.00839282e-03 9.99529131e-01 1.61697019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.43255784400003 meters Centerline goodness : 0.117297 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99519270e-01 3.91460278e-03 -3.07555598e-02 4.63325756e+00] [-3.87641861e-03 9.99991640e-01 1.30106417e-03 5.60590032e-01] [ 3.07603959e-02 -1.18121729e-03 9.99526089e-01 1.61721941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46255784400006 meters Centerline goodness : 0.136019 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99516400e-01 3.86228218e-03 -3.08553028e-02 4.63357372e+00] [-3.81908998e-03 9.99991643e-01 1.45864181e-03 5.59413776e-01] [ 3.08606787e-02 -1.34009724e-03 9.99522797e-01 1.61712805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49255784400003 meters Centerline goodness : 0.137132 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99512789e-01 3.79873929e-03 -3.09798846e-02 4.63400075e+00] [-3.75201970e-03 9.99991735e-01 1.56605539e-03 5.58378960e-01] [ 3.09855776e-02 -1.44905525e-03 9.99518781e-01 1.61703090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52255784400006 meters Centerline goodness : 0.147046 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99511168e-01 3.76070607e-03 -3.10368000e-02 4.63405402e+00] [-3.71164759e-03 9.99991770e-01 1.63811671e-03 5.57656441e-01] [ 3.10427050e-02 -1.52211828e-03 9.99516900e-01 1.61716172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55255784400003 meters Centerline goodness : 0.147046 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99511168e-01 3.76070607e-03 -3.10368000e-02 4.63405402e+00] [-3.71164759e-03 9.99991770e-01 1.63811671e-03 5.57656441e-01] [ 3.10427050e-02 -1.52211828e-03 9.99516900e-01 1.61716172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58255784400006 meters Centerline goodness : 0.138909 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99515686e-01 3.77693516e-03 -3.08889731e-02 4.63306084e+00] [-3.72516670e-03 9.99991559e-01 1.73332842e-03 5.57308625e-01] [ 3.08952590e-02 -1.61742237e-03 9.99521319e-01 1.61815344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.61255784400004 meters Centerline goodness : 0.124306 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99516951e-01 3.74983087e-03 -3.08513257e-02 4.63281558e+00] [-3.70075873e-03 9.99991795e-01 1.64754763e-03 5.57853816e-01] [ 3.08572506e-02 -1.53257847e-03 9.99522627e-01 1.61837864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64255784400007 meters Centerline goodness : 0.134535 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99517762e-01 3.69179780e-03 -3.08320458e-02 4.63281904e+00] [-3.64645714e-03 9.99992186e-01 1.52666752e-03 5.58393703e-01] [ 3.08374410e-02 -1.41350357e-03 9.99523414e-01 1.61827262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.67255784400004 meters Centerline goodness : 0.133413 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99519301e-01 3.68475837e-03 -3.07829439e-02 4.63282201e+00] [-3.64030773e-03 9.99992249e-01 1.49992073e-03 5.58578485e-01] [ 3.07882322e-02 -1.38714033e-03 9.99524967e-01 1.61805736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70255784400007 meters Centerline goodness : 0.133166 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99518183e-01 3.69930852e-03 -3.08174824e-02 4.63288341e+00] [-3.65299479e-03 9.99992113e-01 1.55900554e-03 5.58199549e-01] [ 3.08230066e-02 -1.44567829e-03 9.99523813e-01 1.61805882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.73255784400004 meters Centerline goodness : 0.131513 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99519143e-01 3.71186373e-03 -3.07848224e-02 4.63272904e+00] [-3.66357312e-03 9.99991969e-01 1.62490629e-03 5.57764556e-01] [ 3.07906066e-02 -1.51134250e-03 9.99524714e-01 1.61816510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76255784400007 meters Centerline goodness : 0.131942 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99519612e-01 3.71621321e-03 -3.07690677e-02 4.63266697e+00] [-3.66666607e-03 9.99991889e-01 1.66655762e-03 5.57476240e-01] [ 3.07750114e-02 -1.55293713e-03 9.99525131e-01 1.61819806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.79255784400004 meters Centerline goodness : 0.135326 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99518719e-01 3.64720254e-03 -3.08063083e-02 4.63285093e+00] [-3.60081254e-03 9.99992298e-01 1.56120364e-03 5.57805570e-01] [ 3.08117651e-02 -1.44952452e-03 9.99524154e-01 1.61802261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8225578440001 meters Centerline goodness : 0.135564 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99512334e-01 3.60318605e-03 -3.10179226e-02 4.63396250e+00] [-3.55907780e-03 9.99992576e-01 1.47711814e-03 5.58240541e-01] [ 3.10230147e-02 -1.36600260e-03 9.99517737e-01 1.61706637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.85255784400005 meters Centerline goodness : 0.137519 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99511819e-01 3.61369217e-03 -3.10332921e-02 4.63419045e+00] [-3.56688125e-03 9.99992416e-01 1.56363708e-03 5.57666864e-01] [ 3.10387072e-02 -1.45218168e-03 9.99517128e-01 1.61677449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8825578440001 meters Centerline goodness : 0.137687 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99509987e-01 3.58986275e-03 -3.10949846e-02 4.63445263e+00] [-3.53928051e-03 9.99992323e-01 1.68158883e-03 5.56502297e-01] [ 3.11007826e-02 -1.57071096e-03 9.99515019e-01 1.61663141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.91255784400005 meters Centerline goodness : 0.141963 Centerline is valid? [False, False] Translation: X:4.66, Y:0.56, Z:1.62 [[ 9.99527334e-01 -5.17034547e-03 -3.03047215e-02 4.65509636e+00] [ 5.23448620e-03 9.99984224e-01 2.03757455e-03 5.57240442e-01] [ 3.02937084e-02 -2.19524111e-03 9.99538630e-01 1.61779873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9425578440001 meters Centerline goodness : 0.140629 Centerline is valid? [False, False] Translation: X:4.65, Y:0.56, Z:1.62 [[ 9.99533237e-01 -5.07763369e-03 -3.01251587e-02 4.65443297e+00] [ 5.15227689e-03 9.99983845e-01 2.40066250e-03 5.55467782e-01] [ 3.01124823e-02 -2.55475512e-03 9.99543252e-01 1.61818298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.97255784400005 meters Centerline goodness : 0.144718 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99542254e-01 -4.94874569e-03 -2.98461330e-02 4.65350644e+00] [ 5.03463138e-03 9.99983397e-01 2.80315275e-03 5.53681875e-01] [ 2.98317653e-02 -2.95213389e-03 9.99550574e-01 1.61859237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0025578440001 meters Centerline goodness : 0.146113 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99547757e-01 -4.86351138e-03 -2.96753600e-02 4.65286230e+00] [ 4.95899718e-03 9.99982759e-01 3.14493193e-03 5.51936074e-01] [ 2.96595530e-02 -3.29066968e-03 9.99554642e-01 1.61898105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.03255784400005 meters Centerline goodness : 0.155199 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99546706e-01 -4.83654472e-03 -2.97151398e-02 4.65286086e+00] [ 4.93922573e-03 9.99982079e-01 3.38308248e-03 5.50395713e-01] [ 2.96982449e-02 -3.52831873e-03 9.99552683e-01 1.61918404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0625578440001 meters Centerline goodness : 0.155514 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99532483e-01 -4.82265432e-03 -3.01920070e-02 4.65422435e+00] [ 4.93830153e-03 9.99980749e-01 3.75699809e-03 5.47991434e-01] [ 3.01733071e-02 -3.90433887e-03 9.99537057e-01 1.61886770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.09255784400005 meters Centerline goodness : 0.118353 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99533949e-01 -4.71770039e-03 -3.01600268e-02 4.65406352e+00] [ 4.84027689e-03 9.99980316e-01 3.99248814e-03 5.47049163e-01] [ 3.01405978e-02 -4.13661032e-03 9.99537109e-01 1.61898360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1225578440001 meters Centerline goodness : 0.119212 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99541196e-01 -4.63265445e-03 -2.99321763e-02 4.65332850e+00] [ 4.76081992e-03 9.99979797e-01 4.21201545e-03 5.46135855e-01] [ 2.99120587e-02 -4.35258466e-03 9.99543057e-01 1.61925436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.15255784400006 meters Centerline goodness : 0.118630 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99545937e-01 -4.60936847e-03 -2.97770597e-02 4.65265813e+00] [ 4.74107839e-03 9.99979282e-01 4.35411272e-03 5.45304419e-01] [ 2.97563731e-02 -4.49331105e-03 9.99547082e-01 1.61970537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18255784400003 meters Centerline goodness : 0.155580 Centerline is valid? [False, False] Translation: X:4.65, Y:0.54, Z:1.62 [[ 9.99546219e-01 -4.61386597e-03 -2.97668871e-02 4.65236181e+00] [ 4.74867857e-03 9.99978780e-01 4.45984350e-03 5.44477129e-01] [ 2.97456783e-02 -4.59917309e-03 9.99546918e-01 1.62010816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.21255784400006 meters Centerline goodness : 0.136369 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.62 [[ 9.99547655e-01 3.31960541e-03 -2.98908868e-02 4.67152968e+00] [-3.23922149e-03 9.99991007e-01 2.73726619e-03 5.40874421e-01] [ 2.98997046e-02 -2.63920480e-03 9.99549420e-01 1.62216128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24255784400003 meters Centerline goodness : 0.131562 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.62 [[ 9.99549072e-01 3.25125491e-03 -2.98509855e-02 4.67154316e+00] [-3.17585683e-03 9.99991647e-01 2.57288003e-03 5.41703986e-01] [ 2.98591012e-02 -2.47691739e-03 9.99551049e-01 1.62194064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.27255784400006 meters Centerline goodness : 0.136673 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.62 [[ 9.99551328e-01 3.15651027e-03 -2.97855576e-02 4.67152961e+00] [-3.08793218e-03 9.99992475e-01 2.34811137e-03 5.42838946e-01] [ 2.97927453e-02 -2.25508205e-03 9.99553554e-01 1.62166705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30255784400003 meters Centerline goodness : 0.135450 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.62 [[ 9.99558201e-01 2.89767370e-03 -2.95805113e-02 4.67118998e+00] [-2.84541133e-03 9.99994316e-01 1.80872483e-03 5.45443984e-01] [ 2.95855843e-02 -1.72375701e-03 9.99560764e-01 1.62127869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.33255784400006 meters Centerline goodness : 0.142662 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.62 [[ 9.99559092e-01 2.78307735e-03 -2.95613998e-02 4.67121891e+00] [-2.73788070e-03 9.99995021e-01 1.56927408e-03 5.46602369e-01] [ 2.95656200e-02 -1.48764658e-03 9.99561734e-01 1.62111816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36255784400004 meters Centerline goodness : 0.119365 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.62 [[ 9.99562439e-01 2.73015342e-03 -2.94529456e-02 4.67116305e+00] [-2.68742823e-03 9.99995279e-01 1.49011287e-03 5.47154213e-01] [ 2.94568748e-02 -1.41030818e-03 9.99565057e-01 1.62065680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.39255784400007 meters Centerline goodness : 0.151101 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.62 [[ 9.99564704e-01 2.67216109e-03 -2.93813299e-02 4.67102245e+00] [-2.62903941e-03 9.99995410e-01 1.50618845e-03 5.47088560e-01] [ 2.93852199e-02 -1.42828813e-03 9.99567141e-01 1.62043752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42255784400004 meters Centerline goodness : 0.133892 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.62 [[ 9.99564194e-01 2.60702455e-03 -2.94045018e-02 4.67102723e+00] [-2.56130288e-03 9.99995452e-01 1.59247880e-03 5.46469440e-01] [ 2.94085197e-02 -1.51647096e-03 9.99566326e-01 1.62036879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.45255784400007 meters Centerline goodness : 0.142762 Centerline is valid? [False, False] Translation: X:4.69, Y:0.55, Z:1.62 [[ 9.99537256e-01 -5.42622768e-03 -2.99304133e-02 4.69196027e+00] [ 5.49988223e-03 9.99982045e-01 2.37908322e-03 5.50210078e-01] [ 2.99169665e-02 -2.54259606e-03 9.99549154e-01 1.62217903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48255784400004 meters Centerline goodness : 0.125032 Centerline is valid? [False, False] Translation: X:4.69, Y:0.55, Z:1.62 [[ 9.99506275e-01 -9.21550197e-03 -3.00379820e-02 4.69292393e+00] [ 9.20689771e-03 9.99957525e-01 -4.24745875e-04 5.46088536e-01] [ 3.00406204e-02 1.47979540e-04 9.99548668e-01 1.62057036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.51255784400007 meters Centerline goodness : 0.134373 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:1.62 [[ 9.99501391e-01 -9.48072527e-03 -3.01178562e-02 4.69330417e+00] [ 9.48812769e-03 9.99954981e-01 1.02874795e-04 5.43554050e-01] [ 3.01155250e-02 -3.88585566e-04 9.99546349e-01 1.61960293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54255784400004 meters Centerline goodness : 0.126761 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:1.62 [[ 9.99509080e-01 -9.55717160e-03 -2.98372271e-02 4.69283313e+00] [ 9.58075238e-03 9.99953894e-01 6.47447461e-04 5.41206198e-01] [ 2.98296636e-02 -9.32992701e-04 9.99554561e-01 1.61875886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5725578440001 meters Centerline goodness : 0.150103 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:1.62 [[ 9.99508231e-01 -1.03516296e-02 -2.95996509e-02 4.69189280e+00] [ 1.03763403e-02 9.99945932e-01 6.81347436e-04 5.39085844e-01] [ 2.95909975e-02 -9.88148422e-04 9.99561602e-01 1.61848510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60255784400005 meters Centerline goodness : 0.134311 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:1.62 [[ 9.99515384e-01 -1.05546355e-02 -2.92847706e-02 4.69080917e+00] [ 1.05829306e-02 9.99943670e-01 8.11376584e-04 5.38129424e-01] [ 2.92745572e-02 -1.12090207e-03 9.99570780e-01 1.61856172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6325578440001 meters Centerline goodness : 0.155059 Centerline is valid? [False, False] Translation: X:4.67, Y:0.53, Z:1.62 [[ 9.99554378e-01 -8.42526385e-04 -2.98384767e-02 4.67177055e+00] [ 8.58263303e-04 9.99999499e-01 5.14599986e-04 5.32487658e-01] [ 2.98380282e-02 -5.39979939e-04 9.99554601e-01 1.61766637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66255784400005 meters Centerline goodness : 0.133452 Centerline is valid? [False, False] Translation: X:4.67, Y:0.53, Z:1.62 [[ 9.99552344e-01 -7.75229483e-04 -2.99083658e-02 4.67221056e+00] [ 7.94264545e-04 9.99999490e-01 6.24571070e-04 5.32222435e-01] [ 2.99078663e-02 -6.48046631e-04 9.99552450e-01 1.61725625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6925578440001 meters Centerline goodness : 0.121814 Centerline is valid? [False, False] Translation: X:4.69, Y:0.53, Z:1.62 [[ 9.99536303e-01 7.82939415e-03 -2.94258232e-02 4.69231453e+00] [-7.83909358e-03 9.99969251e-01 -2.14274765e-04 5.27277195e-01] [ 2.94232407e-02 4.44847187e-04 9.99566944e-01 1.61800013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72255784400005 meters Centerline goodness : 0.126759 Centerline is valid? [False, False] Translation: X:4.69, Y:0.53, Z:1.62 [[ 9.99541158e-01 7.75706655e-03 -2.92796975e-02 4.69234851e+00] [-7.76858433e-03 9.99969785e-01 -2.79634323e-04 5.26964399e-01] [ 2.92766437e-02 5.06967815e-04 9.99571219e-01 1.61746480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7525578440001 meters Centerline goodness : 0.149957 Centerline is valid? [False, False] Translation: X:4.68, Y:0.53, Z:1.61 [[ 9.99664184e-01 1.14909439e-03 -2.58881938e-02 4.67548318e+00] [-1.13563783e-03 9.99999212e-01 5.34491347e-04 5.31678469e-01] [ 2.58887876e-02 -5.04912244e-04 9.99664702e-01 1.61382248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78255784400005 meters Centerline goodness : 0.142388 Centerline is valid? [False, False] Translation: X:4.67, Y:0.53, Z:1.61 [[ 9.99673266e-01 1.24703373e-03 -2.55304939e-02 4.67464378e+00] [-1.23867553e-03 9.99999174e-01 3.43193152e-04 5.33327326e-01] [ 2.55309008e-02 -3.11457021e-04 9.99673985e-01 1.61377617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8125578440001 meters Centerline goodness : 0.136419 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.61 [[ 9.99672520e-01 1.17049566e-03 -2.55633110e-02 4.67497885e+00] [-1.17015007e-03 9.99999315e-01 2.84780587e-05 5.35063814e-01] [ 2.55633269e-02 1.44417745e-06 9.99673205e-01 1.61337337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84255784400005 meters Centerline goodness : 0.137087 Centerline is valid? [False, False] Translation: X:4.68, Y:0.54, Z:1.61 [[ 9.99674060e-01 1.05252419e-03 -2.55081723e-02 4.67513040e+00] [-1.06105924e-03 9.99999386e-01 -3.21067573e-04 5.36910163e-01] [ 2.55078187e-02 3.48028606e-04 9.99674562e-01 1.61290794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8725578440001 meters Centerline goodness : 0.142650 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.61 [[ 9.99677775e-01 9.34625415e-04 -2.53667538e-02 4.67489530e+00] [-9.50802686e-04 9.99999352e-01 -6.25681333e-04 5.38436301e-01] [ 2.53661526e-02 6.49598501e-04 9.99678016e-01 1.61272257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90255784400006 meters Centerline goodness : 0.119886 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.61 [[ 9.99681535e-01 8.28756617e-04 -2.52218498e-02 4.67455815e+00] [-8.49952369e-04 9.99999295e-01 -8.29663853e-04 5.39361024e-01] [ 2.52211444e-02 8.50837005e-04 9.99681534e-01 1.61269456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.93255784400003 meters Centerline goodness : 0.158597 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.61 [[ 9.99682421e-01 5.77734324e-04 -2.51937105e-02 4.67440117e+00] [-6.04507012e-04 9.99999261e-01 -1.05507034e-03 5.39919495e-01] [ 2.51930823e-02 1.06996504e-03 9.99682031e-01 1.61274451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96255784400006 meters Centerline goodness : 0.154984 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.61 [[ 9.99680951e-01 5.18272476e-04 -2.52532570e-02 4.67450956e+00] [-5.45407989e-04 9.99999281e-01 -1.06765925e-03 5.39854105e-01] [ 2.52526855e-02 1.08109194e-03 9.99680516e-01 1.61274138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99255784400003 meters Centerline goodness : 0.154844 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.61 [[ 9.99681434e-01 4.32876108e-04 -2.52357511e-02 4.67449159e+00] [-4.61440503e-04 9.99999259e-01 -1.12608959e-03 5.39977869e-01] [ 2.52352449e-02 1.13737565e-03 9.99680893e-01 1.61264877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02255784400006 meters Centerline goodness : 0.151476 Centerline is valid? [False, False] Translation: X:4.70, Y:0.54, Z:1.61 [[ 9.99640874e-01 -7.58025294e-03 -2.57033611e-02 4.69535198e+00] [ 7.57243388e-03 9.99971248e-01 -4.01526381e-04 5.44561383e-01] [ 2.57056658e-02 2.06745180e-04 9.99669533e-01 1.61453225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05255784400003 meters Centerline goodness : 0.164918 Centerline is valid? [False, False] Translation: X:4.70, Y:0.55, Z:1.61 [[ 9.99632784e-01 -7.69657942e-03 -2.59819284e-02 4.69632683e+00] [ 7.68422527e-03 9.99970310e-01 -5.75300451e-04 5.45486148e-01] [ 2.59855849e-02 3.75438200e-04 9.99662247e-01 1.61399424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08255784400006 meters SLAMing on 448.11255784400004 meters Centerline goodness : 0.123072 Centerline is valid? [False, False] Translation: X:4.70, Y:0.55, Z:1.61 [[ 9.99629684e-01 -8.19554080e-03 -2.59485768e-02 4.69650241e+00] [ 8.16430274e-03 9.99965814e-01 -1.30956164e-03 5.48982101e-01] [ 2.59584223e-02 1.09722466e-03 9.99662421e-01 1.61356215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14255784400007 meters Centerline goodness : 0.153006 Centerline is valid? [False, False] Translation: X:4.70, Y:0.55, Z:1.61 [[ 9.99635523e-01 -8.35422031e-03 -2.56715493e-02 4.69552438e+00] [ 8.31639729e-03 9.99964170e-01 -1.57975764e-03 5.50016272e-01] [ 2.56838271e-02 1.36568705e-03 9.99669183e-01 1.61398760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.17255784400004 meters Centerline goodness : 0.124509 Centerline is valid? [False, False] Translation: X:4.69, Y:0.55, Z:1.61 [[ 9.99639972e-01 -8.47871322e-03 -2.54565750e-02 4.69477844e+00] [ 8.43540587e-03 9.99962787e-01 -1.80813032e-03 5.51167038e-01] [ 2.54709583e-02 1.59274280e-03 9.99674294e-01 1.61424973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20255784400007 meters Centerline goodness : 0.099941 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.61 [[ 9.99668073e-01 -6.76670932e-05 -2.57631375e-02 4.67356298e+00] [ 8.25634983e-06 9.99997341e-01 -2.30613620e-03 5.50261365e-01] [ 2.57632250e-02 2.30515802e-03 9.99665415e-01 1.61288519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.23255784400004 meters Centerline goodness : 0.146381 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.61 [[ 9.99665451e-01 -1.74607177e-04 -2.58641569e-02 4.67401616e+00] [ 1.10944861e-04 9.99996961e-01 -2.46282537e-03 5.50914255e-01] [ 2.58645083e-02 2.45913194e-03 9.99662433e-01 1.61254695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26255784400007 meters Centerline goodness : 0.086041 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.61 [[ 9.99665524e-01 -2.55257351e-04 -2.58606938e-02 4.67412378e+00] [ 1.89355703e-04 9.99996729e-01 -2.55074937e-03 5.51163486e-01] [ 2.58612603e-02 2.54499934e-03 9.99662302e-01 1.61230115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.29255784400004 meters Centerline goodness : 0.143682 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.61 [[ 9.99677208e-01 -3.83297033e-04 -2.54033966e-02 4.67263038e+00] [ 3.12955647e-04 9.99996107e-01 -2.77289353e-03 5.52002961e-01] [ 2.54043605e-02 2.76404833e-03 9.99673436e-01 1.61290857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3225578440001 meters Centerline goodness : 0.186636 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.61 [[ 9.99682398e-01 -4.04161236e-04 -2.51980115e-02 4.67208881e+00] [ 3.30345442e-04 9.99995643e-01 -2.93352320e-03 5.53132647e-01] [ 2.51990873e-02 2.92426746e-03 9.99678176e-01 1.61297868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.35255784400005 meters Centerline goodness : 0.127357 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.61 [[ 9.99683047e-01 -4.93471738e-04 -2.51706684e-02 4.67234491e+00] [ 4.12647347e-04 9.99994743e-01 -3.21614772e-03 5.54649487e-01] [ 2.51721231e-02 3.20474174e-03 9.99677995e-01 1.61251142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3825578440001 meters Centerline goodness : 0.095724 Centerline is valid? [False, False] Translation: X:4.67, Y:0.56, Z:1.61 [[ 9.99679117e-01 -5.99478088e-04 -2.53239588e-02 4.67306732e+00] [ 5.09236753e-04 9.99993499e-01 -3.56977531e-03 5.56501746e-01] [ 2.53259342e-02 3.55573394e-03 9.99672923e-01 1.61198956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.41255784400005 meters Centerline goodness : 0.115722 Centerline is valid? [False, False] Translation: X:4.67, Y:0.56, Z:1.61 [[ 9.99672853e-01 -6.94437059e-04 -2.55676412e-02 4.67407595e+00] [ 5.92766848e-04 9.99991889e-01 -3.98388336e-03 5.58813909e-01] [ 2.55702003e-02 3.96742440e-03 9.99665156e-01 1.61136331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4425578440001 meters Centerline goodness : 0.115722 Centerline is valid? [False, False] Translation: X:4.67, Y:0.56, Z:1.61 [[ 9.99672853e-01 -6.94437059e-04 -2.55676412e-02 4.67407595e+00] [ 5.92766848e-04 9.99991889e-01 -3.98388336e-03 5.58813909e-01] [ 2.55702003e-02 3.96742440e-03 9.99665156e-01 1.61136331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.47255784400005 meters Centerline goodness : 0.135816 Centerline is valid? [False, False] Translation: X:4.68, Y:0.56, Z:1.61 [[ 9.99650972e-01 1.68810629e-03 -2.63644364e-02 4.67744952e+00] [-1.73967880e-03 9.99996618e-01 -1.93332499e-03 5.62169719e-01] [ 2.63610835e-02 1.97851586e-03 9.99650528e-01 1.60986443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5025578440001 meters Centerline goodness : 0.094310 Centerline is valid? [False, False] Translation: X:4.68, Y:0.57, Z:1.61 [[ 9.99628011e-01 5.27878417e-03 -2.67576815e-02 4.67901336e+00] [-5.26003567e-03 9.99985869e-01 7.71015255e-04 5.67876269e-01] [ 2.67613734e-02 -6.29982087e-04 9.99641652e-01 1.60915312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.53255784400005 meters Centerline goodness : 0.113613 Centerline is valid? [False, False] Translation: X:4.68, Y:0.57, Z:1.61 [[ 9.99624543e-01 5.18175704e-03 -2.69057950e-02 4.67948376e+00] [-5.18303417e-03 9.99986568e-01 2.22728791e-05 5.72065508e-01] [ 2.69055490e-02 1.17189139e-04 9.99637973e-01 1.60900066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5625578440001 meters Centerline goodness : 0.141853 Centerline is valid? [False, False] Translation: X:4.66, Y:0.58, Z:1.61 [[ 9.99645453e-01 -1.49833202e-03 -2.65842514e-02 4.65806950e+00] [ 1.55395609e-03 9.99996646e-01 2.07183356e-03 5.80466757e-01] [ 2.65810579e-02 -2.11240976e-03 9.99644429e-01 1.60771119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.59255784400005 meters Centerline goodness : 0.119342 Centerline is valid? [False, False] Translation: X:4.68, Y:0.58, Z:1.61 [[ 9.99632524e-01 8.14618617e-03 -2.58545110e-02 4.68064583e+00] [-8.11507050e-03 9.99966217e-01 1.30818752e-03 5.84989436e-01] [ 2.58642943e-02 -1.09789561e-03 9.99664860e-01 1.60763912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6225578440001 meters Centerline goodness : 0.101215 Centerline is valid? [False, False] Translation: X:4.68, Y:0.59, Z:1.61 [[ 9.99635070e-01 7.90188175e-03 -2.58319185e-02 4.68071827e+00] [-7.88756163e-03 9.99968677e-01 6.56204865e-04 5.88150922e-01] [ 2.58362946e-02 -4.52214546e-04 9.99666085e-01 1.60743321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.65255784400006 meters Centerline goodness : 0.125366 Centerline is valid? [False, False] Translation: X:4.70, Y:0.60, Z:1.61 [[ 9.99642713e-01 5.67836307e-04 -2.67230903e-02 4.69982873e+00] [-5.31751809e-04 9.99998937e-01 1.35739849e-03 5.95613619e-01] [ 2.67238327e-02 -1.34270345e-03 9.99641953e-01 1.60957934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6825578440001 meters Centerline goodness : 0.158873 Centerline is valid? [False, False] Translation: X:4.70, Y:0.60, Z:1.61 [[ 9.99639778e-01 3.67516060e-04 -2.68361540e-02 4.70030764e+00] [-3.43603792e-04 9.99999540e-01 8.95652651e-04 5.97864721e-01] [ 2.68364708e-02 -8.86109013e-04 9.99639444e-01 1.60923002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.71255784400006 meters Centerline goodness : 0.120529 Centerline is valid? [False, False] Translation: X:4.70, Y:0.60, Z:1.61 [[ 9.99639422e-01 1.03632190e-04 -2.68517120e-02 4.70026643e+00] [-1.00475166e-04 9.99999988e-01 1.18921717e-04 6.02624884e-01] [ 2.68517240e-02 -1.16180906e-04 9.99639421e-01 1.60930348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74255784400003 meters SLAMing on 448.77255784400006 meters Centerline goodness : 0.146238 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99649887e-01 -1.59017445e-04 -2.64589853e-02 4.69901827e+00] [ 1.43655519e-04 9.99999820e-01 -5.82493723e-04 6.06483088e-01] [ 2.64590732e-02 5.78488805e-04 9.99649730e-01 1.60969638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80255784400003 meters Centerline goodness : 0.084615 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99655594e-01 -3.16829700e-04 -2.62410476e-02 4.69830744e+00] [ 2.93613340e-04 9.99999562e-01 -8.88582759e-04 6.07803405e-01] [ 2.62413176e-02 8.80572004e-04 9.99655249e-01 1.60996220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.83255784400006 meters Centerline goodness : 0.102171 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99663344e-01 -5.30751750e-04 -2.59406534e-02 4.69717617e+00] [ 5.00180322e-04 9.99999173e-01 -1.18498857e-03 6.08984686e-01] [ 2.59412609e-02 1.17161463e-03 9.99662782e-01 1.61054869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86255784400004 meters Centerline goodness : 0.133701 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99664791e-01 -5.43985104e-04 -2.58845295e-02 4.69718764e+00] [ 5.11460128e-04 9.99999071e-01 -1.26314513e-03 6.09536697e-01] [ 2.58851926e-02 1.24948281e-03 9.99664141e-01 1.61028345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.89255784400007 meters Centerline goodness : 0.097043 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99662578e-01 -5.61693140e-04 -2.59694965e-02 4.69755075e+00] [ 5.26491514e-04 9.99998933e-01 -1.36231662e-03 6.10224927e-01] [ 2.59702340e-02 1.34818423e-03 9.99661807e-01 1.61003347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92255784400004 meters Centerline goodness : 0.221460 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99663200e-01 -5.44293796e-04 -2.59459203e-02 4.69761633e+00] [ 5.07612776e-04 9.99998863e-01 -1.42031442e-03 6.10822054e-01] [ 2.59466639e-02 1.40666558e-03 9.99662339e-01 1.60983092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.95255784400007 meters Centerline goodness : 0.156762 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99664821e-01 -5.38098106e-04 -2.58835296e-02 4.69746610e+00] [ 4.98836769e-04 9.99998715e-01 -1.52327934e-03 6.11468573e-01] [ 2.58843160e-02 1.50985711e-03 9.99663805e-01 1.60983331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98255784400004 meters Centerline goodness : 0.154933 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99652527e-01 8.03675063e-03 -2.51044931e-02 4.71807300e+00] [-8.10629061e-03 9.99963580e-01 -2.66948084e-03 6.08009947e-01] [ 2.50821249e-02 2.87205759e-03 9.99681268e-01 1.61126973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.01255784400007 meters Centerline goodness : 0.240526 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99651729e-01 8.03037907e-03 -2.51382924e-02 4.71826776e+00] [-8.10171128e-03 9.99963435e-01 -2.73702963e-03 6.08334873e-01] [ 2.51153938e-02 2.93973959e-03 9.99680236e-01 1.61108758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04255784400004 meters Centerline goodness : 0.165298 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99650135e-01 8.04984724e-03 -2.51953722e-02 4.71866278e+00] [-8.12342101e-03 9.99963031e-01 -2.81913962e-03 6.08805409e-01] [ 2.51717471e-02 3.02282592e-03 9.99678571e-01 1.61068422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0725578440001 meters Centerline goodness : 0.161198 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99645355e-01 8.40880896e-03 -2.52676765e-02 4.71923277e+00] [-8.48260280e-03 9.99960061e-01 -2.81471754e-03 6.09796413e-01] [ 2.52429989e-02 3.02805498e-03 9.99676759e-01 1.61008431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10255784400005 meters Centerline goodness : 0.144616 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99645580e-01 8.45263106e-03 -2.52441548e-02 4.71917320e+00] [-8.53065468e-03 9.99959159e-01 -2.98466729e-03 6.10986287e-01] [ 2.52178955e-02 3.19895863e-03 9.99676860e-01 1.61011330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1325578440001 meters Centerline goodness : 0.160131 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99647438e-01 8.47019406e-03 -2.51645591e-02 4.71884615e+00] [-8.55380733e-03 9.99958241e-01 -3.21687467e-03 6.12494034e-01] [ 2.51362607e-02 3.43099332e-03 9.99678147e-01 1.61034544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16255784400005 meters Centerline goodness : 0.115896 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99647943e-01 8.47089522e-03 -2.51442826e-02 4.71873946e+00] [-8.56061611e-03 9.99957362e-01 -3.46274506e-03 6.14020754e-01] [ 2.51138779e-02 3.67677653e-03 9.99677835e-01 1.61048789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1925578440001 meters Centerline goodness : 0.124237 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.61 [[ 9.99664025e-01 1.82061474e-03 -2.58558049e-02 4.73687832e+00] [-1.87087109e-03 9.99996407e-01 -1.91965881e-03 6.20373352e-01] [ 2.58522171e-02 1.96738673e-03 9.99663840e-01 1.61274343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22255784400005 meters Centerline goodness : 0.159052 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.61 [[ 9.99653336e-01 1.94335722e-03 -2.62570057e-02 4.73848385e+00] [-1.99575749e-03 9.99996069e-01 -1.96960982e-03 6.20923858e-01] [ 2.62530749e-02 2.02132964e-03 9.99653285e-01 1.61167503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2525578440001 meters Centerline goodness : 0.157279 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.61 [[ 9.99656934e-01 2.05980171e-03 -2.61107721e-02 4.73809365e+00] [-2.10662719e-03 9.99996222e-01 -1.76595882e-03 6.20100862e-01] [ 2.61070360e-02 1.82035864e-03 9.99657496e-01 1.61169397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28255784400005 meters Centerline goodness : 0.120493 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.61 [[ 9.99663152e-01 2.19076640e-03 -2.58608569e-02 4.73716984e+00] [-2.22974443e-03 9.99996421e-01 -1.47848089e-03 6.18791872e-01] [ 2.58575253e-02 1.53564597e-03 9.99664459e-01 1.61214642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3125578440001 meters Centerline goodness : 0.123835 Centerline is valid? [False, False] Translation: X:4.74, Y:0.61, Z:1.61 [[ 9.99669672e-01 2.30258238e-03 -2.55977382e-02 4.73606221e+00] [-2.32403814e-03 9.99996973e-01 -8.08471420e-04 6.14440698e-01] [ 2.55957991e-02 8.67694480e-04 9.99671997e-01 1.61290096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34255784400005 meters Centerline goodness : 0.119433 Centerline is valid? [False, False] Translation: X:4.76, Y:0.62, Z:1.61 [[ 9.99652865e-01 -5.75984775e-03 -2.57094172e-02 4.75685024e+00] [ 5.77082617e-03 9.99983286e-01 3.52844446e-04 6.16399351e-01] [ 2.57069551e-02 -5.01086538e-04 9.99669396e-01 1.61400512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3725578440001 meters Centerline goodness : 0.112928 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.61 [[ 9.99647456e-01 -5.62103709e-03 -2.59493401e-02 4.75789453e+00] [ 5.64353154e-03 9.99983760e-01 7.93705827e-04 6.13920130e-01] [ 2.59444572e-02 -9.39871929e-04 9.99662944e-01 1.61333683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40255784400006 meters Centerline goodness : 0.124887 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.61 [[ 9.99646499e-01 -5.45365720e-03 -2.60218078e-02 4.75827992e+00] [ 5.48713864e-03 9.99984207e-01 1.21543691e-03 6.11722874e-01] [ 2.60147683e-02 -1.35779252e-03 9.99660637e-01 1.61304272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.4325578440001 meters SLAMing on 449.46255784400006 meters Centerline goodness : 0.131980 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.61 [[ 9.99664419e-01 -4.81413284e-03 -2.54533722e-02 4.75679989e+00] [ 4.86862545e-03 9.99985986e-01 2.07934166e-03 6.08554113e-01] [ 2.54430053e-02 -2.20256680e-03 9.99673848e-01 1.61322625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49255784400003 meters Centerline goodness : 0.123697 Centerline is valid? [False, False] Translation: X:4.74, Y:0.60, Z:1.61 [[ 9.99665946e-01 3.50662000e-03 -2.56066519e-02 4.73621432e+00] [-3.47703628e-03 9.99993235e-01 1.19974741e-03 6.04117207e-01] [ 2.56106857e-02 -1.11031137e-03 9.99671376e-01 1.61146643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52255784400006 meters Centerline goodness : 0.103551 Centerline is valid? [False, False] Translation: X:4.74, Y:0.61, Z:1.61 [[ 9.99659387e-01 3.59188896e-03 -2.58497131e-02 4.73712794e+00] [-3.56608312e-03 9.99993096e-01 1.04433233e-03 6.05166545e-01] [ 2.58532858e-02 -9.51794389e-04 9.99665295e-01 1.61101179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55255784400003 meters Centerline goodness : 0.168666 Centerline is valid? [False, False] Translation: X:4.74, Y:0.61, Z:1.61 [[ 9.99655287e-01 3.63442007e-03 -2.60018873e-02 4.73774706e+00] [-3.61155352e-03 9.99993049e-01 9.26326258e-04 6.05874139e-01] [ 2.60050732e-02 -8.32099734e-04 9.99661465e-01 1.61056273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58255784400006 meters Centerline goodness : 0.158187 Centerline is valid? [False, False] Translation: X:4.74, Y:0.61, Z:1.61 [[ 9.99644122e-01 4.10981973e-03 -2.63578818e-02 4.73894251e+00] [-4.08408438e-03 9.99991129e-01 1.03014071e-03 6.06740371e-01] [ 2.63618817e-02 -9.22126293e-04 9.99652040e-01 1.60988223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.61255784400004 meters Centerline goodness : 0.139749 Centerline is valid? [False, False] Translation: X:4.74, Y:0.61, Z:1.61 [[ 9.99644514e-01 4.10165289e-03 -2.63443142e-02 4.73906773e+00] [-4.07753967e-03 9.99991217e-01 9.68964552e-04 6.07178044e-01] [ 2.63480572e-02 -8.61200112e-04 9.99652459e-01 1.60957914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64255784400007 meters Centerline goodness : 0.134175 Centerline is valid? [False, False] Translation: X:4.74, Y:0.61, Z:1.61 [[ 9.99643641e-01 4.10465692e-03 -2.63769519e-02 4.73922390e+00] [-4.07993916e-03 9.99991186e-01 9.90846299e-04 6.06951256e-01] [ 2.63807865e-02 -8.82876843e-04 9.99651577e-01 1.60945782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.67255784400004 meters Centerline goodness : 0.125390 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99618771e-01 -4.71853828e-03 -2.72038422e-02 4.71925393e+00] [ 4.77789034e-03 9.99986345e-01 2.11716522e-03 6.09311197e-01] [ 2.71934808e-02 -2.24633507e-03 9.99627665e-01 1.60795558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70255784400007 meters Centerline goodness : 0.138405 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99615335e-01 -4.55520549e-03 -2.73574895e-02 4.71949156e+00] [ 4.63149963e-03 9.99985559e-01 2.72606690e-03 6.06152751e-01] [ 2.73446766e-02 -2.85172448e-03 9.99621997e-01 1.60820305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.73255784400004 meters Centerline goodness : 0.138573 Centerline is valid? [False, False] Translation: X:4.72, Y:0.60, Z:1.61 [[ 9.99618907e-01 -4.42705325e-03 -2.72477849e-02 4.71910429e+00] [ 4.51404051e-03 9.99984908e-01 3.13177050e-03 6.04044522e-01] [ 2.72335091e-02 -3.25357461e-03 9.99623804e-01 1.60843992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76255784400007 meters Centerline goodness : 0.139026 Centerline is valid? [False, False] Translation: X:4.72, Y:0.60, Z:1.61 [[ 9.99623221e-01 -4.30205531e-03 -2.71091860e-02 4.71860162e+00] [ 4.40043413e-03 9.99983944e-01 3.57037302e-03 6.01610009e-01] [ 2.70933908e-02 -3.68831997e-03 9.99626102e-01 1.60871378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.79255784400004 meters Centerline goodness : 0.142559 Centerline is valid? [False, False] Translation: X:4.69, Y:0.59, Z:1.61 [[ 9.99652406e-01 1.17956158e-03 -2.63377428e-02 4.69496560e+00] [-1.14972078e-03 9.99998680e-01 1.14811966e-03 5.93855837e-01] [ 2.63390623e-02 -1.11743953e-03 9.99652442e-01 1.60838851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8225578440001 meters Centerline goodness : 0.149854 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99651280e-01 1.31901694e-03 -2.63738344e-02 4.69511831e+00] [-1.28135567e-03 9.99998135e-01 1.44482776e-03 5.92482274e-01] [ 2.63756909e-02 -1.41052965e-03 9.99651106e-01 1.60828515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.85255784400005 meters Centerline goodness : 0.137542 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99649877e-01 1.44319945e-03 -2.64204658e-02 4.69540855e+00] [-1.39856049e-03 9.99997563e-01 1.70796059e-03 5.91159625e-01] [ 2.64228664e-02 -1.67041198e-03 9.99649459e-01 1.60807035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8825578440001 meters Centerline goodness : 0.150957 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99647255e-01 1.50311481e-03 -2.65161540e-02 4.69579596e+00] [-1.45429466e-03 9.99997212e-01 1.86033619e-03 5.90098151e-01] [ 2.65188764e-02 -1.82111767e-03 9.99646654e-01 1.60788852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.91255784400005 meters Centerline goodness : 0.132896 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99644142e-01 1.56153818e-03 -2.66298774e-02 4.69620991e+00] [-1.50869510e-03 9.99996853e-01 2.00432923e-03 5.89102736e-01] [ 2.66329235e-02 -1.96343961e-03 9.99643353e-01 1.60770225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9425578440001 meters Centerline goodness : 0.132593 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99634359e-01 1.81429897e-03 -2.69788334e-02 4.69734711e+00] [-1.75095332e-03 9.99995655e-01 2.37141425e-03 5.87361098e-01] [ 2.69830186e-02 -2.32330848e-03 9.99633192e-01 1.60722863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.97255784400005 meters Centerline goodness : 0.149865 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99633931e-01 1.94970940e-03 -2.69852211e-02 4.69758497e+00] [-1.88129612e-03 9.99994953e-01 2.56036920e-03 5.86620369e-01] [ 2.69900769e-02 -2.50866474e-03 9.99632554e-01 1.60687674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0025578440001 meters Centerline goodness : 0.134191 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99638232e-01 2.09779300e-03 -2.68142408e-02 4.69709128e+00] [-2.02281406e-03 9.99993969e-01 2.82305485e-03 5.85469108e-01] [ 2.68200013e-02 -2.76779334e-03 9.99636447e-01 1.60699704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.03255784400005 meters Centerline goodness : 0.121570 Centerline is valid? [False, False] Translation: X:4.70, Y:0.58, Z:1.61 [[ 9.99640784e-01 2.22158410e-03 -2.67089539e-02 4.69681363e+00] [-2.13973692e-03 9.99992929e-01 3.09259945e-03 5.84136609e-01] [ 2.67156355e-02 -3.03433840e-03 9.99638468e-01 1.60704469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0625578440001 meters Centerline goodness : 0.134015 Centerline is valid? [False, False] Translation: X:4.70, Y:0.58, Z:1.61 [[ 9.99637316e-01 2.50706710e-03 -2.68132768e-02 4.69695494e+00] [-2.40573955e-03 9.99989846e-01 3.81059777e-03 5.80400130e-01] [ 2.68225580e-02 -3.74470996e-03 9.99633196e-01 1.60725139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.09255784400005 meters Centerline goodness : 0.120704 Centerline is valid? [False, False] Translation: X:4.70, Y:0.58, Z:1.61 [[ 9.99634987e-01 2.68672555e-03 -2.68825872e-02 4.69708000e+00] [-2.57198272e-03 9.99987439e-01 4.30196264e-03 5.77769875e-01] [ 2.68938077e-02 -4.23125082e-03 9.99629341e-01 1.60740094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1225578440001 meters Centerline goodness : 0.159963 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99634499e-01 2.83998588e-03 -2.68849994e-02 4.69695224e+00] [-2.71198074e-03 9.99984819e-01 4.79647602e-03 5.74781750e-01] [ 2.68982132e-02 -4.72181130e-03 9.99627026e-01 1.60765549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.15255784400006 meters Centerline goodness : 0.145661 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99636785e-01 3.04021967e-03 -2.67778905e-02 4.69647451e+00] [-2.89852956e-03 9.99981602e-01 5.32853662e-03 5.71954517e-01] [ 2.67935978e-02 -5.24898471e-03 9.99627206e-01 1.60803760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1825578440001 meters Centerline goodness : 0.159777 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99632948e-01 3.47773453e-03 -2.68677075e-02 4.69674585e+00] [-3.30850651e-03 9.99974426e-01 6.34045439e-03 5.67079944e-01] [ 2.68890708e-02 -6.24923513e-03 9.99618890e-01 1.60806464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.21255784400006 meters Centerline goodness : 0.150465 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99628101e-01 3.62645644e-03 -2.70279054e-02 4.69729912e+00] [-3.44586140e-03 9.99971447e-01 6.72538292e-03 5.65061649e-01] [ 2.70515230e-02 -6.62974735e-03 9.99612056e-01 1.60787869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24255784400003 meters Centerline goodness : 0.218829 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99621210e-01 3.69373802e-03 -2.72725625e-02 4.69793259e+00] [-3.50468960e-03 9.99969523e-01 6.97636637e-03 5.63496000e-01] [ 2.72975002e-02 -6.87814192e-03 9.99603690e-01 1.60790377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.27255784400006 meters Centerline goodness : 0.159722 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99617704e-01 3.75454062e-03 -2.73925088e-02 4.69803844e+00] [-3.55981719e-03 9.99968074e-01 7.15394363e-03 5.62335902e-01] [ 2.74184940e-02 -7.05369638e-03 9.99599155e-01 1.60818421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30255784400003 meters Centerline goodness : 0.150059 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99619996e-01 3.98062694e-03 -2.72766826e-02 4.69748301e+00] [-3.77583251e-03 9.99964329e-01 7.55543738e-03 5.60943963e-01] [ 2.73057850e-02 -7.44957411e-03 9.99599369e-01 1.60858244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.33255784400006 meters SLAMing on 450.36255784400004 meters SLAMing on 450.39255784400007 meters Centerline goodness : 0.207831 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99615191e-01 4.06793533e-03 -2.74394121e-02 4.69806492e+00] [-3.85408214e-03 9.99961823e-01 7.84204016e-03 5.59378236e-01] [ 2.74702655e-02 -7.73326873e-03 9.99592708e-01 1.60836791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42255784400004 meters Centerline goodness : 0.155705 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99628619e-01 1.87712320e-04 -2.72504735e-02 4.69755019e+00] [-7.80521718e-05 9.99991896e-01 4.02516359e-03 5.59124150e-01] [ 2.72510083e-02 -4.02154176e-03 9.99620533e-01 1.60830526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.45255784400007 meters Centerline goodness : 0.147165 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99631514e-01 2.17754854e-04 -2.71438513e-02 4.69714074e+00] [-1.05615614e-04 9.99991455e-01 4.13265962e-03 5.58485966e-01] [ 2.71445192e-02 -4.12826998e-03 9.99622995e-01 1.60854601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48255784400004 meters Centerline goodness : 0.145188 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99633939e-01 2.53323305e-04 -2.70540873e-02 4.69682053e+00] [-1.39980944e-04 9.99991207e-01 4.19128444e-03 5.58396864e-01] [ 2.70549111e-02 -4.18596312e-03 9.99625185e-01 1.60867586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.51255784400007 meters Centerline goodness : 0.140514 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99635701e-01 2.95645656e-04 -2.69884835e-02 4.69660899e+00] [-1.81975634e-04 9.99991104e-01 4.21415620e-03 5.58605018e-01] [ 2.69894893e-02 -4.20770974e-03 9.99626862e-01 1.60875415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54255784400004 meters Centerline goodness : 0.144051 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99637434e-01 1.95241447e-04 -2.69251333e-02 4.69677902e+00] [-8.87502112e-05 9.99992170e-01 3.95622497e-03 5.59648730e-01] [ 2.69256949e-02 -3.95240097e-03 9.99629624e-01 1.60824421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5725578440001 meters Centerline goodness : 0.100692 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99635641e-01 1.16060033e-04 -2.69920611e-02 4.69734596e+00] [-1.47298951e-05 9.99992953e-01 3.75424040e-03 5.60550601e-01] [ 2.69923066e-02 -3.75247492e-03 9.99628598e-01 1.60762531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60255784400005 meters Centerline goodness : 0.149773 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99633553e-01 8.73690448e-05 -2.70693939e-02 4.69793808e+00] [ 9.96814817e-06 9.99993535e-01 3.59568359e-03 5.61517736e-01] [ 2.70695331e-02 -3.59463579e-03 9.99627090e-01 1.60696885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6325578440001 meters Centerline goodness : 0.145737 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99634248e-01 5.19901370e-05 -2.70438162e-02 4.69810595e+00] [ 4.06725202e-05 9.99994131e-01 3.42582849e-03 5.62634812e-01] [ 2.70438356e-02 -3.42567543e-03 9.99628379e-01 1.60655616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66255784400005 meters Centerline goodness : 0.154883 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99629284e-01 -8.19006559e-05 -2.72265926e-02 4.69878729e+00] [ 1.64298371e-04 9.99995414e-01 3.02414570e-03 5.64542379e-01] [ 2.72262200e-02 -3.02749789e-03 9.99624713e-01 1.60615473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6925578440001 meters Centerline goodness : 0.164256 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99627810e-01 -1.73041376e-04 -2.72802317e-02 4.69911512e+00] [ 2.50131455e-04 9.99995986e-01 2.82247152e-03 5.65380802e-01] [ 2.72796338e-02 -2.82824467e-03 9.99623841e-01 1.60583243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72255784400005 meters Centerline goodness : 0.165359 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99628056e-01 -2.25815142e-04 -2.72708440e-02 4.69917106e+00] [ 2.99119929e-04 9.99996353e-01 2.68397833e-03 5.66152779e-01] [ 2.72701384e-02 -2.69113730e-03 9.99624478e-01 1.60565543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7525578440001 meters SLAMing on 450.78255784400005 meters Centerline goodness : 0.141275 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99640897e-01 -2.75609342e-04 -2.67955287e-02 4.69831073e+00] [ 3.39926328e-04 9.99997072e-01 2.39576257e-03 5.68084901e-01] [ 2.67947899e-02 -2.40401075e-03 9.99638064e-01 1.60513687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8125578440001 meters SLAMing on 450.84255784400005 meters Centerline goodness : 0.086055 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.60 [[ 9.99631317e-01 -3.89118505e-04 -2.71491828e-02 4.69975519e+00] [ 4.48541176e-04 9.99997517e-01 2.18269068e-03 5.68711428e-01] [ 2.71482661e-02 -2.19406348e-03 9.99629010e-01 1.60421009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8725578440001 meters Centerline goodness : 0.141730 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.60 [[ 9.99624748e-01 -4.04284809e-04 -2.73897710e-02 4.70051871e+00] [ 4.62463373e-04 9.99997651e-01 2.11779697e-03 5.69067513e-01] [ 2.73888505e-02 -2.12966903e-03 9.99622586e-01 1.60394311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90255784400006 meters Centerline goodness : 0.147153 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.60 [[ 9.99620310e-01 -4.22585875e-04 -2.75509778e-02 4.70103055e+00] [ 4.80209929e-04 9.99997711e-01 2.08496015e-03 5.69191452e-01] [ 2.75500337e-02 -2.09739877e-03 9.99618225e-01 1.60374352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.9325578440001 meters Centerline goodness : 0.171082 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.60 [[ 9.99611666e-01 -4.75010186e-04 -2.78620253e-02 4.70193905e+00] [ 5.34431391e-04 9.99997599e-01 2.12528725e-03 5.68381714e-01] [ 2.78609489e-02 -2.13935226e-03 9.99609519e-01 1.60358068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96255784400006 meters Centerline goodness : 0.137565 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.60 [[ 9.99611303e-01 -4.43451339e-04 -2.78755330e-02 4.70164658e+00] [ 5.07221364e-04 9.99997271e-01 2.28064087e-03 5.67369582e-01] [ 2.78744456e-02 -2.29389346e-03 9.99608800e-01 1.60409815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99255784400003 meters Centerline goodness : 0.134989 Centerline is valid? [False, False] Translation: X:4.72, Y:0.57, Z:1.60 [[ 9.99666786e-01 6.23789006e-03 -2.50480553e-02 4.72285519e+00] [-6.24863290e-03 9.99980416e-01 -3.50640748e-04 5.66669908e-01] [ 2.50453775e-02 5.07040012e-04 9.99686187e-01 1.60389694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02255784400006 meters Centerline goodness : 0.138533 Centerline is valid? [False, False] Translation: X:4.74, Y:0.57, Z:1.61 [[ 9.99719793e-01 -1.19014572e-03 -2.36414613e-02 4.74108822e+00] [ 1.21974863e-03 9.99998490e-01 1.23778007e-03 5.69966992e-01] [ 2.36399525e-02 -1.26626988e-03 9.99719735e-01 1.60630769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05255784400003 meters Centerline goodness : 0.154667 Centerline is valid? [False, False] Translation: X:4.74, Y:0.57, Z:1.61 [[ 9.99729264e-01 -1.06995093e-03 -2.32433818e-02 4.73949481e+00] [ 1.11716016e-03 9.99997339e-01 2.01819263e-03 5.65883387e-01] [ 2.32411606e-02 -2.04361282e-03 9.99727799e-01 1.60745324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08255784400006 meters Centerline goodness : 0.039083 Centerline is valid? [False, False] Translation: X:4.74, Y:0.56, Z:1.61 [[ 9.99722073e-01 -1.05522077e-03 -2.35512929e-02 4.74033986e+00] [ 1.11134439e-03 9.99996574e-01 2.37007663e-03 5.63462281e-01] [ 2.35487113e-02 -2.39559152e-03 9.99719820e-01 1.60740444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.11255784400004 meters Centerline goodness : 0.159696 Centerline is valid? [False, False] Translation: X:4.74, Y:0.56, Z:1.61 [[ 9.99714536e-01 -1.04287995e-03 -2.38696029e-02 4.74120932e+00] [ 1.10794503e-03 9.99995707e-01 2.71279229e-03 5.60986555e-01] [ 2.38666713e-02 -2.73846410e-03 9.99711400e-01 1.60737538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14255784400007 meters SLAMing on 451.17255784400004 meters Centerline goodness : 0.132283 Centerline is valid? [False, False] Translation: X:4.74, Y:0.55, Z:1.61 [[ 9.99736436e-01 -3.24261830e-03 -2.27275884e-02 4.73668466e+00] [ 3.27867321e-03 9.99993425e-01 1.54931058e-03 5.53257926e-01] [ 2.27224152e-02 -1.62341857e-03 9.99740495e-01 1.60956562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20255784400007 meters Centerline goodness : 0.138123 Centerline is valid? [False, False] Translation: X:4.74, Y:0.55, Z:1.61 [[ 9.99739326e-01 -3.05962169e-03 -2.26256098e-02 4.73618168e+00] [ 3.10684970e-03 9.99993067e-01 2.05251233e-03 5.50792913e-01] [ 2.26191730e-02 -2.12227167e-03 9.99741901e-01 1.61000365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.23255784400004 meters Centerline goodness : 0.156110 Centerline is valid? [False, False] Translation: X:4.76, Y:0.55, Z:1.61 [[ 9.99770333e-01 3.64038548e-03 -2.11193945e-02 4.75752453e+00] [-3.65841545e-03 9.99992976e-01 -8.15142894e-04 5.47998552e-01] [ 2.11162788e-02 8.92219201e-04 9.99776628e-01 1.61008033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26255784400007 meters Centerline goodness : 0.159602 Centerline is valid? [False, False] Translation: X:4.76, Y:0.55, Z:1.61 [[ 9.99767892e-01 3.67189372e-03 -2.12291887e-02 4.75801357e+00] [-3.68829644e-03 9.99992929e-01 -7.33546567e-04 5.47245311e-01] [ 2.12263451e-02 8.11675846e-04 9.99774366e-01 1.60974884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.29255784400004 meters Centerline goodness : 0.137606 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99692929e-01 3.34781307e-03 -2.45527893e-02 4.71379396e+00] [-3.35069066e-03 9.99994384e-01 -7.60600836e-05 5.45243112e-01] [ 2.45523968e-02 1.58305529e-04 9.99698532e-01 1.60992642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3225578440001 meters Centerline goodness : 0.141436 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99691122e-01 3.36523908e-03 -2.46238902e-02 4.71429194e+00] [-3.37344141e-03 9.99994267e-01 -2.91572140e-04 5.46730851e-01] [ 2.46227678e-02 3.74549330e-04 9.99696744e-01 1.60935637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.35255784400005 meters Centerline goodness : 0.147832 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99693470e-01 3.46070140e-03 -2.45150991e-02 4.71394589e+00] [-3.47563229e-03 9.99993800e-01 -5.66465615e-04 5.48695193e-01] [ 2.45129867e-02 6.51497446e-04 9.99699299e-01 1.60939714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3825578440001 meters Centerline goodness : 0.150441 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99692370e-01 3.38186120e-03 -2.45708909e-02 4.71397152e+00] [-3.40010362e-03 9.99993974e-01 -7.00699860e-04 5.49048910e-01] [ 2.45683731e-02 7.84027879e-04 9.99697845e-01 1.60959020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.41255784400005 meters Centerline goodness : 0.131161 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99688146e-01 3.36404697e-03 -2.47445658e-02 4.71421536e+00] [-3.38113400e-03 9.99994074e-01 -6.48729904e-04 5.48473567e-01] [ 2.47422368e-02 7.32192287e-04 9.99693596e-01 1.60987085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4425578440001 meters Centerline goodness : 0.137147 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99685191e-01 3.35383072e-03 -2.48650577e-02 4.71423159e+00] [-3.36307474e-03 9.99994290e-01 -3.29958747e-04 5.46355231e-01] [ 2.48638091e-02 4.13477921e-04 9.99690762e-01 1.61035567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.47255784400005 meters Centerline goodness : 0.137346 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99687162e-01 3.42367285e-03 -2.47761368e-02 4.71391153e+00] [-3.42676297e-03 9.99994125e-01 -8.22652148e-05 5.45004543e-01] [ 2.47757096e-02 1.67141427e-04 9.99693021e-01 1.61053317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5025578440001 meters Centerline goodness : 0.126740 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99686483e-01 3.49723939e-03 -2.47932263e-02 4.71384203e+00] [-3.49460871e-03 9.99993883e-01 1.49432202e-04 5.43793386e-01] [ 2.47935972e-02 -6.27427281e-05 9.99692590e-01 1.61071022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.53255784400005 meters Centerline goodness : 0.136063 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99684975e-01 3.54735842e-03 -2.48468812e-02 4.71398283e+00] [-3.54096578e-03 9.99993685e-01 3.01274434e-04 5.42994052e-01] [ 2.48477930e-02 -2.13197569e-04 9.99691223e-01 1.61071255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5625578440001 meters Centerline goodness : 0.136841 Centerline is valid? [False, False] Translation: X:4.72, Y:0.54, Z:1.61 [[ 9.99675749e-01 3.65100309e-03 -2.52005391e-02 4.71505702e+00] [-3.64033484e-03 9.99993264e-01 4.69197709e-04 5.42352955e-01] [ 2.52020824e-02 -3.77307171e-04 9.99682306e-01 1.61041832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.59255784400005 meters Centerline goodness : 0.142643 Centerline is valid? [False, False] Translation: X:4.72, Y:0.54, Z:1.61 [[ 9.99670507e-01 3.61567048e-03 -2.54126936e-02 4.71586159e+00] [-3.60820792e-03 9.99993433e-01 3.39503071e-04 5.42953362e-01] [ 2.54137543e-02 -2.47696925e-04 9.99676988e-01 1.61001305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6225578440001 meters Centerline goodness : 0.130926 Centerline is valid? [False, False] Translation: X:4.72, Y:0.54, Z:1.61 [[ 9.99668215e-01 3.54151454e-03 -2.55130929e-02 4.71638383e+00] [-3.54007198e-03 9.99993729e-01 1.01708273e-04 5.44044567e-01] [ 2.55132931e-02 -1.13563427e-05 9.99674483e-01 1.60957404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.65255784400006 meters Centerline goodness : 0.143993 Centerline is valid? [False, False] Translation: X:4.72, Y:0.55, Z:1.61 [[ 9.99669813e-01 3.47262421e-03 -2.54598878e-02 4.71628645e+00] [-3.47791456e-03 9.99993939e-01 -1.63513450e-04 5.45339430e-01] [ 2.54591656e-02 2.52006774e-04 9.99675831e-01 1.60952992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6825578440001 meters Centerline goodness : 0.134241 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99708722e-01 4.13297105e-03 -2.37779223e-02 4.71128583e+00] [-4.13298255e-03 9.99991458e-01 4.86600970e-05 5.47175426e-01] [ 2.37779203e-02 4.96278145e-05 9.99717264e-01 1.61065987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.71255784400006 meters Centerline goodness : 0.136297 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99716665e-01 4.09909948e-03 -2.34475359e-02 4.71033791e+00] [-4.10481867e-03 9.99991556e-01 -1.95789090e-04 5.48841032e-01] [ 2.34465354e-02 2.91981499e-04 9.99725050e-01 1.61084370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74255784400003 meters SLAMing on 451.77255784400006 meters Centerline goodness : 0.226084 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99718102e-01 4.08719771e-03 -2.33882889e-02 4.71019133e+00] [-4.09631728e-03 9.99991552e-01 -3.42024044e-04 5.49892972e-01] [ 2.33866934e-02 4.37733481e-04 9.99726398e-01 1.61078915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80255784400003 meters Centerline goodness : 0.134319 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99709797e-01 4.08813371e-03 -2.37404518e-02 4.71109997e+00] [-4.08906922e-03 9.99991640e-01 9.13935280e-06 5.47525861e-01] [ 2.37402907e-02 8.79396504e-05 9.99718156e-01 1.61078471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.83255784400006 meters Centerline goodness : 0.139687 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99707996e-01 4.18304596e-03 -2.37996948e-02 4.71119898e+00] [-4.17634086e-03 9.99991224e-01 3.31428828e-04 5.45861435e-01] [ 2.38008723e-02 -2.31936412e-04 9.99716692e-01 1.61089300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86255784400004 meters Centerline goodness : 0.144128 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99704997e-01 4.25670714e-03 -2.39123450e-02 4.71137312e+00] [-4.24236454e-03 9.99990790e-01 6.50496698e-04 5.44067273e-01] [ 2.39148937e-02 -5.48859915e-04 9.99713847e-01 1.61108191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.89255784400007 meters Centerline goodness : 0.072484 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99702524e-01 4.33136822e-03 -2.40021368e-02 4.71155750e+00] [-4.31206904e-03 9.99990337e-01 8.55759616e-04 5.42966999e-01] [ 2.40056114e-02 -7.52006178e-04 9.99711541e-01 1.61118717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92255784400004 meters Centerline goodness : 0.148640 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99699874e-01 4.32957126e-03 -2.41125979e-02 4.71187236e+00] [-4.31159374e-03 9.99990387e-01 7.97505137e-04 5.43183127e-01] [ 2.41158190e-02 -6.93302058e-04 9.99708931e-01 1.61114675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.95255784400007 meters Centerline goodness : 0.156637 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99700116e-01 4.32941093e-03 -2.41025619e-02 4.71194891e+00] [-4.31623737e-03 9.99990506e-01 5.98559976e-04 5.44495224e-01] [ 2.41049245e-02 -4.94348099e-04 9.99709312e-01 1.61093842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98255784400004 meters Centerline goodness : 0.065409 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99700570e-01 4.38212697e-03 -2.40742143e-02 4.71200567e+00] [-4.37371717e-03 9.99990354e-01 4.01971807e-04 5.46134774e-01] [ 2.40757436e-02 -2.96557640e-04 9.99710093e-01 1.61064918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.01255784400007 meters Centerline goodness : 0.157806 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99706873e-01 4.43527600e-03 -2.38011785e-02 4.71129551e+00] [-4.42939134e-03 9.99990145e-01 2.99956740e-04 5.47279273e-01] [ 2.38022744e-02 -1.94444081e-04 9.99716667e-01 1.61064752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04255784400004 meters Centerline goodness : 0.159533 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99715825e-01 4.41844030e-03 -2.34253576e-02 4.71000330e+00] [-4.41544169e-03 9.99990236e-01 1.79729351e-04 5.47899988e-01] [ 2.34259230e-02 -7.62449754e-05 9.99725573e-01 1.61118523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0725578440001 meters Centerline goodness : 0.129946 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99704222e-01 -3.09064159e-03 -2.41229452e-02 4.72954543e+00] [ 3.10472193e-03 9.99995031e-01 5.46259285e-04 5.52959878e-01] [ 2.41211371e-02 -6.20992750e-04 9.99708850e-01 1.61285568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10255784400005 meters Centerline goodness : 0.160578 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99695757e-01 -3.21058795e-03 -2.44557883e-02 4.73058754e+00] [ 3.22173625e-03 9.99994723e-01 4.16467594e-04 5.53025415e-01] [ 2.44543222e-02 -4.95130986e-04 9.99700826e-01 1.61249346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1325578440001 meters Centerline goodness : 0.159212 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99690318e-01 -3.23566931e-03 -2.46738284e-02 4.73147368e+00] [ 3.24649539e-03 9.99994651e-01 3.98722296e-04 5.53012482e-01] [ 2.46724063e-02 -4.78702289e-04 9.99695475e-01 1.61193908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16255784400005 meters Centerline goodness : 0.135429 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99691167e-01 -3.18148751e-03 -2.46464717e-02 4.73172739e+00] [ 3.19497715e-03 9.99994767e-01 5.07966309e-04 5.53143354e-01] [ 2.46447267e-02 -5.86554346e-04 9.99696101e-01 1.61144243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1925578440001 meters Centerline goodness : 0.142037 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99715739e-01 3.97414246e-03 -2.35084365e-02 4.71190895e+00] [-3.98172954e-03 9.99992035e-01 -2.75938398e-04 5.46778281e-01] [ 2.35071526e-02 3.69464195e-04 9.99723600e-01 1.60956556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22255784400005 meters Centerline goodness : 0.142783 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99731034e-01 -3.43510002e-03 -2.29359768e-02 4.73027858e+00] [ 3.45501868e-03 9.99993688e-01 8.28875020e-04 5.51582929e-01] [ 2.29329848e-02 -9.07896310e-04 9.99736592e-01 1.61184969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2525578440001 meters Centerline goodness : 0.142783 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99731034e-01 -3.43510002e-03 -2.29359768e-02 4.73027858e+00] [ 3.45501868e-03 9.99993688e-01 8.28875020e-04 5.51582929e-01] [ 2.29329848e-02 -9.07896310e-04 9.99736592e-01 1.61184969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28255784400005 meters Centerline goodness : 0.139121 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99731598e-01 -3.47308085e-03 -2.29056515e-02 4.73012465e+00] [ 3.49300187e-03 9.99993555e-01 8.29746372e-04 5.51355648e-01] [ 2.29026221e-02 -9.09533151e-04 9.99737287e-01 1.61197387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3125578440001 meters Centerline goodness : 0.155097 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99718690e-01 -3.62416949e-03 -2.34394157e-02 4.73222716e+00] [ 3.63936681e-03 9.99993194e-01 6.05740227e-04 5.52102372e-01] [ 2.34370608e-02 -6.90874458e-04 9.99725076e-01 1.61075792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34255784400005 meters Centerline goodness : 0.140160 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99700352e-01 3.79316151e-03 -2.41830244e-02 4.71399460e+00] [-3.81150234e-03 9.99992482e-01 -7.12369187e-04 5.47203730e-01] [ 2.41801405e-02 8.04329381e-04 9.99707294e-01 1.60818775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3725578440001 meters Centerline goodness : 0.138641 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99699548e-01 3.75353588e-03 -2.42224184e-02 4.71423765e+00] [-3.77341635e-03 9.99992580e-01 -7.75091291e-04 5.47502998e-01] [ 2.42193293e-02 8.66259683e-04 9.99706294e-01 1.60796438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40255784400006 meters Centerline goodness : 0.141847 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99705057e-01 3.77969508e-03 -2.39898633e-02 4.71339413e+00] [-3.79904045e-03 9.99992494e-01 -7.60872805e-04 5.47627695e-01] [ 2.39868074e-02 8.51786851e-04 9.99711912e-01 1.60837747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.4325578440001 meters Centerline goodness : 0.149065 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99712244e-01 3.83290952e-03 -2.36799178e-02 4.71216445e+00] [-3.85092546e-03 9.99992329e-01 -7.15256227e-04 5.47661307e-01] [ 2.36769946e-02 8.06240005e-04 9.99719336e-01 1.60908412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46255784400006 meters Centerline goodness : 0.136586 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99735728e-01 -3.38998127e-03 -2.27372546e-02 4.73077082e+00] [ 3.40165215e-03 9.99994102e-01 4.74635467e-04 5.53029395e-01] [ 2.27355115e-02 -5.51854265e-04 9.99741363e-01 1.61066144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49255784400003 meters Centerline goodness : 0.151165 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99733763e-01 -3.44754271e-03 -2.28148392e-02 4.73129001e+00] [ 3.45537784e-03 9.99993984e-01 3.04009185e-04 5.53908482e-01] [ 2.28136539e-02 -3.82762137e-04 9.99739661e-01 1.61014420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52255784400006 meters Centerline goodness : 0.137519 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99731064e-01 -3.50567773e-03 -2.29240041e-02 4.73179101e+00] [ 3.50940333e-03 9.99993835e-01 1.22291419e-04 5.54878422e-01] [ 2.29234341e-02 -2.02708107e-04 9.99737203e-01 1.60974330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55255784400003 meters Centerline goodness : 0.136389 Centerline is valid? [False, False] Translation: X:4.73, Y:0.56, Z:1.61 [[ 9.99729522e-01 -3.55753432e-03 -2.29832043e-02 4.73213185e+00] [ 3.55677791e-03 9.99993672e-01 -7.37900440e-05 5.56005829e-01] [ 2.29833214e-02 -7.97606795e-06 9.99735849e-01 1.60940433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58255784400006 meters Centerline goodness : 0.215959 Centerline is valid? [False, False] Translation: X:4.73, Y:0.56, Z:1.61 [[ 9.99732641e-01 -3.51891910e-03 -2.28530736e-02 4.73194565e+00] [ 3.50882107e-03 9.99993728e-01 -4.81951476e-04 5.58919963e-01] [ 2.28546262e-02 4.01635276e-04 9.99738718e-01 1.60905687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.61255784400004 meters Centerline goodness : 0.146721 Centerline is valid? [False, False] Translation: X:4.73, Y:0.56, Z:1.61 [[ 9.99735426e-01 -3.58177520e-03 -2.27210999e-02 4.73168179e+00] [ 3.56363415e-03 9.99993298e-01 -8.38863321e-04 5.61111537e-01] [ 2.27239522e-02 7.57671692e-04 9.99741491e-01 1.60887395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64255784400007 meters Centerline goodness : 0.154761 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99755993e-01 5.04873155e-03 -2.15049917e-02 4.75192539e+00] [-5.10234768e-03 9.99984008e-01 -2.43905501e-03 5.61604040e-01] [ 2.14923337e-02 2.54818581e-03 9.99765766e-01 1.60985487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.67255784400004 meters Centerline goodness : 0.160664 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99761487e-01 4.92480781e-03 -2.12770872e-02 4.75122950e+00] [-4.98543605e-03 9.99983660e-01 -2.79735771e-03 5.63421642e-01] [ 2.12629630e-02 2.90276606e-03 9.99769704e-01 1.61003018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70255784400007 meters Centerline goodness : 0.143166 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99766785e-01 4.80348586e-03 -2.10547442e-02 4.75045271e+00] [-4.86981375e-03 9.99983337e-01 -3.10011928e-03 5.64857136e-01] [ 2.10395020e-02 3.20192897e-03 9.99773518e-01 1.61030851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.73255784400004 meters Centerline goodness : 0.144376 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99768564e-01 4.71100886e-03 -2.09910807e-02 4.75016951e+00] [-4.78148194e-03 9.99983096e-01 -3.30836254e-03 5.65853051e-01] [ 2.09751402e-02 3.40796534e-03 9.99774189e-01 1.61049109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76255784400007 meters Centerline goodness : 0.141912 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99768597e-01 4.63810923e-03 -2.10057394e-02 4.75019988e+00] [-4.71074425e-03 9.99983091e-01 -3.40970485e-03 5.66542172e-01] [ 2.09895696e-02 3.50786850e-03 9.99773541e-01 1.61046202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.79255784400004 meters Centerline goodness : 0.158605 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99767683e-01 4.59457617e-03 -2.10587396e-02 4.75025524e+00] [-4.66671823e-03 9.99983406e-01 -3.37789201e-03 5.66185901e-01] [ 2.10428702e-02 3.47538247e-03 9.99772534e-01 1.61058744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8225578440001 meters Centerline goodness : 0.144491 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.61 [[ 9.99776699e-01 -3.30897490e-03 -2.08710790e-02 4.77071579e+00] [ 3.25256076e-03 9.99990967e-01 -2.73634829e-03 5.70626705e-01] [ 2.08799450e-02 2.66785281e-03 9.99778431e-01 1.61179678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.85255784400005 meters Centerline goodness : 0.160859 Centerline is valid? [False, False] Translation: X:4.73, Y:0.57, Z:1.61 [[ 9.99685963e-01 -6.47164121e-03 -2.42093801e-02 4.72844324e+00] [ 6.37650273e-03 9.99971650e-01 -4.00495455e-03 5.66480837e-01] [ 2.42346124e-02 3.84932566e-03 9.99698888e-01 1.61077597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8825578440001 meters Centerline goodness : 0.155033 Centerline is valid? [False, False] Translation: X:4.73, Y:0.57, Z:1.61 [[ 9.99682058e-01 -6.41764194e-03 -2.43843569e-02 4.72902000e+00] [ 6.32548187e-03 9.99972564e-01 -3.85473067e-03 5.65879727e-01] [ 2.44084262e-02 3.69926228e-03 9.99695226e-01 1.61051607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.91255784400005 meters Centerline goodness : 0.149178 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99713398e-01 1.75096684e-03 -2.38758303e-02 4.74830280e+00] [-1.87509429e-03 9.99984839e-01 -5.17747829e-03 5.62811328e-01] [ 2.38664027e-02 5.22076385e-03 9.99701525e-01 1.61188066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9425578440001 meters Centerline goodness : 0.147332 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99711570e-01 1.69088025e-03 -2.39565867e-02 4.74846061e+00] [-1.81687854e-03 9.99984628e-01 -5.23865292e-03 5.62892902e-01] [ 2.39473605e-02 5.28066814e-03 9.99699274e-01 1.61196066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.97255784400005 meters Centerline goodness : 0.150991 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99711124e-01 1.63529552e-03 -2.39790439e-02 4.74843809e+00] [-1.76388274e-03 9.99984174e-01 -5.34231308e-03 5.63276614e-01] [ 2.39699281e-02 5.38306604e-03 9.99698187e-01 1.61206220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0025578440001 meters Centerline goodness : 0.118264 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99720621e-01 1.54453049e-03 -2.35858799e-02 4.74738834e+00] [-1.67977362e-03 9.99982256e-01 -5.71533650e-03 5.65529493e-01] [ 2.35766339e-02 5.75335870e-03 9.99705477e-01 1.61214842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.03255784400005 meters Centerline goodness : 0.119886 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99726502e-01 1.49957601e-03 -2.33382187e-02 4.74671367e+00] [-1.63930152e-03 9.99980842e-01 -5.96900264e-03 5.67179423e-01] [ 2.33288206e-02 6.00562851e-03 9.99709807e-01 1.61222772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0625578440001 meters Centerline goodness : 0.158046 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99729807e-01 1.43132945e-03 -2.32005399e-02 4.74639460e+00] [-1.57707069e-03 9.99979133e-01 -6.26472469e-03 5.68903866e-01] [ 2.31910888e-02 6.29962090e-03 9.99711202e-01 1.61214450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.09255784400005 meters Centerline goodness : 0.141395 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99728428e-01 1.31983457e-03 -2.32664543e-02 4.74663482e+00] [-1.47216944e-03 9.99977586e-01 -6.53149175e-03 5.70159212e-01] [ 2.32573123e-02 6.56397014e-03 9.99707963e-01 1.61198024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1225578440001 meters Centerline goodness : 0.157510 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99725142e-01 1.24822060e-03 -2.34111650e-02 4.74702231e+00] [-1.40436145e-03 9.99976874e-01 -6.65424883e-03 5.70588696e-01] [ 2.34023176e-02 6.68529759e-03 9.99703775e-01 1.61190409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.15255784400006 meters Centerline goodness : 0.120326 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.61 [[ 0.9996816 -0.00675256 -0.02431243 4.76884206] [ 0.00661128 0.99996082 -0.00588698 0.57407804] [ 0.02435123 0.00572437 0.99968708 1.61336043] [ 0. 0. 0. 1. ]] SLAMing on 453.1825578440001 meters SLAMing on 453.21255784400006 meters Centerline goodness : 0.141450 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.61 [[ 0.99965562 -0.0073704 -0.02518583 4.77155915] [ 0.0072255 0.99995685 -0.00583938 0.57108918] [ 0.02522778 0.00565539 0.99966573 1.61277592] [ 0. 0. 0. 1. ]] SLAMing on 453.24255784400003 meters Centerline goodness : 0.131634 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.61 [[ 0.99966238 -0.00785827 -0.02476635 4.76998882] [ 0.00772231 0.99995461 -0.00558064 0.56724735] [ 0.02480908 0.00538751 0.99967769 1.61375078] [ 0. 0. 0. 1. ]] SLAMing on 453.27255784400006 meters Centerline goodness : 0.153957 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99713570e-01 -3.65081326e-05 -2.39327471e-02 4.74942196e+00] [-9.80826293e-05 9.99984189e-01 -5.62250921e-03 5.59500580e-01] [ 2.39325739e-02 5.62324614e-03 9.99697760e-01 1.61257133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30255784400003 meters Centerline goodness : 0.128642 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99714796e-01 1.51867037e-04 -2.38810261e-02 4.74922033e+00] [-2.76755920e-04 9.99986304e-01 -5.22640990e-03 5.57898541e-01] [ 2.38799053e-02 5.23152852e-03 9.99701146e-01 1.61269333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.33255784400006 meters Centerline goodness : 0.149850 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99715821e-01 2.88676101e-04 -2.38368010e-02 4.74917885e+00] [-4.05503955e-04 9.99987930e-01 -4.89646670e-03 5.56180525e-01] [ 2.38350998e-02 4.90474114e-03 9.99703872e-01 1.61261483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36255784400004 meters Centerline goodness : 0.146363 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.61 [[ 9.99711782e-01 3.14847194e-04 -2.40052976e-02 4.74944732e+00] [-4.18944685e-04 9.99990531e-01 -4.33153242e-03 5.51378927e-01] [ 2.40037066e-02 4.34034089e-03 9.99702447e-01 1.61290428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.39255784400007 meters Centerline goodness : 0.117067 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.61 [[ 9.99711249e-01 4.75130295e-04 -2.40248271e-02 4.74920747e+00] [-5.68118613e-04 9.99992374e-01 -3.86383202e-03 5.48827439e-01] [ 2.40228080e-02 3.87636529e-03 9.99703895e-01 1.61338341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42255784400004 meters Centerline goodness : 0.127858 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.61 [[ 9.99712588e-01 6.91721856e-04 -2.39637807e-02 4.74889357e+00] [-7.71789110e-04 9.99994151e-01 -3.33209020e-03 5.46306438e-01] [ 2.39613356e-02 3.34962750e-03 9.99707274e-01 1.61363263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.45255784400007 meters Centerline goodness : 0.156887 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.61 [[ 9.99714937e-01 9.03648133e-04 -2.38585056e-02 4.74849257e+00] [-9.70714966e-04 9.99995610e-01 -2.79959215e-03 5.43703462e-01] [ 2.38558710e-02 2.82195390e-03 9.99711425e-01 1.61386810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48255784400004 meters Centerline goodness : 0.152622 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.61 [[ 9.99715686e-01 1.08603434e-03 -2.38194758e-02 4.74834209e+00] [-1.14019540e-03 9.99996795e-01 -2.26035027e-03 5.40863067e-01] [ 2.38169447e-02 2.28686648e-03 9.99713721e-01 1.61395866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.51255784400007 meters Centerline goodness : 0.160310 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.61 [[ 9.99709920e-01 1.31789440e-03 -2.40486594e-02 4.74907193e+00] [-1.35152818e-03 9.99998131e-01 -1.38237208e-03 5.35798310e-01] [ 2.40467926e-02 1.41447353e-03 9.99709833e-01 1.61377571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54255784400004 meters Centerline goodness : 0.121970 Centerline is valid? [False, False] Translation: X:4.70, Y:0.53, Z:1.61 [[ 9.99640602e-01 5.41243708e-04 -2.68025158e-02 4.70460359e+00] [-5.66499554e-04 9.99999403e-01 -9.34709666e-04 5.30713936e-01] [ 2.68019939e-02 9.49557346e-04 9.99640311e-01 1.61408643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5725578440001 meters Centerline goodness : 0.128671 Centerline is valid? [False, False] Translation: X:4.70, Y:0.53, Z:1.61 [[ 9.99639706e-01 6.66717860e-04 -2.68330565e-02 4.70471766e+00] [-6.83567081e-04 9.99999575e-01 -6.18759899e-04 5.29231960e-01] [ 2.68326326e-02 6.36879158e-04 9.99639737e-01 1.61405155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60255784400005 meters Centerline goodness : 0.132212 Centerline is valid? [False, False] Translation: X:4.70, Y:0.53, Z:1.61 [[ 9.99637688e-01 7.92762002e-04 -2.69047114e-02 4.70481755e+00] [-8.01187545e-04 9.99999633e-01 -3.02383993e-04 5.27669077e-01] [ 2.69044618e-02 3.23830155e-04 9.99637957e-01 1.61418630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6325578440001 meters Centerline goodness : 0.161207 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99632110e-01 9.05594978e-04 -2.71076438e-02 4.70544070e+00] [-9.07543305e-04 9.99999586e-01 -5.95708519e-05 5.26272925e-01] [ 2.71075787e-02 8.41502971e-05 9.99632519e-01 1.61406726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66255784400005 meters Centerline goodness : 0.154010 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99632764e-01 9.67508879e-04 -2.70813717e-02 4.70551578e+00] [-9.64545091e-04 9.99999527e-01 1.22502877e-04 5.25367600e-01] [ 2.70814774e-02 -9.63366857e-05 9.99633225e-01 1.61389776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6925578440001 meters Centerline goodness : 0.149883 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99636056e-01 9.68056509e-04 -2.69595530e-02 4.70522093e+00] [-9.66360303e-04 9.99999530e-01 7.59453058e-05 5.25700653e-01] [ 2.69596139e-02 -4.98650241e-05 9.99636522e-01 1.61389549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72255784400005 meters Centerline goodness : 0.149420 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99626304e-01 9.42403531e-04 -2.73196610e-02 4.70660636e+00] [-9.49908354e-04 9.99999515e-01 -2.61727422e-04 5.27735828e-01] [ 2.73194011e-02 2.87580789e-04 9.99626714e-01 1.61308531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7525578440001 meters Centerline goodness : 0.156482 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99611830e-01 9.25097544e-04 -2.78448038e-02 4.70840855e+00] [-9.39252423e-04 9.99999436e-01 -4.95274150e-04 5.28832630e-01] [ 2.78443299e-02 5.21235199e-04 9.99612136e-01 1.61242205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78255784400005 meters Centerline goodness : 0.129963 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99597252e-01 7.33403175e-04 -2.83689297e-02 4.71014918e+00] [-7.59621627e-04 9.99999294e-01 -9.13430047e-04 5.30451111e-01] [ 2.83682398e-02 9.34611817e-04 9.99597104e-01 1.61174852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8125578440001 meters Centerline goodness : 0.116653 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99590004e-01 5.96578615e-04 -2.86263572e-02 4.71101152e+00] [-6.31940711e-04 9.99999048e-01 -1.22626747e-03 5.31765658e-01] [ 2.86255984e-02 1.24385486e-03 9.99589430e-01 1.61136879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84255784400005 meters Centerline goodness : 0.158479 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99589490e-01 5.39723377e-04 -2.86454330e-02 4.71113301e+00] [-5.80305714e-04 9.99998840e-01 -1.40841792e-03 5.32794100e-01] [ 2.86446396e-02 1.42446286e-03 9.99588643e-01 1.61120767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8725578440001 meters Centerline goodness : 0.161763 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99593426e-01 5.84531360e-04 -2.85068452e-02 4.71054585e+00] [-6.25083915e-04 9.99998805e-01 -1.41366432e-03 5.33309528e-01] [ 2.85059848e-02 1.43090873e-03 9.99592598e-01 1.61153862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90255784400006 meters Centerline goodness : 0.159836 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99605708e-01 6.20617567e-04 -2.80721182e-02 4.70885439e+00] [-6.56179056e-04 9.99998994e-01 -1.25759611e-03 5.32677930e-01] [ 2.80713094e-02 1.27552059e-03 9.99605109e-01 1.61250715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.9325578440001 meters Centerline goodness : 0.158200 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99609411e-01 5.83832064e-04 -2.79407505e-02 4.70817929e+00] [-6.17181726e-04 9.99999107e-01 -1.18497596e-03 5.31930192e-01] [ 2.79400337e-02 1.20175764e-03 9.99608879e-01 1.61307678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96255784400006 meters Centerline goodness : 0.151491 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99613382e-01 5.58200961e-04 -2.77988408e-02 4.70750146e+00] [-5.88905431e-04 9.99999226e-01 -1.09634860e-03 5.31141107e-01] [ 2.77982073e-02 1.11229562e-03 9.99612936e-01 1.61360830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99255784400003 meters Centerline goodness : 0.156184 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99614870e-01 5.78558897e-04 -2.77448476e-02 4.70719922e+00] [-6.07751826e-04 9.99999271e-01 -1.04377173e-03 5.30943039e-01] [ 2.77442235e-02 1.06023172e-03 9.99614493e-01 1.61382077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02255784400006 meters Centerline goodness : 0.120418 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99618049e-01 6.72102529e-04 -2.76279600e-02 4.70685798e+00] [-6.97395217e-04 9.99999347e-01 -9.05848898e-04 5.30755699e-01] [ 2.76273332e-02 9.24770515e-04 9.99617865e-01 1.61387844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05255784400003 meters Centerline goodness : 0.118797 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99618640e-01 7.23506161e-04 -2.76052721e-02 4.70671588e+00] [-7.45600604e-04 9.99999410e-01 -7.90085620e-04 5.30193361e-01] [ 2.76046841e-02 8.10366821e-04 9.99618590e-01 1.61399558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08255784400006 meters Centerline goodness : 0.156942 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99619117e-01 7.37340235e-04 -2.75876409e-02 4.70653569e+00] [-7.56186414e-04 9.99999488e-01 -6.72712034e-04 5.29302376e-01] [ 2.75871308e-02 6.93317208e-04 9.99619162e-01 1.61419828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.11255784400004 meters Centerline goodness : 0.113938 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99616226e-01 7.48037675e-04 -2.76918805e-02 4.70663642e+00] [-7.63305117e-04 9.99999562e-01 -5.40766198e-04 5.28350155e-01] [ 2.76914638e-02 5.61696020e-04 9.99616360e-01 1.61444262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14255784400007 meters Centerline goodness : 0.158442 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99615831e-01 8.04984968e-04 -2.77045634e-02 4.70664254e+00] [-8.15866127e-04 9.99999594e-01 -3.81455370e-04 5.27529782e-01] [ 2.77042451e-02 4.03912041e-04 9.99616082e-01 1.61447713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.17255784400004 meters Centerline goodness : 0.158442 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99615831e-01 8.04984968e-04 -2.77045634e-02 4.70664254e+00] [-8.15866127e-04 9.99999594e-01 -3.81455370e-04 5.27529782e-01] [ 2.77042451e-02 4.03912041e-04 9.99616082e-01 1.61447713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20255784400007 meters Centerline goodness : 0.133743 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99613893e-01 9.02294914e-04 -2.77713942e-02 4.70665858e+00] [-9.07702050e-04 9.99999571e-01 -1.82095745e-04 5.26635376e-01] [ 2.77712180e-02 2.07233588e-04 9.99614284e-01 1.61471380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.23255784400004 meters Centerline goodness : 0.128256 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.62 [[ 9.99610231e-01 1.07720045e-03 -2.78966830e-02 4.70668831e+00] [-1.06890489e-03 9.99999380e-01 3.12277951e-04 5.24024699e-01] [ 2.78970021e-02 -2.82337334e-04 9.99610763e-01 1.61518860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26255784400007 meters Centerline goodness : 0.138461 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.62 [[ 9.99609186e-01 1.09428985e-03 -2.79334351e-02 4.70675314e+00] [-1.08271639e-03 9.99999322e-01 4.29444358e-04 5.23121475e-01] [ 2.79338861e-02 -3.99032538e-04 9.99609693e-01 1.61524702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.29255784400004 meters Centerline goodness : 0.113980 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.62 [[ 9.99607464e-01 1.06884909e-03 -2.79960003e-02 4.70683686e+00] [-1.05917748e-03 9.99999374e-01 3.60291217e-04 5.23274075e-01] [ 2.79963679e-02 -3.30497056e-04 9.99607970e-01 1.61543393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3225578440001 meters Centerline goodness : 0.142495 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.62 [[ 9.99606393e-01 1.11637131e-03 -2.80323381e-02 4.70694741e+00] [-1.10856332e-03 9.99999342e-01 2.94074286e-04 5.23874810e-01] [ 2.80326479e-02 -2.62882915e-04 9.99606974e-01 1.61551153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.35255784400005 meters Centerline goodness : 0.151997 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.62 [[ 9.99610029e-01 1.51579563e-03 -2.78835507e-02 4.70683026e+00] [-1.50720384e-03 9.99998810e-01 3.29145746e-04 5.25181888e-01] [ 2.78840164e-02 -2.86991194e-04 9.99611124e-01 1.61507162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3825578440001 meters Centerline goodness : 0.129560 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99602374e-01 1.48829007e-03 -2.81581125e-02 4.70783663e+00] [-1.48760946e-03 9.99998892e-01 4.51191998e-05 5.26744758e-01] [ 2.81581485e-02 -3.21298463e-06 9.99603481e-01 1.61451897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.41255784400005 meters Centerline goodness : 0.158078 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99595517e-01 1.38168111e-03 -2.84058579e-02 4.70886203e+00] [-1.39102952e-03 9.99998985e-01 -3.09343392e-04 5.28376229e-01] [ 2.84054017e-02 3.48731655e-04 9.99596424e-01 1.61383937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4425578440001 meters Centerline goodness : 0.148005 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99589898e-01 1.32354682e-03 -2.86056630e-02 4.70974449e+00] [-1.33952769e-03 9.99998957e-01 -5.39505134e-04 5.29506898e-01] [ 2.86049191e-02 5.77601959e-04 9.99590629e-01 1.61316325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.47255784400005 meters Centerline goodness : 0.117794 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99589423e-01 1.29311106e-03 -2.86236438e-02 4.70991166e+00] [-1.31287372e-03 9.99998913e-01 -6.71648554e-04 5.30222395e-01] [ 2.86227442e-02 7.08952021e-04 9.99590034e-01 1.61294468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5025578440001 meters Centerline goodness : 0.109599 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99597364e-01 1.30561381e-03 -2.83444089e-02 4.70906453e+00] [-1.32653114e-03 9.99998862e-01 -7.19179344e-04 5.30687299e-01] [ 2.83434376e-02 7.56489517e-04 9.99597958e-01 1.61315632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.53255784400005 meters Centerline goodness : 0.148467 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99595721e-01 1.22089908e-03 -2.84060642e-02 4.70923291e+00] [-1.24509313e-03 9.99998877e-01 -8.34049133e-04 5.30949014e-01] [ 2.84050140e-02 8.69080139e-04 9.99596118e-01 1.61312140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5625578440001 meters Centerline goodness : 0.142811 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99591108e-01 1.16136989e-03 -2.85703982e-02 4.70976652e+00] [-1.18886727e-03 9.99998846e-01 -9.45475159e-04 5.31391276e-01] [ 2.85692672e-02 9.79054973e-04 9.99591336e-01 1.61288183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.59255784400005 meters Centerline goodness : 0.131158 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99588957e-01 1.12631302e-03 -2.86469775e-02 4.71008704e+00] [-1.15666716e-03 9.99998787e-01 -1.04304409e-03 5.31949614e-01] [ 2.86457680e-02 1.07575037e-03 9.99589047e-01 1.61265286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6225578440001 meters Centerline goodness : 0.147906 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99593784e-01 1.06708706e-03 -2.84803178e-02 4.70944444e+00] [-1.10408755e-03 9.99998567e-01 -1.28346596e-03 5.33388539e-01] [ 2.84789074e-02 1.31438936e-03 9.99593529e-01 1.61299226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.65255784400006 meters Centerline goodness : 0.134179 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99594629e-01 9.42296966e-04 -2.84550548e-02 4.70923950e+00] [-9.86026660e-04 9.99998354e-01 -1.52280634e-03 5.34260849e-01] [ 2.84535731e-02 1.55024648e-03 9.99593913e-01 1.61322555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6825578440001 meters Centerline goodness : 0.145062 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99596557e-01 8.76564047e-04 -2.83893506e-02 4.70901405e+00] [-9.24343042e-04 9.99998178e-01 -1.66991041e-03 5.34859677e-01] [ 2.83878351e-02 1.69547819e-03 9.99595546e-01 1.61327603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.71255784400006 meters Centerline goodness : 0.126306 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99602726e-01 9.53713403e-04 -2.81687859e-02 4.70844761e+00] [-9.99412268e-04 9.99998207e-01 -1.60828847e-03 5.35076029e-01] [ 2.81672016e-02 1.63580177e-03 9.99601887e-01 1.61326052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74255784400003 meters Centerline goodness : 0.138349 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99606751e-01 1.05089896e-03 -2.80221076e-02 4.70798216e+00] [-1.08976835e-03 9.99998465e-01 -1.37186159e-03 5.34034545e-01] [ 2.80206229e-02 1.40185972e-03 9.99606362e-01 1.61339521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.77255784400006 meters Centerline goodness : 0.115042 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99604808e-01 1.16637611e-03 -2.80867846e-02 4.70819769e+00] [-1.19431868e-03 9.99998808e-01 -9.78110404e-04 5.31903806e-01] [ 2.80856103e-02 1.01126843e-03 9.99605010e-01 1.61336269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80255784400003 meters Centerline goodness : 0.122594 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99598911e-01 1.23913108e-03 -2.82927720e-02 4.70869531e+00] [-1.25476236e-03 9.99999070e-01 -5.34735982e-04 5.29240776e-01] [ 2.82920831e-02 5.70022211e-04 9.99599536e-01 1.61342749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.83255784400006 meters Centerline goodness : 0.115686 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.61 [[ 9.99605218e-01 1.59877152e-03 -2.80508698e-02 4.70780388e+00] [-1.58295449e-03 9.99998575e-01 5.86066197e-04 5.23090066e-01] [ 2.80517668e-02 -5.41431579e-04 9.99606325e-01 1.61404424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86255784400004 meters Centerline goodness : 0.152066 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.61 [[ 9.99608307e-01 1.77523958e-03 -2.79299338e-02 4.70719548e+00] [-1.74820370e-03 9.99997979e-01 9.92378293e-04 5.21156953e-01] [ 2.79316390e-02 -9.43162372e-04 9.99609391e-01 1.61460474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.89255784400007 meters Centerline goodness : 0.137562 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.62 [[ 9.99605643e-01 1.85713787e-03 -2.80198169e-02 4.70723420e+00] [-1.82882201e-03 9.99997791e-01 1.03615836e-03 5.20960022e-01] [ 2.80216793e-02 -9.84506489e-04 9.99606831e-01 1.61504468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92255784400004 meters Centerline goodness : 0.149477 Centerline is valid? [False, False] Translation: X:4.73, Y:0.52, Z:1.62 [[ 9.99559178e-01 1.08449405e-02 -2.76376106e-02 4.72797159e+00] [-1.08554288e-02 9.99941052e-01 -2.29480527e-04 5.18649951e-01] [ 2.76334927e-02 5.29397481e-04 9.99617982e-01 1.61634517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.95255784400007 meters Centerline goodness : 0.141004 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99617733e-01 3.55781142e-03 -2.74176885e-02 4.71265600e+00] [-3.54091000e-03 9.99993510e-01 6.64968308e-04 5.27729830e-01] [ 2.74198764e-02 -5.67630545e-04 9.99623843e-01 1.61396448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98255784400004 meters Centerline goodness : 0.141375 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99610384e-01 3.80336402e-03 -2.76516640e-02 4.71358301e+00] [-3.79158217e-03 9.99992697e-01 4.78500745e-04 5.29838464e-01] [ 2.76532819e-02 -3.73470758e-04 9.99617505e-01 1.61327914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.01255784400007 meters Centerline goodness : 0.094031 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99619790e-01 4.58791869e-03 -2.71887297e-02 4.71260522e+00] [-4.57855192e-03 9.99989436e-01 4.06753698e-04 5.33614355e-01] [ 2.71903086e-02 -2.82114036e-04 9.99630235e-01 1.61273818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04255784400004 meters Centerline goodness : 0.138384 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99632481e-01 4.51334225e-03 -2.67307274e-02 4.71145281e+00] [-4.51711748e-03 9.99989795e-01 -8.08494990e-05 5.36258916e-01] [ 2.67300897e-02 2.01565621e-04 9.99642667e-01 1.61268338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0725578440001 meters Centerline goodness : 0.143545 Centerline is valid? [False, False] Translation: X:4.73, Y:0.54, Z:1.62 [[ 9.99625158e-01 -2.05802660e-03 -2.73003165e-02 4.72882377e+00] [ 2.07332980e-03 9.99997709e-01 5.32255469e-04 5.44833857e-01] [ 2.72991585e-02 -5.88658517e-04 9.99627135e-01 1.61503323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10255784400005 meters Centerline goodness : 0.125086 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99617591e-01 -2.36183367e-03 -2.75516650e-02 4.72994148e+00] [ 2.35890482e-03 9.99997208e-01 -1.38805685e-04 5.48020204e-01] [ 2.75519159e-02 7.37608488e-05 9.99620371e-01 1.61411509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1325578440001 meters Centerline goodness : 0.139232 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99607717e-01 -2.48620137e-03 -2.78968024e-02 4.73118189e+00] [ 2.47950398e-03 9.99996888e-01 -2.74666982e-04 5.48479142e-01] [ 2.78973985e-02 2.05389002e-04 9.99610771e-01 1.61350015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16255784400005 meters Centerline goodness : 0.139673 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99598732e-01 -2.63548539e-03 -2.82033605e-02 4.73211531e+00] [ 2.62655871e-03 9.99996488e-01 -3.53552875e-04 5.48412258e-01] [ 2.82041932e-02 2.79333224e-04 9.99602144e-01 1.61325264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1925578440001 meters Centerline goodness : 0.144833 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99595458e-01 -3.29932668e-03 -2.82495158e-02 4.73200525e+00] [ 3.27751128e-03 9.99994294e-01 -8.18508169e-04 5.48883399e-01] [ 2.82520551e-02 7.25588941e-04 9.99600568e-01 1.61371393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22255784400005 meters Centerline goodness : 0.147520 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99594782e-01 -3.33549561e-03 -2.82691924e-02 4.73196881e+00] [ 3.31216336e-03 9.99994134e-01 -8.72144995e-04 5.49296603e-01] [ 2.82719356e-02 7.78159402e-04 9.99599966e-01 1.61382597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2525578440001 meters Centerline goodness : 0.145172 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99595431e-01 -3.37101306e-03 -2.82419848e-02 4.73187286e+00] [ 3.34546216e-03 9.99993951e-01 -9.51915359e-04 5.49950917e-01] [ 2.82450229e-02 8.57047753e-04 9.99600662e-01 1.61384734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28255784400005 meters Centerline goodness : 0.136538 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99590497e-01 -3.41071884e-03 -2.84113443e-02 4.73232287e+00] [ 3.38351826e-03 9.99993770e-01 -1.00540463e-03 5.50243565e-01] [ 2.84145965e-02 9.08862616e-04 9.99595811e-01 1.61376419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3125578440001 meters Centerline goodness : 0.127335 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99582417e-01 -3.48196452e-03 -2.86856719e-02 4.73312921e+00] [ 3.45305606e-03 9.99993479e-01 -1.05724184e-03 5.50273673e-01] [ 2.86891661e-02 9.57747117e-04 9.99587922e-01 1.61355825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34255784400005 meters Centerline goodness : 0.144928 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99578025e-01 -3.46944900e-03 -2.88398158e-02 4.73347744e+00] [ 3.44590854e-03 9.99993688e-01 -8.65908810e-04 5.49187923e-01] [ 2.88426379e-02 7.66164050e-04 9.99583671e-01 1.61363468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3725578440001 meters Centerline goodness : 0.141558 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.61 [[ 9.99598634e-01 4.78169408e-03 -2.79232360e-02 4.75313974e+00] [-4.84754547e-03 9.99985626e-01 -2.29108409e-03 5.45465909e-01] [ 2.79118794e-02 2.42552369e-03 9.99607445e-01 1.61492724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40255784400006 meters Centerline goodness : 0.135554 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.62 [[ 9.99595271e-01 4.81584135e-03 -2.80375114e-02 4.75321812e+00] [-4.87830383e-03 9.99985769e-01 -2.15984310e-03 5.44416780e-01] [ 2.80267109e-02 2.29574445e-03 9.99604538e-01 1.61530215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.4325578440001 meters Centerline goodness : 0.150109 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.62 [[ 9.99592762e-01 4.78715244e-03 -2.81317125e-02 4.75317958e+00] [-4.84785200e-03 9.99986065e-01 -2.08988490e-03 5.43559048e-01] [ 2.81213159e-02 2.22541219e-03 9.99602040e-01 1.61574167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46255784400006 meters Centerline goodness : 0.150407 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.62 [[ 9.99592666e-01 4.79420000e-03 -2.81339075e-02 4.75286379e+00] [-4.85303073e-03 9.99986177e-01 -2.02318826e-03 5.42966984e-01] [ 2.81238191e-02 2.15889886e-03 9.99602116e-01 1.61622797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49255784400003 meters Centerline goodness : 0.149731 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.62 [[ 9.99596465e-01 4.82409369e-03 -2.79934697e-02 4.75241987e+00] [-4.88207714e-03 9.99986076e-01 -2.00334379e-03 5.42996779e-01] [ 2.79834156e-02 2.13920165e-03 9.99606099e-01 1.61636409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52255784400006 meters Centerline goodness : 0.144186 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.62 [[ 9.99623024e-01 5.41743825e-03 -2.69158278e-02 4.74930934e+00] [-5.46876886e-03 9.99983365e-01 -1.83383291e-03 5.44984882e-01] [ 2.69054454e-02 1.98033804e-03 9.99636021e-01 1.61695397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55255784400003 meters Centerline goodness : 0.147477 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.62 [[ 9.99634774e-01 5.53073732e-03 -2.64524070e-02 4.74802562e+00] [-5.58711227e-03 9.99982275e-01 -2.05774962e-03 5.46848495e-01] [ 2.64405572e-02 2.20479064e-03 9.99647956e-01 1.61709626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58255784400006 meters Centerline goodness : 0.152558 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.62 [[ 9.99630592e-01 5.94666939e-03 -2.65201170e-02 4.74813099e+00] [-6.01457337e-03 9.99978833e-01 -2.48143794e-03 5.50929070e-01] [ 2.65047994e-02 2.64002846e-03 9.99645200e-01 1.61692874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.61255784400004 meters Centerline goodness : 0.142673 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.62 [[ 9.99626338e-01 6.01171458e-03 -2.66653940e-02 4.74850922e+00] [-6.09068840e-03 9.99977300e-01 -2.88142832e-03 5.53737040e-01] [ 2.66474664e-02 3.04276225e-03 9.99640262e-01 1.61672667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64255784400007 meters Centerline goodness : 0.143585 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.62 [[ 9.99632062e-01 6.00188899e-03 -2.64521938e-02 4.74806969e+00] [-6.09091613e-03 9.99976050e-01 -3.28629830e-03 5.56332452e-01] [ 2.64318363e-02 3.44620724e-03 9.99644678e-01 1.61650212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.67255784400004 meters Centerline goodness : 0.147625 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.62 [[ 9.99642267e-01 5.94766443e-03 -2.60761123e-02 4.74701561e+00] [-6.04420386e-03 9.99975163e-01 -3.62496289e-03 5.58361317e-01] [ 2.60539046e-02 3.78127546e-03 9.99653388e-01 1.61660517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70255784400007 meters Centerline goodness : 0.145866 Centerline is valid? [False, False] Translation: X:4.76, Y:0.57, Z:1.62 [[ 9.99702640e-01 -7.39520247e-04 -2.43738353e-02 4.76240587e+00] [ 6.85872385e-04 9.99997324e-01 -2.20932954e-03 5.68293223e-01] [ 2.43754039e-02 2.19195523e-03 9.99700473e-01 1.61965514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.73255784400004 meters Centerline goodness : 0.145116 Centerline is valid? [False, False] Translation: X:4.76, Y:0.57, Z:1.62 [[ 9.99707256e-01 -8.43743670e-04 -2.41803818e-02 4.76175336e+00] [ 7.82538670e-04 9.99996467e-01 -2.54053485e-03 5.70139111e-01] [ 2.41824399e-02 2.52086904e-03 9.99704384e-01 1.61989324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76255784400007 meters Centerline goodness : 0.150940 Centerline is valid? [False, False] Translation: X:4.76, Y:0.57, Z:1.62 [[ 9.99705811e-01 -1.04779342e-03 -2.42320731e-02 4.76206255e+00] [ 9.74195046e-04 9.99994878e-01 -3.04883539e-03 5.72565165e-01] [ 2.42351435e-02 3.02433169e-03 9.99701711e-01 1.61954872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.79255784400004 meters Centerline goodness : 0.115549 Centerline is valid? [False, False] Translation: X:4.76, Y:0.58, Z:1.62 [[ 9.99700988e-01 -1.27526072e-03 -2.44194071e-02 4.76275379e+00] [ 1.18677881e-03 9.99992680e-01 -3.63757526e-03 5.75358033e-01] [ 2.44238672e-02 3.60750714e-03 9.99695184e-01 1.61910799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8225578440001 meters Centerline goodness : 0.157304 Centerline is valid? [False, False] Translation: X:4.77, Y:0.58, Z:1.62 [[ 9.99667470e-01 8.82159464e-04 -2.57715264e-02 4.76811323e+00] [-9.43831791e-04 9.99996720e-01 -2.38097529e-03 5.82972111e-01] [ 2.57693415e-02 2.40450753e-03 9.99665024e-01 1.61654508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.85255784400005 meters Centerline goodness : 0.103695 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99665741e-01 6.73281964e-04 -2.58447734e-02 4.76876827e+00] [-7.52191319e-04 9.99995085e-01 -3.04360329e-03 5.86701960e-01] [ 2.58425971e-02 3.06202615e-03 9.99661335e-01 1.61569268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8825578440001 meters Centerline goodness : 0.150596 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99666277e-01 4.39432304e-04 -2.58291008e-02 4.76901450e+00] [-5.34864193e-04 9.99993056e-01 -3.68795046e-03 5.90068635e-01] [ 2.58273008e-02 3.70053476e-03 9.99659570e-01 1.61514755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.91255784400005 meters Centerline goodness : 0.160896 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99666999e-01 2.09938525e-04 -2.58040025e-02 4.76885862e+00] [-3.19322662e-04 9.99990981e-01 -4.23499013e-03 5.92749107e-01] [ 2.58028807e-02 4.24181968e-03 9.99658051e-01 1.61522043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9425578440001 meters Centerline goodness : 0.142670 Centerline is valid? [False, False] Translation: X:4.77, Y:0.60, Z:1.62 [[ 9.99679847e-01 -3.94164406e-04 -2.52991781e-02 4.76665088e+00] [ 2.69449658e-04 9.99987797e-01 -4.93281648e-03 5.95059641e-01] [ 2.53008138e-02 4.92442037e-03 9.99667754e-01 1.61669098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.97255784400005 meters Centerline goodness : 0.127050 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99684495e-01 -5.21972387e-04 -2.51125066e-02 4.76585494e+00] [ 3.97516284e-04 9.99987617e-01 -4.96067794e-03 5.94921875e-01] [ 2.51147850e-02 4.94913019e-03 9.99672323e-01 1.61722197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0025578440001 meters Centerline goodness : 0.144995 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99683146e-01 -5.84647051e-04 -2.51647643e-02 4.76586852e+00] [ 4.62147535e-04 9.99988018e-01 -4.87343904e-03 5.94355449e-01] [ 2.51673120e-02 4.86026504e-03 9.99671438e-01 1.61740046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.03255784400005 meters Centerline goodness : 0.156567 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99679478e-01 -6.44780567e-04 -2.53085944e-02 4.76636113e+00] [ 5.24400407e-04 9.99988520e-01 -4.76284215e-03 5.93586805e-01] [ 2.53113748e-02 4.74804372e-03 9.99668340e-01 1.61723511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0625578440001 meters Centerline goodness : 0.156567 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99679478e-01 -6.44780567e-04 -2.53085944e-02 4.76636113e+00] [ 5.24400407e-04 9.99988520e-01 -4.76284215e-03 5.93586805e-01] [ 2.53113748e-02 4.74804372e-03 9.99668340e-01 1.61723511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.09255784400005 meters Centerline goodness : 0.122011 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99671105e-01 -9.64615002e-04 -2.56271669e-02 4.76727271e+00] [ 8.44932201e-04 9.99988689e-01 -4.68057142e-03 5.91946995e-01] [ 2.56313920e-02 4.65737879e-03 9.99660613e-01 1.61718131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1225578440001 meters Centerline goodness : 0.128015 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99667422e-01 -9.58464160e-04 -2.57706612e-02 4.76746678e+00] [ 8.42281573e-04 9.99989435e-01 -4.51880474e-03 5.90834385e-01] [ 2.57747201e-02 4.49559573e-03 9.99657668e-01 1.61747430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.15255784400006 meters Centerline goodness : 0.109427 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99662840e-01 -8.87518307e-04 -2.59503090e-02 4.76761424e+00] [ 7.76400932e-04 9.99990489e-01 -4.29169091e-03 5.89607564e-01] [ 2.59538711e-02 4.27009608e-03 9.99654022e-01 1.61795572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1825578440001 meters Centerline goodness : 0.118303 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99658778e-01 -7.96762680e-04 -2.61092473e-02 4.76777700e+00] [ 6.91287772e-04 9.99991566e-01 -4.04852999e-03 5.88467074e-01] [ 2.61122528e-02 4.02909954e-03 9.99650897e-01 1.61834939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.21255784400006 meters Centerline goodness : 0.146776 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99656497e-01 -6.59717773e-04 -2.62002458e-02 4.76791650e+00] [ 5.62261939e-04 9.99992897e-01 -3.72684623e-03 5.86756255e-01] [ 2.62025183e-02 3.71083464e-03 9.99649768e-01 1.61851649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24255784400003 meters Centerline goodness : 0.121123 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99661557e-01 -6.09080975e-04 -2.60076833e-02 4.76724970e+00] [ 5.13657999e-04 9.99993113e-01 -3.67555327e-03 5.86396153e-01] [ 2.60097429e-02 3.66095025e-03 9.99654986e-01 1.61880581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.27255784400006 meters Centerline goodness : 0.138418 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99666750e-01 -4.87054059e-04 -2.58099092e-02 4.76660164e+00] [ 3.95140057e-04 9.99993563e-01 -3.56617089e-03 5.86081851e-01] [ 2.58114800e-02 3.55478394e-03 9.99660508e-01 1.61902472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30255784400003 meters Centerline goodness : 0.156404 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99668943e-01 -4.06887744e-04 -2.57262446e-02 4.76637099e+00] [ 3.15748348e-04 9.99993661e-01 -3.54662522e-03 5.86248836e-01] [ 2.57275245e-02 3.53732807e-03 9.99662734e-01 1.61902731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.33255784400006 meters Centerline goodness : 0.115921 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99655850e-01 2.55674249e-04 -2.62319758e-02 4.76800498e+00] [-3.39639668e-04 9.99994834e-01 -3.19647492e-03 5.86417677e-01] [ 2.62310230e-02 3.20428427e-03 9.99650772e-01 1.61825248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36255784400004 meters Centerline goodness : 0.153873 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99655637e-01 2.73832183e-04 -2.62398995e-02 4.76824144e+00] [-3.60944153e-04 9.99994440e-01 -3.31514976e-03 5.87101986e-01] [ 2.62388458e-02 3.32347929e-03 9.99650178e-01 1.61785907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.39255784400007 meters Centerline goodness : 0.114478 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99659288e-01 3.22567612e-04 -2.60998915e-02 4.76781711e+00] [-4.11829158e-04 9.99994085e-01 -3.41469385e-03 5.87853690e-01] [ 2.60986356e-02 3.42427912e-03 9.99653508e-01 1.61790526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42255784400004 meters Centerline goodness : 0.144348 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99663749e-01 3.73127126e-04 -2.59277950e-02 4.76732137e+00] [-4.64683813e-04 9.99993678e-01 -3.52528220e-03 5.88825192e-01] [ 2.59263157e-02 3.53614505e-03 9.99657602e-01 1.61793567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.45255784400007 meters Centerline goodness : 0.143406 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99658587e-01 5.22434210e-04 -2.61235030e-02 4.76803561e+00] [-6.21290725e-04 9.99992677e-01 -3.77622495e-03 5.91092433e-01] [ 2.61213389e-02 3.79116598e-03 9.99651591e-01 1.61736233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48255784400004 meters Centerline goodness : 0.116723 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99653854e-01 4.35121306e-04 -2.63055676e-02 4.76880217e+00] [-5.41399930e-04 9.99991720e-01 -4.03316991e-03 5.92382550e-01] [ 2.63035949e-02 4.04601568e-03 9.99645813e-01 1.61680209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.51255784400007 meters Centerline goodness : 0.143696 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99655054e-01 3.56387662e-04 -2.62611157e-02 4.76885984e+00] [-4.67218548e-04 9.99991011e-01 -4.21432686e-03 5.93278000e-01] [ 2.62593777e-02 4.22514283e-03 9.99646234e-01 1.61650305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54255784400004 meters Centerline goodness : 0.107210 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99666475e-01 3.25606447e-04 -2.58231061e-02 4.76710827e+00] [-4.34594289e-04 9.99991022e-01 -4.21505516e-03 5.93666533e-01] [ 2.58215018e-02 4.22487191e-03 9.99657642e-01 1.61750858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5725578440001 meters Centerline goodness : 0.140807 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99672529e-01 3.46709024e-04 -2.55873729e-02 4.76599133e+00] [-4.49336308e-04 9.99991878e-01 -4.00521601e-03 5.92665306e-01] [ 2.55857764e-02 4.01540175e-03 9.99664566e-01 1.61835440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60255784400005 meters Centerline goodness : 0.151916 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99674330e-01 1.93244403e-04 -2.55185601e-02 4.76563974e+00] [-2.92626949e-04 9.99992388e-01 -3.89084323e-03 5.91418268e-01] [ 2.55176140e-02 3.89704352e-03 9.99666777e-01 1.61874350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6325578440001 meters Centerline goodness : 0.103022 Centerline is valid? [False, False] Translation: X:4.79, Y:0.59, Z:1.62 [[ 9.99648134e-01 -8.21764611e-03 -2.52206158e-02 4.78695349e+00] [ 8.13393986e-03 9.99961071e-01 -3.41975848e-03 5.94751163e-01] [ 2.52477364e-02 3.21341221e-03 9.99676060e-01 1.61956877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66255784400005 meters Centerline goodness : 0.143576 Centerline is valid? [False, False] Translation: X:4.79, Y:0.59, Z:1.62 [[ 0.99960908 -0.01202905 -0.0252385 4.78730077] [ 0.01186338 0.99990716 -0.0067037 0.59240892] [ 0.02531679 0.00640167 0.99965898 1.61931804] [ 0. 0. 0. 1. ]] SLAMing on 456.6925578440001 meters Centerline goodness : 0.149356 Centerline is valid? [False, False] Translation: X:4.79, Y:0.59, Z:1.62 [[ 0.99960261 -0.0120226 -0.02549665 4.78769298] [ 0.01186399 0.99990938 -0.00636274 0.59054175] [ 0.02557084 0.00605772 0.99965466 1.61975579] [ 0. 0. 0. 1. ]] SLAMing on 456.72255784400005 meters Centerline goodness : 0.153674 Centerline is valid? [False, False] Translation: X:4.79, Y:0.59, Z:1.62 [[ 0.99959857 -0.0119901 -0.02566972 4.78788962] [ 0.01183839 0.9999116 -0.00605412 0.5889343 ] [ 0.02574004 0.0057478 0.99965215 1.62014837] [ 0. 0. 0. 1. ]] SLAMing on 456.7525578440001 meters Centerline goodness : 0.117030 Centerline is valid? [False, False] Translation: X:4.81, Y:0.58, Z:1.62 [[ 9.99677870e-01 -4.10284546e-03 -2.50464105e-02 4.80593199e+00] [ 3.91734309e-03 9.99964568e-01 -7.45092381e-03 5.84444549e-01] [ 2.50760930e-02 7.35040826e-03 9.99658522e-01 1.62231746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78255784400005 meters Centerline goodness : 0.154401 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99685557e-01 -4.31712647e-03 -2.47012220e-02 4.80482903e+00] [ 4.13672126e-03 9.99964432e-01 -7.34993689e-03 5.83062752e-01] [ 2.47320740e-02 7.24544368e-03 9.99667859e-01 1.62281727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8125578440001 meters Centerline goodness : 0.118589 Centerline is valid? [False, False] Translation: X:4.81, Y:0.58, Z:1.62 [[ 9.99683196e-01 -4.32428386e-03 -2.47953063e-02 4.80519587e+00] [ 4.14467231e-03 9.99964834e-01 -7.29059497e-03 5.82650320e-01] [ 2.48259609e-02 7.18551687e-03 9.99665964e-01 1.62258112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84255784400005 meters Centerline goodness : 0.112249 Centerline is valid? [False, False] Translation: X:4.81, Y:0.58, Z:1.62 [[ 9.99681899e-01 -4.31269661e-03 -2.48495926e-02 4.80543759e+00] [ 4.13377031e-03 9.99965194e-01 -7.24724764e-03 5.82528631e-01] [ 2.48799829e-02 7.14221977e-03 9.99664931e-01 1.62236402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8725578440001 meters Centerline goodness : 0.157077 Centerline is valid? [False, False] Translation: X:4.81, Y:0.58, Z:1.62 [[ 9.99683379e-01 -4.30144673e-03 -2.47919167e-02 4.80514314e+00] [ 4.12293496e-03 9.99965240e-01 -7.24702581e-03 5.82761538e-01] [ 2.48222276e-02 7.14251580e-03 9.99666365e-01 1.62254623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90255784400006 meters Centerline goodness : 0.160825 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99694062e-01 -4.43452702e-03 -2.43334464e-02 4.80327926e+00] [ 4.25719777e-03 9.99964040e-01 -7.33444072e-03 5.83048300e-01] [ 2.43650961e-02 7.22860455e-03 9.99676993e-01 1.62366082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.9325578440001 meters Centerline goodness : 0.142932 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99693757e-01 -4.50570512e-03 -2.43329306e-02 4.80300110e+00] [ 4.32776834e-03 9.99963547e-01 -7.36030899e-03 5.82937171e-01] [ 2.43652070e-02 7.25274765e-03 9.99676815e-01 1.62407514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96255784400006 meters Centerline goodness : 0.111586 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99693861e-01 -4.57367031e-03 -2.43159740e-02 4.80284281e+00] [ 4.39616447e-03 9.99963337e-01 -7.34842029e-03 5.82697938e-01] [ 2.43486917e-02 7.23927363e-03 9.99677315e-01 1.62410415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99255784400003 meters Centerline goodness : 0.142482 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99696684e-01 -4.60601440e-03 -2.41934636e-02 4.80257422e+00] [ 4.43214987e-03 9.99964004e-01 -7.23513890e-03 5.82175147e-01] [ 2.42259179e-02 7.12571531e-03 9.99681114e-01 1.62387528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02255784400006 meters Centerline goodness : 0.110704 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99700716e-01 -4.61670467e-03 -2.40242373e-02 4.80196632e+00] [ 4.44717250e-03 9.99964868e-01 -7.10536331e-03 5.81730472e-01] [ 2.40561966e-02 6.99639686e-03 9.99686126e-01 1.62397894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05255784400003 meters Centerline goodness : 0.104415 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99706841e-01 -4.87342028e-03 -2.37167039e-02 4.80120135e+00] [ 4.70907285e-03 9.99964548e-01 -6.98053024e-03 5.80950983e-01] [ 2.37498821e-02 6.86680015e-03 9.99694348e-01 1.62361317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08255784400006 meters Centerline goodness : 0.150332 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99706306e-01 -4.89693922e-03 -2.37344047e-02 4.80150865e+00] [ 4.73312689e-03 9.99964625e-01 -6.95316304e-03 5.80832778e-01] [ 2.37676143e-02 6.83878299e-03 9.99694119e-01 1.62313381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.11255784400004 meters Centerline goodness : 0.162608 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99706916e-01 -4.90976252e-03 -2.37060224e-02 4.80172374e+00] [ 4.74714297e-03 9.99964849e-01 -6.91125116e-03 5.80717821e-01] [ 2.37391217e-02 6.79668971e-03 9.99695083e-01 1.62258825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14255784400007 meters Centerline goodness : 0.157398 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99715003e-01 -4.95542034e-03 -2.33528796e-02 4.80086197e+00] [ 4.79782946e-03 9.99965374e-01 -6.79944641e-03 5.80266778e-01] [ 2.33857650e-02 6.68546546e-03 9.99704162e-01 1.62234532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.17255784400004 meters Centerline goodness : 0.154776 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99713439e-01 -4.93189184e-03 -2.34247144e-02 4.80106177e+00] [ 4.77570087e-03 9.99966023e-01 -6.71905439e-03 5.79864165e-01] [ 2.34570562e-02 6.60525954e-03 9.99703024e-01 1.62224517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20255784400007 meters Centerline goodness : 0.153492 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99709650e-01 -4.84439018e-03 -2.36039594e-02 4.80179186e+00] [ 4.69076074e-03 9.99967483e-01 -6.55965687e-03 5.79277635e-01] [ 2.36349694e-02 6.44703175e-03 9.99699867e-01 1.62174969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.23255784400004 meters Centerline goodness : 0.141194 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99705257e-01 -4.80703284e-03 -2.37968906e-02 4.80253935e+00] [ 4.65384252e-03 9.99968119e-01 -6.48861033e-03 5.79159687e-01] [ 2.38273229e-02 6.37595088e-03 9.99695757e-01 1.62127683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26255784400007 meters Centerline goodness : 0.136883 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99697536e-01 -4.69540267e-03 -2.41410274e-02 4.80362918e+00] [ 4.54591624e-03 9.99970177e-01 -6.24337051e-03 5.78301352e-01] [ 2.41696226e-02 6.13173903e-03 9.99689067e-01 1.62082360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.29255784400004 meters Centerline goodness : 0.109348 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99693817e-01 -4.57507010e-03 -2.43175102e-02 4.80451094e+00] [ 4.44034517e-03 9.99974510e-01 -5.59135667e-03 5.75792633e-01] [ 2.43424712e-02 5.48166655e-03 9.99688649e-01 1.61972628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3225578440001 meters Centerline goodness : 0.118112 Centerline is valid? [False, False] Translation: X:4.80, Y:0.57, Z:1.62 [[ 9.99702026e-01 -4.55855527e-03 -2.39807976e-02 4.80363336e+00] [ 4.43317142e-03 9.99976239e-01 -5.27907796e-03 5.74455668e-01] [ 2.40042927e-02 5.17119394e-03 9.99698481e-01 1.61961782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.35255784400005 meters Centerline goodness : 0.130260 Centerline is valid? [False, False] Translation: X:4.80, Y:0.57, Z:1.62 [[ 9.99707522e-01 -4.51817415e-03 -2.37583067e-02 4.80292444e+00] [ 4.39911501e-03 9.99977516e-01 -5.06114345e-03 5.73184076e-01] [ 2.37806396e-02 4.95514765e-03 9.99704920e-01 1.61988473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3825578440001 meters Centerline goodness : 0.039420 Centerline is valid? [False, False] Translation: X:4.82, Y:0.57, Z:1.62 [[ 9.99741821e-01 3.67616627e-03 -2.24227107e-02 4.82131328e+00] [-3.81780281e-03 9.99973011e-01 -6.27712173e-03 5.68020490e-01] [ 2.23990298e-02 6.36110659e-03 9.99728873e-01 1.62111181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.41255784400005 meters Centerline goodness : 0.152613 Centerline is valid? [False, False] Translation: X:4.82, Y:0.57, Z:1.62 [[ 9.99741971e-01 3.73710995e-03 -2.24059320e-02 4.82097512e+00] [-3.87423665e-03 9.99974013e-01 -6.07982505e-03 5.67136975e-01] [ 2.23826288e-02 6.16506216e-03 9.99730469e-01 1.62155977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4425578440001 meters Centerline goodness : 0.136875 Centerline is valid? [False, False] Translation: X:4.82, Y:0.57, Z:1.62 [[ 9.99740328e-01 3.76594362e-03 -2.24743013e-02 4.82112447e+00] [-3.90298210e-03 9.99974041e-01 -6.05681772e-03 5.67278510e-01] [ 2.24509082e-02 6.14296173e-03 9.99729074e-01 1.62155835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.47255784400005 meters Centerline goodness : 0.110217 Centerline is valid? [False, False] Translation: X:4.82, Y:0.57, Z:1.62 [[ 9.99739052e-01 3.76671326e-03 -2.25308822e-02 4.82140470e+00] [-3.90561099e-03 9.99973621e-01 -6.12394699e-03 5.67777430e-01] [ 2.25072207e-02 6.21034581e-03 9.99727391e-01 1.62129092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5025578440001 meters Centerline goodness : 0.147725 Centerline is valid? [False, False] Translation: X:4.84, Y:0.57, Z:1.62 [[ 9.99737791e-01 -3.55988841e-03 -2.26202511e-02 4.84105438e+00] [ 3.44620336e-03 9.99981246e-01 -5.06280443e-03 5.73118305e-01] [ 2.26378499e-02 4.98352293e-03 9.99731310e-01 1.62289918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.53255784400005 meters Centerline goodness : 0.165822 Centerline is valid? [False, False] Translation: X:4.84, Y:0.57, Z:1.62 [[ 9.99743840e-01 -3.63812949e-03 -2.23387263e-02 4.84030510e+00] [ 3.52057500e-03 9.99979761e-01 -5.29943780e-03 5.74305097e-01] [ 2.23575542e-02 5.21943513e-03 9.99736414e-01 1.62297696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5625578440001 meters Centerline goodness : 0.138075 Centerline is valid? [False, False] Translation: X:4.86, Y:0.57, Z:1.62 [[ 9.99777423e-01 4.54619397e-03 -2.06018357e-02 4.85926144e+00] [-4.68573405e-03 9.99966375e-01 -6.72998316e-03 5.70776975e-01] [ 2.05705472e-02 6.82501995e-03 9.99765108e-01 1.62400063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.59255784400005 meters Centerline goodness : 0.109411 Centerline is valid? [False, False] Translation: X:4.88, Y:0.57, Z:1.63 [[ 9.99790515e-01 -3.30026245e-03 -2.01998639e-02 4.87859817e+00] [ 3.18542411e-03 9.99978598e-01 -5.71464275e-03 5.74423095e-01] [ 2.02182914e-02 5.64910048e-03 9.99779630e-01 1.62587612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6225578440001 meters Centerline goodness : 0.108899 Centerline is valid? [False, False] Translation: X:4.88, Y:0.57, Z:1.63 [[ 9.99790301e-01 -3.37229326e-03 -2.01985601e-02 4.87836833e+00] [ 3.25814467e-03 9.99978552e-01 -5.68156747e-03 5.73943127e-01] [ 2.02172868e-02 5.61456622e-03 9.99779845e-01 1.62617360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.65255784400006 meters Centerline goodness : 0.123542 Centerline is valid? [False, False] Translation: X:4.88, Y:0.57, Z:1.63 [[ 9.99796884e-01 -3.85868708e-03 -1.97813117e-02 4.87689462e+00] [ 3.74692273e-03 9.99976826e-01 -5.68395023e-03 5.72285742e-01] [ 1.98027859e-02 5.60867669e-03 9.99788174e-01 1.62687903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6825578440001 meters Centerline goodness : 0.116330 Centerline is valid? [False, False] Translation: X:4.88, Y:0.57, Z:1.63 [[ 9.99798517e-01 -3.87859240e-03 -1.96946940e-02 4.87651538e+00] [ 3.77028838e-03 9.99977583e-01 -5.53330347e-03 5.71338079e-01] [ 1.97157139e-02 5.45793393e-03 9.99790729e-01 1.62710313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.71255784400006 meters Centerline goodness : 0.117769 Centerline is valid? [False, False] Translation: X:4.92, Y:0.57, Z:1.63 [[ 9.99834596e-01 -3.78665372e-03 -1.77888210e-02 4.92130159e+00] [ 3.68019429e-03 9.99975146e-01 -6.01355452e-03 5.71229933e-01] [ 1.78111501e-02 5.94709353e-03 9.99823682e-01 1.62682810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74255784400003 meters Centerline goodness : 0.127364 Centerline is valid? [False, False] Translation: X:4.92, Y:0.57, Z:1.63 [[ 9.99830139e-01 -3.83432318e-03 -1.80275353e-02 4.92218501e+00] [ 3.72594748e-03 9.99974809e-01 -6.04142494e-03 5.71312254e-01] [ 1.80502459e-02 5.97322909e-03 9.99819238e-01 1.62636738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.77255784400006 meters Centerline goodness : 0.137142 Centerline is valid? [False, False] Translation: X:4.92, Y:0.57, Z:1.63 [[ 9.99823727e-01 -3.91777554e-03 -1.83620684e-02 4.92336434e+00] [ 3.80166006e-03 9.99972585e-01 -6.35430626e-03 5.73191382e-01] [ 1.83864598e-02 6.28337983e-03 9.99811211e-01 1.62577497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80255784400003 meters Centerline goodness : 0.090933 Centerline is valid? [False, False] Translation: X:4.92, Y:0.57, Z:1.63 [[ 9.99822867e-01 -3.98794946e-03 -1.83937679e-02 4.92336721e+00] [ 3.86667214e-03 9.99970584e-01 -6.62424999e-03 5.74714693e-01] [ 1.84196440e-02 6.55195395e-03 9.99808876e-01 1.62585913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.83255784400006 meters SLAMing on 457.86255784400004 meters Centerline goodness : 0.093310 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.62 [[ 9.99815873e-01 -1.92458487e-03 -1.90923060e-02 4.92658903e+00] [ 1.83166457e-03 9.99986400e-01 -4.88319140e-03 5.78814491e-01] [ 1.91014444e-02 4.84732157e-03 9.99805800e-01 1.62415363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.89255784400007 meters Centerline goodness : 0.168967 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.62 [[ 9.99814778e-01 -1.98129815e-03 -1.91437829e-02 4.92706358e+00] [ 1.88668588e-03 9.99985924e-01 -4.95899029e-03 5.79281980e-01] [ 1.91533386e-02 4.92195347e-03 9.99804443e-01 1.62354683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92255784400004 meters Centerline goodness : 0.095201 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.62 [[ 9.99812054e-01 -2.06792672e-03 -1.92764452e-02 4.92759947e+00] [ 1.97280727e-03 9.99985792e-01 -4.95220160e-03 5.79055707e-01] [ 1.92864121e-02 4.91324214e-03 9.99801928e-01 1.62314801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.95255784400007 meters Centerline goodness : 0.093649 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.62 [[ 9.99806459e-01 -2.18137129e-03 -1.95521598e-02 4.92831737e+00] [ 2.08665127e-03 9.99985996e-01 -4.86357180e-03 5.78237152e-01] [ 1.95624952e-02 4.82183196e-03 9.99797009e-01 1.62295796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98255784400004 meters Centerline goodness : 0.093649 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.62 [[ 9.99806459e-01 -2.18137129e-03 -1.95521598e-02 4.92831737e+00] [ 2.08665127e-03 9.99985996e-01 -4.86357180e-03 5.78237152e-01] [ 1.95624952e-02 4.82183196e-03 9.99797009e-01 1.62295796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.01255784400007 meters Centerline goodness : 0.126623 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.62 [[ 9.99800884e-01 -2.21499457e-03 -1.98314324e-02 4.92894914e+00] [ 2.12269518e-03 9.99986824e-01 -4.67403753e-03 5.77086773e-01] [ 1.98415241e-02 4.63101077e-03 9.99792412e-01 1.62295082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04255784400004 meters Centerline goodness : 0.135112 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99789751e-01 -2.43227426e-03 -2.03602218e-02 4.93016738e+00] [ 2.34427816e-03 9.99987814e-01 -4.34471396e-03 5.74818111e-01] [ 2.03705412e-02 4.29607046e-03 9.99783269e-01 1.62287604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0725578440001 meters Centerline goodness : 0.133811 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99790614e-01 -2.31226290e-03 -2.03317862e-02 4.93007314e+00] [ 2.23271380e-03 9.99989768e-01 -3.93437833e-03 5.72877556e-01] [ 2.03406755e-02 3.88815946e-03 9.99785547e-01 1.62283509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10255784400005 meters Centerline goodness : 0.146683 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99793047e-01 -2.26842640e-03 -2.02167548e-02 4.92976651e+00] [ 2.19555500e-03 9.99991016e-01 -3.62597279e-03 5.71148791e-01] [ 2.02247985e-02 3.58083539e-03 9.99789045e-01 1.62278467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1325578440001 meters Centerline goodness : 0.094432 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99792936e-01 -2.21157593e-03 -2.02285437e-02 4.92965575e+00] [ 2.14448788e-03 9.99992131e-01 -3.33759573e-03 5.69511620e-01] [ 2.02357659e-02 3.29352477e-03 9.99789811e-01 1.62296076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16255784400005 meters Centerline goodness : 0.098022 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99791521e-01 -2.10127190e-03 -2.03100578e-02 4.92974881e+00] [ 2.03985617e-03 9.99993286e-01 -3.04415146e-03 5.68153199e-01] [ 2.03163180e-02 3.00208723e-03 9.99789095e-01 1.62305156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1925578440001 meters Centerline goodness : 0.096719 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99790156e-01 -2.07217646e-03 -2.03801364e-02 4.92984577e+00] [ 2.01021667e-03 9.99993297e-01 -3.06022126e-03 5.68475895e-01] [ 2.03863411e-02 3.01861060e-03 9.99787620e-01 1.62316893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22255784400005 meters Centerline goodness : 0.109865 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99791393e-01 -2.07479210e-03 -2.03190768e-02 4.92974665e+00] [ 2.01150639e-03 9.99993064e-01 -3.13453872e-03 5.69028913e-01] [ 2.03254394e-02 3.09301288e-03 9.99788633e-01 1.62309895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2525578440001 meters Centerline goodness : 0.096724 Centerline is valid? [False, False] Translation: X:4.91, Y:0.57, Z:1.62 [[ 9.99795189e-01 5.58812314e-03 -1.94513096e-02 4.90842275e+00] [-5.67220322e-03 9.99974796e-01 -4.27010804e-03 5.65557665e-01] [ 1.94269575e-02 4.37956526e-03 9.99801687e-01 1.62147070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28255784400005 meters Centerline goodness : 0.132186 Centerline is valid? [False, False] Translation: X:4.91, Y:0.57, Z:1.62 [[ 9.99809618e-01 5.51602220e-03 -1.87163586e-02 4.90596396e+00] [-5.60320525e-03 9.99973681e-01 -4.60888098e-03 5.67220416e-01] [ 1.86904433e-02 4.71287513e-03 9.99814211e-01 1.62263995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3125578440001 meters Centerline goodness : 0.091819 Centerline is valid? [False, False] Translation: X:4.91, Y:0.57, Z:1.62 [[ 0.99981331 0.00540904 -0.01854965 4.90538499] [-0.00550112 0.99997278 -0.00491654 0.56887202] [ 0.01852256 0.00501767 0.99981585 1.6229524 ] [ 0. 0. 0. 1. ]] SLAMing on 458.34255784400005 meters Centerline goodness : 0.226554 Centerline is valid? [False, False] Translation: X:4.90, Y:0.57, Z:1.62 [[ 0.99981692 0.00532085 -0.01837958 4.90482645] [-0.00541783 0.99997164 -0.00523064 0.57060399] [ 0.01835123 0.00532926 0.9998174 1.62317099] [ 0. 0. 0. 1. ]] SLAMing on 458.3725578440001 meters Centerline goodness : 0.088621 Centerline is valid? [False, False] Translation: X:4.92, Y:0.58, Z:1.63 [[ 9.99792478e-01 -3.06855674e-04 -2.03692387e-02 4.91991607e+00] [ 2.31195127e-04 9.99993066e-01 -3.71670238e-03 5.75841477e-01] [ 2.03702379e-02 3.71122181e-03 9.99785617e-01 1.62742908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40255784400006 meters Centerline goodness : 0.092327 Centerline is valid? [False, False] Translation: X:4.92, Y:0.58, Z:1.63 [[ 9.99795921e-01 -4.12280806e-04 -2.01976816e-02 4.91923056e+00] [ 3.31135572e-04 9.99991862e-01 -4.02073159e-03 5.77517205e-01] [ 2.01991749e-02 4.01322288e-03 9.99787921e-01 1.62782413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.4325578440001 meters SLAMing on 458.46255784400006 meters Centerline goodness : 0.089491 Centerline is valid? [False, False] Translation: X:4.92, Y:0.58, Z:1.63 [[ 9.99798081e-01 -1.03665206e-03 -2.00679368e-02 4.91869211e+00] [ 9.28249031e-04 9.99984933e-01 -5.41036377e-03 5.84820151e-01] [ 2.00732431e-02 5.39064327e-03 9.99783980e-01 1.62817555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49255784400003 meters Centerline goodness : 0.157768 Centerline is valid? [False, False] Translation: X:4.92, Y:0.59, Z:1.63 [[ 9.99795137e-01 -1.24082367e-03 -2.02025797e-02 4.91921014e+00] [ 1.12214608e-03 9.99982056e-01 -5.88465487e-03 5.87299407e-01] [ 2.02095190e-02 5.86077908e-03 9.99778589e-01 1.62784419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52255784400006 meters Centerline goodness : 0.088547 Centerline is valid? [False, False] Translation: X:4.92, Y:0.59, Z:1.63 [[ 9.99792422e-01 -1.39641422e-03 -2.03264128e-02 4.91969296e+00] [ 1.26964403e-03 9.99979673e-01 -6.24829163e-03 5.89224329e-01] [ 2.03347249e-02 6.22118731e-03 9.99773872e-01 1.62749599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55255784400003 meters Centerline goodness : 0.173012 Centerline is valid? [False, False] Translation: X:4.94, Y:0.60, Z:1.63 [[ 0.99975739 -0.0093773 -0.01993032 4.93960113] [ 0.00927103 0.99994235 -0.0054179 0.59725068] [ 0.01997997 0.00523181 0.99978669 1.6294907 ] [ 0. 0. 0. 1. ]] SLAMing on 458.58255784400006 meters Centerline goodness : 0.117390 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.63 [[ 9.99797803e-01 -1.01522508e-03 -2.00829077e-02 4.91824476e+00] [ 8.91589302e-04 9.99980603e-01 -6.16426484e-03 5.95592993e-01] [ 2.00887763e-02 6.14511273e-03 9.99779315e-01 1.62843323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.61255784400004 meters Centerline goodness : 0.109041 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.63 [[ 9.99796601e-01 -1.17776065e-03 -2.01337688e-02 4.91854217e+00] [ 1.04677016e-03 9.99978227e-01 -6.51531091e-03 5.97261078e-01] [ 2.01410039e-02 6.49291028e-03 9.99776066e-01 1.62815549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64255784400007 meters Centerline goodness : 0.097198 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.63 [[ 9.99789535e-01 -1.47107013e-03 -2.04626901e-02 4.92008347e+00] [ 1.32290168e-03 9.99972825e-01 -7.25256004e-03 6.01238507e-01] [ 2.04728031e-02 7.22396350e-03 9.99764312e-01 1.62704736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.67255784400004 meters Centerline goodness : 0.101507 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.63 [[ 9.99786333e-01 -1.63381740e-03 -2.06062817e-02 4.92081570e+00] [ 1.47428845e-03 9.99968846e-01 -7.75457955e-03 6.03988535e-01] [ 2.06183093e-02 7.72254305e-03 9.99757594e-01 1.62654253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70255784400007 meters Centerline goodness : 0.176496 Centerline is valid? [False, False] Translation: X:4.92, Y:0.61, Z:1.63 [[ 9.99783877e-01 1.77217640e-03 -2.07137438e-02 4.92116491e+00] [-1.86713793e-03 9.99987833e-01 -4.56602942e-03 6.05587790e-01] [ 2.07053999e-02 4.60371801e-03 9.99775021e-01 1.62640279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.73255784400004 meters Centerline goodness : 0.177561 Centerline is valid? [False, False] Translation: X:4.92, Y:0.61, Z:1.63 [[ 9.99780000e-01 1.63663227e-03 -2.09110631e-02 4.92189177e+00] [-1.74679291e-03 9.99984688e-01 -5.25087621e-03 6.09649724e-01] [ 2.09021491e-02 5.28624832e-03 9.99767551e-01 1.62613353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76255784400007 meters Centerline goodness : 0.162182 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.63 [[ 9.99765155e-01 5.14383149e-03 -2.10517400e-02 4.92245229e+00] [-5.20434685e-03 9.99982479e-01 -2.82082449e-03 6.17112225e-01] [ 2.10368613e-02 2.92972259e-03 9.99774408e-01 1.62604694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.79255784400004 meters Centerline goodness : 0.179937 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.63 [[ 9.99767071e-01 4.93899803e-03 -2.10097515e-02 4.92228605e+00] [-5.01860803e-03 9.99980420e-01 -3.73815566e-03 6.22245442e-01] [ 2.09908773e-02 3.84272464e-03 9.99772282e-01 1.62622634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8225578440001 meters Centerline goodness : 0.173540 Centerline is valid? [False, False] Translation: X:4.92, Y:0.63, Z:1.63 [[ 9.99770210e-01 4.67186773e-03 -2.09213007e-02 4.92215743e+00] [-4.77062761e-03 9.99977701e-01 -4.67312287e-03 6.27288259e-01] [ 2.08990019e-02 4.77185677e-03 9.99770204e-01 1.62619969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.85255784400005 meters Centerline goodness : 0.172400 Centerline is valid? [False, False] Translation: X:4.92, Y:0.63, Z:1.63 [[ 9.99769556e-01 4.41499106e-03 -2.10081385e-02 4.92253196e+00] [-4.53330061e-03 9.99974115e-01 -5.58731875e-03 6.32339354e-01] [ 2.09829267e-02 5.68126739e-03 9.99763692e-01 1.62602125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8825578440001 meters Centerline goodness : 0.176792 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.63 [[ 9.99696246e-01 5.24352749e-04 -2.46402257e-02 4.94282981e+00] [-6.09270890e-04 9.99993901e-01 -3.43894048e-03 6.44844920e-01] [ 2.46382722e-02 3.45290846e-03 9.99690469e-01 1.62796165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.91255784400005 meters Centerline goodness : 0.172312 Centerline is valid? [False, False] Translation: X:4.94, Y:0.65, Z:1.63 [[ 9.99693705e-01 2.07852502e-04 -2.47477775e-02 4.94323867e+00] [-3.12257198e-04 9.99991068e-01 -4.21496067e-03 6.48811953e-01] [ 2.47466804e-02 4.22139732e-03 9.99684841e-01 1.62778180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9425578440001 meters Centerline goodness : 0.177616 Centerline is valid? [False, False] Translation: X:4.92, Y:0.66, Z:1.63 [[ 9.99654419e-01 -7.99941638e-03 -2.50409864e-02 4.92396438e+00] [ 7.91385931e-03 9.99962511e-01 -3.51392132e-03 6.58524905e-01] [ 2.50681569e-02 3.31453613e-03 9.99680250e-01 1.62604647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.97255784400005 meters Centerline goodness : 0.178879 Centerline is valid? [False, False] Translation: X:4.92, Y:0.66, Z:1.63 [[ 9.99650153e-01 -8.35750004e-03 -2.50943052e-02 4.92408219e+00] [ 8.25175870e-03 9.99956646e-01 -4.31436018e-03 6.62282644e-01] [ 2.51292746e-02 4.10577866e-03 9.99675779e-01 1.62607990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0025578440001 meters Centerline goodness : 0.172377 Centerline is valid? [False, False] Translation: X:4.92, Y:0.67, Z:1.63 [[ 9.99646687e-01 -8.71837652e-03 -2.51095789e-02 4.92407992e+00] [ 8.59346716e-03 9.99950181e-01 -5.07818968e-03 6.65938889e-01] [ 2.51526016e-02 4.86061715e-03 9.99671807e-01 1.62613449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.03255784400005 meters Centerline goodness : 0.157497 Centerline is valid? [False, False] Translation: X:4.92, Y:0.67, Z:1.63 [[ 0.99964424 -0.00907365 -0.02508111 4.92398216] [ 0.00892869 0.99994282 -0.00588588 0.67005113] [ 0.02513308 0.00565984 0.99966809 1.62616167] [ 0. 0. 0. 1. ]] SLAMing on 459.0625578440001 meters Centerline goodness : 0.129205 Centerline is valid? [False, False] Translation: X:4.92, Y:0.68, Z:1.63 [[ 9.99688275e-01 -7.10443321e-03 -2.39348992e-02 4.91989254e+00] [ 6.99113958e-03 9.99963975e-01 -4.81376595e-03 6.79432446e-01] [ 2.39682360e-02 4.64493316e-03 9.99701930e-01 1.62768019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.09255784400005 meters Centerline goodness : 0.166344 Centerline is valid? [False, False] Translation: X:4.92, Y:0.68, Z:1.63 [[ 0.99968564 -0.00752126 -0.02391768 4.91973713] [ 0.00738463 0.99995594 -0.00579567 0.68415099] [ 0.02396022 0.00561723 0.99969713 1.62790358] [ 0. 0. 0. 1. ]] SLAMing on 459.1225578440001 meters Centerline goodness : 0.128495 Centerline is valid? [False, False] Translation: X:4.92, Y:0.69, Z:1.63 [[ 0.99967963 -0.00817395 -0.02395452 4.9201327 ] [ 0.00800422 0.99994224 -0.00717286 0.69341453] [ 0.02401176 0.00697882 0.99968732 1.62750759] [ 0. 0. 0. 1. ]] SLAMing on 459.15255784400006 meters Centerline goodness : 0.120683 Centerline is valid? [False, False] Translation: X:4.90, Y:0.69, Z:1.63 [[ 9.99693727e-01 4.47285545e-04 -2.47437098e-02 4.89950029e+00] [-6.49828607e-04 9.99966347e-01 -8.17820329e-03 6.94467833e-01] [ 2.47392191e-02 8.19177770e-03 9.99660375e-01 1.62629962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1825578440001 meters Centerline goodness : 0.125076 Centerline is valid? [False, False] Translation: X:4.90, Y:0.70, Z:1.63 [[ 9.99696667e-01 2.20945830e-04 -2.46277368e-02 4.89917029e+00] [-4.34825085e-04 9.99962238e-01 -8.67946990e-03 6.97075751e-01] [ 2.46248892e-02 8.68754589e-03 9.99659013e-01 1.62642119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.21255784400006 meters Centerline goodness : 0.126988 Centerline is valid? [False, False] Translation: X:4.90, Y:0.70, Z:1.63 [[ 9.99702854e-01 -4.26145047e-05 -2.43762604e-02 4.89840256e+00] [-1.81969741e-04 9.99957562e-01 -9.21094381e-03 6.99498791e-01] [ 2.43756185e-02 9.21264256e-03 9.99660421e-01 1.62674780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24255784400003 meters Centerline goodness : 0.124152 Centerline is valid? [False, False] Translation: X:4.92, Y:0.70, Z:1.63 [[ 0.99970194 -0.00857711 -0.02285758 4.91782073] [ 0.00838453 0.99992866 -0.00850774 0.70490631] [ 0.02292892 0.00831355 0.99970253 1.62846729] [ 0. 0. 0. 1. ]] SLAMing on 459.27255784400006 meters Centerline goodness : 0.121809 Centerline is valid? [False, False] Translation: X:4.91, Y:0.71, Z:1.63 [[ 0.99973773 -0.00660042 -0.0219297 4.91428546] [ 0.00644476 0.99995359 -0.00716124 0.71167818] [ 0.02197595 0.00701803 0.99973387 1.62987767] [ 0. 0. 0. 1. ]] SLAMing on 459.30255784400003 meters Centerline goodness : 0.159276 Centerline is valid? [False, False] Translation: X:4.91, Y:0.71, Z:1.63 [[ 9.99754009e-01 -3.07055222e-03 -2.19657498e-02 4.91463983e+00] [ 2.98622075e-03 9.99988049e-01 -3.87099710e-03 7.13647031e-01] [ 2.19773733e-02 3.80445029e-03 9.99751230e-01 1.62942284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.33255784400006 meters Centerline goodness : 0.122997 Centerline is valid? [False, False] Translation: X:4.92, Y:0.72, Z:1.63 [[ 9.99754310e-01 4.17854718e-04 -2.21617899e-02 4.91549130e+00] [-4.35537813e-04 9.99999591e-01 -7.93088400e-04 7.16482683e-01] [ 2.21614495e-02 8.02545844e-04 9.99754083e-01 1.62894140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36255784400004 meters Centerline goodness : 0.133690 Centerline is valid? [False, False] Translation: X:4.92, Y:0.73, Z:1.63 [[ 9.99746702e-01 3.26616712e-03 -2.22680224e-02 4.91658415e+00] [-3.25094413e-03 9.99994457e-01 7.19791982e-04 7.26653421e-01] [ 2.22702499e-02 -6.47217563e-04 9.99751778e-01 1.62819936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.39255784400007 meters Centerline goodness : 0.163454 Centerline is valid? [False, False] Translation: X:4.92, Y:0.73, Z:1.63 [[ 9.99746417e-01 3.17805679e-03 -2.22935225e-02 4.91655836e+00] [-3.18132832e-03 9.99994933e-01 -1.11283769e-04 7.32300098e-01] [ 2.22930559e-02 1.82178564e-04 9.99751462e-01 1.62845771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42255784400004 meters Centerline goodness : 0.109393 Centerline is valid? [False, False] Translation: X:4.96, Y:0.74, Z:1.63 [[ 9.99786331e-01 4.10554684e-03 -2.02592267e-02 4.95908300e+00] [-4.09239473e-03 9.99991388e-01 6.90607306e-04 7.36583113e-01] [ 2.02618876e-02 -6.07550992e-04 9.99794522e-01 1.62983146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.45255784400007 meters Centerline goodness : 0.109973 Centerline is valid? [False, False] Translation: X:4.96, Y:0.74, Z:1.63 [[ 9.99795137e-01 3.97661713e-03 -1.98461527e-02 4.95786124e+00] [-3.98070947e-03 9.99992063e-01 -1.66702053e-04 7.42107915e-01] [ 1.98453323e-02 2.45669669e-04 9.99803032e-01 1.63031971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48255784400004 meters Centerline goodness : 0.117268 Centerline is valid? [False, False] Translation: X:4.96, Y:0.75, Z:1.63 [[ 9.99802559e-01 3.57876028e-03 -1.95457258e-02 4.95678056e+00] [-3.61280482e-03 9.99992017e-01 -1.70675625e-03 7.53505277e-01] [ 1.95394617e-02 1.77703416e-03 9.99807507e-01 1.63099233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.51255784400007 meters Centerline goodness : 0.120313 Centerline is valid? [False, False] Translation: X:4.96, Y:0.76, Z:1.63 [[ 9.99797956e-01 3.25343934e-03 -1.98358663e-02 4.95768559e+00] [-3.30485789e-03 9.99991262e-01 -2.55997125e-03 7.57789261e-01] [ 1.98273643e-02 2.62500874e-03 9.99799972e-01 1.63069659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54255784400004 meters Centerline goodness : 0.162193 Centerline is valid? [False, False] Translation: X:4.98, Y:0.76, Z:1.63 [[ 9.99775280e-01 -2.98576952e-03 -2.09874937e-02 4.98088137e+00] [ 2.98986923e-03 9.99995517e-01 1.63964668e-04 7.63110961e-01] [ 2.09869101e-02 -2.26677683e-04 9.99779725e-01 1.63106660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5725578440001 meters Centerline goodness : 0.166109 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99769734e-01 -3.15759373e-03 -2.12251759e-02 4.98191380e+00] [ 3.15169286e-03 9.99994985e-01 -3.11458779e-04 7.65907574e-01] [ 2.12260530e-02 2.44491825e-04 9.99774672e-01 1.63038434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60255784400005 meters Centerline goodness : 0.160430 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99764647e-01 -3.35562706e-03 -2.14333796e-02 4.98281910e+00] [ 3.34171546e-03 9.99994182e-01 -6.84845737e-04 7.67691229e-01] [ 2.14355530e-02 6.13060301e-04 9.99770044e-01 1.62978270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6325578440001 meters Centerline goodness : 0.151384 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99760927e-01 -4.00333360e-03 -2.14956397e-02 4.98326122e+00] [ 3.97323480e-03 9.99991066e-01 -1.44275410e-03 7.70031077e-01] [ 2.15012235e-02 1.35700195e-03 9.99767901e-01 1.62929235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66255784400005 meters Centerline goodness : 0.153523 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99764176e-01 -4.11916746e-03 -2.13219435e-02 4.98268426e+00] [ 4.08617324e-03 9.99990386e-01 -1.59076654e-03 7.70678619e-01] [ 2.13282911e-02 1.50326625e-03 9.99771396e-01 1.62948582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6925578440001 meters Centerline goodness : 0.134082 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99764626e-01 -4.19424514e-03 -2.12861666e-02 4.98253283e+00] [ 4.15806989e-03 9.99989835e-01 -1.74344761e-03 7.71573594e-01] [ 2.12932627e-02 1.65452788e-03 9.99771904e-01 1.62958209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72255784400005 meters Centerline goodness : 0.131871 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99761221e-01 -4.28239324e-03 -2.14280780e-02 4.98317573e+00] [ 4.24310470e-03 9.99989233e-01 -1.87863774e-03 7.72318157e-01] [ 2.14358924e-02 1.78726759e-03 9.99768627e-01 1.62914227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7525578440001 meters Centerline goodness : 0.151237 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99756963e-01 -4.38026559e-03 -2.16062243e-02 4.98410535e+00] [ 4.33624320e-03 9.99988427e-01 -2.08391639e-03 7.73308208e-01] [ 2.16151023e-02 1.98972008e-03 9.99764386e-01 1.62834747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78255784400005 meters Centerline goodness : 0.126841 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99710467e-01 6.12098336e-04 -2.40542422e-02 5.00896078e+00] [-7.27873275e-04 9.99988193e-01 -4.80461708e-03 7.71593629e-01] [ 2.40510173e-02 4.82073443e-03 9.99699109e-01 1.62747719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8125578440001 meters Centerline goodness : 0.157712 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99708877e-01 5.37015198e-04 -2.41220304e-02 5.00942547e+00] [-6.56837055e-04 9.99987485e-01 -4.95967197e-03 7.72306729e-01] [ 2.41190651e-02 4.97407234e-03 9.99696719e-01 1.62701490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84255784400005 meters Centerline goodness : 0.148651 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99724004e-01 3.87167423e-04 -2.34896809e-02 5.00738547e+00] [-5.07199942e-04 9.99986845e-01 -5.10426808e-03 7.72557403e-01] [ 2.34873957e-02 5.11477329e-03 9.99711049e-01 1.62771681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8725578440001 meters Centerline goodness : 0.148651 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99724004e-01 3.87167423e-04 -2.34896809e-02 5.00738547e+00] [-5.07199942e-04 9.99986845e-01 -5.10426808e-03 7.72557403e-01] [ 2.34873957e-02 5.11477329e-03 9.99711049e-01 1.62771681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90255784400006 meters Centerline goodness : 0.110154 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.63 [[ 9.99744428e-01 -8.27146931e-03 -2.10395352e-02 5.02712007e+00] [ 8.18983058e-03 9.99958608e-01 -3.96346454e-03 7.73728677e-01] [ 2.10714480e-02 3.79014136e-03 9.99770788e-01 1.62876396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.9325578440001 meters Centerline goodness : 0.128103 Centerline is valid? [False, False] Translation: X:5.00, Y:0.77, Z:1.63 [[ 9.99818697e-01 -1.13025312e-04 -1.90409917e-02 5.00496145e+00] [ 1.90272219e-05 9.99987814e-01 -4.93672623e-03 7.68988905e-01] [ 1.90413176e-02 4.93546889e-03 9.99806516e-01 1.62702345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96255784400006 meters Centerline goodness : 0.141240 Centerline is valid? [False, False] Translation: X:5.00, Y:0.77, Z:1.63 [[ 9.99820089e-01 -6.85546976e-05 -1.89680060e-02 5.00488133e+00] [-2.13021427e-05 9.99988780e-01 -4.73704188e-03 7.67889863e-01] [ 1.89681179e-02 4.73659369e-03 9.99808869e-01 1.62678813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99255784400003 meters Centerline goodness : 0.115768 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99818005e-01 2.12620897e-05 -1.90776238e-02 5.00554417e+00] [-1.07331389e-04 9.99989822e-01 -4.51051885e-03 7.66956387e-01] [ 1.90773337e-02 4.51174559e-03 9.99807831e-01 1.62611480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02255784400006 meters Centerline goodness : 0.157503 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99813864e-01 1.77679230e-04 -1.92926438e-02 5.00659602e+00] [-2.57382225e-04 9.99991443e-01 -4.12885906e-03 7.65302587e-01] [ 1.92917451e-02 4.13305611e-03 9.99805354e-01 1.62525186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05255784400003 meters Centerline goodness : 0.160684 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99814400e-01 1.91850956e-04 -1.92647160e-02 5.00647573e+00] [-2.71147650e-04 9.99991502e-01 -4.11363445e-03 7.65257911e-01] [ 1.92637631e-02 4.11809454e-03 9.99805956e-01 1.62532186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08255784400006 meters Centerline goodness : 0.165702 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99814302e-01 2.06631989e-04 -1.92696589e-02 5.00628883e+00] [-2.87247658e-04 9.99991219e-01 -4.18088058e-03 7.65735744e-01] [ 1.92686258e-02 4.18563936e-03 9.99805581e-01 1.62563914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.11255784400004 meters Centerline goodness : 0.131937 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99815293e-01 2.62549284e-04 -1.92174633e-02 5.00577864e+00] [-3.44475915e-04 9.99990867e-01 -4.25994839e-03 7.66528845e-01] [ 1.92161694e-02 4.26578150e-03 9.99806252e-01 1.62631213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14255784400007 meters Centerline goodness : 0.132579 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.63 [[ 9.99846734e-01 -4.87384771e-03 -1.68153109e-02 5.02701062e+00] [ 4.86638459e-03 9.99988042e-01 -4.84718318e-04 7.68150887e-01] [ 1.68174723e-02 4.02814257e-04 9.99858495e-01 1.62569908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.17255784400004 meters Centerline goodness : 0.125498 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.63 [[ 9.99846097e-01 -4.89912200e-03 -1.68457688e-02 5.02708675e+00] [ 4.88909322e-03 9.99987846e-01 -6.36461345e-04 7.68996819e-01] [ 1.68486821e-02 5.54002858e-04 9.99857897e-01 1.62570225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20255784400007 meters Centerline goodness : 0.143544 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.63 [[ 9.99845746e-01 -4.90537286e-03 -1.68647835e-02 5.02723954e+00] [ 4.89398665e-03 9.99987768e-01 -7.16352435e-04 7.69517994e-01] [ 1.68680912e-02 6.33705910e-04 9.99857523e-01 1.62552211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.23255784400004 meters Centerline goodness : 0.147850 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.63 [[ 9.99844721e-01 -4.85568138e-03 -1.69398050e-02 5.02752768e+00] [ 4.84534967e-03 9.99988049e-01 -6.50896810e-04 7.69311427e-01] [ 1.69427631e-02 5.68716460e-04 9.99856299e-01 1.62533114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26255784400007 meters Centerline goodness : 0.147137 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.63 [[ 9.99848551e-01 -4.83063994e-03 -1.67194653e-02 5.02707269e+00] [ 4.82408411e-03 9.99988271e-01 -4.32416460e-04 7.67963874e-01] [ 1.67213581e-02 3.51694863e-04 9.99860126e-01 1.62513054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.29255784400004 meters Centerline goodness : 0.145766 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.63 [[ 9.99869429e-01 2.29281619e-03 -1.59958648e-02 5.04548874e+00] [-2.31919287e-03 9.99995981e-01 -1.63061335e-03 7.61282235e-01] [ 1.59920618e-02 1.66749794e-03 9.99870728e-01 1.62677852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3225578440001 meters Centerline goodness : 0.166271 Centerline is valid? [False, False] Translation: X:5.04, Y:0.76, Z:1.63 [[ 9.99872662e-01 2.28413045e-03 -1.57937577e-02 5.04473704e+00] [-2.30835001e-03 9.99996187e-01 -1.51543018e-03 7.60398955e-01] [ 1.57902360e-02 1.55169473e-03 9.99874122e-01 1.62712504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.35255784400005 meters Centerline goodness : 0.164890 Centerline is valid? [False, False] Translation: X:5.04, Y:0.76, Z:1.63 [[ 9.99874556e-01 2.30972525e-03 -1.56696557e-02 5.04422215e+00] [-2.33149216e-03 9.99996342e-01 -1.37098610e-03 7.59588617e-01] [ 1.56664318e-02 1.40734780e-03 9.99876283e-01 1.62738963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3825578440001 meters Centerline goodness : 0.128957 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.63 [[ 9.99868054e-01 2.36909678e-03 -1.60705419e-02 5.04552271e+00] [-2.38867883e-03 9.99996428e-01 -1.19941983e-03 7.58833084e-01] [ 1.60676429e-02 1.23764893e-03 9.99870141e-01 1.62684971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.41255784400005 meters Centerline goodness : 0.105032 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.63 [[ 9.99864909e-01 2.39790626e-03 -1.62607869e-02 5.04641926e+00] [-2.41649409e-03 9.99996449e-01 -1.12355571e-03 7.58530922e-01] [ 1.62580350e-02 1.16269802e-03 9.99867153e-01 1.62611886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4425578440001 meters Centerline goodness : 0.106385 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.63 [[ 9.99863130e-01 2.41527513e-03 -1.63672486e-02 5.04688395e+00] [-2.43384601e-03 9.99996417e-01 -1.11481257e-03 7.58562881e-01] [ 1.63644974e-02 1.15449535e-03 9.99865426e-01 1.62578943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.47255784400005 meters Centerline goodness : 0.114570 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.63 [[ 9.99862277e-01 2.48420523e-03 -1.64089932e-02 5.04658558e+00] [-2.50286078e-03 9.99996245e-01 -1.11647171e-03 7.58946624e-01] [ 1.64061580e-02 1.15738737e-03 9.99864740e-01 1.62646371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5025578440001 meters Centerline goodness : 0.161010 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.63 [[ 9.99860796e-01 2.46331003e-03 -1.65021661e-02 5.04666867e+00] [-2.48448285e-03 9.99996117e-01 -1.26265429e-03 7.59775768e-01] [ 1.64989918e-02 1.30347787e-03 9.99863033e-01 1.62667670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.53255784400005 meters Centerline goodness : 0.116286 Centerline is valid? [False, False] Translation: X:5.07, Y:0.76, Z:1.63 [[ 9.99868116e-01 -3.77246101e-03 -1.57961650e-02 5.06938950e+00] [ 3.79996978e-03 9.99991315e-01 1.71183206e-03 7.61003239e-01] [ 1.57895700e-02 -1.77163125e-03 9.99873767e-01 1.62657190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5625578440001 meters Centerline goodness : 0.146720 Centerline is valid? [False, False] Translation: X:5.07, Y:0.76, Z:1.63 [[ 9.99864265e-01 -3.81156007e-03 -1.60288296e-02 5.06997561e+00] [ 3.83392409e-03 9.99991719e-01 1.36474010e-03 7.62980812e-01] [ 1.60234951e-02 -1.42600817e-03 9.99870599e-01 1.62659946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.59255784400005 meters Centerline goodness : 0.150298 Centerline is valid? [False, False] Translation: X:5.07, Y:0.77, Z:1.63 [[ 9.99875317e-01 -1.61452237e-04 -1.57899886e-02 5.06969119e+00] [ 2.31183234e-04 9.99990230e-01 4.41442683e-03 7.66667489e-01] [ 1.57891216e-02 -4.41752681e-03 9.99865586e-01 1.62622482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6225578440001 meters Centerline goodness : 0.141910 Centerline is valid? [False, False] Translation: X:5.07, Y:0.77, Z:1.63 [[ 9.99876659e-01 -1.19535528e-04 -1.57051679e-02 5.06936542e+00] [ 1.81694480e-04 9.99992157e-01 3.95649890e-03 7.69815935e-01] [ 1.57045717e-02 -3.95886445e-03 9.99868838e-01 1.62649878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.65255784400006 meters Centerline goodness : 0.146561 Centerline is valid? [False, False] Translation: X:5.07, Y:0.77, Z:1.63 [[ 9.99878786e-01 -4.97680117e-05 -1.55695595e-02 5.06885763e+00] [ 1.03907702e-04 9.99993952e-01 3.47648859e-03 7.73214619e-01] [ 1.55692924e-02 -3.47768498e-03 9.99872743e-01 1.62691641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6825578440001 meters Centerline goodness : 0.146697 Centerline is valid? [False, False] Translation: X:5.07, Y:0.78, Z:1.63 [[ 9.99880725e-01 -6.20671274e-05 -1.54444951e-02 5.06825760e+00] [ 1.07138717e-04 9.99995738e-01 2.91748450e-03 7.76650934e-01] [ 1.54442482e-02 -2.91879122e-03 9.99876470e-01 1.62745023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.71255784400006 meters Centerline goodness : 0.143426 Centerline is valid? [False, False] Translation: X:5.07, Y:0.78, Z:1.63 [[ 9.99882454e-01 7.59887170e-05 -1.53320454e-02 5.06776040e+00] [-4.33550029e-05 9.99997733e-01 2.12878564e-03 7.81923138e-01] [ 1.53321724e-02 -2.12787069e-03 9.99880191e-01 1.62795612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74255784400003 meters Centerline goodness : 0.154505 Centerline is valid? [False, False] Translation: X:5.07, Y:0.78, Z:1.63 [[ 9.99882884e-01 -7.82762544e-05 -1.53039655e-02 5.06760293e+00] [ 1.02377203e-04 9.99998756e-01 1.57404014e-03 7.84696928e-01] [ 1.53038232e-02 -1.57542258e-03 9.99881649e-01 1.62811739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.77255784400006 meters Centerline goodness : 0.118012 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.63 [[ 9.99881686e-01 -9.45194589e-05 -1.53819490e-02 5.06763025e+00] [ 1.13432356e-04 9.99999239e-01 1.22868360e-03 7.86889623e-01] [ 1.53818212e-02 -1.23028304e-03 9.99880936e-01 1.62835920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80255784400003 meters Centerline goodness : 0.144510 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.63 [[ 9.99880764e-01 -1.37045613e-04 -1.54414492e-02 5.06782845e+00] [ 1.51332147e-04 9.99999562e-01 9.24042177e-04 7.88928645e-01] [ 1.54413158e-02 -9.26268786e-04 9.99880347e-01 1.62829954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.83255784400006 meters Centerline goodness : 0.108898 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.63 [[ 9.99890327e-01 1.77386359e-03 -1.47032823e-02 5.06508628e+00] [-1.74228304e-03 9.99996149e-01 2.16038812e-03 7.94954454e-01] [ 1.47070579e-02 -2.13453390e-03 9.99889567e-01 1.62918841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86255784400004 meters Centerline goodness : 0.144578 Centerline is valid? [False, False] Translation: X:5.07, Y:0.80, Z:1.63 [[ 9.99889196e-01 1.58430433e-03 -1.48015767e-02 5.06531377e+00] [-1.55961003e-03 9.99997373e-01 1.67975016e-03 7.97067438e-01] [ 1.48041991e-02 -1.65647934e-03 9.99889040e-01 1.62923191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.89255784400007 meters Centerline goodness : 0.138442 Centerline is valid? [False, False] Translation: X:5.06, Y:0.80, Z:1.63 [[ 9.99892017e-01 1.36847910e-03 -1.46315491e-02 5.06496516e+00] [-1.35257850e-03 9.99998484e-01 1.09657421e-03 7.99189506e-01] [ 1.46330276e-02 -1.07666548e-03 9.99892352e-01 1.62898712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92255784400004 meters Centerline goodness : 0.143757 Centerline is valid? [False, False] Translation: X:5.06, Y:0.80, Z:1.63 [[ 9.99900814e-01 1.43132740e-03 -1.40111639e-02 5.06314863e+00] [-1.42446531e-03 9.99998861e-01 4.99725968e-04 8.01754953e-01] [ 1.40118632e-02 -4.79717986e-04 9.99901714e-01 1.62902542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.95255784400007 meters Centerline goodness : 0.146552 Centerline is valid? [False, False] Translation: X:5.06, Y:0.81, Z:1.63 [[ 9.99912686e-01 3.85317233e-03 -1.26401290e-02 5.05817691e+00] [-3.83115907e-03 9.99991103e-01 1.76528967e-03 8.08851503e-01] [ 1.26468185e-02 -1.71670919e-03 9.99918552e-01 1.63056506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98255784400004 meters Centerline goodness : 0.146588 Centerline is valid? [False, False] Translation: X:5.06, Y:0.81, Z:1.63 [[ 9.99912566e-01 3.68250841e-03 -1.27003463e-02 5.05849274e+00] [-3.66738058e-03 9.99992538e-01 1.21421902e-03 8.11161921e-01] [ 1.27047229e-02 -1.16753586e-03 9.99918610e-01 1.63015498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.01255784400007 meters SLAMing on 461.04255784400004 meters Centerline goodness : 0.082369 Centerline is valid? [False, False] Translation: X:5.11, Y:0.81, Z:1.63 [[ 9.99895440e-01 2.64532509e-03 -1.42165987e-02 5.10703094e+00] [-2.63495919e-03 9.99996249e-01 7.47822480e-04 8.13788960e-01] [ 1.42185236e-02 -7.10284130e-04 9.99898659e-01 1.62913826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0725578440001 meters Centerline goodness : 0.110400 Centerline is valid? [False, False] Translation: X:5.11, Y:0.82, Z:1.63 [[ 9.99892508e-01 2.45080555e-03 -1.44556569e-02 5.10778699e+00] [-2.44583088e-03 9.99996944e-01 3.61802203e-04 8.15273760e-01] [ 1.44564994e-02 -3.26407220e-04 9.99895446e-01 1.62882338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10255784400005 meters Centerline goodness : 0.156592 Centerline is valid? [False, False] Translation: X:5.13, Y:0.82, Z:1.63 [[ 9.99897666e-01 -3.80431809e-03 -1.37907425e-02 5.12980547e+00] [ 3.85162719e-03 9.99986783e-01 3.40556196e-03 8.20008587e-01] [ 1.37776044e-02 -3.45833026e-03 9.99899104e-01 1.62893142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1325578440001 meters Centerline goodness : 0.151818 Centerline is valid? [False, False] Translation: X:5.11, Y:0.82, Z:1.63 [[ 9.99883828e-01 5.06244279e-03 -1.43771311e-02 5.10976222e+00] [-5.03463089e-03 9.99985386e-01 1.96998954e-03 8.18430389e-01] [ 1.43868939e-02 -1.89737713e-03 9.99894703e-01 1.62749430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16255784400005 meters Centerline goodness : 0.149873 Centerline is valid? [False, False] Translation: X:5.11, Y:0.82, Z:1.63 [[ 9.99882029e-01 4.93296775e-03 -1.45462621e-02 5.11044352e+00] [-4.91028684e-03 9.99986673e-01 1.59452949e-03 8.20255185e-01] [ 1.45539340e-02 -1.52291506e-03 9.99892926e-01 1.62703203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1925578440001 meters Centerline goodness : 0.149610 Centerline is valid? [False, False] Translation: X:5.11, Y:0.82, Z:1.63 [[ 9.99873161e-01 4.92836269e-03 -1.51450595e-02 5.11237737e+00] [-4.91230952e-03 9.99987333e-01 1.09697930e-03 8.23560890e-01] [ 1.51502740e-02 -1.02244294e-03 9.99884705e-01 1.62618696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22255784400005 meters Centerline goodness : 0.152936 Centerline is valid? [False, False] Translation: X:5.11, Y:0.83, Z:1.63 [[ 9.99870364e-01 4.91645588e-03 -1.53324445e-02 5.11270241e+00] [-4.90416509e-03 9.99987622e-01 8.39115293e-04 8.25349694e-01] [ 1.53363802e-02 -7.63813674e-04 9.99882099e-01 1.62639470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2525578440001 meters Centerline goodness : 0.138406 Centerline is valid? [False, False] Translation: X:5.11, Y:0.83, Z:1.63 [[ 9.99872815e-01 4.91393375e-03 -1.51725996e-02 5.11202574e+00] [-4.90678314e-03 9.99987832e-01 5.08475532e-04 8.26788025e-01] [ 1.51749136e-02 -4.33962205e-04 9.99884760e-01 1.62661087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28255784400005 meters Centerline goodness : 0.117764 Centerline is valid? [False, False] Translation: X:5.13, Y:0.83, Z:1.63 [[ 9.99891084e-01 -2.48482050e-03 -1.45480384e-02 5.13357761e+00] [ 2.52046927e-03 9.99993865e-01 2.43259534e-03 8.30644620e-01] [ 1.45419046e-02 -2.46899828e-03 9.99891213e-01 1.62661277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3125578440001 meters Centerline goodness : 0.150084 Centerline is valid? [False, False] Translation: X:5.13, Y:0.83, Z:1.63 [[ 9.99890277e-01 -2.56781785e-03 -1.45890580e-02 5.13359350e+00] [ 2.59871114e-03 9.99994420e-01 2.09900265e-03 8.32323964e-01] [ 1.45835867e-02 -2.13668509e-03 9.99891371e-01 1.62671297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34255784400005 meters Centerline goodness : 0.156558 Centerline is valid? [False, False] Translation: X:5.13, Y:0.83, Z:1.63 [[ 9.99896636e-01 -2.07992076e-03 -1.42264175e-02 5.13268126e+00] [ 2.10942440e-03 9.99995655e-01 2.05917172e-03 8.34563458e-01] [ 1.42220728e-02 -2.08896843e-03 9.99896679e-01 1.62683395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3725578440001 meters Centerline goodness : 0.145600 Centerline is valid? [False, False] Translation: X:5.13, Y:0.84, Z:1.63 [[ 9.99900662e-01 -2.09074582e-03 -1.39389980e-02 5.13165330e+00] [ 2.11603399e-03 9.99996142e-01 1.79970128e-03 8.36047200e-01] [ 1.39351815e-02 -1.82901789e-03 9.99901228e-01 1.62734322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40255784400006 meters Centerline goodness : 0.121985 Centerline is valid? [False, False] Translation: X:5.15, Y:0.83, Z:1.63 [[ 9.99908543e-01 5.45771168e-03 -1.23741446e-02 5.15042781e+00] [-5.45383626e-03 9.99985068e-01 3.46910316e-04 8.33510695e-01] [ 1.23758532e-02 -2.79392030e-04 9.99923377e-01 1.62920544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.4325578440001 meters Centerline goodness : 0.148146 Centerline is valid? [False, False] Translation: X:5.13, Y:0.84, Z:1.63 [[ 9.99928514e-01 -2.31540168e-03 -1.17305366e-02 5.12881039e+00] [ 2.32202871e-03 9.99997152e-01 5.51350521e-04 8.39774782e-01] [ 1.17292265e-02 -5.78549750e-04 9.99931043e-01 1.62882216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46255784400006 meters Centerline goodness : 0.162362 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99921657e-01 5.36194548e-03 -1.13106314e-02 5.14897944e+00] [-5.36946813e-03 9.99985383e-01 -6.34832841e-04 8.37169422e-01] [ 1.13070621e-02 6.95515181e-04 9.99935831e-01 1.63032898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49255784400003 meters Centerline goodness : 0.146738 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99914237e-01 5.54996558e-03 -1.18624173e-02 5.15056145e+00] [-5.55881546e-03 9.99984295e-01 -7.13201360e-04 8.38243603e-01] [ 1.18582727e-02 7.79081182e-04 9.99929385e-01 1.62983432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52255784400006 meters SLAMing on 461.55255784400003 meters Centerline goodness : 0.129812 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99928375e-01 -2.73001997e-03 -1.16529619e-02 5.17158740e+00] [ 2.73952618e-03 9.99995928e-01 7.99891612e-04 8.40373104e-01] [ 1.16507307e-02 -8.31757914e-04 9.99931782e-01 1.62998789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58255784400006 meters Centerline goodness : 0.137105 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99928904e-01 -2.61788506e-03 -1.16332624e-02 5.17155004e+00] [ 2.63025075e-03 9.99995992e-01 1.04778788e-03 8.39224341e-01] [ 1.16304728e-02 -1.07831178e-03 9.99931782e-01 1.62996998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.61255784400004 meters Centerline goodness : 0.170443 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99929134e-01 -2.46923701e-03 -1.16459996e-02 5.17183549e+00] [ 2.48417581e-03 9.99996110e-01 1.26844982e-03 8.38116476e-01] [ 1.16428222e-02 -1.29729064e-03 9.99931379e-01 1.62958820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64255784400007 meters Centerline goodness : 0.121920 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99929787e-01 -2.39942530e-03 -1.16044677e-02 5.17178814e+00] [ 2.41407395e-03 9.99996307e-01 1.24848579e-03 8.38333031e-01] [ 1.16014292e-02 -1.27641217e-03 9.99931886e-01 1.62945734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.67255784400004 meters Centerline goodness : 0.114404 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99938411e-01 -1.87861381e-03 -1.09382204e-02 5.16983191e+00] [ 1.89332517e-03 9.99997317e-01 1.33474969e-03 8.39328045e-01] [ 1.09356836e-02 -1.35537709e-03 9.99939285e-01 1.62992717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70255784400007 meters SLAMing on 461.73255784400004 meters Centerline goodness : 0.112149 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99939126e-01 -1.54632001e-03 -1.09248616e-02 5.16975660e+00] [ 1.55981381e-03 9.99998031e-01 1.22673277e-03 8.40947039e-01] [ 1.09229431e-02 -1.24369884e-03 9.99939569e-01 1.62988391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76255784400007 meters Centerline goodness : 0.158217 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99937702e-01 -1.52910754e-03 -1.10568621e-02 5.17025397e+00] [ 1.54133785e-03 9.99998210e-01 1.09769150e-03 8.41488209e-01] [ 1.10551638e-02 -1.11466547e-03 9.99938269e-01 1.62951914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.79255784400004 meters Centerline goodness : 0.158217 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99937634e-01 -1.54426896e-03 -1.10609155e-02 5.17022610e+00] [ 1.55634335e-03 9.99998202e-01 1.08310211e-03 8.41481841e-01] [ 1.10592230e-02 -1.10024914e-03 9.99938240e-01 1.62954002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8225578440001 meters Centerline goodness : 0.164316 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99935236e-01 -1.43517930e-03 -1.12899806e-02 5.17100890e+00] [ 1.44795382e-03 9.99998321e-01 1.12339915e-03 8.41523397e-01] [ 1.12883494e-02 -1.13967376e-03 9.99935635e-01 1.62907394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.85255784400005 meters Centerline goodness : 0.169527 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99935269e-01 -1.35852207e-03 -1.12965888e-02 5.17090700e+00] [ 1.37289361e-03 9.99998258e-01 1.26454427e-03 8.40916378e-01] [ 1.12948512e-02 -1.27997143e-03 9.99935392e-01 1.62924341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8825578440001 meters Centerline goodness : 0.108095 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99935906e-01 -1.33559776e-03 -1.12428182e-02 5.17063306e+00] [ 1.35062680e-03 9.99998204e-01 1.32928128e-03 8.40488727e-01] [ 1.12410226e-02 -1.34438093e-03 9.99935914e-01 1.62946866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.91255784400005 meters Centerline goodness : 0.111111 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99935886e-01 -1.31134987e-03 -1.12473706e-02 5.17056011e+00] [ 1.32660099e-03 9.99998211e-01 1.34861845e-03 8.39996242e-01] [ 1.12455819e-02 -1.36345276e-03 9.99935837e-01 1.62960508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9425578440001 meters Centerline goodness : 0.125742 Centerline is valid? [False, False] Translation: X:5.15, Y:0.83, Z:1.63 [[ 9.99900250e-01 5.96474143e-03 -1.28028171e-02 5.15015314e+00] [-5.97910642e-03 9.99981537e-01 -1.08403518e-03 8.34817568e-01] [ 1.27961148e-02 1.16047646e-03 9.99917453e-01 1.62966958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.97255784400005 meters Centerline goodness : 0.125114 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99911528e-01 -2.69847293e-03 -1.30251471e-02 5.17090575e+00] [ 2.69601579e-03 9.99996344e-01 -2.06200485e-04 8.38406665e-01] [ 1.30256559e-02 1.71066240e-04 9.99915148e-01 1.63018554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0025578440001 meters Centerline goodness : 0.141310 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99909610e-01 -2.60571572e-03 -1.31901969e-02 5.17143863e+00] [ 2.60534466e-03 9.99996605e-01 -4.53146344e-05 8.37506028e-01] [ 1.31902702e-02 1.09455292e-05 9.99913005e-01 1.62993563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.03255784400005 meters Centerline goodness : 0.149802 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99909956e-01 -2.57659263e-03 -1.31697296e-02 5.17132373e+00] [ 2.57667709e-03 9.99996680e-01 -1.05548904e-05 8.37182300e-01] [ 1.31697131e-02 -2.33802006e-05 9.99913275e-01 1.63001350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0625578440001 meters SLAMing on 462.09255784400005 meters Centerline goodness : 0.125683 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99915934e-01 -2.51164361e-03 -1.27206973e-02 5.16969583e+00] [ 2.50956134e-03 9.99996835e-01 -1.79651419e-04 8.38023811e-01] [ 1.27211083e-02 1.47712947e-04 9.99919073e-01 1.63076018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1225578440001 meters Centerline goodness : 0.100657 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99885452e-01 7.00686017e-03 -1.34159131e-02 5.14909580e+00] [-7.02270990e-03 9.99974697e-01 -1.13466639e-03 8.35927182e-01] [ 1.34076232e-02 1.22875248e-03 9.99909359e-01 1.62996231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.15255784400006 meters Centerline goodness : 0.162378 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99883755e-01 6.99000930e-03 -1.35505333e-02 5.14938347e+00] [-7.00974571e-03 9.99974438e-01 -1.40955669e-03 8.37582971e-01] [ 1.35403341e-02 1.50437863e-03 9.99907194e-01 1.62994801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1825578440001 meters Centerline goodness : 0.141980 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99882315e-01 6.96384206e-03 -1.36697293e-02 5.14975418e+00] [-6.98790226e-03 9.99974117e-01 -1.71313428e-03 8.39464406e-01] [ 1.36574455e-02 1.80845540e-03 9.99905097e-01 1.62973705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.21255784400006 meters Centerline goodness : 0.036105 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99880886e-01 7.04945478e-03 -1.37302406e-02 5.14967884e+00] [-7.07923008e-03 9.99972692e-01 -2.12119862e-03 8.42434703e-01] [ 1.37149124e-02 2.21814549e-03 9.99903486e-01 1.62993198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24255784400003 meters Centerline goodness : 0.116377 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99882318e-01 6.91499580e-03 -1.36942835e-02 5.14945696e+00] [-6.94949929e-03 9.99972793e-01 -2.47357198e-03 8.44065938e-01] [ 1.36768062e-02 2.56844929e-03 9.99903169e-01 1.63006870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.27255784400006 meters Centerline goodness : 0.144129 Centerline is valid? [False, False] Translation: X:5.10, Y:0.84, Z:1.63 [[ 9.99839757e-01 7.29897295e-03 -1.63457857e-02 5.10428386e+00] [-7.35822565e-03 9.99966563e-01 -3.56774874e-03 8.44889371e-01] [ 1.63191983e-02 3.68745302e-03 9.99860033e-01 1.63095909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30255784400003 meters Centerline goodness : 0.108098 Centerline is valid? [False, False] Translation: X:5.10, Y:0.85, Z:1.63 [[ 9.99838223e-01 7.14669205e-03 -1.65061229e-02 5.10455893e+00] [-7.21378185e-03 9.99965946e-01 -4.00858218e-03 8.47020166e-01] [ 1.64769127e-02 4.12700525e-03 9.99855729e-01 1.63107185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.33255784400006 meters Centerline goodness : 0.173401 Centerline is valid? [False, False] Translation: X:5.10, Y:0.85, Z:1.63 [[ 9.99835961e-01 7.11541357e-03 -1.66559798e-02 5.10489238e+00] [-7.18442328e-03 9.99965839e-01 -4.08707593e-03 8.47440978e-01] [ 1.66263296e-02 4.20606910e-03 9.99852926e-01 1.63110084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36255784400004 meters Centerline goodness : 0.150696 Centerline is valid? [False, False] Translation: X:5.08, Y:0.85, Z:1.63 [[ 9.99838305e-01 -1.14059248e-03 -1.79461193e-02 5.08373372e+00] [ 1.07669344e-03 9.99993048e-01 -3.56986417e-03 8.50289331e-01] [ 1.79500663e-02 3.54996447e-03 9.99832582e-01 1.63049630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.39255784400007 meters Centerline goodness : 0.136836 Centerline is valid? [False, False] Translation: X:5.08, Y:0.85, Z:1.63 [[ 9.99834876e-01 -1.07207381e-03 -1.81403172e-02 5.08434216e+00] [ 1.01215859e-03 9.99994004e-01 -3.31173497e-03 8.48849060e-01] [ 1.81437589e-02 3.29282725e-03 9.99829966e-01 1.63034684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42255784400004 meters Centerline goodness : 0.126361 Centerline is valid? [False, False] Translation: X:5.08, Y:0.85, Z:1.63 [[ 9.99834918e-01 -1.01388732e-03 -1.81413696e-02 5.08438199e+00] [ 9.59752220e-04 9.99995062e-01 -2.99252677e-03 8.46972122e-01] [ 1.81443141e-02 2.97462153e-03 9.99830953e-01 1.63033768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.45255784400007 meters Centerline goodness : 0.126190 Centerline is valid? [False, False] Translation: X:5.08, Y:0.84, Z:1.63 [[ 9.99836107e-01 -9.38243953e-04 -1.80797852e-02 5.08420657e+00] [ 8.91777126e-04 9.99996279e-01 -2.57798928e-03 8.44451032e-01] [ 1.80821367e-02 2.56144363e-03 9.99833224e-01 1.63045903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48255784400004 meters Centerline goodness : 0.123375 Centerline is valid? [False, False] Translation: X:5.08, Y:0.84, Z:1.63 [[ 9.99839322e-01 -1.12960722e-03 -1.78900541e-02 5.08375625e+00] [ 1.09320946e-03 9.99997313e-01 -2.04417371e-03 8.39304761e-01] [ 1.78923151e-02 2.02428768e-03 9.99837871e-01 1.63053260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.51255784400007 meters Centerline goodness : 0.099045 Centerline is valid? [False, False] Translation: X:5.08, Y:0.84, Z:1.63 [[ 9.99839709e-01 -9.35870712e-04 -1.78796202e-02 5.08368943e+00] [ 9.09547857e-04 9.99998491e-01 -1.48030183e-03 8.36445867e-01] [ 1.78809786e-02 1.46380218e-03 9.99839051e-01 1.63067664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54255784400004 meters Centerline goodness : 0.119636 Centerline is valid? [False, False] Translation: X:5.08, Y:0.83, Z:1.63 [[ 9.99840792e-01 -7.60456517e-04 -1.78272796e-02 5.08341389e+00] [ 7.43115015e-04 9.99999244e-01 -9.79355118e-04 8.33967112e-01] [ 1.78280109e-02 9.65951478e-04 9.99840602e-01 1.63098324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5725578440001 meters Centerline goodness : 0.145913 Centerline is valid? [False, False] Translation: X:5.08, Y:0.83, Z:1.63 [[ 9.99842760e-01 -5.73648788e-04 -1.77236056e-02 5.08309377e+00] [ 5.64512071e-04 9.99999705e-01 -5.20509914e-04 8.31800320e-01] [ 1.77238990e-02 5.10422880e-04 9.99842789e-01 1.63112148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60255784400005 meters SLAMing on 462.6325578440001 meters Centerline goodness : 0.098524 Centerline is valid? [False, False] Translation: X:5.08, Y:0.83, Z:1.63 [[ 9.99846905e-01 -4.50167731e-05 -1.74975725e-02 5.08261665e+00] [ 5.27373731e-05 9.99999901e-01 4.40777173e-04 8.27384958e-01] [ 1.74975509e-02 -4.41632468e-04 9.99846809e-01 1.63103558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66255784400005 meters Centerline goodness : 0.135491 Centerline is valid? [False, False] Translation: X:5.08, Y:0.83, Z:1.63 [[ 9.99845691e-01 3.06154405e-05 -1.75668445e-02 5.08298708e+00] [-2.10171401e-05 9.99999850e-01 5.46571638e-04 8.26774838e-01] [ 1.75668586e-02 -5.46118092e-04 9.99845542e-01 1.63065484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6925578440001 meters SLAMing on 462.72255784400005 meters SLAMing on 462.7525578440001 meters Centerline goodness : 0.155674 Centerline is valid? [False, False] Translation: X:5.08, Y:0.83, Z:1.63 [[ 9.99856367e-01 3.35149006e-04 -1.69449954e-02 5.08119322e+00] [-3.21039058e-04 9.99999600e-01 8.35404544e-04 8.25298881e-01] [ 1.69452686e-02 -8.29844547e-04 9.99856074e-01 1.63093630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78255784400005 meters Centerline goodness : 0.117498 Centerline is valid? [False, False] Translation: X:5.08, Y:0.82, Z:1.63 [[ 9.99855479e-01 4.95092874e-04 -1.69934026e-02 5.08165627e+00] [-4.72219227e-04 9.99998977e-01 1.35001723e-03 8.22558651e-01] [ 1.69940536e-02 -1.34179751e-03 9.99854690e-01 1.63042887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8125578440001 meters Centerline goodness : 0.124564 Centerline is valid? [False, False] Translation: X:5.08, Y:0.82, Z:1.63 [[ 9.99852816e-01 6.04101920e-04 -1.71458837e-02 5.08241938e+00] [-5.75857232e-04 9.99998469e-01 1.65220532e-03 8.20982547e-01] [ 1.71468556e-02 -1.64208856e-03 9.99851633e-01 1.62986710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84255784400005 meters Centerline goodness : 0.144500 Centerline is valid? [False, False] Translation: X:5.04, Y:0.82, Z:1.63 [[ 9.99795090e-01 6.05261776e-04 -2.02339022e-02 5.03860063e+00] [-5.86241602e-04 9.99999381e-01 9.45933516e-04 8.17134061e-01] [ 2.02344622e-02 -9.33877730e-04 9.99794826e-01 1.63003544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8725578440001 meters SLAMing on 462.90255784400006 meters Centerline goodness : 0.084621 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99785246e-01 8.57433380e-04 -2.07056948e-02 5.04003872e+00] [-8.24467708e-04 9.99998379e-01 1.60059056e-03 8.13831561e-01] [ 2.07070336e-02 -1.58317565e-03 9.99784333e-01 1.62966587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.9325578440001 meters Centerline goodness : 0.037628 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99786367e-01 1.07044717e-03 -2.06415901e-02 5.03991606e+00] [-1.02836761e-03 9.99997372e-01 2.04908840e-03 8.11749013e-01] [ 2.06437293e-02 -2.02742350e-03 9.99784840e-01 1.62963856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96255784400006 meters Centerline goodness : 0.095420 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99792859e-01 1.08471932e-03 -2.03239173e-02 5.03887468e+00] [-1.04167631e-03 9.99997193e-01 2.12831739e-03 8.11010911e-01] [ 2.03261689e-02 -2.10670558e-03 9.99791183e-01 1.62999759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99255784400003 meters Centerline goodness : 0.085756 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99798313e-01 1.07755516e-03 -2.00542412e-02 5.03793356e+00] [-1.03503006e-03 9.99997194e-01 2.13076276e-03 8.10722688e-01] [ 2.00564810e-02 -2.10957627e-03 9.99796623e-01 1.63039091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02255784400006 meters Centerline goodness : 0.093877 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99801448e-01 1.11767147e-03 -1.98950922e-02 5.03741901e+00] [-1.07468498e-03 9.99997065e-01 2.17121816e-03 8.10594200e-01] [ 1.98974605e-02 -2.14940611e-03 9.99799716e-01 1.63048467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.05255784400003 meters Centerline goodness : 0.085490 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99792946e-01 1.43883223e-03 -2.02976434e-02 5.03868296e+00] [-1.38989771e-03 9.99996094e-01 2.42474866e-03 8.10361919e-01] [ 2.03010529e-02 -2.39603496e-03 9.99791041e-01 1.62992669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08255784400006 meters Centerline goodness : 0.097100 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99791651e-01 1.45693138e-03 -2.03600723e-02 5.03914914e+00] [-1.40751872e-03 9.99996030e-01 2.44105892e-03 8.10164700e-01] [ 2.03635479e-02 -2.41189314e-03 9.99789732e-01 1.62938066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.11255784400004 meters Centerline goodness : 0.084867 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99789958e-01 1.47575380e-03 -2.04416722e-02 5.03946444e+00] [-1.42477828e-03 9.99995840e-01 2.50804508e-03 8.09623060e-01] [ 2.04452884e-02 -2.47839343e-03 9.99787901e-01 1.62917904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14255784400007 meters Centerline goodness : 0.096830 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99791128e-01 1.51318925e-03 -2.03816032e-02 5.03926016e+00] [-1.45945236e-03 9.99995421e-01 2.65115571e-03 8.08771406e-01] [ 2.03855216e-02 -2.62085598e-03 9.99788759e-01 1.62924236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.17255784400004 meters SLAMing on 463.20255784400007 meters SLAMing on 463.23255784400004 meters Centerline goodness : 0.127782 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99818817e-01 -7.12576378e-04 -1.90217030e-02 5.03351306e+00] [ 7.38410938e-04 9.99998815e-01 1.35117334e-03 8.01220588e-01] [ 1.90207176e-02 -1.36497436e-03 9.99818158e-01 1.63228891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26255784400007 meters Centerline goodness : 0.127551 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99820574e-01 -5.82581416e-04 -1.89336034e-02 5.03323993e+00] [ 6.15328050e-04 9.99998325e-01 1.72377140e-03 7.99395133e-01] [ 1.89325674e-02 -1.73511249e-03 9.99819257e-01 1.63239507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.29255784400004 meters Centerline goodness : 0.142506 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99819300e-01 -4.73420859e-04 -1.90037901e-02 5.03362980e+00] [ 5.10891669e-04 9.99997935e-01 1.96694815e-03 7.98326313e-01] [ 1.90028196e-02 -1.97630160e-03 9.99817477e-01 1.63209066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3225578440001 meters Centerline goodness : 0.137880 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99814024e-01 -3.13379112e-04 -1.92825911e-02 5.03491343e+00] [ 3.54969177e-04 9.99997618e-01 2.15348632e-03 7.97731441e-01] [ 1.92818704e-02 -2.15993055e-03 9.99811754e-01 1.63112997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.35255784400005 meters Centerline goodness : 0.125302 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99813867e-01 -3.30450389e-04 -1.92904717e-02 5.03499812e+00] [ 3.69211192e-04 9.99997920e-01 2.00579688e-03 7.98425106e-01] [ 1.92897688e-02 -2.01254579e-03 9.99811910e-01 1.63093079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3825578440001 meters Centerline goodness : 0.099823 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99816241e-01 -3.77871042e-04 -1.91661578e-02 5.03455499e+00] [ 4.12391782e-04 9.99998300e-01 1.79720950e-03 7.99396077e-01] [ 1.91654461e-02 -1.80478321e-03 9.99814697e-01 1.63106634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.41255784400005 meters Centerline goodness : 0.140790 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99825667e-01 -2.41029469e-06 -1.86717757e-02 5.03317939e+00] [ 3.36988547e-05 9.99998596e-01 1.67539976e-03 8.01593020e-01] [ 1.86717455e-02 -1.67573690e-03 9.99824263e-01 1.63116743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4425578440001 meters Centerline goodness : 0.117274 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99823803e-01 5.71348760e-07 -1.87713447e-02 5.03362237e+00] [ 2.55649067e-05 9.99999031e-01 1.39210860e-03 8.03440094e-01] [ 1.87713273e-02 -1.39234321e-03 9.99822834e-01 1.63071846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.47255784400005 meters Centerline goodness : 0.144171 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99822129e-01 -8.85506409e-05 -1.88600814e-02 5.03413196e+00] [ 1.08183070e-04 9.99999453e-01 1.03993372e-03 8.05313132e-01] [ 1.88599790e-02 -1.04178909e-03 9.99821592e-01 1.63012699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5025578440001 meters Centerline goodness : 0.139665 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99821451e-01 -1.97683980e-04 -1.88951772e-02 5.03432806e+00] [ 2.10602935e-04 9.99999745e-01 6.81729646e-04 8.07142709e-01] [ 1.88950376e-02 -6.85587304e-04 9.99821238e-01 1.62981912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.53255784400005 meters SLAMing on 463.5625578440001 meters Centerline goodness : 0.133328 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99817023e-01 -4.55364196e-04 -1.91236420e-02 5.03466605e+00] [ 4.53664752e-04 9.99999893e-01 -9.32043145e-05 8.11312147e-01] [ 1.91236824e-02 8.45115380e-05 9.99817122e-01 1.62999185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.59255784400005 meters Centerline goodness : 0.087227 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99817464e-01 -5.14850059e-04 -1.90990426e-02 5.03434915e+00] [ 5.12450518e-04 9.99999860e-01 -1.30530585e-04 8.11410074e-01] [ 1.90991072e-02 1.20719445e-04 9.99817588e-01 1.63038911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6225578440001 meters Centerline goodness : 0.122813 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99818563e-01 -5.72308851e-04 -1.90397664e-02 5.03401562e+00] [ 5.70052208e-04 9.99999830e-01 -1.23949730e-04 8.11197065e-01] [ 1.90398341e-02 1.13073580e-04 9.99818720e-01 1.63072130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.65255784400006 meters Centerline goodness : 0.086287 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99817115e-01 -6.12081360e-04 -1.91144607e-02 5.03417289e+00] [ 6.10372973e-04 9.99999809e-01 -9.52105388e-05 8.10889083e-01] [ 1.91145153e-02 8.35261760e-05 9.99817297e-01 1.63083412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6825578440001 meters Centerline goodness : 0.086287 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99817115e-01 -6.12081360e-04 -1.91144607e-02 5.03417289e+00] [ 6.10372973e-04 9.99999809e-01 -9.52105388e-05 8.10889083e-01] [ 1.91145153e-02 8.35261760e-05 9.99817297e-01 1.63083412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.71255784400006 meters Centerline goodness : 0.093533 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99801260e-01 -1.24978462e-03 -1.98966957e-02 5.03661955e+00] [ 1.24245449e-03 9.99999156e-01 -3.80766629e-04 8.09960423e-01] [ 1.98971548e-02 3.55970216e-04 9.99801969e-01 1.63008934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74255784400003 meters Centerline goodness : 0.098830 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99799223e-01 -1.27725794e-03 -1.99970660e-02 5.03702156e+00] [ 1.27404788e-03 9.99999173e-01 -1.73265911e-04 8.08528984e-01] [ 1.99972708e-02 1.47753904e-04 9.99800024e-01 1.62991998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.77255784400006 meters Centerline goodness : 0.156568 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99797985e-01 -1.24355064e-03 -2.00609694e-02 5.03701958e+00] [ 1.24522753e-03 9.99999222e-01 7.10984403e-05 8.07213610e-01] [ 2.00608654e-02 -9.60645489e-05 9.99798756e-01 1.63024401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80255784400003 meters Centerline goodness : 0.213951 Centerline is valid? [False, False] Translation: X:5.02, Y:0.80, Z:1.63 [[ 9.99769635e-01 7.20010286e-03 -2.02196638e-02 5.01715388e+00] [-7.21757148e-03 9.99973640e-01 -7.91098235e-04 8.00718740e-01] [ 2.02134348e-02 9.36852862e-04 9.99795249e-01 1.62943824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.83255784400006 meters Centerline goodness : 0.121989 Centerline is valid? [False, False] Translation: X:5.04, Y:0.80, Z:1.63 [[ 9.99802223e-01 -1.16876307e-03 -1.98531635e-02 5.03651311e+00] [ 1.18167355e-03 9.99999098e-01 6.38579953e-04 8.03894616e-01] [ 1.98523992e-02 -6.61913615e-04 9.99802703e-01 1.63128588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86255784400004 meters Centerline goodness : 0.095822 Centerline is valid? [False, False] Translation: X:5.04, Y:0.80, Z:1.63 [[ 9.99801422e-01 -1.12274869e-03 -1.98961201e-02 5.03666468e+00] [ 1.13867573e-03 9.99999040e-01 7.89199274e-04 8.03033640e-01] [ 1.98952150e-02 -8.11697785e-04 9.99801741e-01 1.63119217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.89255784400007 meters Centerline goodness : 0.127173 Centerline is valid? [False, False] Translation: X:5.04, Y:0.80, Z:1.63 [[ 9.99801834e-01 -1.08839382e-03 -1.98773027e-02 5.03670474e+00] [ 1.10603776e-03 9.99999004e-01 8.76670550e-04 8.02543259e-01] [ 1.98763288e-02 -8.98481872e-04 9.99802043e-01 1.63101788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92255784400004 meters Centerline goodness : 0.148552 Centerline is valid? [False, False] Translation: X:5.04, Y:0.80, Z:1.63 [[ 9.99801170e-01 -9.26114329e-04 -1.99188824e-02 5.03683640e+00] [ 9.45064171e-04 9.99999110e-01 9.41958475e-04 8.02652327e-01] [ 1.99179923e-02 -9.60595808e-04 9.99801156e-01 1.63092769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.95255784400007 meters Centerline goodness : 0.129313 Centerline is valid? [False, False] Translation: X:4.99, Y:0.80, Z:1.63 [[ 9.99758566e-01 -3.01804321e-05 -2.19729178e-02 4.99089254e+00] [ 4.42477005e-05 9.99999794e-01 6.39723492e-04 8.00917650e-01] [ 2.19728940e-02 -6.40541292e-04 9.99758362e-01 1.63118590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98255784400004 meters Centerline goodness : 0.136140 Centerline is valid? [False, False] Translation: X:5.01, Y:0.80, Z:1.63 [[ 9.99747714e-01 8.08738396e-03 -2.09547659e-02 5.01152449e+00] [-8.09982457e-03 9.99967066e-01 -5.08881034e-04 8.00123018e-01] [ 2.09499603e-02 6.78482578e-04 9.99780295e-01 1.63253373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.01255784400007 meters Centerline goodness : 0.139193 Centerline is valid? [False, False] Translation: X:4.99, Y:0.81, Z:1.63 [[ 9.99791301e-01 1.21125322e-04 -2.04288950e-02 4.98981727e+00] [-1.26120236e-04 9.99999962e-01 -2.43214182e-04 8.05923580e-01] [ 2.04288648e-02 2.45739920e-04 9.99791279e-01 1.63138972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04255784400004 meters Centerline goodness : 0.102086 Centerline is valid? [False, False] Translation: X:4.99, Y:0.81, Z:1.63 [[ 9.99790905e-01 1.91505804e-04 -2.04477191e-02 4.98984029e+00] [-2.01879857e-04 9.99999852e-01 -5.05282230e-04 8.07798411e-01] [ 2.04476193e-02 5.09304560e-04 9.99790796e-01 1.63122548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0725578440001 meters Centerline goodness : 0.148156 Centerline is valid? [False, False] Translation: X:4.99, Y:0.81, Z:1.63 [[ 9.99790490e-01 6.71255454e-04 -2.04579018e-02 4.98965324e+00] [-6.84541176e-04 9.99999559e-01 -6.42421653e-04 8.10646195e-01] [ 2.04574616e-02 6.56291335e-04 9.99790509e-01 1.63133728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10255784400005 meters SLAMing on 464.1325578440001 meters Centerline goodness : 0.138493 Centerline is valid? [False, False] Translation: X:4.99, Y:0.81, Z:1.63 [[ 9.99799633e-01 5.67331606e-04 -2.00093091e-02 4.98833728e+00] [-5.91468459e-04 9.99999105e-01 -1.20038378e-03 8.13380214e-01] [ 2.00086102e-02 1.21197814e-03 9.99799073e-01 1.63151317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16255784400005 meters Centerline goodness : 0.087066 Centerline is valid? [False, False] Translation: X:4.99, Y:0.82, Z:1.63 [[ 9.99804888e-01 4.45718216e-04 -1.97481073e-02 4.98746154e+00] [-4.76306320e-04 9.99998694e-01 -1.54423673e-03 8.15042998e-01] [ 1.97473932e-02 1.55334158e-03 9.99803795e-01 1.63176616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1925578440001 meters SLAMing on 464.22255784400005 meters Centerline goodness : 0.131597 Centerline is valid? [False, False] Translation: X:5.01, Y:0.82, Z:1.63 [[ 9.99808935e-01 -5.80112220e-03 -1.86665675e-02 5.00862256e+00] [ 5.83068882e-03 9.99981831e-01 1.52989974e-03 8.19670906e-01] [ 1.86573532e-02 -1.63844637e-03 9.99824594e-01 1.63183974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2525578440001 meters SLAMing on 464.28255784400005 meters Centerline goodness : 0.167221 Centerline is valid? [False, False] Translation: X:5.01, Y:0.82, Z:1.63 [[ 9.99812994e-01 -5.85239207e-03 -1.84316631e-02 5.00776326e+00] [ 5.88602101e-03 9.99981109e-01 1.77079900e-03 8.18022543e-01] [ 1.84209515e-02 -1.87895700e-03 9.99828554e-01 1.63242259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3125578440001 meters SLAMing on 464.34255784400005 meters Centerline goodness : 0.097393 Centerline is valid? [False, False] Translation: X:5.01, Y:0.81, Z:1.63 [[ 9.99809458e-01 -5.84818932e-03 -1.86237880e-02 5.00860089e+00] [ 5.89163277e-03 9.99980048e-01 2.27867320e-03 8.14696535e-01] [ 1.86100903e-02 -2.38796354e-03 9.99823966e-01 1.63197855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3725578440001 meters Centerline goodness : 0.096514 Centerline is valid? [False, False] Translation: X:5.01, Y:0.81, Z:1.63 [[ 9.99809203e-01 -5.75179272e-03 -1.86674948e-02 5.00881385e+00] [ 5.80406505e-03 9.99979383e-01 2.74720959e-03 8.12001465e-01] [ 1.86513086e-02 -2.85503278e-03 9.99821973e-01 1.63196002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40255784400006 meters SLAMing on 464.4325578440001 meters Centerline goodness : 0.098201 Centerline is valid? [False, False] Translation: X:5.01, Y:0.80, Z:1.63 [[ 9.99786107e-01 -9.19996055e-03 -1.85229989e-02 5.00870902e+00] [ 9.20703673e-03 9.99957570e-01 2.96777399e-04 8.04946723e-01] [ 1.85194827e-02 -4.67255852e-04 9.99828390e-01 1.63188621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46255784400006 meters Centerline goodness : 0.125121 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99817547e-01 -1.67048291e-03 -1.90284816e-02 5.02990349e+00] [ 1.66437527e-03 9.99998558e-01 -3.36805577e-04 7.98461059e-01] [ 1.90290168e-02 3.05073592e-04 9.99818885e-01 1.63318909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49255784400003 meters Centerline goodness : 0.129619 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99815634e-01 -1.53526355e-03 -1.91400302e-02 5.03058969e+00] [ 1.53749361e-03 9.99998813e-01 1.01798078e-04 7.95938228e-01] [ 1.91398512e-02 -1.31206984e-04 9.99816808e-01 1.63259472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52255784400006 meters Centerline goodness : 0.099242 Centerline is valid? [False, False] Translation: X:5.03, Y:0.79, Z:1.63 [[ 9.99814411e-01 -1.17596085e-03 -1.92291784e-02 5.03095109e+00] [ 1.19375328e-03 9.99998870e-01 9.13830678e-04 7.92212452e-01] [ 1.92280821e-02 -9.36615975e-04 9.99814685e-01 1.63241962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.55255784400003 meters Centerline goodness : 0.097677 Centerline is valid? [False, False] Translation: X:5.03, Y:0.79, Z:1.63 [[ 9.99815251e-01 -1.01895400e-03 -1.91944008e-02 5.03089344e+00] [ 1.04285858e-03 9.99998693e-01 1.23542493e-03 7.90908958e-01] [ 1.91931169e-02 -1.25521373e-03 9.99815007e-01 1.63238605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58255784400006 meters SLAMing on 464.61255784400004 meters Centerline goodness : 0.094513 Centerline is valid? [False, False] Translation: X:5.03, Y:0.79, Z:1.63 [[ 9.99810861e-01 -8.84399805e-04 -1.94283325e-02 5.03191681e+00] [ 9.17801811e-04 9.99998116e-01 1.71039280e-03 7.87977975e-01] [ 1.94267832e-02 -1.72790066e-03 9.99809789e-01 1.63172043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64255784400007 meters Centerline goodness : 0.092623 Centerline is valid? [False, False] Translation: X:5.03, Y:0.78, Z:1.63 [[ 9.99799369e-01 -9.81697440e-04 -2.00064327e-02 5.03364043e+00] [ 1.02994436e-03 9.99996586e-01 2.40140926e-03 7.82842102e-01] [ 2.00040069e-02 -2.42153298e-03 9.99796967e-01 1.63135926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.67255784400004 meters SLAMing on 464.70255784400007 meters SLAMing on 464.73255784400004 meters Centerline goodness : 0.128389 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.64 [[ 9.99816181e-01 -6.79893062e-03 -1.79270565e-02 5.02631524e+00] [ 6.78527840e-03 9.99976642e-01 -8.22258066e-04 7.65913930e-01] [ 1.79322282e-02 7.00466849e-04 9.99838959e-01 1.63530884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76255784400007 meters SLAMing on 464.79255784400004 meters Centerline goodness : 0.087969 Centerline is valid? [False, False] Translation: X:5.03, Y:0.76, Z:1.64 [[ 9.99788745e-01 -1.03449022e-02 -1.77608878e-02 5.02583034e+00] [ 1.02869963e-02 9.99941481e-01 -3.34857673e-03 7.58457110e-01] [ 1.77944891e-02 3.16516313e-03 9.99836656e-01 1.63569131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8225578440001 meters Centerline goodness : 0.122575 Centerline is valid? [False, False] Translation: X:5.01, Y:0.75, Z:1.63 [[ 9.99824910e-01 -1.92900478e-03 -1.86125993e-02 5.00734129e+00] [ 1.85669416e-03 9.99990665e-01 -3.90153459e-03 7.48168553e-01] [ 1.86199516e-02 3.86629357e-03 9.99819158e-01 1.63381033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.85255784400005 meters SLAMing on 464.8825578440001 meters Centerline goodness : 0.144465 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.63 [[ 9.99812037e-01 -1.26921688e-03 -1.93463085e-02 5.01044273e+00] [ 1.22466123e-03 9.99996571e-01 -2.31473060e-03 7.36484183e-01] [ 1.93491800e-02 2.29060284e-03 9.99810163e-01 1.63224280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.91255784400005 meters Centerline goodness : 0.094350 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99813048e-01 -1.06752486e-03 -1.93062268e-02 5.01051373e+00] [ 1.03069491e-03 9.99997630e-01 -1.91752208e-03 7.34475456e-01] [ 1.93082281e-02 1.89726476e-03 9.99811779e-01 1.63197478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9425578440001 meters Centerline goodness : 0.119236 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99817210e-01 -8.85450250e-04 -1.90987837e-02 5.01009087e+00] [ 8.53568304e-04 9.99998229e-01 -1.67740536e-03 7.33389361e-01] [ 1.91002351e-02 1.66079663e-03 9.99816194e-01 1.63179688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.97255784400005 meters Centerline goodness : 0.106788 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99825850e-01 -5.64510361e-04 -1.86534505e-02 5.00898451e+00] [ 5.37949375e-04 9.99998834e-01 -1.42890519e-03 7.32875173e-01] [ 1.86542354e-02 1.41862173e-03 9.99824988e-01 1.63176731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0025578440001 meters Centerline goodness : 0.142149 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99831746e-01 5.23159834e-04 -1.83358950e-02 5.00812406e+00] [-5.34245801e-04 9.99999677e-01 -5.99711479e-04 7.31775726e-01] [ 1.83355754e-02 6.09406450e-04 9.99831703e-01 1.63173398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.03255784400005 meters Centerline goodness : 0.104210 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99832069e-01 6.95674384e-04 -1.83125827e-02 5.00822145e+00] [-7.06418139e-04 9.99999582e-01 -5.80224852e-04 7.32123956e-01] [ 1.83121714e-02 5.93063754e-04 9.99832142e-01 1.63136669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0625578440001 meters Centerline goodness : 0.167633 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99832666e-01 8.53341277e-04 -1.82732761e-02 5.00817457e+00] [-8.63791350e-04 9.99999468e-01 -5.63992214e-04 7.32421206e-01] [ 1.82727851e-02 5.79682137e-04 9.99832871e-01 1.63115297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.09255784400005 meters Centerline goodness : 0.170344 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99834638e-01 9.71506611e-04 -1.81590872e-02 5.00800866e+00] [-9.81932022e-04 9.99999358e-01 -5.65207981e-04 7.32826559e-01] [ 1.81585264e-02 5.82945507e-04 9.99834950e-01 1.63086629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1225578440001 meters Centerline goodness : 0.143332 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99834744e-01 1.11595100e-03 -1.81449665e-02 5.00812635e+00] [-1.12493691e-03 9.99999250e-01 -4.85029312e-04 7.32893619e-01] [ 1.81444116e-02 5.05361101e-04 9.99835249e-01 1.63048575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.15255784400006 meters Centerline goodness : 0.167967 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99837240e-01 1.33482871e-03 -1.79920033e-02 5.00794061e+00] [-1.33559567e-03 9.99999108e-01 -3.06115934e-05 7.30744989e-01] [ 1.79919464e-02 5.46366527e-05 9.99838130e-01 1.63017774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1825578440001 meters Centerline goodness : 0.169046 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99837371e-01 1.42961262e-03 -1.79774481e-02 5.00790351e+00] [-1.42421291e-03 9.99998937e-01 3.13159476e-04 7.28775080e-01] [ 1.79778766e-02 -2.87504833e-04 9.99838344e-01 1.63021776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.21255784400006 meters Centerline goodness : 0.164814 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.63 [[ 9.99835521e-01 1.60194003e-03 -1.80655886e-02 5.00834823e+00] [-1.58303374e-03 9.99998184e-01 1.06078765e-03 7.24819373e-01] [ 1.80672551e-02 -1.03201473e-03 9.99836241e-01 1.62998987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24255784400003 meters Centerline goodness : 0.170497 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.63 [[ 9.99834482e-01 1.74270848e-03 -1.81099702e-02 5.00846588e+00] [-1.71600080e-03 9.99997417e-01 1.49018529e-03 7.22717669e-01] [ 1.81125204e-02 -1.45886192e-03 9.99834891e-01 1.63003917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.27255784400006 meters Centerline goodness : 0.165049 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.63 [[ 9.99834851e-01 1.87434597e-03 -1.80764398e-02 5.00835672e+00] [-1.83917370e-03 9.99996384e-01 1.96217993e-03 7.20297690e-01] [ 1.80800522e-02 -1.92861016e-03 9.99834682e-01 1.63017231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30255784400003 meters Centerline goodness : 0.137040 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:1.63 [[ 9.99867566e-01 1.33695221e-03 -1.62192181e-02 5.05223541e+00] [-1.30692986e-03 9.99997413e-01 1.86149351e-03 7.21064534e-01] [ 1.62216649e-02 -1.84004961e-03 9.99866727e-01 1.63070838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.33255784400006 meters Centerline goodness : 0.130261 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:1.63 [[ 9.99866908e-01 1.45691483e-03 -1.62494254e-02 5.05239309e+00] [-1.42027046e-03 9.99996423e-01 2.26642977e-03 7.18870681e-01] [ 1.62526693e-02 -2.24304955e-03 9.99865401e-01 1.63068062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36255784400004 meters Centerline goodness : 0.108392 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:1.63 [[ 9.99866053e-01 1.46487934e-03 -1.63012170e-02 5.05247422e+00] [-1.42149147e-03 9.99995417e-01 2.67290192e-03 7.15856427e-01] [ 1.63050578e-02 -2.64937185e-03 9.99863554e-01 1.63083673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.39255784400007 meters Centerline goodness : 0.164391 Centerline is valid? [False, False] Translation: X:5.07, Y:0.71, Z:1.63 [[ 9.99838455e-01 9.10646342e-03 -1.54963350e-02 5.07139161e+00] [-9.08840260e-03 9.99957936e-01 1.23551523e-03 7.12192275e-01] [ 1.55069343e-02 -1.09447871e-03 9.99879161e-01 1.63276097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42255784400004 meters Centerline goodness : 0.093279 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:1.63 [[ 9.99877112e-01 4.42732625e-04 -1.56705006e-02 5.04923455e+00] [-4.13403411e-04 9.99998157e-01 1.87480930e-03 7.15233249e-01] [ 1.56713018e-02 -1.86810067e-03 9.99875452e-01 1.63194271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.45255784400007 meters Centerline goodness : 0.150584 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:1.63 [[ 9.99875489e-01 5.13664964e-04 -1.57715751e-02 5.04966623e+00] [-4.82168799e-04 9.99997882e-01 2.00075848e-03 7.14915784e-01] [ 1.57725695e-02 -1.99290480e-03 9.99873619e-01 1.63162154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48255784400004 meters Centerline goodness : 0.168034 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:1.63 [[ 9.99873009e-01 4.89440463e-04 -1.59287763e-02 5.05031806e+00] [-4.57465188e-04 9.99997873e-01 2.01097229e-03 7.14686140e-01] [ 1.59297266e-02 -2.00343006e-03 9.99871107e-01 1.63119741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.51255784400007 meters Centerline goodness : 0.161592 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:1.63 [[ 9.99869408e-01 4.64136073e-04 -1.61539904e-02 5.05112387e+00] [-4.31131129e-04 9.99997813e-01 2.04656751e-03 7.14201875e-01] [ 1.61549050e-02 -2.03933576e-03 9.99867421e-01 1.63083190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54255784400004 meters Centerline goodness : 0.165026 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:1.63 [[ 9.99866482e-01 4.35098200e-04 -1.63349002e-02 5.05171116e+00] [-4.00920055e-04 9.99997724e-01 2.09555516e-03 7.13594438e-01] [ 1.63357748e-02 -2.08872638e-03 9.99864381e-01 1.63062520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5725578440001 meters Centerline goodness : 0.174847 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99825591e-01 -8.39646587e-04 -1.86569704e-02 5.00450522e+00] [ 8.62901082e-04 9.99998861e-01 1.23840867e-03 7.08590885e-01] [ 1.86559093e-02 -1.25429181e-03 9.99825177e-01 1.63205307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60255784400005 meters Centerline goodness : 0.174847 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99825591e-01 -8.39646587e-04 -1.86569704e-02 5.00450522e+00] [ 8.62901082e-04 9.99998861e-01 1.23840867e-03 7.08590885e-01] [ 1.86559093e-02 -1.25429181e-03 9.99825177e-01 1.63205307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6325578440001 meters Centerline goodness : 0.114508 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99829794e-01 -8.07769172e-04 -1.84317784e-02 5.00365095e+00] [ 8.33264947e-04 9.99998707e-01 1.37561296e-03 7.07818938e-01] [ 1.84306434e-02 -1.39073738e-03 9.99829174e-01 1.63254943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66255784400005 meters Centerline goodness : 0.091718 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99832979e-01 -7.86681654e-04 -1.82591204e-02 5.00299087e+00] [ 8.12920789e-04 9.99998648e-01 1.42966492e-03 7.07676163e-01] [ 1.82579710e-02 -1.44426936e-03 9.99832266e-01 1.63291004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6925578440001 meters Centerline goodness : 0.151920 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99834793e-01 -7.86827274e-04 -1.81595302e-02 5.00276208e+00] [ 8.12200875e-04 9.99998704e-01 1.38992796e-03 7.08057992e-01] [ 1.81584130e-02 -1.40444752e-03 9.99834136e-01 1.63286670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72255784400005 meters Centerline goodness : 0.116386 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99835881e-01 -8.22374113e-04 -1.80979218e-02 5.00283880e+00] [ 8.44671965e-04 9.99998894e-01 1.22445742e-03 7.09092249e-01] [ 1.80968948e-02 -1.23954327e-03 9.99835469e-01 1.63244203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7525578440001 meters Centerline goodness : 0.095545 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99825391e-01 -7.14839007e-04 -1.86728683e-02 5.00476760e+00] [ 7.27394574e-04 9.99999514e-01 6.65613091e-04 7.12634115e-01] [ 1.86723835e-02 -6.79079412e-04 9.99825425e-01 1.63135237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78255784400005 meters Centerline goodness : 0.170811 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99823548e-01 -7.09383634e-04 -1.87714998e-02 5.00496985e+00] [ 7.13741120e-04 9.99999720e-01 2.25434521e-04 7.15391837e-01] [ 1.87713346e-02 -2.38792734e-04 9.99823774e-01 1.63121411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8125578440001 meters Centerline goodness : 0.111239 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99827322e-01 -6.76287191e-04 -1.85706607e-02 5.00415536e+00] [ 6.73685160e-04 9.99999762e-01 -1.46370727e-04 7.18021749e-01] [ 1.85707553e-02 1.33834673e-04 9.99827540e-01 1.63153416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84255784400005 meters Centerline goodness : 0.094523 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99832460e-01 -6.92640835e-04 -1.82913111e-02 5.00320695e+00] [ 6.84266484e-04 9.99999658e-01 -4.64086778e-04 7.20246951e-01] [ 1.82916263e-02 4.51492894e-04 9.99832592e-01 1.63179917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8725578440001 meters Centerline goodness : 0.165830 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99834949e-01 -7.66083533e-04 -1.81518212e-02 5.00285976e+00] [ 7.52897548e-04 9.99999448e-01 -7.33250329e-04 7.21728769e-01] [ 1.81523729e-02 7.19462843e-04 9.99834973e-01 1.63175420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90255784400006 meters Centerline goodness : 0.148879 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99840051e-01 -1.06596991e-03 -1.78531681e-02 5.00179501e+00] [ 1.04883404e-03 9.99998980e-01 -9.69157919e-04 7.21951782e-01] [ 1.78541830e-02 9.50277892e-04 9.99840150e-01 1.63229458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.9325578440001 meters Centerline goodness : 0.122183 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99840623e-01 -1.13281533e-03 -1.78170087e-02 5.00143128e+00] [ 1.11771927e-03 9.99999008e-01 -8.57218677e-04 7.21078078e-01] [ 1.78179621e-02 8.37167642e-04 9.99840897e-01 1.63280700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96255784400006 meters Centerline goodness : 0.117292 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99823633e-01 -1.82144647e-03 -1.86918614e-02 5.00398847e+00] [ 1.80315358e-03 9.99997879e-01 -9.95462173e-04 7.19286606e-01] [ 1.86936349e-02 9.61582309e-04 9.99824796e-01 1.63236719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99255784400003 meters Centerline goodness : 0.167976 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.63 [[ 9.99817017e-01 -1.78407304e-03 -1.90460010e-02 5.00521021e+00] [ 1.77261159e-03 9.99998238e-01 -6.18642400e-04 7.17021336e-01] [ 1.90470711e-02 5.84768036e-04 9.99818417e-01 1.63194209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02255784400006 meters Centerline goodness : 0.110953 Centerline is valid? [False, False] Translation: X:5.01, Y:0.71, Z:1.63 [[ 9.99813390e-01 -1.71064540e-03 -1.92420924e-02 5.00590959e+00] [ 1.70681954e-03 9.99998520e-01 -2.15248577e-04 7.14787429e-01] [ 1.92424321e-02 1.82365630e-04 9.99814831e-01 1.63168394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.05255784400003 meters Centerline goodness : 0.170801 Centerline is valid? [False, False] Translation: X:5.01, Y:0.71, Z:1.63 [[ 9.99811535e-01 -1.55270505e-03 -1.93515773e-02 5.00632074e+00] [ 1.55844755e-03 9.99998746e-01 2.81668866e-04 7.12310581e-01] [ 1.93511157e-02 -3.11774199e-04 9.99812701e-01 1.63155855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08255784400006 meters Centerline goodness : 0.097085 Centerline is valid? [False, False] Translation: X:5.01, Y:0.71, Z:1.63 [[ 9.99802290e-01 -1.33936517e-03 -1.98390152e-02 5.00783804e+00] [ 1.36139004e-03 9.99998472e-01 1.09671584e-03 7.07677472e-01] [ 1.98375160e-02 -1.12350765e-03 9.99802586e-01 1.63117325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.11255784400004 meters Centerline goodness : 0.170467 Centerline is valid? [False, False] Translation: X:5.01, Y:0.71, Z:1.63 [[ 9.99799107e-01 -1.19537867e-03 -2.00079309e-02 5.00842436e+00] [ 1.22575318e-03 9.99998115e-01 1.50592851e-03 7.05489514e-01] [ 2.00060931e-02 -1.53015077e-03 9.99798687e-01 1.63096094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14255784400007 meters Centerline goodness : 0.168730 Centerline is valid? [False, False] Translation: X:5.01, Y:0.70, Z:1.63 [[ 9.99799129e-01 -1.04363148e-03 -2.00153280e-02 5.00861487e+00] [ 1.08159166e-03 9.99997637e-01 1.88582419e-03 7.03605017e-01] [ 2.00133126e-02 -1.90709379e-03 9.99797895e-01 1.63070065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.17255784400004 meters Centerline goodness : 0.122370 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.63 [[ 9.99787818e-01 7.25768622e-03 -1.92780732e-02 5.02891757e+00] [-7.23735929e-03 9.99973178e-01 1.12396648e-03 6.99183386e-01] [ 1.92857136e-02 -9.84205651e-04 9.99813529e-01 1.63195151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20255784400007 meters Centerline goodness : 0.173137 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.63 [[ 9.99791819e-01 7.40615299e-03 -1.90122745e-02 5.02823699e+00] [-7.38122023e-03 9.99971804e-01 1.38124276e-03 6.98154116e-01] [ 1.90219681e-02 -1.24062142e-03 9.99818296e-01 1.63198374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.23255784400004 meters Centerline goodness : 0.103059 Centerline is valid? [False, False] Translation: X:5.05, Y:0.70, Z:1.63 [[ 9.99856707e-01 3.41394594e-04 -1.69248103e-02 5.04591518e+00] [-2.87701662e-04 9.99994919e-01 3.17477250e-03 7.01755262e-01] [ 1.69258082e-02 -3.16944828e-03 9.99851725e-01 1.63283608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26255784400007 meters Centerline goodness : 0.170795 Centerline is valid? [False, False] Translation: X:5.05, Y:0.70, Z:1.63 [[ 9.99856378e-01 3.60023952e-04 -1.69438287e-02 5.04601797e+00] [-3.06327864e-04 9.99994924e-01 3.17155326e-03 7.01633091e-01] [ 1.69448845e-02 -3.16590739e-03 9.99851413e-01 1.63267207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.29255784400004 meters Centerline goodness : 0.102891 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.63 [[ 9.99806153e-01 8.48849668e-03 -1.77651850e-02 5.02620597e+00] [-8.45462892e-03 9.99962297e-01 1.98065072e-03 6.95610757e-01] [ 1.77813280e-02 -1.83006873e-03 9.99840225e-01 1.63114810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3225578440001 meters Centerline goodness : 0.112820 Centerline is valid? [False, False] Translation: X:5.05, Y:0.70, Z:1.63 [[ 9.99845973e-01 4.63804727e-04 -1.75446634e-02 5.04559978e+00] [-4.17326676e-04 9.99996395e-01 2.65269598e-03 7.00881292e-01] [ 1.75458304e-02 -2.64496554e-03 9.99842562e-01 1.63208647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.35255784400005 meters Centerline goodness : 0.167918 Centerline is valid? [False, False] Translation: X:5.05, Y:0.70, Z:1.63 [[ 9.99847709e-01 4.46826351e-04 -1.74459162e-02 5.04532052e+00] [-4.01962602e-04 9.99996604e-01 2.57501218e-03 7.01189598e-01] [ 1.74470075e-02 -2.56760742e-03 9.99844493e-01 1.63209073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3825578440001 meters Centerline goodness : 0.160386 Centerline is valid? [False, False] Translation: X:5.04, Y:0.70, Z:1.63 [[ 9.99855749e-01 5.80443385e-04 -1.69748376e-02 5.04367701e+00] [-5.34774069e-04 9.99996226e-01 2.69482793e-03 7.01240288e-01] [ 1.69763377e-02 -2.68536149e-03 9.99852285e-01 1.63275720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.41255784400005 meters Centerline goodness : 0.164187 Centerline is valid? [False, False] Translation: X:5.04, Y:0.70, Z:1.63 [[ 9.99857654e-01 6.31643331e-04 -1.68603821e-02 5.04310943e+00] [-5.83485006e-04 9.99995737e-01 2.86106737e-03 7.00369153e-01] [ 1.68621174e-02 -2.85082233e-03 9.99853760e-01 1.63325343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4425578440001 meters Centerline goodness : 0.165068 Centerline is valid? [False, False] Translation: X:5.04, Y:0.70, Z:1.63 [[ 9.99859281e-01 6.29442011e-04 -1.67637331e-02 5.04260936e+00] [-5.78536338e-04 9.99995208e-01 3.04133140e-03 6.99023225e-01] [ 1.67655671e-02 -3.03120499e-03 9.99854853e-01 1.63370072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.47255784400005 meters Centerline goodness : 0.128760 Centerline is valid? [False, False] Translation: X:5.00, Y:0.69, Z:1.63 [[ 9.99816821e-01 -1.08210149e-03 -1.91089926e-02 4.99695764e+00] [ 1.12903711e-03 9.99996372e-01 2.44558839e-03 6.90264951e-01] [ 1.91062769e-02 -2.46671517e-03 9.99814416e-01 1.63465589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5025578440001 meters Centerline goodness : 0.163962 Centerline is valid? [False, False] Translation: X:5.04, Y:0.69, Z:1.63 [[ 9.99843861e-01 -1.47994721e-03 -1.76086212e-02 5.04247243e+00] [ 1.52078430e-03 9.99996185e-01 2.30598898e-03 6.91011413e-01] [ 1.76051413e-02 -2.33240784e-03 9.99842297e-01 1.63467660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.53255784400005 meters Centerline goodness : 0.163883 Centerline is valid? [False, False] Translation: X:5.04, Y:0.69, Z:1.63 [[ 9.99838835e-01 -1.32608522e-03 -1.79038047e-02 5.04336514e+00] [ 1.37726556e-03 9.99995000e-01 2.84660160e-03 6.88198293e-01] [ 1.78999403e-02 -2.87080112e-03 9.99835662e-01 1.63454786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5625578440001 meters Centerline goodness : 0.127541 Centerline is valid? [False, False] Translation: X:5.04, Y:0.69, Z:1.63 [[ 9.99821013e-01 -5.11008441e-03 -1.82161573e-02 5.04439468e+00] [ 5.10108727e-03 9.99986843e-01 -5.40340653e-04 6.85568210e-01] [ 1.82186789e-02 4.47321731e-04 9.99833926e-01 1.63421049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.59255784400005 meters Centerline goodness : 0.169259 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.63 [[ 9.99817676e-01 -5.03034003e-03 -1.84203761e-02 5.04497276e+00] [ 5.02802604e-03 9.99987345e-01 -1.71932239e-04 6.83241151e-01] [ 1.84210079e-02 7.92827610e-05 9.99830316e-01 1.63415577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6225578440001 meters Centerline goodness : 0.159542 Centerline is valid? [False, False] Translation: X:5.02, Y:0.68, Z:1.63 [[ 9.99832290e-01 1.29087909e-03 -1.82681785e-02 5.02253493e+00] [-1.33793066e-03 9.99995819e-01 -2.56361571e-03 6.76365635e-01] [ 1.82647928e-02 2.58762732e-03 9.99829836e-01 1.63383967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.65255784400006 meters Centerline goodness : 0.122357 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.63 [[ 9.99828217e-01 -6.48457642e-03 -1.73633880e-02 5.04198378e+00] [ 6.46492577e-03 9.99978397e-01 -1.18762110e-03 6.79921936e-01] [ 1.73707141e-02 1.07516407e-03 9.99848540e-01 1.63497818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6825578440001 meters Centerline goodness : 0.092397 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.64 [[ 9.99841773e-01 -6.04100343e-03 -1.67312794e-02 5.04038941e+00] [ 6.03164900e-03 9.99981624e-01 -6.09504557e-04 6.78436736e-01] [ 1.67346540e-02 5.08490913e-04 9.99859837e-01 1.63511364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.71255784400006 meters Centerline goodness : 0.166990 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.63 [[ 9.99868006e-01 2.00247968e-03 -1.61232971e-02 5.02031273e+00] [-2.02691501e-03 9.99996822e-01 -1.49933061e-03 6.71695821e-01] [ 1.61202435e-02 1.53181326e-03 9.99868887e-01 1.63317876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74255784400003 meters Centerline goodness : 0.091110 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.63 [[ 9.99851431e-01 -5.38043096e-03 -1.63757858e-02 5.03931318e+00] [ 5.37287180e-03 9.99985438e-01 -5.05566981e-04 6.77280799e-01] [ 1.63782675e-02 4.17506872e-04 9.99865780e-01 1.63444936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.77255784400006 meters Centerline goodness : 0.160548 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.63 [[ 9.99850078e-01 -5.38328277e-03 -1.64572985e-02 5.03968337e+00] [ 5.37349440e-03 9.99985359e-01 -6.38935365e-04 6.78039172e-01] [ 1.64604971e-02 5.50406373e-04 9.99864365e-01 1.63409409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80255784400003 meters Centerline goodness : 0.094758 Centerline is valid? [False, False] Translation: X:5.02, Y:0.68, Z:1.63 [[ 9.99840081e-01 4.02403006e-03 -1.74246709e-02 5.01766104e+00] [-4.03668279e-03 9.99991614e-01 -6.91027990e-04 6.75459400e-01] [ 1.74217440e-02 7.61255350e-04 9.99847940e-01 1.63377524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.83255784400006 meters Centerline goodness : 0.094307 Centerline is valid? [False, False] Translation: X:5.02, Y:0.68, Z:1.63 [[ 9.99844744e-01 3.97906549e-03 -1.71655429e-02 5.01691874e+00] [-3.99544720e-03 9.99991595e-01 -9.20147867e-04 6.76863453e-01] [ 1.71617373e-02 9.88589029e-04 9.99852238e-01 1.63384747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86255784400004 meters Centerline goodness : 0.163548 Centerline is valid? [False, False] Translation: X:5.02, Y:0.68, Z:1.63 [[ 9.99848535e-01 3.93833842e-03 -1.69527885e-02 5.01618044e+00] [-3.95627968e-03 9.99991649e-01 -1.02489954e-03 6.77358976e-01] [ 1.69486105e-02 1.09181428e-03 9.99855766e-01 1.63414581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.89255784400007 meters Centerline goodness : 0.143053 Centerline is valid? [False, False] Translation: X:5.02, Y:0.68, Z:1.63 [[ 9.99851689e-01 3.89732869e-03 -1.67753084e-02 5.01556944e+00] [-3.91607026e-03 9.99991744e-01 -1.08450790e-03 6.77470227e-01] [ 1.67709432e-02 1.15004035e-03 9.99858696e-01 1.63440420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92255784400004 meters Centerline goodness : 0.163250 Centerline is valid? [False, False] Translation: X:5.03, Y:0.68, Z:1.64 [[ 9.99854990e-01 -3.68051355e-03 -1.66268479e-02 5.03422909e+00] [ 3.68346777e-03 9.99993205e-01 1.47057028e-04 6.83406577e-01] [ 1.66261937e-02 -2.08280162e-04 9.99861754e-01 1.63621518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.95255784400007 meters Centerline goodness : 0.104088 Centerline is valid? [False, False] Translation: X:5.03, Y:0.68, Z:1.64 [[ 9.99852293e-01 -3.59252254e-03 -1.68072958e-02 5.03489764e+00] [ 3.59961602e-03 9.99993445e-01 3.91814748e-04 6.82408014e-01] [ 1.68057781e-02 -4.52256686e-04 9.99858671e-01 1.63589409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98255784400004 meters Centerline goodness : 0.084724 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.64 [[ 9.99850477e-01 -3.56408828e-03 -1.69209957e-02 5.03528366e+00] [ 3.57482556e-03 9.99993428e-01 6.04348545e-04 6.81055431e-01] [ 1.69187306e-02 -6.64747789e-04 9.99856647e-01 1.63578248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.01255784400007 meters Centerline goodness : 0.159647 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.64 [[ 9.99848495e-01 -3.50891799e-03 -1.70491872e-02 5.03568303e+00] [ 3.52485002e-03 9.99993379e-01 9.04514035e-04 6.79225999e-01] [ 1.70459005e-02 -9.64472825e-04 9.99854243e-01 1.63573786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04255784400004 meters Centerline goodness : 0.094970 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.64 [[ 9.99842039e-01 -3.46015266e-03 -1.74334055e-02 5.03675143e+00] [ 3.48723053e-03 9.99992760e-01 1.52305740e-03 6.75351328e-01] [ 1.74280093e-02 -1.58361112e-03 9.99846867e-01 1.63571327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0725578440001 meters Centerline goodness : 0.157122 Centerline is valid? [False, False] Translation: X:5.04, Y:0.67, Z:1.64 [[ 9.99840756e-01 -3.33730890e-03 -1.75306649e-02 5.03696743e+00] [ 3.37161515e-03 9.99992458e-01 1.92773720e-03 6.73129527e-01] [ 1.75240992e-02 -1.98653688e-03 9.99844468e-01 1.63580470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10255784400005 meters Centerline goodness : 0.131338 Centerline is valid? [False, False] Translation: X:5.05, Y:0.67, Z:1.64 [[ 9.99792674e-01 2.95272052e-03 -2.01467038e-02 5.05410250e+00] [-2.93548074e-03 9.99995300e-01 8.85231902e-04 6.67188638e-01] [ 2.01492229e-02 -8.25908110e-04 9.99796643e-01 1.63924985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1325578440001 meters Centerline goodness : 0.146329 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.64 [[ 9.99734515e-01 2.43551542e-03 -2.29121810e-02 5.00876878e+00] [-2.41167972e-03 9.99996522e-01 1.06788126e-03 6.61050560e-01] [ 2.29147021e-02 -1.01234091e-03 9.99736911e-01 1.63956129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16255784400005 meters Centerline goodness : 0.167434 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.64 [[ 9.99733978e-01 2.58431268e-03 -2.29193097e-02 5.00891205e+00] [-2.55060632e-03 9.99995623e-01 1.49976430e-03 6.58716237e-01] [ 2.29230852e-02 -1.44090719e-03 9.99736193e-01 1.63943466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1925578440001 meters Centerline goodness : 0.084365 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99730271e-01 8.64449517e-04 -2.32085600e-02 5.01051158e+00] [-8.61092724e-04 9.99999617e-01 1.54629312e-04 6.52922625e-01] [ 2.32086848e-02 -1.34602882e-04 9.99730633e-01 1.63853982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22255784400005 meters Centerline goodness : 0.158654 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99726751e-01 9.83157389e-04 -2.33550121e-02 5.01088441e+00] [-9.73457037e-04 9.99999435e-01 4.26708970e-04 6.51493478e-01] [ 2.33554184e-02 -4.03857271e-04 9.99727143e-01 1.63851437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2525578440001 meters Centerline goodness : 0.162304 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99722346e-01 1.13117042e-03 -2.35361612e-02 5.01137326e+00] [-1.11553685e-03 9.99999148e-01 6.77355253e-04 6.50569519e-01] [ 2.35369074e-02 -6.50911727e-04 9.99722757e-01 1.63844560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28255784400005 meters Centerline goodness : 0.159742 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99721178e-01 1.36070919e-03 -2.35735948e-02 5.01183720e+00] [-1.33789682e-03 9.99998621e-01 9.83453166e-04 6.49581371e-01] [ 2.35749005e-02 -9.51639921e-04 9.99721620e-01 1.63783470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3125578440001 meters Centerline goodness : 0.160710 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99723627e-01 1.36562598e-03 -2.34692432e-02 5.01155877e+00] [-1.34192662e-03 9.99998574e-01 1.02552484e-03 6.49153019e-01] [ 2.34706102e-02 -9.93747408e-04 9.99724033e-01 1.63785569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34255784400005 meters Centerline goodness : 0.161955 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99725631e-01 1.38688156e-03 -2.33824637e-02 5.01132101e+00] [-1.36216218e-03 9.99998497e-01 1.07307053e-03 6.48796818e-01] [ 2.33839167e-02 -1.04092540e-03 9.99726017e-01 1.63784227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3725578440001 meters Centerline goodness : 0.164609 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99725320e-01 1.45150374e-03 -2.33918082e-02 5.01140769e+00] [-1.42369771e-03 9.99998260e-01 1.20531788e-03 6.48216366e-01] [ 2.33935170e-02 -1.17168394e-03 9.99725648e-01 1.63774603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40255784400006 meters Centerline goodness : 0.158031 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99717839e-01 1.50611085e-03 -2.37059811e-02 5.01263253e+00] [-1.47120665e-03 9.99997808e-01 1.48975114e-03 6.46540824e-01] [ 2.37081729e-02 -1.45445439e-03 9.99717864e-01 1.63708333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.4325578440001 meters Centerline goodness : 0.165730 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.64 [[ 9.99655804e-01 -8.25119485e-05 -2.62348373e-02 4.96678333e+00] [ 1.03605344e-04 9.99999672e-01 8.02664087e-04 6.41054747e-01] [ 2.62347625e-02 -8.05105883e-04 9.99655485e-01 1.63731455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46255784400006 meters Centerline goodness : 0.161955 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.64 [[ 9.99656473e-01 -1.39951117e-04 -2.62091009e-02 4.96660438e+00] [ 1.65140650e-04 9.99999527e-01 9.58936721e-04 6.39574119e-01] [ 2.62089543e-02 -9.62935488e-04 9.99656023e-01 1.63755993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49255784400003 meters Centerline goodness : 0.161955 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.64 [[ 9.99656473e-01 -1.39951117e-04 -2.62091009e-02 4.96660438e+00] [ 1.65140650e-04 9.99999527e-01 9.58936721e-04 6.39574119e-01] [ 2.62089543e-02 -9.62935488e-04 9.99656023e-01 1.63755993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52255784400006 meters Centerline goodness : 0.162675 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.64 [[ 9.99662129e-01 -1.18397929e-04 -2.59925677e-02 4.96579012e+00] [ 1.50273104e-04 9.99999239e-01 1.22436893e-03 6.37945583e-01] [ 2.59924029e-02 -1.22786123e-03 9.99661386e-01 1.63809043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.55255784400003 meters Centerline goodness : 0.161004 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.64 [[ 9.99665508e-01 -4.22880915e-05 -2.58625326e-02 4.96519781e+00] [ 8.18715695e-05 9.99998827e-01 1.52947675e-03 6.36410314e-01] [ 2.58624376e-02 -1.53108256e-03 9.99664339e-01 1.63855743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58255784400006 meters Centerline goodness : 0.129263 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.64 [[ 9.99663715e-01 6.39115299e-05 -2.59316848e-02 4.96522134e+00] [-1.70641241e-05 9.99998368e-01 1.80678734e-03 6.35216702e-01] [ 2.59317579e-02 -1.80573725e-03 9.99662085e-01 1.63882961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.61255784400004 meters Centerline goodness : 0.160875 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.64 [[ 9.99654296e-01 1.75077248e-04 -2.62917781e-02 4.96618794e+00] [-1.16634018e-04 9.99997519e-01 2.22438801e-03 6.32878256e-01] [ 2.62921023e-02 -2.22055251e-03 9.99651837e-01 1.63883219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64255784400007 meters Centerline goodness : 0.168306 Centerline is valid? [False, False] Translation: X:4.92, Y:0.63, Z:1.64 [[ 9.99576096e-01 -7.55197758e-04 -2.91042633e-02 4.92125441e+00] [ 8.14328596e-04 9.99997628e-01 2.01989074e-03 6.28483600e-01] [ 2.91026689e-02 -2.04273494e-03 9.99574340e-01 1.63895022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.67255784400004 meters Centerline goodness : 0.158388 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.64 [[ 9.99632240e-01 -4.47495389e-04 -2.71142998e-02 4.96451033e+00] [ 4.89933637e-04 9.99998665e-01 1.55853804e-03 6.31153592e-01] [ 2.71135662e-02 -1.57124908e-03 9.99631125e-01 1.64011943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70255784400007 meters Centerline goodness : 0.164620 Centerline is valid? [False, False] Translation: X:4.92, Y:0.63, Z:1.64 [[ 9.99564962e-01 -6.45775244e-04 -2.94867771e-02 4.91711321e+00] [ 7.05625764e-04 9.99997712e-01 2.01938051e-03 6.25940306e-01] [ 2.94854056e-02 -2.03930863e-03 9.99563131e-01 1.64137433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.73255784400004 meters Centerline goodness : 0.158442 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.64 [[ 9.99554453e-01 7.75754819e-03 -2.88221342e-02 4.93692988e+00] [-7.73471556e-03 9.99969678e-01 9.03596720e-04 6.24061738e-01] [ 2.88282700e-02 -6.80263115e-04 9.99584148e-01 1.64282735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76255784400007 meters Centerline goodness : 0.160648 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.65 [[ 9.99551835e-01 1.11513886e-03 -2.99146317e-02 4.95461995e+00] [-1.05445359e-03 9.99997354e-01 2.04431391e-03 6.30783158e-01] [ 2.99168323e-02 -2.01185413e-03 9.99550367e-01 1.64503684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.79255784400004 meters Centerline goodness : 0.114970 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.65 [[ 9.99566818e-01 1.15803675e-03 -2.94080875e-02 4.95309316e+00] [-1.10712079e-03 9.99997860e-01 1.74758257e-03 6.32957258e-01] [ 2.94100483e-02 -1.71426724e-03 9.99565961e-01 1.64536564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8225578440001 meters Centerline goodness : 0.159540 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.65 [[ 9.99571411e-01 1.09550848e-03 -2.92539682e-02 4.95247235e+00] [-1.05223790e-03 9.99998330e-01 1.49448914e-03 6.34394074e-01] [ 2.92555565e-02 -1.46306648e-03 9.99570894e-01 1.64564631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.85255784400005 meters Centerline goodness : 0.148704 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.65 [[ 9.99570749e-01 9.89952434e-04 -2.92803441e-02 4.95260198e+00] [-9.56871754e-04 9.99998888e-01 1.14378157e-03 6.36266624e-01] [ 2.92814438e-02 -1.11527307e-03 9.99570584e-01 1.64547757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8825578440001 meters Centerline goodness : 0.161068 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.65 [[ 9.99568720e-01 8.70633766e-04 -2.93532881e-02 4.95300025e+00] [-8.47827786e-04 9.99999329e-01 7.89385028e-04 6.38075494e-01] [ 2.93539557e-02 -7.64158049e-04 9.99568788e-01 1.64510031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.91255784400005 meters Centerline goodness : 0.166833 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.64 [[ 9.99563114e-01 6.56961042e-04 -2.95491007e-02 4.95392934e+00] [-6.51426567e-04 9.99999768e-01 1.96923810e-04 6.40859450e-01] [ 2.95492233e-02 -1.77588707e-04 9.99563311e-01 1.64425966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9425578440001 meters Centerline goodness : 0.103672 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.64 [[ 9.99561919e-01 5.62060763e-04 -2.95914451e-02 4.95395688e+00] [-5.63942345e-04 9.99999839e-01 -5.52396444e-05 6.42122908e-01] [ 2.95914093e-02 7.19033139e-05 9.99562076e-01 1.64431960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.97255784400005 meters Centerline goodness : 0.160893 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.64 [[ 9.99566939e-01 5.20609660e-04 -2.94221611e-02 4.95317762e+00] [-5.26755192e-04 9.99999841e-01 -2.01123830e-04 6.43062770e-01] [ 2.94220518e-02 2.16535007e-04 9.99567054e-01 1.64483363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0025578440001 meters Centerline goodness : 0.105285 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.65 [[ 9.99573830e-01 4.84601588e-04 -2.91877219e-02 4.95229180e+00] [-4.93937052e-04 9.99999829e-01 -3.12633007e-04 6.43688265e-01] [ 2.91875654e-02 3.26916670e-04 9.99573899e-01 1.64523920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.03255784400005 meters Centerline goodness : 0.158487 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.65 [[ 9.99578194e-01 3.97728142e-04 -2.90392026e-02 4.95171488e+00] [-4.11669690e-04 9.99999803e-01 -4.74117097e-04 6.44358314e-01] [ 2.90390084e-02 4.85871671e-04 9.99578161e-01 1.64555866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0625578440001 meters Centerline goodness : 0.160853 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.65 [[ 9.99578736e-01 2.80582224e-04 -2.90219150e-02 4.95182622e+00] [-3.04843629e-04 9.99999608e-01 -8.31547338e-04 6.46405580e-01] [ 2.90216703e-02 8.40044183e-04 9.99578430e-01 1.64525699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.09255784400005 meters Centerline goodness : 0.162952 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99573501e-01 2.55087186e-04 -2.92019112e-02 4.95264902e+00] [-2.83951054e-04 9.99999475e-01 -9.84281341e-04 6.47477812e-01] [ 2.92016448e-02 9.92153459e-04 9.99573049e-01 1.64461449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1225578440001 meters Centerline goodness : 0.162432 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99570160e-01 1.96117774e-04 -2.93164835e-02 4.95302470e+00] [-2.29603236e-04 9.99999325e-01 -1.13884400e-03 6.48324037e-01] [ 2.93162404e-02 1.14508563e-03 9.99569531e-01 1.64444308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.15255784400006 meters Centerline goodness : 0.108053 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99568870e-01 1.33841386e-04 -2.93608081e-02 4.95316389e+00] [-1.70762854e-04 9.99999198e-01 -1.25500476e-03 6.48853766e-01] [ 2.93606166e-02 1.25947743e-03 9.99568091e-01 1.64439415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1825578440001 meters Centerline goodness : 0.110481 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99568160e-01 9.34816106e-05 -2.93850999e-02 4.95304378e+00] [-1.32462694e-04 9.99999114e-01 -1.32461567e-03 6.49100844e-01] [ 2.93849501e-02 1.32793608e-03 9.99567287e-01 1.64467262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.21255784400006 meters Centerline goodness : 0.163169 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.65 [[ 9.99567200e-01 -1.42194730e-05 -2.94178817e-02 4.95288426e+00] [-2.81730841e-05 9.99998962e-01 -1.44063225e-03 6.49395100e-01] [ 2.94178717e-02 1.44083753e-03 9.99566162e-01 1.64505733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24255784400003 meters Centerline goodness : 0.161198 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.65 [[ 9.99565139e-01 -4.79481410e-05 -2.94877967e-02 4.95302155e+00] [ 3.02086985e-06 9.99998839e-01 -1.52363127e-03 6.49943103e-01] [ 2.94878355e-02 1.52287962e-03 9.99563979e-01 1.64513453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.27255784400006 meters Centerline goodness : 0.160514 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99562734e-01 -1.17937794e-04 -2.95690303e-02 4.95330919e+00] [ 6.78941971e-05 9.99998564e-01 -1.69343109e-03 6.50832485e-01] [ 2.95691876e-02 1.69068304e-03 9.99561306e-01 1.64499175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30255784400003 meters Centerline goodness : 0.113217 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99559815e-01 -2.09967980e-04 -2.96670373e-02 4.95376363e+00] [ 1.52602758e-04 9.99998115e-01 -1.93588593e-03 6.52012541e-01] [ 2.96673878e-02 1.93050650e-03 9.99557962e-01 1.64463416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.33255784400006 meters Centerline goodness : 0.166243 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99561330e-01 -4.25862048e-04 -2.96136161e-02 4.95360446e+00] [ 3.50840926e-04 9.99996717e-01 -2.53848187e-03 6.54902807e-01] [ 2.96145999e-02 2.52697864e-03 9.99558197e-01 1.64454861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36255784400004 meters Centerline goodness : 0.216721 Centerline is valid? [False, False] Translation: X:4.95, Y:0.66, Z:1.64 [[ 9.99564605e-01 -5.38471613e-04 -2.95010110e-02 4.95313454e+00] [ 4.55372711e-04 9.99995910e-01 -2.82346141e-03 6.56234405e-01] [ 2.95024107e-02 2.80879813e-03 9.99560763e-01 1.64477288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.39255784400007 meters Centerline goodness : 0.129910 Centerline is valid? [False, False] Translation: X:4.95, Y:0.66, Z:1.64 [[ 9.99562818e-01 -7.49053814e-04 -2.95569235e-02 4.95318649e+00] [ 6.48329105e-04 9.99993951e-01 -3.41725742e-03 6.59278043e-01] [ 2.95593045e-02 3.39660084e-03 9.99557257e-01 1.64478872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42255784400004 meters Centerline goodness : 0.160299 Centerline is valid? [False, False] Translation: X:4.95, Y:0.66, Z:1.64 [[ 9.99559642e-01 -8.63659148e-04 -2.96610323e-02 4.95349971e+00] [ 7.53350592e-04 9.99992760e-01 -3.72994595e-03 6.60927756e-01] [ 2.96640390e-02 3.70595828e-03 9.99553055e-01 1.64467859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.45255784400007 meters Centerline goodness : 0.146770 Centerline is valid? [False, False] Translation: X:4.95, Y:0.66, Z:1.64 [[ 9.99558111e-01 -1.01344718e-03 -2.97078275e-02 4.95375981e+00] [ 8.92019890e-04 9.99991196e-01 -4.10035159e-03 6.62757350e-01] [ 2.97117215e-02 4.07203972e-03 9.99550215e-01 1.64440063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48255784400004 meters Centerline goodness : 0.168410 Centerline is valid? [False, False] Translation: X:4.95, Y:0.66, Z:1.64 [[ 9.99556131e-01 -1.17664619e-03 -2.97683848e-02 4.95402969e+00] [ 1.04329012e-03 9.99989354e-01 -4.49492409e-03 6.64622545e-01] [ 2.97733568e-02 4.46187187e-03 9.99546717e-01 1.64415557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.51255784400007 meters Centerline goodness : 0.164821 Centerline is valid? [False, False] Translation: X:4.95, Y:0.67, Z:1.64 [[ 9.99550775e-01 -1.42319893e-03 -2.99369641e-02 4.95439217e+00] [ 1.26683069e-03 9.99985460e-01 -5.24156832e-03 6.69061825e-01] [ 2.99439886e-02 5.20128862e-03 9.99538045e-01 1.64411911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54255784400004 meters Centerline goodness : 0.166052 Centerline is valid? [False, False] Translation: X:4.95, Y:0.67, Z:1.64 [[ 9.99554322e-01 -1.54290828e-03 -2.98123585e-02 4.95385642e+00] [ 1.37631170e-03 9.99983329e-01 -5.60788403e-03 6.71313411e-01] [ 2.98205140e-02 5.56435362e-03 9.99539782e-01 1.64440413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5725578440001 meters Centerline goodness : 0.164125 Centerline is valid? [False, False] Translation: X:4.95, Y:0.67, Z:1.64 [[ 9.99561409e-01 -1.65980097e-03 -2.95674532e-02 4.95287746e+00] [ 1.48518013e-03 9.99981333e-01 -5.92682925e-03 6.73160013e-01] [ 2.95767387e-02 5.88031681e-03 9.99545216e-01 1.64491899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60255784400005 meters Centerline goodness : 0.171788 Centerline is valid? [False, False] Translation: X:4.95, Y:0.67, Z:1.65 [[ 9.99568767e-01 -1.80695045e-03 -2.93089601e-02 4.95186832e+00] [ 1.62460164e-03 9.99979185e-01 -6.24422623e-03 6.74744561e-01] [ 2.93196331e-02 6.19391813e-03 9.99550896e-01 1.64549612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6325578440001 meters Centerline goodness : 0.164493 Centerline is valid? [False, False] Translation: X:4.97, Y:0.68, Z:1.64 [[ 9.99650747e-01 3.49670238e-03 -2.61945974e-02 4.97422285e+00] [-3.75015486e-03 9.99946571e-01 -9.63288547e-03 6.79484715e-01] [ 2.61595145e-02 9.72775496e-03 9.99610449e-01 1.64486033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66255784400005 meters Centerline goodness : 0.170637 Centerline is valid? [False, False] Translation: X:4.97, Y:0.68, Z:1.64 [[ 9.99646178e-01 3.39419432e-03 -2.63817880e-02 4.97479304e+00] [-3.65490682e-03 9.99944903e-01 -9.84036136e-03 6.80482631e-01] [ 2.63469344e-02 9.93330260e-03 9.99603506e-01 1.64472056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6925578440001 meters Centerline goodness : 0.171959 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99638424e-01 3.31643333e-03 -2.66837385e-02 4.97586190e+00] [-3.58433290e-03 9.99943592e-01 -9.99824766e-03 6.81211029e-01] [ 2.66490749e-02 1.00902759e-02 9.99593924e-01 1.64422439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72255784400005 meters Centerline goodness : 0.114111 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99629302e-01 3.23256244e-03 -2.70334945e-02 4.97711503e+00] [-3.50801542e-03 9.99942353e-01 -1.01481116e-02 6.81824448e-01] [ 2.69991317e-02 1.02391836e-02 9.99583016e-01 1.64362369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7525578440001 meters Centerline goodness : 0.173040 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99624216e-01 3.23010462e-03 -2.72212088e-02 4.97758736e+00] [-3.50632021e-03 9.99942791e-01 -1.01054574e-02 6.81527578e-01] [ 2.71870098e-02 1.01971062e-02 9.99578354e-01 1.64363427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78255784400005 meters Centerline goodness : 0.169746 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99624794e-01 3.25258077e-03 -2.71972619e-02 4.97734541e+00] [-3.52559859e-03 9.99943818e-01 -9.99651125e-03 6.80910810e-01] [ 2.71632195e-02 1.00886471e-02 9.99580101e-01 1.64395280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8125578440001 meters Centerline goodness : 0.165976 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99624558e-01 3.28139705e-03 -2.72024879e-02 4.97726918e+00] [-3.55088597e-03 9.99945041e-01 -9.86439605e-03 6.80111238e-01] [ 2.71686239e-02 9.95728548e-03 9.99581272e-01 1.64409002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84255784400005 meters Centerline goodness : 0.155087 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99624213e-01 3.33395041e-03 -2.72087929e-02 4.97717634e+00] [-3.59811242e-03 9.99946814e-01 -9.66552276e-03 6.78981202e-01] [ 2.71751214e-02 9.75979088e-03 9.99583043e-01 1.64426014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8725578440001 meters Centerline goodness : 0.169254 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99623397e-01 3.39841311e-03 -2.72307547e-02 4.97720989e+00] [-3.65628762e-03 9.99948892e-01 -9.42578460e-03 6.77643613e-01] [ 2.71973303e-02 9.52179830e-03 9.99584734e-01 1.64434865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90255784400006 meters Centerline goodness : 0.168478 Centerline is valid? [False, False] Translation: X:5.00, Y:0.68, Z:1.65 [[ 9.99634043e-01 -4.82340887e-03 -2.66179311e-02 4.99733652e+00] [ 4.60400775e-03 9.99954974e-01 -8.29774534e-03 6.79763930e-01] [ 2.66567560e-02 8.17215957e-03 9.99611241e-01 1.64544792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.9325578440001 meters Centerline goodness : 0.173627 Centerline is valid? [False, False] Translation: X:5.00, Y:0.68, Z:1.65 [[ 9.99636813e-01 -4.72389706e-03 -2.65316225e-02 4.99723926e+00] [ 4.51147919e-03 9.99957338e-01 -8.06037581e-03 6.78577977e-01] [ 2.65685670e-02 7.93775152e-03 9.99615478e-01 1.64530172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96255784400006 meters Centerline goodness : 0.167061 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99662542e-01 3.53157584e-03 -2.57357641e-02 5.01757632e+00] [-3.76410459e-03 9.99952483e-01 -8.99240198e-03 6.74693123e-01] [ 2.57027839e-02 9.08623953e-03 9.99628335e-01 1.64672087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99255784400003 meters Centerline goodness : 0.172754 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99660975e-01 3.60305426e-03 -2.57866678e-02 5.01786422e+00] [-3.83217856e-03 9.99953570e-01 -8.84148336e-03 6.73862919e-01] [ 2.57536142e-02 8.93730499e-03 9.99628369e-01 1.64646245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02255784400006 meters Centerline goodness : 0.111903 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99654235e-01 3.68529901e-03 -2.60351361e-02 5.01862928e+00] [-3.91268875e-03 9.99954600e-01 -8.68841947e-03 6.72907977e-01] [ 2.60019347e-02 8.78728271e-03 9.99623271e-01 1.64619081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.05255784400003 meters Centerline goodness : 0.169438 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99650166e-01 3.74075906e-03 -2.61830734e-02 5.01911619e+00] [-3.96677392e-03 9.99955276e-01 -8.58548752e-03 6.72369825e-01] [ 2.61497861e-02 8.68634636e-03 9.99620296e-01 1.64598963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08255784400006 meters Centerline goodness : 0.103204 Centerline is valid? [False, False] Translation: X:5.00, Y:0.67, Z:1.64 [[ 9.99599426e-01 -4.48707865e-03 -2.79437718e-02 4.99913666e+00] [ 4.28497301e-03 9.99964259e-01 -7.28826901e-03 6.74146350e-01] [ 2.79754761e-02 7.16561121e-03 9.99582926e-01 1.64475877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.11255784400004 meters Centerline goodness : 0.172644 Centerline is valid? [False, False] Translation: X:5.00, Y:0.67, Z:1.65 [[ 9.99607669e-01 -4.25756309e-03 -2.76835968e-02 4.99811273e+00] [ 4.07031774e-03 9.99968483e-01 -6.81660267e-03 6.72129331e-01] [ 2.77117464e-02 6.70124727e-03 9.99593494e-01 1.64538500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14255784400007 meters Centerline goodness : 0.160952 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99649934e-01 3.90820780e-03 -2.61674355e-02 5.01661610e+00] [-4.11716372e-03 9.99960032e-01 -7.93623228e-03 6.68258537e-01] [ 2.61353732e-02 8.04118969e-03 9.99626071e-01 1.64742917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.17255784400004 meters Centerline goodness : 0.166360 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99654066e-01 3.98077797e-03 -2.59981159e-02 5.01592569e+00] [-4.18355324e-03 9.99961218e-01 -7.74988537e-03 6.67265442e-01] [ 2.59662571e-02 7.85596892e-03 9.99631951e-01 1.64785254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20255784400007 meters Centerline goodness : 0.172455 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99655002e-01 4.00768212e-03 -2.59579424e-02 5.01565765e+00] [-4.20738725e-03 9.99961938e-01 -7.64336875e-03 6.66508567e-01] [ 2.59263222e-02 7.74994693e-03 9.99633815e-01 1.64809976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.23255784400004 meters Centerline goodness : 0.167782 Centerline is valid? [False, False] Translation: X:5.03, Y:0.67, Z:1.65 [[ 9.99657916e-01 -3.60030975e-03 -2.59053743e-02 5.03482979e+00] [ 3.43585608e-03 9.99973681e-01 -6.38995832e-03 6.70788332e-01] [ 2.59276984e-02 6.29876528e-03 9.99643977e-01 1.65008661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26255784400007 meters Centerline goodness : 0.168578 Centerline is valid? [False, False] Translation: X:5.03, Y:0.67, Z:1.65 [[ 9.99657950e-01 -3.53667617e-03 -2.59128178e-02 5.03491121e+00] [ 3.37417234e-03 9.99974385e-01 -6.31221891e-03 6.70649474e-01] [ 2.59344783e-02 6.22262550e-03 9.99644278e-01 1.64994938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.29255784400004 meters Centerline goodness : 0.166606 Centerline is valid? [False, False] Translation: X:5.03, Y:0.67, Z:1.65 [[ 9.99658916e-01 -3.45881550e-03 -2.58860672e-02 5.03489855e+00] [ 3.29876174e-03 9.99975195e-01 -6.22315926e-03 6.70518830e-01] [ 2.59069499e-02 6.13564468e-03 9.99645529e-01 1.64985661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3225578440001 meters Centerline goodness : 0.163787 Centerline is valid? [False, False] Translation: X:5.04, Y:0.67, Z:1.65 [[ 9.99658288e-01 -3.50597985e-03 -2.59039666e-02 5.03510569e+00] [ 3.34303190e-03 9.99974370e-01 -6.33109393e-03 6.70816783e-01] [ 2.59254994e-02 6.24233273e-03 9.99644388e-01 1.64956440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.35255784400005 meters Centerline goodness : 0.159338 Centerline is valid? [False, False] Translation: X:5.04, Y:0.67, Z:1.65 [[ 9.99649458e-01 -3.54013743e-03 -2.62379203e-02 5.03606428e+00] [ 3.37282887e-03 9.99973716e-01 -6.41810892e-03 6.71173749e-01] [ 2.62599516e-02 6.32736309e-03 9.99635123e-01 1.64932710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3825578440001 meters Centerline goodness : 0.105489 Centerline is valid? [False, False] Translation: X:5.04, Y:0.67, Z:1.65 [[ 9.99643851e-01 -3.51442251e-03 -2.64540993e-02 5.03673653e+00] [ 3.34311336e-03 9.99973175e-01 -6.51715716e-03 6.72050594e-01] [ 2.64762937e-02 6.42639703e-03 9.99628785e-01 1.64905888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.41255784400005 meters Centerline goodness : 0.105489 Centerline is valid? [False, False] Translation: X:5.04, Y:0.67, Z:1.65 [[ 9.99643851e-01 -3.51442251e-03 -2.64540993e-02 5.03673653e+00] [ 3.34311336e-03 9.99973175e-01 -6.51715716e-03 6.72050594e-01] [ 2.64762937e-02 6.42639703e-03 9.99628785e-01 1.64905888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4425578440001 meters Centerline goodness : 0.162874 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99638151e-01 4.86781758e-03 -2.64550818e-02 5.01660865e+00] [-5.06290791e-03 9.99960447e-01 -7.31242748e-03 6.67935312e-01] [ 2.64184399e-02 7.44372113e-03 9.99623258e-01 1.64765376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.47255784400005 meters Centerline goodness : 0.163552 Centerline is valid? [False, False] Translation: X:5.01, Y:0.67, Z:1.65 [[ 0.99966834 0.00527152 -0.0252077 5.01304049] [-0.00546165 0.99995711 -0.00747957 0.67105341] [ 0.02516719 0.00761476 0.99965425 1.64835023] [ 0. 0. 0. 1. ]] SLAMing on 469.5025578440001 meters Centerline goodness : 0.084207 Centerline is valid? [False, False] Translation: X:5.03, Y:0.68, Z:1.65 [[ 9.99681788e-01 -1.50449268e-03 -2.51805234e-02 5.02978171e+00] [ 1.34647425e-03 9.99979304e-01 -6.29120166e-03 6.80188388e-01] [ 2.51894673e-02 6.25529480e-03 9.99663124e-01 1.65069187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.53255784400005 meters Centerline goodness : 0.158020 Centerline is valid? [False, False] Translation: X:5.03, Y:0.68, Z:1.65 [[ 9.99683916e-01 -1.59559315e-03 -2.50902973e-02 5.02948846e+00] [ 1.42432784e-03 9.99975576e-01 -6.84234812e-03 6.83393838e-01] [ 2.51006021e-02 6.80444855e-03 9.99661772e-01 1.65062964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5625578440001 meters Centerline goodness : 0.157501 Centerline is valid? [False, False] Translation: X:5.03, Y:0.69, Z:1.65 [[ 9.99682010e-01 -1.68990692e-03 -2.51599691e-02 5.02969593e+00] [ 1.50302551e-03 9.99971158e-01 -7.44478729e-03 6.86980990e-01] [ 2.51718244e-02 7.40460384e-03 9.99655716e-01 1.65037205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.59255784400005 meters Centerline goodness : 0.092134 Centerline is valid? [False, False] Translation: X:5.03, Y:0.69, Z:1.65 [[ 9.99656629e-01 4.60754704e-04 -2.61994597e-02 5.03375960e+00] [-6.21933084e-04 9.99980931e-01 -6.14415771e-03 6.93773484e-01] [ 2.61961292e-02 6.15834229e-03 9.99637853e-01 1.64860096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6225578440001 meters Centerline goodness : 0.089547 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.65 [[ 9.99657317e-01 3.09879574e-04 -2.61754059e-02 5.03348384e+00] [-4.82162686e-04 9.99978263e-01 -6.57581469e-03 6.96115432e-01] [ 2.61727992e-02 6.58618208e-03 9.99635737e-01 1.64882724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.65255784400006 meters Centerline goodness : 0.091237 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.65 [[ 9.99660728e-01 1.97614489e-04 -2.60459006e-02 5.03277898e+00] [-3.76717785e-04 9.99976318e-01 -6.87172113e-03 6.97766152e-01] [ 2.60439259e-02 6.87920171e-03 9.99637129e-01 1.64935632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6825578440001 meters Centerline goodness : 0.158304 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:1.65 [[ 0.99966332 -0.0078711 -0.02472449 5.0514817 ] [ 0.00772391 0.99995191 -0.00604303 0.7064737 ] [ 0.02477086 0.00585002 0.99967604 1.6513297 ] [ 0. 0. 0. 1. ]] SLAMing on 469.71255784400006 meters Centerline goodness : 0.161829 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.65 [[ 9.99692368e-01 -2.29143928e-04 -2.48015501e-02 5.03250552e+00] [ 4.39527751e-05 9.99972119e-01 -7.46720606e-03 7.00699402e-01] [ 2.48025697e-02 7.46381881e-03 9.99664506e-01 1.64946267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74255784400003 meters Centerline goodness : 0.160667 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.65 [[ 9.99690618e-01 -3.42625990e-04 -2.48706840e-02 5.03289184e+00] [ 1.52082394e-04 9.99970628e-01 -7.66286057e-03 7.01402732e-01] [ 2.48725790e-02 7.65670742e-03 9.99661307e-01 1.64912719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.77255784400006 meters Centerline goodness : 0.178269 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.65 [[ 9.99687267e-01 -4.22249405e-04 -2.50037963e-02 5.03331791e+00] [ 2.26045724e-04 9.99969169e-01 -7.84926224e-03 7.02374498e-01] [ 2.50063398e-02 7.84115552e-03 9.99656541e-01 1.64898412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80255784400003 meters Centerline goodness : 0.153875 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.65 [[ 9.99684438e-01 -5.07538966e-04 -2.51150769e-02 5.03356186e+00] [ 3.02333114e-04 9.99966549e-01 -8.17374677e-03 7.04385416e-01] [ 2.51183853e-02 8.16357433e-03 9.99651151e-01 1.64896499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.83255784400006 meters Centerline goodness : 0.111700 Centerline is valid? [False, False] Translation: X:5.03, Y:0.71, Z:1.65 [[ 9.99682513e-01 -5.69317852e-04 -2.51902684e-02 5.03374401e+00] [ 3.59301627e-04 9.99965149e-01 -8.34093762e-03 7.05133493e-01] [ 2.51941392e-02 8.32923857e-03 9.99647878e-01 1.64895329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86255784400004 meters Centerline goodness : 0.161976 Centerline is valid? [False, False] Translation: X:5.03, Y:0.71, Z:1.65 [[ 9.99680392e-01 -6.64249679e-04 -2.52719793e-02 5.03393954e+00] [ 4.48678017e-04 9.99963477e-01 -8.53478077e-03 7.05872557e-01] [ 2.52767255e-02 8.52071400e-03 9.99644179e-01 1.64890130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.89255784400007 meters Centerline goodness : 0.123887 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99610561e-01 -1.01633381e-03 -2.78871584e-02 4.98832466e+00] [ 7.69534632e-04 9.99960460e-01 -8.85922731e-03 7.03115921e-01] [ 2.78950597e-02 8.83431705e-03 9.99571819e-01 1.64898308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92255784400004 meters Centerline goodness : 0.171019 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99612247e-01 -1.06868816e-03 -2.78247066e-02 4.98822914e+00] [ 8.18550351e-04 9.99959168e-01 -8.99961215e-03 7.03882277e-01] [ 2.78331882e-02 8.97334660e-03 9.99572305e-01 1.64888070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.95255784400007 meters Centerline goodness : 0.165188 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99611706e-01 -1.13137541e-03 -2.78416458e-02 4.98831441e+00] [ 8.81202940e-04 9.99959145e-01 -8.99617858e-03 7.03761793e-01] [ 2.78506864e-02 8.96815127e-03 9.99571864e-01 1.64884113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98255784400004 meters Centerline goodness : 0.169115 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99610041e-01 -1.13766268e-03 -2.79011134e-02 4.98849365e+00] [ 8.90367554e-04 9.99960228e-01 -8.87409342e-03 7.03008950e-01] [ 2.79100995e-02 8.84579064e-03 9.99571297e-01 1.64887871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.01255784400007 meters Centerline goodness : 0.171396 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99605244e-01 -1.14799008e-03 -2.80720320e-02 4.98889278e+00] [ 9.03501342e-04 9.99961568e-01 -8.72046879e-03 7.01978563e-01] [ 2.80809641e-02 8.69166321e-03 9.99567864e-01 1.64895065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04255784400004 meters Centerline goodness : 0.169457 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99598084e-01 -1.13543874e-03 -2.83263343e-02 4.98964338e+00] [ 8.95037735e-04 9.99963490e-01 -8.49807372e-03 7.00592991e-01] [ 2.83349492e-02 8.46930507e-03 9.99562605e-01 1.64881388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0725578440001 meters Centerline goodness : 0.109252 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99598030e-01 -1.40371127e-03 -2.83162278e-02 4.98951233e+00] [ 1.17321352e-03 9.99966058e-01 -8.15510101e-03 6.97664597e-01] [ 2.83267141e-02 8.11860192e-03 9.99565748e-01 1.64914711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10255784400005 meters Centerline goodness : 0.150209 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99600303e-01 -1.30744988e-03 -2.82404978e-02 4.98902739e+00] [ 1.08884387e-03 9.99969338e-01 -7.75486102e-03 6.95638312e-01] [ 2.82497709e-02 7.72101192e-03 9.99571076e-01 1.64971322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1325578440001 meters Centerline goodness : 0.170182 Centerline is valid? [False, False] Translation: X:4.99, Y:0.69, Z:1.65 [[ 9.99601493e-01 -1.15220141e-03 -2.82050908e-02 4.98870509e+00] [ 9.46482726e-04 9.99972863e-01 -7.30593623e-03 6.93547697e-01] [ 2.82127433e-02 7.27632913e-03 9.99575458e-01 1.65013946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16255784400005 meters Centerline goodness : 0.091037 Centerline is valid? [False, False] Translation: X:4.99, Y:0.69, Z:1.65 [[ 9.99588797e-01 -1.30571203e-03 -2.86449280e-02 4.99005206e+00] [ 1.10962243e-03 9.99975852e-01 -6.86035437e-03 6.89826113e-01] [ 2.86531940e-02 6.82574832e-03 9.99566108e-01 1.64988009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1925578440001 meters Centerline goodness : 0.118857 Centerline is valid? [False, False] Translation: X:4.99, Y:0.69, Z:1.65 [[ 9.99582776e-01 -1.21675895e-03 -2.88581526e-02 4.99075758e+00] [ 1.03138412e-03 9.99978746e-01 -6.43767114e-03 6.87385817e-01] [ 2.88653724e-02 6.40522135e-03 9.99562786e-01 1.64964109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22255784400005 meters Centerline goodness : 0.166308 Centerline is valid? [False, False] Translation: X:4.99, Y:0.68, Z:1.65 [[ 9.99582900e-01 -1.01933586e-03 -2.88615016e-02 4.99056943e+00] [ 8.50903463e-04 9.99982541e-01 -5.84756529e-03 6.84519104e-01] [ 2.88669583e-02 5.82056792e-03 9.99566316e-01 1.65001518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2525578440001 meters Centerline goodness : 0.126488 Centerline is valid? [False, False] Translation: X:4.94, Y:0.68, Z:1.65 [[ 9.99530863e-01 -1.55147340e-03 -3.05883297e-02 4.94292021e+00] [ 1.38499436e-03 9.99984119e-01 -5.46300350e-03 6.77876605e-01] [ 3.05963196e-02 5.41807594e-03 9.99517138e-01 1.65086433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28255784400005 meters Centerline goodness : 0.170845 Centerline is valid? [False, False] Translation: X:4.96, Y:0.68, Z:1.65 [[ 9.99526849e-01 -9.91524552e-03 -2.91164271e-02 4.96337028e+00] [ 9.79082715e-03 9.99942333e-01 -4.41259941e-03 6.78699147e-01] [ 2.91585001e-02 4.12543768e-03 9.99566287e-01 1.65201932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3125578440001 meters Centerline goodness : 0.165670 Centerline is valid? [False, False] Translation: X:4.96, Y:0.67, Z:1.65 [[ 0.99948608 -0.01372881 -0.02896708 4.96309155] [ 0.01351554 0.99988019 -0.00754534 0.67404279] [ 0.0290672 0.00714996 0.99955189 1.65212345] [ 0. 0. 0. 1. ]] SLAMing on 470.34255784400005 meters Centerline goodness : 0.166659 Centerline is valid? [False, False] Translation: X:4.94, Y:0.67, Z:1.65 [[ 0.99955721 -0.00552285 -0.02923842 4.94431712] [ 0.00528697 0.9999529 -0.00813887 0.66534493] [ 0.02928199 0.00798069 0.99953933 1.65005729] [ 0. 0. 0. 1. ]] SLAMing on 470.3725578440001 meters Centerline goodness : 0.161354 Centerline is valid? [False, False] Translation: X:4.95, Y:0.66, Z:1.65 [[ 9.99554272e-01 -5.00700094e-03 -2.94310647e-02 4.94525921e+00] [ 4.79142839e-03 9.99961210e-01 -7.39062650e-03 6.62622301e-01] [ 2.94669279e-02 7.24631545e-03 9.99539490e-01 1.64928751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40255784400006 meters Centerline goodness : 0.175112 Centerline is valid? [False, False] Translation: X:4.94, Y:0.66, Z:1.65 [[ 9.99559043e-01 -4.83999739e-03 -2.92966378e-02 4.94488997e+00] [ 4.63268091e-03 9.99963777e-01 -7.14020411e-03 6.61574227e-01] [ 2.93301352e-02 7.00133362e-03 9.99545259e-01 1.64934098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.4325578440001 meters Centerline goodness : 0.159446 Centerline is valid? [False, False] Translation: X:4.94, Y:0.66, Z:1.65 [[ 9.99566496e-01 -4.72559383e-03 -2.90600996e-02 4.94419691e+00] [ 4.52620062e-03 9.99965790e-01 -6.92336489e-03 6.60475153e-01] [ 2.90918224e-02 6.78883174e-03 9.99553689e-01 1.64951151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46255784400006 meters Centerline goodness : 0.163907 Centerline is valid? [False, False] Translation: X:4.94, Y:0.66, Z:1.65 [[ 9.99571970e-01 -4.60034488e-03 -2.88914100e-02 4.94357474e+00] [ 4.40989527e-03 9.99968150e-01 -6.65217293e-03 6.59073372e-01] [ 2.89210921e-02 6.52191751e-03 9.99560421e-01 1.64981387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49255784400003 meters Centerline goodness : 0.161182 Centerline is valid? [False, False] Translation: X:4.94, Y:0.66, Z:1.65 [[ 9.99582727e-01 -4.32531376e-03 -2.85598255e-02 4.94246678e+00] [ 4.15530378e-03 9.99973310e-01 -6.00943564e-03 6.55789037e-01] [ 2.85850559e-02 5.88825331e-03 9.99574021e-01 1.65026054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52255784400006 meters Centerline goodness : 0.163690 Centerline is valid? [False, False] Translation: X:4.94, Y:0.65, Z:1.65 [[ 9.99586225e-01 -4.15983012e-03 -2.84618226e-02 4.94199856e+00] [ 4.00226786e-03 9.99976363e-01 -5.59064592e-03 6.53563854e-01] [ 2.84844060e-02 5.47442081e-03 9.99579246e-01 1.65065281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.55255784400003 meters Centerline goodness : 0.167887 Centerline is valid? [False, False] Translation: X:4.94, Y:0.65, Z:1.65 [[ 9.99586638e-01 -4.01863455e-03 -2.84675991e-02 4.94200235e+00] [ 3.87182660e-03 9.99978931e-01 -5.21026555e-03 6.51486633e-01] [ 2.84879375e-02 5.09789022e-03 9.99581137e-01 1.65068573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58255784400006 meters Centerline goodness : 0.133563 Centerline is valid? [False, False] Translation: X:4.96, Y:0.65, Z:1.65 [[ 9.99593936e-01 4.07352022e-03 -2.82023144e-02 4.96222623e+00] [-4.24903098e-03 9.99971962e-01 -6.16614616e-03 6.45822221e-01] [ 2.81764057e-02 6.28347481e-03 9.99583217e-01 1.65236650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.61255784400004 meters Centerline goodness : 0.152698 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.65 [[ 9.99594093e-01 4.24631175e-03 -2.81712428e-02 4.96228925e+00] [-4.41049106e-03 9.99973637e-01 -5.76832953e-03 6.43798543e-01] [ 2.81460060e-02 5.89023713e-03 9.99586468e-01 1.65215221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64255784400007 meters Centerline goodness : 0.163652 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.65 [[ 9.99594338e-01 4.55352435e-03 -2.81145084e-02 4.96243497e+00] [-4.69683045e-03 9.99976303e-01 -5.03329718e-03 6.39963387e-01] [ 2.80909229e-02 5.16330444e-03 9.99592037e-01 1.65176928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.67255784400004 meters Centerline goodness : 0.161762 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.65 [[ 9.99591810e-01 4.67785424e-03 -2.81838748e-02 4.96271885e+00] [-4.81331814e-03 9.99977180e-01 -4.74050863e-03 6.38381022e-01] [ 2.81610562e-02 4.87423156e-03 9.99591515e-01 1.65159830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70255784400007 meters Centerline goodness : 0.126418 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.65 [[ 9.99587277e-01 4.78537556e-03 -2.83262400e-02 4.96336681e+00] [-4.91574158e-03 9.99977637e-01 -4.53445994e-03 6.37323724e-01] [ 2.83039075e-02 4.67183294e-03 9.99588447e-01 1.65113153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.73255784400004 meters Centerline goodness : 0.154209 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.65 [[ 9.99581835e-01 4.91825637e-03 -2.84950078e-02 4.96412467e+00] [-5.04313770e-03 9.99977985e-01 -4.31236030e-03 6.36364911e-01] [ 2.84731712e-02 4.45426127e-03 9.99584633e-01 1.65058858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76255784400007 meters Centerline goodness : 0.160899 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.65 [[ 9.99574464e-01 5.05447752e-03 -2.87287997e-02 4.96498038e+00] [-5.17302938e-03 9.99978403e-01 -4.05376164e-03 6.35189489e-01] [ 2.87076896e-02 4.20065154e-03 9.99579023e-01 1.65015747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.79255784400004 meters Centerline goodness : 0.156848 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.65 [[ 9.99542327e-01 -1.64544825e-03 -3.02064508e-02 4.98342885e+00] [ 1.56491000e-03 9.99995158e-01 -2.68970710e-03 6.38338935e-01] [ 3.02107304e-02 2.64120572e-03 9.99540062e-01 1.65241491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8225578440001 meters Centerline goodness : 0.111654 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.65 [[ 9.99543207e-01 -1.57722578e-03 -3.01809632e-02 4.98329042e+00] [ 1.50198643e-03 9.99995708e-01 -2.51544912e-03 6.37404224e-01] [ 3.01848011e-02 2.46896869e-03 9.99541286e-01 1.65253064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.85255784400005 meters Centerline goodness : 0.117688 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.65 [[ 9.99546535e-01 -1.48544283e-03 -3.00751864e-02 4.98295416e+00] [ 1.41695178e-03 9.99996355e-01 -2.29851163e-03 6.36277822e-01] [ 3.00784911e-02 2.25485424e-03 9.99544996e-01 1.65264804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8825578440001 meters Centerline goodness : 0.160650 Centerline is valid? [False, False] Translation: X:4.98, Y:0.63, Z:1.65 [[ 9.99559445e-01 -1.28775563e-03 -2.96522777e-02 4.98179427e+00] [ 1.24039566e-03 9.99997926e-01 -1.61551701e-03 6.32855671e-01] [ 2.96542966e-02 1.57802473e-03 9.99558969e-01 1.65296972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.91255784400005 meters Centerline goodness : 0.155984 Centerline is valid? [False, False] Translation: X:4.98, Y:0.63, Z:1.65 [[ 9.99563523e-01 -1.15027270e-03 -2.95201571e-02 4.98125157e+00] [ 1.11855315e-03 9.99998779e-01 -1.09099582e-03 6.30171416e-01] [ 2.95213760e-02 1.05749976e-03 9.99563590e-01 1.65339975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9425578440001 meters Centerline goodness : 0.164390 Centerline is valid? [False, False] Translation: X:4.98, Y:0.63, Z:1.65 [[ 9.99568064e-01 -1.01310971e-03 -2.93710666e-02 4.98075721e+00] [ 9.98424807e-04 9.99999369e-01 -5.14639938e-04 6.27109439e-01] [ 2.93715695e-02 4.85092845e-04 9.99568445e-01 1.65370421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.97255784400005 meters Centerline goodness : 0.161241 Centerline is valid? [False, False] Translation: X:4.98, Y:0.62, Z:1.65 [[ 9.99555034e-01 -4.66101154e-03 -2.94619846e-02 4.98140533e+00] [ 4.56414518e-03 9.99983959e-01 -3.35423711e-03 6.21961373e-01] [ 2.94771461e-02 3.21827582e-03 9.99560274e-01 1.65330958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0025578440001 meters Centerline goodness : 0.123934 Centerline is valid? [False, False] Translation: X:4.98, Y:0.62, Z:1.65 [[ 9.99544674e-01 -4.57344185e-03 -2.98249472e-02 4.98252506e+00] [ 4.49261000e-03 9.99986053e-01 -2.77665764e-03 6.18305690e-01] [ 2.98372301e-02 2.64140150e-03 9.99551281e-01 1.65308527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.03255784400005 meters Centerline goodness : 0.159571 Centerline is valid? [False, False] Translation: X:4.98, Y:0.61, Z:1.65 [[ 9.99536098e-01 -4.39780456e-03 -3.01371707e-02 4.98335821e+00] [ 4.33502993e-03 9.99988297e-01 -2.14798498e-03 6.14754137e-01] [ 3.01462644e-02 2.01634299e-03 9.99543464e-01 1.65308455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0625578440001 meters Centerline goodness : 0.159468 Centerline is valid? [False, False] Translation: X:4.98, Y:0.61, Z:1.65 [[ 9.99536069e-01 -4.17565023e-03 -3.01696934e-02 4.98342409e+00] [ 4.12892216e-03 9.99990178e-01 -1.61097408e-03 6.12209688e-01] [ 3.01761240e-02 1.48565838e-03 9.99543493e-01 1.65317504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.09255784400005 meters Centerline goodness : 0.155020 Centerline is valid? [False, False] Translation: X:4.98, Y:0.61, Z:1.65 [[ 9.99550469e-01 -3.85310512e-03 -2.97323779e-02 4.98222586e+00] [ 3.82069220e-03 9.99992043e-01 -1.14689080e-03 6.10480242e-01] [ 2.97365605e-02 1.03277697e-03 9.99557237e-01 1.65341030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1225578440001 meters Centerline goodness : 0.120034 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.65 [[ 9.99574856e-01 4.59261704e-03 -2.87926208e-02 5.00255372e+00] [-4.66556082e-03 9.99986074e-01 -2.46675012e-03 6.08506607e-01] [ 2.87808910e-02 2.60003512e-03 9.99582363e-01 1.65480198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.15255784400006 meters Centerline goodness : 0.147715 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.65 [[ 9.99574166e-01 4.59045172e-03 -2.88169049e-02 5.00285730e+00] [-4.66962761e-03 9.99985504e-01 -2.68085542e-03 6.09660191e-01] [ 2.88041808e-02 2.81427804e-03 9.99581112e-01 1.65434211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1825578440001 meters Centerline goodness : 0.152885 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.65 [[ 9.99572163e-01 4.64031739e-03 -2.88783536e-02 5.00338690e+00] [-4.72622346e-03 9.99984605e-01 -2.90721030e-03 6.11094452e-01] [ 2.88644187e-02 3.04245204e-03 9.99578706e-01 1.65364262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.21255784400006 meters Centerline goodness : 0.153028 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.65 [[ 9.99568553e-01 4.96057082e-03 -2.89499573e-02 5.00413646e+00] [-5.05514275e-03 9.99982120e-01 -3.19446400e-03 6.13761053e-01] [ 2.89335933e-02 3.33943193e-03 9.99575758e-01 1.65253106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24255784400003 meters Centerline goodness : 0.154859 Centerline is valid? [False, False] Translation: X:5.00, Y:0.62, Z:1.65 [[ 9.99570805e-01 4.82472869e-03 -2.88951262e-02 5.00416325e+00] [-4.92952206e-03 9.99981525e-01 -3.55654377e-03 6.15405270e-01] [ 2.88774330e-02 3.69745648e-03 9.99576122e-01 1.65219957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.27255784400006 meters Centerline goodness : 0.152519 Centerline is valid? [False, False] Translation: X:5.00, Y:0.62, Z:1.65 [[ 9.99571012e-01 4.73216678e-03 -2.89032540e-02 5.00417370e+00] [-4.84443028e-03 9.99980987e-01 -3.81532344e-03 6.16664792e-01] [ 2.88846497e-02 3.95370651e-03 9.99574932e-01 1.65212111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30255784400003 meters Centerline goodness : 0.152519 Centerline is valid? [False, False] Translation: X:5.00, Y:0.62, Z:1.65 [[ 9.99571012e-01 4.73216678e-03 -2.89032540e-02 5.00417370e+00] [-4.84443028e-03 9.99980987e-01 -3.81532344e-03 6.16664792e-01] [ 2.88846497e-02 3.95370651e-03 9.99574932e-01 1.65212111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.33255784400006 meters Centerline goodness : 0.127089 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.65 [[ 9.99566004e-01 -2.16950510e-03 -2.93785168e-02 5.02154746e+00] [ 2.09771422e-03 9.99994739e-01 -2.47425244e-03 6.23823037e-01] [ 2.93837301e-02 2.41155089e-03 9.99565296e-01 1.65493163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36255784400004 meters Centerline goodness : 0.156510 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.65 [[ 9.99572095e-01 -2.17854601e-03 -2.91698495e-02 5.02097591e+00] [ 2.10381422e-03 9.99994427e-01 -2.59239867e-03 6.24859188e-01] [ 2.91753346e-02 2.52992142e-03 9.99571108e-01 1.65497886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.39255784400007 meters Centerline goodness : 0.120142 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.65 [[ 9.99583911e-01 -2.28467200e-03 -2.87538806e-02 5.01992748e+00] [ 2.20753414e-03 9.99993880e-01 -2.71415219e-03 6.25625061e-01] [ 2.87599056e-02 2.64954768e-03 9.99582837e-01 1.65499401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42255784400004 meters Centerline goodness : 0.117675 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.65 [[ 9.99583416e-01 -2.37271345e-03 -2.87639650e-02 5.01998697e+00] [ 2.29444525e-03 9.99993576e-01 -2.75375081e-03 6.25438807e-01] [ 2.87703141e-02 2.68660630e-03 9.99582438e-01 1.65498478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.45255784400007 meters Centerline goodness : 0.123682 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.65 [[ 9.99581294e-01 -2.46696375e-03 -2.88297014e-02 5.02016219e+00] [ 2.38666081e-03 9.99993177e-01 -2.81950254e-03 6.25356768e-01] [ 2.88364603e-02 2.74951528e-03 9.99580361e-01 1.65497714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48255784400004 meters Centerline goodness : 0.155397 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.65 [[ 9.99585659e-01 -2.57295110e-03 -2.86686292e-02 5.01980303e+00] [ 2.49177723e-03 9.99992786e-01 -2.86681827e-03 6.25545428e-01] [ 2.86757986e-02 2.79419460e-03 9.99584859e-01 1.65492713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.51255784400007 meters Centerline goodness : 0.153591 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99584644e-01 -2.53990924e-03 -2.87069251e-02 5.01969989e+00] [ 2.46053844e-03 9.99993053e-01 -2.79985236e-03 6.25498609e-01] [ 2.87138371e-02 2.72805493e-03 9.99583950e-01 1.65522657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54255784400004 meters Centerline goodness : 0.131175 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99582373e-01 -2.50332220e-03 -2.87891185e-02 5.01993644e+00] [ 2.42679321e-03 9.99993429e-01 -2.69289369e-03 6.25079763e-01] [ 2.87956705e-02 2.62190382e-03 9.99581880e-01 1.65516795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5725578440001 meters Centerline goodness : 0.111000 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99577585e-01 -2.46220931e-03 -2.89584146e-02 5.02040151e+00] [ 2.38997415e-03 9.99993947e-01 -2.52879248e-03 6.24295819e-01] [ 2.89644657e-02 2.45851441e-03 9.99577418e-01 1.65510874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60255784400005 meters Centerline goodness : 0.123605 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99574739e-01 -2.40963399e-03 -2.90608813e-02 5.02066322e+00] [ 2.34462838e-03 9.99994673e-01 -2.27074515e-03 6.22824952e-01] [ 2.90661981e-02 2.20164252e-03 9.99575064e-01 1.65514458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6325578440001 meters Centerline goodness : 0.120364 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99578114e-01 -2.70148220e-03 -2.89187702e-02 5.02022351e+00] [ 2.64797439e-03 9.99994711e-01 -1.88841586e-03 6.18816323e-01] [ 2.89237188e-02 1.81104300e-03 9.99579981e-01 1.65543909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66255784400005 meters Centerline goodness : 0.149050 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99572505e-01 -2.60001258e-03 -2.91212467e-02 5.02067975e+00] [ 2.56008525e-03 9.99995731e-01 -1.40827252e-03 6.16081229e-01] [ 2.91247839e-02 1.33311762e-03 9.99574895e-01 1.65553684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6925578440001 meters Centerline goodness : 0.157816 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99564176e-01 -2.45999278e-03 -2.94178049e-02 5.02152894e+00] [ 2.43591374e-03 9.99996668e-01 -8.54328667e-04 6.12983065e-01] [ 2.94198086e-02 7.82297094e-04 9.99566838e-01 1.65540544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72255784400005 meters Centerline goodness : 0.137830 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.65 [[ 9.99544929e-01 -2.46689802e-03 -3.00640898e-02 5.02372975e+00] [ 2.46118996e-03 9.99996946e-01 -2.26866613e-04 6.07677775e-01] [ 3.00645576e-02 1.52769937e-04 9.99547947e-01 1.65466053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7525578440001 meters Centerline goodness : 0.158944 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.65 [[ 9.99540898e-01 -2.31957381e-03 -3.02094873e-02 5.02430191e+00] [ 2.32735510e-03 9.99997267e-01 2.22417898e-04 6.05185597e-01] [ 3.02088888e-02 -2.92623990e-04 9.99543565e-01 1.65437663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78255784400005 meters Centerline goodness : 0.117947 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.65 [[ 9.99542115e-01 -2.13277730e-03 -3.01829779e-02 5.02438615e+00] [ 2.15304716e-03 9.99997478e-01 6.39081608e-04 6.03249048e-01] [ 3.01815388e-02 -7.03774357e-04 9.99544186e-01 1.65417118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8125578440001 meters Centerline goodness : 0.160953 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.65 [[ 9.99558610e-01 -1.69565601e-03 -2.96599110e-02 5.02283748e+00] [ 1.73807992e-03 9.99997503e-01 1.40462226e-03 6.00247736e-01] [ 2.96574552e-02 -1.45555357e-03 9.99559061e-01 1.65461856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84255784400005 meters Centerline goodness : 0.157224 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99561978e-01 -1.60727696e-03 -2.95511108e-02 5.02229671e+00] [ 1.65594435e-03 9.99997313e-01 1.62248954e-03 5.98975451e-01] [ 2.95484236e-02 -1.67071385e-03 9.99561954e-01 1.65504913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8725578440001 meters Centerline goodness : 0.143478 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99562434e-01 -1.62539656e-03 -2.95347178e-02 5.02220460e+00] [ 1.67424006e-03 9.99997271e-01 1.62911140e-03 5.98492948e-01] [ 2.95319893e-02 -1.67784676e-03 9.99562427e-01 1.65512009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90255784400006 meters Centerline goodness : 0.146846 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99554515e-01 6.72531435e-03 -2.90781834e-02 5.04243847e+00] [-6.72407285e-03 9.99977383e-01 1.40478516e-04 5.95507449e-01] [ 2.90784705e-02 5.51078887e-05 9.99577130e-01 1.65671664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.9325578440001 meters Centerline goodness : 0.151464 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99556426e-01 -1.85703423e-03 -2.97237714e-02 5.02176834e+00] [ 1.89054750e-03 9.99997609e-01 1.09942691e-03 5.99701082e-01] [ 2.97216587e-02 -1.15513344e-03 9.99557546e-01 1.65519221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96255784400006 meters Centerline goodness : 0.147697 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99623639e-01 6.74343599e-03 -2.65914733e-02 5.04159033e+00] [-6.74295831e-03 9.99977260e-01 1.07633093e-04 6.00093841e-01] [ 2.65915944e-02 7.17126119e-05 9.99646378e-01 1.65567615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99255784400003 meters Centerline goodness : 0.145460 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99630824e-01 6.65878377e-03 -2.63415243e-02 5.04083823e+00] [-6.66217018e-03 9.99977807e-01 -4.07978980e-05 6.00607159e-01] [ 2.63406680e-02 2.16274554e-04 9.99653001e-01 1.65581979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02255784400006 meters Centerline goodness : 0.147668 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99635097e-01 6.56623593e-03 -2.62022437e-02 5.04046340e+00] [-6.57341521e-03 9.99978377e-01 -1.87869658e-04 6.01028591e-01] [ 2.62004435e-02 3.60039331e-04 9.99656645e-01 1.65582610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.05255784400003 meters Centerline goodness : 0.156770 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99634407e-01 6.48940247e-03 -2.62476736e-02 5.04073375e+00] [-6.50066232e-03 9.99978811e-01 -3.43678030e-04 6.01666907e-01] [ 2.62448872e-02 5.14179647e-04 9.99655411e-01 1.65554463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08255784400006 meters Centerline goodness : 0.120449 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99629526e-01 6.43563873e-03 -2.64460354e-02 5.04146448e+00] [-6.45109740e-03 9.99979067e-01 -4.99259195e-04 6.02538074e-01] [ 2.64422687e-02 6.69680182e-04 9.99650118e-01 1.65513255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.11255784400004 meters Centerline goodness : 0.121976 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.65 [[ 9.99619462e-01 6.35158989e-03 -2.68437641e-02 5.04297497e+00] [-6.37375605e-03 9.99979413e-01 -7.40263719e-04 6.03856594e-01] [ 2.68385097e-02 9.11077625e-04 9.99639367e-01 1.65428750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14255784400007 meters Centerline goodness : 0.159229 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.65 [[ 9.99610886e-01 -2.72016026e-03 -2.77610738e-02 5.02221961e+00] [ 2.72498215e-03 9.99996278e-01 1.35862487e-04 6.05876669e-01] [ 2.77606009e-02 -2.11458052e-04 9.99614578e-01 1.65306659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.17255784400004 meters Centerline goodness : 0.122748 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.65 [[ 9.99604786e-01 -2.73710190e-03 -2.79781904e-02 5.02260148e+00] [ 2.74903074e-03 9.99996146e-01 3.87906861e-04 6.04171584e-01] [ 2.79770208e-02 -4.64666460e-04 9.99608459e-01 1.65336572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20255784400007 meters Centerline goodness : 0.139112 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.65 [[ 9.99598833e-01 -3.15899186e-03 -2.81459302e-02 5.02322068e+00] [ 3.18373214e-03 9.99994584e-01 8.34230337e-04 5.99807916e-01] [ 2.81431425e-02 -9.23504775e-04 9.99603477e-01 1.65328962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.23255784400004 meters Centerline goodness : 0.142008 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.65 [[ 9.99593829e-01 -3.06043266e-03 -2.83339049e-02 5.02392304e+00] [ 3.09816556e-03 9.99994371e-01 1.28791786e-03 5.97332982e-01] [ 2.83298038e-02 -1.37517787e-03 9.99597685e-01 1.65299418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26255784400007 meters Centerline goodness : 0.130619 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.65 [[ 9.99592579e-01 -2.96344941e-03 -2.83882650e-02 5.02427442e+00] [ 3.01123939e-03 9.99994120e-01 1.64083856e-03 5.95361615e-01] [ 2.83832355e-02 -1.72565391e-03 9.99595625e-01 1.65276027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.29255784400004 meters Centerline goodness : 0.131279 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.65 [[ 9.99594425e-01 -2.85907896e-03 -2.83339351e-02 5.02420381e+00] [ 2.91309359e-03 9.99994017e-01 1.86526362e-03 5.94201507e-01] [ 2.83284326e-02 -1.94704652e-03 9.99596773e-01 1.65266322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3225578440001 meters Centerline goodness : 0.144868 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.65 [[ 9.99603653e-01 -2.32546348e-03 -2.80558070e-02 5.02344419e+00] [ 2.38652427e-03 9.99994856e-01 2.14311667e-03 5.94428893e-01] [ 2.80506789e-02 -2.20922312e-03 9.99604061e-01 1.65270570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.35255784400005 meters Centerline goodness : 0.136770 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.65 [[ 9.99591453e-01 7.03942172e-03 -2.77015148e-02 5.04473347e+00] [-7.00300555e-03 9.99974483e-01 1.41138863e-03 5.93707950e-01] [ 2.77107433e-02 -1.21681815e-03 9.99615243e-01 1.65362747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3825578440001 meters Centerline goodness : 0.125413 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.65 [[ 9.99582320e-01 7.20813498e-03 -2.79862028e-02 5.04550686e+00] [-7.17913347e-03 9.99973584e-01 1.13661997e-03 5.95857757e-01] [ 2.79936564e-02 -9.35228539e-04 9.99607663e-01 1.65336052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.41255784400005 meters Centerline goodness : 0.131744 Centerline is valid? [False, False] Translation: X:5.00, Y:0.59, Z:1.65 [[ 9.99486403e-01 7.60329494e-03 -3.11306822e-02 5.00063323e+00] [-7.54860017e-03 9.99969753e-01 1.87409078e-03 5.94972759e-01] [ 3.11439898e-02 -1.63813518e-03 9.99513566e-01 1.65322776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4425578440001 meters Centerline goodness : 0.136737 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.65 [[ 9.99489929e-01 7.85205363e-03 -3.09552564e-02 5.00036051e+00] [-7.80818491e-03 9.99968333e-01 1.53779383e-03 5.97874883e-01] [ 3.09663510e-02 -1.29530508e-03 9.99519588e-01 1.65274018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.47255784400005 meters Centerline goodness : 0.133237 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99511739e-01 6.01952044e-04 -3.12397316e-02 5.01793301e+00] [-5.25171175e-04 9.99996822e-01 2.46594231e-03 6.04205763e-01] [ 3.12411167e-02 -2.44833208e-03 9.99508879e-01 1.65517703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5025578440001 meters Centerline goodness : 0.142848 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99515774e-01 5.12681172e-04 -3.11119695e-02 5.01737733e+00] [-4.39937004e-04 9.99997154e-01 2.34494116e-03 6.04460722e-01] [ 3.11130832e-02 -2.33011837e-03 9.99513155e-01 1.65555699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.53255784400005 meters Centerline goodness : 0.145821 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99543860e-01 -7.96890276e-03 -2.91302090e-02 5.03683903e+00] [ 8.05632014e-03 9.99963386e-01 2.88478352e-03 6.09024195e-01] [ 2.91061539e-02 -3.11814995e-03 9.99571463e-01 1.65726718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5625578440001 meters Centerline goodness : 0.142136 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99546054e-01 -8.01027196e-03 -2.90434446e-02 5.03636212e+00] [ 8.10098687e-03 9.99962665e-01 3.00710038e-03 6.08401150e-01] [ 2.90182726e-02 -3.24101588e-03 9.99573627e-01 1.65769928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.59255784400005 meters Centerline goodness : 0.144273 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99541204e-01 -8.03706340e-03 -2.92025310e-02 5.03672417e+00] [ 8.13367112e-03 9.99961830e-01 3.19091506e-03 6.07326457e-01] [ 2.91757707e-02 -3.42697486e-03 9.99568422e-01 1.65780001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6225578440001 meters Centerline goodness : 0.134958 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99527885e-01 -8.09596359e-03 -2.96388592e-02 5.03793636e+00] [ 8.20097960e-03 9.99960512e-01 3.42334042e-03 6.05764631e-01] [ 2.96099736e-02 -3.66479189e-03 9.99554810e-01 1.65768684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.65255784400006 meters Centerline goodness : 0.139964 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99517550e-01 -8.56997907e-03 -2.98533481e-02 5.03837864e+00] [ 8.68273267e-03 9.99955645e-01 3.64933057e-03 6.02562628e-01] [ 2.98207493e-02 -3.90677859e-03 9.99547628e-01 1.65808587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6825578440001 meters Centerline goodness : 0.141504 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99580205e-01 -3.16067069e-03 -2.87997202e-02 5.01483489e+00] [ 3.18800763e-03 9.99994510e-01 9.03341547e-04 5.96666802e-01] [ 2.87967069e-02 -9.94776056e-04 9.99584794e-01 1.65796694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.71255784400006 meters Centerline goodness : 0.137575 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99582033e-01 -3.13409513e-03 -2.87391150e-02 5.01427593e+00] [ 3.16704246e-03 9.99994379e-01 1.10098109e-03 5.95348441e-01] [ 2.87355029e-02 -1.19153892e-03 9.99586340e-01 1.65864053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74255784400003 meters Centerline goodness : 0.143388 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99583359e-01 -3.11724247e-03 -2.86948029e-02 5.01391041e+00] [ 3.15082993e-03 9.99994403e-01 1.12536576e-03 5.95219233e-01] [ 2.86911342e-02 -1.21530933e-03 9.99587586e-01 1.65901158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.77255784400006 meters Centerline goodness : 0.138491 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99585983e-01 -2.91452581e-03 -2.86246094e-02 5.01396166e+00] [ 2.94485676e-03 9.99995146e-01 1.01751185e-03 5.96858794e-01] [ 2.86215049e-02 -1.10138595e-03 9.99589714e-01 1.65859537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80255784400003 meters Centerline goodness : 0.139578 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99586614e-01 -2.91381492e-03 -2.86026254e-02 5.01416050e+00] [ 2.93611090e-03 9.99995418e-01 7.37540361e-04 5.98491020e-01] [ 2.86003453e-02 -8.21215953e-04 9.99590589e-01 1.65810310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.83255784400006 meters Centerline goodness : 0.146344 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99586935e-01 5.62764092e-03 -2.81831227e-02 5.03499769e+00] [-5.65605294e-03 9.99983573e-01 -9.28504060e-04 5.98536985e-01] [ 2.81774344e-02 1.08752576e-03 9.99602346e-01 1.65953661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86255784400004 meters Centerline goodness : 0.139637 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99582033e-01 -2.44110013e-03 -2.88062670e-02 5.01649153e+00] [ 2.45027230e-03 9.99996958e-01 2.83114122e-04 6.04276738e-01] [ 2.88054882e-02 -3.53578987e-04 9.99584973e-01 1.65733890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.89255784400007 meters Centerline goodness : 0.138549 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99581209e-01 -2.40273687e-03 -2.88380462e-02 5.01658877e+00] [ 2.40562919e-03 9.99997104e-01 6.56015534e-05 6.05747694e-01] [ 2.88378051e-02 -1.34947726e-04 9.99584095e-01 1.65720712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92255784400004 meters Centerline goodness : 0.153062 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99584645e-01 -2.25177753e-03 -2.87309330e-02 5.01592712e+00] [ 2.25314331e-03 9.99997462e-01 1.51629783e-05 6.06758473e-01] [ 2.87308259e-02 -7.98915898e-05 9.99587181e-01 1.65769772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.95255784400007 meters Centerline goodness : 0.145994 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99588801e-01 -2.21095980e-03 -2.85891642e-02 5.01532912e+00] [ 2.21646451e-03 9.99997531e-01 1.60856888e-04 6.05928320e-01] [ 2.85887379e-02 -2.24157611e-04 9.99591233e-01 1.65808661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98255784400004 meters Centerline goodness : 0.135274 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99590820e-01 -2.14019186e-03 -2.85238858e-02 5.01506956e+00] [ 2.15241755e-03 9.99997604e-01 3.97915020e-04 6.04584382e-01] [ 2.85229658e-02 -4.59147513e-04 9.99593032e-01 1.65826208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.01255784400007 meters Centerline goodness : 0.147664 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99588334e-01 -2.05895338e-03 -2.86168342e-02 5.01526437e+00] [ 2.07932870e-03 9.99997605e-01 6.82264668e-04 6.03041685e-01] [ 2.86153610e-02 -7.41487607e-04 9.99590222e-01 1.65836569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04255784400004 meters Centerline goodness : 0.151883 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99579819e-01 -1.83770613e-03 -2.89276489e-02 5.01634653e+00] [ 1.87257264e-03 9.99997553e-01 1.17825640e-03 6.00955894e-01] [ 2.89254128e-02 -1.23193044e-03 9.99580814e-01 1.65788889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0725578440001 meters Centerline goodness : 0.145587 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99576593e-01 -1.73569053e-03 -2.90451759e-02 5.01675936e+00] [ 1.77649267e-03 9.99997471e-01 1.37903604e-03 6.00157498e-01] [ 2.90427089e-02 -1.43005069e-03 9.99577149e-01 1.65768861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10255784400005 meters Centerline goodness : 0.140644 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99563688e-01 -1.63651438e-03 -2.94916194e-02 5.01824721e+00] [ 1.68521083e-03 9.99997257e-01 1.62641642e-03 5.98877983e-01] [ 2.94888769e-02 -1.67540639e-03 9.99563704e-01 1.65712889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1325578440001 meters Centerline goodness : 0.153706 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99561938e-01 -1.60675113e-03 -2.95525021e-02 5.01839335e+00] [ 1.65966949e-03 9.99997063e-01 1.76621389e-03 5.97962377e-01] [ 2.95495775e-02 -1.81448756e-03 9.99561669e-01 1.65715637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16255784400005 meters Centerline goodness : 0.110115 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99560060e-01 -1.52304704e-03 -2.96203707e-02 5.01825403e+00] [ 1.58308698e-03 9.99996740e-01 2.00363622e-03 5.96639192e-01] [ 2.96172225e-02 -2.04964637e-03 9.99559212e-01 1.65765469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1925578440001 meters Centerline goodness : 0.143675 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99565261e-01 -1.45860219e-03 -2.94475998e-02 5.01744291e+00] [ 1.52342416e-03 9.99996466e-01 2.17894959e-03 5.95810616e-01] [ 2.94443175e-02 -2.22286350e-03 9.99563950e-01 1.65824796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22255784400005 meters Centerline goodness : 0.143675 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99565261e-01 -1.45860219e-03 -2.94475998e-02 5.01744291e+00] [ 1.52342416e-03 9.99996466e-01 2.17894959e-03 5.95810616e-01] [ 2.94443175e-02 -2.22286350e-03 9.99563950e-01 1.65824796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2525578440001 meters Centerline goodness : 0.126820 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99572634e-01 -1.37252111e-03 -2.92004526e-02 5.01649820e+00] [ 1.44167086e-03 9.99996206e-01 2.34718411e-03 5.95272974e-01] [ 2.91971203e-02 -2.38827845e-03 9.99570820e-01 1.65876471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28255784400005 meters Centerline goodness : 0.128175 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99583037e-01 -1.33090418e-03 -2.88440651e-02 5.01503507e+00] [ 1.40102259e-03 9.99996112e-01 2.41087401e-03 5.95112330e-01] [ 2.88407444e-02 -2.45027995e-03 9.99581016e-01 1.65969201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3125578440001 meters Centerline goodness : 0.144360 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99585808e-01 -1.39687749e-03 -2.87447502e-02 5.01474826e+00] [ 1.46333745e-03 9.99996305e-01 2.29116703e-03 5.95453307e-01] [ 2.87414435e-02 -2.33228131e-03 9.99584158e-01 1.65974230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34255784400005 meters Centerline goodness : 0.141340 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99587689e-01 -1.44224398e-03 -2.86770453e-02 5.01453369e+00] [ 1.50496648e-03 9.99996522e-01 2.16573931e-03 5.95947115e-01] [ 2.86738220e-02 -2.20800434e-03 9.99586383e-01 1.65975445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3725578440001 meters Centerline goodness : 0.127727 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99590871e-01 -1.48626657e-03 -2.85636462e-02 5.01428900e+00] [ 1.54428010e-03 9.99996789e-01 2.00907471e-03 5.96786111e-01] [ 2.85605685e-02 -2.05236301e-03 9.99589957e-01 1.65969223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40255784400006 meters Centerline goodness : 0.140423 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99599349e-01 -1.49812468e-03 -2.82647792e-02 5.01364240e+00] [ 1.54596597e-03 9.99997409e-01 1.67083509e-03 5.98894691e-01] [ 2.82622028e-02 -1.71386205e-03 9.99599075e-01 1.65943914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.4325578440001 meters Centerline goodness : 0.141445 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99596119e-01 -1.65576652e-03 -2.83700099e-02 5.01424891e+00] [ 1.69150585e-03 9.99997806e-01 1.23580481e-03 6.00877463e-01] [ 2.83679015e-02 -1.28329373e-03 9.99596726e-01 1.65882282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46255784400006 meters Centerline goodness : 0.140693 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99584115e-01 -1.81041713e-03 -2.87805273e-02 5.01583781e+00] [ 1.83296620e-03 9.99998033e-01 7.57120376e-04 6.03170200e-01] [ 2.87791000e-02 -8.09559235e-04 9.99585468e-01 1.65779574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49255784400003 meters Centerline goodness : 0.126625 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99567713e-01 -1.87834237e-03 -2.93404088e-02 5.01784515e+00] [ 1.88958932e-03 9.99998151e-01 3.55604305e-04 6.05474802e-01] [ 2.93396866e-02 -4.10891905e-04 9.99569414e-01 1.65664737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52255784400006 meters Centerline goodness : 0.146197 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99549863e-01 -1.93527860e-03 -2.99386973e-02 5.01972560e+00] [ 1.92610081e-03 9.99998089e-01 -3.35388606e-04 6.10022790e-01] [ 2.99392892e-02 2.77572686e-04 9.99551680e-01 1.65582395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.55255784400003 meters Centerline goodness : 0.135008 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99552865e-01 -2.09799409e-03 -2.98273059e-02 5.01923075e+00] [ 2.07692489e-03 9.99997571e-01 -7.37336946e-04 6.11946740e-01] [ 2.98287804e-02 6.75058183e-04 9.99554795e-01 1.65612048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58255784400006 meters Centerline goodness : 0.147797 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99557090e-01 -2.29693686e-03 -2.96706411e-02 5.01868724e+00] [ 2.26179098e-03 9.99996700e-01 -1.21804151e-03 6.14145461e-01] [ 2.96733410e-02 1.15039324e-03 9.99558987e-01 1.65630072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.61255784400004 meters Centerline goodness : 0.148372 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99558750e-01 -2.48511969e-03 -2.95994916e-02 5.01864439e+00] [ 2.43591631e-03 9.99995591e-01 -1.69824786e-03 6.16433155e-01] [ 2.96035814e-02 1.62539662e-03 9.99560396e-01 1.65601559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64255784400007 meters Centerline goodness : 0.148963 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99553672e-01 -2.61369777e-03 -2.97594716e-02 5.01932920e+00] [ 2.54992934e-03 9.99994372e-01 -2.18054360e-03 6.19266180e-01] [ 2.97650034e-02 2.10368581e-03 9.99554710e-01 1.65544289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.67255784400004 meters Centerline goodness : 0.150581 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.65 [[ 9.99546068e-01 -2.88792813e-03 -2.99886254e-02 5.02009910e+00] [ 2.79909691e-03 9.99991571e-01 -3.00372150e-03 6.24070856e-01] [ 2.99970472e-02 2.91841695e-03 9.99545727e-01 1.65498566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70255784400007 meters Centerline goodness : 0.155998 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99549711e-01 -3.05110623e-03 -2.98507121e-02 5.01940076e+00] [ 2.95333942e-03 9.99990132e-01 -3.31873352e-03 6.25575019e-01] [ 2.98605433e-02 3.22907985e-03 9.99548859e-01 1.65549898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.73255784400004 meters Centerline goodness : 0.120031 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99557243e-01 -3.17407222e-03 -2.95845129e-02 5.01817108e+00] [ 3.07192316e-03 9.99989165e-01 -3.49759990e-03 6.26471892e-01] [ 2.95952939e-02 3.40516996e-03 9.99556163e-01 1.65637072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76255784400007 meters Centerline goodness : 0.118385 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99578524e-01 -3.65123101e-03 -2.88000369e-02 5.01556478e+00] [ 3.54279899e-03 9.99986447e-01 -3.81512464e-03 6.27336230e-01] [ 2.88135764e-02 3.71148392e-03 9.99577912e-01 1.65749259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.79255784400004 meters Centerline goodness : 0.156084 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99570856e-01 -3.76832707e-03 -2.90500181e-02 5.01630327e+00] [ 3.65928118e-03 9.99986062e-01 -3.80597787e-03 6.26898146e-01] [ 2.90639554e-02 3.69804237e-03 9.99570713e-01 1.65738129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8225578440001 meters Centerline goodness : 0.158309 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99554651e-01 -3.90873686e-03 -2.95841276e-02 5.01804919e+00] [ 3.79789901e-03 9.99985561e-01 -3.80179551e-03 6.26301759e-01] [ 2.95985606e-02 3.68774486e-03 9.99555064e-01 1.65674918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.85255784400005 meters Centerline goodness : 0.154446 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99546622e-01 -3.93072231e-03 -2.98512881e-02 5.01897266e+00] [ 3.82405669e-03 9.99986102e-01 -3.62948290e-03 6.25177707e-01] [ 2.98651397e-02 3.51368435e-03 9.99547761e-01 1.65635962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8825578440001 meters Centerline goodness : 0.159029 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99552414e-01 -3.83572202e-03 -2.96691608e-02 5.01828586e+00] [ 3.74162851e-03 9.99987796e-01 -3.22629295e-03 6.23438464e-01] [ 2.96811739e-02 3.11383793e-03 9.99554567e-01 1.65682508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.91255784400005 meters Centerline goodness : 0.156498 Centerline is valid? [False, False] Translation: X:5.04, Y:0.62, Z:1.66 [[ 9.99596525e-01 4.32429680e-03 -2.80729049e-02 5.03759998e+00] [-4.45031690e-03 9.99980293e-01 -4.42810365e-03 6.20480168e-01] [ 2.80532032e-02 4.55125034e-03 9.99596070e-01 1.65823015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9425578440001 meters Centerline goodness : 0.145940 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99593383e-01 -4.33067266e-03 -2.81835584e-02 5.01763405e+00] [ 4.23748162e-03 9.99985359e-01 -3.36546081e-03 6.23518998e-01] [ 2.81977205e-02 3.24466505e-03 9.99597099e-01 1.65650942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.97255784400005 meters Centerline goodness : 0.147839 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99589946e-01 -4.30818507e-03 -2.83086496e-02 5.01801115e+00] [ 4.21740888e-03 9.99985775e-01 -3.26558408e-03 6.22796372e-01] [ 2.83223156e-02 3.14485586e-03 9.99593896e-01 1.65640954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0025578440001 meters Centerline goodness : 0.157679 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99586797e-01 -4.28564150e-03 -2.84230150e-02 5.01833525e+00] [ 4.19718404e-03 9.99986164e-01 -3.17110792e-03 6.22159824e-01] [ 2.84362119e-02 3.05050099e-03 9.99590954e-01 1.65634355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.03255784400005 meters Centerline goodness : 0.159188 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99591053e-01 -4.21704944e-03 -2.82832748e-02 5.01792793e+00] [ 4.13559645e-03 9.99987133e-01 -2.93777753e-03 6.20861575e-01] [ 2.82952996e-02 2.81960792e-03 9.99595631e-01 1.65648192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0625578440001 meters Centerline goodness : 0.162610 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99594935e-01 -4.17466859e-03 -2.81520642e-02 5.01747363e+00] [ 4.09639007e-03 9.99987584e-01 -2.83766026e-03 6.20329002e-01] [ 2.81635610e-02 2.72118898e-03 9.99599624e-01 1.65668634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.09255784400005 meters Centerline goodness : 0.156232 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99595550e-01 -4.11745515e-03 -2.81386390e-02 5.01736457e+00] [ 4.04254451e-03 9.99988134e-01 -2.71856724e-03 6.19741051e-01] [ 2.81494987e-02 2.60371602e-03 9.99600333e-01 1.65678448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1225578440001 meters Centerline goodness : 0.142795 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99593132e-01 -4.07869807e-03 -2.82300288e-02 5.01764750e+00] [ 4.00651130e-03 9.99988560e-01 -2.61318284e-03 6.19149840e-01] [ 2.82403642e-02 2.49901569e-03 9.99598038e-01 1.65671667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.15255784400006 meters Centerline goodness : 0.152422 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99582762e-01 -4.00078032e-03 -2.86058700e-02 5.01886402e+00] [ 3.94125727e-03 9.99989950e-01 -2.13687935e-03 6.16108074e-01] [ 2.86141317e-02 2.02324467e-03 9.99588484e-01 1.65630724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1825578440001 meters Centerline goodness : 0.153962 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99600892e-01 2.13563465e-03 -2.81690476e-02 5.04191612e+00] [-2.28003842e-03 9.99984420e-01 -5.09520462e-03 6.13115362e-01] [ 2.81577273e-02 5.15739759e-03 9.99590188e-01 1.65628494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.21255784400006 meters Centerline goodness : 0.116255 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99600622e-01 2.26563446e-03 -2.81684723e-02 5.04185148e+00] [-2.39669939e-03 9.99986456e-01 -4.62000286e-03 6.10435332e-01] [ 2.81576236e-02 4.68566910e-03 9.99592513e-01 1.65641731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24255784400003 meters Centerline goodness : 0.159115 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99602171e-01 2.41209215e-03 -2.81012651e-02 5.04158674e+00] [-2.52796346e-03 9.99988447e-01 -4.08855211e-03 6.07526318e-01] [ 2.80910785e-02 4.15796454e-03 9.99596720e-01 1.65663747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.27255784400006 meters Centerline goodness : 0.157670 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99606130e-01 2.83153381e-03 -2.79207420e-02 5.04095315e+00] [-2.91526852e-03 9.99991373e-01 -2.95876442e-03 6.02111149e-01] [ 2.79121233e-02 3.03899551e-03 9.99605761e-01 1.65698416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30255784400003 meters Centerline goodness : 0.151305 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99601794e-01 -4.66454346e-03 -2.78297502e-02 5.06055216e+00] [ 4.62025798e-03 9.99987956e-01 -1.65539101e-03 6.04817943e-01] [ 2.78371367e-02 1.52615120e-03 9.99611307e-01 1.65839651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.33255784400006 meters Centerline goodness : 0.151949 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99601938e-01 -4.50552688e-03 -2.78507680e-02 5.06082299e+00] [ 4.47073629e-03 9.99989146e-01 -1.31132169e-03 6.03164756e-01] [ 2.78563739e-02 1.18628626e-03 9.99611232e-01 1.65811369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36255784400004 meters Centerline goodness : 0.134819 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99604562e-01 -4.34566758e-03 -2.77819057e-02 5.06063566e+00] [ 4.31890832e-03 9.99990150e-01 -1.02312301e-03 6.01922150e-01] [ 2.77860782e-02 9.02730927e-04 9.99613485e-01 1.65811725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.39255784400007 meters Centerline goodness : 0.140325 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99610581e-01 -4.17860501e-03 -2.75903161e-02 5.06011601e+00] [ 4.15990457e-03 9.99991077e-01 -7.35152827e-04 6.00780078e-01] [ 2.75931418e-02 6.20093462e-04 9.99619044e-01 1.65821001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42255784400004 meters Centerline goodness : 0.141197 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99612888e-01 -3.81699473e-03 -2.75591040e-02 5.06013440e+00] [ 3.81628356e-03 9.99992715e-01 -7.84022026e-05 5.97835845e-01] [ 2.75592025e-02 -2.68015035e-05 9.99620173e-01 1.65806671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.45255784400007 meters Centerline goodness : 0.140178 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99607327e-01 -3.68196503e-03 -2.77783220e-02 5.06092948e+00] [ 3.69046517e-03 9.99993158e-01 2.54737403e-04 5.96171338e-01] [ 2.77771940e-02 -3.57152304e-04 9.99614076e-01 1.65768658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48255784400004 meters Centerline goodness : 0.147406 Centerline is valid? [False, False] Translation: X:5.06, Y:0.59, Z:1.66 [[ 9.99601555e-01 -3.53068810e-03 -2.80047318e-02 5.06170757e+00] [ 3.54964609e-03 9.99993503e-01 6.27272317e-04 5.94363271e-01] [ 2.80023352e-02 -7.26429271e-04 9.99607594e-01 1.65732879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.51255784400007 meters Centerline goodness : 0.110786 Centerline is valid? [False, False] Translation: X:5.06, Y:0.59, Z:1.66 [[ 9.99600574e-01 -3.32872534e-03 -2.80644386e-02 5.06199855e+00] [ 3.36086396e-03 9.99993749e-01 1.09808023e-03 5.92161854e-01] [ 2.80606080e-02 -1.19196239e-03 9.99605513e-01 1.65716808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54255784400004 meters Centerline goodness : 0.155256 Centerline is valid? [False, False] Translation: X:5.06, Y:0.59, Z:1.66 [[ 9.99603591e-01 -3.15197112e-03 -2.79772373e-02 5.06178268e+00] [ 3.19748043e-03 9.99993637e-01 1.58206679e-03 5.89784844e-01] [ 2.79720726e-02 -1.67089631e-03 9.99607309e-01 1.65725128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5725578440001 meters Centerline goodness : 0.107462 Centerline is valid? [False, False] Translation: X:5.06, Y:0.58, Z:1.66 [[ 9.99627746e-01 -5.77556022e-03 -2.66648194e-02 5.05722762e+00] [ 5.76874501e-03 9.99983305e-01 -3.32506650e-04 5.83828863e-01] [ 2.66662946e-02 1.78560330e-04 9.99644375e-01 1.65888188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60255784400005 meters Centerline goodness : 0.134277 Centerline is valid? [False, False] Translation: X:5.06, Y:0.58, Z:1.66 [[ 9.99627337e-01 -5.60326985e-03 -2.67168743e-02 5.05732176e+00] [ 5.61125514e-03 9.99984232e-01 2.23923376e-04 5.80831009e-01] [ 2.67151983e-02 -3.73755126e-04 9.99643016e-01 1.65898990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6325578440001 meters Centerline goodness : 0.135006 Centerline is valid? [False, False] Translation: X:5.06, Y:0.58, Z:1.66 [[ 9.99625463e-01 -5.41882618e-03 -2.68248074e-02 5.05769044e+00] [ 5.44075488e-03 9.99984922e-01 7.44558404e-04 5.78241442e-01] [ 2.68203683e-02 -8.90226740e-04 9.99639873e-01 1.65886826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66255784400005 meters Centerline goodness : 0.135373 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99638687e-01 3.15047451e-03 -2.66940121e-02 5.07775508e+00] [-3.15244944e-03 9.99995031e-01 -3.19012141e-05 5.72778772e-01] [ 2.66937789e-02 1.16041211e-04 9.99643651e-01 1.66048922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6925578440001 meters Centerline goodness : 0.135652 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99631387e-01 3.39032681e-03 -2.69368717e-02 5.07858086e+00] [-3.37840020e-03 9.99994174e-01 4.88259138e-04 5.70424264e-01] [ 2.69383701e-02 -3.97075627e-04 9.99637017e-01 1.66017621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72255784400005 meters Centerline goodness : 0.144839 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99625547e-01 3.36608721e-03 -2.71557493e-02 5.07940596e+00] [-3.35395889e-03 9.99994254e-01 4.92156240e-04 5.69999057e-01] [ 2.71572499e-02 -4.00892684e-04 9.99631093e-01 1.65975673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7525578440001 meters Centerline goodness : 0.142919 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99623124e-01 3.33915067e-03 -2.72481373e-02 5.07978759e+00] [-3.32820050e-03 9.99994362e-01 4.47210887e-04 5.69940002e-01] [ 2.72494769e-02 -3.56355080e-04 9.99628601e-01 1.65947379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78255784400005 meters Centerline goodness : 0.142755 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99620467e-01 3.34694341e-03 -2.73444729e-02 5.08010434e+00] [-3.33595252e-03 9.99994336e-01 4.47550539e-04 5.69863852e-01] [ 2.73458159e-02 -3.56160815e-04 9.99625970e-01 1.65931246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8125578440001 meters Centerline goodness : 0.141301 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99624638e-01 3.40281868e-03 -2.71846403e-02 5.07948777e+00] [-3.39213555e-03 9.99994150e-01 4.39089976e-04 5.70230120e-01] [ 2.71859755e-02 -3.46711174e-04 9.99630333e-01 1.65957254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84255784400005 meters Centerline goodness : 0.144291 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99627917e-01 3.41115475e-03 -2.70627507e-02 5.07908292e+00] [-3.39978224e-03 9.99994112e-01 4.66228512e-04 5.70059568e-01] [ 2.70641817e-02 -3.74047577e-04 9.99633628e-01 1.65972522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8725578440001 meters Centerline goodness : 0.143570 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99629641e-01 3.42014587e-03 -2.69978413e-02 5.07880979e+00] [-3.40745795e-03 9.99994061e-01 5.15951967e-04 5.69826225e-01] [ 2.69994456e-02 -4.23766871e-04 9.99635359e-01 1.65989453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90255784400006 meters Centerline goodness : 0.146652 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99632219e-01 3.44232484e-03 -2.68993973e-02 5.07842777e+00] [-3.42801062e-03 9.99993957e-01 5.78234965e-04 5.69638870e-01] [ 2.69012253e-02 -4.85810881e-04 9.99637979e-01 1.66010079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.9325578440001 meters Centerline goodness : 0.146339 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99636287e-01 3.47015619e-03 -2.67441882e-02 5.07793807e+00] [-3.45467737e-03 9.99993837e-01 6.24956297e-04 5.69762075e-01] [ 2.67461921e-02 -5.32336451e-04 9.99642115e-01 1.66021975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96255784400006 meters Centerline goodness : 0.142761 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99636367e-01 3.43440982e-03 -2.67458295e-02 5.07794418e+00] [-3.42070569e-03 9.99993994e-01 5.58120120e-04 5.70082212e-01] [ 2.67475857e-02 -4.66427558e-04 9.99642111e-01 1.66022582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99255784400003 meters Centerline goodness : 0.144988 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99634447e-01 3.38859004e-03 -2.68233113e-02 5.07806489e+00] [-3.37643621e-03 9.99994176e-01 4.98385762e-04 5.70306096e-01] [ 2.68248439e-02 -4.07636376e-04 9.99640066e-01 1.66036298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02255784400006 meters Centerline goodness : 0.105517 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99631334e-01 3.31898145e-03 -2.69477312e-02 5.07842792e+00] [-3.31022885e-03 9.99994453e-01 3.69402489e-04 5.70864342e-01] [ 2.69488077e-02 -2.80063145e-04 9.99636776e-01 1.66027287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.05255784400003 meters Centerline goodness : 0.147414 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99630078e-01 3.26442788e-03 -2.70009411e-02 5.07864783e+00] [-3.26013541e-03 9.99994665e-01 2.02994668e-04 5.71733080e-01] [ 2.70014597e-02 -1.14892852e-04 9.99635388e-01 1.66012736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08255784400006 meters Centerline goodness : 0.151970 Centerline is valid? [False, False] Translation: X:5.03, Y:0.57, Z:1.66 [[ 9.99577389e-01 2.75698600e-03 -2.89386006e-02 5.03163751e+00] [-2.74368718e-03 9.99996111e-01 4.99250698e-04 5.70722833e-01] [ 2.89398645e-02 -4.19641241e-04 9.99581066e-01 1.66039143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.11255784400004 meters Centerline goodness : 0.151970 Centerline is valid? [False, False] Translation: X:5.03, Y:0.57, Z:1.66 [[ 9.99577389e-01 2.75698600e-03 -2.89386006e-02 5.03163751e+00] [-2.74368718e-03 9.99996111e-01 4.99250698e-04 5.70722833e-01] [ 2.89398645e-02 -4.19641241e-04 9.99581066e-01 1.66039143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14255784400007 meters Centerline goodness : 0.156419 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.66 [[ 9.99609835e-01 -4.66082644e-03 -2.75400553e-02 5.05014375e+00] [ 4.70562754e-03 9.99987708e-01 1.56217607e-03 5.77078803e-01] [ 2.75324358e-02 -1.69115981e-03 9.99619480e-01 1.66183696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.17255784400004 meters Centerline goodness : 0.143503 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99659688e-01 3.70737188e-03 -2.58217515e-02 5.06923303e+00] [-3.70433478e-03 9.99993125e-01 1.65451430e-04 5.75800218e-01] [ 2.58221874e-02 -6.97427125e-05 9.99666549e-01 1.66306561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20255784400007 meters Centerline goodness : 0.148457 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99661999e-01 3.67657614e-03 -2.57365740e-02 5.06902081e+00] [-3.67539056e-03 9.99993241e-01 9.33698498e-05 5.76226035e-01] [ 2.57367433e-02 1.25367032e-06 9.99668755e-01 1.66303221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.23255784400004 meters Centerline goodness : 0.157394 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99656053e-01 3.56837985e-03 -2.59815849e-02 5.06989519e+00] [-3.57086041e-03 9.99993623e-01 -4.90784143e-05 5.76560983e-01] [ 2.59812441e-02 1.41838147e-04 9.99662420e-01 1.66258501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26255784400007 meters Centerline goodness : 0.141083 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99653799e-01 3.47418477e-03 -2.60808946e-02 5.07030818e+00] [-3.48003032e-03 9.99993929e-01 -1.78746002e-04 5.76904511e-01] [ 2.60801152e-02 2.69446424e-04 9.99659820e-01 1.66233874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.29255784400004 meters Centerline goodness : 0.148296 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99655813e-01 3.44753904e-03 -2.60071196e-02 5.07009910e+00] [-3.45429080e-03 9.99994011e-01 -2.14690643e-04 5.77019809e-01] [ 2.60062236e-02 3.04452903e-04 9.99661735e-01 1.66236336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3225578440001 meters Centerline goodness : 0.145512 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99661192e-01 3.45451441e-03 -2.57985774e-02 5.06935236e+00] [-3.46118960e-03 9.99993987e-01 -2.14092393e-04 5.77152483e-01] [ 2.57976827e-02 3.03313624e-04 9.99667138e-01 1.66270106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.35255784400005 meters Centerline goodness : 0.115240 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.67 [[ 9.99699617e-01 -3.91430942e-03 -2.41940689e-02 5.08698377e+00] [ 3.94693257e-03 9.99991365e-01 1.30078828e-03 5.82062815e-01] [ 2.41887683e-02 -1.39588990e-03 9.99706434e-01 1.66517824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3825578440001 meters Centerline goodness : 0.112106 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.67 [[ 9.99702278e-01 -3.90684769e-03 -2.40851166e-02 5.08660868e+00] [ 3.94063648e-03 9.99991317e-01 1.35558796e-03 5.81718269e-01] [ 2.40796114e-02 -1.45009506e-03 9.99708992e-01 1.66534573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.41255784400005 meters Centerline goodness : 0.151144 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.67 [[ 9.99702383e-01 -3.90772592e-03 -2.40806143e-02 5.08657362e+00] [ 3.94232662e-03 9.99991264e-01 1.38956281e-03 5.81469974e-01] [ 2.40749738e-02 -1.48408290e-03 9.99709054e-01 1.66540589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4425578440001 meters Centerline goodness : 0.152681 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.67 [[ 9.99700337e-01 -3.91993436e-03 -2.41634248e-02 5.08702011e+00] [ 3.95371062e-03 9.99991273e-01 1.35020973e-03 5.81587878e-01] [ 2.41579211e-02 -1.44534031e-03 9.99707110e-01 1.66501803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.47255784400005 meters Centerline goodness : 0.155151 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99697227e-01 -3.92902411e-03 -2.42902600e-02 5.08744613e+00] [ 3.96033687e-03 9.99991388e-01 1.24113596e-03 5.82214276e-01] [ 2.42851744e-02 -1.33695779e-03 9.99704178e-01 1.66479625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5025578440001 meters Centerline goodness : 0.111983 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99698184e-01 -3.94702878e-03 -2.42479145e-02 5.08735030e+00] [ 3.97569582e-03 9.99991454e-01 1.13415270e-03 5.82868654e-01] [ 2.42432307e-02 -1.23021273e-03 9.99705333e-01 1.66473688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.53255784400005 meters Centerline goodness : 0.154823 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99700113e-01 -3.97855025e-03 -2.41630948e-02 5.08710394e+00] [ 4.00376517e-03 9.99991490e-01 9.95240904e-04 5.83617985e-01] [ 2.41589296e-02 -1.09168580e-03 9.99707534e-01 1.66477085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5625578440001 meters Centerline goodness : 0.110926 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.66 [[ 9.99701879e-01 -4.00493984e-03 -2.40855590e-02 5.08704478e+00] [ 4.02376673e-03 9.99991636e-01 7.33253346e-04 5.85074017e-01] [ 2.40824209e-02 -8.29949419e-04 9.99709632e-01 1.66450132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.59255784400005 meters Centerline goodness : 0.147524 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.66 [[ 9.99698968e-01 -4.01719155e-03 -2.42040475e-02 5.08760706e+00] [ 4.03194018e-03 9.99991715e-01 5.60574696e-04 5.86145036e-01] [ 2.42015950e-02 -6.57995217e-04 9.99706882e-01 1.66399459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6225578440001 meters Centerline goodness : 0.140417 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.66 [[ 9.99695016e-01 -4.03613676e-03 -2.43635851e-02 5.08825719e+00] [ 4.04717233e-03 9.99991729e-01 4.03661404e-04 5.87102939e-01] [ 2.43617543e-02 -5.02141921e-04 9.99703082e-01 1.66352865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.65255784400006 meters Centerline goodness : 0.159682 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.66 [[ 9.99692789e-01 -4.00613984e-03 -2.44597174e-02 5.08873697e+00] [ 4.01604519e-03 9.99991872e-01 3.55855790e-04 5.87579541e-01] [ 2.44580930e-02 -4.53977798e-04 9.99700753e-01 1.66308358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6825578440001 meters Centerline goodness : 0.161478 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.66 [[ 9.99692182e-01 -3.97279910e-03 -2.44899703e-02 5.08880055e+00] [ 3.98434620e-03 9.99991973e-01 4.22725390e-04 5.87096017e-01] [ 2.44880943e-02 -5.20171788e-04 9.99699986e-01 1.66308509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.71255784400006 meters Centerline goodness : 0.154196 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.66 [[ 9.99694529e-01 -3.94480920e-03 -2.43985206e-02 5.08823858e+00] [ 3.96031840e-03 9.99991985e-01 5.87373656e-04 5.86071009e-01] [ 2.43960080e-02 -6.83820141e-04 9.99702139e-01 1.66362646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74255784400003 meters Centerline goodness : 0.113916 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99696268e-01 -3.88857442e-03 -2.43361985e-02 5.08781172e+00] [ 3.90953013e-03 9.99992027e-01 8.13572653e-04 5.84778978e-01] [ 2.43328408e-02 -9.08468646e-04 9.99703500e-01 1.66407773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.77255784400006 meters Centerline goodness : 0.160609 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99696918e-01 -3.78750928e-03 -2.43254444e-02 5.08785048e+00] [ 3.81540693e-03 9.99992116e-01 1.10054019e-03 5.83402229e-01] [ 2.43210843e-02 -1.19301810e-03 9.99703487e-01 1.66399070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80255784400003 meters Centerline goodness : 0.154012 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99695065e-01 -3.70745417e-03 -2.44137787e-02 5.08816716e+00] [ 3.74202006e-03 9.99992060e-01 1.37030221e-03 5.82025963e-01] [ 2.44085045e-02 -1.46124121e-03 9.99701000e-01 1.66384048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.83255784400006 meters Centerline goodness : 0.161197 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99691888e-01 -3.63530469e-03 -2.45543054e-02 5.08873956e+00] [ 3.68293432e-03 9.99991423e-01 1.89482258e-03 5.78987784e-01] [ 2.45472065e-02 -1.98467065e-03 9.99696702e-01 1.66359919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86255784400004 meters Centerline goodness : 0.164801 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99690680e-01 -3.52937627e-03 -2.46188601e-02 5.08885759e+00] [ 3.58553827e-03 9.99991069e-01 2.23748947e-03 5.77202152e-01] [ 2.46107432e-02 -2.32506924e-03 9.99694406e-01 1.66370074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.89255784400007 meters Centerline goodness : 0.137805 Centerline is valid? [False, False] Translation: X:5.11, Y:0.57, Z:1.67 [[ 9.99679170e-01 4.35251188e-03 -2.49522090e-02 5.10803407e+00] [-4.33154203e-03 9.99990219e-01 8.94388225e-04 5.72230478e-01] [ 2.49558577e-02 -7.86019737e-04 9.99688245e-01 1.66574080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92255784400004 meters Centerline goodness : 0.151989 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.66 [[ 9.99621656e-01 -4.26719566e-03 -2.71723245e-02 5.08860197e+00] [ 4.33241489e-03 9.99987873e-01 2.34178872e-03 5.72814975e-01] [ 2.71620021e-02 -2.45862450e-03 9.99628021e-01 1.66426597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.95255784400007 meters Centerline goodness : 0.111065 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.66 [[ 9.99620107e-01 -4.24892248e-03 -2.72321096e-02 5.08889774e+00] [ 4.31527191e-03 9.99987861e-01 2.37813641e-03 5.72596448e-01] [ 2.72216745e-02 -2.49474693e-03 9.99626309e-01 1.66400981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98255784400004 meters Centerline goodness : 0.112237 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.66 [[ 9.99620144e-01 -4.19856213e-03 -2.72385567e-02 5.08880850e+00] [ 4.26642957e-03 9.99987937e-01 2.43395657e-03 5.72475397e-01] [ 2.72280090e-02 -2.54924340e-03 9.99625999e-01 1.66415449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.01255784400007 meters Centerline goodness : 0.105337 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99681115e-01 2.53556799e-03 -2.51244584e-02 5.07003314e+00] [-2.49613440e-03 9.99995603e-01 1.60076772e-03 5.66316891e-01] [ 2.51284068e-02 -1.53754324e-03 9.99683049e-01 1.66156903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04255784400004 meters Centerline goodness : 0.149692 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99690892e-01 2.61669872e-03 -2.47239320e-02 5.06856806e+00] [-2.57384300e-03 9.99995130e-01 1.76503355e-03 5.65666589e-01] [ 2.47284302e-02 -1.70085244e-03 9.99692759e-01 1.66235580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0725578440001 meters Centerline goodness : 0.162379 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99700941e-01 2.69386004e-03 -2.43058034e-02 5.06709302e+00] [-2.64713539e-03 9.99994587e-01 1.95433636e-03 5.64807650e-01] [ 2.43109365e-02 -1.88941114e-03 9.99702660e-01 1.66308255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10255784400005 meters Centerline goodness : 0.214443 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99708372e-01 2.74483564e-03 -2.39924314e-02 5.06623705e+00] [-2.69466246e-03 9.99994115e-01 2.12328905e-03 5.63681978e-01] [ 2.39981183e-02 -2.05801834e-03 9.99709885e-01 1.66323952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1325578440001 meters Centerline goodness : 0.147919 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99705925e-01 2.72595342e-03 -2.40963023e-02 5.06680178e+00] [-2.67587976e-03 9.99994194e-01 2.11006406e-03 5.63512192e-01] [ 2.41019143e-02 -2.04496474e-03 9.99707415e-01 1.66277408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16255784400005 meters Centerline goodness : 0.142418 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99702558e-01 2.69658400e-03 -2.42388968e-02 5.06760699e+00] [-2.64805148e-03 9.99994425e-01 2.03413277e-03 5.63773621e-01] [ 2.42442468e-02 -1.96934189e-03 9.99704125e-01 1.66203658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1925578440001 meters Centerline goodness : 0.103911 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99699741e-01 2.68224143e-03 -2.43563834e-02 5.06823277e+00] [-2.63540053e-03 9.99994616e-01 1.95504238e-03 5.64246531e-01] [ 2.43614962e-02 -1.89026654e-03 9.99701428e-01 1.66148355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22255784400005 meters Centerline goodness : 0.161572 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99702310e-01 2.69763877e-03 -2.42490196e-02 5.06791916e+00] [-2.65102675e-03 9.99994577e-01 1.95416464e-03 5.64406892e-01] [ 2.42541597e-02 -1.88929810e-03 9.99704039e-01 1.66153364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2525578440001 meters Centerline goodness : 0.162612 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99709951e-01 2.74415732e-03 -2.39266389e-02 5.06654501e+00] [-2.69851141e-03 9.99994478e-01 1.93982343e-03 5.64808202e-01] [ 2.39318299e-02 -1.87469448e-03 9.99711835e-01 1.66243933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28255784400005 meters Centerline goodness : 0.142798 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99708596e-01 2.65749634e-03 -2.39929318e-02 5.06694814e+00] [-2.61647742e-03 9.99995062e-01 1.74085656e-03 5.65633159e-01] [ 2.39974397e-02 -1.67757231e-03 9.99710612e-01 1.66204784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3125578440001 meters Centerline goodness : 0.149359 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99703533e-01 2.47768940e-03 -2.42220273e-02 5.06797876e+00] [-2.44458080e-03 9.99996037e-01 1.39639506e-03 5.66844994e-01] [ 2.42253911e-02 -1.33676837e-03 9.99705628e-01 1.66129189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34255784400005 meters Centerline goodness : 0.144580 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99691966e-01 2.24782744e-03 -2.47168156e-02 5.06986428e+00] [-2.23120562e-03 9.99997266e-01 7.00048279e-04 5.70194449e-01] [ 2.47183216e-02 -6.44684342e-04 9.99694248e-01 1.66006982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3725578440001 meters Centerline goodness : 0.145116 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99688826e-01 2.15233638e-03 -2.48519246e-02 5.07050463e+00] [-2.14549153e-03 9.99997653e-01 3.02086048e-04 5.72568518e-01] [ 2.48525165e-02 -2.48672453e-04 9.99691098e-01 1.65948278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40255784400006 meters Centerline goodness : 0.161114 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99689890e-01 2.04935758e-03 -2.48178008e-02 5.07056959e+00] [-2.05194962e-03 9.99997892e-01 -7.89771301e-05 5.74862855e-01] [ 2.48175866e-02 1.29877515e-04 9.99691988e-01 1.65917870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.4325578440001 meters Centerline goodness : 0.110634 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99690618e-01 1.91372626e-03 -2.47993222e-02 5.07054243e+00] [-1.92518454e-03 9.99998051e-01 -4.38172952e-04 5.76728567e-01] [ 2.47984353e-02 4.85780661e-04 9.99692353e-01 1.65909350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46255784400006 meters Centerline goodness : 0.118482 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99688110e-01 1.76276944e-03 -2.49113336e-02 5.07085042e+00] [-1.78093035e-03 9.99998164e-01 -7.06854529e-04 5.77813160e-01] [ 2.49100418e-02 7.50999419e-04 9.99689415e-01 1.65902361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49255784400003 meters Centerline goodness : 0.110929 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99668394e-01 1.21436371e-03 -2.57221185e-02 5.07282366e+00] [-1.24385398e-03 9.99998587e-01 -1.13052570e-03 5.78272174e-01] [ 2.57207093e-02 1.16214537e-03 9.99668492e-01 1.65901161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52255784400006 meters Centerline goodness : 0.154153 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99663418e-01 1.11776220e-03 -2.59191138e-02 5.07326118e+00] [-1.14453603e-03 9.99998827e-01 -1.01816420e-03 5.77260558e-01] [ 2.59179453e-02 1.04748686e-03 9.99663525e-01 1.65912982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.55255784400003 meters Centerline goodness : 0.160157 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99663591e-01 1.02319921e-03 -2.59163755e-02 5.07302344e+00] [-1.04431102e-03 9.99999134e-01 -8.01091007e-04 5.75640094e-01] [ 2.59155333e-02 8.27886269e-04 9.99663793e-01 1.65956967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58255784400006 meters Centerline goodness : 0.150635 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99668302e-01 9.55669136e-04 -2.57366200e-02 5.07234900e+00] [-9.70803834e-04 9.99999363e-01 -5.75572556e-04 5.74075850e-01] [ 2.57360535e-02 6.00366849e-04 9.99668593e-01 1.66002038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.61255784400004 meters Centerline goodness : 0.158716 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99682396e-01 3.21996971e-04 -2.51992622e-02 5.07063554e+00] [-3.30923260e-04 9.99999884e-01 -3.50058836e-04 5.70057086e-01] [ 2.51991466e-02 3.58286678e-04 9.99682387e-01 1.66090427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64255784400007 meters Centerline goodness : 0.146902 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.66 [[ 9.99680796e-01 -7.87011007e-03 -2.40076652e-02 5.09126098e+00] [ 7.88652595e-03 9.99968727e-01 5.89169587e-04 5.71442000e-01] [ 2.40022776e-02 -7.78318597e-04 9.99711601e-01 1.66194020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.67255784400004 meters Centerline goodness : 0.158984 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99717985e-01 -2.62267121e-03 -2.36023871e-02 5.06797021e+00] [ 2.57300809e-03 9.99994412e-01 -2.13427948e-03 5.65083699e-01] [ 2.36078527e-02 2.07294845e-03 9.99719147e-01 1.66170054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70255784400007 meters Centerline goodness : 0.117239 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99715844e-01 -2.51002195e-03 -2.37050796e-02 5.06823414e+00] [ 2.47203003e-03 9.99995613e-01 -1.63185912e-03 5.62247615e-01] [ 2.37090716e-02 1.57279575e-03 9.99717663e-01 1.66176753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.73255784400004 meters Centerline goodness : 0.126696 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99712488e-01 -2.36766319e-03 -2.38607588e-02 5.06869277e+00] [ 2.34211979e-03 9.99996654e-01 -1.09840874e-03 5.59180981e-01] [ 2.38632796e-02 1.04220818e-03 9.99714688e-01 1.66168471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76255784400007 meters Centerline goodness : 0.152545 Centerline is valid? [False, False] Translation: X:5.07, Y:0.55, Z:1.66 [[ 9.99712825e-01 -1.91998744e-03 -2.38868265e-02 5.06847875e+00] [ 1.92198837e-03 9.99998151e-01 6.08089851e-05 5.52969351e-01] [ 2.38866655e-02 -1.06701725e-04 9.99714667e-01 1.66221271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.79255784400004 meters Centerline goodness : 0.150723 Centerline is valid? [False, False] Translation: X:5.07, Y:0.55, Z:1.66 [[ 9.99715021e-01 -1.64495548e-03 -2.38153650e-02 5.06821056e+00] [ 1.66084862e-03 9.99998411e-01 6.47583832e-04 5.50383530e-01] [ 2.38142620e-02 -6.86953000e-04 9.99716164e-01 1.66237767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8225578440001 meters Centerline goodness : 0.158104 Centerline is valid? [False, False] Translation: X:5.07, Y:0.55, Z:1.66 [[ 9.99716555e-01 -1.37684140e-03 -2.37679019e-02 5.06820699e+00] [ 1.40583515e-03 9.99998288e-01 1.20320375e-03 5.47927206e-01] [ 2.37662046e-02 -1.23627646e-03 9.99716779e-01 1.66223914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.85255784400005 meters Centerline goodness : 0.147579 Centerline is valid? [False, False] Translation: X:5.07, Y:0.55, Z:1.66 [[ 9.99717246e-01 -1.17712437e-03 -2.37495740e-02 5.06830436e+00] [ 1.21675335e-03 9.99997892e-01 1.65423670e-03 5.45641382e-01] [ 2.37475767e-02 -1.68266634e-03 9.99716570e-01 1.66208983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8825578440001 meters Centerline goodness : 0.143844 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.66 [[ 9.99699848e-01 7.28328163e-03 -2.33916190e-02 5.08786474e+00] [-7.27546759e-03 9.99973446e-01 4.19140993e-04 5.39411246e-01] [ 2.33940506e-02 -2.48830221e-04 9.99726291e-01 1.66394907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.91255784400005 meters Centerline goodness : 0.150733 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.66 [[ 9.99689448e-01 7.62953848e-03 -2.37233384e-02 5.08838056e+00] [-7.60827772e-03 9.99970570e-01 9.86327553e-04 5.36320143e-01] [ 2.37301655e-02 -8.05527500e-04 9.99718075e-01 1.66483202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9425578440001 meters Centerline goodness : 0.151944 Centerline is valid? [False, False] Translation: X:5.09, Y:0.53, Z:1.67 [[ 9.99685753e-01 7.74554398e-03 -2.38411624e-02 5.08840515e+00] [-7.71875352e-03 9.99969471e-01 1.21552761e-03 5.34863650e-01] [ 2.38498495e-02 -1.03112158e-03 9.99715020e-01 1.66541770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.97255784400005 meters Centerline goodness : 0.132259 Centerline is valid? [False, False] Translation: X:5.09, Y:0.53, Z:1.67 [[ 9.99682379e-01 7.88921502e-03 -2.39353642e-02 5.08820441e+00] [-7.85659535e-03 9.99968076e-01 1.45655755e-03 5.33323834e-01] [ 2.39460911e-02 -1.26804444e-03 9.99712447e-01 1.66620621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0025578440001 meters Centerline goodness : 0.153708 Centerline is valid? [False, False] Translation: X:5.11, Y:0.53, Z:1.67 [[ 9.99740770e-01 7.12001471e-04 -2.27571210e-02 5.10701656e+00] [-6.45867642e-04 9.99995548e-01 2.91328973e-03 5.33610742e-01] [ 2.27590940e-02 -2.89783643e-03 9.99736778e-01 1.66717234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.03255784400005 meters Centerline goodness : 0.153708 Centerline is valid? [False, False] Translation: X:5.11, Y:0.53, Z:1.67 [[ 9.99740770e-01 7.12001471e-04 -2.27571210e-02 5.10701656e+00] [-6.45867642e-04 9.99995548e-01 2.91328973e-03 5.33610742e-01] [ 2.27590940e-02 -2.89783643e-03 9.99736778e-01 1.66717234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0625578440001 meters Centerline goodness : 0.136111 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99672660e-01 5.82382149e-05 -2.55845430e-02 5.06171970e+00] [ 4.18224429e-05 9.99992353e-01 3.91042835e-03 5.27938179e-01] [ 2.55845751e-02 -3.91021832e-03 9.99665014e-01 1.66748894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.09255784400005 meters Centerline goodness : 0.156277 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99669112e-01 1.08558146e-04 -2.57226583e-02 5.06227965e+00] [-4.03976004e-06 9.99991745e-01 4.06329802e-03 5.26913364e-01] [ 2.57228870e-02 -4.06184961e-03 9.99660860e-01 1.66719280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1225578440001 meters Centerline goodness : 0.148442 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99662257e-01 1.29356513e-04 -2.59876089e-02 5.06307825e+00] [-2.05374022e-05 9.99991232e-01 4.18756928e-03 5.25899854e-01] [ 2.59879227e-02 -4.18562124e-03 9.99653494e-01 1.66704034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.15255784400006 meters Centerline goodness : 0.139618 Centerline is valid? [False, False] Translation: X:5.06, Y:0.52, Z:1.67 [[ 9.99654472e-01 1.69256785e-04 -2.62851167e-02 5.06394042e+00] [-5.52586263e-05 9.99990591e-01 4.33765088e-03 5.24853523e-01] [ 2.62856036e-02 -4.33469962e-03 9.99645076e-01 1.66688000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1825578440001 meters Centerline goodness : 0.142662 Centerline is valid? [False, False] Translation: X:5.06, Y:0.52, Z:1.67 [[ 9.99649802e-01 2.36840037e-04 -2.64616146e-02 5.06459365e+00] [-1.17582026e-04 9.99989831e-01 4.50829556e-03 5.23918751e-01] [ 2.64624132e-02 -4.50360535e-03 9.99639664e-01 1.66655066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.21255784400006 meters Centerline goodness : 0.140025 Centerline is valid? [False, False] Translation: X:5.06, Y:0.52, Z:1.67 [[ 9.99650143e-01 4.62582409e-04 -2.64457600e-02 5.06494399e+00] [-3.34969317e-04 9.99988281e-01 4.82969147e-03 5.23179903e-01] [ 2.64476842e-02 -4.81914325e-03 9.99638583e-01 1.66594159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2425578440001 meters Centerline goodness : 0.157897 Centerline is valid? [False, False] Translation: X:5.06, Y:0.52, Z:1.67 [[ 9.99651897e-01 4.99799964e-04 -2.63787026e-02 5.06485262e+00] [-3.71432517e-04 9.99988068e-01 4.87100456e-03 5.23126761e-01] [ 2.63808224e-02 -4.85951103e-03 9.99640154e-01 1.66582184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.27255784400006 meters Centerline goodness : 0.113280 Centerline is valid? [False, False] Translation: X:5.06, Y:0.52, Z:1.67 [[ 9.99653036e-01 4.71079031e-04 -2.63360065e-02 5.06478457e+00] [-3.44883634e-04 9.99988439e-01 4.79608074e-03 5.23530881e-01] [ 2.63379614e-02 -4.78533381e-03 9.99641642e-01 1.66574133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30255784400003 meters Centerline goodness : 0.145632 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99652291e-01 3.83615761e-04 -2.63657092e-02 5.06495573e+00] [-2.65328587e-04 9.99989886e-01 4.48975410e-03 5.25216767e-01] [ 2.63671649e-02 -4.48119739e-03 9.99642282e-01 1.66549899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.33255784400006 meters Centerline goodness : 0.147760 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99654097e-01 3.01623209e-04 -2.62981942e-02 5.06489619e+00] [-1.90838020e-04 9.99991098e-01 4.21506190e-03 5.26785929e-01] [ 2.62992314e-02 -4.20858520e-03 9.99645256e-01 1.66525287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36255784400004 meters Centerline goodness : 0.135908 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99661396e-01 2.42070014e-04 -2.60198786e-02 5.06428215e+00] [-1.40130125e-04 9.99992309e-01 3.91952159e-03 5.28641732e-01] [ 2.60206272e-02 -3.91454825e-03 9.99653742e-01 1.66507975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.39255784400007 meters Centerline goodness : 0.122326 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99668815e-01 1.02612166e-04 -2.57342243e-02 5.06356879e+00] [-1.18557121e-05 9.99993781e-01 3.52681090e-03 5.30726982e-01] [ 2.57344261e-02 -3.52533777e-03 9.99662599e-01 1.66502485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42255784400004 meters Centerline goodness : 0.155135 Centerline is valid? [False, False] Translation: X:5.04, Y:0.53, Z:1.66 [[ 9.99658472e-01 7.25410543e-03 -2.51061266e-02 5.04385174e+00] [-7.20533940e-03 9.99971976e-01 2.03231563e-03 5.27346850e-01] [ 2.51201657e-02 -1.85072337e-03 9.99682726e-01 1.66296897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.45255784400007 meters Centerline goodness : 0.144914 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99649133e-01 8.13482805e-04 -2.64754615e-02 5.06030923e+00] [-7.58622363e-04 9.99997545e-01 2.08210233e-03 5.38275545e-01] [ 2.64770902e-02 -2.06128691e-03 9.99647295e-01 1.66580459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48255784400004 meters Centerline goodness : 0.085725 Centerline is valid? [False, False] Translation: X:5.02, Y:0.54, Z:1.67 [[ 9.99564908e-01 -2.14618468e-04 -2.94949050e-02 5.01526808e+00] [ 2.85394743e-04 9.99997090e-01 2.39542141e-03 5.37830720e-01] [ 2.94943050e-02 -2.40279688e-03 9.99562060e-01 1.66601167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.51255784400007 meters Centerline goodness : 0.144774 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99607987e-01 1.34419445e-03 -2.79654249e-02 5.05957140e+00] [-1.28976918e-03 9.99997239e-01 1.96410977e-03 5.44883913e-01] [ 2.79679878e-02 -1.92727087e-03 9.99606961e-01 1.66648110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54255784400004 meters Centerline goodness : 0.105712 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99609627e-01 1.16018870e-03 -2.79150037e-02 5.05957267e+00] [-1.11921929e-03 9.99998274e-01 1.48322829e-03 5.47431432e-01] [ 2.79166763e-02 -1.45140627e-03 9.99609200e-01 1.66621173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5725578440001 meters Centerline goodness : 0.141173 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99611717e-01 1.00519393e-03 -2.78460870e-02 5.05946933e+00] [-9.74990935e-04 9.99998922e-01 1.09819695e-03 5.49340908e-01] [ 2.78471609e-02 -1.07062086e-03 9.99611619e-01 1.66603148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60255784400005 meters Centerline goodness : 0.077883 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99612844e-01 7.44192925e-04 -2.78138113e-02 5.05919513e+00] [-7.29911441e-04 9.99999597e-01 5.23616608e-04 5.51857658e-01] [ 2.78141897e-02 -5.03112267e-04 9.99612984e-01 1.66627347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6325578440001 meters Centerline goodness : 0.149740 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99612829e-01 5.99667707e-04 -2.78178498e-02 5.05913326e+00] [-5.92466444e-04 9.99999789e-01 2.67113492e-04 5.52931840e-01] [ 2.78180041e-02 -2.50528931e-04 9.99612973e-01 1.66635536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66255784400005 meters Centerline goodness : 0.139331 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99612703e-01 5.06437685e-04 -2.78242405e-02 5.05900662e+00] [-5.02902891e-04 9.99999865e-01 1.34037764e-04 5.53388924e-01] [ 2.78243046e-02 -1.19992960e-04 9.99612822e-01 1.66655232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6925578440001 meters Centerline goodness : 0.161598 Centerline is valid? [False, False] Translation: X:5.08, Y:0.56, Z:1.67 [[ 9.99606083e-01 -7.32915033e-03 -2.70917219e-02 5.07804139e+00] [ 7.36611628e-03 9.99972070e-01 1.26492569e-03 5.57925857e-01] [ 2.70816944e-02 -1.46398819e-03 9.99632152e-01 1.66888570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72255784400005 meters Centerline goodness : 0.148750 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99650020e-01 -3.80129521e-04 -2.64517010e-02 5.05879691e+00] [ 3.90581040e-04 9.99999848e-01 3.89951554e-04 5.50224502e-01] [ 2.64515487e-02 -4.00146612e-04 9.99650016e-01 1.66717000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7525578440001 meters Centerline goodness : 0.151927 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99639186e-01 -4.73621143e-04 -2.68565355e-02 5.05974233e+00] [ 4.90322033e-04 9.99999691e-01 6.15273768e-04 5.48423196e-01] [ 2.68562358e-02 -6.28220120e-04 9.99639109e-01 1.66733581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78255784400005 meters Centerline goodness : 0.153913 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99626932e-01 -5.10070176e-04 -2.73081691e-02 5.06104166e+00] [ 5.35400317e-04 9.99999433e-01 9.20262713e-04 5.46185411e-01] [ 2.73076842e-02 -9.34540195e-04 9.99626639e-01 1.66710209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8125578440001 meters Centerline goodness : 0.108073 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99617973e-01 -5.43759629e-04 -2.76335193e-02 5.06193862e+00] [ 5.77256869e-04 9.99999108e-01 1.20423308e-03 5.44032906e-01] [ 2.76328398e-02 -1.21972467e-03 9.99617396e-01 1.66703881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84255784400005 meters Centerline goodness : 0.157582 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99615115e-01 -4.43322534e-04 -2.77385015e-02 5.06237222e+00] [ 4.87889402e-04 9.99998601e-01 1.59993167e-03 5.41824008e-01] [ 2.77377534e-02 -1.61284920e-03 9.99613933e-01 1.66678634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8725578440001 meters Centerline goodness : 0.153351 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99618591e-01 -2.27721946e-04 -2.76155844e-02 5.06240828e+00] [ 2.88535779e-04 9.99997542e-01 2.19819149e-03 5.38945509e-01] [ 2.76150159e-02 -2.20532116e-03 9.99616200e-01 1.66631532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90255784400006 meters Centerline goodness : 0.145976 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99619047e-01 -1.43610540e-04 -2.75996500e-02 5.06237760e+00] [ 2.09981176e-04 9.99997093e-01 2.40188049e-03 5.37990047e-01] [ 2.75992249e-02 -2.40676089e-03 9.99616171e-01 1.66631304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.9325578440001 meters Centerline goodness : 0.151845 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99616310e-01 -9.62982524e-05 -2.76987823e-02 5.06256166e+00] [ 1.66889102e-04 9.99996744e-01 2.54621768e-03 5.37159194e-01] [ 2.76984469e-02 -2.54986335e-03 9.99613072e-01 1.66643367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96255784400006 meters Centerline goodness : 0.149313 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99611343e-01 -6.36366351e-05 -2.78775668e-02 5.06298879e+00] [ 1.38091905e-04 9.99996429e-01 2.66887807e-03 5.36360955e-01] [ 2.78772974e-02 -2.67169046e-03 9.99607782e-01 1.66647384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.9925578440001 meters Centerline goodness : 0.135823 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99610947e-01 1.03554687e-04 -2.78916503e-02 5.06284225e+00] [-1.71687614e-05 9.99995203e-01 3.09741831e-03 5.34385167e-01] [ 2.78918372e-02 -3.09573438e-03 9.99606153e-01 1.66674165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02255784400006 meters Centerline goodness : 0.121305 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99614928e-01 2.16589557e-04 -2.77479599e-02 5.06228993e+00] [-1.22250964e-04 9.99994207e-01 3.40149023e-03 5.32977355e-01] [ 2.77485359e-02 -3.39678819e-03 9.99609164e-01 1.66705828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.05255784400003 meters Centerline goodness : 0.129495 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99619919e-01 2.81612236e-04 -2.75669871e-02 5.06174401e+00] [-1.81947156e-04 9.99993439e-01 3.61781960e-03 5.31796071e-01] [ 2.75678250e-02 -3.61142880e-03 9.99613412e-01 1.66724285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08255784400006 meters Centerline goodness : 0.155903 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99622053e-01 3.24790175e-04 -2.74890001e-02 5.06145606e+00] [-2.19600872e-04 9.99992643e-01 3.82952855e-03 5.30502280e-01] [ 2.74900417e-02 -3.82204459e-03 9.99614771e-01 1.66744004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.11255784400004 meters Centerline goodness : 0.151822 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99616079e-01 3.24520442e-04 -2.77053974e-02 5.06201156e+00] [-2.14920667e-04 9.99992141e-01 3.95878594e-03 5.29383835e-01] [ 2.77064644e-02 -3.95131162e-03 9.99608293e-01 1.66741730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14255784400007 meters Centerline goodness : 0.155324 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99612218e-01 3.17660958e-04 -2.78444351e-02 5.06241376e+00] [-2.07579560e-04 9.99992152e-01 3.95624478e-03 5.29343232e-01] [ 2.78454734e-02 -3.94893068e-03 9.99604440e-01 1.66732309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.17255784400004 meters Centerline goodness : 0.108908 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99610588e-01 3.33069325e-04 -2.79027101e-02 5.06266755e+00] [-2.21538364e-04 9.99991975e-01 4.00013322e-03 5.29076164e-01] [ 2.79038185e-02 -3.99239400e-03 9.99602640e-01 1.66714816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20255784400007 meters Centerline goodness : 0.147304 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99608672e-01 3.53564515e-04 -2.79710105e-02 5.06289297e+00] [-2.40725159e-04 9.99991821e-01 4.03741818e-03 5.28847109e-01] [ 2.79722092e-02 -4.02910490e-03 9.99600581e-01 1.66705579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.23255784400004 meters Centerline goodness : 0.160446 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99604868e-01 3.62329314e-04 -2.81065048e-02 5.06335151e+00] [-2.47885949e-04 9.99991666e-01 4.07515249e-03 5.28565399e-01] [ 2.81077471e-02 -4.06657506e-03 9.99596627e-01 1.66687172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26255784400007 meters Centerline goodness : 0.104059 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99599806e-01 4.24709902e-04 -2.82851036e-02 5.06396577e+00] [-3.05392668e-04 9.99991038e-01 4.22256342e-03 5.27765192e-01] [ 2.82866435e-02 -4.21223551e-03 9.99590978e-01 1.66663325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.29255784400004 meters Centerline goodness : 0.151360 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99598801e-01 4.74406452e-04 -2.83198048e-02 5.06417096e+00] [-3.51278411e-04 9.99990466e-01 4.35258826e-03 5.27045908e-01] [ 2.83215997e-02 -4.34089387e-03 9.99589438e-01 1.66646324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3225578440001 meters Centerline goodness : 0.124163 Centerline is valid? [False, False] Translation: X:5.04, Y:0.52, Z:1.66 [[ 9.99580783e-01 7.76851634e-03 -2.78909984e-02 5.04461734e+00] [-7.67630279e-03 9.99964717e-01 3.41176322e-03 5.20021884e-01] [ 2.79165186e-02 -3.19623320e-03 9.99605148e-01 1.66442189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.35255784400005 meters Centerline goodness : 0.158209 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99662708e-01 7.37379012e-03 -2.49017537e-02 5.08347548e+00] [-7.30945298e-03 9.99969711e-01 2.67367594e-03 5.20080512e-01] [ 2.49207146e-02 -2.49075593e-03 9.99686328e-01 1.66618958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3825578440001 meters Centerline goodness : 0.133176 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99664025e-01 7.40393558e-03 -2.48398765e-02 5.08323602e+00] [-7.33610800e-03 9.99969112e-01 2.82061144e-03 5.19273095e-01] [ 2.48599929e-02 -2.63743577e-03 9.99687464e-01 1.66634431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.41255784400005 meters Centerline goodness : 0.130367 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99663381e-01 7.47396410e-03 -2.48448035e-02 5.08336806e+00] [-7.40226985e-03 9.99968173e-01 2.97640179e-03 5.18613787e-01] [ 2.48662583e-02 -2.79149193e-03 9.99686889e-01 1.66619791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4425578440001 meters Centerline goodness : 0.117011 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99663345e-01 7.53883663e-03 -2.48266365e-02 5.08356552e+00] [-7.46396232e-03 9.99967317e-01 3.10717470e-03 5.18196252e-01] [ 2.48492496e-02 -2.92082358e-03 9.99686943e-01 1.66585052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.47255784400005 meters Centerline goodness : 0.146182 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99657804e-01 7.68117147e-03 -2.50055074e-02 5.08425640e+00] [-7.60257718e-03 9.99965862e-01 3.23663254e-03 5.17777034e-01] [ 2.50295149e-02 -3.04541868e-03 9.99682074e-01 1.66561832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5025578440001 meters Centerline goodness : 0.144694 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99654905e-01 7.69746656e-03 -2.51161224e-02 5.08448063e+00] [-7.61977791e-03 9.99965889e-01 3.18741982e-03 5.17873915e-01] [ 2.51398007e-02 -2.99494058e-03 9.99679459e-01 1.66574593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.53255784400005 meters Centerline goodness : 0.157600 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99675246e-01 5.33917365e-04 -2.54778008e-02 5.10329939e+00] [-4.23500810e-04 9.99990497e-01 4.33903285e-03 5.26256861e-01] [ 2.54798754e-02 -4.32683387e-03 9.99665971e-01 1.66731007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5625578440001 meters Centerline goodness : 0.142980 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99675622e-01 5.20521176e-04 -2.54632976e-02 5.10326705e+00] [-4.13140927e-04 9.99991001e-01 4.22213891e-03 5.27015037e-01] [ 2.54652662e-02 -4.21024941e-03 9.99666842e-01 1.66726194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.59255784400005 meters Centerline goodness : 0.161168 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99679568e-01 5.37926173e-04 -2.53075618e-02 5.10280147e+00] [-4.33321192e-04 9.99991342e-01 4.13865131e-03 5.27704214e-01] [ 2.53095689e-02 -4.12635885e-03 9.99671145e-01 1.66736027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6225578440001 meters Centerline goodness : 0.142154 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99685581e-01 5.46573501e-04 -2.50686993e-02 5.10210917e+00] [-4.44783253e-04 9.99991635e-01 4.06584812e-03 5.28274193e-01] [ 2.50707119e-02 -4.05341960e-03 9.99677463e-01 1.66746027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.65255784400006 meters Centerline goodness : 0.139295 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99694245e-01 5.61132316e-04 -2.47204688e-02 5.10117776e+00] [-4.63772946e-04 9.99992115e-01 3.94396832e-03 5.29244756e-01] [ 2.47224870e-02 -3.93129775e-03 9.99686623e-01 1.66752294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6825578440001 meters Centerline goodness : 0.135656 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99695628e-01 5.29047100e-04 -2.46651702e-02 5.10110335e+00] [-4.31909983e-04 9.99992132e-01 3.94339122e-03 5.29052879e-01] [ 2.46670624e-02 -3.93153783e-03 9.99687991e-01 1.66742424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.71255784400006 meters Centerline goodness : 0.155664 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99691006e-01 4.74239697e-04 -2.48529234e-02 5.10168100e+00] [-3.75270932e-04 9.99991983e-01 3.98669072e-03 5.28542518e-01] [ 2.48546148e-02 -3.97613228e-03 9.99683169e-01 1.66727299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7425578440001 meters Centerline goodness : 0.157809 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99685465e-01 4.39575752e-04 -2.50754402e-02 5.10243007e+00] [-3.37326091e-04 9.99991613e-01 4.08176583e-03 5.27774808e-01] [ 2.50770241e-02 -4.07202337e-03 9.99677229e-01 1.66697891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.77255784400006 meters Centerline goodness : 0.149020 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99673307e-01 3.01014684e-04 -2.55575405e-02 5.10379032e+00] [-1.91120254e-04 9.99990727e-01 4.30221667e-03 5.25936913e-01] [ 2.55585985e-02 -4.29592661e-03 9.99664095e-01 1.66677605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80255784400003 meters Centerline goodness : 0.147619 Centerline is valid? [False, False] Translation: X:5.10, Y:0.52, Z:1.67 [[ 9.99672715e-01 3.71628031e-04 -2.55797536e-02 5.10366136e+00] [-2.54900086e-04 9.99989541e-01 4.56640374e-03 5.24537184e-01] [ 2.55811831e-02 -4.55838895e-03 9.99662355e-01 1.66709705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.83255784400006 meters Centerline goodness : 0.151693 Centerline is valid? [False, False] Translation: X:5.10, Y:0.52, Z:1.67 [[ 9.99672454e-01 4.34467091e-04 -2.55889836e-02 5.10355327e+00] [-3.12565836e-04 9.99988586e-01 4.76762491e-03 5.23449933e-01] [ 2.55907629e-02 -4.75806506e-03 9.99661179e-01 1.66733168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86255784400004 meters Centerline goodness : 0.138220 Centerline is valid? [False, False] Translation: X:5.10, Y:0.52, Z:1.67 [[ 9.99669295e-01 5.01386489e-04 -2.57108890e-02 5.10389475e+00] [-3.74006934e-04 9.99987635e-01 4.95887332e-03 5.22444522e-01] [ 2.57130574e-02 -4.94761734e-03 9.99657121e-01 1.66730214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.89255784400007 meters Centerline goodness : 0.147997 Centerline is valid? [False, False] Translation: X:5.10, Y:0.52, Z:1.67 [[ 9.99665421e-01 5.56127928e-04 -2.58599330e-02 5.10459430e+00] [-4.23143416e-04 9.99986661e-01 5.14768035e-03 5.21381102e-01] [ 2.58624508e-02 -5.13501559e-03 9.99652322e-01 1.66680365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92255784400004 meters Centerline goodness : 0.147997 Centerline is valid? [False, False] Translation: X:5.10, Y:0.52, Z:1.67 [[ 9.99665421e-01 5.56127928e-04 -2.58599330e-02 5.10459430e+00] [-4.23143416e-04 9.99986661e-01 5.14768035e-03 5.21381102e-01] [ 2.58624508e-02 -5.13501559e-03 9.99652322e-01 1.66680365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.95255784400007 meters Centerline goodness : 0.146547 Centerline is valid? [False, False] Translation: X:5.11, Y:0.52, Z:1.67 [[ 9.99656273e-01 6.54721768e-04 -2.62089307e-02 5.10632555e+00] [-5.08664398e-04 9.99984307e-01 5.57908826e-03 5.18465235e-01] [ 2.62121721e-02 -5.56383902e-03 9.99640918e-01 1.66560423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98255784400004 meters Centerline goodness : 0.109754 Centerline is valid? [False, False] Translation: X:5.11, Y:0.52, Z:1.67 [[ 9.99652966e-01 7.83569715e-04 -2.63312318e-02 5.10664517e+00] [-6.26714651e-04 9.99982015e-01 5.96472142e-03 5.16301218e-01] [ 2.63354319e-02 -5.94614929e-03 9.99635478e-01 1.66563832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.01255784400007 meters Centerline goodness : 0.093648 Centerline is valid? [False, False] Translation: X:5.11, Y:0.51, Z:1.67 [[ 9.99651945e-01 9.36506420e-04 -2.63649552e-02 5.10654261e+00] [-7.68090908e-04 9.99979242e-01 6.39725762e-03 5.14015381e-01] [ 2.63703990e-02 -6.37478034e-03 9.99631914e-01 1.66596706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04255784400004 meters Centerline goodness : 0.145369 Centerline is valid? [False, False] Translation: X:5.11, Y:0.51, Z:1.67 [[ 9.99653216e-01 1.10477908e-03 -2.63102175e-02 5.10625545e+00] [-9.25609807e-04 9.99976308e-01 6.82107962e-03 5.11892047e-01] [ 2.63171299e-02 -6.79436118e-03 9.99630554e-01 1.66626004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0725578440001 meters Centerline goodness : 0.140208 Centerline is valid? [False, False] Translation: X:5.11, Y:0.51, Z:1.67 [[ 9.99656810e-01 1.36539558e-03 -2.61610042e-02 5.10560216e+00] [-1.17049790e-03 9.99971460e-01 7.46379686e-03 5.08557799e-01] [ 2.61704486e-02 -7.43061396e-03 9.99629878e-01 1.66678931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10255784400005 meters Centerline goodness : 0.140196 Centerline is valid? [False, False] Translation: X:5.11, Y:0.51, Z:1.67 [[ 9.99657843e-01 1.45670944e-03 -2.61165628e-02 5.10558457e+00] [-1.25695151e-03 9.99969845e-01 7.66349235e-03 5.07567470e-01] [ 2.61269388e-02 -7.62804298e-03 9.99629529e-01 1.66670035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1325578440001 meters Centerline goodness : 0.168508 Centerline is valid? [False, False] Translation: X:5.11, Y:0.51, Z:1.67 [[ 9.99660606e-01 1.57191247e-03 -2.60038992e-02 5.10542097e+00] [-1.36838166e-03 9.99968308e-01 7.84287801e-03 5.06934010e-01] [ 2.60154034e-02 -7.80463292e-03 9.99631075e-01 1.66650536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16255784400005 meters Centerline goodness : 0.040782 Centerline is valid? [False, False] Translation: X:5.11, Y:0.51, Z:1.67 [[ 9.99665032e-01 1.73278535e-03 -2.58228926e-02 5.10512845e+00] [-1.52649987e-03 9.99966786e-01 8.00604571e-03 5.06648540e-01] [ 2.58359077e-02 -7.96394529e-03 9.99634474e-01 1.66624338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1925578440001 meters Centerline goodness : 0.147733 Centerline is valid? [False, False] Translation: X:5.13, Y:0.50, Z:1.67 [[ 0.99963372 0.01087298 -0.02478299 5.12527097] [-0.01070107 0.99991783 0.0070586 0.50417089] [ 0.0248577 -0.00679081 0.99966793 1.66720734] [ 0. 0. 0. 1. ]] SLAMing on 479.22255784400005 meters Centerline goodness : 0.059503 Centerline is valid? [False, False] Translation: X:5.08, Y:0.50, Z:1.67 [[ 0.99955384 0.01019001 -0.02807649 5.08218246] [-0.00999839 0.99992581 0.00695696 0.5022078 ] [ 0.0281453 -0.00667314 0.99958157 1.66787257] [ 0. 0. 0. 1. ]] SLAMing on 479.2525578440001 meters Centerline goodness : 0.091334 Centerline is valid? [False, False] Translation: X:5.08, Y:0.50, Z:1.67 [[ 0.99954499 0.0101444 -0.02840607 5.08316898] [-0.00995769 0.99992793 0.00670692 0.50314839] [ 0.02847206 -0.00642101 0.99957397 1.66774892] [ 0. 0. 0. 1. ]] SLAMing on 479.28255784400005 meters Centerline goodness : 0.039600 Centerline is valid? [False, False] Translation: X:5.08, Y:0.50, Z:1.67 [[ 0.99954042 0.01018622 -0.02855137 5.08358987] [-0.01000206 0.99992829 0.00658559 0.50398518] [ 0.02861641 -0.00629699 0.99957063 1.66767352] [ 0. 0. 0. 1. ]] SLAMing on 479.3125578440001 meters Centerline goodness : 0.163045 Centerline is valid? [False, False] Translation: X:5.08, Y:0.51, Z:1.67 [[ 0.99954445 0.01017138 -0.02841524 5.08327946] [-0.00999302 0.99992951 0.00641201 0.50520165] [ 0.02847846 -0.00612514 0.99957564 1.66761131] [ 0. 0. 0. 1. ]] SLAMing on 479.34255784400005 meters Centerline goodness : 0.131224 Centerline is valid? [False, False] Translation: X:5.08, Y:0.51, Z:1.67 [[ 0.99956488 0.0101296 -0.02770256 5.08124371] [-0.009965 0.9999319 0.00607352 0.50744544] [ 0.0277622 -0.00579482 0.99959776 1.66800511] [ 0. 0. 0. 1. ]] SLAMing on 479.3725578440001 meters Centerline goodness : 0.132259 Centerline is valid? [False, False] Translation: X:5.08, Y:0.51, Z:1.67 [[ 0.99957285 0.00998659 -0.02746594 5.08046638] [-0.00983279 0.99993524 0.00572913 0.50914333] [ 0.02752138 -0.00545661 0.99960632 1.6682001 ] [ 0. 0. 0. 1. ]] SLAMing on 479.40255784400006 meters Centerline goodness : 0.134145 Centerline is valid? [False, False] Translation: X:5.08, Y:0.51, Z:1.67 [[ 0.999578 0.00986021 -0.02732387 5.08004023] [-0.00971656 0.99993829 0.00538536 0.51109884] [ 0.02737528 -0.0051176 0.99961213 1.66822905] [ 0. 0. 0. 1. ]] SLAMing on 479.4325578440001 meters Centerline goodness : 0.222469 Centerline is valid? [False, False] Translation: X:5.08, Y:0.51, Z:1.67 [[ 9.99584225e-01 9.77236885e-03 -2.71270609e-02 5.07952863e+00] [-9.63769136e-03 9.99940597e-01 5.09100823e-03 5.12941350e-01] [ 2.71752007e-02 -4.82744928e-03 9.99619030e-01 1.66809330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46255784400006 meters Centerline goodness : 0.125460 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99582696e-01 9.48374130e-03 -2.72853842e-02 5.08034236e+00] [-9.37280387e-03 9.99947292e-01 4.19084686e-03 5.17751948e-01] [ 2.73236909e-02 -3.93335745e-03 9.99618900e-01 1.66728424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.4925578440001 meters Centerline goodness : 0.128337 Centerline is valid? [False, False] Translation: X:5.06, Y:0.52, Z:1.67 [[ 9.99601689e-01 1.63705464e-04 -2.82212005e-02 5.06002937e+00] [-2.74183900e-05 9.99988337e-01 4.82956371e-03 5.23430021e-01] [ 2.82216620e-02 -4.82686626e-03 9.99590036e-01 1.66579456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52255784400006 meters Centerline goodness : 0.126351 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99591385e-01 8.60954521e-03 -2.72569077e-02 5.07957016e+00] [-8.53201466e-03 9.99959222e-01 2.95946197e-03 5.23711372e-01] [ 2.72812758e-02 -2.72569635e-03 9.99624081e-01 1.66718588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.55255784400003 meters Centerline goodness : 0.106844 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99636245e-01 -4.87207718e-04 -2.69655395e-02 5.05899033e+00] [ 5.90223288e-04 9.99992558e-01 3.81243992e-03 5.28878585e-01] [ 2.69634814e-02 -3.82696882e-03 9.99629094e-01 1.66566935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58255784400006 meters Centerline goodness : 0.129939 Centerline is valid? [False, False] Translation: X:5.08, Y:0.53, Z:1.67 [[ 9.99653445e-01 7.76370797e-03 -2.51538352e-02 5.07800789e+00] [-7.71378929e-03 9.99968083e-01 2.08096088e-03 5.28755526e-01] [ 2.51691884e-02 -1.88620832e-03 9.99681426e-01 1.66706551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.61255784400004 meters Centerline goodness : 0.190925 Centerline is valid? [False, False] Translation: X:5.08, Y:0.53, Z:1.67 [[ 9.99655210e-01 7.68247353e-03 -2.51085721e-02 5.07773298e+00] [-7.63643282e-03 9.99968981e-01 1.92903732e-03 5.29536984e-01] [ 2.51226131e-02 -1.73663228e-03 9.99682869e-01 1.66729478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64255784400007 meters Centerline goodness : 0.150833 Centerline is valid? [False, False] Translation: X:5.08, Y:0.53, Z:1.67 [[ 9.99650595e-01 7.44311425e-03 -2.53631167e-02 5.07859986e+00] [-7.40415260e-03 9.99971261e-01 1.62972020e-03 5.30756714e-01] [ 2.53745180e-02 -1.44135838e-03 9.99676976e-01 1.66686622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.67255784400004 meters Centerline goodness : 0.123672 Centerline is valid? [False, False] Translation: X:5.08, Y:0.53, Z:1.67 [[ 9.99646428e-01 7.32807962e-03 -2.55600933e-02 5.07931473e+00] [-7.29211349e-03 9.99972287e-01 1.50004667e-03 5.31215638e-01] [ 2.55703775e-02 -1.31312919e-03 9.99672162e-01 1.66655554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70255784400007 meters Centerline goodness : 0.134626 Centerline is valid? [False, False] Translation: X:5.08, Y:0.53, Z:1.67 [[ 9.99642288e-01 7.19964869e-03 -2.57577379e-02 5.07994350e+00] [-7.16675063e-03 9.99973381e-01 1.36929930e-03 5.31380607e-01] [ 2.57669108e-02 -1.18421021e-03 9.99667277e-01 1.66636682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.73255784400004 meters Centerline goodness : 0.138920 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99651682e-01 -2.59520159e-03 -2.62636569e-02 5.05889815e+00] [ 2.64069730e-03 9.99995072e-01 1.69773391e-03 5.36068609e-01] [ 2.62591215e-02 -1.76649693e-03 9.99653609e-01 1.66527327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76255784400007 meters Centerline goodness : 0.124981 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99650811e-01 -2.65077031e-03 -2.62912264e-02 5.05898821e+00] [ 2.69138108e-03 9.99995239e-01 1.50938514e-03 5.37277742e-01] [ 2.62871002e-02 -1.57961779e-03 9.99653186e-01 1.66519563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.79255784400004 meters Centerline goodness : 0.138526 Centerline is valid? [False, False] Translation: X:5.08, Y:0.54, Z:1.67 [[ 9.99665519e-01 6.06036496e-03 -2.51420423e-02 5.07948930e+00] [-6.05604034e-03 9.99981631e-01 2.48147484e-04 5.37437126e-01] [ 2.51430844e-02 -9.58032612e-05 9.99683858e-01 1.66575727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8225578440001 meters Centerline goodness : 0.137278 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.66 [[ 9.99670953e-01 -2.88689247e-03 -2.54882548e-02 5.05925443e+00] [ 2.91551946e-03 9.99995160e-01 1.08605387e-03 5.43574849e-01] [ 2.54849962e-02 -1.16000801e-03 9.99674532e-01 1.66407280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.85255784400005 meters Centerline goodness : 0.135104 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99671532e-01 -3.09679492e-03 -2.54408562e-02 5.05909527e+00] [ 3.11147481e-03 9.99995015e-01 5.37454538e-04 5.46178477e-01] [ 2.54390650e-02 -6.16436585e-04 9.99676185e-01 1.66405187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8825578440001 meters SLAMing on 479.91255784400005 meters Centerline goodness : 0.122239 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99671250e-01 4.76054497e-04 -2.56352293e-02 5.05929665e+00] [-3.90792379e-04 9.99994376e-01 3.33088160e-03 5.51959035e-01] [ 2.56366708e-02 -3.31976852e-03 9.99665814e-01 1.66425603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9425578440001 meters Centerline goodness : 0.142259 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99675540e-01 3.52766893e-04 -2.54694175e-02 5.05883153e+00] [-2.74934101e-04 9.99995282e-01 3.05936847e-03 5.53312538e-01] [ 2.54703766e-02 -3.05137341e-03 9.99670920e-01 1.66428628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.97255784400005 meters Centerline goodness : 0.132330 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99675023e-01 2.17491368e-04 -2.54911771e-02 5.05877770e+00] [-1.42883072e-04 9.99995701e-01 2.92861306e-03 5.53621424e-01] [ 2.54917045e-02 -2.92401908e-03 9.99670757e-01 1.66446708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0025578440001 meters Centerline goodness : 0.131533 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99668745e-01 -1.46002914e-06 -2.57371219e-02 5.05938186e+00] [ 7.45445397e-05 9.99995968e-01 2.83869437e-03 5.53272680e-01] [ 2.57370140e-02 -2.83967260e-03 9.99664715e-01 1.66448781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.03255784400005 meters Centerline goodness : 0.128647 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99650351e-01 -7.12057218e-04 -2.64323504e-02 5.06141098e+00] [ 7.82377013e-04 9.99996182e-01 2.65012209e-03 5.51931573e-01] [ 2.64303624e-02 -2.66987554e-03 9.99647092e-01 1.66415586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0625578440001 meters Centerline goodness : 0.136647 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99644228e-01 -7.02762974e-04 -2.66631679e-02 5.06198793e+00] [ 7.80428548e-04 9.99995483e-01 2.90254681e-03 5.50574475e-01] [ 2.66610077e-02 -2.92232286e-03 9.99640261e-01 1.66419405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.09255784400005 meters Centerline goodness : 0.136006 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99645644e-01 -7.06036990e-04 -2.66099274e-02 5.06167250e+00] [ 7.88392205e-04 9.99994932e-01 3.08454133e-03 5.49477650e-01] [ 2.66076147e-02 -3.10442736e-03 9.99641134e-01 1.66453766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1225578440001 meters Centerline goodness : 0.134216 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99648805e-01 -6.88554260e-04 -2.64913548e-02 5.06110868e+00] [ 7.73322841e-04 9.99994614e-01 3.18974638e-03 5.48829863e-01] [ 2.64890158e-02 -3.20911253e-03 9.99643953e-01 1.66501115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.15255784400006 meters Centerline goodness : 0.131876 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99653670e-01 -6.44667358e-04 -2.63082406e-02 5.06079073e+00] [ 7.23968778e-04 9.99995223e-01 3.00490514e-03 5.50113877e-01] [ 2.63061778e-02 -3.02291079e-03 9.99649362e-01 1.66477511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1825578440001 meters Centerline goodness : 0.147023 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99647929e-01 -5.79777937e-04 -2.65270115e-02 5.06175054e+00] [ 6.53134534e-04 9.99995987e-01 2.75677396e-03 5.51899600e-01] [ 2.65253067e-02 -2.77312908e-03 9.99644296e-01 1.66403218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.21255784400006 meters Centerline goodness : 0.130713 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99642044e-01 -4.95142539e-04 -2.67495664e-02 5.06274186e+00] [ 5.60308584e-04 9.99996894e-01 2.42871290e-03 5.54068288e-01] [ 2.67482807e-02 -2.44283154e-03 9.99639216e-01 1.66323610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2425578440001 meters Centerline goodness : 0.130885 Centerline is valid? [False, False] Translation: X:5.06, Y:0.56, Z:1.66 [[ 9.99634053e-01 -5.02438577e-04 -2.70464099e-02 5.06375982e+00] [ 5.55648290e-04 9.99997925e-01 1.95986889e-03 5.56524009e-01] [ 2.70453690e-02 -1.97417997e-03 9.99632258e-01 1.66265719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.27255784400006 meters Centerline goodness : 0.132933 Centerline is valid? [False, False] Translation: X:5.06, Y:0.56, Z:1.66 [[ 9.99630992e-01 -5.86614313e-04 -2.71575963e-02 5.06413425e+00] [ 6.26368315e-04 9.99998745e-01 1.45534251e-03 5.58975039e-01] [ 2.71567085e-02 -1.47181614e-03 9.99630105e-01 1.66236220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30255784400003 meters Centerline goodness : 0.130540 Centerline is valid? [False, False] Translation: X:5.08, Y:0.56, Z:1.66 [[ 9.99614040e-01 9.65509865e-03 -2.60489855e-02 5.08430619e+00] [-9.63398842e-03 9.99953154e-01 9.35785631e-04 5.60932156e-01] [ 2.60568003e-02 -6.84468832e-04 9.99660230e-01 1.66376109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.33255784400006 meters Centerline goodness : 0.127437 Centerline is valid? [False, False] Translation: X:5.08, Y:0.56, Z:1.66 [[ 9.99623658e-01 9.68591875e-03 -2.56656317e-02 5.08326649e+00] [-9.67057283e-03 9.99952978e-01 7.21973658e-04 5.62738778e-01] [ 2.56714178e-02 -4.73500589e-04 9.99670323e-01 1.66381697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36255784400004 meters Centerline goodness : 0.127883 Centerline is valid? [False, False] Translation: X:5.08, Y:0.56, Z:1.66 [[ 9.99632115e-01 9.62336390e-03 -2.53579516e-02 5.08246820e+00] [-9.61330933e-03 9.99953657e-01 5.18385495e-04 5.63870408e-01] [ 2.53617651e-02 -2.74420956e-04 9.99678301e-01 1.66385936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.39255784400007 meters Centerline goodness : 0.126795 Centerline is valid? [False, False] Translation: X:5.08, Y:0.56, Z:1.66 [[ 9.99638024e-01 9.52878341e-03 -2.51599383e-02 5.08193964e+00] [-9.52276680e-03 9.99954593e-01 3.58941540e-04 5.64377520e-01] [ 2.51622161e-02 -1.19219388e-04 9.99683374e-01 1.66390681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42255784400004 meters Centerline goodness : 0.132044 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99640354e-01 9.46511586e-03 -2.50913283e-02 5.08153641e+00] [-9.46286419e-03 9.99955204e-01 2.08476837e-04 5.65066361e-01] [ 2.50921775e-02 2.90339722e-05 9.99685141e-01 1.66421236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.45255784400007 meters Centerline goodness : 0.128185 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99642190e-01 9.48324662e-03 -2.50111878e-02 5.08133135e+00] [-9.48218514e-03 9.99955030e-01 1.61041624e-04 5.65699095e-01] [ 2.50115903e-02 7.61767122e-05 9.99687158e-01 1.66417497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48255784400004 meters Centerline goodness : 0.143566 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99643998e-01 9.46220920e-03 -2.49468026e-02 5.08120368e+00] [-9.46286300e-03 9.99955222e-01 9.18473969e-05 5.66163133e-01] [ 2.49465546e-02 1.44253476e-04 9.99688776e-01 1.66409552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.51255784400007 meters Centerline goodness : 0.128404 Centerline is valid? [False, False] Translation: X:5.10, Y:0.57, Z:1.67 [[ 9.99711714e-01 1.32649870e-03 -2.39735063e-02 5.10111482e+00] [-1.32304592e-03 9.99999112e-01 1.59885433e-04 5.71630089e-01] [ 2.39736971e-02 -1.28121290e-04 9.99712581e-01 1.66523706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54255784400004 meters Centerline goodness : 0.120802 Centerline is valid? [False, False] Translation: X:5.10, Y:0.57, Z:1.67 [[ 9.99712634e-01 1.26752057e-03 -2.39383102e-02 5.10098687e+00] [-1.26677446e-03 9.99999197e-01 4.63320638e-05 5.72122172e-01] [ 2.39383497e-02 -1.59943094e-05 9.99713437e-01 1.66527097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5725578440001 meters Centerline goodness : 0.120320 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.67 [[ 9.99650017e-01 6.86784268e-04 -2.64456423e-02 5.05483549e+00] [-6.61287183e-04 9.99999308e-01 9.72865329e-04 5.69240145e-01] [ 2.64462922e-02 -9.55036678e-04 9.99649779e-01 1.66550023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60255784400005 meters Centerline goodness : 0.129145 Centerline is valid? [False, False] Translation: X:5.10, Y:0.57, Z:1.67 [[ 9.99705651e-01 2.21964930e-03 -2.41595690e-02 5.09912021e+00] [-2.19736392e-03 9.99997136e-01 9.48933080e-04 5.74272389e-01] [ 2.41616061e-02 -8.95566397e-04 9.99707665e-01 1.66568342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6325578440001 meters Centerline goodness : 0.131822 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.67 [[ 9.99645476e-01 1.39774097e-03 -2.65888950e-02 5.05303830e+00] [-1.35981404e-03 9.99998032e-01 1.44444774e-03 5.71686953e-01] [ 2.65908616e-02 -1.40777969e-03 9.99645409e-01 1.66559681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66255784400005 meters Centerline goodness : 0.114185 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.67 [[ 9.99649724e-01 1.15248720e-03 -2.64405210e-02 5.05263762e+00] [-1.12902901e-03 9.99998956e-01 9.02117362e-04 5.73946951e-01] [ 2.64415330e-02 -8.71949256e-04 9.99649981e-01 1.66558874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6925578440001 meters Centerline goodness : 0.155145 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.67 [[ 9.99647294e-01 1.04237911e-03 -2.65367958e-02 5.05299064e+00] [-1.02770579e-03 9.99999311e-01 5.66574554e-04 5.75684057e-01] [ 2.65373681e-02 -5.39102701e-04 9.99647677e-01 1.66531538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72255784400005 meters Centerline goodness : 0.134205 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.66 [[ 9.99643162e-01 9.71308786e-04 -2.66946766e-02 5.05369146e+00] [-9.66290504e-04 9.99999513e-01 2.00887201e-04 5.77968194e-01] [ 2.66948587e-02 -1.75020704e-04 9.99643613e-01 1.66471598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7525578440001 meters Centerline goodness : 0.140252 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.66 [[ 9.99644165e-01 9.11801459e-04 -2.66591688e-02 5.05381358e+00] [-9.16479994e-04 9.99999567e-01 -1.63276450e-04 5.80233092e-01] [ 2.66590084e-02 1.87650946e-04 9.99644568e-01 1.66429755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78255784400005 meters Centerline goodness : 0.124884 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.66 [[ 9.99654870e-01 6.70049171e-04 -2.62619801e-02 5.05273854e+00] [-6.97891362e-04 9.99999204e-01 -1.05101977e-03 5.84707108e-01] [ 2.62612549e-02 1.06898504e-03 9.99654542e-01 1.66426826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8125578440001 meters Centerline goodness : 0.128379 Centerline is valid? [False, False] Translation: X:5.05, Y:0.59, Z:1.66 [[ 9.99653562e-01 4.45197692e-04 -2.63165019e-02 5.05285226e+00] [-4.87871125e-04 9.99998577e-01 -1.61514819e-03 5.87235724e-01] [ 2.63157453e-02 1.62742770e-03 9.99652356e-01 1.66421172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84255784400005 meters Centerline goodness : 0.128379 Centerline is valid? [False, False] Translation: X:5.05, Y:0.59, Z:1.66 [[ 9.99653562e-01 4.45197692e-04 -2.63165019e-02 5.05285226e+00] [-4.87871125e-04 9.99998577e-01 -1.61514819e-03 5.87235724e-01] [ 2.63157453e-02 1.62742770e-03 9.99652356e-01 1.66421172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8725578440001 meters Centerline goodness : 0.125702 Centerline is valid? [False, False] Translation: X:5.05, Y:0.59, Z:1.66 [[ 9.99652804e-01 2.79063356e-04 -2.63475529e-02 5.05305407e+00] [-3.35339678e-04 9.99997672e-01 -2.13152790e-03 5.89955777e-01] [ 2.63468967e-02 2.13962322e-03 9.99650570e-01 1.66387402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90255784400006 meters Centerline goodness : 0.123811 Centerline is valid? [False, False] Translation: X:5.05, Y:0.59, Z:1.66 [[ 9.99652049e-01 1.34911017e-04 -2.63773247e-02 5.05333439e+00] [-2.05310403e-04 9.99996424e-01 -2.66624577e-03 5.93120954e-01] [ 2.63768707e-02 2.67073359e-03 9.99648502e-01 1.66342037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.9325578440001 meters Centerline goodness : 0.133480 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.66 [[ 9.99646134e-01 -1.62662738e-04 -2.66003660e-02 5.05458444e+00] [ 6.75596527e-05 9.99993603e-01 -3.57611442e-03 5.98434468e-01] [ 2.66007775e-02 3.57305185e-03 9.99639751e-01 1.66223732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96255784400006 meters Centerline goodness : 0.127738 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99639365e-01 -4.15985859e-04 -2.68508349e-02 5.05535217e+00] [ 3.09227343e-04 9.99992032e-01 -3.98001478e-03 5.99909720e-01] [ 2.68522765e-02 3.97027644e-03 9.99631528e-01 1.66199384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.9925578440001 meters Centerline goodness : 0.134030 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99634006e-01 -6.39879342e-04 -2.70452208e-02 5.05577712e+00] [ 5.24479040e-04 9.99990730e-01 -4.27381708e-03 6.00830163e-01] [ 2.70477048e-02 4.25806824e-03 9.99625075e-01 1.66207274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02255784400006 meters Centerline goodness : 0.130034 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99633165e-01 -7.89683031e-04 -2.70723271e-02 5.05569502e+00] [ 6.68943043e-04 9.99989792e-01 -4.46867081e-03 6.01638698e-01] [ 2.70755796e-02 4.44892171e-03 9.99623489e-01 1.66229119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.05255784400003 meters Centerline goodness : 0.127972 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99635553e-01 -8.96617935e-04 -2.69806949e-02 5.05502220e+00] [ 7.70955965e-04 9.99988810e-01 -4.66751915e-03 6.02766110e-01] [ 2.69845780e-02 4.64501716e-03 9.99625058e-01 1.66297956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08255784400006 meters Centerline goodness : 0.134983 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.66 [[ 9.99641432e-01 -1.00452453e-03 -2.67581458e-02 5.05410611e+00] [ 8.73750742e-04 9.99987621e-01 -4.89849530e-03 6.04071917e-01] [ 2.67627352e-02 4.87335891e-03 9.99629935e-01 1.66351192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.11255784400004 meters Centerline goodness : 0.148360 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.66 [[ 9.99650043e-01 -1.27519690e-03 -2.64228181e-02 5.05279602e+00] [ 1.12972228e-03 9.99984127e-01 -5.51984027e-03 6.07254314e-01] [ 2.64294376e-02 5.48805812e-03 9.99635617e-01 1.66418099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14255784400007 meters Centerline goodness : 0.133410 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:1.67 [[ 9.99604697e-01 -8.45664940e-03 -2.68129430e-02 5.07164003e+00] [ 8.33500103e-03 9.99954473e-01 -4.64545101e-03 6.15451007e-01] [ 2.68510072e-02 4.42012874e-03 9.99629674e-01 1.66617201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.17255784400004 meters Centerline goodness : 0.141113 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.66 [[ 9.99645138e-01 -1.05465894e-03 -2.66174113e-02 5.05322782e+00] [ 8.93782367e-04 9.99981268e-01 -6.05520904e-03 6.11892786e-01] [ 2.66232988e-02 6.02927010e-03 9.99627354e-01 1.66346636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20255784400007 meters Centerline goodness : 0.148046 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.66 [[ 9.99629332e-01 -1.51978272e-03 -2.71825264e-02 5.05506467e+00] [ 1.33651129e-03 9.99976264e-01 -6.75914941e-03 6.14353869e-01] [ 2.71921536e-02 6.72031425e-03 9.99607635e-01 1.66273046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.23255784400004 meters Centerline goodness : 0.150619 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.66 [[ 9.99620509e-01 -1.64504887e-03 -2.74978512e-02 5.05586440e+00] [ 1.45553928e-03 9.99975064e-01 -6.91039215e-03 6.14848683e-01] [ 2.75085334e-02 6.86774552e-03 9.99597977e-01 1.66269178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26255784400007 meters Centerline goodness : 0.140985 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.66 [[ 9.99617655e-01 -1.73673372e-03 -2.75957969e-02 5.05597332e+00] [ 1.54566822e-03 9.99974699e-01 -6.94354074e-03 6.14832075e-01] [ 2.76071577e-02 6.89823196e-03 9.99595048e-01 1.66287453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.29255784400004 meters Centerline goodness : 0.139578 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.66 [[ 9.99620994e-01 -1.82592595e-03 -2.74687956e-02 5.05543021e+00] [ 1.63869977e-03 9.99975285e-01 -6.83692633e-03 6.14024021e-01] [ 2.74806004e-02 6.78932199e-03 9.99599281e-01 1.66326590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3225578440001 meters Centerline goodness : 0.143969 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.66 [[ 9.99655128e-01 3.68874098e-03 -2.60003484e-02 5.03355833e+00] [-3.93187466e-03 9.99948966e-01 -9.30625764e-03 6.08911591e-01] [ 2.59646932e-02 9.40527829e-03 9.99618615e-01 1.66172617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.35255784400005 meters Centerline goodness : 0.123956 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.66 [[ 9.99657075e-01 -4.31104087e-03 -2.58292140e-02 5.05355469e+00] [ 4.09829350e-03 9.99957289e-01 -8.28397828e-03 6.13013118e-01] [ 2.58638233e-02 8.17528180e-03 9.99632046e-01 1.66342805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3825578440001 meters Centerline goodness : 0.129108 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.66 [[ 9.99668285e-01 -4.53064093e-03 -2.53533739e-02 5.05224693e+00] [ 4.32542333e-03 9.99957488e-01 -8.14328695e-03 6.11761428e-01] [ 2.53891904e-02 8.03092162e-03 9.99645384e-01 1.66366576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.41255784400005 meters Centerline goodness : 0.148827 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.66 [[ 9.99673319e-01 -4.52353155e-03 -2.51553568e-02 5.05156432e+00] [ 4.32433342e-03 9.99958909e-01 -7.96748489e-03 6.10752515e-01] [ 2.51903643e-02 7.85610192e-03 9.99651803e-01 1.66399860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4425578440001 meters Centerline goodness : 0.148449 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.66 [[ 9.99671658e-01 -4.50595316e-03 -2.52244546e-02 5.05160584e+00] [ 4.31100332e-03 9.99960461e-01 -7.77765740e-03 6.09642803e-01] [ 2.52585030e-02 7.66636096e-03 9.99651557e-01 1.66418507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.47255784400005 meters Centerline goodness : 0.156382 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99656950e-01 2.92664550e-03 -2.60272389e-02 5.03285018e+00] [-3.15485096e-03 9.99956906e-01 -8.73121093e-03 6.02285164e-01] [ 2.60005641e-02 8.81032775e-03 9.99623103e-01 1.66229463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5025578440001 meters Centerline goodness : 0.152067 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99654889e-01 2.95418120e-03 -2.61031713e-02 5.03307986e+00] [-3.17926232e-03 9.99958090e-01 -8.58546002e-03 6.01490925e-01] [ 2.60767143e-02 8.66548592e-03 9.99622386e-01 1.66224268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.53255784400005 meters Centerline goodness : 0.147531 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99654990e-01 3.03263442e-03 -2.60902878e-02 5.03306422e+00] [-3.25115564e-03 9.99959959e-01 -8.33723905e-03 6.00255197e-01] [ 2.60639593e-02 8.41918621e-03 9.99624823e-01 1.66220405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5625578440001 meters Centerline goodness : 0.148224 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.66 [[ 9.99650489e-01 -4.90081076e-03 -2.59784752e-02 5.05221381e+00] [ 4.71983788e-03 9.99964200e-01 -7.02300885e-03 6.03754083e-01] [ 2.60119636e-02 6.89794004e-03 9.99637833e-01 1.66395327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.59255784400005 meters Centerline goodness : 0.117096 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99666290e-01 2.72253038e-03 -2.56884375e-02 5.03302502e+00] [-2.92821201e-03 9.99963931e-01 -7.97256168e-03 5.97295640e-01] [ 2.56658054e-02 8.04512235e-03 9.99638206e-01 1.66152878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6225578440001 meters Centerline goodness : 0.131251 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99663402e-01 2.77577024e-03 -2.57949103e-02 5.03351115e+00] [-2.97921430e-03 9.99964735e-01 -7.85190378e-03 5.96848690e-01] [ 2.57722056e-02 7.92610942e-03 9.99636419e-01 1.66116898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.65255784400006 meters Centerline goodness : 0.140258 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99658315e-01 2.80795013e-03 -2.59878731e-02 5.03443159e+00] [-3.01224373e-03 9.99964845e-01 -7.82530630e-03 5.96932797e-01] [ 2.59649864e-02 7.90091432e-03 9.99631630e-01 1.66043683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6825578440001 meters Centerline goodness : 0.127327 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99659029e-01 2.77257739e-03 -2.59641695e-02 5.03417044e+00] [-2.97773451e-03 9.99964627e-01 -7.86622048e-03 5.96952695e-01] [ 2.59414414e-02 7.94085274e-03 9.99631924e-01 1.66074472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.71255784400006 meters Centerline goodness : 0.157026 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99664289e-01 2.72769597e-03 -2.57656681e-02 5.03335925e+00] [-2.93092537e-03 9.99964868e-01 -7.85313523e-03 5.96674213e-01] [ 2.57433419e-02 7.92601609e-03 9.99637163e-01 1.66118114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7425578440001 meters Centerline goodness : 0.103850 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99668907e-01 2.71979803e-03 -2.55867141e-02 5.03272016e+00] [-2.91952500e-03 9.99965537e-01 -7.77177023e-03 5.96247238e-01] [ 2.55646947e-02 7.84389810e-03 9.99642396e-01 1.66140180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.77255784400006 meters Centerline goodness : 0.147597 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99660979e-01 2.58128013e-03 -2.59087818e-02 5.03381954e+00] [-2.78062675e-03 9.99966787e-01 -7.66109608e-03 5.95327305e-01] [ 2.58881459e-02 7.73054146e-03 9.99634955e-01 1.66088528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80255784400003 meters Centerline goodness : 0.154788 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.66 [[ 9.99651088e-01 2.48487658e-03 -2.62969013e-02 5.03509079e+00] [-2.68524067e-03 9.99967615e-01 -7.58673625e-03 5.94494296e-01] [ 2.62771976e-02 7.65470266e-03 9.99625387e-01 1.66037656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.83255784400006 meters Centerline goodness : 0.126041 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.66 [[ 9.99640137e-01 2.40147499e-03 -2.67175836e-02 5.03636514e+00] [-2.60227616e-03 9.99968612e-01 -7.48346432e-03 5.93451820e-01] [ 2.66987737e-02 7.55029783e-03 9.99615010e-01 1.66001038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86255784400004 meters Centerline goodness : 0.155457 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.66 [[ 9.99633961e-01 2.32641633e-03 -2.69542632e-02 5.03700896e+00] [-2.52655969e-03 9.99969475e-01 -7.39361926e-03 5.92502315e-01] [ 2.69362398e-02 7.45901446e-03 9.99609325e-01 1.65989692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.89255784400007 meters Centerline goodness : 0.158693 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.66 [[ 9.99627730e-01 2.13573912e-03 -2.71999955e-02 5.03762937e+00] [-2.33350897e-03 9.99971059e-01 -7.24128653e-03 5.90890083e-01] [ 2.71837428e-02 7.30206225e-03 9.99603784e-01 1.65985612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92255784400004 meters Centerline goodness : 0.124399 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.66 [[ 9.99625410e-01 2.18497324e-03 -2.72812419e-02 5.03783102e+00] [-2.37963755e-03 9.99971927e-01 -7.10503773e-03 5.90373923e-01] [ 2.72649518e-02 7.16729572e-03 9.99602547e-01 1.65984541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.95255784400007 meters Centerline goodness : 0.118684 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.66 [[ 9.99622706e-01 2.21411265e-03 -2.73778036e-02 5.03813925e+00] [-2.40744574e-03 9.99972386e-01 -7.03072890e-03 5.90126245e-01] [ 2.73614807e-02 7.09398682e-03 9.99600433e-01 1.65971908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98255784400004 meters Centerline goodness : 0.154704 Centerline is valid? [False, False] Translation: X:5.06, Y:0.59, Z:1.66 [[ 0.99959803 -0.00563084 -0.02778615 5.05867361] [ 0.00546163 0.9999661 -0.00616187 0.59430577] [ 0.02781991 0.00600763 0.9995949 1.66126724] [ 0. 0. 0. 1. ]] SLAMing on 482.01255784400007 meters Centerline goodness : 0.144247 Centerline is valid? [False, False] Translation: X:5.06, Y:0.59, Z:1.66 [[ 0.9995977 -0.00554763 -0.02781462 5.05840527] [ 0.00538713 0.99996843 -0.00584174 0.59275364] [ 0.02784615 0.00568955 0.99959603 1.66176646] [ 0. 0. 0. 1. ]] SLAMing on 482.04255784400004 meters Centerline goodness : 0.158489 Centerline is valid? [False, False] Translation: X:5.06, Y:0.59, Z:1.66 [[ 0.99960816 -0.00545829 -0.02745417 5.05695628] [ 0.00530596 0.99997014 -0.00561816 0.59183011] [ 0.02748401 0.00547029 0.99960728 1.66263375] [ 0. 0. 0. 1. ]] SLAMing on 482.0725578440001 meters Centerline goodness : 0.119386 Centerline is valid? [False, False] Translation: X:5.05, Y:0.59, Z:1.66 [[ 0.99962463 -0.00557943 -0.02682307 5.05470601] [ 0.00543196 0.99996975 -0.00556748 0.59121224] [ 0.02685332 0.00541969 0.99962469 1.66356736] [ 0. 0. 0. 1. ]] SLAMing on 482.10255784400005 meters Centerline goodness : 0.129534 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.66 [[ 9.99677313e-01 2.70443761e-03 -2.52577977e-02 5.07377490e+00] [-2.87507575e-03 9.99973274e-01 -6.72199018e-03 5.87021032e-01] [ 2.52389434e-02 6.79243916e-03 9.99658371e-01 1.66499492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1325578440001 meters Centerline goodness : 0.131373 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.66 [[ 9.99673500e-01 2.62523531e-03 -2.54165477e-02 5.07419597e+00] [-2.80152864e-03 9.99972249e-01 -6.90304169e-03 5.87919070e-01] [ 2.53977202e-02 6.97199303e-03 9.99653113e-01 1.66496642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16255784400005 meters Centerline goodness : 0.142156 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.66 [[ 9.99673396e-01 2.57820200e-03 -2.54254582e-02 5.07434141e+00] [-2.75778561e-03 9.99971482e-01 -7.03060811e-03 5.88667612e-01] [ 2.54066068e-02 7.09842985e-03 9.99651998e-01 1.66476831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1925578440001 meters Centerline goodness : 0.141487 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.67 [[ 9.99673660e-01 2.50663143e-03 -2.54222306e-02 5.07414260e+00] [-2.69285544e-03 9.99969775e-01 -7.29365506e-03 5.90193158e-01] [ 2.54031797e-02 7.35973324e-03 9.99650195e-01 1.66508725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22255784400005 meters Centerline goodness : 0.145525 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.67 [[ 9.99676223e-01 2.45183792e-03 -2.53266293e-02 5.07369578e+00] [-2.64427668e-03 9.99967869e-01 -7.56758333e-03 5.91959478e-01] [ 2.53072611e-02 7.63210374e-03 9.99650586e-01 1.66540388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2525578440001 meters Centerline goodness : 0.114959 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.67 [[ 9.99678058e-01 2.36514101e-03 -2.52623561e-02 5.07332824e+00] [-2.56568518e-03 9.99965432e-01 -7.90899836e-03 5.93997882e-01] [ 2.52427769e-02 7.97126737e-03 9.99649569e-01 1.66574648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28255784400005 meters Centerline goodness : 0.131140 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.67 [[ 9.99677999e-01 2.06877320e-03 -2.52906731e-02 5.07332095e+00] [-2.28806097e-03 9.99960015e-01 -8.64483665e-03 5.97536290e-01] [ 2.52717777e-02 8.69991961e-03 9.99642761e-01 1.66591431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3125578440001 meters Centerline goodness : 0.057084 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.67 [[ 9.99678799e-01 1.93714095e-03 -2.52694845e-02 5.07328815e+00] [-2.16359154e-03 9.99957722e-01 -8.93716427e-03 5.98853668e-01] [ 2.52511036e-02 8.98896649e-03 9.99640726e-01 1.66587109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34255784400005 meters Centerline goodness : 0.147099 Centerline is valid? [False, False] Translation: X:5.09, Y:0.60, Z:1.67 [[ 0.99965503 -0.00543214 -0.02569652 5.09199745] [ 0.00523207 0.99995553 -0.00784677 0.60456593] [ 0.025738 0.00770961 0.99963899 1.66837485] [ 0. 0. 0. 1. ]] SLAMing on 482.3725578440001 meters Centerline goodness : 0.099985 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.67 [[ 0.99965371 -0.00551378 -0.02573049 5.09211997] [ 0.00530883 0.99995369 -0.0080266 0.60573721] [ 0.02577355 0.00788722 0.99963669 1.66827627] [ 0. 0. 0. 1. ]] SLAMing on 482.40255784400006 meters Centerline goodness : 0.120878 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.67 [[ 0.99965249 -0.00553713 -0.02577278 5.09257229] [ 0.00532688 0.99995203 -0.00821921 0.60732551] [ 0.02581706 0.00807907 0.99963404 1.66768252] [ 0. 0. 0. 1. ]] SLAMing on 482.4325578440001 meters Centerline goodness : 0.123764 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.67 [[ 9.99663798e-01 3.15887731e-03 -2.57354323e-02 5.07353863e+00] [-3.40346261e-03 9.99949408e-01 -9.46558277e-03 6.03723458e-01] [ 2.57042297e-02 9.54999000e-03 9.99623974e-01 1.66585561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46255784400006 meters Centerline goodness : 0.092845 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.67 [[ 9.99662303e-01 3.02963751e-03 -2.58089538e-02 5.07366841e+00] [-3.28433375e-03 9.99946272e-01 -9.83185553e-03 6.05487608e-01] [ 2.57777802e-02 9.91330055e-03 9.99618544e-01 1.66595125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.4925578440001 meters Centerline goodness : 0.088813 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.67 [[ 9.99662994e-01 2.84678278e-03 -2.58029792e-02 5.07370195e+00] [-3.11711698e-03 9.99940615e-01 -1.04426999e-02 6.08516603e-01] [ 2.57717188e-02 1.05196115e-02 9.99612503e-01 1.66598345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52255784400006 meters Centerline goodness : 0.167184 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:1.67 [[ 0.99964051 0.00641116 -0.02603376 5.07469211] [-0.00662024 0.99994646 -0.00795277 0.61546971] [ 0.02598138 0.00812226 0.99962943 1.66551878] [ 0. 0. 0. 1. ]] SLAMing on 482.55255784400003 meters Centerline goodness : 0.144881 Centerline is valid? [False, False] Translation: X:5.10, Y:0.62, Z:1.67 [[ 9.99588131e-01 1.73093442e-03 -2.86456293e-02 5.09532425e+00] [-1.89126140e-03 9.99982695e-01 -5.57076205e-03 6.24429535e-01] [ 2.86354910e-02 5.62264400e-03 9.99574107e-01 1.66734525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58255784400006 meters Centerline goodness : 0.170529 Centerline is valid? [False, False] Translation: X:5.10, Y:0.63, Z:1.67 [[ 9.99573558e-01 1.69518968e-03 -2.91518143e-02 5.09679989e+00] [-1.87721116e-03 9.99978908e-01 -6.21768202e-03 6.28244362e-01] [ 2.91406593e-02 6.26975465e-03 9.99555657e-01 1.66699828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.61255784400004 meters Centerline goodness : 0.129216 Centerline is valid? [False, False] Translation: X:5.10, Y:0.63, Z:1.67 [[ 9.99566347e-01 1.48280690e-03 -2.94094942e-02 5.09750546e+00] [-1.68713191e-03 9.99974606e-01 -6.92398980e-03 6.31882152e-01] [ 2.93984805e-02 6.97060489e-03 9.99543466e-01 1.66687341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64255784400007 meters Centerline goodness : 0.126259 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99560009e-01 1.14407158e-03 -2.96391469e-02 5.09810334e+00] [-1.37595231e-03 9.99968600e-01 -7.80424781e-03 6.35990545e-01] [ 2.96292876e-02 7.84159607e-03 9.99530197e-01 1.66680783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.67255784400004 meters Centerline goodness : 0.111800 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99561094e-01 1.03569707e-03 -2.96065191e-02 5.09794434e+00] [-1.27445425e-03 9.99966813e-01 -8.04661246e-03 6.37101862e-01] [ 2.95972027e-02 8.08081291e-03 9.99529242e-01 1.66692116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70255784400007 meters Centerline goodness : 0.166252 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99561299e-01 9.42869246e-04 -2.96027063e-02 5.09781656e+00] [-1.18684579e-03 9.99965468e-01 -8.22520866e-03 6.37889608e-01] [ 2.95939288e-02 8.25673410e-03 9.99527901e-01 1.66710710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.73255784400004 meters Centerline goodness : 0.166252 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99561299e-01 9.42869246e-04 -2.96027063e-02 5.09781656e+00] [-1.18684579e-03 9.99965468e-01 -8.22520866e-03 6.37889608e-01] [ 2.95939288e-02 8.25673410e-03 9.99527901e-01 1.66710710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76255784400007 meters Centerline goodness : 0.178369 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99559043e-01 8.35639210e-04 -2.96820021e-02 5.09789380e+00] [-1.08531608e-03 9.99964159e-01 -8.39661156e-03 6.38466916e-01] [ 2.96739218e-02 8.42512337e-03 9.99524125e-01 1.66727704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.79255784400004 meters Centerline goodness : 0.118812 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99553464e-01 7.89064023e-04 -2.98705573e-02 5.09834133e+00] [-1.04299869e-03 9.99963445e-01 -8.48654322e-03 6.38904000e-01] [ 2.98627690e-02 8.51390862e-03 9.99517748e-01 1.66731253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8225578440001 meters Centerline goodness : 0.142235 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99549554e-01 7.92791432e-04 -3.00010151e-02 5.09869563e+00] [-1.04941416e-03 9.99962991e-01 -8.53902300e-03 6.39420782e-01] [ 2.99931352e-02 8.56666012e-03 9.99513394e-01 1.66730199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.85255784400005 meters Centerline goodness : 0.117618 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99546701e-01 7.72410581e-04 -3.00964409e-02 5.09887850e+00] [-1.03801991e-03 9.99960647e-01 -8.81064959e-03 6.41186041e-01] [ 3.00884511e-02 8.83789644e-03 9.99508167e-01 1.66742955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8825578440001 meters Centerline goodness : 0.177879 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99542719e-01 7.24494955e-04 -3.02295880e-02 5.09923341e+00] [-9.97414270e-04 9.99958875e-01 -9.01411594e-03 6.42177760e-01] [ 3.02218141e-02 9.04014538e-03 9.99502335e-01 1.66739487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.91255784400005 meters Centerline goodness : 0.093513 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99534866e-01 6.73819484e-04 -3.04892973e-02 5.09991610e+00] [-9.56349812e-04 9.99956734e-01 -9.25290762e-03 6.43407819e-01] [ 3.04817434e-02 9.27776221e-03 9.99492264e-01 1.66731671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9425578440001 meters Centerline goodness : 0.174845 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99528150e-01 7.13171508e-04 -3.07077822e-02 5.10050413e+00] [-1.00226968e-03 9.99955316e-01 -9.40012917e-03 6.44526841e-01] [ 3.06997061e-02 9.42647120e-03 9.99484202e-01 1.66720869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.97255784400005 meters SLAMing on 483.0025578440001 meters Centerline goodness : 0.130190 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.67 [[ 9.99556468e-01 1.33941087e-03 -2.97501689e-02 5.09784388e+00] [-1.62246848e-03 9.99953630e-01 -9.49238645e-03 6.47559837e-01] [ 2.97360751e-02 9.53644498e-03 9.99512292e-01 1.66764948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.03255784400005 meters Centerline goodness : 0.183543 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.67 [[ 9.99560784e-01 1.25108896e-03 -2.96086697e-02 5.09740137e+00] [-1.54284811e-03 9.99950464e-01 -9.83304830e-03 6.49304713e-01] [ 2.95949010e-02 9.87441115e-03 9.99513200e-01 1.66777940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0625578440001 meters Centerline goodness : 0.171157 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.67 [[ 9.99563202e-01 1.21832559e-03 -2.95283197e-02 5.09716719e+00] [-1.51932745e-03 9.99947096e-01 -1.01733750e-02 6.51373985e-01] [ 2.95143631e-02 1.02137945e-02 9.99512171e-01 1.66781139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.09255784400005 meters Centerline goodness : 0.082203 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.67 [[ 9.99564307e-01 1.15818906e-03 -2.94933046e-02 5.09705427e+00] [-1.46942686e-03 9.99943443e-01 -1.05333428e-02 6.53479361e-01] [ 2.94794369e-02 1.05720917e-02 9.99509477e-01 1.66783580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1225578440001 meters Centerline goodness : 0.173620 Centerline is valid? [False, False] Translation: X:5.05, Y:0.66, Z:1.67 [[ 9.99502993e-01 2.00274619e-03 -3.14603964e-02 5.04911925e+00] [-2.32111637e-03 9.99946436e-01 -1.00864539e-02 6.56397596e-01] [ 3.14385106e-02 1.01544641e-02 9.99454104e-01 1.66897065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.15255784400006 meters Centerline goodness : 0.162468 Centerline is valid? [False, False] Translation: X:5.07, Y:0.66, Z:1.67 [[ 0.99950142 -0.00572311 -0.03105074 5.06799363] [ 0.00543897 0.99994263 -0.00922762 0.66277024] [ 0.03110177 0.00905413 0.99947521 1.670904 ] [ 0. 0. 0. 1. ]] SLAMing on 483.1825578440001 meters Centerline goodness : 0.163443 Centerline is valid? [False, False] Translation: X:5.07, Y:0.66, Z:1.67 [[ 0.99950191 -0.00577702 -0.03102517 5.06783702] [ 0.00548798 0.99994082 -0.0093932 0.66363188] [ 0.0310776 0.00921826 0.99947447 1.6710334 ] [ 0. 0. 0. 1. ]] SLAMing on 483.21255784400006 meters Centerline goodness : 0.173321 Centerline is valid? [False, False] Translation: X:5.07, Y:0.66, Z:1.67 [[ 0.99950288 -0.00575596 -0.03099779 5.06774116] [ 0.00546615 0.99994063 -0.00942617 0.66403647] [ 0.03105021 0.00925204 0.999475 1.67105384] [ 0. 0. 0. 1. ]] SLAMing on 483.2425578440001 meters Centerline goodness : 0.173545 Centerline is valid? [False, False] Translation: X:5.05, Y:0.66, Z:1.67 [[ 9.99494589e-01 2.28645668e-03 -3.17070708e-02 5.04797254e+00] [-2.62158440e-03 9.99941101e-01 -1.05319539e-02 6.58983694e-01] [ 3.16811225e-02 1.06097537e-02 9.99441714e-01 1.66928918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.27255784400006 meters Centerline goodness : 0.166928 Centerline is valid? [False, False] Translation: X:5.05, Y:0.66, Z:1.67 [[ 9.99487571e-01 2.25251494e-03 -3.19299535e-02 5.04864889e+00] [-2.59029584e-03 9.99941083e-01 -1.05413956e-02 6.58719806e-01] [ 3.19043276e-02 1.06187019e-02 9.99434519e-01 1.66910891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30255784400003 meters Centerline goodness : 0.131166 Centerline is valid? [False, False] Translation: X:5.07, Y:0.66, Z:1.67 [[ 9.99438373e-01 -5.34949358e-03 -3.30805336e-02 5.06820336e+00] [ 5.02924349e-03 9.99939756e-01 -9.75656497e-03 6.63303029e-01] [ 3.31307334e-02 9.58471536e-03 9.99405067e-01 1.67102256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.33255784400006 meters Centerline goodness : 0.177072 Centerline is valid? [False, False] Translation: X:5.07, Y:0.66, Z:1.67 [[ 9.99439060e-01 -5.34837952e-03 -3.30599347e-02 5.06803615e+00] [ 5.02341811e-03 9.99938329e-01 -9.90472041e-03 6.64400136e-01] [ 3.31108701e-02 9.73309059e-03 9.99404291e-01 1.67117060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36255784400004 meters Centerline goodness : 0.175949 Centerline is valid? [False, False] Translation: X:5.07, Y:0.67, Z:1.67 [[ 9.99447373e-01 -5.35241084e-03 -3.28070128e-02 5.06718440e+00] [ 5.02528186e-03 9.99936914e-01 -1.00456699e-02 6.65358706e-01] [ 3.28587117e-02 9.87525391e-03 9.99411219e-01 1.67150027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.39255784400007 meters Centerline goodness : 0.176376 Centerline is valid? [False, False] Translation: X:5.07, Y:0.67, Z:1.67 [[ 0.9994518 -0.0054238 -0.03266004 5.06665967] [ 0.00509169 0.99993457 -0.0102433 0.66632378] [ 0.03271346 0.01007139 0.99941403 1.67172338] [ 0. 0. 0. 1. ]] SLAMing on 483.42255784400004 meters Centerline goodness : 0.171294 Centerline is valid? [False, False] Translation: X:5.07, Y:0.67, Z:1.67 [[ 0.99945061 -0.00548437 -0.03268639 5.06673611] [ 0.00514642 0.99993252 -0.01041452 0.66714393] [ 0.0327413 0.01024058 0.9994114 1.67168054] [ 0. 0. 0. 1. ]] SLAMing on 483.45255784400007 meters Centerline goodness : 0.105226 Centerline is valid? [False, False] Translation: X:5.07, Y:0.67, Z:1.67 [[ 0.99944488 -0.00549021 -0.03286006 5.06742032] [ 0.00514803 0.99993174 -0.01048891 0.6676339 ] [ 0.0329154 0.01031392 0.99940492 1.67127287] [ 0. 0. 0. 1. ]] SLAMing on 483.48255784400004 meters Centerline goodness : 0.181193 Centerline is valid? [False, False] Translation: X:5.03, Y:0.67, Z:1.67 [[ 9.99325056e-01 -4.85211699e-03 -3.64127534e-02 5.02514956e+00] [ 4.50781360e-03 9.99944411e-01 -9.53172050e-03 6.65585496e-01] [ 3.64569783e-02 9.36114522e-03 9.99291378e-01 1.66975517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.51255784400007 meters Centerline goodness : 0.172092 Centerline is valid? [False, False] Translation: X:5.03, Y:0.66, Z:1.67 [[ 9.99321556e-01 -4.82506921e-03 -3.65122794e-02 5.02544979e+00] [ 4.48423583e-03 9.99945662e-01 -9.41090250e-03 6.64881141e-01] [ 3.65557036e-02 9.24078806e-03 9.99288891e-01 1.66971265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54255784400004 meters Centerline goodness : 0.175126 Centerline is valid? [False, False] Translation: X:5.03, Y:0.66, Z:1.67 [[ 9.99318023e-01 -4.76948622e-03 -3.66161288e-02 5.02579007e+00] [ 4.43497484e-03 9.99947739e-01 -9.21142385e-03 6.63704191e-01] [ 3.66581489e-02 9.04275027e-03 9.99286950e-01 1.66958784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5725578440001 meters Centerline goodness : 0.181775 Centerline is valid? [False, False] Translation: X:5.03, Y:0.66, Z:1.67 [[ 9.99312943e-01 -4.69692908e-03 -3.67638618e-02 5.02616208e+00] [ 4.36909828e-03 9.99950022e-01 -8.99246887e-03 6.62554623e-01] [ 3.68042614e-02 8.82566561e-03 9.99283520e-01 1.66958648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60255784400005 meters Centerline goodness : 0.182429 Centerline is valid? [False, False] Translation: X:5.03, Y:0.66, Z:1.67 [[ 9.99312367e-01 -4.58573903e-03 -3.67935284e-02 5.02614485e+00] [ 4.26745111e-03 9.99952835e-01 -8.72452524e-03 6.61347974e-01] [ 3.68318014e-02 8.56151139e-03 9.99284804e-01 1.66972128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6325578440001 meters Centerline goodness : 0.179099 Centerline is valid? [False, False] Translation: X:5.03, Y:0.66, Z:1.67 [[ 9.99319497e-01 -4.28652947e-03 -3.66356258e-02 5.02546600e+00] [ 3.99078196e-03 9.99958890e-01 -8.14199351e-03 6.59189336e-01] [ 3.66690206e-02 7.99024806e-03 9.99295521e-01 1.67017923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66255784400005 meters Centerline goodness : 0.185341 Centerline is valid? [False, False] Translation: X:5.00, Y:0.65, Z:1.67 [[ 9.99318104e-01 4.06174941e-03 -3.66991832e-02 5.00456767e+00] [-4.38563723e-03 9.99952107e-01 -8.74929005e-03 6.53281659e-01] [ 3.66618882e-02 8.90427324e-03 9.99288057e-01 1.66897535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6925578440001 meters Centerline goodness : 0.177409 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99333923e-01 -3.59307734e-03 -3.63152969e-02 5.02372855e+00] [ 3.31633028e-03 9.99965024e-01 -7.67804036e-03 6.57553387e-01] [ 3.63416146e-02 7.55249267e-03 9.99310886e-01 1.67092894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72255784400005 meters Centerline goodness : 0.101124 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99332336e-01 -3.54111718e-03 -3.63640382e-02 5.02384019e+00] [ 3.26553028e-03 9.99965520e-01 -7.63515529e-03 6.57489392e-01] [ 3.63898213e-02 7.51130971e-03 9.99309442e-01 1.67091194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7525578440001 meters Centerline goodness : 0.179927 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99331301e-01 -3.47201065e-03 -3.63991278e-02 5.02401692e+00] [ 3.19722693e-03 9.99965973e-01 -7.60467589e-03 6.57577776e-01] [ 3.64242928e-02 7.48321437e-03 9.99308397e-01 1.67076099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78255784400005 meters Centerline goodness : 0.178195 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99326004e-01 -3.33520040e-03 -3.65569970e-02 5.02452518e+00] [ 3.06051109e-03 9.99966683e-01 -7.56738747e-03 6.57592973e-01] [ 3.65810178e-02 7.45040399e-03 9.99302917e-01 1.67051275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8125578440001 meters Centerline goodness : 0.175311 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99322216e-01 -3.29619175e-03 -3.66639164e-02 5.02483411e+00] [ 3.02284248e-03 9.99967242e-01 -7.50847584e-03 6.57258087e-01] [ 3.66874648e-02 7.39255748e-03 9.99299445e-01 1.67043828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84255784400005 meters Centerline goodness : 0.136893 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99321593e-01 -3.20154797e-03 -3.66892925e-02 5.02480650e+00] [ 2.93488329e-03 9.99968903e-01 -7.31974237e-03 6.56427114e-01] [ 3.67115861e-02 7.20709781e-03 9.99299914e-01 1.67057771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8725578440001 meters Centerline goodness : 0.137235 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99322875e-01 -3.09357426e-03 -3.66636322e-02 5.02469352e+00] [ 2.83511758e-03 9.99970781e-01 -7.09929689e-03 6.55417613e-01] [ 3.66845231e-02 6.99054407e-03 9.99302446e-01 1.67066266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90255784400006 meters Centerline goodness : 0.125727 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99323185e-01 -2.95394711e-03 -3.66666993e-02 5.02487237e+00] [ 2.71272367e-03 9.99974363e-01 -6.62682289e-03 6.52603065e-01] [ 3.66853345e-02 6.52287113e-03 9.99305578e-01 1.67044729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.9325578440001 meters Centerline goodness : 0.135104 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99323350e-01 -2.87118910e-03 -3.66687712e-02 5.02499557e+00] [ 2.64103169e-03 9.99976519e-01 -6.32355651e-03 6.50802126e-01] [ 3.66860662e-02 6.22243429e-03 9.99307467e-01 1.67028613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96255784400006 meters Centerline goodness : 0.138140 Centerline is valid? [False, False] Translation: X:5.01, Y:0.64, Z:1.67 [[ 9.99340427e-01 4.54452531e-03 -3.60285742e-02 5.00640248e+00] [-4.81477028e-03 9.99960898e-01 -7.41763961e-03 6.43461093e-01] [ 3.59934557e-02 7.58621644e-03 9.99323231e-01 1.66763082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.9925578440001 meters Centerline goodness : 0.135320 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99347221e-01 -2.88901359e-03 -3.60108958e-02 5.02463021e+00] [ 2.67776128e-03 9.99978932e-01 -5.91319433e-03 6.46925366e-01] [ 3.60272204e-02 5.81290574e-03 9.99333903e-01 1.67016673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02255784400006 meters Centerline goodness : 0.132542 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99356448e-01 -2.62349187e-03 -3.57743915e-02 5.02362612e+00] [ 2.42728257e-03 9.99981780e-01 -5.52695865e-03 6.45731723e-01] [ 3.57882396e-02 5.43656721e-03 9.99344608e-01 1.67082330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.05255784400003 meters Centerline goodness : 0.136897 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99355603e-01 -2.60038786e-03 -3.57996612e-02 5.02385930e+00] [ 2.40488146e-03 9.99981966e-01 -5.50310243e-03 6.45619162e-01] [ 3.58133258e-02 5.41346230e-03 9.99343835e-01 1.67055814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08255784400006 meters Centerline goodness : 0.136117 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99350964e-01 -2.59045136e-03 -3.59296525e-02 5.02441015e+00] [ 2.39202470e-03 9.99981657e-01 -5.56453066e-03 6.45896370e-01] [ 3.59434081e-02 5.47497446e-03 9.99338829e-01 1.67018350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.11255784400004 meters Centerline goodness : 0.134141 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99349052e-01 -2.61077410e-03 -3.59813196e-02 5.02463727e+00] [ 2.40564319e-03 9.99980614e-01 -5.74315361e-03 6.46850309e-01] [ 3.59956162e-02 5.65285691e-03 9.99335960e-01 1.66999252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14255784400007 meters Centerline goodness : 0.144439 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99355288e-01 -2.58365104e-03 -3.58096886e-02 5.02409779e+00] [ 2.37401621e-03 9.99979804e-01 -5.89542126e-03 6.47932708e-01] [ 3.58241971e-02 5.80660762e-03 9.99341238e-01 1.67011537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.17255784400004 meters Centerline goodness : 0.134574 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99364967e-01 -2.50239008e-03 -3.55443499e-02 5.02328462e+00] [ 2.29105731e-03 9.99979465e-01 -5.98509399e-03 6.48908509e-01] [ 3.55585970e-02 5.89985912e-03 9.99350178e-01 1.67029400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20255784400007 meters Centerline goodness : 0.139187 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99375166e-01 -2.51923963e-03 -3.52552172e-02 5.02228263e+00] [ 2.30443233e-03 9.99978542e-01 -6.13223104e-03 6.49625002e-01] [ 3.52699093e-02 6.04715615e-03 9.99359528e-01 1.67066187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.23255784400004 meters Centerline goodness : 0.126431 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99367418e-01 -2.52776473e-03 -3.54735748e-02 5.02291486e+00] [ 2.31263714e-03 9.99978695e-01 -6.10416838e-03 6.49194175e-01] [ 3.54882490e-02 6.01826948e-03 9.99351972e-01 1.67053545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26255784400007 meters Centerline goodness : 0.138729 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99355674e-01 -2.49180921e-03 -3.58054030e-02 5.02382808e+00] [ 2.27863737e-03 9.99979444e-01 -5.99319600e-03 6.48592107e-01] [ 3.58196009e-02 5.90774690e-03 9.99340810e-01 1.67041049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.29255784400004 meters Centerline goodness : 0.141133 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99347913e-01 -2.41397332e-03 -3.60266782e-02 5.02445459e+00] [ 2.20511015e-03 9.99980539e-01 -5.83606707e-03 6.48047663e-01] [ 3.60400652e-02 5.75281865e-03 9.99333787e-01 1.67028387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3225578440001 meters Centerline goodness : 0.145455 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99343181e-01 -2.35368453e-03 -3.61616830e-02 5.02466264e+00] [ 2.14905227e-03 9.99981465e-01 -5.69664228e-03 6.47446824e-01] [ 3.61744208e-02 5.61518727e-03 9.99329716e-01 1.67050012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.35255784400005 meters Centerline goodness : 0.135807 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99347057e-01 -2.41869579e-03 -3.60501014e-02 5.02380804e+00] [ 2.21956648e-03 9.99982065e-01 -5.56268008e-03 6.46116568e-01] [ 3.60629093e-02 5.47903236e-03 9.99334502e-01 1.67143349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3825578440001 meters Centerline goodness : 0.124561 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99350761e-01 -2.36674543e-03 -3.59507293e-02 5.02324125e+00] [ 2.17484793e-03 9.99983184e-01 -5.37596050e-03 6.45091791e-01] [ 3.59628483e-02 5.29428284e-03 9.99339104e-01 1.67193244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.41255784400005 meters Centerline goodness : 0.131317 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99354618e-01 -2.23408080e-03 -3.58518726e-02 5.02284150e+00] [ 2.05144895e-03 9.99984737e-01 -5.13004497e-03 6.44223040e-01] [ 3.58627863e-02 5.05318584e-03 9.99343948e-01 1.67215794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4425578440001 meters Centerline goodness : 0.138195 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99359066e-01 -2.11410540e-03 -3.57349751e-02 5.02243735e+00] [ 1.94001979e-03 9.99986086e-01 -4.90554733e-03 6.43428211e-01] [ 3.57448487e-02 4.83307664e-03 9.99349262e-01 1.67232364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.47255784400005 meters Centerline goodness : 0.142308 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99362995e-01 -2.02504931e-03 -3.56300788e-02 5.02212006e+00] [ 1.85788097e-03 9.99987115e-01 -4.72425914e-03 6.42654357e-01] [ 3.56391865e-02 4.65505332e-03 9.99353881e-01 1.67245390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5025578440001 meters Centerline goodness : 0.139950 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99361317e-01 -1.97122810e-03 -3.56801483e-02 5.02214613e+00] [ 1.80659929e-03 9.99987577e-01 -4.64566906e-03 6.42161044e-01] [ 3.56888627e-02 4.57824222e-03 9.99352463e-01 1.67259083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.53255784400005 meters Centerline goodness : 0.145297 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99354653e-01 -1.88229885e-03 -3.58710735e-02 5.02259589e+00] [ 1.71771732e-03 9.99987860e-01 -4.61840651e-03 6.42286240e-01] [ 3.58793312e-02 4.55380968e-03 9.99345754e-01 1.67258640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5625578440001 meters Centerline goodness : 0.145955 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99353201e-01 -1.85776357e-03 -3.59127937e-02 5.02283045e+00] [ 1.69087791e-03 9.99987634e-01 -4.67678292e-03 6.42752347e-01] [ 3.59210380e-02 4.61303383e-03 9.99343984e-01 1.67238611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.59255784400005 meters Centerline goodness : 0.142316 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99351334e-01 -1.84747135e-03 -3.59652425e-02 5.02296827e+00] [ 1.67536213e-03 9.99987004e-01 -4.81498117e-03 6.43618083e-01] [ 3.59736706e-02 4.75160305e-03 9.99341442e-01 1.67235405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6225578440001 meters Centerline goodness : 0.144649 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99352139e-01 -1.87412533e-03 -3.59414705e-02 5.02290737e+00] [ 1.69449531e-03 9.99985926e-01 -5.02765858e-03 6.44670204e-01] [ 3.59503871e-02 4.96349870e-03 9.99341250e-01 1.67228924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.65255784400006 meters Centerline goodness : 0.144649 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99352139e-01 -1.87412533e-03 -3.59414705e-02 5.02290737e+00] [ 1.69449531e-03 9.99985926e-01 -5.02765858e-03 6.44670204e-01] [ 3.59503871e-02 4.96349870e-03 9.99341250e-01 1.67228924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6825578440001 meters Centerline goodness : 0.147142 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99367605e-01 -1.74989884e-03 -3.55151667e-02 5.02162161e+00] [ 1.56475650e-03 9.99985046e-01 -5.24017577e-03 6.46267368e-01] [ 3.55238053e-02 5.18128932e-03 9.99355399e-01 1.67253651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.71255784400006 meters Centerline goodness : 0.128423 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99378665e-01 -1.66955039e-03 -3.52064946e-02 5.02061250e+00] [ 1.48548556e-03 9.99985096e-01 -5.25365967e-03 6.46808059e-01] [ 3.52147411e-02 5.19809665e-03 9.99366250e-01 1.67284930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7425578440001 meters Centerline goodness : 0.146674 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99386432e-01 -1.60263558e-03 -3.49884286e-02 5.01977205e+00] [ 1.42246821e-03 9.99985605e-01 -5.17362724e-03 6.46753470e-01] [ 3.49962164e-02 5.12068294e-03 9.99374326e-01 1.67328280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.77255784400006 meters Centerline goodness : 0.139728 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99387812e-01 -1.56611452e-03 -3.49506614e-02 5.01967156e+00] [ 1.39062237e-03 9.99986308e-01 -5.04488394e-03 6.46080686e-01] [ 3.49580837e-02 4.99319235e-03 9.99376306e-01 1.67329495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80255784400003 meters Centerline goodness : 0.142387 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99376663e-01 -1.58860477e-03 -3.52670175e-02 5.02059214e+00] [ 1.41657231e-03 9.99986980e-01 -4.90244962e-03 6.44872163e-01] [ 3.52743464e-02 4.84943546e-03 9.99365901e-01 1.67311590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.83255784400006 meters Centerline goodness : 0.132295 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99355420e-01 -1.81684864e-03 -3.58530833e-02 5.02226573e+00] [ 1.65648761e-03 9.99988494e-01 -4.50192413e-03 6.41434426e-01] [ 3.58608501e-02 4.43963209e-03 9.99346931e-01 1.67288793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86255784400004 meters Centerline goodness : 0.142009 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99360219e-01 -1.60735266e-03 -3.57291085e-02 5.02193539e+00] [ 1.46689710e-03 9.99991095e-01 -3.95699036e-03 6.39008028e-01] [ 3.57351506e-02 3.90204783e-03 9.99353678e-01 1.67295570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.89255784400007 meters Centerline goodness : 0.148071 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99364803e-01 -1.44224065e-03 -3.56077277e-02 5.02153439e+00] [ 1.32053983e-03 9.99993207e-01 -3.44110215e-03 6.36440482e-01] [ 3.56124487e-02 3.39189495e-03 9.99359919e-01 1.67315001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92255784400004 meters Centerline goodness : 0.146714 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.67 [[ 9.99366145e-01 -1.34704208e-03 -3.55737796e-02 5.02149492e+00] [ 1.24033162e-03 9.99994666e-01 -3.02159263e-03 6.33915598e-01] [ 3.55776600e-02 2.97555409e-03 9.99362485e-01 1.67319257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.95255784400007 meters Centerline goodness : 0.131205 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.67 [[ 9.99358004e-01 -1.26069686e-03 -3.58048919e-02 5.02214002e+00] [ 1.16653415e-03 9.99995807e-01 -2.65065264e-03 6.31692867e-01] [ 3.58080834e-02 2.60718330e-03 9.99355284e-01 1.67314544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98255784400004 meters Centerline goodness : 0.136613 Centerline is valid? [False, False] Translation: X:5.03, Y:0.63, Z:1.67 [[ 9.99325846e-01 -8.68008252e-04 -3.67028707e-02 5.02507858e+00] [ 7.96905531e-04 9.99997778e-01 -1.95183723e-03 6.28984596e-01] [ 3.67044834e-02 1.92127267e-03 9.99324317e-01 1.67204167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.01255784400007 meters Centerline goodness : 0.130907 Centerline is valid? [False, False] Translation: X:5.03, Y:0.63, Z:1.67 [[ 9.99318215e-01 -7.21424896e-04 -3.69131951e-02 5.02603196e+00] [ 6.59185875e-04 9.99998341e-01 -1.69823408e-03 6.27949645e-01] [ 3.69143590e-02 1.67274360e-03 9.99317033e-01 1.67138269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04255784400004 meters Centerline goodness : 0.155588 Centerline is valid? [False, False] Translation: X:5.03, Y:0.63, Z:1.67 [[ 9.99314561e-01 -6.39425192e-04 -3.70135010e-02 5.02650531e+00] [ 5.83279247e-04 9.99998663e-01 -1.52768288e-03 6.26879791e-01] [ 3.70144283e-02 1.50504654e-03 9.99313598e-01 1.67110133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0725578440001 meters Centerline goodness : 0.157330 Centerline is valid? [False, False] Translation: X:5.03, Y:0.63, Z:1.67 [[ 9.99319104e-01 -5.97797835e-04 -3.68913282e-02 5.02607601e+00] [ 5.46457550e-04 9.99998868e-01 -1.40173022e-03 6.25862029e-01] [ 3.68921244e-02 1.38061624e-03 9.99318300e-01 1.67129121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10255784400005 meters Centerline goodness : 0.136392 Centerline is valid? [False, False] Translation: X:5.03, Y:0.63, Z:1.67 [[ 9.99329280e-01 -4.93309571e-04 -3.66162173e-02 5.02506668e+00] [ 4.47697290e-04 9.99999114e-01 -1.25387403e-03 6.25232528e-01] [ 3.66168034e-02 1.23664005e-03 9.99328615e-01 1.67177208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1325578440001 meters Centerline goodness : 0.127292 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99339991e-01 -3.26071305e-04 -3.63246006e-02 5.02410521e+00] [ 2.87616894e-04 9.99999393e-01 -1.06385321e-03 6.24746453e-01] [ 3.63249254e-02 1.05270349e-03 9.99339478e-01 1.67212068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16255784400005 meters Centerline goodness : 0.153141 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99342419e-01 -1.26938696e-04 -3.62589663e-02 5.02404187e+00] [ 9.46305963e-05 9.99999597e-01 -8.92752305e-04 6.24524244e-01] [ 3.62590650e-02 8.88734040e-04 9.99342029e-01 1.67190022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1925578440001 meters Centerline goodness : 0.170512 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99339437e-01 -1.26304335e-04 -3.63410665e-02 5.02437668e+00] [ 9.47882109e-05 9.99999618e-01 -8.68953300e-04 6.24222850e-01] [ 3.63411624e-02 8.64934598e-04 9.99339067e-01 1.67169128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22255784400005 meters Centerline goodness : 0.164748 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99345740e-01 2.12437404e-05 -3.61675516e-02 5.02381768e+00] [-3.91785026e-05 9.99999877e-01 -4.95171255e-04 6.22405830e-01] [ 3.61675367e-02 4.96264275e-04 9.99345617e-01 1.67188936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2525578440001 meters Centerline goodness : 0.140484 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99353662e-01 1.20527924e-04 -3.59477898e-02 5.02284549e+00] [-1.29875392e-04 9.99999958e-01 -2.57693998e-04 6.21397322e-01] [ 3.59477573e-02 2.62196174e-04 9.99353636e-01 1.67257381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28255784400005 meters Centerline goodness : 0.157038 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99358000e-01 1.89427839e-04 -3.58266923e-02 5.02214862e+00] [-1.90665109e-04 9.99999981e-01 -3.11183216e-05 6.20233036e-01] [ 3.58266857e-02 3.79292438e-05 9.99358018e-01 1.67318517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3125578440001 meters Centerline goodness : 0.140820 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.67 [[ 9.99366964e-01 5.42796727e-03 -3.51597437e-02 4.99936893e+00] [-5.53562333e-03 9.99980282e-01 -2.96529013e-03 6.14619015e-01] [ 3.51429549e-02 3.15804410e-03 9.99377306e-01 1.67258406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34255784400005 meters Centerline goodness : 0.146558 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99369080e-01 -2.41128278e-03 -3.54348447e-02 5.01907979e+00] [ 2.34450703e-03 9.99995397e-01 -1.92589644e-03 6.17551346e-01] [ 3.54393255e-02 1.84160411e-03 9.99370133e-01 1.67464887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3725578440001 meters Centerline goodness : 0.144287 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99365089e-01 -2.29484566e-03 -3.55549172e-02 5.01926311e+00] [ 2.24306165e-03 9.99996365e-01 -1.49627145e-03 6.15284857e-01] [ 3.55582217e-02 1.41556958e-03 9.99366604e-01 1.67491885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40255784400006 meters Centerline goodness : 0.139275 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.68 [[ 9.99380384e-01 -2.12169783e-03 -3.51332792e-02 5.01776344e+00] [ 2.10216633e-03 9.99997615e-01 -5.92856182e-04 6.10378646e-01] [ 3.51344533e-02 5.18632842e-04 9.99382460e-01 1.67579530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.4325578440001 meters Centerline goodness : 0.139477 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.68 [[ 9.99381628e-01 -1.95151162e-03 -3.51077317e-02 5.01755289e+00] [ 1.95116264e-03 9.99998096e-01 -4.42012649e-05 6.07570870e-01] [ 3.51077511e-02 -2.43269624e-05 9.99383533e-01 1.67608345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46255784400006 meters Centerline goodness : 0.137230 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.68 [[ 9.99372994e-01 -1.82899195e-03 -3.53592117e-02 5.01816835e+00] [ 1.84701401e-03 9.99998180e-01 4.77026761e-04 6.04521811e-01] [ 3.53582749e-02 -5.42036621e-04 9.99374554e-01 1.67620099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.4925578440001 meters Centerline goodness : 0.133827 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.68 [[ 9.99366658e-01 -1.69822247e-03 -3.55443141e-02 5.01873176e+00] [ 1.73553319e-03 9.99997975e-01 1.01886843e-03 6.01494407e-01] [ 3.55425118e-02 -1.07991147e-03 9.99367582e-01 1.67613629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52255784400006 meters Centerline goodness : 0.144336 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.68 [[ 9.99361967e-01 -1.37380136e-03 -3.56899255e-02 5.01912867e+00] [ 1.45052410e-03 9.99996693e-01 2.12389919e-03 5.95605336e-01] [ 3.56868897e-02 -2.17431317e-03 9.99360655e-01 1.67624360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.55255784400003 meters Centerline goodness : 0.135876 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.68 [[ 9.99360496e-01 -1.14168926e-03 -3.57392812e-02 5.01920375e+00] [ 1.23749503e-03 9.99995700e-01 2.65867951e-03 5.93143490e-01] [ 3.57360921e-02 -2.70120646e-03 9.99357611e-01 1.67638455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58255784400006 meters Centerline goodness : 0.140188 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.68 [[ 9.99360065e-01 -9.67220819e-04 -3.57564577e-02 5.01922151e+00] [ 1.07619217e-03 9.99994835e-01 3.02847828e-03 5.91422105e-01] [ 3.57533438e-02 -3.06502108e-03 9.99355945e-01 1.67647966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.61255784400004 meters Centerline goodness : 0.237466 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.68 [[ 9.99361297e-01 -8.37844657e-04 -3.57252873e-02 5.01907360e+00] [ 9.53760217e-04 9.99994336e-01 3.22771753e-03 5.90561485e-01] [ 3.57223806e-02 -3.25972933e-03 9.99356436e-01 1.67664901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64255784400007 meters Centerline goodness : 0.138953 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.68 [[ 9.99364091e-01 -6.74747949e-04 -3.56505081e-02 5.01897469e+00] [ 7.89590583e-04 9.99994545e-01 3.20736541e-03 5.91007396e-01] [ 3.56481495e-02 -3.23347513e-03 9.99359172e-01 1.67649989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.67255784400004 meters Centerline goodness : 0.040353 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.68 [[ 9.99365994e-01 -3.12780111e-04 -3.56021379e-02 5.01895402e+00] [ 4.26235378e-04 9.99994855e-01 3.17920909e-03 5.92229739e-01] [ 3.56009604e-02 -3.19236834e-03 9.99360986e-01 1.67620493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70255784400007 meters Centerline goodness : 0.135994 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.68 [[ 9.99363832e-01 4.08142941e-03 -3.54298373e-02 5.01887057e+00] [-3.85431877e-03 9.99971602e-01 6.47608767e-03 5.96917977e-01] [ 3.54552628e-02 -6.33540990e-03 9.99351183e-01 1.67543980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.73255784400004 meters Centerline goodness : 0.163576 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.67 [[ 9.99369905e-01 4.53032264e-03 -3.52032687e-02 5.01841021e+00] [-4.31318201e-03 9.99971218e-01 6.24169180e-03 5.99852482e-01] [ 3.52305324e-02 -6.08592083e-03 9.99360681e-01 1.67497310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76255784400007 meters Centerline goodness : 0.146047 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.67 [[ 9.99371769e-01 4.60100133e-03 -3.51411156e-02 5.01835247e+00] [-4.40404937e-03 9.99974171e-01 5.67995274e-03 6.03316300e-01] [ 3.51663414e-02 -5.52162121e-03 9.99366219e-01 1.67457844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.79255784400004 meters Centerline goodness : 0.152050 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.67 [[ 9.99350838e-01 4.50761512e-03 -3.57433100e-02 5.02019684e+00] [-4.34772546e-03 9.99980198e-01 4.54974057e-03 6.09796490e-01] [ 3.57631107e-02 -4.39138495e-03 9.99350647e-01 1.67358772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8225578440001 meters Centerline goodness : 0.151125 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.67 [[ 9.99347616e-01 4.26616094e-03 -3.58628214e-02 5.02068801e+00] [-4.12530942e-03 9.99983488e-01 4.00058779e-03 6.12201171e-01] [ 3.58792964e-02 -3.85003263e-03 9.99348715e-01 1.67315679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.85255784400005 meters Centerline goodness : 0.151125 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.67 [[ 9.99347616e-01 4.26616094e-03 -3.58628214e-02 5.02068801e+00] [-4.12530942e-03 9.99983488e-01 4.00058779e-03 6.12201171e-01] [ 3.58792964e-02 -3.85003263e-03 9.99348715e-01 1.67315679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8825578440001 meters Centerline goodness : 0.149731 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.67 [[ 9.99354242e-01 4.01410652e-03 -3.57069519e-02 5.02000738e+00] [-3.89063143e-03 9.99986212e-01 3.52682454e-03 6.14684239e-01] [ 3.57206166e-02 -3.38562447e-03 9.99356080e-01 1.67345797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.91255784400005 meters Centerline goodness : 0.156557 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99362298e-01 3.93046510e-03 -3.54901210e-02 5.01920233e+00] [-3.81215552e-03 9.99986951e-01 3.40064527e-03 6.15456673e-01] [ 3.55030240e-02 -3.26318281e-03 9.99364241e-01 1.67384833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9425578440001 meters Centerline goodness : 0.158236 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99364427e-01 3.80364256e-03 -3.54439619e-02 5.01876785e+00] [-3.68823136e-03 9.99987684e-01 3.32097476e-03 6.15730289e-01] [ 3.54561572e-02 -3.18813851e-03 9.99366147e-01 1.67438802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.97255784400005 meters Centerline goodness : 0.161481 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99356228e-01 3.64825373e-03 -3.56906052e-02 5.01923349e+00] [-3.53536558e-03 9.99988548e-01 3.22556425e-03 6.15872077e-01] [ 3.57019641e-02 -3.09730839e-03 9.99357682e-01 1.67471782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0025578440001 meters Centerline goodness : 0.163744 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99307667e-01 2.86161522e-03 -3.70944471e-02 5.02319302e+00] [-2.76551132e-03 9.99992686e-01 2.64184082e-03 6.16435037e-01] [ 3.71017357e-02 -2.53742667e-03 9.99308272e-01 1.67414178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.03255784400005 meters Centerline goodness : 0.158726 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99295432e-01 2.76681789e-03 -3.74297360e-02 5.02408637e+00] [-2.66699216e-03 9.99992753e-01 2.71668375e-03 6.15597716e-01] [ 3.74369814e-02 -2.61494484e-03 9.99295569e-01 1.67414077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0625578440001 meters Centerline goodness : 0.120256 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.67 [[ 9.99293936e-01 2.75529025e-03 -3.74704929e-02 5.02389372e+00] [-2.64877270e-03 9.99992310e-01 2.89205063e-03 6.14526594e-01] [ 3.74781732e-02 -2.79075784e-03 9.99293550e-01 1.67464583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.09255784400005 meters Centerline goodness : 0.163690 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.68 [[ 9.99298253e-01 2.78593923e-03 -3.73528996e-02 5.02325210e+00] [-2.67210781e-03 9.99991634e-01 3.09703537e-03 6.13501658e-01] [ 3.73612153e-02 -2.99505106e-03 9.99297338e-01 1.67527012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1225578440001 meters Centerline goodness : 0.150716 Centerline is valid? [False, False] Translation: X:5.04, Y:0.62, Z:1.68 [[ 9.99314079e-01 -4.81538735e-03 -3.67176132e-02 5.04248637e+00] [ 4.97863178e-03 9.99978120e-01 4.35580721e-03 6.17901589e-01] [ 3.66958349e-02 -4.53562294e-03 9.99316188e-01 1.67735766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.15255784400006 meters Centerline goodness : 0.140572 Centerline is valid? [False, False] Translation: X:5.04, Y:0.62, Z:1.68 [[ 9.99305348e-01 -4.77877685e-03 -3.69592257e-02 5.04321638e+00] [ 4.95405211e-03 9.99976907e-01 4.65226929e-03 6.16206861e-01] [ 3.69361401e-02 -4.83213551e-03 9.99305945e-01 1.67727589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1825578440001 meters Centerline goodness : 0.140598 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.68 [[ 9.99303681e-01 -4.71551151e-03 -3.70123965e-02 5.04326552e+00] [ 4.89938572e-03 9.99976096e-01 4.87878147e-03 6.14927626e-01] [ 3.69885058e-02 -5.05672229e-03 9.99302897e-01 1.67748563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.21255784400006 meters Centerline goodness : 0.136245 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.68 [[ 9.99304647e-01 -4.64590545e-03 -3.69951162e-02 5.04295312e+00] [ 4.83955973e-03 9.99975044e-01 5.14676103e-03 6.13328577e-01] [ 3.69702816e-02 -5.32222228e-03 9.99302193e-01 1.67797342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2425578440001 meters Centerline goodness : 0.144256 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.68 [[ 9.99306814e-01 -4.56625489e-03 -3.69464601e-02 5.04260002e+00] [ 4.77010567e-03 9.99973874e-01 5.43119716e-03 6.11766287e-01] [ 3.69206946e-02 -5.60367085e-03 9.99302487e-01 1.67839937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.27255784400006 meters Centerline goodness : 0.138963 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.68 [[ 9.99304670e-01 -4.44518143e-03 -3.70191336e-02 5.04261233e+00] [ 4.66089275e-03 9.99972648e-01 5.74276132e-03 6.10254474e-01] [ 3.69925934e-02 -5.91131042e-03 9.99298056e-01 1.67870297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30255784400003 meters Centerline goodness : 0.139242 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.68 [[ 9.99261627e-01 3.61704964e-03 -3.82507104e-02 5.06269901e+00] [-3.42796268e-03 9.99981585e-01 5.00778855e-03 6.03183809e-01] [ 3.82681195e-02 -4.87296893e-03 9.99255626e-01 1.68092871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.33255784400006 meters Centerline goodness : 0.120237 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.68 [[ 9.99259399e-01 3.69390777e-03 -3.83015489e-02 5.06294915e+00] [-3.49711769e-03 9.99980346e-01 5.20363931e-03 6.02097345e-01] [ 3.83200179e-02 -5.06584046e-03 9.99252677e-01 1.68074842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36255784400004 meters Centerline goodness : 0.124010 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.68 [[ 9.99258088e-01 3.75658561e-03 -3.83296506e-02 5.06296445e+00] [-3.55413209e-03 9.99979380e-01 5.34867675e-03 6.01302834e-01] [ 3.83489530e-02 -5.20847986e-03 9.99250834e-01 1.68086419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.39255784400007 meters Centerline goodness : 0.141176 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.68 [[ 9.99260739e-01 3.79680787e-03 -3.82564956e-02 5.06273996e+00] [-3.59201647e-03 9.99978858e-01 5.42042771e-03 6.00936471e-01] [ 3.82762671e-02 -5.27900264e-03 9.99253251e-01 1.68092701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42255784400004 meters Centerline goodness : 0.140605 Centerline is valid? [False, False] Translation: X:5.11, Y:0.60, Z:1.68 [[ 9.99328998e-01 4.94545794e-03 -3.62918161e-02 5.10686486e+00] [-4.76105160e-03 9.99975323e-01 5.16587474e-03 6.04619727e-01] [ 3.63164681e-02 -4.98962122e-03 9.99327883e-01 1.68184794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.45255784400007 meters Centerline goodness : 0.138647 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99332378e-01 4.92436716e-03 -3.62015057e-02 5.10674100e+00] [-4.74687983e-03 9.99976298e-01 4.98707786e-03 6.05687815e-01] [ 3.62252059e-02 -4.81190418e-03 9.99332067e-01 1.68161046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48255784400004 meters Centerline goodness : 0.141058 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99331448e-01 4.98018945e-03 -3.62195272e-02 5.10713488e+00] [-4.82269299e-03 9.99978538e-01 4.43445314e-03 6.09109436e-01] [ 3.62408343e-02 -4.25681282e-03 9.99334019e-01 1.68091068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.51255784400007 meters Centerline goodness : 0.142758 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99332160e-01 4.82540285e-03 -3.62208352e-02 5.10729891e+00] [-4.68434245e-03 9.99981115e-01 3.97830838e-03 6.11262547e-01] [ 3.62393481e-02 -3.80598071e-03 9.99335892e-01 1.68055980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54255784400004 meters Centerline goodness : 0.142758 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99332160e-01 4.82540285e-03 -3.62208352e-02 5.10729891e+00] [-4.68434245e-03 9.99981115e-01 3.97830838e-03 6.11262547e-01] [ 3.62393481e-02 -3.80598071e-03 9.99335892e-01 1.68055980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5725578440001 meters Centerline goodness : 0.137691 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99336986e-01 4.64153314e-03 -3.61115575e-02 5.10697856e+00] [-4.51740650e-03 9.99983608e-01 3.51814390e-03 6.13405461e-01] [ 3.61272952e-02 -3.35268073e-03 9.99341572e-01 1.68053950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60255784400005 meters Centerline goodness : 0.129991 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99341746e-01 4.51995463e-03 -3.59950560e-02 5.10646587e+00] [-4.40690876e-03 9.99985107e-01 3.21931496e-03 6.14893846e-01] [ 3.60090711e-02 -3.05856890e-03 9.99346783e-01 1.68083358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6325578440001 meters Centerline goodness : 0.135089 Centerline is valid? [False, False] Translation: X:5.11, Y:0.62, Z:1.68 [[ 9.99342535e-01 4.35357801e-03 -3.59936567e-02 5.10613719e+00] [-4.24890040e-03 9.99986521e-01 2.98420435e-03 6.16052232e-01] [ 3.60061635e-02 -2.82930888e-03 9.99347563e-01 1.68125810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66255784400005 meters Centerline goodness : 0.135847 Centerline is valid? [False, False] Translation: X:5.11, Y:0.62, Z:1.68 [[ 9.99333698e-01 4.21116652e-03 -3.62550014e-02 5.10682298e+00] [-4.10621251e-03 9.99987162e-01 2.96885715e-03 6.15629964e-01] [ 3.62670383e-02 -2.81800826e-03 9.99338161e-01 1.68126477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6925578440001 meters Centerline goodness : 0.136757 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99321735e-01 3.98645487e-03 -3.66084331e-02 5.10769257e+00] [-3.88145837e-03 9.99988149e-01 2.93871936e-03 6.14939222e-01] [ 3.66197143e-02 -2.79463202e-03 9.99325366e-01 1.68133812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72255784400005 meters Centerline goodness : 0.135041 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99324785e-01 3.81848992e-03 -3.65430436e-02 5.10737119e+00] [-3.71009253e-03 9.99988516e-01 3.03364574e-03 6.13762197e-01] [ 3.65542078e-02 -2.89601930e-03 9.99327475e-01 1.68167574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7525578440001 meters Centerline goodness : 0.136015 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99330411e-01 3.82022761e-03 -3.63886765e-02 5.10664320e+00] [-3.70430030e-03 9.99987849e-01 3.25269461e-03 6.12547298e-01] [ 3.64006604e-02 -3.11572205e-03 9.99332419e-01 1.68227204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78255784400005 meters Centerline goodness : 0.121171 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99331067e-01 3.82793968e-03 -3.63698555e-02 5.10635701e+00] [-3.70962669e-03 9.99987608e-01 3.31997614e-03 6.12276852e-01] [ 3.63821134e-02 -3.18283671e-03 9.99332883e-01 1.68270028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8125578440001 meters Centerline goodness : 0.124267 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99320186e-01 3.73803405e-03 -3.66768796e-02 5.10736795e+00] [-3.62899479e-03 9.99988797e-01 3.03909219e-03 6.13831302e-01] [ 3.66878290e-02 -2.90392597e-03 9.99322556e-01 1.68229878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84255784400005 meters Centerline goodness : 0.130213 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.68 [[ 9.99213259e-01 3.36730326e-03 -3.95161353e-02 5.06278219e+00] [-3.23910891e-03 9.99989284e-01 3.30767685e-03 6.12660871e-01] [ 3.95268498e-02 -3.17707750e-03 9.99213458e-01 1.68162816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8725578440001 meters Centerline goodness : 0.123036 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.68 [[ 9.99212829e-01 3.33219443e-03 -3.95299680e-02 5.06262705e+00] [-3.21559421e-03 9.99990291e-01 3.01288098e-03 6.14403189e-01] [ 3.95396237e-02 -2.88339699e-03 9.99213843e-01 1.68184345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90255784400006 meters Centerline goodness : 0.124894 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99243428e-01 3.51226752e-03 -3.87328812e-02 5.06035148e+00] [-3.40501103e-03 9.99990185e-01 2.83475301e-03 6.16385275e-01] [ 3.87424574e-02 -2.70072243e-03 9.99245579e-01 1.68224379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.9325578440001 meters Centerline goodness : 0.153290 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99250736e-01 3.46256415e-03 -3.85483659e-02 5.05986814e+00] [-3.36236567e-03 9.99990799e-01 2.66382028e-03 6.17300681e-01] [ 3.85572348e-02 -2.53221068e-03 9.99253185e-01 1.68225159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96255784400006 meters Centerline goodness : 0.162290 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99253398e-01 3.42076385e-03 -3.84830527e-02 5.05978707e+00] [-3.32441936e-03 9.99991179e-01 2.56726847e-03 6.17743663e-01] [ 3.84914952e-02 -2.43741794e-03 9.99255955e-01 1.68209255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.9925578440001 meters Centerline goodness : 0.124281 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99253078e-01 3.40213119e-03 -3.84930087e-02 5.05993911e+00] [-3.30843774e-03 9.99991408e-01 2.49747611e-03 6.18190016e-01] [ 3.85011748e-02 -2.36825897e-03 9.99255748e-01 1.68188174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02255784400006 meters Centerline goodness : 0.163793 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99248477e-01 3.37725330e-03 -3.86144380e-02 5.06027508e+00] [-3.28527501e-03 9.99991614e-01 2.44517179e-03 6.18551921e-01] [ 3.86223721e-02 -2.31647514e-03 9.99251193e-01 1.68183054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.05255784400003 meters Centerline goodness : 0.105524 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99250826e-01 3.38610995e-03 -3.85528366e-02 5.06000977e+00] [-3.29435619e-03 9.99991589e-01 2.44322698e-03 6.18734231e-01] [ 3.85607853e-02 -2.31438980e-03 9.99253576e-01 1.68199214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08255784400006 meters Centerline goodness : 0.165718 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99260755e-01 3.38192763e-03 -3.82949841e-02 5.05895461e+00] [-3.28905913e-03 9.99991496e-01 2.48782343e-03 6.18405774e-01] [ 3.83030721e-02 -2.36002986e-03 9.99263381e-01 1.68265108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.11255784400004 meters Centerline goodness : 0.133995 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99265503e-01 3.33429266e-03 -3.81750753e-02 5.05869224e+00] [-3.24479307e-03 9.99991841e-01 2.40616878e-03 6.18596084e-01] [ 3.81827867e-02 -2.28053124e-03 9.99268169e-01 1.68260300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14255784400007 meters Centerline goodness : 0.125658 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99272521e-01 3.24824860e-03 -3.79983938e-02 5.05810720e+00] [-3.16747147e-03 9.99992595e-01 2.18581197e-03 6.19618544e-01] [ 3.80052125e-02 -2.06386301e-03 9.99275410e-01 1.68277241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.17255784400004 meters Centerline goodness : 0.133791 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99283866e-01 3.21870868e-03 -3.77013859e-02 5.05728256e+00] [-3.14755524e-03 9.99993152e-01 1.94649269e-03 6.21062198e-01] [ 3.77073929e-02 -1.82643155e-03 9.99287154e-01 1.68284494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20255784400007 meters Centerline goodness : 0.162943 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99286322e-01 3.12435997e-03 -3.76441828e-02 5.05718759e+00] [-3.07109272e-03 9.99994200e-01 1.47276132e-03 6.23757167e-01] [ 3.76485658e-02 -1.35610147e-03 9.99290121e-01 1.68268771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.23255784400004 meters Centerline goodness : 0.140147 Centerline is valid? [False, False] Translation: X:5.06, Y:0.63, Z:1.68 [[ 9.99279066e-01 3.02660426e-03 -3.78442601e-02 5.05798432e+00] [-2.99436581e-03 9.99995104e-01 9.08522841e-04 6.26915032e-01] [ 3.78468245e-02 -7.94548298e-04 9.99283236e-01 1.68210716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26255784400007 meters Centerline goodness : 0.141997 Centerline is valid? [False, False] Translation: X:5.06, Y:0.63, Z:1.68 [[ 9.99272077e-01 2.82295097e-03 -3.80440118e-02 5.05895210e+00] [-2.81743976e-03 9.99996011e-01 1.98475979e-04 6.30446347e-01] [ 3.80444203e-02 -9.11447919e-05 9.99276045e-01 1.68123292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.29255784400004 meters Centerline goodness : 0.126039 Centerline is valid? [False, False] Translation: X:5.06, Y:0.63, Z:1.68 [[ 9.99267824e-01 2.57046564e-03 -3.81733910e-02 5.05955643e+00] [-2.59171962e-03 9.99996513e-01 -5.07299682e-04 6.33818141e-01] [ 3.81719539e-02 6.05862976e-04 9.99271002e-01 1.68066491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3225578440001 meters Centerline goodness : 0.125776 Centerline is valid? [False, False] Translation: X:5.06, Y:0.64, Z:1.68 [[ 9.99264020e-01 2.19174920e-03 -3.82964115e-02 5.06008355e+00] [-2.25019871e-03 9.99996368e-01 -1.48320343e-03 6.38743280e-01] [ 3.82930216e-02 1.56828636e-03 9.99265323e-01 1.68014058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.35255784400005 meters Centerline goodness : 0.159500 Centerline is valid? [False, False] Translation: X:5.06, Y:0.64, Z:1.68 [[ 9.99255722e-01 2.02633850e-03 -3.85213775e-02 5.06078709e+00] [-2.09882398e-03 9.99996102e-01 -1.84134822e-03 6.40505160e-01] [ 3.85174961e-02 1.92082733e-03 9.99256080e-01 1.67986755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3825578440001 meters Centerline goodness : 0.158904 Centerline is valid? [False, False] Translation: X:5.06, Y:0.64, Z:1.68 [[ 9.99244647e-01 1.87598857e-03 -3.88151403e-02 5.06166761e+00] [-1.95738644e-03 9.99995964e-01 -2.05916851e-03 6.41377227e-01] [ 3.88111207e-02 2.13358934e-03 9.99244287e-01 1.67963556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.41255784400005 meters Centerline goodness : 0.126568 Centerline is valid? [False, False] Translation: X:5.06, Y:0.64, Z:1.68 [[ 9.99238095e-01 1.71329437e-03 -3.89909568e-02 5.06194979e+00] [-1.80029784e-03 9.99995967e-01 -2.19637387e-03 6.41571188e-01] [ 3.89870366e-02 2.26489578e-03 9.99237150e-01 1.67992910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4425578440001 meters Centerline goodness : 0.126160 Centerline is valid? [False, False] Translation: X:5.06, Y:0.64, Z:1.68 [[ 9.99248085e-01 1.59885254e-03 -3.87389649e-02 5.06084380e+00] [-1.68607596e-03 9.99996117e-01 -2.21900219e-03 6.41365219e-01] [ 3.87352666e-02 2.28265053e-03 9.99246901e-01 1.68071578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.47255784400005 meters Centerline goodness : 0.169081 Centerline is valid? [False, False] Translation: X:5.06, Y:0.64, Z:1.68 [[ 9.99268693e-01 1.50189768e-03 -3.82076275e-02 5.05898633e+00] [-1.58773649e-03 9.99996283e-01 -2.21639699e-03 6.41212207e-01] [ 3.82041567e-02 2.27543977e-03 9.99267364e-01 1.68163052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5025578440001 meters Centerline goodness : 0.123592 Centerline is valid? [False, False] Translation: X:5.08, Y:0.64, Z:1.68 [[ 9.99394680e-01 -4.76594604e-03 -3.44609837e-02 5.07828737e+00] [ 4.77641383e-03 9.99988568e-01 2.21439152e-04 6.44494986e-01] [ 3.44595344e-02 -3.85905030e-04 9.99406019e-01 1.68222585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.53255784400005 meters Centerline goodness : 0.134275 Centerline is valid? [False, False] Translation: X:5.08, Y:0.64, Z:1.68 [[ 9.99397470e-01 -4.76253349e-03 -3.43804586e-02 5.07807581e+00] [ 4.77263594e-03 9.99988588e-01 2.11781332e-04 6.44766706e-01] [ 3.43790576e-02 -3.75739139e-04 9.99408795e-01 1.68226100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5625578440001 meters Centerline goodness : 0.123116 Centerline is valid? [False, False] Translation: X:5.08, Y:0.65, Z:1.68 [[ 9.99391960e-01 -4.83726865e-03 -3.45298447e-02 5.07866428e+00] [ 4.84268096e-03 9.99988271e-01 7.31107869e-05 6.45298695e-01] [ 3.45290860e-02 -2.40283354e-04 9.99403664e-01 1.68190574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.59255784400005 meters Centerline goodness : 0.122040 Centerline is valid? [False, False] Translation: X:5.08, Y:0.65, Z:1.68 [[ 9.99379315e-01 -4.96934308e-03 -3.48753444e-02 5.07973710e+00] [ 4.96550721e-03 9.99987652e-01 -1.96601081e-04 6.46355366e-01] [ 3.48758908e-02 2.33052802e-05 9.99391651e-01 1.68154867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6225578440001 meters Centerline goodness : 0.120349 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.68 [[ 9.99367262e-01 3.09023790e-03 -3.54334076e-02 5.10031962e+00] [-3.15327596e-03 9.99993544e-01 -1.72331198e-03 6.45090584e-01] [ 3.54278534e-02 1.83395289e-03 9.99370554e-01 1.68339010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.65255784400006 meters Centerline goodness : 0.130821 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.68 [[ 9.99363506e-01 2.99438440e-03 -3.55473837e-02 5.10070709e+00] [-3.06894915e-03 9.99993203e-01 -2.04323721e-03 6.46843120e-01] [ 3.55410238e-02 2.15102981e-03 9.99365903e-01 1.68316027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6825578440001 meters Centerline goodness : 0.119186 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.68 [[ 9.99362329e-01 2.80826825e-03 -3.55956353e-02 5.10090691e+00] [-2.90536400e-03 9.99992198e-01 -2.67631121e-03 6.50356625e-01] [ 3.55878418e-02 2.77802288e-03 9.99362691e-01 1.68296404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.71255784400006 meters Centerline goodness : 0.122448 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.68 [[ 9.99361080e-01 2.64535680e-03 -3.56431494e-02 5.10120201e+00] [-2.75690265e-03 9.99991454e-01 -3.08073267e-03 6.52283447e-01] [ 3.56346951e-02 3.17702902e-03 9.99359833e-01 1.68260965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7425578440001 meters Centerline goodness : 0.123232 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.68 [[ 9.99363646e-01 2.51467643e-03 -3.55806062e-02 5.10111616e+00] [-2.63909043e-03 9.99990566e-01 -3.45014723e-03 6.54268373e-01] [ 3.55715945e-02 3.54185216e-03 9.99360854e-01 1.68245003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.77255784400006 meters Centerline goodness : 0.141011 Centerline is valid? [False, False] Translation: X:5.10, Y:0.66, Z:1.68 [[ 9.99371649e-01 2.43456809e-03 -3.53607070e-02 5.10033896e+00] [-2.56820711e-03 9.99989729e-01 -3.73437898e-03 6.55987776e-01] [ 3.53512522e-02 3.82284610e-03 9.99367637e-01 1.68277484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80255784400003 meters Centerline goodness : 0.159778 Centerline is valid? [False, False] Translation: X:5.10, Y:0.66, Z:1.68 [[ 9.99383727e-01 2.32025456e-03 -3.50254498e-02 5.09906689e+00] [-2.46384510e-03 9.99988735e-01 -4.05700071e-03 6.57723958e-01] [ 3.50156420e-02 4.14079777e-03 9.99378186e-01 1.68339429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.83255784400006 meters Centerline goodness : 0.117256 Centerline is valid? [False, False] Translation: X:5.10, Y:0.66, Z:1.68 [[ 9.99389624e-01 2.20401569e-03 -3.48643319e-02 5.09819405e+00] [-2.35695598e-03 9.99987777e-01 -4.34623576e-03 6.59190398e-01] [ 3.48543266e-02 4.42575662e-03 9.99382604e-01 1.68408227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86255784400004 meters Centerline goodness : 0.138153 Centerline is valid? [False, False] Translation: X:5.10, Y:0.66, Z:1.68 [[ 9.99395573e-01 2.01158551e-03 -3.47050669e-02 5.09765994e+00] [-2.17841265e-03 9.99986251e-01 -4.76985391e-03 6.61154524e-01] [ 3.46949948e-02 4.84257284e-03 9.99386215e-01 1.68424442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.89255784400007 meters Centerline goodness : 0.165459 Centerline is valid? [False, False] Translation: X:5.10, Y:0.66, Z:1.68 [[ 9.99397111e-01 1.95216281e-03 -3.46641576e-02 5.09755829e+00] [-2.12216061e-03 9.99985899e-01 -4.86802236e-03 6.61531483e-01] [ 3.46541657e-02 4.93865039e-03 9.99387161e-01 1.68426526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92255784400004 meters Centerline goodness : 0.163391 Centerline is valid? [False, False] Translation: X:5.10, Y:0.66, Z:1.68 [[ 9.99401256e-01 1.90020715e-03 -3.45473267e-02 5.09724864e+00] [-2.07247999e-03 9.99985594e-01 -4.95144885e-03 6.61830660e-01] [ 3.45374202e-02 5.02008284e-03 9.99390797e-01 1.68429310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.95255784400007 meters Centerline goodness : 0.139221 Centerline is valid? [False, False] Translation: X:5.12, Y:0.67, Z:1.69 [[ 9.99398900e-01 -5.59417671e-03 -3.42132206e-02 5.11596965e+00] [ 5.47239275e-03 9.99978357e-01 -3.65216549e-03 6.67476718e-01] [ 3.42329110e-02 3.46274200e-03 9.99407883e-01 1.68641144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98255784400004 meters Centerline goodness : 0.164278 Centerline is valid? [False, False] Translation: X:5.12, Y:0.67, Z:1.69 [[ 9.99399809e-01 -5.55760601e-03 -3.41926201e-02 5.11584205e+00] [ 5.43841278e-03 9.99978811e-01 -3.57795210e-03 6.67206762e-01] [ 3.42117804e-02 3.38985106e-03 9.99408857e-01 1.68653141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.01255784400007 meters Centerline goodness : 0.127559 Centerline is valid? [False, False] Translation: X:5.12, Y:0.67, Z:1.69 [[ 9.99398847e-01 -5.49748912e-03 -3.42304238e-02 5.11594117e+00] [ 5.38369624e-03 9.99979675e-01 -3.41560374e-03 6.66319446e-01] [ 3.42485052e-02 3.22926423e-03 9.99408131e-01 1.68656336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04255784400004 meters Centerline goodness : 0.134078 Centerline is valid? [False, False] Translation: X:5.12, Y:0.66, Z:1.69 [[ 9.99382468e-01 -5.54278486e-03 -3.46981184e-02 5.11749453e+00] [ 5.44064341e-03 9.99980586e-01 -3.03744480e-03 6.62888406e-01] [ 3.47142807e-02 2.84678899e-03 9.99393223e-01 1.68612973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0725578440001 meters Centerline goodness : 0.126385 Centerline is valid? [False, False] Translation: X:5.12, Y:0.66, Z:1.69 [[ 9.99381186e-01 -5.36712196e-03 -3.47626141e-02 5.11769329e+00] [ 5.28148919e-03 9.99982789e-01 -2.55471741e-03 6.60383711e-01] [ 3.47757273e-02 2.36953814e-03 9.99392332e-01 1.68612375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10255784400005 meters Centerline goodness : 0.133183 Centerline is valid? [False, False] Translation: X:5.12, Y:0.66, Z:1.69 [[ 9.99379073e-01 -5.13150903e-03 -3.48587938e-02 5.11817871e+00] [ 5.06510003e-03 9.99985186e-01 -1.99312793e-03 6.57713718e-01] [ 3.48685051e-02 1.81532707e-03 9.99390260e-01 1.68578538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1325578440001 meters Centerline goodness : 0.131297 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.69 [[ 9.99371848e-01 -4.89644612e-03 -3.50989297e-02 5.11896802e+00] [ 4.84941726e-03 9.99987226e-01 -1.42490067e-03 6.54919663e-01] [ 3.51054584e-02 1.25379626e-03 9.99382827e-01 1.68558550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16255784400005 meters Centerline goodness : 0.140558 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.69 [[ 9.99364233e-01 -4.67174874e-03 -3.53455099e-02 5.11970120e+00] [ 4.64370014e-03 9.99988835e-01 -8.75606399e-04 6.52031036e-01] [ 3.53492059e-02 7.10915768e-04 9.99374769e-01 1.68548966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1925578440001 meters Centerline goodness : 0.127768 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.69 [[ 9.99359511e-01 -4.49859915e-03 -3.55011347e-02 5.12010120e+00] [ 4.48568568e-03 9.99989841e-01 -4.43388494e-04 6.49637886e-01] [ 3.55027686e-02 2.83857577e-04 9.99369538e-01 1.68555898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22255784400005 meters Centerline goodness : 0.123851 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.69 [[ 9.99364987e-01 -4.07940068e-03 -3.53974770e-02 5.11980640e+00] [ 4.08692223e-03 9.99991639e-01 1.40134599e-04 6.47326976e-01] [ 3.53966094e-02 -2.84712347e-04 9.99373303e-01 1.68563456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2525578440001 meters Centerline goodness : 0.123998 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.69 [[ 9.99361649e-01 -3.93261461e-03 -3.55081489e-02 5.12038241e+00] [ 3.94096848e-03 9.99992221e-01 1.65278509e-04 6.47721720e-01] [ 3.55072227e-02 -3.05109499e-04 9.99369373e-01 1.68512984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28255784400005 meters Centerline goodness : 0.123580 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.68 [[ 9.99351734e-01 -3.80690487e-03 -3.57997022e-02 5.12153752e+00] [ 3.81158629e-03 9.99992734e-01 6.25189279e-05 6.48628413e-01] [ 3.57992040e-02 -1.98932053e-04 9.99358983e-01 1.68432650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3125578440001 meters Centerline goodness : 0.152098 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.68 [[ 9.99341806e-01 -3.67424424e-03 -3.60895380e-02 5.12259699e+00] [ 3.67294803e-03 9.99993249e-01 -1.02215682e-04 6.49936758e-01] [ 3.60896700e-02 -3.04065935e-05 9.99348555e-01 1.68367837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34255784400005 meters Centerline goodness : 0.119544 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.68 [[ 9.99339740e-01 -3.48256378e-03 -3.61656688e-02 5.12281712e+00] [ 3.47534399e-03 9.99993927e-01 -2.62493929e-04 6.51517167e-01] [ 3.61663633e-02 1.36632475e-04 9.99345774e-01 1.68344250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3725578440001 meters Centerline goodness : 0.121227 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.68 [[ 9.99350006e-01 6.54219868e-04 -3.60435493e-02 5.12209469e+00] [-5.35441587e-04 9.99994395e-01 3.30496442e-03 6.53883784e-01] [ 3.60455094e-02 -3.28351700e-03 9.99344755e-01 1.68382518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40255784400006 meters Centerline goodness : 0.123548 Centerline is valid? [False, False] Translation: X:5.12, Y:0.66, Z:1.68 [[ 9.99365149e-01 7.28094230e-04 -3.56197682e-02 5.12092527e+00] [-6.21296004e-04 9.99995279e-01 3.00926213e-03 6.56037056e-01] [ 3.56217910e-02 -2.98522127e-03 9.99360884e-01 1.68384026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.4325578440001 meters Centerline goodness : 0.123519 Centerline is valid? [False, False] Translation: X:5.12, Y:0.66, Z:1.68 [[ 9.99378293e-01 6.70830167e-04 -3.52502029e-02 5.11994213e+00] [-5.79512377e-04 9.99996450e-01 2.60071399e-03 6.58395318e-01] [ 3.52518224e-02 -2.57866918e-03 9.99375135e-01 1.68375933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46255784400006 meters Centerline goodness : 0.123519 Centerline is valid? [False, False] Translation: X:5.12, Y:0.66, Z:1.68 [[ 9.99378293e-01 6.70830167e-04 -3.52502029e-02 5.11994213e+00] [-5.79512377e-04 9.99996450e-01 2.60071399e-03 6.58395318e-01] [ 3.52518224e-02 -2.57866918e-03 9.99375135e-01 1.68375933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.4925578440001 meters Centerline goodness : 0.123361 Centerline is valid? [False, False] Translation: X:5.14, Y:0.66, Z:1.69 [[ 9.99385354e-01 9.06157923e-03 -3.38644527e-02 5.13966589e+00] [-9.03531461e-03 9.99958750e-01 9.28535544e-04 6.60031981e-01] [ 3.38714697e-02 -6.21988840e-04 9.99426004e-01 1.68543179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52255784400006 meters Centerline goodness : 0.160575 Centerline is valid? [False, False] Translation: X:5.09, Y:0.66, Z:1.69 [[ 9.99315694e-01 9.04121114e-03 -3.58664157e-02 5.09256445e+00] [-9.00200446e-03 9.99958694e-01 1.25447022e-03 6.58817924e-01] [ 3.58762762e-02 -9.30742148e-04 9.99355806e-01 1.68555732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.55255784400003 meters Centerline goodness : 0.108915 Centerline is valid? [False, False] Translation: X:5.11, Y:0.67, Z:1.69 [[ 9.99394865e-01 2.18683998e-03 -3.47148717e-02 5.10907816e+00] [-2.10644448e-03 9.99995015e-01 2.35228545e-03 6.71711322e-01] [ 3.47198427e-02 -2.27773705e-03 9.99394489e-01 1.68799660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58255784400006 meters Centerline goodness : 0.154053 Centerline is valid? [False, False] Translation: X:5.11, Y:0.67, Z:1.69 [[ 9.99403080e-01 1.96563346e-03 -3.44908560e-02 5.10815697e+00] [-1.90425519e-03 9.99996545e-01 1.81231144e-03 6.74466258e-01] [ 3.44942991e-02 -1.74555024e-03 9.99403370e-01 1.68843716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.61255784400004 meters Centerline goodness : 0.157780 Centerline is valid? [False, False] Translation: X:5.11, Y:0.68, Z:1.69 [[ 9.99409288e-01 1.73120166e-03 -3.43231409e-02 5.10735986e+00] [-1.68739403e-03 9.99997725e-01 1.30525495e-03 6.76926782e-01] [ 3.43253224e-02 -1.24656726e-03 9.99409935e-01 1.68895661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64255784400007 meters Centerline goodness : 0.154121 Centerline is valid? [False, False] Translation: X:5.13, Y:0.69, Z:1.69 [[ 9.99418003e-01 -6.04785023e-03 -3.35719983e-02 5.12569506e+00] [ 6.11886756e-03 9.99979253e-01 2.01303568e-03 6.86068303e-01] [ 3.35591273e-02 -2.21728671e-03 9.99434274e-01 1.69112995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.67255784400004 meters Centerline goodness : 0.157545 Centerline is valid? [False, False] Translation: X:5.13, Y:0.69, Z:1.69 [[ 9.99413864e-01 -6.55169384e-03 -3.36006581e-02 5.12529751e+00] [ 6.59182830e-03 9.99977686e-01 1.08381625e-03 6.90491657e-01] [ 3.35928075e-02 -1.30467076e-03 9.99434751e-01 1.69167789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70255784400007 meters Centerline goodness : 0.162746 Centerline is valid? [False, False] Translation: X:5.13, Y:0.69, Z:1.69 [[ 9.99403335e-01 -6.77434087e-03 -3.38686158e-02 5.12604943e+00] [ 6.79863374e-03 9.99976708e-01 6.02154871e-04 6.92883520e-01] [ 3.38637478e-02 -8.32055901e-04 9.99426112e-01 1.69150011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.73255784400004 meters Centerline goodness : 0.161811 Centerline is valid? [False, False] Translation: X:5.13, Y:0.70, Z:1.69 [[ 9.99394237e-01 -6.98696076e-03 -3.40931224e-02 5.12676786e+00] [ 6.99585716e-03 9.99975519e-01 1.41659618e-04 6.95299272e-01] [ 3.40912980e-02 -3.80084420e-04 9.99418650e-01 1.69119379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76255784400007 meters Centerline goodness : 0.160193 Centerline is valid? [False, False] Translation: X:5.13, Y:0.70, Z:1.69 [[ 9.99394034e-01 -7.20240370e-03 -3.40542125e-02 5.12668713e+00] [ 7.19542435e-03 9.99974059e-01 -3.27497909e-04 6.97671745e-01] [ 3.40556879e-02 8.22649459e-05 9.99419933e-01 1.69110374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.79255784400004 meters Centerline goodness : 0.157467 Centerline is valid? [False, False] Translation: X:5.13, Y:0.70, Z:1.69 [[ 9.99392489e-01 -7.43998978e-03 -3.40484901e-02 5.12655344e+00] [ 7.41690599e-03 9.99972171e-01 -8.04223569e-04 6.99884161e-01] [ 3.40535260e-02 5.51200544e-04 9.99419858e-01 1.69123665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8225578440001 meters Centerline goodness : 0.103913 Centerline is valid? [False, False] Translation: X:5.11, Y:0.70, Z:1.69 [[ 9.99398717e-01 2.64957300e-04 -3.46718164e-02 5.10699271e+00] [-3.45075471e-04 9.99997284e-01 -2.30479423e-03 6.96574563e-01] [ 3.46711116e-02 2.31537279e-03 9.99396094e-01 1.69009107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.85255784400005 meters Centerline goodness : 0.115946 Centerline is valid? [False, False] Translation: X:5.13, Y:0.71, Z:1.69 [[ 9.99353261e-01 -7.11298522e-03 -3.52486287e-02 5.12559925e+00] [ 7.06330120e-03 9.99973878e-01 -1.53385638e-03 7.05726798e-01] [ 3.52586182e-02 1.28389270e-03 9.99377397e-01 1.69243861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8825578440001 meters Centerline goodness : 0.166641 Centerline is valid? [False, False] Translation: X:5.08, Y:0.71, Z:1.69 [[ 9.99244082e-01 -7.53093233e-03 -3.81385683e-02 5.08093713e+00] [ 7.46969703e-03 9.99970574e-01 -1.74784149e-03 7.07305115e-01] [ 3.81506089e-02 1.46163672e-03 9.99270932e-01 1.69202567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.91255784400005 meters Centerline goodness : 0.112372 Centerline is valid? [False, False] Translation: X:5.08, Y:0.71, Z:1.69 [[ 9.99244807e-01 -7.68866086e-03 -3.80880580e-02 5.08074527e+00] [ 7.61506186e-03 9.99968848e-01 -2.07703750e-03 7.08929248e-01] [ 3.81028411e-02 1.78542602e-03 9.99272228e-01 1.69210092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9425578440001 meters Centerline goodness : 0.099745 Centerline is valid? [False, False] Translation: X:5.08, Y:0.71, Z:1.69 [[ 9.99245697e-01 -7.83774532e-03 -3.80342813e-02 5.08051527e+00] [ 7.75435076e-03 9.99967198e-01 -2.33964175e-03 7.10102218e-01] [ 3.80513712e-02 2.04294579e-03 9.99273696e-01 1.69225490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.97255784400005 meters Centerline goodness : 0.107161 Centerline is valid? [False, False] Translation: X:5.10, Y:0.71, Z:1.69 [[ 9.99293428e-01 -2.86850987e-04 -3.75840746e-02 5.09933952e+00] [ 1.41300541e-04 9.99992481e-01 -3.87526179e-03 7.08836868e-01] [ 3.75849036e-02 3.86721299e-03 9.99285955e-01 1.69418494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0025578440001 meters Centerline goodness : 0.172754 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:1.69 [[ 9.99182855e-01 -1.22015750e-03 -4.03996810e-02 5.05493141e+00] [ 1.04262352e-03 9.99989709e-01 -4.41521791e-03 7.06902691e-01] [ 4.04046525e-02 4.36948838e-03 9.99173845e-01 1.69302854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.03255784400005 meters Centerline goodness : 0.171884 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:1.69 [[ 9.99155661e-01 -1.55165587e-03 -4.10555335e-02 5.05682741e+00] [ 1.35584271e-03 9.99987576e-01 -4.79688506e-03 7.08064239e-01] [ 4.10624665e-02 4.73717002e-03 9.99145351e-01 1.69262985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0625578440001 meters Centerline goodness : 0.171378 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:1.69 [[ 9.99146522e-01 -1.61188081e-03 -4.12750517e-02 5.05737888e+00] [ 1.41480840e-03 9.99987463e-01 -4.80337876e-03 7.07892068e-01] [ 4.12822767e-02 4.74088289e-03 9.99136276e-01 1.69266768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.09255784400005 meters Centerline goodness : 0.133040 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:1.69 [[ 9.99144641e-01 -1.66428734e-03 -4.13184736e-02 5.05736731e+00] [ 1.46750011e-03 9.99987439e-01 -4.79256716e-03 7.07672742e-01] [ 4.13259308e-02 4.72783293e-03 9.99134533e-01 1.69287615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1225578440001 meters Centerline goodness : 0.170465 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:1.69 [[ 9.99139971e-01 -1.70711612e-03 -4.14295046e-02 5.05761661e+00] [ 1.51049862e-03 9.99987451e-01 -4.77667188e-03 7.07434794e-01] [ 4.14371390e-02 4.70998460e-03 9.99130011e-01 1.69295755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.15255784400006 meters Centerline goodness : 0.168184 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:1.69 [[ 9.99137556e-01 -1.71651499e-03 -4.14873146e-02 5.05787904e+00] [ 1.52270587e-03 9.99987783e-01 -4.70267589e-03 7.06887640e-01] [ 4.14948800e-02 4.63544712e-03 9.99127964e-01 1.69280811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1825578440001 meters Centerline goodness : 0.174564 Centerline is valid? [False, False] Translation: X:5.04, Y:0.70, Z:1.69 [[ 0.99910605 0.00590384 -0.04185981 5.03942469] [-0.00616521 0.99996228 -0.00611766 0.70040649] [ 0.04182212 0.00637026 0.99910476 1.69028566] [ 0. 0. 0. 1. ]] SLAMing on 489.21255784400006 meters Centerline goodness : 0.172022 Centerline is valid? [False, False] Translation: X:5.06, Y:0.70, Z:1.69 [[ 9.99105431e-01 -2.13451776e-03 -4.22348400e-02 5.05900228e+00] [ 1.91671922e-03 9.99984660e-01 -5.19666777e-03 7.04267601e-01] [ 4.22452845e-02 5.11106666e-03 9.99094196e-01 1.69207031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2425578440001 meters Centerline goodness : 0.174317 Centerline is valid? [False, False] Translation: X:5.06, Y:0.70, Z:1.69 [[ 9.99101619e-01 -2.03887628e-03 -4.23296305e-02 5.05930269e+00] [ 1.83134948e-03 9.99986117e-01 -4.94083560e-03 7.03021711e-01] [ 4.23391166e-02 4.85887650e-03 9.99091483e-01 1.69197489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.27255784400006 meters Centerline goodness : 0.167980 Centerline is valid? [False, False] Translation: X:5.06, Y:0.70, Z:1.69 [[ 9.99097503e-01 -1.79917821e-03 -4.24375190e-02 5.05952301e+00] [ 1.61669125e-03 9.99989301e-01 -4.33406036e-03 7.00139308e-01] [ 4.24448627e-02 4.26154052e-03 9.99089722e-01 1.69210440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30255784400003 meters Centerline goodness : 0.143791 Centerline is valid? [False, False] Translation: X:5.06, Y:0.70, Z:1.69 [[ 9.99100847e-01 -1.63886363e-03 -4.23652174e-02 5.05928438e+00] [ 1.47410962e-03 9.99991231e-01 -3.91984492e-03 6.98099625e-01] [ 4.23712700e-02 3.85386941e-03 9.99094502e-01 1.69223083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.33255784400006 meters Centerline goodness : 0.114051 Centerline is valid? [False, False] Translation: X:5.06, Y:0.70, Z:1.69 [[ 9.99102655e-01 -1.48840037e-03 -4.23281193e-02 5.05913030e+00] [ 1.34187740e-03 9.99993010e-01 -3.48980048e-03 6.95802816e-01] [ 4.23330177e-02 3.42986978e-03 9.99097669e-01 1.69236010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36255784400004 meters Centerline goodness : 0.157857 Centerline is valid? [False, False] Translation: X:5.01, Y:0.69, Z:1.69 [[ 9.98989989e-01 -2.06930545e-03 -4.48856397e-02 5.01365376e+00] [ 1.91745552e-03 9.99992293e-01 -3.42583135e-03 6.89277199e-01] [ 4.48923829e-02 3.33630501e-03 9.98986258e-01 1.69186158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.39255784400007 meters Centerline goodness : 0.106961 Centerline is valid? [False, False] Translation: X:5.01, Y:0.68, Z:1.69 [[ 9.98981094e-01 -1.80410594e-03 -4.50945571e-02 5.01417690e+00] [ 1.68773782e-03 9.99995148e-01 -2.61847604e-03 6.84930010e-01] [ 4.50990622e-02 2.53970027e-03 9.98979291e-01 1.69193203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42255784400004 meters Centerline goodness : 0.160092 Centerline is valid? [False, False] Translation: X:5.01, Y:0.68, Z:1.69 [[ 9.98982645e-01 -1.65082774e-03 -4.50660533e-02 5.01408531e+00] [ 1.55082777e-03 9.99996258e-01 -2.25383698e-03 6.83179628e-01] [ 4.50696053e-02 2.18165434e-03 9.98981467e-01 1.69200195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.45255784400007 meters Centerline goodness : 0.159929 Centerline is valid? [False, False] Translation: X:5.01, Y:0.68, Z:1.69 [[ 9.98991926e-01 -1.51858293e-03 -4.48645369e-02 5.01344026e+00] [ 1.43272453e-03 9.99997081e-01 -1.94581868e-03 6.81610435e-01] [ 4.48673608e-02 1.87957863e-03 9.98991185e-01 1.69224383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48255784400004 meters Centerline goodness : 0.105613 Centerline is valid? [False, False] Translation: X:5.01, Y:0.68, Z:1.69 [[ 9.99000141e-01 -1.41127313e-03 -4.46847509e-02 5.01272226e+00] [ 1.33828307e-03 9.99997721e-01 -1.66331770e-03 6.80005940e-01] [ 4.46869965e-02 1.60185377e-03 9.98999753e-01 1.69268622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.51255784400007 meters Centerline goodness : 0.169469 Centerline is valid? [False, False] Translation: X:4.99, Y:0.67, Z:1.69 [[ 9.99012506e-01 6.39904895e-03 -4.39666248e-02 4.99333266e+00] [-6.51579563e-03 9.99975615e-01 -2.51255161e-03 6.72516651e-01] [ 4.39494747e-02 2.79654803e-03 9.99029841e-01 1.69021613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54255784400004 meters Centerline goodness : 0.164517 Centerline is valid? [False, False] Translation: X:4.99, Y:0.67, Z:1.69 [[ 9.99012380e-01 6.72587252e-03 -4.39206950e-02 4.99362450e+00] [-6.81226314e-03 9.99975144e-01 -1.81759118e-03 6.69425222e-01] [ 4.39073784e-02 2.11499542e-03 9.99033367e-01 1.68964407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5725578440001 meters Centerline goodness : 0.155781 Centerline is valid? [False, False] Translation: X:4.99, Y:0.67, Z:1.69 [[ 9.99011239e-01 6.91587704e-03 -4.39171298e-02 4.99374592e+00] [-6.97982777e-03 9.99974792e-01 -1.30299251e-03 6.66784161e-01] [ 4.39070114e-02 1.60823817e-03 9.99034328e-01 1.68946519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60255784400005 meters Centerline goodness : 0.151396 Centerline is valid? [False, False] Translation: X:4.99, Y:0.66, Z:1.69 [[ 9.99054741e-01 4.67319595e-03 -4.32178756e-02 4.99097124e+00] [-4.81691390e-03 9.99983208e-01 -3.22188890e-03 6.63115980e-01] [ 4.32020934e-02 3.42702016e-03 9.99060476e-01 1.69042311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6325578440001 meters Centerline goodness : 0.145683 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99083763e-01 -3.34180796e-03 -4.26669381e-02 5.01082862e+00] [ 3.25073193e-03 9.99992288e-01 -2.20378371e-03 6.64358882e-01] [ 4.26739737e-02 2.06306574e-03 9.99086921e-01 1.69206077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66255784400005 meters Centerline goodness : 0.102864 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99083830e-01 -3.16079016e-03 -4.26791577e-02 5.01089518e+00] [ 3.08968889e-03 9.99993727e-01 -1.73180825e-03 6.61862055e-01] [ 4.26843639e-02 1.59835630e-03 9.99087329e-01 1.69205637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6925578440001 meters Centerline goodness : 0.115465 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99080886e-01 -3.00330615e-03 -4.27593735e-02 5.01115939e+00] [ 2.94662548e-03 9.99994695e-01 -1.38853814e-03 6.60213423e-01] [ 4.27633168e-02 1.26126606e-03 9.99084435e-01 1.69196831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72255784400005 meters Centerline goodness : 0.149609 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99081601e-01 -2.68393040e-03 -4.27638898e-02 5.01162539e+00] [ 2.64567194e-03 9.99996048e-01 -9.51214697e-04 6.58630058e-01] [ 4.27662737e-02 8.37201880e-04 9.99084754e-01 1.69124922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7525578440001 meters Centerline goodness : 0.144604 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99078739e-01 -2.59929806e-03 -4.28359258e-02 5.01206667e+00] [ 2.56131842e-03 9.99996277e-01 -9.41490085e-04 6.58742246e-01] [ 4.28382135e-02 8.30906281e-04 9.99081677e-01 1.69080320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78255784400005 meters Centerline goodness : 0.115910 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99075895e-01 -2.56677801e-03 -4.29041630e-02 5.01243204e+00] [ 2.52702782e-03 9.99996326e-01 -9.80697350e-04 6.59052352e-01] [ 4.29065226e-02 8.71371069e-04 9.99078711e-01 1.69046721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8125578440001 meters Centerline goodness : 0.156420 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99073202e-01 -2.52198233e-03 -4.29694798e-02 5.01281914e+00] [ 2.48038289e-03 9.99996402e-01 -1.02140358e-03 6.59515129e-01] [ 4.29719011e-02 9.13876182e-04 9.99075863e-01 1.69004729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84255784400005 meters Centerline goodness : 0.160032 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99070146e-01 -2.50439128e-03 -4.30415066e-02 5.01304829e+00] [ 2.45832730e-03 9.99996348e-01 -1.12311853e-03 6.60343126e-01] [ 4.30441621e-02 1.01626408e-03 9.99072654e-01 1.68989449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8725578440001 meters Centerline goodness : 0.160218 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99069658e-01 -2.52533803e-03 -4.30516014e-02 5.01306818e+00] [ 2.47375967e-03 9.99996157e-01 -1.25129134e-03 6.61152768e-01] [ 4.30545959e-02 1.14362790e-03 9.99072066e-01 1.68988077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90255784400006 meters Centerline goodness : 0.157391 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99078769e-01 -2.56061524e-03 -4.28375655e-02 5.01245577e+00] [ 2.50530630e-03 9.99995958e-01 -1.34476724e-03 6.61538190e-01] [ 4.28408358e-02 1.23620718e-03 9.99081145e-01 1.68994203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.9325578440001 meters Centerline goodness : 0.159238 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99079401e-01 -2.54184591e-03 -4.28239478e-02 5.01234440e+00] [ 2.49063629e-03 9.99996118e-01 -1.24912891e-03 6.60983506e-01] [ 4.28269566e-02 1.14132009e-03 9.99081853e-01 1.69006834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96255784400006 meters Centerline goodness : 0.154066 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99077269e-01 -2.47359029e-03 -4.28776434e-02 5.01235501e+00] [ 2.43074228e-03 9.99996493e-01 -1.05141650e-03 6.60142606e-01] [ 4.28800938e-02 9.46221823e-04 9.99079778e-01 1.69028300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.9925578440001 meters Centerline goodness : 0.153558 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99067157e-01 -2.44145567e-03 -4.31144528e-02 5.01292047e+00] [ 2.40624129e-03 9.99996728e-01 -8.68642290e-04 6.59206565e-01] [ 4.31164324e-02 7.64088207e-04 9.99069762e-01 1.69037523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02255784400006 meters Centerline goodness : 0.160268 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99051255e-01 -2.41521860e-03 -4.34828295e-02 5.01385067e+00] [ 2.38790687e-03 9.99996918e-01 -6.80034013e-04 6.58093576e-01] [ 4.34843379e-02 5.75555887e-04 9.99053943e-01 1.69038990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.05255784400003 meters Centerline goodness : 0.161165 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99040386e-01 -2.41250659e-03 -4.37319982e-02 5.01432226e+00] [ 2.39324596e-03 9.99997015e-01 -4.92774667e-04 6.56791874e-01] [ 4.37330564e-02 3.87640366e-04 9.99043177e-01 1.69065299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08255784400006 meters Centerline goodness : 0.162962 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99053972e-01 -2.35596887e-03 -4.34236271e-02 5.01331047e+00] [ 2.34022531e-03 9.99997176e-01 -4.13388610e-04 6.56612246e-01] [ 4.34244784e-02 3.11376461e-04 9.99056664e-01 1.69101841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.11255784400004 meters Centerline goodness : 0.156709 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99075014e-01 -2.31542096e-03 -4.29389816e-02 5.01176261e+00] [ 2.29854862e-03 9.99997261e-01 -4.42305032e-04 6.57062346e-01] [ 4.29398881e-02 3.43198569e-04 9.99077599e-01 1.69154102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14255784400007 meters Centerline goodness : 0.161147 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99086865e-01 -2.32461236e-03 -4.26618420e-02 5.01096249e+00] [ 2.30247144e-03 9.99997188e-01 -5.68115430e-04 6.57883556e-01] [ 4.26630427e-02 4.69368991e-04 9.99089408e-01 1.69166723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.17255784400004 meters Centerline goodness : 0.118622 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99088128e-01 -2.37538668e-03 -4.26294475e-02 5.01120088e+00] [ 2.34525967e-03 9.99996964e-01 -7.56715686e-04 6.58806995e-01] [ 4.26311156e-02 6.56048534e-04 9.99090665e-01 1.69113116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20255784400007 meters Centerline goodness : 0.155709 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99082939e-01 -2.40848178e-03 -4.27490419e-02 5.01179597e+00] [ 2.37312098e-03 9.99996799e-01 -8.77899888e-04 6.59388107e-01] [ 4.27510195e-02 7.75646152e-04 9.99085456e-01 1.69063733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.23255784400004 meters Centerline goodness : 0.104648 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99078752e-01 -2.37963945e-03 -4.28483897e-02 5.01217958e+00] [ 2.34564829e-03 9.99996893e-01 -8.43548474e-04 6.59223399e-01] [ 4.28502640e-02 7.42264105e-04 9.99081230e-01 1.69043985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26255784400007 meters Centerline goodness : 0.158128 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99088087e-01 -2.25849400e-03 -4.26367583e-02 5.01111278e+00] [ 2.24527113e-03 9.99997415e-01 -3.58013249e-04 6.56577610e-01] [ 4.26374566e-02 2.61955690e-04 9.99090576e-01 1.69126489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.29255784400004 meters Centerline goodness : 0.118603 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.69 [[ 9.99092549e-01 -2.12214216e-03 -4.25391053e-02 5.01048984e+00] [ 2.12835500e-03 9.99997730e-01 1.00761051e-04 6.54244738e-01] [ 4.25387949e-02 -1.91207933e-04 9.99094797e-01 1.69191814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3225578440001 meters Centerline goodness : 0.145425 Centerline is valid? [False, False] Translation: X:5.03, Y:0.65, Z:1.69 [[ 9.99127287e-01 3.65556224e-03 -4.16088977e-02 5.03286972e+00] [-3.77348010e-03 9.99989083e-01 -2.75577120e-03 6.51330608e-01] [ 4.15983696e-02 2.91037655e-03 9.99130174e-01 1.69223408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.35255784400005 meters Centerline goodness : 0.145425 Centerline is valid? [False, False] Translation: X:5.03, Y:0.65, Z:1.69 [[ 9.99127287e-01 3.65556224e-03 -4.16088977e-02 5.03286972e+00] [-3.77348010e-03 9.99989083e-01 -2.75577120e-03 6.51330608e-01] [ 4.15983696e-02 2.91037655e-03 9.99130174e-01 1.69223408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3825578440001 meters Centerline goodness : 0.161846 Centerline is valid? [False, False] Translation: X:5.03, Y:0.65, Z:1.69 [[ 9.99119931e-01 3.78537529e-03 -4.17736180e-02 5.03356444e+00] [-3.88178559e-03 9.99989986e-01 -2.22705068e-03 6.48247314e-01] [ 4.17647695e-02 2.38724695e-03 9.99124619e-01 1.69185963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.41255784400005 meters Centerline goodness : 0.161824 Centerline is valid? [False, False] Translation: X:5.03, Y:0.65, Z:1.69 [[ 9.99108042e-01 3.92733952e-03 -4.20439923e-02 5.03458466e+00] [-4.00266177e-03 9.99990532e-01 -1.70747873e-03 6.45202525e-01] [ 4.20368884e-02 1.87424361e-03 9.99114301e-01 1.69141347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4425578440001 meters Centerline goodness : 0.145426 Centerline is valid? [False, False] Translation: X:5.04, Y:0.64, Z:1.69 [[ 9.99100978e-01 4.11058152e-03 -4.21940517e-02 5.03501216e+00] [-4.16411536e-03 9.99990633e-01 -1.18094179e-03 6.42373252e-01] [ 4.21888021e-02 1.35558100e-03 9.99108737e-01 1.69136548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.47255784400005 meters Centerline goodness : 0.115687 Centerline is valid? [False, False] Translation: X:5.05, Y:0.64, Z:1.69 [[ 9.99208815e-01 -3.13764837e-03 -3.96471769e-02 5.05356524e+00] [ 3.17332099e-03 9.99994615e-01 8.36852394e-04 6.40945758e-01] [ 3.96443377e-02 -9.62003508e-04 9.99213391e-01 1.69348196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5025578440001 meters Centerline goodness : 0.124331 Centerline is valid? [False, False] Translation: X:5.05, Y:0.64, Z:1.69 [[ 9.99216482e-01 -2.92454835e-03 -3.94698463e-02 5.05279109e+00] [ 2.97846611e-03 9.99994710e-01 1.30731567e-03 6.38772302e-01] [ 3.94658142e-02 -1.42385096e-03 9.99219907e-01 1.69399868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.53255784400005 meters Centerline goodness : 0.116214 Centerline is valid? [False, False] Translation: X:5.05, Y:0.64, Z:1.69 [[ 9.99215581e-01 -2.78110077e-03 -3.95030132e-02 5.05292445e+00] [ 2.84908989e-03 9.99994555e-01 1.66492060e-03 6.36850303e-01] [ 3.94981678e-02 -1.77616224e-03 9.99218064e-01 1.69395575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5625578440001 meters Centerline goodness : 0.142767 Centerline is valid? [False, False] Translation: X:5.05, Y:0.63, Z:1.69 [[ 9.99208948e-01 -2.64585754e-03 -3.96796885e-02 5.05362235e+00] [ 2.72899834e-03 9.99994193e-01 2.04128100e-03 6.34803670e-01] [ 3.96740571e-02 -2.14795205e-03 9.99210366e-01 1.69357541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.59255784400005 meters Centerline goodness : 0.146495 Centerline is valid? [False, False] Translation: X:5.05, Y:0.63, Z:1.69 [[ 9.99199068e-01 -2.48238791e-03 -3.99381966e-02 5.05451199e+00] [ 2.58179295e-03 9.99993696e-01 2.43758730e-03 6.32817991e-01] [ 3.99318938e-02 -2.53874712e-03 9.99199179e-01 1.69321836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6225578440001 meters Centerline goodness : 0.157036 Centerline is valid? [False, False] Translation: X:5.05, Y:0.63, Z:1.69 [[ 9.99195758e-01 -2.27138251e-03 -4.00334704e-02 5.05485597e+00] [ 2.39018049e-03 9.99992881e-01 2.91985336e-03 6.30567275e-01] [ 4.00265532e-02 -3.01319231e-03 9.99194073e-01 1.69307649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.65255784400006 meters Centerline goodness : 0.153962 Centerline is valid? [False, False] Translation: X:5.05, Y:0.63, Z:1.69 [[ 9.99198373e-01 -1.95945951e-03 -3.99846566e-02 5.05449773e+00] [ 2.11666340e-03 9.99990195e-01 3.88965025e-03 6.25609124e-01] [ 3.99766430e-02 -3.97116625e-03 9.99192723e-01 1.69355920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6825578440001 meters Centerline goodness : 0.160174 Centerline is valid? [False, False] Translation: X:5.05, Y:0.62, Z:1.69 [[ 9.99196133e-01 -1.87731431e-03 -4.00445165e-02 5.05454056e+00] [ 2.05789434e-03 9.99987898e-01 4.46873860e-03 6.22189772e-01] [ 4.00356426e-02 -4.54755371e-03 9.99187904e-01 1.69382151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.71255784400006 meters Centerline goodness : 0.144958 Centerline is valid? [False, False] Translation: X:5.05, Y:0.62, Z:1.69 [[ 9.99189900e-01 -1.89187415e-03 -4.01990530e-02 5.05485474e+00] [ 2.09586064e-03 9.99985139e-01 5.03287349e-03 6.18475688e-01] [ 4.01889340e-02 -5.11304797e-03 9.99179016e-01 1.69403761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7425578440001 meters Centerline goodness : 0.149001 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.69 [[ 9.99176377e-01 -1.90829694e-03 -4.05330140e-02 5.05574054e+00] [ 2.13541027e-03 9.99982260e-01 5.56061316e-03 6.14958248e-01] [ 4.05216837e-02 -5.64258793e-03 9.99162727e-01 1.69404142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.77255784400006 meters Centerline goodness : 0.158750 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.69 [[ 9.99150365e-01 -1.93406182e-03 -4.11680387e-02 5.05746541e+00] [ 2.18436866e-03 9.99979397e-01 6.03601197e-03 6.11714820e-01] [ 4.11555165e-02 -6.12080973e-03 9.99134005e-01 1.69387952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80255784400003 meters Centerline goodness : 0.151796 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.69 [[ 9.99138177e-01 -1.83922040e-03 -4.14671061e-02 5.05835477e+00] [ 2.11408805e-03 9.99976079e-01 6.58569387e-03 6.08568974e-01] [ 4.14540017e-02 -6.66768328e-03 9.99118165e-01 1.69373474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.83255784400006 meters Centerline goodness : 0.155811 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.69 [[ 9.99130146e-01 -5.43158751e-03 -4.13454881e-02 5.05772435e+00] [ 5.58722400e-03 9.99977731e-01 3.64966984e-03 6.05143580e-01] [ 4.13247439e-02 -3.87750166e-03 9.99138244e-01 1.69427568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86255784400004 meters Centerline goodness : 0.152850 Centerline is valid? [False, False] Translation: X:5.08, Y:0.60, Z:1.70 [[ 9.99180585e-01 2.09378590e-03 -4.04199862e-02 5.07525964e+00] [-2.01460191e-03 9.99995971e-01 1.99966308e-03 5.98594918e-01] [ 4.04240103e-02 -1.91659435e-03 9.99180777e-01 1.69713960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.89255784400007 meters Centerline goodness : 0.115332 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.70 [[ 9.99193518e-01 2.08820630e-03 -4.00992868e-02 5.07404646e+00] [-1.99311375e-03 9.99995107e-01 2.41125824e-03 5.95802232e-01] [ 4.01041258e-02 -2.32939117e-03 9.99192791e-01 1.69782614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92255784400004 meters Centerline goodness : 0.150195 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.70 [[ 9.99206499e-01 -1.61742955e-03 -3.97964370e-02 5.07299124e+00] [ 1.59506870e-03 9.99998552e-01 -5.93625830e-04 5.91919298e-01] [ 3.97973395e-02 5.29676736e-04 9.99207632e-01 1.69828473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.95255784400007 meters Centerline goodness : 0.154519 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.70 [[ 9.99203138e-01 -1.48254348e-03 -3.98859792e-02 5.07334587e+00] [ 1.48485982e-03 9.99998897e-01 2.84496353e-05 5.88684021e-01] [ 3.98858930e-02 -8.76520527e-05 9.99204237e-01 1.69810616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98255784400004 meters Centerline goodness : 0.143516 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.70 [[ 9.99195172e-01 -1.43367407e-03 -4.00868286e-02 5.07406729e+00] [ 1.45795882e-03 9.99998771e-01 5.76576101e-04 5.85431734e-01] [ 4.00859527e-02 -6.34557001e-04 9.99196034e-01 1.69778784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.01255784400007 meters Centerline goodness : 0.158330 Centerline is valid? [False, False] Translation: X:5.08, Y:0.58, Z:1.70 [[ 9.99178928e-01 -1.52960581e-03 -4.04861663e-02 5.07522095e+00] [ 1.57141988e-03 9.99998264e-01 1.00099571e-03 5.82100086e-01] [ 4.04845649e-02 -1.06379459e-03 9.99179598e-01 1.69758791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04255784400004 meters Centerline goodness : 0.157203 Centerline is valid? [False, False] Translation: X:5.08, Y:0.58, Z:1.70 [[ 9.99173481e-01 -5.10768886e-03 -4.03270014e-02 5.07514607e+00] [ 5.03242701e-03 9.99985402e-01 -1.96758191e-03 5.79104220e-01] [ 4.03364625e-02 1.76301298e-03 9.99184598e-01 1.69701303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0725578440001 meters Centerline goodness : 0.137182 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.70 [[ 9.99183578e-01 -5.17216263e-03 -4.00677579e-02 5.07417023e+00] [ 5.11483929e-03 9.99985744e-01 -1.53304000e-03 5.76480935e-01] [ 4.00751158e-02 1.32684825e-03 9.99195789e-01 1.69727337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10255784400005 meters Centerline goodness : 0.158055 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.70 [[ 9.99209592e-01 -5.36863087e-03 -3.93874175e-02 5.07205359e+00] [ 5.34338093e-03 9.99985446e-01 -7.46310893e-04 5.72506500e-01] [ 3.93908509e-02 5.35259028e-04 9.99223736e-01 1.69730089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1325578440001 meters Centerline goodness : 0.109469 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.70 [[ 9.99219979e-01 -5.38456192e-03 -3.91208279e-02 5.07138974e+00] [ 5.37581629e-03 9.99985496e-01 -3.28745158e-04 5.70504707e-01] [ 3.91220307e-02 1.18182346e-04 9.99234433e-01 1.69703521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16255784400005 meters Centerline goodness : 0.161801 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.70 [[ 9.99226399e-01 -5.50921477e-03 -3.89390785e-02 5.07089497e+00] [ 5.51368574e-03 9.99984799e-01 7.42992462e-06 5.68524295e-01] [ 3.89384457e-02 -2.22122019e-04 9.99241586e-01 1.69679025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1925578440001 meters Centerline goodness : 0.114746 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.70 [[ 9.99234009e-01 -5.61424717e-03 -3.87282253e-02 5.07042139e+00] [ 5.63488562e-03 9.99984034e-01 4.23768812e-04 5.66359685e-01] [ 3.87252278e-02 -6.41673329e-04 9.99249691e-01 1.69627901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22255784400005 meters Centerline goodness : 0.037440 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.70 [[ 9.99243376e-01 -5.65019791e-03 -3.84805152e-02 5.06966965e+00] [ 5.68806210e-03 9.99983440e-01 8.74573399e-04 5.64318204e-01] [ 3.84749364e-02 -1.09279124e-03 9.99258968e-01 1.69606683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2525578440001 meters Centerline goodness : 0.163059 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.70 [[ 9.99226349e-01 -5.90729357e-03 -3.88819791e-02 5.07068144e+00] [ 5.96702123e-03 9.99981189e-01 1.42025665e-03 5.61391078e-01] [ 3.88728578e-02 -1.65116747e-03 9.99242801e-01 1.69522539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28255784400005 meters Centerline goodness : 0.163757 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99155739e-01 2.89430595e-04 -4.10819463e-02 5.08757751e+00] [-2.90014083e-04 9.99999958e-01 -8.24333801e-06 5.54883665e-01] [ 4.10819421e-02 2.01507215e-05 9.99155780e-01 1.69825204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3125578440001 meters Centerline goodness : 0.120215 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99148618e-01 2.55128179e-04 -4.12549978e-02 5.08799876e+00] [-2.45416349e-04 9.99999941e-01 2.40474091e-04 5.53233775e-01] [ 4.12550567e-02 -2.30144705e-04 9.99148621e-01 1.69820958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34255784400005 meters SLAMing on 491.3725578440001 meters Centerline goodness : 0.039468 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99132784e-01 1.35902746e-04 -4.16372713e-02 5.08867543e+00] [-1.03031225e-04 9.99999681e-01 7.91618353e-04 5.50022503e-01] [ 4.16373657e-02 -7.86641910e-04 9.99132479e-01 1.69851345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40255784400006 meters Centerline goodness : 0.125257 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99127123e-01 8.87069951e-05 -4.17730075e-02 5.08896777e+00] [-3.99463460e-05 9.99999317e-01 1.16810974e-03 5.48040410e-01] [ 4.17730825e-02 -1.16542144e-03 9.99126444e-01 1.69855313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.4325578440001 meters Centerline goodness : 0.118330 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99132797e-01 5.76983435e-05 -4.16371320e-02 5.08860815e+00] [-6.70514612e-06 9.99999250e-01 1.22484346e-03 5.47462998e-01] [ 4.16371714e-02 -1.22350209e-03 9.99132048e-01 1.69855068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46255784400006 meters Centerline goodness : 0.038630 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99132629e-01 6.18926056e-05 -4.16411540e-02 5.08854017e+00] [-7.88795204e-06 9.99999159e-01 1.29706884e-03 5.47291001e-01] [ 4.16411993e-02 -1.29561534e-03 9.99131789e-01 1.69863415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.4925578440001 meters Centerline goodness : 0.140898 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99131212e-01 1.32624490e-04 -4.16749665e-02 5.08876193e+00] [-7.61399783e-05 9.99999076e-01 1.35694263e-03 5.47409627e-01] [ 4.16751080e-02 -1.35259060e-03 9.99130300e-01 1.69835400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52255784400006 meters Centerline goodness : 0.113308 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99125953e-01 1.70683760e-04 -4.18007366e-02 5.08907734e+00] [-1.12044785e-04 9.99999006e-01 1.40516037e-03 5.47457148e-01] [ 4.18009349e-02 -1.39924864e-03 9.99124979e-01 1.69830493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.55255784400003 meters Centerline goodness : 0.211875 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99120040e-01 1.80915771e-04 -4.19417917e-02 5.08951272e+00] [-1.22081741e-04 9.99999005e-01 1.40531137e-03 5.47575699e-01] [ 4.19420042e-02 -1.39895443e-03 9.99119068e-01 1.69812841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58255784400006 meters Centerline goodness : 0.130143 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99116532e-01 1.73655741e-04 -4.20252899e-02 5.08954827e+00] [-1.13547034e-04 9.99998967e-01 1.43268120e-03 5.47277979e-01] [ 4.20254953e-02 -1.42664363e-03 9.99115520e-01 1.69832048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.61255784400004 meters Centerline goodness : 0.106878 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99125060e-01 2.23625420e-04 -4.18218122e-02 5.08845777e+00] [-1.56843230e-04 9.99998708e-01 1.60010114e-03 5.46599526e-01] [ 4.18221160e-02 -1.59214168e-03 9.99123804e-01 1.69915725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64255784400007 meters Centerline goodness : 0.172319 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99132736e-01 2.20735964e-04 -4.16380547e-02 5.08767875e+00] [-1.54335316e-04 9.99998711e-01 1.59791837e-03 5.46679900e-01] [ 4.16383538e-02 -1.59010633e-03 9.99131482e-01 1.69960576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.67255784400004 meters Centerline goodness : 0.176408 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99136640e-01 1.99870614e-04 -4.15443793e-02 5.08725894e+00] [-1.35235198e-04 9.99998776e-01 1.55862067e-03 5.47016061e-01] [ 4.15446400e-02 -1.55165675e-03 9.99135444e-01 1.69984830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70255784400007 meters Centerline goodness : 0.128140 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99134721e-01 1.97711204e-04 -4.15905079e-02 5.08743852e+00] [-1.33725453e-04 9.99998803e-01 1.54124649e-03 5.47290420e-01] [ 4.15907629e-02 -1.53435118e-03 9.99133552e-01 1.69969743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.73255784400004 meters Centerline goodness : 0.138892 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99127514e-01 1.82562509e-04 -4.17633578e-02 5.08811130e+00] [-1.18520293e-04 9.99998813e-01 1.53592549e-03 5.47472062e-01] [ 4.17635887e-02 -1.52963561e-03 9.99126350e-01 1.69929906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76255784400007 meters Centerline goodness : 0.124535 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99126041e-01 2.22214802e-04 -4.17983879e-02 5.08825950e+00] [-1.55294008e-04 9.99998701e-01 1.60427781e-03 5.47387816e-01] [ 4.17986901e-02 -1.59638469e-03 9.99124778e-01 1.69914460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.79255784400004 meters SLAMing on 491.8225578440001 meters Centerline goodness : 0.095644 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99135436e-01 6.08975512e-05 -4.15737523e-02 5.08706727e+00] [ 1.12281452e-05 9.99998495e-01 1.73464971e-03 5.46164801e-01] [ 4.15737954e-02 -1.73361679e-03 9.99133932e-01 1.69999662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.85255784400005 meters SLAMing on 491.8825578440001 meters Centerline goodness : 0.092274 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.70 [[ 9.99121594e-01 -1.09690770e-04 -4.19049864e-02 5.08810610e+00] [ 1.91777433e-04 9.99998071e-01 1.95486084e-03 5.44369704e-01] [ 4.19046911e-02 -1.96118011e-03 9.99119688e-01 1.69953756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.91255784400005 meters Centerline goodness : 0.097066 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.70 [[ 9.99092100e-01 -3.22749604e-04 -4.26013025e-02 5.09047928e+00] [ 4.23199596e-04 9.99997152e-01 2.34891148e-03 5.41425792e-01] [ 4.26004231e-02 -2.36480775e-03 9.99089391e-01 1.69834514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9425578440001 meters Centerline goodness : 0.137832 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.70 [[ 9.99103256e-01 -2.68290179e-04 -4.23392474e-02 5.08970643e+00] [ 3.82667436e-04 9.99996300e-01 2.69336615e-03 5.39509304e-01] [ 4.23383681e-02 -2.70715274e-03 9.99099662e-01 1.69847268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.97255784400005 meters Centerline goodness : 0.139372 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.70 [[ 9.99120927e-01 -2.19706761e-04 -4.19204514e-02 5.08834117e+00] [ 3.46001763e-04 9.99995424e-01 3.00549832e-03 5.37714366e-01] [ 4.19195992e-02 -3.01736082e-03 9.99116431e-01 1.69889043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0025578440001 meters Centerline goodness : 0.098861 Centerline is valid? [False, False] Translation: X:5.04, Y:0.54, Z:1.70 [[ 9.99035744e-01 -1.28367691e-03 -4.38854654e-02 5.04105468e+00] [ 1.42364895e-03 9.99993999e-01 3.15838009e-03 5.37423564e-01] [ 4.38811477e-02 -3.21781210e-03 9.99031576e-01 1.69898180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.03255784400005 meters Centerline goodness : 0.127599 Centerline is valid? [False, False] Translation: X:5.04, Y:0.54, Z:1.70 [[ 9.99031929e-01 -1.25631870e-03 -4.39730301e-02 5.04122071e+00] [ 1.40254615e-03 9.99993589e-01 3.29469530e-03 5.36539786e-01] [ 4.39686090e-02 -3.35318001e-03 9.99027286e-01 1.69903990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0625578440001 meters Centerline goodness : 0.148422 Centerline is valid? [False, False] Translation: X:5.04, Y:0.54, Z:1.70 [[ 9.99019553e-01 -1.23878516e-03 -4.42537830e-02 5.04224158e+00] [ 1.38765897e-03 9.99993481e-01 3.33353099e-03 5.36282032e-01] [ 4.42493650e-02 -3.39167180e-03 9.99014760e-01 1.69852578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.09255784400005 meters Centerline goodness : 0.301676 Centerline is valid? [False, False] Translation: X:5.05, Y:0.54, Z:1.70 [[ 9.98976354e-01 -9.60065747e-04 -4.52252334e-02 5.04521787e+00] [ 1.11366554e-03 9.99993697e-01 3.37125618e-03 5.37434655e-01] [ 4.52217118e-02 -3.41817100e-03 9.98971127e-01 1.69763142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1225578440001 meters SLAMing on 492.15255784400006 meters Centerline goodness : 0.282307 Centerline is valid? [False, False] Translation: X:5.04, Y:0.54, Z:1.70 [[ 9.98978416e-01 3.16185674e-03 -4.50791137e-02 5.04433216e+00] [-2.84109335e-03 9.99970203e-01 7.17786041e-03 5.38247100e-01] [ 4.51004658e-02 -7.04245365e-03 9.98957633e-01 1.69837065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1825578440001 meters Centerline goodness : 0.090505 Centerline is valid? [False, False] Translation: X:5.04, Y:0.54, Z:1.70 [[ 9.98982421e-01 3.07525100e-03 -4.49962730e-02 5.04408597e+00] [-2.76957686e-03 9.99972675e-01 6.85408702e-03 5.39905322e-01] [ 4.50161215e-02 -6.72249182e-03 9.98963641e-01 1.69849080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.21255784400006 meters SLAMing on 492.2425578440001 meters Centerline goodness : 0.184851 Centerline is valid? [False, False] Translation: X:5.05, Y:0.54, Z:1.70 [[ 9.98959018e-01 2.77962243e-03 -4.55319071e-02 5.04598156e+00] [-2.50655520e-03 9.99978537e-01 6.05326830e-03 5.43734596e-01] [ 4.55477556e-02 -5.93283872e-03 9.98944545e-01 1.69761008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.27255784400006 meters Centerline goodness : 0.184851 Centerline is valid? [False, False] Translation: X:5.05, Y:0.54, Z:1.70 [[ 9.98959018e-01 2.77962243e-03 -4.55319071e-02 5.04598156e+00] [-2.50655520e-03 9.99978537e-01 6.05326830e-03 5.43734596e-01] [ 4.55477556e-02 -5.93283872e-03 9.98944545e-01 1.69761008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30255784400003 meters Centerline goodness : 0.096423 Centerline is valid? [False, False] Translation: X:5.05, Y:0.54, Z:1.70 [[ 9.98955811e-01 2.71766983e-03 -4.56059412e-02 5.04630496e+00] [-2.45192928e-03 9.99979696e-01 5.88181367e-03 5.44756383e-01] [ 4.56210001e-02 -5.76384941e-03 9.98942192e-01 1.69741079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.33255784400006 meters Centerline goodness : 0.093566 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98950560e-01 2.64580927e-03 -4.57250381e-02 5.04661467e+00] [-2.38535260e-03 9.99980625e-01 5.74977519e-03 5.45398473e-01] [ 4.57393650e-02 -5.63467080e-03 9.98937516e-01 1.69735400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36255784400004 meters Centerline goodness : 0.107450 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98946238e-01 2.53438338e-03 -4.58256551e-02 5.04687255e+00] [-2.28205310e-03 9.99981951e-01 5.55778804e-03 5.46124453e-01] [ 4.58389136e-02 -5.44735487e-03 9.98933992e-01 1.69732177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.39255784400007 meters Centerline goodness : 0.131135 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98940937e-01 2.40214248e-03 -4.59481619e-02 5.04715768e+00] [-2.15757299e-03 9.99983245e-01 5.37158058e-03 5.46776700e-01] [ 4.59602954e-02 -5.26675523e-03 9.98929383e-01 1.69731920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42255784400004 meters Centerline goodness : 0.040826 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98942177e-01 2.33393323e-03 -4.59247183e-02 5.04709163e+00] [-2.09524118e-03 9.99984050e-01 5.24491430e-03 5.47387656e-01] [ 4.59362271e-02 -5.14314275e-03 9.98931134e-01 1.69728157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.45255784400007 meters Centerline goodness : 0.095048 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98952447e-01 2.11851960e-03 -4.57112703e-02 5.04643964e+00] [-1.90051768e-03 9.99986616e-01 4.81204001e-03 5.49449312e-01] [ 4.57208529e-02 -4.72012407e-03 9.98943104e-01 1.69746203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48255784400004 meters Centerline goodness : 0.094787 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98960610e-01 1.95371598e-03 -4.55399016e-02 5.04593018e+00] [-1.75181212e-03 9.99988461e-01 4.47304718e-03 5.50943496e-01] [ 4.55481152e-02 -4.38862058e-03 9.98952506e-01 1.69758992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.51255784400007 meters Centerline goodness : 0.241802 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98969073e-01 1.77802132e-03 -4.53610964e-02 5.04547893e+00] [-1.59701577e-03 9.99990619e-01 4.02625361e-03 5.53120036e-01] [ 4.53678297e-02 -3.94966046e-03 9.98962542e-01 1.69761046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54255784400004 meters Centerline goodness : 0.339973 Centerline is valid? [False, False] Translation: X:5.05, Y:0.56, Z:1.70 [[ 9.98972446e-01 1.61658140e-03 -4.52928187e-02 5.04546204e+00] [-1.45647797e-03 9.99992575e-01 3.56763041e-03 5.55573307e-01] [ 4.52982498e-02 -3.49799648e-03 9.98967383e-01 1.69741893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5725578440001 meters Centerline goodness : 0.130910 Centerline is valid? [False, False] Translation: X:5.05, Y:0.56, Z:1.70 [[ 9.98973735e-01 1.35365455e-03 -4.52729994e-02 5.04561352e+00] [-1.23327687e-03 9.99995630e-01 2.68675447e-03 5.61796726e-01] [ 4.52764385e-02 -2.62816300e-03 9.98971039e-01 1.69718497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60255784400005 meters Centerline goodness : 0.093751 Centerline is valid? [False, False] Translation: X:5.05, Y:0.56, Z:1.70 [[ 9.98979552e-01 1.13644132e-03 -4.51504476e-02 5.04523099e+00] [-1.03956156e-03 9.99997107e-01 2.16913238e-03 5.64308903e-01] [ 4.51527821e-02 -2.11998222e-03 9.98977844e-01 1.69732533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6325578440001 meters Centerline goodness : 0.112597 Centerline is valid? [False, False] Translation: X:5.04, Y:0.57, Z:1.70 [[ 9.98986053e-01 9.09315452e-04 -4.50115523e-02 5.04471216e+00] [-8.35097065e-04 9.99998261e-01 1.66765078e-03 5.66595535e-01] [ 4.50129904e-02 -1.62837086e-03 9.98985075e-01 1.69759950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66255784400005 meters SLAMing on 492.6925578440001 meters Centerline goodness : 0.094467 Centerline is valid? [False, False] Translation: X:5.04, Y:0.57, Z:1.70 [[ 9.98998609e-01 5.07588343e-04 -4.47383774e-02 5.04394213e+00] [-4.75155319e-04 9.99999617e-01 7.35579767e-04 5.71304045e-01] [ 4.47387336e-02 -7.13585486e-04 9.98998467e-01 1.69773739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72255784400005 meters Centerline goodness : 0.093591 Centerline is valid? [False, False] Translation: X:5.04, Y:0.57, Z:1.70 [[ 9.98998903e-01 3.40308873e-04 -4.47333896e-02 5.04411867e+00] [-3.26664188e-04 9.99999898e-01 3.12332088e-04 5.73608951e-01] [ 4.47334913e-02 -2.97406617e-04 9.98998912e-01 1.69746220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7525578440001 meters Centerline goodness : 0.094712 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.70 [[ 9.98998244e-01 -5.92075561e-06 -4.47493966e-02 5.04437383e+00] [-1.37421898e-05 9.99999904e-01 -4.39093708e-04 5.77234190e-01] [ 4.47493949e-02 4.39268798e-04 9.98998147e-01 1.69715881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78255784400005 meters Centerline goodness : 0.118729 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.70 [[ 9.98996195e-01 -2.68247815e-04 -4.47943217e-02 5.04442956e+00] [ 2.29882776e-04 9.99999602e-01 -8.61620163e-04 5.78858321e-01] [ 4.47945350e-02 8.50457821e-04 9.98995859e-01 1.69722686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8125578440001 meters Centerline goodness : 0.107342 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.70 [[ 9.98991345e-01 -4.78850781e-04 -4.49005854e-02 5.04474792e+00] [ 4.23319084e-04 9.99999134e-01 -1.24627029e-03 5.80512929e-01] [ 4.49011433e-02 1.22600596e-03 9.98990683e-01 1.69713022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84255784400005 meters Centerline goodness : 0.094893 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.70 [[ 9.98984516e-01 -6.50571712e-04 -4.50501336e-02 5.04539453e+00] [ 5.77243187e-04 9.99998487e-01 -1.64069929e-03 5.82585805e-01] [ 4.50511329e-02 1.61302830e-03 9.98983380e-01 1.69667470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8725578440001 meters Centerline goodness : 0.172021 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.70 [[ 9.98975532e-01 -7.99895312e-04 -4.52465004e-02 5.04640137e+00] [ 7.08425253e-04 9.99997673e-01 -2.03759307e-03 5.84988428e-01] [ 4.52480250e-02 2.00345186e-03 9.98973775e-01 1.69594620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90255784400006 meters Centerline goodness : 0.085265 Centerline is valid? [False, False] Translation: X:5.00, Y:0.59, Z:1.69 [[ 9.98824395e-01 -4.93383017e-04 -4.84725108e-02 5.00313093e+00] [ 4.15298838e-04 9.99998600e-01 -1.62095411e-03 5.94341220e-01] [ 4.84732427e-02 1.59891793e-03 9.98823202e-01 1.69429685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.9325578440001 meters Centerline goodness : 0.162403 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.69 [[ 9.98821579e-01 -7.99595542e-04 -4.85264184e-02 5.00320737e+00] [ 6.90619554e-04 9.99997202e-01 -2.26242929e-03 5.97279216e-01] [ 4.85280916e-02 2.22624991e-03 9.98819337e-01 1.69442891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96255784400006 meters Centerline goodness : 0.110906 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.69 [[ 9.98823897e-01 -1.06779632e-03 -4.84735329e-02 5.00296859e+00] [ 9.30352538e-04 9.99995483e-01 -2.85791331e-03 6.00069487e-01] [ 4.84763657e-02 2.80945463e-03 9.98820379e-01 1.69461161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.9925578440001 meters Centerline goodness : 0.125603 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.69 [[ 9.98822039e-01 -1.32858067e-03 -4.85053455e-02 5.00307392e+00] [ 1.16253968e-03 9.99993369e-01 -3.45119900e-03 6.02898340e-01] [ 4.85096090e-02 3.39074424e-03 9.98816961e-01 1.69462188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02255784400006 meters Centerline goodness : 0.089605 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98816494e-01 -1.56503097e-03 -4.86123612e-02 5.00359666e+00] [ 1.37256329e-03 9.99991089e-01 -3.99236255e-03 6.05603572e-01] [ 4.86181761e-02 3.92091402e-03 9.98809741e-01 1.69427491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.05255784400003 meters Centerline goodness : 0.105688 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98811577e-01 -1.77028213e-03 -4.87062619e-02 5.00420670e+00] [ 1.55561801e-03 9.99988912e-01 -4.44487457e-03 6.07949237e-01] [ 4.87135905e-02 4.36382384e-03 9.98803255e-01 1.69371403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08255784400006 meters Centerline goodness : 0.087362 Centerline is valid? [False, False] Translation: X:5.01, Y:0.61, Z:1.69 [[ 9.98796372e-01 -2.11400110e-03 -4.90034535e-02 5.00540604e+00] [ 1.86707351e-03 9.99985332e-01 -5.08420984e-03 6.11200391e-01] [ 4.90134827e-02 4.98659729e-03 9.98785669e-01 1.69303294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.11255784400004 meters Centerline goodness : 0.090301 Centerline is valid? [False, False] Translation: X:5.01, Y:0.61, Z:1.69 [[ 9.98793592e-01 -2.25939613e-03 -4.90536030e-02 5.00550499e+00] [ 2.00075352e-03 9.99983841e-01 -5.32111415e-03 6.12205362e-01] [ 4.90648328e-02 5.21655055e-03 9.98781973e-01 1.69306641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14255784400007 meters Centerline goodness : 0.106410 Centerline is valid? [False, False] Translation: X:5.01, Y:0.61, Z:1.69 [[ 9.98792951e-01 -2.42326512e-03 -4.90588229e-02 5.00546647e+00] [ 2.15407464e-03 9.99982338e-01 -5.53922302e-03 6.12938502e-01] [ 4.90713794e-02 5.42686054e-03 9.98780531e-01 1.69309263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.17255784400004 meters Centerline goodness : 0.160923 Centerline is valid? [False, False] Translation: X:5.01, Y:0.61, Z:1.69 [[ 9.98796271e-01 -2.55506593e-03 -4.89844945e-02 5.00528883e+00] [ 2.28048420e-03 9.99981379e-01 -5.66055111e-03 6.13173206e-01] [ 4.89980454e-02 5.54202897e-03 9.98783499e-01 1.69306797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20255784400007 meters Centerline goodness : 0.088073 Centerline is valid? [False, False] Translation: X:5.01, Y:0.61, Z:1.69 [[ 9.98801338e-01 -2.59807738e-03 -4.88787941e-02 5.00501163e+00] [ 2.32470109e-03 9.99981342e-01 -5.64895979e-03 6.12994460e-01] [ 4.88925586e-02 5.52856001e-03 9.98788743e-01 1.69299826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.23255784400004 meters Centerline goodness : 0.090899 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98811660e-01 -2.60839518e-03 -4.86668634e-02 5.00434626e+00] [ 2.34151211e-03 9.99981912e-01 -5.54008186e-03 6.12344323e-01] [ 4.86804339e-02 5.41954432e-03 9.98799702e-01 1.69312457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26255784400007 meters Centerline goodness : 0.132576 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98846978e-01 -2.96168898e-03 -4.79159945e-02 5.00207193e+00] [ 2.70007213e-03 9.99981099e-01 -5.52371122e-03 6.10658268e-01] [ 4.79314483e-02 5.38796562e-03 9.98836096e-01 1.69362627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.29255784400004 meters Centerline goodness : 0.164342 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98845789e-01 -2.92621417e-03 -4.79429657e-02 5.00213868e+00] [ 2.67324402e-03 9.99982170e-01 -5.33975033e-03 6.09493613e-01] [ 4.79577361e-02 5.20542388e-03 9.98835802e-01 1.69356795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3225578440001 meters Centerline goodness : 0.167743 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98841479e-01 -2.86295519e-03 -4.80364808e-02 5.00257720e+00] [ 2.61825172e-03 9.99983279e-01 -5.15626653e-03 6.08519694e-01] [ 4.80504397e-02 5.02452129e-03 9.98832273e-01 1.69320380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.35255784400005 meters Centerline goodness : 0.090206 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98840842e-01 -2.77213799e-03 -4.80550450e-02 5.00277333e+00] [ 2.53725802e-03 9.99984540e-01 -4.94803809e-03 6.07603332e-01] [ 4.80680187e-02 4.82037448e-03 9.98832433e-01 1.69293153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3825578440001 meters Centerline goodness : 0.112053 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98842831e-01 -2.68334167e-03 -4.80187349e-02 5.00260715e+00] [ 2.45578417e-03 9.99985477e-01 -4.79730020e-03 6.07021691e-01] [ 4.80309103e-02 4.67382526e-03 9.98834915e-01 1.69304294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.41255784400005 meters Centerline goodness : 0.122088 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98866850e-01 -2.36031747e-03 -4.75336154e-02 5.00085933e+00] [ 2.14019289e-03 9.99986752e-01 -4.68128652e-03 6.07447224e-01] [ 4.75440351e-02 4.57425081e-03 9.98858669e-01 1.69395961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4425578440001 meters Centerline goodness : 0.089576 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98873118e-01 -2.36256611e-03 -4.74016072e-02 5.00012031e+00] [ 2.12989667e-03 9.99985439e-01 -4.95837997e-03 6.09050138e-01] [ 4.74126314e-02 4.85183194e-03 9.98863605e-01 1.69469794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.47255784400005 meters Centerline goodness : 0.161759 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98874131e-01 -2.42461306e-03 -4.73771272e-02 4.99996751e+00] [ 2.17691543e-03 9.99983696e-01 -5.27910904e-03 6.10715772e-01] [ 4.73891545e-02 5.17002946e-03 9.98863123e-01 1.69490523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5025578440001 meters Centerline goodness : 0.166975 Centerline is valid? [False, False] Translation: X:4.95, Y:0.62, Z:1.69 [[ 9.98735200e-01 -1.72206450e-03 -5.02497207e-02 4.95496489e+00] [ 1.47466825e-03 9.99986612e-01 -4.95999491e-03 6.15841603e-01] [ 5.02575894e-02 4.87961984e-03 9.98724368e-01 1.69377269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.53255784400005 meters Centerline goodness : 0.089714 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98720532e-01 -1.79324607e-03 -5.05379341e-02 4.95607484e+00] [ 1.53049685e-03 9.99985114e-01 -5.23726882e-03 6.17399963e-01] [ 5.05465735e-02 5.15321976e-03 9.98708410e-01 1.69323261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5625578440001 meters Centerline goodness : 0.090015 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98712680e-01 -1.86980309e-03 -5.06900970e-02 4.95691190e+00] [ 1.59461731e-03 9.99983775e-01 -5.46868613e-03 6.18835513e-01] [ 5.06994999e-02 5.38081488e-03 9.98699458e-01 1.69254348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.59255784400005 meters Centerline goodness : 0.166385 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98712838e-01 -1.96924859e-03 -5.06832341e-02 4.95713998e+00] [ 1.68377960e-03 9.99982482e-01 -5.67449574e-03 6.20162744e-01] [ 5.06935207e-02 5.58185234e-03 9.98698658e-01 1.69211354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6225578440001 meters Centerline goodness : 0.163574 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98720497e-01 -2.05177452e-03 -5.05287945e-02 4.95672189e+00] [ 1.76521123e-03 9.99982110e-01 -5.71525973e-03 6.20192509e-01] [ 5.05396169e-02 5.61875304e-03 9.98706251e-01 1.69209006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.65255784400006 meters Centerline goodness : 0.167653 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98718475e-01 -2.16826210e-03 -5.05638917e-02 4.95697768e+00] [ 1.87859349e-03 9.99981557e-01 -5.77558549e-03 6.20210672e-01] [ 5.05754821e-02 5.67319493e-03 9.98704128e-01 1.69178915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6825578440001 meters Centerline goodness : 0.169702 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98705026e-01 -2.25557852e-03 -5.08250239e-02 4.95806271e+00] [ 1.96339943e-03 9.99981264e-01 -5.79791930e-03 6.20118345e-01] [ 5.08371493e-02 5.69062132e-03 9.98690743e-01 1.69106145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.71255784400006 meters Centerline goodness : 0.168057 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98676077e-01 -2.38158815e-03 -5.13850286e-02 4.96030015e+00] [ 2.08191924e-03 9.99980519e-01 -5.88457029e-03 6.20792928e-01] [ 5.13980421e-02 5.76980010e-03 9.98661580e-01 1.68975576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7425578440001 meters Centerline goodness : 0.164395 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98677908e-01 -2.42667428e-03 -5.13473285e-02 4.96035489e+00] [ 2.12338426e-03 9.99979982e-01 -5.96036365e-03 6.21222637e-01] [ 5.13607645e-02 5.84345339e-03 9.98663069e-01 1.68952064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.77255784400006 meters Centerline goodness : 0.165846 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98681853e-01 -2.48649864e-03 -5.12676681e-02 4.96006123e+00] [ 2.17844713e-03 9.99979243e-01 -6.06369323e-03 6.21674277e-01] [ 5.12816813e-02 5.94401649e-03 9.98666540e-01 1.68965471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80255784400003 meters Centerline goodness : 0.165156 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98686200e-01 -2.56576658e-03 -5.11790073e-02 4.95981228e+00] [ 2.25099434e-03 9.99978202e-01 -6.20710875e-03 6.22204220e-01] [ 5.11938177e-02 6.08375020e-03 9.98670206e-01 1.68970173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.83255784400006 meters Centerline goodness : 0.165399 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98686275e-01 -2.60626344e-03 -5.11755028e-02 4.95985313e+00] [ 2.28577173e-03 9.99977415e-01 -6.32012782e-03 6.22744234e-01] [ 5.11908189e-02 6.19484939e-03 9.98669677e-01 1.68963109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86255784400004 meters Centerline goodness : 0.166417 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98684067e-01 -2.65498179e-03 -5.12160666e-02 4.96002512e+00] [ 2.32676577e-03 9.99976382e-01 -6.46701713e-03 6.23498752e-01] [ 5.12320267e-02 6.33933917e-03 9.98666657e-01 1.68955237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.89255784400007 meters Centerline goodness : 0.166091 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.69 [[ 9.98691304e-01 -2.74529724e-03 -5.10699687e-02 4.95948064e+00] [ 2.40189614e-03 9.99974102e-01 -6.78428762e-03 6.25095660e-01] [ 5.10872710e-02 6.65274430e-03 9.98672034e-01 1.68990189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92255784400004 meters Centerline goodness : 0.163528 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.69 [[ 9.98695490e-01 -2.74198967e-03 -5.09882288e-02 4.95907829e+00] [ 2.39490640e-03 9.99973554e-01 -6.86697589e-03 6.25623969e-01] [ 5.10057095e-02 6.73590582e-03 9.98675646e-01 1.69026452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.95255784400007 meters Centerline goodness : 0.170787 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.69 [[ 9.98695276e-01 -2.78821871e-03 -5.09899065e-02 4.95891696e+00] [ 2.43293623e-03 9.99972341e-01 -7.02844328e-03 6.26364543e-01] [ 5.10080930e-02 6.89521791e-03 9.98674437e-01 1.69058957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98255784400004 meters Centerline goodness : 0.164976 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.69 [[ 9.98688980e-01 -2.81696613e-03 -5.11115105e-02 4.95915625e+00] [ 2.45282546e-03 9.99971174e-01 -7.18576253e-03 6.27093228e-01] [ 5.11302792e-02 7.05097424e-03 9.98667101e-01 1.69076453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.01255784400007 meters Centerline goodness : 0.163944 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.69 [[ 9.98681589e-01 -2.77218964e-03 -5.12581666e-02 4.95960244e+00] [ 2.40207783e-03 9.99970610e-01 -7.28073765e-03 6.27819578e-01] [ 5.12768437e-02 7.14801254e-03 9.98658896e-01 1.69071367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04255784400004 meters Centerline goodness : 0.165008 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.69 [[ 9.98725214e-01 9.26202034e-05 -5.04770986e-02 4.95535054e+00] [-3.32842493e-04 9.99988660e-01 -4.75065017e-03 6.29225701e-01] [ 5.04760862e-02 4.76139503e-03 9.98713920e-01 1.69315027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0725578440001 meters Centerline goodness : 0.167873 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.69 [[ 9.98735113e-01 1.71227882e-04 -5.02806579e-02 4.95439537e+00] [-4.09287074e-04 9.99988756e-01 -4.72434979e-03 6.29325678e-01] [ 5.02792836e-02 4.73895325e-03 9.98723954e-01 1.69389182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10255784400005 meters Centerline goodness : 0.172760 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.69 [[ 9.98738005e-01 2.18935790e-04 -5.02229885e-02 4.95398330e+00] [-4.54944638e-04 9.99988909e-01 -4.68783610e-03 6.29133367e-01] [ 5.02214051e-02 4.70476875e-03 9.98727028e-01 1.69430924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1325578440001 meters Centerline goodness : 0.172035 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.69 [[ 9.98739891e-01 2.79012784e-04 -5.01851772e-02 4.95362452e+00] [-5.09289254e-04 9.99989401e-01 -4.57580664e-03 6.28476782e-01] [ 5.01833686e-02 4.59559940e-03 9.98729448e-01 1.69470430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16255784400005 meters Centerline goodness : 0.172035 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.69 [[ 9.98739891e-01 2.79012784e-04 -5.01851772e-02 4.95362452e+00] [-5.09289254e-04 9.99989401e-01 -4.57580664e-03 6.28476782e-01] [ 5.01833686e-02 4.59559940e-03 9.98729448e-01 1.69470430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1925578440001 meters Centerline goodness : 0.167217 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.70 [[ 9.98775837e-01 -7.31127007e-03 -4.89221123e-02 4.97258142e+00] [ 7.16892255e-03 9.99969546e-01 -3.08451098e-03 6.29523693e-01] [ 4.89431741e-02 2.73001620e-03 9.98797834e-01 1.69724333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22255784400005 meters Centerline goodness : 0.111336 Centerline is valid? [False, False] Translation: X:4.93, Y:0.63, Z:1.70 [[ 9.98656820e-01 -6.22782580e-03 -5.14370493e-02 4.92638457e+00] [ 6.12734884e-03 9.99979000e-01 -2.11085805e-03 6.31727370e-01] [ 5.14491152e-02 1.79285005e-03 9.98674008e-01 1.69655794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2525578440001 meters Centerline goodness : 0.107753 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98653321e-01 1.80055430e-03 -5.18488357e-02 4.94535214e+00] [-1.95472900e-03 9.99993818e-01 -2.92298642e-03 6.25891997e-01] [ 5.18432522e-02 3.02040052e-03 9.98650667e-01 1.69865463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28255784400005 meters Centerline goodness : 0.176217 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98652285e-01 1.80711331e-03 -5.18685667e-02 4.94543232e+00] [-1.95993580e-03 9.99993887e-01 -2.89562856e-03 6.25535031e-01] [ 5.18630169e-02 2.99338513e-03 9.98649722e-01 1.69861254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3125578440001 meters Centerline goodness : 0.165540 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98654199e-01 1.73657617e-03 -5.18341150e-02 4.94515000e+00] [-1.89250129e-03 9.99993831e-01 -2.95922683e-03 6.25324138e-01] [ 5.18286563e-02 3.05334043e-03 9.98651324e-01 1.69893793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34255784400005 meters Centerline goodness : 0.131991 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.70 [[ 9.98655945e-01 1.73673916e-03 -5.18004618e-02 4.94484671e+00] [-1.89151791e-03 9.99993892e-01 -2.93910617e-03 6.25130924e-01] [ 5.17950409e-02 3.03313735e-03 9.98653130e-01 1.69917957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3725578440001 meters Centerline goodness : 0.171177 Centerline is valid? [False, False] Translation: X:4.95, Y:0.62, Z:1.70 [[ 9.98623293e-01 5.45831422e-03 -5.21701507e-02 4.94614551e+00] [-5.41620516e-03 9.99984882e-01 9.48493946e-04 6.24412397e-01] [ 5.21745392e-02 -6.64623909e-04 9.98637760e-01 1.69855750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40255784400006 meters Centerline goodness : 0.108363 Centerline is valid? [False, False] Translation: X:4.95, Y:0.62, Z:1.70 [[ 9.98617871e-01 5.46171511e-03 -5.22734814e-02 4.94664066e+00] [-5.42227968e-03 9.99984898e-01 8.96195025e-04 6.24938204e-01] [ 5.22775867e-02 -6.11514932e-04 9.98632405e-01 1.69819771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.4325578440001 meters Centerline goodness : 0.168912 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98619608e-01 5.34781469e-03 -5.22520814e-02 4.94655145e+00] [-5.32100791e-03 9.99985631e-01 6.52127376e-04 6.26029303e-01] [ 5.22548180e-02 -3.73193446e-04 9.98633714e-01 1.69828516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46255784400006 meters Centerline goodness : 0.178160 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98619431e-01 5.17855551e-03 -5.22724990e-02 4.94657874e+00] [-5.17159623e-03 9.99986591e-01 2.68393419e-04 6.27769260e-01] [ 5.22731879e-02 2.30937460e-06 9.98632822e-01 1.69838205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.4925578440001 meters Centerline goodness : 0.163362 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98613475e-01 4.98935118e-03 -5.24045308e-02 4.94715023e+00] [-5.00549258e-03 9.99987457e-01 -1.76773665e-04 6.29924982e-01] [ 5.24029915e-02 4.38839053e-04 9.98625923e-01 1.69806210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52255784400006 meters Centerline goodness : 0.164378 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98603929e-01 4.81226800e-03 -5.26026071e-02 4.94806935e+00] [-4.85030073e-03 9.99988060e-01 -5.95385437e-04 6.32023704e-01] [ 5.25991139e-02 8.49692700e-04 9.98615347e-01 1.69744930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.55255784400003 meters Centerline goodness : 0.174803 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98589278e-01 4.50259822e-03 -5.29072792e-02 4.94961302e+00] [-4.56968165e-03 9.99988901e-01 -1.14704165e-03 6.34493460e-01] [ 5.29015274e-02 1.38719291e-03 9.98598770e-01 1.69628847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58255784400006 meters Centerline goodness : 0.165504 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98581591e-01 4.33064492e-03 -5.30664779e-02 4.95017340e+00] [-4.40676999e-03 9.99989422e-01 -1.31759784e-03 6.34917154e-01] [ 5.30602106e-02 1.54958071e-03 9.98590113e-01 1.69599293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.61255784400004 meters Centerline goodness : 0.166481 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98577443e-01 4.18923365e-03 -5.31558131e-02 4.95043147e+00] [-4.26959303e-03 9.99989908e-01 -1.39830279e-03 6.34957972e-01] [ 5.31494188e-02 1.62326732e-03 9.98585251e-01 1.69590076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64255784400007 meters Centerline goodness : 0.167350 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98546866e-01 -4.12970076e-03 -5.37317540e-02 4.93048651e+00] [ 4.11476866e-03 9.99991459e-01 -3.88525114e-04 6.41171918e-01] [ 5.37328995e-02 1.66866798e-04 9.98555330e-01 1.69399507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.67255784400004 meters Centerline goodness : 0.172125 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98545559e-01 -4.15278936e-03 -5.37542596e-02 4.93056902e+00] [ 4.13836869e-03 9.99991365e-01 -3.79575891e-04 6.41211390e-01] [ 5.37553717e-02 1.56568876e-04 9.98554122e-01 1.69389524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70255784400007 meters Centerline goodness : 0.165497 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98550993e-01 -4.16628329e-03 -5.36521740e-02 4.93037991e+00] [ 4.15315751e-03 9.99991312e-01 -3.56137114e-04 6.41105168e-01] [ 5.36531917e-02 1.32795139e-04 9.98559621e-01 1.69375040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.73255784400004 meters Centerline goodness : 0.169969 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98561001e-01 -4.34114565e-03 -5.34516678e-02 4.92972393e+00] [ 4.32464380e-03 9.99990559e-01 -4.24383748e-04 6.40574812e-01] [ 5.34530054e-02 1.92613637e-04 9.98570348e-01 1.69394397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76255784400007 meters Centerline goodness : 0.166862 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98562005e-01 -4.33527651e-03 -5.34333875e-02 4.92955131e+00] [ 4.32237483e-03 9.99990595e-01 -3.57013744e-04 6.40159029e-01] [ 5.34344327e-02 1.25541231e-04 9.98571352e-01 1.69409805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.79255784400004 meters Centerline goodness : 0.161207 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98561748e-01 -4.27455554e-03 -5.34430930e-02 4.92948855e+00] [ 4.26575146e-03 9.99990863e-01 -2.78805777e-04 6.40007051e-01] [ 5.34437965e-02 5.04298317e-05 9.98570858e-01 1.69422965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8225578440001 meters Centerline goodness : 0.164757 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98562451e-01 -4.21781455e-03 -5.34344573e-02 4.92947963e+00] [ 4.21085355e-03 9.99991105e-01 -2.42854322e-04 6.40131830e-01] [ 5.34350063e-02 1.75005321e-05 9.98571329e-01 1.69424916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.85255784400005 meters Centerline goodness : 0.166717 Centerline is valid? [False, False] Translation: X:4.91, Y:0.64, Z:1.69 [[ 9.98573249e-01 4.48475803e-03 -5.32104688e-02 4.90780754e+00] [-4.53551680e-03 9.99989367e-01 -8.33208039e-04 6.37754699e-01] [ 5.32061663e-02 1.07335623e-03 9.98582972e-01 1.69206927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8825578440001 meters Centerline goodness : 0.169858 Centerline is valid? [False, False] Translation: X:4.91, Y:0.64, Z:1.69 [[ 9.98570659e-01 4.50190445e-03 -5.32576009e-02 4.90788408e+00] [-4.55231127e-03 9.99989298e-01 -8.25200422e-04 6.37788547e-01] [ 5.32533159e-02 1.06646611e-03 9.98580466e-01 1.69216427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.91255784400005 meters Centerline goodness : 0.169154 Centerline is valid? [False, False] Translation: X:4.91, Y:0.64, Z:1.69 [[ 9.98563360e-01 4.54715106e-03 -5.33904478e-02 4.90787915e+00] [-4.59485866e-03 9.99989146e-01 -7.70845628e-04 6.37376605e-01] [ 5.33863632e-02 1.01505976e-03 9.98573415e-01 1.69270208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9425578440001 meters Centerline goodness : 0.169349 Centerline is valid? [False, False] Translation: X:4.91, Y:0.64, Z:1.69 [[ 9.98566243e-01 4.58901772e-03 -5.33329009e-02 4.90746407e+00] [-4.63235423e-03 9.99989033e-01 -6.88977561e-04 6.36943734e-01] [ 5.33291543e-02 9.35046625e-04 9.98576550e-01 1.69309141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.97255784400005 meters Centerline goodness : 0.170442 Centerline is valid? [False, False] Translation: X:4.91, Y:0.64, Z:1.69 [[ 9.98573403e-01 4.65991282e-03 -5.31925225e-02 4.90669211e+00] [-4.69577150e-03 9.99988824e-01 -5.49170858e-04 6.36299669e-01] [ 5.31893690e-02 7.98167344e-04 9.98584125e-01 1.69368020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0025578440001 meters Centerline goodness : 0.165041 Centerline is valid? [False, False] Translation: X:4.91, Y:0.63, Z:1.69 [[ 9.98583234e-01 4.88231893e-03 -5.29876145e-02 4.90564517e+00] [-4.89437381e-03 9.99988018e-01 -9.77435807e-05 6.34547964e-01] [ 5.29865024e-02 3.56946294e-04 9.98595165e-01 1.69441359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.03255784400005 meters Centerline goodness : 0.114297 Centerline is valid? [False, False] Translation: X:4.91, Y:0.63, Z:1.69 [[ 9.98584970e-01 5.03554193e-03 -5.29405483e-02 4.90549248e+00] [-5.02880601e-03 9.99987322e-01 2.60442829e-04 6.32936041e-01] [ 5.29411886e-02 6.15345360e-06 9.98597632e-01 1.69439473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0625578440001 meters Centerline goodness : 0.103896 Centerline is valid? [False, False] Translation: X:4.91, Y:0.63, Z:1.69 [[ 9.98593150e-01 5.16415430e-03 -5.27735884e-02 4.90507521e+00] [-5.13830603e-03 9.99986603e-01 6.25462766e-04 6.31029357e-01] [ 5.27761114e-02 -3.53415986e-04 9.98606307e-01 1.69429433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.09255784400005 meters Centerline goodness : 0.171372 Centerline is valid? [False, False] Translation: X:4.90, Y:0.63, Z:1.69 [[ 9.98599662e-01 5.32247756e-03 -5.26344609e-02 4.90473468e+00] [-5.27138646e-03 9.99985491e-01 1.10945560e-03 6.28430136e-01] [ 5.26396023e-02 -8.30445404e-04 9.98613230e-01 1.69419941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1225578440001 meters Centerline goodness : 0.168082 Centerline is valid? [False, False] Translation: X:4.90, Y:0.63, Z:1.69 [[ 9.98601642e-01 5.45110060e-03 -5.25837023e-02 4.90452974e+00] [-5.37476299e-03 9.99984287e-01 1.59303725e-03 6.25617612e-01] [ 5.25915599e-02 -1.30818468e-03 9.98615249e-01 1.69418456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.15255784400006 meters Centerline goodness : 0.166645 Centerline is valid? [False, False] Translation: X:4.90, Y:0.62, Z:1.69 [[ 9.98597222e-01 5.61962625e-03 -5.26498660e-02 4.90471414e+00] [-5.51388568e-03 9.99982480e-01 2.15341241e-03 6.22687598e-01] [ 5.26610449e-02 -1.86008631e-03 9.98610712e-01 1.69401008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1825578440001 meters Centerline goodness : 0.161203 Centerline is valid? [False, False] Translation: X:4.93, Y:0.62, Z:1.70 [[ 9.98572868e-01 -2.48066838e-03 -5.33486035e-02 4.92667902e+00] [ 2.68858700e-03 9.99989067e-01 3.82594405e-03 6.18530882e-01] [ 5.33385293e-02 -3.96391629e-03 9.98568620e-01 1.69620677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.21255784400006 meters Centerline goodness : 0.165575 Centerline is valid? [False, False] Translation: X:4.93, Y:0.62, Z:1.70 [[ 9.98579215e-01 -2.24537478e-03 -5.32401210e-02 4.92634444e+00] [ 2.48394319e-03 9.99987168e-01 4.41524293e-03 6.15657652e-01] [ 5.32295239e-02 -4.54121525e-03 9.98571978e-01 1.69620321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2425578440001 meters Centerline goodness : 0.160863 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.70 [[ 9.98590008e-01 -2.02736603e-03 -5.30460800e-02 4.92573488e+00] [ 2.29552790e-03 9.99984891e-01 4.99482383e-03 6.12632032e-01] [ 5.30351522e-02 -5.10954992e-03 9.98579574e-01 1.69631620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.27255784400006 meters Centerline goodness : 0.162255 Centerline is valid? [False, False] Translation: X:4.92, Y:0.61, Z:1.70 [[ 9.98606130e-01 -1.78929225e-03 -5.27503107e-02 4.92476803e+00] [ 2.08722556e-03 9.99982178e-01 5.59344348e-03 6.09476162e-01] [ 5.27393623e-02 -5.69574875e-03 9.98592068e-01 1.69657017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30255784400003 meters Centerline goodness : 0.164111 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.70 [[ 9.98617586e-01 -1.32098493e-03 -5.25468610e-02 4.92358517e+00] [ 1.67703534e-03 9.99975931e-01 6.73234984e-03 6.03257847e-01] [ 5.25367029e-02 -6.81116588e-03 9.98595765e-01 1.69738489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.33255784400006 meters Centerline goodness : 0.167468 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.70 [[ 9.98611181e-01 -1.05617190e-03 -5.26744030e-02 4.92389078e+00] [ 1.44358659e-03 9.99972186e-01 7.31739058e-03 6.00461743e-01] [ 5.26652095e-02 -7.38326811e-03 9.98584930e-01 1.69735196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36255784400004 meters Centerline goodness : 0.165505 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.70 [[ 9.98602575e-01 -8.05106066e-04 -5.28417387e-02 4.92427753e+00] [ 1.22234403e-03 9.99968330e-01 7.86414933e-03 5.97797489e-01] [ 5.28337338e-02 -7.91775056e-03 9.98571933e-01 1.69736272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.39255784400007 meters Centerline goodness : 0.164936 Centerline is valid? [False, False] Translation: X:4.95, Y:0.59, Z:1.70 [[ 0.99861418 0.00563869 -0.05232518 4.94553941] [-0.00535782 0.99997049 0.00550652 0.59069848] [ 0.05235469 -0.00521854 0.99861492 1.69817284] [ 0. 0. 0. 1. ]] SLAMing on 495.42255784400004 meters Centerline goodness : 0.169545 Centerline is valid? [False, False] Translation: X:4.90, Y:0.59, Z:1.70 [[ 0.99848881 0.00589104 -0.0546388 4.89880572] [-0.00557271 0.99996661 0.00597671 0.59172128] [ 0.05467218 -0.00566319 0.9984883 1.69801833] [ 0. 0. 0. 1. ]] SLAMing on 495.45255784400007 meters Centerline goodness : 0.163208 Centerline is valid? [False, False] Translation: X:4.90, Y:0.59, Z:1.70 [[ 0.99847307 0.00649954 -0.05485696 4.89929374] [-0.00613249 0.99995769 0.00685673 0.58822168] [ 0.05489921 -0.00650985 0.99847068 1.69812282] [ 0. 0. 0. 1. ]] SLAMing on 495.48255784400004 meters Centerline goodness : 0.163794 Centerline is valid? [False, False] Translation: X:4.90, Y:0.59, Z:1.70 [[ 0.99846659 0.00667109 -0.0549543 4.89958616] [-0.00628869 0.99995482 0.00712845 0.58697185] [ 0.05499937 -0.00677193 0.99846342 1.69812816] [ 0. 0. 0. 1. ]] SLAMing on 495.51255784400007 meters Centerline goodness : 0.164523 Centerline is valid? [False, False] Translation: X:4.90, Y:0.59, Z:1.70 [[ 0.99846652 0.00677769 -0.05494244 4.89947701] [-0.00638922 0.99995336 0.00724308 0.58632153] [ 0.05498897 -0.00688093 0.99846325 1.69828386] [ 0. 0. 0. 1. ]] SLAMing on 495.54255784400004 meters Centerline goodness : 0.157722 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.70 [[ 9.98466232e-01 5.43522491e-04 -5.53614270e-02 4.87607986e+00] [ 3.65869715e-06 9.99951160e-01 9.88321762e-03 5.89609855e-01] [ 5.53640949e-02 -9.86826161e-03 9.98417465e-01 1.69822462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5725578440001 meters Centerline goodness : 0.311333 Centerline is valid? [False, False] Translation: X:4.90, Y:0.58, Z:1.70 [[ 0.99840285 0.00984968 -0.05563032 4.89745645] [-0.00932891 0.99991027 0.00961333 0.58402486] [ 0.05572001 -0.00907901 0.99840515 1.7000398 ] [ 0. 0. 0. 1. ]] SLAMing on 495.60255784400005 meters Centerline goodness : 0.137532 Centerline is valid? [False, False] Translation: X:4.90, Y:0.58, Z:1.70 [[ 0.9983939 0.0099034 -0.05578124 4.89785488] [-0.00938098 0.99990973 0.00961952 0.58423391] [ 0.05587147 -0.00908079 0.99839667 1.70005426] [ 0. 0. 0. 1. ]] SLAMing on 495.6325578440001 meters SLAMing on 495.66255784400005 meters Centerline goodness : 0.150159 Centerline is valid? [False, False] Translation: X:4.90, Y:0.58, Z:1.70 [[ 0.99839332 0.01004391 -0.05576654 4.89763885] [-0.00951129 0.99990666 0.00980811 0.58359582] [ 0.05585985 -0.00926194 0.99839566 1.70031566] [ 0. 0. 0. 1. ]] SLAMing on 495.6925578440001 meters Centerline goodness : 0.157169 Centerline is valid? [False, False] Translation: X:4.90, Y:0.58, Z:1.70 [[ 0.99840296 0.01004606 -0.05559323 4.89693279] [-0.00951198 0.99990612 0.00986316 0.58303371] [ 0.0556871 -0.0093186 0.99840478 1.7006876 ] [ 0. 0. 0. 1. ]] SLAMing on 495.72255784400005 meters Centerline goodness : 0.152775 Centerline is valid? [False, False] Translation: X:4.90, Y:0.58, Z:1.70 [[ 0.99841298 0.00995626 -0.05542915 4.8962796 ] [-0.00942761 0.99990763 0.00979065 0.58282252] [ 0.05552151 -0.00925254 0.99841462 1.70105608] [ 0. 0. 0. 1. ]] SLAMing on 495.7525578440001 meters Centerline goodness : 0.154799 Centerline is valid? [False, False] Translation: X:4.90, Y:0.58, Z:1.70 [[ 0.99840393 0.00989971 -0.05560206 4.89698087] [-0.00937791 0.99990958 0.00963764 0.58366731] [ 0.05569245 -0.00910082 0.99840649 1.70066001] [ 0. 0. 0. 1. ]] SLAMing on 495.78255784400005 meters Centerline goodness : 0.093128 Centerline is valid? [False, False] Translation: X:4.92, Y:0.59, Z:1.70 [[ 9.98327127e-01 3.17168240e-03 -5.77311632e-02 4.91734132e+00] [-2.56559272e-03 9.99940849e-01 1.05695771e-02 5.89600065e-01] [ 5.77612717e-02 -1.04037809e-02 9.98276213e-01 1.70331630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8125578440001 meters Centerline goodness : 0.166085 Centerline is valid? [False, False] Translation: X:4.92, Y:0.59, Z:1.70 [[ 9.98312751e-01 3.11616328e-03 -5.79822457e-02 4.91847070e+00] [-2.52610542e-03 9.99944307e-01 1.02470416e-02 5.91754769e-01] [ 5.80109479e-02 -1.00832830e-02 9.98265024e-01 1.70267825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84255784400005 meters Centerline goodness : 0.168525 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.70 [[ 9.98296090e-01 2.94743671e-03 -5.82771815e-02 4.91941981e+00] [-2.39449090e-03 9.99951476e-01 9.55576046e-03 5.95511055e-01] [ 5.83025187e-02 -9.39993412e-03 9.98254706e-01 1.70241948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8725578440001 meters SLAMing on 495.90255784400006 meters SLAMing on 495.9325578440001 meters Centerline goodness : 0.106553 Centerline is valid? [False, False] Translation: X:4.91, Y:0.60, Z:1.70 [[ 9.98346831e-01 4.80424760e-03 -5.72758632e-02 4.91459136e+00] [-4.21010308e-03 9.99936120e-01 1.04895432e-02 6.02802537e-01] [ 5.73225988e-02 -1.02310649e-02 9.98303283e-01 1.70489663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96255784400006 meters SLAMing on 495.9925578440001 meters SLAMing on 496.02255784400006 meters Centerline goodness : 0.157536 Centerline is valid? [False, False] Translation: X:4.91, Y:0.61, Z:1.71 [[ 0.99837437 0.00686381 -0.05658187 4.91118024] [-0.00624041 0.99991795 0.01118694 0.61362403] [ 0.05665402 -0.01081566 0.99833529 1.70679224] [ 0. 0. 0. 1. ]] SLAMing on 496.05255784400003 meters Centerline goodness : 0.157040 Centerline is valid? [False, False] Translation: X:4.91, Y:0.62, Z:1.71 [[ 0.99839827 0.00674236 -0.05617323 4.90992839] [-0.00615245 0.99992417 0.01066797 0.61665556] [ 0.0562409 -0.01030528 0.99836404 1.70718046] [ 0. 0. 0. 1. ]] SLAMing on 496.08255784400006 meters Centerline goodness : 0.157040 Centerline is valid? [False, False] Translation: X:4.91, Y:0.62, Z:1.71 [[ 0.99839827 0.00674236 -0.05617323 4.90992839] [-0.00615245 0.99992417 0.01066797 0.61665556] [ 0.0562409 -0.01030528 0.99836404 1.70718046] [ 0. 0. 0. 1. ]] SLAMing on 496.11255784400004 meters Centerline goodness : 0.157445 Centerline is valid? [False, False] Translation: X:4.91, Y:0.62, Z:1.71 [[ 0.99841131 0.00660327 -0.05595761 4.90924426] [-0.00604761 0.99993077 0.01009359 0.61997458] [ 0.05602039 -0.00973915 0.99838212 1.70748156] [ 0. 0. 0. 1. ]] SLAMing on 496.14255784400007 meters Centerline goodness : 0.157711 Centerline is valid? [False, False] Translation: X:4.91, Y:0.63, Z:1.71 [[ 0.9984106 0.0065085 -0.05598142 4.90959139] [-0.00600551 0.99994012 0.00914848 0.62596894] [ 0.05603761 -0.00879775 0.9983899 1.70721637] [ 0. 0. 0. 1. ]] SLAMing on 496.17255784400004 meters Centerline goodness : 0.154720 Centerline is valid? [False, False] Translation: X:4.91, Y:0.63, Z:1.71 [[ 0.99841141 0.00629655 -0.05599111 4.90973354] [-0.00582473 0.99994618 0.00858594 0.62867383] [ 0.05604216 -0.00824616 0.99839435 1.70709994] [ 0. 0. 0. 1. ]] SLAMing on 496.20255784400007 meters Centerline goodness : 0.161204 Centerline is valid? [False, False] Translation: X:4.89, Y:0.64, Z:1.71 [[ 9.98459462e-01 -3.96219276e-04 -5.54846531e-02 4.88650450e+00] [ 9.83333739e-04 9.99943814e-01 1.05546638e-02 6.35311182e-01] [ 5.54773537e-02 -1.05929639e-02 9.98403752e-01 1.70622643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.23255784400004 meters Centerline goodness : 0.159482 Centerline is valid? [False, False] Translation: X:4.89, Y:0.64, Z:1.71 [[ 9.98474035e-01 -4.71690445e-04 -5.52211812e-02 4.88581278e+00] [ 1.03332134e-03 9.99948030e-01 1.01424596e-02 6.37699209e-01] [ 5.52135273e-02 -1.01840438e-02 9.98422632e-01 1.70630673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26255784400007 meters Centerline goodness : 0.082695 Centerline is valid? [False, False] Translation: X:4.88, Y:0.64, Z:1.71 [[ 9.98524556e-01 -3.27563022e-04 -5.43010426e-02 4.88340967e+00] [ 8.49473957e-04 9.99953667e-01 9.58863286e-03 6.41606689e-01] [ 5.42953858e-02 -9.62061269e-03 9.98478570e-01 1.70663880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.29255784400004 meters SLAMing on 496.3225578440001 meters Centerline goodness : 0.084688 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.71 [[ 9.98535183e-01 -2.81816654e-05 -5.41062607e-02 4.88273001e+00] [ 5.23593711e-04 9.99958073e-01 9.14212612e-03 6.45270716e-01] [ 5.41037345e-02 -9.15706427e-03 9.98493332e-01 1.70692790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.35255784400005 meters Centerline goodness : 0.106103 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.71 [[ 9.98535750e-01 3.92046652e-05 -5.40957911e-02 4.88267751e+00] [ 4.39158772e-04 9.99960910e-01 8.83098032e-03 6.47579956e-01] [ 5.40940227e-02 -8.84180620e-03 9.98496700e-01 1.70697534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3825578440001 meters Centerline goodness : 0.117157 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.71 [[ 9.98538120e-01 6.54895150e-05 -5.40520052e-02 4.88264059e+00] [ 3.96756396e-04 9.99963445e-01 8.54109862e-03 6.49621273e-01] [ 5.40505887e-02 -8.55005803e-03 9.98501593e-01 1.70687995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.41255784400005 meters Centerline goodness : 0.127255 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.71 [[ 9.98542654e-01 5.19117095e-05 -5.39681822e-02 4.88252682e+00] [ 3.94511624e-04 9.99965797e-01 8.26128656e-03 6.51350566e-01] [ 5.39667652e-02 -8.27053809e-03 9.98508481e-01 1.70676454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4425578440001 meters Centerline goodness : 0.037511 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.71 [[ 9.98542875e-01 2.84778997e-04 -5.39633780e-02 4.88279180e+00] [ 1.41941567e-04 9.99968756e-01 7.90359789e-03 6.54171829e-01] [ 5.39639427e-02 -7.89974100e-03 9.98511636e-01 1.70633963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.47255784400005 meters Centerline goodness : 0.086942 Centerline is valid? [False, False] Translation: X:4.88, Y:0.66, Z:1.71 [[ 9.98531174e-01 2.56191757e-04 -5.41795928e-02 4.88348879e+00] [ 1.52826087e-04 9.99971524e-01 7.54501931e-03 6.56211554e-01] [ 5.41799830e-02 -7.54221705e-03 9.98502701e-01 1.70607831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5025578440001 meters Centerline goodness : 0.101728 Centerline is valid? [False, False] Translation: X:4.84, Y:0.66, Z:1.70 [[ 9.98374141e-01 1.32604570e-03 -5.69852227e-02 4.83861724e+00] [-8.53058049e-04 9.99964994e-01 8.32370501e-03 6.58895713e-01] [ 5.69942655e-02 -8.26156014e-03 9.98340323e-01 1.70452173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.53255784400005 meters Centerline goodness : 0.162641 Centerline is valid? [False, False] Translation: X:4.88, Y:0.66, Z:1.71 [[ 9.98430294e-01 2.62850362e-03 -5.59467595e-02 4.88445425e+00] [-2.15665413e-03 9.99961611e-01 8.49260804e-03 6.62687739e-01] [ 5.59669347e-02 -8.35861933e-03 9.98397634e-01 1.70614675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5625578440001 meters Centerline goodness : 0.038026 Centerline is valid? [False, False] Translation: X:4.89, Y:0.67, Z:1.71 [[ 0.99839846 0.00631228 -0.05621981 4.88524476] [-0.0056878 0.99992042 0.01126079 0.66778834] [ 0.05628641 -0.01092299 0.99835491 1.70600127] [ 0. 0. 0. 1. ]] SLAMing on 496.59255784400005 meters Centerline goodness : 0.211675 Centerline is valid? [False, False] Translation: X:4.89, Y:0.67, Z:1.71 [[ 0.9983965 0.0062266 -0.05626424 4.88527863] [-0.00563257 0.99992678 0.01071018 0.6709495 ] [ 0.05632681 -0.0103761 0.99835847 1.70608 ] [ 0. 0. 0. 1. ]] SLAMing on 496.6225578440001 meters Centerline goodness : 0.043804 Centerline is valid? [False, False] Translation: X:4.91, Y:0.67, Z:1.71 [[ 0.99835438 0.01483633 -0.05539332 4.90622532] [-0.01432749 0.99985154 0.00957185 0.67128312] [ 0.05552711 -0.00876245 0.99841873 1.70759125] [ 0. 0. 0. 1. ]] SLAMing on 496.65255784400006 meters Centerline goodness : 0.083918 Centerline is valid? [False, False] Translation: X:4.91, Y:0.67, Z:1.71 [[ 0.99835892 0.01465702 -0.05535911 4.90610962] [-0.01418222 0.99985928 0.00895989 0.67461821] [ 0.05548265 -0.00816008 0.99842631 1.70763652] [ 0. 0. 0. 1. ]] SLAMing on 496.6825578440001 meters Centerline goodness : 0.093930 Centerline is valid? [False, False] Translation: X:4.91, Y:0.68, Z:1.71 [[ 0.9983871 0.01455093 -0.05487677 4.90501206] [-0.01412888 0.99986761 0.0080711 0.68060601] [ 0.05498695 -0.00728274 0.99846051 1.70747168] [ 0. 0. 0. 1. ]] SLAMing on 496.71255784400006 meters Centerline goodness : 0.056840 Centerline is valid? [False, False] Translation: X:4.90, Y:0.68, Z:1.71 [[ 0.99839545 0.01430627 -0.05478927 4.90488407] [-0.01391705 0.99987518 0.00747908 0.68344522] [ 0.05488943 -0.00670457 0.99846993 1.70730873] [ 0. 0. 0. 1. ]] SLAMing on 496.7425578440001 meters Centerline goodness : 0.083213 Centerline is valid? [False, False] Translation: X:4.91, Y:0.69, Z:1.71 [[ 0.99839643 0.01407985 -0.0548299 4.90522955] [-0.01371971 0.9998818 0.00693931 0.68607182] [ 0.05492113 -0.00617593 0.9984716 1.70690797] [ 0. 0. 0. 1. ]] SLAMing on 496.77255784400006 meters Centerline goodness : 0.088563 Centerline is valid? [False, False] Translation: X:4.89, Y:0.69, Z:1.70 [[ 0.99842538 0.00543486 -0.05583211 4.88514435] [-0.00502921 0.99995995 0.00740345 0.69338167] [ 0.05587012 -0.00711101 0.99841272 1.70493081] [ 0. 0. 0. 1. ]] SLAMing on 496.80255784400003 meters Centerline goodness : 0.106734 Centerline is valid? [False, False] Translation: X:4.89, Y:0.70, Z:1.70 [[ 9.98414172e-01 5.24768824e-03 -5.60499966e-02 4.88576915e+00] [-4.86701758e-03 9.99964171e-01 6.92597532e-03 6.95814077e-01] [ 5.60843337e-02 -6.64219560e-03 9.98403941e-01 1.70476388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.83255784400006 meters SLAMing on 496.86255784400004 meters Centerline goodness : 0.112735 Centerline is valid? [False, False] Translation: X:4.89, Y:0.70, Z:1.71 [[ 9.98420097e-01 4.84284841e-03 -5.59808590e-02 4.88527380e+00] [-4.52848592e-03 9.99973266e-01 5.74102637e-03 7.04683657e-01] [ 5.60071654e-02 -5.47844757e-03 9.98415336e-01 1.70510905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.89255784400007 meters Centerline goodness : 0.129143 Centerline is valid? [False, False] Translation: X:4.88, Y:0.71, Z:1.71 [[ 9.98426183e-01 4.64882460e-03 -5.58886961e-02 4.88499187e+00] [-4.36025953e-03 9.99976533e-01 5.28404225e-03 7.06928577e-01] [ 5.59119491e-02 -5.03203691e-03 9.98423023e-01 1.70513228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92255784400004 meters Centerline goodness : 0.096897 Centerline is valid? [False, False] Translation: X:4.88, Y:0.71, Z:1.71 [[ 9.98429604e-01 4.48473859e-03 -5.58409665e-02 4.88482546e+00] [-4.21614827e-03 9.99978975e-01 4.92679605e-03 7.08615079e-01] [ 5.58618879e-02 -4.68362523e-03 9.98427520e-01 1.70518087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.95255784400007 meters SLAMing on 496.98255784400004 meters Centerline goodness : 0.093041 Centerline is valid? [False, False] Translation: X:4.88, Y:0.71, Z:1.71 [[ 9.98444718e-01 4.21385389e-03 -5.55912626e-02 4.88357947e+00] [-3.98532829e-03 9.99983150e-01 4.22103946e-03 7.12300824e-01] [ 5.56081128e-02 -3.99292513e-03 9.98444688e-01 1.70604433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.01255784400007 meters Centerline goodness : 0.127361 Centerline is valid? [False, False] Translation: X:4.88, Y:0.71, Z:1.71 [[ 9.98459896e-01 4.09829218e-03 -5.53266659e-02 4.88268838e+00] [-3.88755075e-03 9.99984775e-01 3.91612727e-03 7.13876065e-01] [ 5.53418730e-02 -3.69501080e-03 9.98460627e-01 1.70635986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04255784400004 meters Centerline goodness : 0.093257 Centerline is valid? [False, False] Translation: X:4.88, Y:0.72, Z:1.71 [[ 9.98493874e-01 4.14730114e-03 -5.47063297e-02 4.88103881e+00] [-3.96450828e-03 9.99986192e-01 3.44944802e-03 7.17049341e-01] [ 5.47198803e-02 -3.22736902e-03 9.98496529e-01 1.70648486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0725578440001 meters SLAMing on 497.10255784400005 meters Centerline goodness : 0.097486 Centerline is valid? [False, False] Translation: X:4.88, Y:0.72, Z:1.71 [[ 9.98472078e-01 4.31263064e-03 -5.50900302e-02 4.88214973e+00] [-4.15902258e-03 9.99987138e-01 2.90265333e-03 7.20931607e-01] [ 5.51018397e-02 -2.66909762e-03 9.98477172e-01 1.70611067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1325578440001 meters SLAMing on 497.16255784400005 meters SLAMing on 497.1925578440001 meters SLAMing on 497.22255784400005 meters Centerline goodness : 0.091475 Centerline is valid? [False, False] Translation: X:4.90, Y:0.73, Z:1.71 [[ 9.98482054e-01 1.49641475e-02 -5.30062476e-02 4.90296997e+00] [-1.48162146e-02 9.99885168e-01 3.18273378e-03 7.27123949e-01] [ 5.30477877e-02 -2.39255063e-03 9.98589109e-01 1.70690395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2525578440001 meters SLAMing on 497.28255784400005 meters SLAMing on 497.3125578440001 meters SLAMing on 497.34255784400005 meters SLAMing on 497.3725578440001 meters SLAMing on 497.40255784400006 meters Centerline goodness : 0.088221 Centerline is valid? [False, False] Translation: X:4.89, Y:0.74, Z:1.70 [[ 9.98459130e-01 6.30156044e-03 -5.51330752e-02 4.88514467e+00] [-6.11303715e-03 9.99974880e-01 3.58739992e-03 7.35300203e-01] [ 5.51542965e-02 -3.24484167e-03 9.98472571e-01 1.70352284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.4325578440001 meters SLAMing on 497.46255784400006 meters Centerline goodness : 0.124242 Centerline is valid? [False, False] Translation: X:4.89, Y:0.74, Z:1.70 [[ 9.98447358e-01 6.11569643e-03 -5.53666945e-02 4.88616633e+00] [-5.95698765e-03 9.99977663e-01 3.03108657e-03 7.38541432e-01] [ 5.53839950e-02 -2.69656167e-03 9.98461487e-01 1.70278980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.4925578440001 meters SLAMing on 497.52255784400006 meters Centerline goodness : 0.108410 Centerline is valid? [False, False] Translation: X:4.89, Y:0.74, Z:1.70 [[ 9.98425670e-01 5.96721184e-03 -5.57725185e-02 4.88767357e+00] [-5.81943742e-03 9.99979114e-01 2.81162674e-03 7.39173831e-01] [ 5.57881312e-02 -2.48263563e-03 9.98439543e-01 1.70203404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.55255784400003 meters SLAMing on 497.58255784400006 meters Centerline goodness : 0.200621 Centerline is valid? [False, False] Translation: X:4.89, Y:0.74, Z:1.70 [[ 9.98419880e-01 5.97736266e-03 -5.58749851e-02 4.88776675e+00] [-5.81893805e-03 9.99978577e-01 2.99760582e-03 7.37992626e-01] [ 5.58917058e-02 -2.66773617e-03 9.98433273e-01 1.70224675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.61255784400004 meters SLAMing on 497.64255784400007 meters Centerline goodness : 0.159173 Centerline is valid? [False, False] Translation: X:4.88, Y:0.74, Z:1.70 [[ 9.98479992e-01 5.98297714e-03 -5.47896762e-02 4.88462547e+00] [-5.80539542e-03 9.99977369e-01 3.39973837e-03 7.35672460e-01] [ 5.48087768e-02 -3.07649501e-03 9.98492130e-01 1.70305254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.67255784400004 meters SLAMing on 497.70255784400007 meters SLAMing on 497.73255784400004 meters Centerline goodness : 0.117560 Centerline is valid? [False, False] Translation: X:4.89, Y:0.73, Z:1.70 [[ 9.98458949e-01 6.85809045e-03 -5.50698993e-02 4.88578852e+00] [-6.64298216e-03 9.99969578e-01 4.08820131e-03 7.34295884e-01] [ 5.50962612e-02 -3.71607283e-03 9.98474132e-01 1.70226689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76255784400007 meters Centerline goodness : 0.061492 Centerline is valid? [False, False] Translation: X:4.89, Y:0.73, Z:1.70 [[ 9.98472060e-01 6.93532518e-03 -5.48219512e-02 4.88507278e+00] [-6.72406303e-03 9.99969244e-01 4.03712014e-03 7.34805791e-01] [ 5.48482639e-02 -3.66232541e-03 9.98487985e-01 1.70237026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.79255784400004 meters SLAMing on 497.8225578440001 meters Centerline goodness : 0.163649 Centerline is valid? [False, False] Translation: X:4.88, Y:0.74, Z:1.70 [[ 9.98493696e-01 7.06739721e-03 -5.44094766e-02 4.88398001e+00] [-6.86272169e-03 9.99968659e-01 3.94768294e-03 7.35099515e-01] [ 5.44356712e-02 -3.56833943e-03 9.98510904e-01 1.70234118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.85255784400005 meters Centerline goodness : 0.181903 Centerline is valid? [False, False] Translation: X:4.88, Y:0.73, Z:1.70 [[ 9.98497073e-01 7.10315741e-03 -5.43428003e-02 4.88380272e+00] [-6.89504846e-03 9.99968164e-01 4.01608979e-03 7.34591514e-01] [ 5.43695972e-02 -3.63535766e-03 9.98514262e-01 1.70230256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8825578440001 meters Centerline goodness : 0.155792 Centerline is valid? [False, False] Translation: X:4.88, Y:0.73, Z:1.70 [[ 9.98502506e-01 7.31926485e-03 -5.42141505e-02 4.88336791e+00] [-7.08861775e-03 9.99964994e-01 4.44544541e-03 7.32662233e-01] [ 5.42447901e-02 -4.05448500e-03 9.98519436e-01 1.70244187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.91255784400005 meters Centerline goodness : 0.131143 Centerline is valid? [False, False] Translation: X:4.90, Y:0.74, Z:1.70 [[ 9.98561149e-01 -4.02073311e-04 -5.36234082e-02 4.90265430e+00] [ 7.15241555e-04 9.99982802e-01 5.82107784e-03 7.36229903e-01] [ 5.36201455e-02 -5.85105587e-03 9.98544263e-01 1.70425017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9425578440001 meters Centerline goodness : 0.153534 Centerline is valid? [False, False] Translation: X:4.90, Y:0.73, Z:1.70 [[ 9.98556955e-01 -2.55374498e-04 -5.37023512e-02 4.90299140e+00] [ 5.85513984e-04 9.99981028e-01 6.13193651e-03 7.34813343e-01] [ 5.36997664e-02 -6.15453133e-03 9.98538160e-01 1.70405235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.97255784400005 meters Centerline goodness : 0.153534 Centerline is valid? [False, False] Translation: X:4.90, Y:0.73, Z:1.70 [[ 9.98556955e-01 -2.55374498e-04 -5.37023512e-02 4.90299140e+00] [ 5.85513984e-04 9.99981028e-01 6.13193651e-03 7.34813343e-01] [ 5.36997664e-02 -6.15453133e-03 9.98538160e-01 1.70405235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0025578440001 meters Centerline goodness : 0.157974 Centerline is valid? [False, False] Translation: X:4.90, Y:0.73, Z:1.70 [[ 9.98544665e-01 -3.94831645e-06 -5.39310014e-02 4.90413253e+00] [ 3.74816672e-04 9.99976354e-01 6.86660650e-03 7.30546788e-01] [ 5.39296991e-02 -6.87682752e-03 9.98521055e-01 1.70332574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.03255784400005 meters Centerline goodness : 0.083765 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98519098e-01 5.57974554e-03 -5.41154015e-02 4.92569337e+00] [-5.37576524e-03 9.99977890e-01 3.91418910e-03 7.26519956e-01] [ 5.41360452e-02 -3.61748088e-03 9.98527016e-01 1.70481650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0625578440001 meters Centerline goodness : 0.146906 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 9.98511557e-01 5.78987325e-03 -5.42323557e-02 4.92595909e+00] [-5.55878444e-03 9.99974821e-01 4.41096384e-03 7.24090336e-01] [ 5.42565291e-02 -4.10293240e-03 9.98518600e-01 1.70490659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.09255784400005 meters Centerline goodness : 0.111965 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.71 [[ 9.98508075e-01 5.98355628e-03 -5.42754145e-02 4.92597920e+00] [-5.72869472e-03 9.99971829e-01 4.85007410e-03 7.22003011e-01] [ 5.43029062e-02 -4.53191088e-03 9.98514224e-01 1.70508344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1225578440001 meters Centerline goodness : 0.150791 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.71 [[ 0.99849651 0.00625004 -0.05445786 4.92646921] [-0.00595952 0.99996714 0.00549547 0.71850353] [ 0.05449042 -0.00516267 0.99850095 1.70508539] [ 0. 0. 0. 1. ]] SLAMing on 498.15255784400006 meters Centerline goodness : 0.132445 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.9984943 0.00629956 -0.05449269 4.92672796] [-0.00600052 0.99996604 0.00564961 0.71747484] [ 0.05452643 -0.00531412 0.99849819 1.70481185] [ 0. 0. 0. 1. ]] SLAMing on 498.1825578440001 meters Centerline goodness : 0.150799 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99849528 0.00634021 -0.05447 4.92675048] [-0.00603768 0.99996543 0.0057169 0.71703775] [ 0.05450436 -0.00537942 0.99849904 1.70467354] [ 0. 0. 0. 1. ]] SLAMing on 498.21255784400006 meters Centerline goodness : 0.113583 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99849701 0.00645017 -0.05442538 4.92663012] [-0.00614103 0.99996406 0.00584539 0.71672931] [ 0.05446113 -0.00550237 0.99850073 1.70465987] [ 0. 0. 0. 1. ]] SLAMing on 498.2425578440001 meters Centerline goodness : 0.154733 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99850119 0.00672113 -0.05431568 4.92663539] [-0.00640153 0.99996117 0.00605601 0.71667705] [ 0.05435428 -0.00569923 0.99850545 1.70421426] [ 0. 0. 0. 1. ]] SLAMing on 498.27255784400006 meters Centerline goodness : 0.151909 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99849956 0.00671555 -0.05434644 4.92698157] [-0.0063985 0.99996149 0.00600589 0.71683163] [ 0.05438468 -0.00564915 0.99850408 1.70377764] [ 0. 0. 0. 1. ]] SLAMing on 498.30255784400003 meters Centerline goodness : 0.140651 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99849486 0.0066717 -0.05443804 4.92749966] [-0.00636031 0.99996242 0.00589135 0.71722567] [ 0.0544753 -0.00553624 0.99849977 1.70330783] [ 0. 0. 0. 1. ]] SLAMing on 498.33255784400006 meters Centerline goodness : 0.120337 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99849282 0.00661087 -0.05448292 4.92781265] [-0.00630812 0.99996371 0.00572678 0.71789535] [ 0.05451881 -0.00537447 0.99849828 1.70292644] [ 0. 0. 0. 1. ]] SLAMing on 498.36255784400004 meters Centerline goodness : 0.152003 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99849829 0.00658124 -0.05438617 4.9276254 ] [-0.00628917 0.99996488 0.00553959 0.71900352] [ 0.05442072 -0.00518923 0.99850461 1.70278062] [ 0. 0. 0. 1. ]] SLAMing on 498.39255784400007 meters Centerline goodness : 0.118993 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99850955 0.0065408 -0.05418388 4.92705849] [-0.00626266 0.99996634 0.00530145 0.72044962] [ 0.05421673 -0.00495421 0.9985169 1.70281094] [ 0. 0. 0. 1. ]] SLAMing on 498.42255784400004 meters Centerline goodness : 0.148097 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 9.98521158e-01 6.58110142e-03 -5.39646755e-02 4.92659334e+00] [-6.33177167e-03 9.99968482e-01 4.78991150e-03 7.23863855e-01] [ 5.39944976e-02 -4.44113597e-03 9.98531357e-01 1.70252137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.45255784400007 meters Centerline goodness : 0.113583 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98520708e-01 6.44720531e-03 -5.39891631e-02 4.92674196e+00] [-6.22025358e-03 9.99971103e-01 4.37063625e-03 7.26000120e-01] [ 5.40157813e-02 -4.02834452e-03 9.98531956e-01 1.70227108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48255784400004 meters Centerline goodness : 0.145290 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98522175e-01 6.31952635e-03 -5.39771187e-02 4.92679575e+00] [-6.11038487e-03 9.99973175e-01 4.03878617e-03 7.27724330e-01] [ 5.40011940e-02 -3.70299658e-03 9.98534005e-01 1.70206251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.51255784400007 meters Centerline goodness : 0.114310 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98525595e-01 6.15327077e-03 -5.39330451e-02 4.92669960e+00] [-5.96566578e-03 9.99975585e-01 3.63878145e-03 7.29838818e-01] [ 5.39541188e-02 -3.31166989e-03 9.98537924e-01 1.70197807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54255784400004 meters Centerline goodness : 0.151425 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98528626e-01 6.10360408e-03 -5.38825483e-02 4.92649735e+00] [-5.91773957e-03 9.99975980e-01 3.60831322e-03 7.29698532e-01] [ 5.39032778e-02 -3.28414115e-03 9.98540761e-01 1.70209256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5725578440001 meters Centerline goodness : 0.143916 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98536752e-01 6.10693195e-03 -5.37313651e-02 4.92598650e+00] [-5.91487724e-03 9.99975540e-01 3.73264807e-03 7.28790017e-01] [ 5.37528459e-02 -3.40937185e-03 9.98548450e-01 1.70231450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60255784400005 meters Centerline goodness : 0.139201 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98546521e-01 6.16240170e-03 -5.35431596e-02 4.92539498e+00] [-5.96004271e-03 9.99974484e-01 3.93821638e-03 7.27669039e-01] [ 5.35660622e-02 -3.61337275e-03 9.98557770e-01 1.70253975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6325578440001 meters Centerline goodness : 0.141716 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98549652e-01 6.24614823e-03 -5.34750260e-02 4.92529073e+00] [-6.02915994e-03 9.99972928e-01 4.21811075e-03 7.26247959e-01] [ 5.34999253e-02 -3.88958353e-03 9.98560278e-01 1.70247911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66255784400005 meters Centerline goodness : 0.132261 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98537202e-01 6.28890020e-03 -5.37020050e-02 4.92606285e+00] [-6.06482157e-03 9.99972214e-01 4.33457743e-03 7.25610578e-01] [ 5.37277726e-02 -4.00254374e-03 9.98547598e-01 1.70222041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6925578440001 meters Centerline goodness : 0.152938 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98527988e-01 6.32491219e-03 -5.38688457e-02 4.92678738e+00] [-6.09816756e-03 9.99971846e-01 4.37252992e-03 7.25557283e-01] [ 5.38949850e-02 -4.03759225e-03 9.98538446e-01 1.70177740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72255784400005 meters Centerline goodness : 0.133781 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98524796e-01 6.34050524e-03 -5.39261430e-02 4.92716501e+00] [-6.11583536e-03 9.99971922e-01 4.33025500e-03 7.25989397e-01] [ 5.39520849e-02 -3.99406358e-03 9.98535538e-01 1.70141868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7525578440001 meters Centerline goodness : 0.148772 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98531701e-01 6.33251276e-03 -5.37990854e-02 4.92684976e+00] [-6.11231662e-03 9.99972261e-01 4.25648853e-03 7.26452787e-01] [ 5.38245473e-02 -3.92140169e-03 9.98542709e-01 1.70136771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78255784400005 meters Centerline goodness : 0.157414 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98546153e-01 6.24150652e-03 -5.35408715e-02 4.92586555e+00] [-6.02985577e-03 9.99973359e-01 4.11369758e-03 7.26578426e-01] [ 5.35651207e-02 -3.78487316e-03 9.98557185e-01 1.70177912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8125578440001 meters Centerline goodness : 0.131195 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98540437e-01 6.19260465e-03 -5.36530353e-02 4.92620958e+00] [-5.98457955e-03 9.99973943e-01 4.03702445e-03 7.26791657e-01] [ 5.36766370e-02 -3.71004130e-03 9.98551478e-01 1.70164755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84255784400005 meters Centerline goodness : 0.155737 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98533005e-01 6.20234914e-03 -5.37900487e-02 4.92686940e+00] [-5.99504058e-03 9.99973971e-01 4.01453094e-03 7.27087934e-01] [ 5.38135481e-02 -3.68616812e-03 9.98544197e-01 1.70114175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8725578440001 meters Centerline goodness : 0.157761 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98526617e-01 6.20833908e-03 -5.39077984e-02 4.92744656e+00] [-6.00142788e-03 9.99973994e-01 3.99927563e-03 7.27370453e-01] [ 5.39312253e-02 -3.66985940e-03 9.98537909e-01 1.70069931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90255784400006 meters Centerline goodness : 0.131248 Centerline is valid? [False, False] Translation: X:4.95, Y:0.73, Z:1.70 [[ 9.98528506e-01 -1.92433580e-03 -5.41952064e-02 4.94800031e+00] [ 2.17814517e-03 9.99986934e-01 4.62456747e-03 7.31943575e-01] [ 5.41855991e-02 -4.73580747e-03 9.98519651e-01 1.70186864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.9325578440001 meters Centerline goodness : 0.148453 Centerline is valid? [False, False] Translation: X:4.95, Y:0.73, Z:1.70 [[ 9.98525120e-01 -1.90777552e-03 -5.42581252e-02 4.94824985e+00] [ 2.16838288e-03 9.99986393e-01 4.74463909e-03 7.31014532e-01] [ 5.42483352e-02 -4.85529371e-03 9.98515671e-01 1.70177456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96255784400006 meters Centerline goodness : 0.146660 Centerline is valid? [False, False] Translation: X:4.95, Y:0.73, Z:1.70 [[ 9.98520819e-01 -1.89073131e-03 -5.43378291e-02 4.94849198e+00] [ 2.15854332e-03 9.99985810e-01 4.87038153e-03 7.30181885e-01] [ 5.43278495e-02 -4.98046792e-03 9.98510731e-01 1.70172415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.9925578440001 meters Centerline goodness : 0.122755 Centerline is valid? [False, False] Translation: X:4.95, Y:0.73, Z:1.70 [[ 9.98514549e-01 -1.85152196e-03 -5.44542666e-02 4.94883971e+00] [ 2.12677437e-03 9.99985252e-01 4.99723012e-03 7.29463786e-01] [ 5.44442111e-02 -5.10561892e-03 9.98503761e-01 1.70167398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02255784400006 meters Centerline goodness : 0.151236 Centerline is valid? [False, False] Translation: X:4.95, Y:0.73, Z:1.70 [[ 9.98508888e-01 -1.78344127e-03 -5.45602405e-02 4.94899639e+00] [ 2.07011256e-03 9.99984347e-01 5.19815220e-03 7.28391384e-01] [ 5.45501159e-02 -5.30334702e-03 9.98496950e-01 1.70187701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.05255784400003 meters Centerline goodness : 0.124537 Centerline is valid? [False, False] Translation: X:4.95, Y:0.73, Z:1.70 [[ 9.98508147e-01 -1.69192022e-03 -5.45767145e-02 4.94882798e+00] [ 1.99351855e-03 9.99983040e-01 5.47216868e-03 7.26840098e-01] [ 5.45665304e-02 -5.57280471e-03 9.98494586e-01 1.70225162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08255784400006 meters Centerline goodness : 0.113985 Centerline is valid? [False, False] Translation: X:4.95, Y:0.72, Z:1.70 [[ 9.98523153e-01 -1.56201507e-03 -5.43053690e-02 4.94768131e+00] [ 1.89191027e-03 9.99980066e-01 6.02393981e-03 7.23650158e-01] [ 5.42948770e-02 -6.11778426e-03 9.98506204e-01 1.70304993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.11255784400004 meters Centerline goodness : 0.141600 Centerline is valid? [False, False] Translation: X:4.95, Y:0.72, Z:1.70 [[ 9.98529531e-01 -1.39809961e-03 -5.41924355e-02 4.94737379e+00] [ 1.74895806e-03 9.99977814e-01 6.42742255e-03 7.21709692e-01] [ 5.41822470e-02 -6.51275152e-03 9.98509824e-01 1.70314671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14255784400007 meters Centerline goodness : 0.131313 Centerline is valid? [False, False] Translation: X:4.95, Y:0.72, Z:1.70 [[ 9.98537284e-01 -1.27414431e-03 -5.40524706e-02 4.94700025e+00] [ 1.64165487e-03 9.99975835e-01 6.75528916e-03 7.19999638e-01] [ 5.40425573e-02 -6.83414359e-03 9.98515246e-01 1.70326203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.17255784400004 meters Centerline goodness : 0.163282 Centerline is valid? [False, False] Translation: X:4.97, Y:0.72, Z:1.70 [[ 9.98605694e-01 5.01758558e-03 -5.25498892e-02 4.96853209e+00] [-4.81147715e-03 9.99980232e-01 4.04792308e-03 7.16416046e-01] [ 5.25691612e-02 -3.78943645e-03 9.98610096e-01 1.70387237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20255784400007 meters Centerline goodness : 0.147455 Centerline is valid? [False, False] Translation: X:4.97, Y:0.72, Z:1.70 [[ 9.98601374e-01 5.07539988e-03 -5.26263891e-02 4.96890764e+00] [-4.86176858e-03 9.99979418e-01 4.18661901e-03 7.15654377e-01] [ 5.26465547e-02 -3.92490617e-03 9.98605495e-01 1.70361421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.23255784400004 meters Centerline goodness : 0.151947 Centerline is valid? [False, False] Translation: X:4.97, Y:0.72, Z:1.70 [[ 9.98588717e-01 5.11955984e-03 -5.28617521e-02 4.96965736e+00] [-4.90365869e-03 9.99979102e-01 4.21315234e-03 7.15686565e-01] [ 5.28822169e-02 -3.94799040e-03 9.98592952e-01 1.70333352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26255784400007 meters Centerline goodness : 0.149982 Centerline is valid? [False, False] Translation: X:4.97, Y:0.72, Z:1.70 [[ 9.98582887e-01 5.15149175e-03 -5.29686705e-02 4.97002671e+00] [-4.93744473e-03 9.99979112e-01 4.17107567e-03 7.16158824e-01] [ 5.29890513e-02 -3.90363490e-03 9.98587463e-01 1.70312721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.29255784400004 meters Centerline goodness : 0.148832 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.70 [[ 9.98685029e-01 6.15561924e-03 -5.08951936e-02 5.01449818e+00] [-5.93383217e-03 9.99972235e-01 4.50767460e-03 7.19670962e-01] [ 5.09215280e-02 -4.19974360e-03 9.98693827e-01 1.70455399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3225578440001 meters Centerline goodness : 0.126965 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.70 [[ 9.98691416e-01 6.13298816e-03 -5.07724524e-02 5.01425631e+00] [-5.91600559e-03 9.99972719e-01 4.42280870e-03 7.20088583e-01] [ 5.07981924e-02 -4.11665097e-03 9.98700454e-01 1.70443810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.35255784400005 meters Centerline goodness : 0.162010 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.70 [[ 9.98708283e-01 6.07062731e-03 -5.04471296e-02 5.01348140e+00] [-5.86456741e-03 9.99973849e-01 4.23168788e-03 7.21015297e-01] [ 5.04714994e-02 -3.93037114e-03 9.98717768e-01 1.70428468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3825578440001 meters Centerline goodness : 0.148732 Centerline is valid? [False, False] Translation: X:4.97, Y:0.72, Z:1.70 [[ 9.98583488e-01 6.13062803e-03 -5.28529425e-02 4.96689846e+00] [-5.89731960e-03 9.99972172e-01 4.56912028e-03 7.18413396e-01] [ 5.28794833e-02 -4.25095737e-03 9.98591853e-01 1.70362032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.41255784400005 meters Centerline goodness : 0.147586 Centerline is valid? [False, False] Translation: X:4.97, Y:0.72, Z:1.70 [[ 9.98589537e-01 6.10011941e-03 -5.27420596e-02 4.96656054e+00] [-5.87653942e-03 9.99973083e-01 4.39316237e-03 7.19641533e-01] [ 5.27674388e-02 -4.07702519e-03 9.98598506e-01 1.70364664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4425578440001 meters Centerline goodness : 0.156115 Centerline is valid? [False, False] Translation: X:4.96, Y:0.72, Z:1.70 [[ 9.98620154e-01 6.04874589e-03 -5.21651286e-02 4.96492125e+00] [-5.84872345e-03 9.99974951e-01 3.98621206e-03 7.22065222e-01] [ 5.21879335e-02 -3.67561229e-03 9.98630517e-01 1.70385108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.47255784400005 meters Centerline goodness : 0.154118 Centerline is valid? [False, False] Translation: X:4.96, Y:0.72, Z:1.70 [[ 9.98628479e-01 5.91185081e-03 -5.20212566e-02 4.96446559e+00] [-5.73138027e-03 9.99977032e-01 3.61766474e-03 7.23803732e-01] [ 5.20414488e-02 -3.31454943e-03 9.98639425e-01 1.70391543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5025578440001 meters Centerline goodness : 0.158168 Centerline is valid? [False, False] Translation: X:4.96, Y:0.73, Z:1.70 [[ 9.98632051e-01 5.79448916e-03 -5.19658641e-02 4.96434389e+00] [-5.63412799e-03 9.99978906e-01 3.23185502e-03 7.25802483e-01] [ 5.19834949e-02 -2.93465168e-03 9.98643632e-01 1.70378057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.53255784400005 meters Centerline goodness : 0.154221 Centerline is valid? [False, False] Translation: X:4.96, Y:0.73, Z:1.70 [[ 9.98625653e-01 5.67334750e-03 -5.21019915e-02 4.96490111e+00] [-5.53640048e-03 9.99980831e-01 2.77239324e-03 7.28352911e-01] [ 5.21167215e-02 -2.48012552e-03 9.98637921e-01 1.70331878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5625578440001 meters Centerline goodness : 0.154519 Centerline is valid? [False, False] Translation: X:4.97, Y:0.73, Z:1.70 [[ 9.98615503e-01 5.56346789e-03 -5.23079828e-02 4.96573747e+00] [-5.45015626e-03 9.99982483e-01 2.30863221e-03 7.31009650e-01] [ 5.23199106e-02 -2.02034924e-03 9.98628332e-01 1.70272979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.59255784400005 meters Centerline goodness : 0.155270 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98590021e-01 5.30402257e-03 -5.28189190e-02 4.96749352e+00] [-5.23274512e-03 9.99985203e-01 1.48766830e-03 7.35280950e-01] [ 5.28260281e-02 -1.20918278e-03 9.98602999e-01 1.70180369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6225578440001 meters Centerline goodness : 0.156346 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98580858e-01 5.12599911e-03 -5.30093749e-02 4.96797915e+00] [-5.07127752e-03 9.99986460e-01 1.16675675e-03 7.36551569e-01] [ 5.30146379e-02 -8.96275704e-04 9.98593333e-01 1.70172901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.65255784400006 meters Centerline goodness : 0.155213 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98571583e-01 5.01426701e-03 -5.31944599e-02 4.96824547e+00] [-4.96813009e-03 9.99987159e-01 9.99523230e-04 7.37211467e-01] [ 5.31987887e-02 -7.33818497e-04 9.98583672e-01 1.70202831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6825578440001 meters Centerline goodness : 0.154739 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98566894e-01 4.98841866e-03 -5.32848402e-02 4.96821231e+00] [-4.94359462e-03 9.99987307e-01 9.72986315e-04 7.37519349e-01] [ 5.32890175e-02 -7.08173273e-04 9.98578880e-01 1.70240694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.71255784400006 meters Centerline goodness : 0.144069 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98562193e-01 4.92888798e-03 -5.33783837e-02 4.96835883e+00] [-4.88834272e-03 9.99987656e-01 8.90115119e-04 7.38000226e-01] [ 5.33821121e-02 -6.27903472e-04 9.98573961e-01 1.70258183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7425578440001 meters Centerline goodness : 0.155696 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98557983e-01 4.86157685e-03 -5.34632572e-02 4.96879333e+00] [-4.82494370e-03 9.99988028e-01 8.14252752e-04 7.38340484e-01] [ 5.34665757e-02 -5.55121379e-04 9.98569485e-01 1.70229898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.77255784400006 meters Centerline goodness : 0.166520 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98543464e-01 4.62990606e-03 -5.37541998e-02 4.96977463e+00] [-4.60197222e-03 9.99989204e-01 6.43424966e-04 7.38357075e-01] [ 5.37565985e-02 -3.95112461e-04 9.98553991e-01 1.70195129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80255784400003 meters Centerline goodness : 0.157891 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98538598e-01 4.63569423e-03 -5.38440183e-02 4.96991840e+00] [-4.60329885e-03 9.99989141e-01 7.25657404e-04 7.37933771e-01] [ 5.38467976e-02 -4.76736819e-04 9.98549095e-01 1.70208855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.83255784400006 meters Centerline goodness : 0.108018 Centerline is valid? [False, False] Translation: X:4.99, Y:0.74, Z:1.70 [[ 9.98546969e-01 -3.38919031e-03 -5.37816261e-02 4.98991715e+00] [ 3.49879976e-03 9.99991990e-01 1.94402340e-03 7.42518862e-01] [ 5.37746066e-02 -2.12936982e-03 9.98550829e-01 1.70457411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86255784400004 meters Centerline goodness : 0.116288 Centerline is valid? [False, False] Translation: X:4.99, Y:0.74, Z:1.70 [[ 9.98541134e-01 -3.38888784e-03 -5.38898771e-02 4.99012929e+00] [ 3.50231929e-03 9.99991846e-01 2.01057556e-03 7.41974207e-01] [ 5.38826241e-02 -2.19638196e-03 9.98544861e-01 1.70473438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.89255784400007 meters Centerline goodness : 0.116288 Centerline is valid? [False, False] Translation: X:4.99, Y:0.74, Z:1.70 [[ 9.98541134e-01 -3.38888784e-03 -5.38898771e-02 4.99012929e+00] [ 3.50231929e-03 9.99991846e-01 2.01057556e-03 7.41974207e-01] [ 5.38826241e-02 -2.19638196e-03 9.98544861e-01 1.70473438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92255784400004 meters Centerline goodness : 0.184061 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.71 [[ 9.98398762e-01 2.40953835e-03 -5.65164159e-02 5.00633711e+00] [-2.37558647e-03 9.99996955e-01 6.67919646e-04 7.38008642e-01] [ 5.65178532e-02 -5.32590514e-04 9.98401447e-01 1.70869370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.95255784400007 meters Centerline goodness : 0.113838 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.71 [[ 9.98406071e-01 2.38379191e-03 -5.63882597e-02 5.00611007e+00] [-2.35259127e-03 9.99997041e-01 6.19693615e-04 7.38178303e-01] [ 5.63895701e-02 -4.86047340e-04 9.98408724e-01 1.70854066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98255784400004 meters Centerline goodness : 0.102400 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.71 [[ 9.98422077e-01 2.41076036e-03 -5.61029854e-02 5.00526571e+00] [-2.38190098e-03 9.99996994e-01 5.81263017e-04 7.38686208e-01] [ 5.61042180e-02 -4.46714073e-04 9.98424818e-01 1.70866995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.01255784400007 meters Centerline goodness : 0.155620 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98442303e-01 2.41622223e-03 -5.57416300e-02 5.00402694e+00] [-2.39171296e-03 9.99997012e-01 5.06400795e-04 7.39338809e-01] [ 5.57426870e-02 -3.72293997e-04 9.98445098e-01 1.70909964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04255784400004 meters Centerline goodness : 0.159776 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98456703e-01 2.36620270e-03 -5.54852502e-02 5.00274547e+00] [-2.34608188e-03 9.99997156e-01 4.27767499e-04 7.39588609e-01] [ 5.54861046e-02 -2.96934387e-04 9.98459415e-01 1.71000614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0725578440001 meters Centerline goodness : 0.145710 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98450794e-01 2.38428196e-03 -5.55907182e-02 5.00294894e+00] [-2.36089780e-03 9.99997095e-01 4.86317876e-04 7.39233707e-01] [ 5.55917163e-02 -3.54320465e-04 9.98453522e-01 1.71008456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10255784400005 meters Centerline goodness : 0.153089 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98447161e-01 2.42738869e-03 -5.56540641e-02 5.00316327e+00] [-2.39885439e-03 9.99996955e-01 5.79507411e-04 7.38866782e-01] [ 5.56553014e-02 -4.45101533e-04 9.98449943e-01 1.70999754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1325578440001 meters Centerline goodness : 0.153868 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98446262e-01 2.47905426e-03 -5.56679175e-02 5.00329759e+00] [-2.44453820e-03 9.99996775e-01 6.88120506e-04 7.38427257e-01] [ 5.56694439e-02 -5.50968995e-04 9.98449102e-01 1.70987352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16255784400005 meters Centerline goodness : 0.159918 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98434691e-01 2.49254967e-03 -5.58744643e-02 5.00436454e+00] [-2.45243782e-03 9.99996684e-01 7.86448818e-04 7.37595424e-01] [ 5.58762392e-02 -6.48189133e-04 9.98437492e-01 1.70909033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1925578440001 meters Centerline goodness : 0.168707 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.71 [[ 9.98424916e-01 2.48380125e-03 -5.60492408e-02 5.00502610e+00] [-2.44503520e-03 9.99996722e-01 7.60207416e-04 7.37643818e-01] [ 5.60509452e-02 -6.21967659e-04 9.98427716e-01 1.70875126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22255784400005 meters Centerline goodness : 0.136919 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.71 [[ 9.98422553e-01 2.49280161e-03 -5.60909285e-02 5.00515791e+00] [-2.45905327e-03 9.99996752e-01 6.70683708e-04 7.38384156e-01] [ 5.60924182e-02 -5.31695159e-04 9.98425439e-01 1.70865547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2525578440001 meters Centerline goodness : 0.138611 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.71 [[ 9.98420498e-01 2.52906218e-03 -5.61258629e-02 5.00520058e+00] [-2.50576220e-03 9.99996743e-01 4.85508705e-04 7.39861450e-01] [ 5.61269080e-02 -3.44103777e-04 9.98423583e-01 1.70862674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28255784400005 meters Centerline goodness : 0.155487 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98431241e-01 2.50654127e-03 -5.59354556e-02 5.00451538e+00] [-2.49737194e-03 9.99996854e-01 2.33827081e-04 7.41470086e-01] [ 5.59358657e-02 -9.37686255e-05 9.98434359e-01 1.70884664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3125578440001 meters Centerline goodness : 0.149965 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98461998e-01 2.57646504e-03 -5.53805076e-02 5.00261262e+00] [-2.58939866e-03 9.99996634e-01 -1.61785981e-04 7.44326431e-01] [ 5.53799044e-02 3.04939366e-04 9.98465309e-01 1.70943382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34255784400005 meters Centerline goodness : 0.126286 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98465194e-01 2.45997658e-03 -5.53281649e-02 5.00232494e+00] [-2.49142249e-03 9.99996772e-01 -4.99384162e-04 7.46083243e-01] [ 5.53267578e-02 6.36463538e-04 9.98468099e-01 1.70953734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3725578440001 meters Centerline goodness : 0.156647 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98463512e-01 2.30314841e-03 -5.53652548e-02 5.00242444e+00] [-2.35621297e-03 9.99996825e-01 -8.93188019e-04 7.48039893e-01] [ 5.53630219e-02 1.02226798e-03 9.98465768e-01 1.70946737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40255784400006 meters Centerline goodness : 0.149598 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98462647e-01 2.14460083e-03 -5.53872116e-02 5.00247237e+00] [-2.21757658e-03 9.99996752e-01 -1.25612956e-03 7.49770129e-01] [ 5.53843378e-02 1.37702383e-03 9.98464160e-01 1.70939225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.4325578440001 meters Centerline goodness : 0.149356 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98452669e-01 1.97757510e-03 -5.55729864e-02 5.00296632e+00] [-2.07130769e-03 9.99996528e-01 -1.62910922e-03 7.51442965e-01] [ 5.55695718e-02 1.74169721e-03 9.98453298e-01 1.70927681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46255784400006 meters Centerline goodness : 0.149325 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98447581e-01 1.82566107e-03 -5.56695127e-02 5.00330775e+00] [-1.93734019e-03 9.99996218e-01 -1.95220790e-03 7.52966166e-01] [ 5.56657381e-02 2.05702804e-03 9.98447342e-01 1.70907250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.4925578440001 meters Centerline goodness : 0.152385 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98433020e-01 1.51414850e-03 -5.59393543e-02 5.00382902e+00] [-1.64623066e-03 9.99995965e-01 -2.31516182e-03 7.54180325e-01] [ 5.59356231e-02 2.40362309e-03 9.98431484e-01 1.70931906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52255784400006 meters Centerline goodness : 0.156072 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98427228e-01 1.45204341e-03 -5.60442901e-02 5.00386568e+00] [-1.58044651e-03 9.99996227e-01 -2.24684627e-03 7.53634620e-01] [ 5.60408162e-02 2.33188749e-03 9.98425755e-01 1.70971315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.55255784400003 meters Centerline goodness : 0.174012 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98419980e-01 1.37875777e-03 -5.61750980e-02 5.00396164e+00] [-1.50091871e-03 9.99996600e-01 -2.13251346e-03 7.52778793e-01] [ 5.61719668e-02 2.21345831e-03 9.98418655e-01 1.71013933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58255784400006 meters Centerline goodness : 0.166290 Centerline is valid? [False, False] Translation: X:5.02, Y:0.76, Z:1.71 [[ 9.98394330e-01 -6.95013774e-03 -5.62179437e-02 5.02389689e+00] [ 6.90268897e-03 9.99975637e-01 -1.03815406e-03 7.56800751e-01] [ 5.62237894e-02 6.48432146e-04 9.98417981e-01 1.71262894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.61255784400004 meters Centerline goodness : 0.111870 Centerline is valid? [False, False] Translation: X:5.04, Y:0.76, Z:1.71 [[ 9.98353017e-01 -1.68423308e-02 -5.48414929e-02 5.04430550e+00] [ 1.68122970e-02 9.99858154e-01 -1.00898705e-03 7.57457716e-01] [ 5.48507075e-02 8.53137991e-05 9.98494563e-01 1.71409085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64255784400007 meters Centerline goodness : 0.094120 Centerline is valid? [False, False] Translation: X:5.03, Y:0.75, Z:1.71 [[ 9.98559272e-01 -1.04152467e-02 -5.26393614e-02 5.02703721e+00] [ 1.03402734e-02 9.99945099e-01 -1.69642886e-03 7.48693803e-01] [ 5.26541401e-02 1.14967938e-03 9.98612147e-01 1.71116026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.67255784400004 meters Centerline goodness : 0.103119 Centerline is valid? [False, False] Translation: X:5.03, Y:0.75, Z:1.71 [[ 9.98568777e-01 -1.02422315e-02 -5.24928010e-02 5.02662517e+00] [ 1.01904398e-02 9.99947290e-01 -1.25420421e-03 7.46706147e-01] [ 5.25028799e-02 7.17484438e-04 9.98620515e-01 1.71132104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70255784400007 meters Centerline goodness : 0.106991 Centerline is valid? [False, False] Translation: X:5.03, Y:0.75, Z:1.71 [[ 9.98569026e-01 -1.01118749e-02 -5.25133364e-02 5.02664942e+00] [ 1.00755039e-02 9.99948783e-01 -9.57298704e-04 7.45338246e-01] [ 5.25203269e-02 4.26830510e-04 9.98619764e-01 1.71141883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.73255784400004 meters Centerline goodness : 0.152213 Centerline is valid? [False, False] Translation: X:5.03, Y:0.74, Z:1.71 [[ 9.98570374e-01 -1.00107613e-02 -5.25070807e-02 5.02663084e+00] [ 9.98679370e-03 9.99949872e-01 -7.18820496e-04 7.44129537e-01] [ 5.25116446e-02 1.93415469e-04 9.98620293e-01 1.71145125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76255784400007 meters Centerline goodness : 0.175589 Centerline is valid? [False, False] Translation: X:5.03, Y:0.74, Z:1.71 [[ 9.98566634e-01 -9.94105978e-03 -5.25913744e-02 5.02701750e+00] [ 9.92573683e-03 9.99950586e-01 -5.52541969e-04 7.43094257e-01] [ 5.25942685e-02 2.97418327e-05 9.98615963e-01 1.71120813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.79255784400004 meters Centerline goodness : 0.135977 Centerline is valid? [False, False] Translation: X:5.03, Y:0.74, Z:1.71 [[ 9.98550123e-01 -9.86469680e-03 -5.29182374e-02 5.02792516e+00] [ 9.85362682e-03 9.99951341e-01 -4.70093684e-04 7.42501081e-01] [ 5.29202998e-02 -5.20244576e-05 9.98598738e-01 1.71103928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8225578440001 meters Centerline goodness : 0.132392 Centerline is valid? [False, False] Translation: X:5.03, Y:0.74, Z:1.71 [[ 9.98549872e-01 -9.81922672e-03 -5.29314306e-02 5.02788782e+00] [ 9.80584060e-03 9.99951790e-01 -5.12596442e-04 7.43040804e-01] [ 5.29339121e-02 -7.18406029e-06 9.98598018e-01 1.71107938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.85255784400005 meters Centerline goodness : 0.160260 Centerline is valid? [False, False] Translation: X:5.05, Y:0.74, Z:1.71 [[ 9.98646037e-01 -1.32414729e-03 -5.20032608e-02 5.04842190e+00] [ 1.25146995e-03 9.99998194e-01 -1.43009097e-03 7.42243366e-01] [ 5.20050605e-02 1.36307416e-03 9.98645891e-01 1.71272908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8825578440001 meters Centerline goodness : 0.133549 Centerline is valid? [False, False] Translation: X:5.05, Y:0.74, Z:1.71 [[ 9.98654929e-01 -1.33094224e-03 -5.18320498e-02 5.04792758e+00] [ 1.24745536e-03 9.99997872e-01 -1.64303684e-03 7.43620896e-01] [ 5.18341263e-02 1.57616867e-03 9.98654464e-01 1.71272251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.91255784400005 meters Centerline goodness : 0.153584 Centerline is valid? [False, False] Translation: X:5.05, Y:0.75, Z:1.71 [[ 9.98705528e-01 -1.12186237e-03 -5.08528159e-02 5.04525467e+00] [ 1.03128839e-03 9.99997835e-01 -1.80730452e-03 7.45489381e-01] [ 5.08547334e-02 1.75252109e-03 9.98704523e-01 1.71294071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9425578440001 meters Centerline goodness : 0.131598 Centerline is valid? [False, False] Translation: X:5.07, Y:0.74, Z:1.71 [[ 9.98767984e-01 7.14043075e-03 -4.91073093e-02 5.06520840e+00] [-7.29422180e-03 9.99969036e-01 -2.95323761e-03 7.44958378e-01] [ 4.90847013e-02 3.30779878e-03 9.98789142e-01 1.71446375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.97255784400005 meters Centerline goodness : 0.107742 Centerline is valid? [False, False] Translation: X:5.05, Y:0.75, Z:1.71 [[ 9.98929197e-01 8.24998921e-04 -4.62577377e-02 5.04803160e+00] [-9.24281996e-04 9.99997315e-01 -2.12495403e-03 7.50098201e-01] [ 4.62558604e-02 2.16543382e-03 9.98927278e-01 1.71075531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0025578440001 meters Centerline goodness : 0.165529 Centerline is valid? [False, False] Translation: X:5.05, Y:0.75, Z:1.71 [[ 9.98928144e-01 7.25178522e-04 -4.62821529e-02 5.04816467e+00] [-8.36626423e-04 9.99996797e-01 -2.38868491e-03 7.51385413e-01] [ 4.62802725e-02 2.42484545e-03 9.98925551e-01 1.71059250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.03255784400005 meters Centerline goodness : 0.165433 Centerline is valid? [False, False] Translation: X:5.05, Y:0.75, Z:1.71 [[ 9.98920256e-01 6.34144287e-04 -4.64534191e-02 5.04876951e+00] [-7.58383113e-04 9.99996183e-01 -2.65690641e-03 7.52684276e-01] [ 4.64515569e-02 2.68926712e-03 9.98916924e-01 1.71025826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0625578440001 meters Centerline goodness : 0.166512 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.71 [[ 9.98894028e-01 4.56179105e-04 -4.70160834e-02 5.05056024e+00] [-6.14234779e-04 9.99994209e-01 -3.34734368e-03 7.56352938e-01] [ 4.70142841e-02 3.37252052e-03 9.98888524e-01 1.70947633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.09255784400005 meters Centerline goodness : 0.100477 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.71 [[ 9.98887495e-01 3.24466184e-04 -4.71557691e-02 5.05106149e+00] [-5.01679268e-04 9.99992857e-01 -3.74624962e-03 7.58530010e-01] [ 4.71542167e-02 3.76573897e-03 9.98880523e-01 1.70915445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1225578440001 meters Centerline goodness : 0.120071 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.71 [[ 9.98878768e-01 2.04141498e-04 -4.73409426e-02 5.05156454e+00] [-4.01793266e-04 9.99991243e-01 -4.16559201e-03 7.60939554e-01] [ 4.73396776e-02 4.17994269e-03 9.98870103e-01 1.70901418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.15255784400006 meters Centerline goodness : 0.096626 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.71 [[ 9.98879212e-01 2.07002117e-05 -4.73320086e-02 5.05152803e+00] [-2.40672110e-04 9.99989198e-01 -4.64172948e-03 7.63419761e-01] [ 4.73314012e-02 4.64791858e-03 9.98868427e-01 1.70895808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1825578440001 meters Centerline goodness : 0.109799 Centerline is valid? [False, False] Translation: X:5.05, Y:0.77, Z:1.71 [[ 9.98887712e-01 -3.59948113e-04 -4.71509153e-02 5.05078285e+00] [ 9.20470160e-05 9.99983843e-01 -5.68382739e-03 7.68850487e-01] [ 4.71521994e-02 5.67316524e-03 9.98871606e-01 1.70920997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.21255784400006 meters Centerline goodness : 0.158919 Centerline is valid? [False, False] Translation: X:5.05, Y:0.77, Z:1.71 [[ 9.98889384e-01 -5.59031717e-04 -4.71135469e-02 5.05066222e+00] [ 2.66700865e-04 9.99980677e-01 -6.21087291e-03 7.71626541e-01] [ 4.71161086e-02 6.19140979e-03 9.98870231e-01 1.70914551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2425578440001 meters Centerline goodness : 0.146805 Centerline is valid? [False, False] Translation: X:5.05, Y:0.77, Z:1.71 [[ 9.98890550e-01 -7.56854311e-04 -4.70860519e-02 5.05051095e+00] [ 4.42539101e-04 9.99977555e-01 -6.68540223e-03 7.74060686e-01] [ 4.70900549e-02 6.65714769e-03 9.98868464e-01 1.70921065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.27255784400006 meters Centerline goodness : 0.150886 Centerline is valid? [False, False] Translation: X:5.05, Y:0.78, Z:1.71 [[ 9.98895341e-01 -9.21382634e-04 -4.69813571e-02 5.05021709e+00] [ 5.89628083e-04 9.99974800e-01 -7.07477795e-03 7.76092762e-01] [ 4.69866917e-02 7.03926121e-03 9.98870712e-01 1.70920568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30255784400003 meters Centerline goodness : 0.131900 Centerline is valid? [False, False] Translation: X:5.05, Y:0.78, Z:1.71 [[ 9.98907237e-01 -1.26081186e-03 -4.67198288e-02 5.04919918e+00] [ 8.93562277e-04 9.99968547e-01 -7.88073042e-03 7.80046681e-01] [ 4.67282955e-02 7.83037157e-03 9.98876945e-01 1.70963659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.33255784400006 meters Centerline goodness : 0.162148 Centerline is valid? [False, False] Translation: X:5.05, Y:0.78, Z:1.71 [[ 9.98906354e-01 -1.39110421e-03 -4.67350087e-02 5.04901672e+00] [ 1.00834541e-03 9.99965768e-01 -8.21255759e-03 7.81817385e-01] [ 4.67448334e-02 8.15645092e-03 9.98873562e-01 1.70989897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36255784400004 meters Centerline goodness : 0.112528 Centerline is valid? [False, False] Translation: X:5.05, Y:0.78, Z:1.71 [[ 9.98902438e-01 -1.51370402e-03 -4.68148316e-02 5.04907861e+00] [ 1.11531894e-03 9.99962956e-01 -8.53475555e-03 7.83645120e-01] [ 4.68260165e-02 8.47317466e-03 9.98867123e-01 1.71004924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.39255784400007 meters Centerline goodness : 0.169909 Centerline is valid? [False, False] Translation: X:5.05, Y:0.79, Z:1.71 [[ 9.98898061e-01 -1.61001895e-03 -4.69049259e-02 5.04913700e+00] [ 1.19822172e-03 9.99960507e-01 -8.80619674e-03 7.85250960e-01] [ 4.69172516e-02 8.74029035e-03 9.98860540e-01 1.71026805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42255784400004 meters Centerline goodness : 0.132182 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.71 [[ 0.99889667 -0.00757506 -0.04634714 5.07074115] [ 0.00730412 0.99995525 -0.00601251 0.79032708] [ 0.04639061 0.00566735 0.9989073 1.71086552] [ 0. 0. 0. 1. ]] SLAMing on 501.45255784400007 meters Centerline goodness : 0.085485 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.71 [[ 0.99890118 -0.00763107 -0.04624072 5.07021631] [ 0.00735562 0.99995419 -0.0061241 0.79095911] [ 0.04628534 0.00577724 0.99891155 1.71124483] [ 0. 0. 0. 1. ]] SLAMing on 501.48255784400004 meters Centerline goodness : 0.148126 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.71 [[ 0.99890538 -0.00772609 -0.04613404 5.06972119] [ 0.00744394 0.99995255 -0.00628448 0.7915887 ] [ 0.04618041 0.00593418 0.99891549 1.7116023 ] [ 0. 0. 0. 1. ]] SLAMing on 501.51255784400007 meters Centerline goodness : 0.152720 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.71 [[ 0.99890503 -0.00776069 -0.04613591 5.06984379] [ 0.00747426 0.99995173 -0.0063777 0.79213402] [ 0.04618317 0.00602589 0.99891481 1.71143541] [ 0. 0. 0. 1. ]] SLAMing on 501.54255784400004 meters SLAMing on 501.5725578440001 meters Centerline goodness : 0.167508 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.71 [[ 0.99890209 -0.00790052 -0.0461758 5.07010456] [ 0.00759889 0.99994865 -0.00670417 0.79373555] [ 0.0462264 0.00634593 0.99891083 1.71112346] [ 0. 0. 0. 1. ]] SLAMing on 501.60255784400005 meters Centerline goodness : 0.167594 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.71 [[ 0.9988998 -0.00795624 -0.04621562 5.07021236] [ 0.00764809 0.99994735 -0.00684067 0.79438004] [ 0.04626761 0.00647968 0.99890806 1.71106663] [ 0. 0. 0. 1. ]] SLAMing on 501.6325578440001 meters Centerline goodness : 0.137974 Centerline is valid? [False, False] Translation: X:5.07, Y:0.80, Z:1.71 [[ 0.99890026 -0.00801577 -0.04619534 5.07021689] [ 0.00769957 0.99994573 -0.00701861 0.79539619] [ 0.04624909 0.00665521 0.99890777 1.71093731] [ 0. 0. 0. 1. ]] SLAMing on 501.66255784400005 meters Centerline goodness : 0.135284 Centerline is valid? [False, False] Translation: X:5.07, Y:0.80, Z:1.71 [[ 9.98882005e-01 -4.51536046e-03 -4.70569060e-02 5.07266808e+00] [ 4.33935406e-03 9.99983205e-01 -3.84177269e-03 7.97339807e-01] [ 4.70734627e-02 3.63328103e-03 9.98884822e-01 1.71052126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6925578440001 meters Centerline goodness : 0.162635 Centerline is valid? [False, False] Translation: X:5.07, Y:0.80, Z:1.71 [[ 9.98875132e-01 -4.64532925e-03 -4.71899574e-02 5.07318560e+00] [ 4.45134317e-03 9.99981209e-01 -4.21500624e-03 7.99215296e-01] [ 4.72086508e-02 4.00020622e-03 9.98877040e-01 1.71017250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72255784400005 meters Centerline goodness : 0.152542 Centerline is valid? [False, False] Translation: X:5.07, Y:0.80, Z:1.71 [[ 9.98872708e-01 -4.82125228e-03 -4.72236003e-02 5.07324748e+00] [ 4.60898550e-03 9.99978786e-01 -4.60278695e-03 8.00875784e-01] [ 4.72447897e-02 4.37994538e-03 9.98873739e-01 1.71012206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7525578440001 meters Centerline goodness : 0.144482 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.71 [[ 9.98943462e-01 3.00264351e-03 -4.58578755e-02 5.09299066e+00] [-3.28357144e-03 9.99976296e-01 -6.05195690e-03 8.00481686e-01] [ 4.58386166e-02 6.19614039e-03 9.98929642e-01 1.71199894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78255784400005 meters Centerline goodness : 0.144482 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.71 [[ 9.98943462e-01 3.00264351e-03 -4.58578755e-02 5.09299066e+00] [-3.28357144e-03 9.99976296e-01 -6.05195690e-03 8.00481686e-01] [ 4.58386166e-02 6.19614039e-03 9.98929642e-01 1.71199894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8125578440001 meters Centerline goodness : 0.093945 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.71 [[ 9.98951670e-01 2.92252183e-03 -4.56839018e-02 5.09231372e+00] [-3.21159587e-03 9.99975276e-01 -6.25558398e-03 8.01649175e-01] [ 4.56644902e-02 6.39574430e-03 9.98936359e-01 1.71227701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84255784400005 meters Centerline goodness : 0.159631 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.71 [[ 9.98952508e-01 2.78738784e-03 -4.56740330e-02 5.09209588e+00] [-3.09030173e-03 9.99973689e-01 -6.56281355e-03 8.03308635e-01] [ 4.56545382e-02 6.69708560e-03 9.98934839e-01 1.71254549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8725578440001 meters Centerline goodness : 0.173544 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.71 [[ 9.98945393e-01 2.67463660e-03 -4.58361106e-02 5.09267363e+00] [-2.98649797e-03 9.99972848e-01 -6.73670615e-03 8.03775649e-01] [ 4.58168478e-02 6.86649102e-03 9.98926257e-01 1.71227478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90255784400006 meters Centerline goodness : 0.138340 Centerline is valid? [False, False] Translation: X:5.11, Y:0.81, Z:1.71 [[ 9.98905233e-01 -5.28328677e-03 -4.64803516e-02 5.11136453e+00] [ 5.01545220e-03 9.99970152e-01 -5.87705608e-03 8.09938244e-01] [ 4.65100144e-02 5.63750209e-03 9.98901916e-01 1.71461970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.9325578440001 meters Centerline goodness : 0.122828 Centerline is valid? [False, False] Translation: X:5.11, Y:0.81, Z:1.72 [[ 9.98900962e-01 -5.30549627e-03 -4.65695083e-02 5.11119870e+00] [ 5.03421928e-03 9.99969683e-01 -5.94055975e-03 8.10633460e-01] [ 4.65996141e-02 5.69958973e-03 9.98897387e-01 1.71518425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96255784400006 meters Centerline goodness : 0.111625 Centerline is valid? [False, False] Translation: X:5.11, Y:0.81, Z:1.72 [[ 9.98901818e-01 -5.28487125e-03 -4.65534896e-02 5.11100805e+00] [ 5.01552247e-03 9.99970013e-01 -5.90070173e-03 8.10612390e-01] [ 4.65832780e-02 5.66073162e-03 9.98898370e-01 1.71541363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.9925578440001 meters Centerline goodness : 0.150441 Centerline is valid? [False, False] Translation: X:5.07, Y:0.81, Z:1.71 [[ 0.99878043 -0.00587407 -0.04902191 5.06544909] [ 0.00555965 0.99996311 -0.00654777 0.8062899 ] [ 0.04905856 0.00626724 0.99877624 1.7146959 ] [ 0. 0. 0. 1. ]] SLAMing on 502.02255784400006 meters Centerline goodness : 0.096730 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.72 [[ 9.98800300e-01 1.35004579e-03 -4.89503660e-02 5.08533604e+00] [-1.73832226e-03 9.99967360e-01 -7.89034082e-03 8.02612577e-01] [ 4.89381159e-02 7.96596629e-03 9.98770046e-01 1.71684677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.05255784400003 meters Centerline goodness : 0.092177 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.72 [[ 9.98798349e-01 1.37690847e-03 -4.89894021e-02 5.08535102e+00] [-1.75347245e-03 9.99969243e-01 -7.64449568e-03 8.01124212e-01] [ 4.89773696e-02 7.72121123e-03 9.98770044e-01 1.71703956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08255784400006 meters Centerline goodness : 0.109616 Centerline is valid? [False, False] Translation: X:5.08, Y:0.80, Z:1.72 [[ 9.98803624e-01 1.40897936e-03 -4.88808379e-02 5.08498908e+00] [-1.77079506e-03 9.99971351e-01 -7.35947945e-03 7.99558559e-01] [ 4.88690681e-02 7.43723269e-03 9.98777504e-01 1.71726189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.11255784400004 meters Centerline goodness : 0.107664 Centerline is valid? [False, False] Translation: X:5.08, Y:0.80, Z:1.72 [[ 9.98822064e-01 1.26616655e-03 -4.85065099e-02 5.08381511e+00] [-1.60353788e-03 9.99974792e-01 -6.91689392e-03 7.96468948e-01] [ 4.84965293e-02 6.98652829e-03 9.98798916e-01 1.71779549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14255784400007 meters Centerline goodness : 0.149053 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98818837e-01 1.36453963e-03 -4.85702436e-02 5.08396764e+00] [-1.68759219e-03 9.99976724e-01 -6.61085827e-03 7.94848400e-01] [ 4.85600923e-02 6.68501654e-03 9.98797891e-01 1.71787125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.17255784400004 meters Centerline goodness : 0.104599 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98817568e-01 1.41738599e-03 -4.85948180e-02 5.08410879e+00] [-1.73241587e-03 9.99977754e-01 -6.44128240e-03 7.93818882e-01] [ 4.85846072e-02 6.51785246e-03 9.98797804e-01 1.71778911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20255784400007 meters Centerline goodness : 0.148725 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98812399e-01 1.45939357e-03 -4.86997138e-02 5.08486699e+00] [-1.77059812e-03 9.99978285e-01 -6.34774738e-03 7.93206348e-01] [ 4.86893924e-02 6.42643641e-03 9.98793294e-01 1.71704234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.23255784400004 meters Centerline goodness : 0.139999 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98812998e-01 1.48769894e-03 -4.86865718e-02 5.08484618e+00] [-1.79936613e-03 9.99978167e-01 -6.35829991e-03 7.93487205e-01] [ 4.86760496e-02 6.43835756e-03 9.98793867e-01 1.71696544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26255784400007 meters Centerline goodness : 0.092099 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98815808e-01 1.52376895e-03 -4.86277715e-02 5.08473724e+00] [-1.83494281e-03 9.99978123e-01 -6.35509844e-03 7.93625027e-01] [ 4.86170239e-02 6.43680197e-03 9.98796752e-01 1.71687682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.29255784400004 meters Centerline goodness : 0.139587 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98816740e-01 1.54764239e-03 -4.86078601e-02 5.08463010e+00] [-1.85546777e-03 9.99978507e-01 -6.28834799e-03 7.93202071e-01] [ 4.85970832e-02 6.37109756e-03 9.98798144e-01 1.71694990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3225578440001 meters Centerline goodness : 0.128492 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98819044e-01 1.60076498e-03 -4.85587678e-02 5.08440267e+00] [-1.89962951e-03 9.99979534e-01 -6.10917288e-03 7.92096152e-01] [ 4.85479947e-02 6.19420189e-03 9.98801644e-01 1.71711836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.35255784400005 meters Centerline goodness : 0.105346 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98828784e-01 1.74898769e-03 -4.83528933e-02 5.08364206e+00] [-2.02071869e-03 9.99982438e-01 -5.57143532e-03 7.89139900e-01] [ 4.83422998e-02 5.66261756e-03 9.98814776e-01 1.71756794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3825578440001 meters Centerline goodness : 0.113403 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98828062e-01 1.84826657e-03 -4.83641134e-02 5.08369180e+00] [-2.10618070e-03 9.99983830e-01 -5.28234020e-03 7.87716231e-01] [ 4.83535682e-02 5.37801318e-03 9.98815804e-01 1.71756002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.41255784400005 meters Centerline goodness : 0.106532 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98828178e-01 1.99239425e-03 -4.83559796e-02 5.08384462e+00] [-2.23342004e-03 9.99985349e-01 -4.93088586e-03 7.85928908e-01] [ 4.83454469e-02 5.03310695e-03 9.98817994e-01 1.71732300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4425578440001 meters Centerline goodness : 0.102427 Centerline is valid? [False, False] Translation: X:5.08, Y:0.78, Z:1.72 [[ 9.98826333e-01 2.12440858e-03 -4.83884631e-02 5.08407200e+00] [-2.34738261e-03 9.99986886e-01 -4.55163957e-03 7.83842998e-01] [ 4.83781590e-02 4.65988370e-03 9.98818221e-01 1.71715202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.47255784400005 meters Centerline goodness : 0.140997 Centerline is valid? [False, False] Translation: X:5.08, Y:0.78, Z:1.72 [[ 9.98824897e-01 2.30229586e-03 -4.84099592e-02 5.08418444e+00] [-2.50340962e-03 9.99988485e-01 -4.09416808e-03 7.81491447e-01] [ 4.83999757e-02 4.21054697e-03 9.98819160e-01 1.71708574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5025578440001 meters Centerline goodness : 0.170399 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98912401e-01 2.20032501e-03 -4.65743783e-02 5.12809218e+00] [-2.37188225e-03 9.99990604e-01 -3.62856731e-03 7.78806186e-01] [ 4.65659566e-02 3.73508983e-03 9.98908234e-01 1.71874301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.53255784400005 meters SLAMing on 502.5625578440001 meters Centerline goodness : 0.114566 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98922029e-01 2.39675847e-03 -4.63576852e-02 5.12760018e+00] [-2.54608516e-03 9.99991758e-01 -3.16240627e-03 7.76175577e-01] [ 4.63497236e-02 3.27702790e-03 9.98919899e-01 1.71868215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.59255784400005 meters Centerline goodness : 0.138176 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98917447e-01 2.46298841e-03 -4.64528510e-02 5.12802313e+00] [-2.60725349e-03 9.99991964e-01 -3.04528958e-03 7.75519514e-01] [ 4.64449772e-02 3.16310725e-03 9.98915842e-01 1.71836394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6225578440001 meters Centerline goodness : 0.170528 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98883508e-01 2.92397602e-03 -4.71506855e-02 5.13028213e+00] [-3.05725808e-03 9.99991532e-01 -2.75485745e-03 7.75233893e-01] [ 4.71422311e-02 2.89593349e-03 9.98883989e-01 1.71740096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.65255784400006 meters Centerline goodness : 0.125221 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98883397e-01 3.02443112e-03 -4.71467007e-02 5.13044412e+00] [-3.15775957e-03 9.99991223e-01 -2.75372465e-03 7.75695634e-01] [ 4.71379584e-02 2.89952778e-03 9.98884180e-01 1.71706007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6825578440001 meters Centerline goodness : 0.168374 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98892186e-01 3.04080173e-03 -4.69590702e-02 5.12984807e+00] [-3.17727301e-03 9.99990943e-01 -2.83180638e-03 7.76173318e-01] [ 4.69500339e-02 2.97787105e-03 9.98892800e-01 1.71716000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.71255784400006 meters Centerline goodness : 0.168347 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98899771e-01 3.00688593e-03 -4.67996306e-02 5.12936129e+00] [-3.14797588e-03 9.99990719e-01 -2.94135583e-03 7.76649689e-01] [ 4.67903519e-02 3.08544378e-03 9.98899966e-01 1.71721295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7425578440001 meters Centerline goodness : 0.167365 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98908004e-01 2.93870552e-03 -4.66279360e-02 5.12884854e+00] [-3.08831641e-03 9.99990311e-01 -3.13689486e-03 7.77588701e-01] [ 4.66182658e-02 3.27747120e-03 9.98907401e-01 1.71724583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.77255784400006 meters Centerline goodness : 0.113808 Centerline is valid? [False, False] Translation: X:5.11, Y:0.78, Z:1.72 [[ 9.98888218e-01 -5.20826111e-03 -4.68529915e-02 5.10765812e+00] [ 5.10752600e-03 9.99984381e-01 -2.26948628e-03 7.81564210e-01] [ 4.68640798e-02 2.02766023e-03 9.98899217e-01 1.71554137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80255784400003 meters Centerline goodness : 0.166800 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98869423e-01 3.52793795e-03 -4.74070586e-02 5.13034163e+00] [-3.67899070e-03 9.99988429e-01 -3.09941567e-03 7.83356551e-01] [ 4.73955756e-02 3.27032167e-03 9.98870845e-01 1.71686511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.83255784400006 meters Centerline goodness : 0.139856 Centerline is valid? [False, False] Translation: X:5.13, Y:0.79, Z:1.72 [[ 9.98856867e-01 3.39532430e-03 -4.76805160e-02 5.13129551e+00] [-3.57193421e-03 9.99987071e-01 -3.61931096e-03 7.86097486e-01] [ 4.76676108e-02 3.78548527e-03 9.98856080e-01 1.71627877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86255784400004 meters Centerline goodness : 0.165875 Centerline is valid? [False, False] Translation: X:5.13, Y:0.79, Z:1.72 [[ 9.98845755e-01 3.24545654e-03 -4.79231087e-02 5.13219708e+00] [-3.45034565e-03 9.99985256e-01 -4.19326754e-03 7.89238934e-01] [ 4.79087931e-02 4.35377877e-03 9.98842226e-01 1.71566693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.89255784400007 meters Centerline goodness : 0.101502 Centerline is valid? [False, False] Translation: X:5.13, Y:0.80, Z:1.71 [[ 9.98808068e-01 3.54233615e-03 -4.86815616e-02 5.13438183e+00] [-3.77674730e-03 9.99981710e-01 -4.72405376e-03 7.96629386e-01] [ 4.86639370e-02 4.90228097e-03 9.98803178e-01 1.71499063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92255784400004 meters Centerline goodness : 0.146017 Centerline is valid? [False, False] Translation: X:5.13, Y:0.80, Z:1.72 [[ 9.98812299e-01 3.34202666e-03 -4.86088640e-02 5.13410520e+00] [-3.60151514e-03 9.99979724e-01 -5.25169085e-03 7.99480818e-01] [ 4.85903271e-02 5.42051897e-03 9.98804084e-01 1.71502232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.95255784400007 meters Centerline goodness : 0.146373 Centerline is valid? [False, False] Translation: X:5.13, Y:0.80, Z:1.72 [[ 9.98822456e-01 3.18852075e-03 -4.84100767e-02 5.13324029e+00] [-3.46181351e-03 9.99978537e-01 -5.56257652e-03 8.01040646e-01] [ 4.83913013e-02 5.72361299e-03 9.98812056e-01 1.71553331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98255784400004 meters Centerline goodness : 0.120450 Centerline is valid? [False, False] Translation: X:5.13, Y:0.80, Z:1.72 [[ 9.98836804e-01 3.04870313e-03 -4.81221832e-02 5.13188560e+00] [-3.32644743e-03 9.99978264e-01 -5.69261904e-03 8.01527830e-01] [ 4.81037821e-02 5.84607332e-03 9.98825235e-01 1.71653814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.01255784400007 meters Centerline goodness : 0.148497 Centerline is valid? [False, False] Translation: X:5.15, Y:0.81, Z:1.72 [[ 9.98882527e-01 -5.43508475e-03 -4.69484538e-02 5.15100785e+00] [ 5.21850373e-03 9.99975176e-01 -4.73450384e-03 8.06531767e-01] [ 4.69730208e-02 4.48421248e-03 9.98886093e-01 1.71889959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04255784400004 meters Centerline goodness : 0.101724 Centerline is valid? [False, False] Translation: X:5.15, Y:0.81, Z:1.72 [[ 9.98890284e-01 -5.62376748e-03 -4.67608218e-02 5.15038845e+00] [ 5.41125875e-03 9.99974455e-01 -4.66993577e-03 8.05701050e-01] [ 4.67858899e-02 4.41171856e-03 9.98895198e-01 1.71927786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0725578440001 meters Centerline goodness : 0.150786 Centerline is valid? [False, False] Translation: X:5.15, Y:0.80, Z:1.72 [[ 9.98882137e-01 -6.33553304e-03 -4.68437473e-02 5.15075733e+00] [ 6.11385569e-03 9.99969432e-01 -4.87403634e-03 8.04668563e-01] [ 4.68731950e-02 4.58219192e-03 9.98890338e-01 1.71928525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10255784400005 meters Centerline goodness : 0.108049 Centerline is valid? [False, False] Translation: X:5.15, Y:0.80, Z:1.72 [[ 9.98891645e-01 -6.37262806e-03 -4.66355048e-02 5.15011904e+00] [ 6.15864595e-03 9.99969846e-01 -4.73064270e-03 8.03657117e-01] [ 4.66642452e-02 4.43818791e-03 9.98900771e-01 1.71956820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1325578440001 meters Centerline goodness : 0.091682 Centerline is valid? [False, False] Translation: X:5.17, Y:0.80, Z:1.72 [[ 9.99039580e-01 -1.02788890e-03 -4.38047990e-02 5.17197522e+00] [ 6.93010691e-04 9.99970427e-01 -7.65928401e-03 8.04170761e-01] [ 4.38113764e-02 7.62157068e-03 9.99010748e-01 1.71980380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16255784400005 meters Centerline goodness : 0.099025 Centerline is valid? [False, False] Translation: X:5.17, Y:0.80, Z:1.72 [[ 9.99046788e-01 -9.90332246e-04 -4.36409747e-02 5.17126842e+00] [ 6.63107420e-04 9.99971565e-01 -7.51194834e-03 8.03372568e-01] [ 4.36471731e-02 7.47584921e-03 9.99019037e-01 1.72027170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1925578440001 meters Centerline goodness : 0.099805 Centerline is valid? [False, False] Translation: X:5.17, Y:0.80, Z:1.72 [[ 9.99048870e-01 -9.44243473e-04 -4.35943183e-02 5.17103578e+00] [ 6.23116112e-04 9.99972579e-01 -7.37926744e-03 8.02660895e-01] [ 4.36000907e-02 7.34508447e-03 9.99022063e-01 1.72045555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22255784400005 meters Centerline goodness : 0.048320 Centerline is valid? [False, False] Translation: X:5.17, Y:0.80, Z:1.72 [[ 9.99051120e-01 -8.99954477e-04 -4.35436428e-02 5.17089187e+00] [ 5.86306333e-04 9.99973797e-01 -7.21531036e-03 8.01604041e-01] [ 4.35489953e-02 7.18293399e-03 9.99025470e-01 1.72050666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2525578440001 meters Centerline goodness : 0.132251 Centerline is valid? [False, False] Translation: X:5.17, Y:0.80, Z:1.72 [[ 9.99052135e-01 -6.93547810e-04 -4.35241458e-02 5.17105295e+00] [ 4.01778392e-04 9.99977393e-01 -6.71201160e-03 7.99005818e-01] [ 4.35278170e-02 6.68816245e-03 9.99029828e-01 1.72023623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28255784400005 meters Centerline goodness : 0.143839 Centerline is valid? [False, False] Translation: X:5.17, Y:0.80, Z:1.72 [[ 9.99050244e-01 -5.46637712e-04 -4.35696099e-02 5.17145128e+00] [ 2.69161146e-04 9.99979648e-01 -6.37419245e-03 7.97208928e-01] [ 4.35722076e-02 6.35641128e-03 9.99030059e-01 1.71980858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3125578440001 meters SLAMing on 503.34255784400005 meters Centerline goodness : 0.096443 Centerline is valid? [False, False] Translation: X:5.17, Y:0.79, Z:1.72 [[ 9.99022957e-01 -4.13912950e-03 -4.39999948e-02 5.17311999e+00] [ 3.73472451e-03 9.99950065e-01 -9.26925773e-03 7.92045877e-01] [ 4.40361643e-02 9.09587341e-03 9.98988529e-01 1.71895172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3725578440001 meters Centerline goodness : 0.172943 Centerline is valid? [False, False] Translation: X:5.17, Y:0.79, Z:1.72 [[ 9.99018216e-01 -3.91441656e-03 -4.41280108e-02 5.17377576e+00] [ 3.52917004e-03 9.99955010e-01 -8.80473149e-03 7.89880351e-01] [ 4.41604909e-02 8.64035189e-03 9.98987085e-01 1.71846964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40255784400006 meters SLAMing on 503.4325578440001 meters Centerline goodness : 0.100622 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.72 [[ 9.99005512e-01 -3.57444471e-03 -4.44433478e-02 5.17524104e+00] [ 3.21338873e-03 9.99961276e-01 -8.19275021e-03 7.86955268e-01] [ 4.44709113e-02 8.04178887e-03 9.98978312e-01 1.71746604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46255784400006 meters Centerline goodness : 0.173167 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.72 [[ 9.98996990e-01 -3.48451271e-03 -4.46415973e-02 5.17616505e+00] [ 3.12479461e-03 9.99962108e-01 -8.12516337e-03 7.86664556e-01] [ 4.46682179e-02 7.97751793e-03 9.98970024e-01 1.71674849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.4925578440001 meters Centerline goodness : 0.174067 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.72 [[ 9.98985128e-01 -3.33464720e-03 -4.49176278e-02 5.17723250e+00] [ 2.97497240e-03 9.99962996e-01 -8.07190026e-03 7.86826062e-01] [ 4.49428827e-02 7.93007961e-03 9.98958083e-01 1.71602878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52255784400006 meters Centerline goodness : 0.171017 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.71 [[ 9.98967636e-01 -1.45897598e-04 -4.54273205e-02 5.18062661e+00] [-9.47522416e-05 9.99985975e-01 -5.29527104e-03 7.88155663e-01] [ 4.54274560e-02 5.29410873e-03 9.98953612e-01 1.71356904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.55255784400003 meters Centerline goodness : 0.165861 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.71 [[ 9.98957738e-01 -1.03204781e-04 -4.56445673e-02 5.18120427e+00] [-1.46862935e-04 9.99985000e-01 -5.47519921e-03 7.89287483e-01] [ 4.56444477e-02 5.47619611e-03 9.98942739e-01 1.71336023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58255784400006 meters Centerline goodness : 0.170576 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.71 [[ 9.98963582e-01 -1.44609456e-04 -4.55163797e-02 5.18066676e+00] [-1.13942806e-04 9.99983875e-01 -5.67777665e-03 7.90273770e-01] [ 4.55164668e-02 5.67707836e-03 9.98947457e-01 1.71358319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.61255784400004 meters Centerline goodness : 0.171266 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.71 [[ 9.98979740e-01 -1.46899918e-04 -4.51603494e-02 5.17929317e+00] [-1.13447912e-04 9.99983391e-01 -5.76234789e-03 7.90930109e-01] [ 4.51604458e-02 5.76159214e-03 9.98963132e-01 1.71421022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64255784400007 meters Centerline goodness : 0.164176 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.71 [[ 9.99120224e-01 -5.25560237e-03 -4.16071782e-02 5.19908186e+00] [ 5.16654590e-03 9.99984127e-01 -2.24765176e-03 7.94367724e-01] [ 4.16183305e-02 2.03070893e-03 9.99131518e-01 1.71488463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.67255784400004 meters Centerline goodness : 0.164471 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.71 [[ 9.99125284e-01 -5.24376056e-03 -4.14869801e-02 5.19873932e+00] [ 5.15638236e-03 9.99984257e-01 -2.21288732e-03 7.94340323e-01] [ 4.14979309e-02 1.99702894e-03 9.99136594e-01 1.71494892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70255784400007 meters Centerline goodness : 0.164471 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.71 [[ 9.99125284e-01 -5.24376056e-03 -4.14869801e-02 5.19873932e+00] [ 5.15638236e-03 9.99984257e-01 -2.21288732e-03 7.94340323e-01] [ 4.14979309e-02 1.99702894e-03 9.99136594e-01 1.71494892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.73255784400004 meters Centerline goodness : 0.173536 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.71 [[ 9.99126519e-01 2.52846217e-03 -4.17109782e-02 5.18002868e+00] [-2.67462291e-03 9.99990476e-01 -3.44869860e-03 7.88032525e-01] [ 4.17018611e-02 3.55724736e-03 9.99123766e-01 1.71300226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76255784400007 meters Centerline goodness : 0.120886 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.71 [[ 9.99126547e-01 2.48778019e-03 -4.17127649e-02 5.17975792e+00] [-2.63167201e-03 9.99990774e-01 -3.39503101e-03 7.87507949e-01] [ 4.17039339e-02 3.50183992e-03 9.99123876e-01 1.71346078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.79255784400004 meters Centerline goodness : 0.170261 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.72 [[ 9.99139759e-01 -5.52584685e-03 -4.10999664e-02 5.19853699e+00] [ 5.44286920e-03 9.99982918e-01 -2.13054771e-03 7.92288566e-01] [ 4.11110374e-02 1.90501318e-03 9.99152768e-01 1.71604683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8225578440001 meters Centerline goodness : 0.174361 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.72 [[ 9.99144404e-01 -5.55462869e-03 -4.09829942e-02 5.19780409e+00] [ 5.47396150e-03 9.99982854e-01 -2.08026396e-03 7.91897238e-01] [ 4.09938466e-02 1.85414476e-03 9.99157679e-01 1.71675830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.85255784400005 meters Centerline goodness : 0.175304 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.72 [[ 9.99167332e-01 -5.63897243e-03 -4.04084615e-02 5.19595306e+00] [ 5.56388914e-03 9.99982580e-01 -1.97032815e-03 7.91211435e-01] [ 4.04188682e-02 1.74385933e-03 9.99181302e-01 1.71751922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8825578440001 meters Centerline goodness : 0.097590 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.72 [[ 9.99171321e-01 -5.64176148e-03 -4.03093237e-02 5.19572057e+00] [ 5.56779836e-03 9.99982604e-01 -1.94691676e-03 7.91108237e-01] [ 4.03196065e-02 1.72086920e-03 9.99185352e-01 1.71752388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.91255784400005 meters Centerline goodness : 0.173551 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.72 [[ 9.99169586e-01 -5.64300191e-03 -4.03521470e-02 5.19584687e+00] [ 5.56950410e-03 9.99982621e-01 -1.93359574e-03 7.91071847e-01] [ 4.03623570e-02 1.70724861e-03 9.99183650e-01 1.71750298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9425578440001 meters Centerline goodness : 0.176637 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.72 [[ 9.99161748e-01 -5.68683163e-03 -4.05396238e-02 5.19646279e+00] [ 5.60881136e-03 9.99982194e-01 -2.03802099e-03 7.91536731e-01] [ 4.05504918e-02 1.80893352e-03 9.99175853e-01 1.71726466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.97255784400005 meters Centerline goodness : 0.172266 Centerline is valid? [False, False] Translation: X:5.22, Y:0.79, Z:1.72 [[ 9.99159565e-01 1.73468870e-03 -4.09530830e-02 5.21600313e+00] [-1.88321566e-03 9.99991788e-01 -3.58845975e-03 7.88811923e-01] [ 4.09465218e-02 3.66256737e-03 9.99154627e-01 1.71994444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0025578440001 meters Centerline goodness : 0.166386 Centerline is valid? [False, False] Translation: X:5.22, Y:0.79, Z:1.72 [[ 9.99161913e-01 1.72692474e-03 -4.08960738e-02 5.21585920e+00] [-1.87356658e-03 9.99991952e-01 -3.54766397e-03 7.88207467e-01] [ 4.08896181e-02 3.62131223e-03 9.99157107e-01 1.71992025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.03255784400005 meters Centerline goodness : 0.172739 Centerline is valid? [False, False] Translation: X:5.22, Y:0.79, Z:1.72 [[ 9.99166768e-01 1.77181674e-03 -4.07753729e-02 5.21546049e+00] [-1.91251374e-03 9.99992351e-01 -3.41178956e-03 7.87424092e-01] [ 4.07690159e-02 3.48693021e-03 9.99162514e-01 1.72006255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0625578440001 meters Centerline goodness : 0.177607 Centerline is valid? [False, False] Translation: X:5.22, Y:0.79, Z:1.72 [[ 9.99170438e-01 1.83954178e-03 -4.06823220e-02 5.21517697e+00] [-1.97365774e-03 9.99992749e-01 -3.25674689e-03 7.86740386e-01] [ 4.06760361e-02 3.33433820e-03 9.99166824e-01 1.72012403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.09255784400005 meters Centerline goodness : 0.177026 Centerline is valid? [False, False] Translation: X:5.22, Y:0.79, Z:1.72 [[ 9.99160669e-01 1.95909525e-03 -4.09160137e-02 5.21628788e+00] [-2.08177619e-03 9.99993464e-01 -2.95596831e-03 7.85086830e-01] [ 4.09099553e-02 3.03866525e-03 9.99158217e-01 1.71936125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1225578440001 meters Centerline goodness : 0.173937 Centerline is valid? [False, False] Translation: X:5.22, Y:0.78, Z:1.72 [[ 9.99153891e-01 1.99260453e-03 -4.10795795e-02 5.21709899e+00] [-2.10931205e-03 9.99993861e-01 -2.79786318e-03 7.83809689e-01] [ 4.10737523e-02 2.88214554e-03 9.99151960e-01 1.71875990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.15255784400006 meters Centerline goodness : 0.171525 Centerline is valid? [False, False] Translation: X:5.22, Y:0.78, Z:1.72 [[ 9.99158510e-01 2.04551387e-03 -4.09644813e-02 5.21685086e+00] [-2.15434349e-03 9.99994266e-01 -2.61271429e-03 7.82599227e-01] [ 4.09589021e-02 2.69876728e-03 9.99157187e-01 1.71869255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1825578440001 meters Centerline goodness : 0.176518 Centerline is valid? [False, False] Translation: X:5.17, Y:0.78, Z:1.72 [[ 9.99071531e-01 2.03652648e-03 -4.30340286e-02 5.16960814e+00] [-2.14532971e-03 9.99994618e-01 -2.48227563e-03 7.77769251e-01] [ 4.30287418e-02 2.57229310e-03 9.99070523e-01 1.71876064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.21255784400006 meters Centerline goodness : 0.180660 Centerline is valid? [False, False] Translation: X:5.17, Y:0.78, Z:1.72 [[ 9.99068338e-01 2.19065400e-03 -4.31005564e-02 5.16975667e+00] [-2.28481599e-03 9.99995109e-01 -2.13556483e-03 7.76092843e-01] [ 4.30956673e-02 2.23205205e-03 9.99068457e-01 1.71878479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2425578440001 meters Centerline goodness : 0.174095 Centerline is valid? [False, False] Translation: X:5.19, Y:0.78, Z:1.72 [[ 9.99022183e-01 -5.83823895e-03 -4.38245799e-02 5.19055682e+00] [ 5.78367652e-03 9.99982334e-01 -1.37171117e-03 7.80262134e-01] [ 4.38318140e-02 1.11690269e-03 9.99038300e-01 1.72002862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.27255784400006 meters Centerline goodness : 0.172437 Centerline is valid? [False, False] Translation: X:5.19, Y:0.78, Z:1.72 [[ 9.99011352e-01 -5.76012325e-03 -4.40810612e-02 5.19138608e+00] [ 5.71629562e-03 9.99983034e-01 -1.12023883e-03 7.78706604e-01] [ 4.40867661e-02 8.67150930e-04 9.99027330e-01 1.71976938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30255784400003 meters Centerline goodness : 0.176864 Centerline is valid? [False, False] Translation: X:5.19, Y:0.78, Z:1.72 [[ 9.99007764e-01 -5.61290036e-03 -4.41812385e-02 5.19161846e+00] [ 5.58632244e-03 9.99984134e-01 -7.25009405e-04 7.76624665e-01] [ 4.41846069e-02 4.77479381e-04 9.99023269e-01 1.71984419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.33255784400006 meters Centerline goodness : 0.110841 Centerline is valid? [False, False] Translation: X:5.19, Y:0.77, Z:1.72 [[ 9.99004770e-01 -5.41153508e-03 -4.42739725e-02 5.19184227e+00] [ 5.40811656e-03 9.99985357e-01 -1.96991337e-04 7.73978818e-01] [ 4.42743902e-02 -4.26435183e-05 9.99019407e-01 1.71993632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36255784400004 meters Centerline goodness : 0.127292 Centerline is valid? [False, False] Translation: X:5.19, Y:0.77, Z:1.72 [[ 9.99003258e-01 -5.22645730e-03 -4.43303010e-02 5.19205182e+00] [ 5.24854768e-03 9.99986153e-01 3.81935203e-04 7.70883900e-01] [ 4.43276910e-02 -6.14224210e-04 9.99016856e-01 1.71994417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.39255784400007 meters Centerline goodness : 0.173577 Centerline is valid? [False, False] Translation: X:5.19, Y:0.76, Z:1.72 [[ 9.98971348e-01 -8.88966901e-03 -4.44659394e-02 5.19274743e+00] [ 8.79412536e-03 9.99958584e-01 -2.34385183e-03 7.64846865e-01] [ 4.44849339e-02 1.95040178e-03 9.99008151e-01 1.71970788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42255784400004 meters Centerline goodness : 0.183105 Centerline is valid? [False, False] Translation: X:5.17, Y:0.75, Z:1.72 [[ 9.99106459e-01 -3.24156362e-03 -4.21399564e-02 5.17457563e+00] [ 3.08613888e-03 9.99988196e-01 -3.75282932e-03 7.53941416e-01] [ 4.21516241e-02 3.61942625e-03 9.99104669e-01 1.71634642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.45255784400007 meters Centerline goodness : 0.181558 Centerline is valid? [False, False] Translation: X:5.17, Y:0.75, Z:1.72 [[ 9.99108528e-01 -3.07906559e-03 -4.21030724e-02 5.17453878e+00] [ 2.95816460e-03 9.99991322e-01 -2.93354804e-03 7.48982067e-01] [ 4.21117396e-02 2.80638505e-03 9.99108966e-01 1.71642569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48255784400004 meters Centerline goodness : 0.180067 Centerline is valid? [False, False] Translation: X:5.17, Y:0.74, Z:1.72 [[ 9.99107147e-01 -2.82559294e-03 -4.21535924e-02 5.17468634e+00] [ 2.74126110e-03 9.99994125e-01 -2.05825361e-03 7.43947840e-01] [ 4.21591605e-02 1.94086189e-03 9.99109022e-01 1.71651890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.51255784400007 meters Centerline goodness : 0.179796 Centerline is valid? [False, False] Translation: X:5.17, Y:0.73, Z:1.72 [[ 9.99118454e-01 -2.76166076e-03 -4.18890035e-02 5.17409048e+00] [ 2.71912220e-03 9.99995728e-01 -1.07244830e-03 7.33793120e-01] [ 4.18917863e-02 9.57601570e-04 9.99121695e-01 1.71665613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54255784400004 meters Centerline goodness : 0.181136 Centerline is valid? [False, False] Translation: X:5.17, Y:0.73, Z:1.72 [[ 9.99119983e-01 -2.48846177e-03 -4.18696542e-02 5.17413043e+00] [ 2.47229068e-03 9.99996848e-01 -4.38000060e-04 7.30484184e-01] [ 4.18706122e-02 3.34100657e-04 9.99122986e-01 1.71657499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5725578440001 meters Centerline goodness : 0.099472 Centerline is valid? [False, False] Translation: X:5.17, Y:0.73, Z:1.72 [[ 9.99121761e-01 -2.25137334e-03 -4.18406187e-02 5.17404095e+00] [ 2.25652217e-03 9.99997451e-01 7.58305881e-05 7.27821143e-01] [ 4.18403413e-02 -1.70178274e-04 9.99124295e-01 1.71664682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60255784400005 meters Centerline goodness : 0.106235 Centerline is valid? [False, False] Translation: X:5.17, Y:0.73, Z:1.72 [[ 9.99126352e-01 -2.04365436e-03 -4.17415377e-02 5.17390667e+00] [ 2.06380477e-03 9.99997774e-01 4.39655907e-04 7.26101860e-01] [ 4.17405462e-02 -5.25418187e-04 9.99128345e-01 1.71647586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6325578440001 meters Centerline goodness : 0.174704 Centerline is valid? [False, False] Translation: X:5.17, Y:0.73, Z:1.72 [[ 9.99133034e-01 -1.84451174e-03 -4.15905935e-02 5.17363381e+00] [ 1.87559023e-03 9.99997990e-01 7.08240078e-04 7.25059324e-01] [ 4.15892035e-02 -7.85632969e-04 9.99134486e-01 1.71629119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66255784400005 meters Centerline goodness : 0.174664 Centerline is valid? [False, False] Translation: X:5.17, Y:0.72, Z:1.72 [[ 9.99133961e-01 -1.63784347e-03 -4.15769720e-02 5.17374969e+00] [ 1.67561371e-03 9.99998215e-01 8.73608843e-04 7.24654907e-01] [ 4.15754669e-02 -9.42519208e-04 9.99134922e-01 1.71601651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6925578440001 meters Centerline goodness : 0.168799 Centerline is valid? [False, False] Translation: X:5.17, Y:0.72, Z:1.72 [[ 9.99130438e-01 -1.07539126e-03 -4.16798661e-02 5.17441027e+00] [ 1.12453097e-03 9.99998700e-01 1.15555232e-03 7.24546669e-01] [ 4.16785692e-02 -1.20141780e-03 9.99130349e-01 1.71519601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72255784400005 meters Centerline goodness : 0.163421 Centerline is valid? [False, False] Translation: X:5.20, Y:0.72, Z:1.72 [[ 9.99123399e-01 7.44169384e-03 -4.11953303e-02 5.19534723e+00] [-7.44209629e-03 9.99972297e-01 1.43587636e-04 7.22673045e-01] [ 4.11952576e-02 1.63117848e-04 9.99151102e-01 1.71660735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7525578440001 meters Centerline goodness : 0.166545 Centerline is valid? [False, False] Translation: X:5.19, Y:0.72, Z:1.72 [[ 9.99129634e-01 7.46417974e-03 -4.10397330e-02 5.19479518e+00] [-7.46456687e-03 9.99972129e-01 1.43805559e-04 7.22747011e-01] [ 4.10396626e-02 1.62663435e-04 9.99157505e-01 1.71678411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78255784400005 meters Centerline goodness : 0.168679 Centerline is valid? [False, False] Translation: X:5.19, Y:0.72, Z:1.72 [[ 9.99134422e-01 7.46735639e-03 -4.09224352e-02 5.19419156e+00] [-7.46628408e-03 9.99972111e-01 1.79038701e-04 7.22368154e-01] [ 4.09226309e-02 1.26654798e-04 9.99162310e-01 1.71720647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8125578440001 meters Centerline goodness : 0.169549 Centerline is valid? [False, False] Translation: X:5.19, Y:0.72, Z:1.72 [[ 9.99182070e-01 5.12634647e-03 -4.01112499e-02 5.19012528e+00] [-5.20497561e-03 9.99984731e-01 -1.85609034e-03 7.20115596e-01] [ 4.01011225e-02 2.06335026e-03 9.99193496e-01 1.71919829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84255784400005 meters Centerline goodness : 0.169191 Centerline is valid? [False, False] Translation: X:5.19, Y:0.72, Z:1.72 [[ 9.99181775e-01 5.22309604e-03 -4.01061009e-02 5.19010314e+00] [-5.29195194e-03 9.99984700e-01 -1.61087228e-03 7.19012695e-01] [ 4.00970735e-02 1.82179378e-03 9.99194128e-01 1.71921270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8725578440001 meters Centerline goodness : 0.171414 Centerline is valid? [False, False] Translation: X:5.19, Y:0.72, Z:1.72 [[ 9.99180590e-01 5.32591355e-03 -4.01221031e-02 5.19013470e+00] [-5.38668635e-03 9.99984502e-01 -1.40674157e-03 7.18349617e-01] [ 4.01139891e-02 1.62171406e-03 9.99193794e-01 1.71926405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90255784400006 meters Centerline goodness : 0.168887 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99218419e-01 -2.32381528e-03 -3.94607499e-02 5.20930705e+00] [ 2.31930973e-03 9.99997298e-01 -1.59956324e-04 7.23813424e-01] [ 3.94610150e-02 6.83096041e-05 9.99221108e-01 1.72086037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.9325578440001 meters Centerline goodness : 0.167658 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99220207e-01 -2.34841628e-03 -3.94139974e-02 5.20916904e+00] [ 2.34236959e-03 9.99997237e-01 -1.99593133e-04 7.23950903e-01] [ 3.94143573e-02 1.07115342e-04 9.99222947e-01 1.72090380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96255784400006 meters Centerline goodness : 0.167621 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99219465e-01 -2.42845702e-03 -3.94279437e-02 5.20859747e+00] [ 2.41666701e-03 9.99997020e-01 -3.46684721e-04 7.24413440e-01] [ 3.94286681e-02 2.51129911e-04 9.99222356e-01 1.72176575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.9925578440001 meters Centerline goodness : 0.170158 Centerline is valid? [False, False] Translation: X:5.19, Y:0.72, Z:1.72 [[ 9.99207480e-01 5.54840460e-03 -3.94160697e-02 5.18880979e+00] [-5.60435842e-03 9.99983438e-01 -1.30921601e-03 7.18802530e-01] [ 3.94081528e-02 1.52908021e-03 9.99222027e-01 1.72006804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02255784400006 meters Centerline goodness : 0.141231 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99223525e-01 -1.84237383e-03 -3.93567317e-02 5.20745297e+00] [ 1.84436361e-03 9.99998299e-01 1.42494011e-05 7.24665550e-01] [ 3.93566385e-02 -8.68264604e-05 9.99225224e-01 1.72212750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.05255784400003 meters Centerline goodness : 0.168048 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99223899e-01 -1.84928812e-03 -3.93469103e-02 5.20750419e+00] [ 1.85240178e-03 9.99998283e-01 4.26765414e-05 7.24358202e-01] [ 3.93467638e-02 -1.15529707e-04 9.99225610e-01 1.72199667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08255784400006 meters Centerline goodness : 0.168371 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99220645e-01 -1.82108182e-03 -3.94307739e-02 5.20776058e+00] [ 1.82953649e-03 9.99998310e-01 1.78335165e-04 7.23386298e-01] [ 3.94303825e-02 -2.50336219e-04 9.99222289e-01 1.72193592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.11255784400004 meters Centerline goodness : 0.172071 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99215809e-01 -1.76296402e-03 -3.95557744e-02 5.20814445e+00] [ 1.78087718e-03 9.99998327e-01 4.17627122e-04 7.21897966e-01] [ 3.95549719e-02 -4.87743599e-04 9.99217277e-01 1.72185408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14255784400007 meters Centerline goodness : 0.102680 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99186486e-01 -1.70640058e-03 -4.02921241e-02 5.21026915e+00] [ 1.74277739e-03 9.99998105e-01 8.67719634e-04 7.19374323e-01] [ 4.02905670e-02 -9.37233935e-04 9.99187566e-01 1.72147395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.17255784400004 meters Centerline goodness : 0.166189 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99186462e-01 -1.61312623e-03 -4.02965403e-02 5.21039738e+00] [ 1.65873273e-03 9.99998021e-01 1.09836347e-03 7.18189825e-01] [ 4.02946888e-02 -1.16431110e-03 9.99187161e-01 1.72136683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20255784400007 meters Centerline goodness : 0.168243 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99191194e-01 -1.55471304e-03 -4.01813534e-02 5.21011520e+00] [ 1.60858029e-03 9.99997850e-01 1.30830752e-03 7.16831650e-01] [ 4.01792330e-02 -1.37188428e-03 9.99191547e-01 1.72139519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.23255784400004 meters Centerline goodness : 0.121296 Centerline is valid? [False, False] Translation: X:5.23, Y:0.71, Z:1.72 [[ 9.99192815e-01 6.13519692e-03 -3.96998423e-02 5.22918850e+00] [-6.15212684e-03 9.99981029e-01 -3.04293728e-04 7.12540876e-01] [ 3.96972223e-02 5.48286572e-04 9.99211604e-01 1.72379458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26255784400007 meters Centerline goodness : 0.100741 Centerline is valid? [False, False] Translation: X:5.23, Y:0.71, Z:1.72 [[ 9.99186359e-01 6.18508399e-03 -3.98542901e-02 5.22965940e+00] [-6.19520627e-03 9.99980801e-01 -1.30484390e-04 7.11401224e-01] [ 3.98527179e-02 3.77283771e-04 9.99205494e-01 1.72368374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.29255784400004 meters Centerline goodness : 0.166078 Centerline is valid? [False, False] Translation: X:5.23, Y:0.71, Z:1.72 [[ 9.99184905e-01 6.25938050e-03 -3.98791303e-02 5.22975211e+00] [-6.26409158e-03 9.99980380e-01 6.81909664e-06 7.10780431e-01] [ 3.98783906e-02 2.42992986e-04 9.99204511e-01 1.72359281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3225578440001 meters Centerline goodness : 0.166968 Centerline is valid? [False, False] Translation: X:5.23, Y:0.71, Z:1.72 [[ 9.99190157e-01 6.40392325e-03 -3.97243038e-02 5.22930855e+00] [-6.39988376e-03 9.99979494e-01 2.28854167e-04 7.09993158e-01] [ 3.97249548e-02 2.55620960e-05 9.99210652e-01 1.72367376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.35255784400005 meters Centerline goodness : 0.166993 Centerline is valid? [False, False] Translation: X:5.23, Y:0.71, Z:1.72 [[ 9.99194085e-01 6.40738092e-03 -3.96248199e-02 5.22907271e+00] [-6.40111629e-03 9.99979472e-01 2.84969483e-04 7.09358428e-01] [ 3.96258324e-02 -3.10967422e-05 9.99214588e-01 1.72365303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3825578440001 meters Centerline goodness : 0.160208 Centerline is valid? [False, False] Translation: X:5.25, Y:0.71, Z:1.72 [[ 9.99243390e-01 -1.49164369e-03 -3.88641677e-02 5.24848971e+00] [ 1.53458681e-03 9.99998245e-01 1.07514578e-03 7.13499856e-01] [ 3.88624958e-02 -1.13397276e-03 9.99243924e-01 1.72492645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.41255784400005 meters Centerline goodness : 0.146196 Centerline is valid? [False, False] Translation: X:5.25, Y:0.71, Z:1.72 [[ 9.99245464e-01 -1.48267839e-03 -3.88111266e-02 5.24835173e+00] [ 1.52812238e-03 9.99998181e-01 1.14126216e-03 7.12852585e-01] [ 3.88093639e-02 -1.19970919e-03 9.99245913e-01 1.72490105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4425578440001 meters Centerline goodness : 0.163399 Centerline is valid? [False, False] Translation: X:5.25, Y:0.71, Z:1.72 [[ 9.99245988e-01 -1.46561607e-03 -3.87982883e-02 5.24830863e+00] [ 1.51391482e-03 9.99998115e-01 1.21551753e-03 7.12329582e-01] [ 3.87964337e-02 -1.27333832e-03 9.99246324e-01 1.72492181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.47255784400005 meters Centerline goodness : 0.157426 Centerline is valid? [False, False] Translation: X:5.25, Y:0.71, Z:1.73 [[ 9.99249776e-01 -1.35639821e-03 -3.87045992e-02 5.24794235e+00] [ 1.41441847e-03 9.99997917e-01 1.47171022e-03 7.11102073e-01] [ 3.87025223e-02 -1.52535061e-03 9.99249612e-01 1.72511641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5025578440001 meters Centerline goodness : 0.107718 Centerline is valid? [False, False] Translation: X:5.27, Y:0.71, Z:1.73 [[ 9.99266942e-01 6.61207369e-03 -3.77075406e-02 5.26721540e+00] [-6.61267052e-03 9.99978130e-01 1.08891598e-04 7.08137045e-01] [ 3.77074359e-02 1.40535768e-04 9.99288812e-01 1.72721269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.53255784400005 meters Centerline goodness : 0.162744 Centerline is valid? [False, False] Translation: X:5.27, Y:0.71, Z:1.73 [[ 9.99269759e-01 6.63348171e-03 -3.76290476e-02 5.26683809e+00] [-6.63014326e-03 9.99977998e-01 2.13507874e-04 7.07428423e-01] [ 3.76296360e-02 3.61340150e-05 9.99291754e-01 1.72748061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5625578440001 meters Centerline goodness : 0.125593 Centerline is valid? [False, False] Translation: X:5.27, Y:0.71, Z:1.73 [[ 9.99273676e-01 6.65932846e-03 -3.75203066e-02 5.26639260e+00] [-6.65095122e-03 9.99977822e-01 3.48085906e-04 7.06564556e-01] [ 3.75217924e-02 -9.82873544e-05 9.99295805e-01 1.72773471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.59255784400005 meters Centerline goodness : 0.125593 Centerline is valid? [False, False] Translation: X:5.27, Y:0.71, Z:1.73 [[ 9.99273676e-01 6.65932846e-03 -3.75203066e-02 5.26639260e+00] [-6.65095122e-03 9.99977822e-01 3.48085906e-04 7.06564556e-01] [ 3.75217924e-02 -9.82873544e-05 9.99295805e-01 1.72773471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6225578440001 meters Centerline goodness : 0.162484 Centerline is valid? [False, False] Translation: X:5.27, Y:0.71, Z:1.73 [[ 9.99275755e-01 6.75120942e-03 -3.74484661e-02 5.26606365e+00] [-6.73405561e-03 9.99977155e-01 5.84181192e-04 7.05387794e-01] [ 3.74515545e-02 -3.31578048e-04 9.99298389e-01 1.72798418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.65255784400006 meters Centerline goodness : 0.163082 Centerline is valid? [False, False] Translation: X:5.27, Y:0.70, Z:1.73 [[ 9.99276967e-01 6.84735854e-03 -3.73986347e-02 5.26582970e+00] [-6.81926685e-03 9.99976363e-01 8.78652277e-04 7.03795151e-01] [ 3.74037671e-02 -6.22985712e-04 9.99300040e-01 1.72818466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6825578440001 meters Centerline goodness : 0.163886 Centerline is valid? [False, False] Translation: X:5.26, Y:0.70, Z:1.73 [[ 9.99325153e-01 4.35993101e-03 -3.64723232e-02 5.26166217e+00] [-4.40077432e-03 9.99989776e-01 -1.03963866e-03 6.99738206e-01] [ 3.64674176e-02 1.19944353e-03 9.99334123e-01 1.73024170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.71255784400006 meters Centerline goodness : 0.103017 Centerline is valid? [False, False] Translation: X:5.28, Y:0.70, Z:1.73 [[ 9.99348011e-01 -3.70293542e-03 -3.59143695e-02 5.28164073e+00] [ 3.70470193e-03 9.99993137e-01 -1.73608217e-05 7.02166679e-01] [ 3.59141874e-02 -1.15702532e-04 9.99354871e-01 1.73183800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7425578440001 meters Centerline goodness : 0.120742 Centerline is valid? [False, False] Translation: X:5.28, Y:0.70, Z:1.73 [[ 9.99345098e-01 -3.61729332e-03 -3.60040185e-02 5.28196187e+00] [ 3.63150385e-03 9.99993352e-01 3.29305117e-04 7.00070459e-01] [ 3.60025880e-02 -4.59838187e-04 9.99351591e-01 1.73176460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.77255784400006 meters Centerline goodness : 0.123529 Centerline is valid? [False, False] Translation: X:5.28, Y:0.70, Z:1.73 [[ 9.99340622e-01 -3.47730121e-03 -3.61417912e-02 5.28246751e+00] [ 3.50605955e-03 9.99993586e-01 7.32360739e-04 6.97905520e-01] [ 3.61390127e-02 -8.58593108e-04 9.99346404e-01 1.73156899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80255784400003 meters Centerline goodness : 0.120546 Centerline is valid? [False, False] Translation: X:5.28, Y:0.70, Z:1.73 [[ 9.99336964e-01 -3.30333698e-03 -3.62590809e-02 5.28291102e+00] [ 3.34904904e-03 9.99993672e-01 1.20004214e-03 6.95623549e-01] [ 3.62548873e-02 -1.32067990e-03 9.99341703e-01 1.73136803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.83255784400006 meters Centerline goodness : 0.158546 Centerline is valid? [False, False] Translation: X:5.28, Y:0.69, Z:1.73 [[ 9.99334786e-01 -3.15144285e-03 -3.63325378e-02 5.28318871e+00] [ 3.21311742e-03 9.99993494e-01 1.63923772e-03 6.93321288e-01] [ 3.63271355e-02 -1.75488799e-03 9.99338411e-01 1.73131842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86255784400004 meters Centerline goodness : 0.159162 Centerline is valid? [False, False] Translation: X:5.28, Y:0.69, Z:1.73 [[ 9.99335506e-01 -3.06415881e-03 -3.63201998e-02 5.28315518e+00] [ 3.15003812e-03 9.99992376e-01 2.30751710e-03 6.88336911e-01] [ 3.63128524e-02 -2.42039378e-03 9.99337540e-01 1.73151007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.89255784400007 meters Centerline goodness : 0.122310 Centerline is valid? [False, False] Translation: X:5.28, Y:0.69, Z:1.73 [[ 9.99331940e-01 -2.91384272e-03 -3.64305261e-02 5.28332024e+00] [ 3.01637908e-03 9.99991642e-01 2.75992693e-03 6.85838048e-01] [ 3.64221797e-02 -2.86797141e-03 9.99332377e-01 1.73174787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92255784400004 meters Centerline goodness : 0.123112 Centerline is valid? [False, False] Translation: X:5.28, Y:0.68, Z:1.73 [[ 9.99327490e-01 -2.74070134e-03 -3.65657852e-02 5.28374794e+00] [ 2.85994768e-03 9.99990761e-01 3.20923833e-03 6.83519515e-01] [ 3.65566518e-02 -3.31165631e-03 9.99326095e-01 1.73163665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.95255784400007 meters Centerline goodness : 0.120240 Centerline is valid? [False, False] Translation: X:5.28, Y:0.68, Z:1.73 [[ 9.99318704e-01 -2.55171531e-03 -3.68187098e-02 5.28470990e+00] [ 2.68860329e-03 9.99989655e-01 3.66885860e-03 6.81266961e-01] [ 3.68089670e-02 -3.76534992e-03 9.99315227e-01 1.73114860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98255784400004 meters Centerline goodness : 0.122507 Centerline is valid? [False, False] Translation: X:5.29, Y:0.68, Z:1.73 [[ 9.99311251e-01 -2.40623106e-03 -3.70301706e-02 5.28555900e+00] [ 2.55907780e-03 9.99988399e-01 4.08078296e-03 6.78935825e-01] [ 3.70199217e-02 -4.17273541e-03 9.99305816e-01 1.73073728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.01255784400007 meters Centerline goodness : 0.156569 Centerline is valid? [False, False] Translation: X:5.29, Y:0.67, Z:1.73 [[ 9.99309930e-01 -2.18685467e-03 -3.70794022e-02 5.28593303e+00] [ 2.36695939e-03 9.99985611e-01 4.81406933e-03 6.74105368e-01] [ 3.70683410e-02 -4.89851272e-03 9.99300727e-01 1.73050355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04255784400004 meters Centerline goodness : 0.159259 Centerline is valid? [False, False] Translation: X:5.30, Y:0.67, Z:1.73 [[ 9.99324482e-01 5.74683135e-03 -3.62981250e-02 5.30435708e+00] [-5.62612516e-03 9.99978302e-01 3.42667962e-03 6.68483815e-01] [ 3.63170299e-02 -3.22014704e-03 9.99335131e-01 1.73302275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0725578440001 meters Centerline goodness : 0.159623 Centerline is valid? [False, False] Translation: X:5.30, Y:0.67, Z:1.73 [[ 9.99327169e-01 5.93375960e-03 -3.61939237e-02 5.30383241e+00] [-5.79613371e-03 9.99975573e-01 3.90620166e-03 6.65937416e-01] [ 3.62162180e-02 -3.69378862e-03 9.99337151e-01 1.73343318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10255784400005 meters Centerline goodness : 0.162257 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:1.73 [[ 9.99327027e-01 6.11761662e-03 -3.61672211e-02 5.30367721e+00] [-5.96255455e-03 9.99972571e-01 4.39367215e-03 6.63357611e-01] [ 3.61931079e-02 -4.17506630e-03 9.99336093e-01 1.73362695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1325578440001 meters Centerline goodness : 0.119940 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:1.73 [[ 9.99321875e-01 6.23773064e-03 -3.62888430e-02 5.30404419e+00] [-6.06840275e-03 9.99970189e-01 4.77438968e-03 6.61144101e-01] [ 3.63175426e-02 -4.55093674e-03 9.99329938e-01 1.73351962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16255784400005 meters Centerline goodness : 0.156494 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:1.73 [[ 9.99313468e-01 6.36286544e-03 -3.64980458e-02 5.30485589e+00] [-6.18073331e-03 9.99967889e-01 5.10085105e-03 6.59262436e-01] [ 3.65293299e-02 -4.87176446e-03 9.99320706e-01 1.73311725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1925578440001 meters Centerline goodness : 0.156652 Centerline is valid? [False, False] Translation: X:5.31, Y:0.66, Z:1.73 [[ 0.99930458 0.00657078 -0.03670389 5.30565152] [-0.00637064 0.99996421 0.00556713 0.65663823] [ 0.03673915 -0.00532943 0.99931068 1.73276385] [ 0. 0. 0. 1. ]] SLAMing on 506.22255784400005 meters Centerline goodness : 0.153816 Centerline is valid? [False, False] Translation: X:5.31, Y:0.66, Z:1.73 [[ 0.99930526 0.00658749 -0.03668244 5.30554259] [-0.00638468 0.9999637 0.00564305 0.65587639] [ 0.03671828 -0.00540492 0.99931104 1.73281715] [ 0. 0. 0. 1. ]] SLAMing on 506.2525578440001 meters Centerline goodness : 0.153048 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:1.73 [[ 0.99931208 0.00660373 -0.03649332 5.30490738] [-0.00640064 0.99996339 0.00567934 0.65548126] [ 0.03652949 -0.00544185 0.99931776 1.73302832] [ 0. 0. 0. 1. ]] SLAMing on 506.28255784400005 meters Centerline goodness : 0.157566 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 0.99931801 0.00666796 -0.03631881 5.30426578] [-0.00646162 0.99996233 0.00579576 0.65499402] [ 0.03635608 -0.00555713 0.99932345 1.73331112] [ 0. 0. 0. 1. ]] SLAMing on 506.3125578440001 meters Centerline goodness : 0.154261 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 0.99931994 0.00677544 -0.0362458 5.30396553] [-0.00656327 0.99996064 0.00596941 0.65448091] [ 0.03628482 -0.00572746 0.99932508 1.73348005] [ 0. 0. 0. 1. ]] SLAMing on 506.34255784400005 meters Centerline goodness : 0.151222 Centerline is valid? [False, False] Translation: X:5.31, Y:0.65, Z:1.73 [[ 0.99930604 0.00685354 -0.03661231 5.30532905] [-0.00663209 0.99995899 0.00616648 0.65337506] [ 0.03665307 -0.00591939 0.99931052 1.73281168] [ 0. 0. 0. 1. ]] SLAMing on 506.3725578440001 meters Centerline goodness : 0.153234 Centerline is valid? [False, False] Translation: X:5.29, Y:0.65, Z:1.73 [[ 9.99245452e-01 -1.89295837e-03 -3.87936123e-02 5.28633595e+00] [ 2.17934027e-03 9.99970678e-01 7.34123409e-03 6.54558505e-01] [ 3.87785782e-02 -7.42023926e-03 9.99220277e-01 1.73085832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40255784400006 meters Centerline goodness : 0.158294 Centerline is valid? [False, False] Translation: X:5.29, Y:0.65, Z:1.73 [[ 9.99235311e-01 -1.88259072e-03 -3.90544326e-02 5.28740999e+00] [ 2.17760198e-03 9.99969408e-01 7.51268529e-03 6.53317108e-01] [ 3.90390946e-02 -7.59198543e-03 9.99208842e-01 1.73019675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.4325578440001 meters Centerline goodness : 0.149501 Centerline is valid? [False, False] Translation: X:5.29, Y:0.65, Z:1.73 [[ 9.99237010e-01 -1.81522917e-03 -3.90141439e-02 5.28733071e+00] [ 2.12001584e-03 9.99967548e-01 7.77225872e-03 6.51899693e-01] [ 3.89987694e-02 -7.84903916e-03 9.99208431e-01 1.73020314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46255784400006 meters Centerline goodness : 0.156509 Centerline is valid? [False, False] Translation: X:5.29, Y:0.65, Z:1.73 [[ 9.99247817e-01 -1.72928450e-03 -3.87402876e-02 5.28638228e+00] [ 2.04428819e-03 9.99965161e-01 8.09302861e-03 6.50252195e-01] [ 3.87249428e-02 -8.16613748e-03 9.99216540e-01 1.73068368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.4925578440001 meters Centerline goodness : 0.152951 Centerline is valid? [False, False] Translation: X:5.28, Y:0.65, Z:1.73 [[ 9.99307295e-01 -3.62629630e-03 -3.70375612e-02 5.27993823e+00] [ 3.87633182e-03 9.99970167e-01 6.68128634e-03 6.47192167e-01] [ 3.70122280e-02 -6.82022805e-03 9.99291539e-01 1.73332494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52255784400006 meters Centerline goodness : 0.149269 Centerline is valid? [False, False] Translation: X:5.28, Y:0.65, Z:1.73 [[ 9.99310124e-01 -3.52895556e-03 -3.69705709e-02 5.27973907e+00] [ 3.78807640e-03 9.99968735e-01 6.94113909e-03 6.45782543e-01] [ 3.69449201e-02 -7.07639791e-03 9.99292248e-01 1.73340926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5525578440001 meters Centerline goodness : 0.148584 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99325321e-01 4.88573395e-03 -3.64009863e-02 5.29963597e+00] [-4.67432916e-03 9.99971726e-01 5.89050862e-03 6.42154881e-01] [ 3.64287366e-02 -5.71638423e-03 9.99319904e-01 1.73483172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58255784400006 meters Centerline goodness : 0.136380 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99323044e-01 4.92436307e-03 -3.64582458e-02 5.30003756e+00] [-4.71044771e-03 9.99971198e-01 5.95097986e-03 6.41932188e-01] [ 3.64865006e-02 -5.77521665e-03 9.99317458e-01 1.73442198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.61255784400004 meters Centerline goodness : 0.154969 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99323095e-01 4.95312834e-03 -3.64529598e-02 5.30032200e+00] [-4.73828807e-03 9.99970908e-01 5.97766373e-03 6.41837495e-01] [ 3.64815074e-02 -5.80089280e-03 9.99317492e-01 1.73396174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64255784400007 meters Centerline goodness : 0.154379 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99319878e-01 4.97096283e-03 -3.65386147e-02 5.30074115e+00] [-4.75314550e-03 9.99970428e-01 6.04574218e-03 6.41239315e-01] [ 3.65675873e-02 -5.86795699e-03 9.99313954e-01 1.73364153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.67255784400004 meters Centerline goodness : 0.154925 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99319096e-01 4.96033487e-03 -3.65614576e-02 5.30082048e+00] [-4.74284059e-03 9.99970553e-01 6.03306469e-03 6.41163800e-01] [ 3.65903070e-02 -5.85555159e-03 9.99313195e-01 1.73355726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70255784400007 meters Centerline goodness : 0.148960 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99320531e-01 4.94988467e-03 -3.65236135e-02 5.30071621e+00] [-4.73455745e-03 9.99970913e-01 5.97969933e-03 6.41531208e-01] [ 3.65521500e-02 -5.80271316e-03 9.99314900e-01 1.73355977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.73255784400004 meters Centerline goodness : 0.173009 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99325903e-01 4.91727374e-03 -3.63807735e-02 5.30037967e+00] [-4.70594574e-03 9.99971568e-01 5.89213572e-03 6.42004563e-01] [ 3.64087124e-02 -5.71695790e-03 9.99320630e-01 1.73350275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76255784400007 meters Centerline goodness : 0.135346 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99327782e-01 4.84138944e-03 -3.63392947e-02 5.30016628e+00] [-4.63546657e-03 9.99972732e-01 5.74878794e-03 6.42470040e-01] [ 3.63661359e-02 -5.57647392e-03 9.99322974e-01 1.73363608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.79255784400004 meters Centerline goodness : 0.139420 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99327258e-01 4.75420441e-03 -3.63652256e-02 5.30023348e+00] [-4.55388847e-03 9.99974011e-01 5.58929507e-03 6.43005261e-01] [ 3.63908531e-02 -5.41993173e-03 9.99322936e-01 1.73360404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8225578440001 meters Centerline goodness : 0.142869 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99330642e-01 4.68124362e-03 -3.62816048e-02 5.30016247e+00] [-4.49260929e-03 9.99975974e-01 5.27895690e-03 6.44877229e-01] [ 3.63054452e-02 -5.11242431e-03 9.99327663e-01 1.73328671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.85255784400005 meters Centerline goodness : 0.129647 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 9.99334819e-01 4.62370638e-03 -3.61737684e-02 5.30007083e+00] [-4.44210162e-03 9.99977133e-01 5.09910483e-03 6.45904438e-01] [ 3.61965180e-02 -4.93502544e-03 9.99332506e-01 1.73295934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8825578440001 meters Centerline goodness : 0.149985 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 9.99341043e-01 4.56586218e-03 -3.60087880e-02 5.29970673e+00] [-4.38945654e-03 9.99977983e-01 4.97649554e-03 6.46421984e-01] [ 3.60307172e-02 -4.81515724e-03 9.99339082e-01 1.73286771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.91255784400005 meters Centerline goodness : 0.152382 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 9.99340569e-01 4.49445037e-03 -3.60309190e-02 5.29968006e+00] [-4.32265136e-03 9.99978922e-01 4.84458265e-03 6.46901051e-01] [ 3.60519333e-02 -4.68563888e-03 9.99338933e-01 1.73295459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9425578440001 meters Centerline goodness : 0.147442 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 9.99336386e-01 4.49305636e-03 -3.61469223e-02 5.29993035e+00] [-4.32004760e-03 9.99978844e-01 4.86294662e-03 6.46721099e-01] [ 3.61680071e-02 -4.70356308e-03 9.99334655e-01 1.73297651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.97255784400005 meters Centerline goodness : 0.151220 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 9.99330910e-01 4.53069846e-03 -3.62933184e-02 5.30047616e+00] [-4.35348601e-03 9.99978221e-01 4.96032488e-03 6.46214762e-01] [ 3.63150017e-02 -4.79900352e-03 9.99328870e-01 1.73271282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0025578440001 meters Centerline goodness : 0.150174 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99301181e-01 4.43826228e-03 -3.71140215e-02 5.30313461e+00] [-4.25019734e-03 9.99977734e-01 5.14458496e-03 6.44259029e-01] [ 3.71360282e-02 -4.98324791e-03 9.99297795e-01 1.73184270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.03255784400005 meters Centerline goodness : 0.152564 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99298445e-01 4.44337905e-03 -3.71870094e-02 5.30349286e+00] [-4.25017792e-03 9.99977066e-01 5.27283475e-03 6.43075361e-01] [ 3.72095858e-02 -5.11108417e-03 9.99294413e-01 1.73160328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0625578440001 meters Centerline goodness : 0.149399 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99300501e-01 4.45497734e-03 -3.71303249e-02 5.30323466e+00] [-4.26045966e-03 9.99976793e-01 5.31626046e-03 6.42626410e-01] [ 3.71531470e-02 -5.15434949e-03 9.99296291e-01 1.73179534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.09255784400005 meters Centerline goodness : 0.156907 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99310110e-01 4.49869207e-03 -3.68655205e-02 5.30244921e+00] [-4.30597784e-03 9.99976656e-01 5.30522468e-03 6.42994476e-01] [ 3.68885265e-02 -5.14282254e-03 9.99306153e-01 1.73194919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1225578440001 meters Centerline goodness : 0.146670 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99322934e-01 4.54508912e-03 -3.65104877e-02 5.30145185e+00] [-4.35659465e-03 9.99976778e-01 5.24064828e-03 6.43810982e-01] [ 3.65334590e-02 -5.07803862e-03 9.99319528e-01 1.73209017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.15255784400006 meters Centerline goodness : 0.155776 Centerline is valid? [False, False] Translation: X:5.34, Y:0.65, Z:1.73 [[ 9.99421753e-01 5.87893777e-03 -3.34902576e-02 5.34394593e+00] [-5.71327201e-03 9.99970977e-01 5.04023641e-03 6.48952125e-01] [ 3.35189169e-02 -4.84598295e-03 9.99426335e-01 1.73324957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1825578440001 meters Centerline goodness : 0.134563 Centerline is valid? [False, False] Translation: X:5.32, Y:0.65, Z:1.73 [[ 9.99425520e-01 -2.92767919e-03 -3.37647662e-02 5.32353178e+00] [ 3.12610909e-03 9.99978145e-01 5.82553994e-03 6.53184172e-01] [ 3.37469729e-02 -5.92774562e-03 9.99412829e-01 1.73146208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.21255784400006 meters Centerline goodness : 0.147010 Centerline is valid? [False, False] Translation: X:5.32, Y:0.65, Z:1.73 [[ 9.99421350e-01 -2.95056539e-03 -3.38859893e-02 5.32407882e+00] [ 3.14749876e-03 9.99978459e-01 5.75977356e-03 6.53606979e-01] [ 3.38682648e-02 -5.86309677e-03 9.99409108e-01 1.73100943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2425578440001 meters Centerline goodness : 0.142234 Centerline is valid? [False, False] Translation: X:5.32, Y:0.65, Z:1.73 [[ 9.99414588e-01 -2.95116658e-03 -3.40847754e-02 5.32488898e+00] [ 3.14981136e-03 9.99978360e-01 5.77573738e-03 6.53599494e-01] [ 3.40669927e-02 -5.87971681e-03 9.99402256e-01 1.73050866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.27255784400006 meters Centerline goodness : 0.153169 Centerline is valid? [False, False] Translation: X:5.33, Y:0.65, Z:1.73 [[ 9.99406123e-01 -2.98112260e-03 -3.43295051e-02 5.32570641e+00] [ 3.18386887e-03 9.99977804e-01 5.85273859e-03 6.52879233e-01] [ 3.43112954e-02 -5.95856343e-03 9.99393431e-01 1.73021699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3025578440001 meters Centerline goodness : 0.152074 Centerline is valid? [False, False] Translation: X:5.33, Y:0.65, Z:1.73 [[ 9.99392192e-01 -3.05311256e-03 -3.47264231e-02 5.32670443e+00] [ 3.26311672e-03 9.99976722e-01 5.99232150e-03 6.51486861e-01] [ 3.47073195e-02 -6.10199569e-03 9.99378891e-01 1.73021941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.33255784400006 meters Centerline goodness : 0.139604 Centerline is valid? [False, False] Translation: X:5.35, Y:0.65, Z:1.73 [[ 9.99387269e-01 2.74262181e-03 -3.48936058e-02 5.34693061e+00] [-2.64854722e-03 9.99992733e-01 2.74197802e-03 6.48151448e-01] [ 3.49008725e-02 -2.64788057e-03 9.99387271e-01 1.73200703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36255784400004 meters Centerline goodness : 0.159970 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99415830e-01 2.42734610e-04 -3.41751210e-02 5.34342303e+00] [-2.13931222e-04 9.99999619e-01 8.46471553e-04 6.44735415e-01] [ 3.41753135e-02 -8.38665945e-04 9.99415501e-01 1.73395164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.39255784400007 meters Centerline goodness : 0.158471 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99419769e-01 3.42132917e-04 -3.40588858e-02 5.34323259e+00] [-3.02840915e-04 9.99999283e-01 1.15880109e-03 6.43266787e-01] [ 3.40592578e-02 -1.14781430e-03 9.99419156e-01 1.73382291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42255784400004 meters Centerline goodness : 0.161926 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99420123e-01 3.99605461e-04 -3.40478767e-02 5.34330315e+00] [-3.53527547e-04 9.99999014e-01 1.35933654e-03 6.42173834e-01] [ 3.40483863e-02 -1.34651142e-03 9.99419279e-01 1.73372147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.45255784400007 meters Centerline goodness : 0.162152 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99420175e-01 4.01143257e-04 -3.40463473e-02 5.34348328e+00] [-3.51444623e-04 9.99998864e-01 1.46570657e-03 6.41359592e-01] [ 3.40468966e-02 -1.45289131e-03 9.99419180e-01 1.73346855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48255784400004 meters Centerline goodness : 0.161845 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99416309e-01 3.90772873e-04 -3.41597582e-02 5.34400207e+00] [-3.39541440e-04 9.99998809e-01 1.50554797e-03 6.40809662e-01] [ 3.41603058e-02 -1.49307054e-03 9.99415251e-01 1.73308352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.51255784400007 meters Centerline goodness : 0.161845 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99416309e-01 3.90772873e-04 -3.41597582e-02 5.34400207e+00] [-3.39541440e-04 9.99998809e-01 1.50554797e-03 6.40809662e-01] [ 3.41603058e-02 -1.49307054e-03 9.99415251e-01 1.73308352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54255784400004 meters Centerline goodness : 0.117651 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99413251e-01 3.96565105e-04 -3.42490346e-02 5.34431831e+00] [-3.44981536e-04 9.99998797e-01 1.51202832e-03 6.40713663e-01] [ 3.42495930e-02 -1.49932586e-03 9.99412186e-01 1.73293829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5725578440001 meters Centerline goodness : 0.110249 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99413041e-01 4.66896549e-04 -3.42542902e-02 5.34409727e+00] [-4.12392588e-04 9.99998638e-01 1.59820514e-03 6.40499883e-01] [ 3.42549897e-02 -1.58314084e-03 9.99411872e-01 1.73327566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60255784400005 meters Centerline goodness : 0.147654 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99412834e-01 4.73765490e-04 -3.42602091e-02 5.34404257e+00] [-4.16815475e-04 9.99998520e-01 1.66940177e-03 6.39886734e-01] [ 3.42609493e-02 -1.65414137e-03 9.99411552e-01 1.73340030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6325578440001 meters Centerline goodness : 0.135813 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99414524e-01 4.86378735e-04 -3.42107116e-02 5.34383588e+00] [-4.25575174e-04 9.99998317e-01 1.78458452e-03 6.38959882e-01] [ 3.42115220e-02 -1.76898045e-03 9.99413049e-01 1.73351868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66255784400005 meters Centerline goodness : 0.117478 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99417526e-01 5.14307195e-04 -3.41224782e-02 5.34360669e+00] [-4.47915987e-04 9.99997992e-01 1.95328940e-03 6.37805194e-01] [ 3.41234143e-02 -1.93686766e-03 9.99415750e-01 1.73354780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6925578440001 meters Centerline goodness : 0.116263 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99419348e-01 5.92714836e-04 -3.40678170e-02 5.34348542e+00] [-5.17914547e-04 9.99997436e-01 2.20441181e-03 6.36450242e-01] [ 3.40690362e-02 -2.18548759e-03 9.99417092e-01 1.73355532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72255784400005 meters Centerline goodness : 0.160882 Centerline is valid? [False, False] Translation: X:5.34, Y:0.63, Z:1.73 [[ 9.99418981e-01 7.19216642e-04 -3.40761393e-02 5.34360309e+00] [-6.32875364e-04 9.99996563e-01 2.54449361e-03 6.34744956e-01] [ 3.40778522e-02 -2.52144926e-03 9.99416001e-01 1.73341703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7525578440001 meters Centerline goodness : 0.149451 Centerline is valid? [False, False] Translation: X:5.35, Y:0.63, Z:1.73 [[ 9.99398112e-01 8.25935714e-04 -3.46804148e-02 5.34527297e+00] [-7.15838894e-04 9.99994666e-01 3.18690733e-03 6.30690419e-01] [ 3.46828619e-02 -3.16016358e-03 9.99393372e-01 1.73322093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78255784400005 meters Centerline goodness : 0.116583 Centerline is valid? [False, False] Translation: X:5.35, Y:0.63, Z:1.73 [[ 9.99389794e-01 1.01390173e-03 -3.49143413e-02 5.34578151e+00] [-8.83654684e-04 9.99992594e-01 3.74570289e-03 6.27731350e-01] [ 3.49178805e-02 -3.71256502e-03 9.99383289e-01 1.73334943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8125578440001 meters Centerline goodness : 0.156178 Centerline is valid? [False, False] Translation: X:5.35, Y:0.62, Z:1.73 [[ 9.99385265e-01 1.21700972e-03 -3.50372916e-02 5.34599114e+00] [-1.06579372e-03 9.99990039e-01 4.33421229e-03 6.24577738e-01] [ 3.50422174e-02 -4.29420538e-03 9.99376607e-01 1.73358251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84255784400005 meters Centerline goodness : 0.158336 Centerline is valid? [False, False] Translation: X:5.35, Y:0.62, Z:1.73 [[ 9.99380894e-01 1.46920249e-03 -3.51521128e-02 5.34615008e+00] [-1.29475955e-03 9.99986738e-01 4.98476582e-03 6.21184485e-01] [ 3.51589703e-02 -4.93616619e-03 9.99369542e-01 1.73385190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8725578440001 meters Centerline goodness : 0.156628 Centerline is valid? [False, False] Translation: X:5.35, Y:0.61, Z:1.73 [[ 9.99351096e-01 7.46162488e-05 -3.60191889e-02 5.35035491e+00] [ 7.37751188e-05 9.99991516e-01 4.11843982e-03 6.14458071e-01] [ 3.60191906e-02 -4.11842466e-03 9.99342612e-01 1.73161460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90255784400006 meters Centerline goodness : 0.155810 Centerline is valid? [False, False] Translation: X:5.35, Y:0.61, Z:1.73 [[ 9.99347498e-01 2.75963513e-04 -3.61178981e-02 5.35080908e+00] [-1.10988852e-04 9.99989553e-01 4.56959588e-03 6.12119429e-01] [ 3.61187819e-02 -4.56260553e-03 9.99337088e-01 1.73135467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.9325578440001 meters Centerline goodness : 0.144605 Centerline is valid? [False, False] Translation: X:5.37, Y:0.60, Z:1.73 [[ 9.99393996e-01 9.36944480e-03 -3.35239494e-02 5.36919642e+00] [-9.23873396e-03 9.99949113e-01 4.05181289e-03 6.04755434e-01] [ 3.35602067e-02 -3.73963862e-03 9.99429701e-01 1.73315320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96255784400006 meters Centerline goodness : 0.134938 Centerline is valid? [False, False] Translation: X:5.37, Y:0.60, Z:1.73 [[ 9.99400943e-01 9.55932947e-03 -3.32621989e-02 5.36790457e+00] [-9.41788748e-03 9.99945942e-01 4.40641588e-03 6.03005862e-01] [ 3.33025232e-02 -4.09051654e-03 9.99436946e-01 1.73424618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.9925578440001 meters Centerline goodness : 0.158966 Centerline is valid? [False, False] Translation: X:5.37, Y:0.60, Z:1.73 [[ 9.99402555e-01 9.69982873e-03 -3.31729740e-02 5.36737535e+00] [-9.54791179e-03 9.99943207e-01 4.73489115e-03 6.01167068e-01] [ 3.32170176e-02 -4.41532969e-03 9.99438410e-01 1.73480704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02255784400006 meters Centerline goodness : 0.146206 Centerline is valid? [False, False] Translation: X:5.37, Y:0.60, Z:1.73 [[ 9.99395995e-01 9.92261537e-03 -3.33044709e-02 5.36769764e+00] [-9.75465402e-03 9.99938892e-01 5.20191006e-03 5.98604873e-01] [ 3.33540523e-02 -4.87389449e-03 9.99431715e-01 1.73495716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0525578440001 meters Centerline goodness : 0.139908 Centerline is valid? [False, False] Translation: X:5.37, Y:0.59, Z:1.73 [[ 9.99374304e-01 8.27230292e-03 -3.43884983e-02 5.37165242e+00] [-8.14767600e-03 9.99959728e-01 3.76264605e-03 5.93239384e-01] [ 3.44182392e-02 -3.48010544e-03 9.99401458e-01 1.73384091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08255784400006 meters Centerline goodness : 0.152712 Centerline is valid? [False, False] Translation: X:5.37, Y:0.59, Z:1.73 [[ 9.99370254e-01 8.49434379e-03 -3.44520123e-02 5.37170616e+00] [-8.35218257e-03 9.99956011e-01 4.26817785e-03 5.90634965e-01] [ 3.44867521e-02 -3.97774049e-03 9.99397239e-01 1.73405674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.11255784400004 meters Centerline goodness : 0.157478 Centerline is valid? [False, False] Translation: X:5.37, Y:0.59, Z:1.73 [[ 9.99370874e-01 8.88385162e-03 -3.43356004e-02 5.37089548e+00] [-8.71292584e-03 9.99948911e-01 5.12451892e-03 5.86368871e-01] [ 3.43793717e-02 -4.82213141e-03 9.99397221e-01 1.73490628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14255784400007 meters Centerline goodness : 0.140050 Centerline is valid? [False, False] Translation: X:5.37, Y:0.58, Z:1.74 [[ 9.99374319e-01 9.06560078e-03 -3.41875011e-02 5.37047169e+00] [-8.88177111e-03 9.99945292e-01 5.52514395e-03 5.84469624e-01] [ 3.42357195e-02 -5.21804141e-03 9.99400164e-01 1.73501444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.17255784400004 meters Centerline goodness : 0.117164 Centerline is valid? [False, False] Translation: X:5.37, Y:0.58, Z:1.74 [[ 0.99937642 0.00919493 -0.03409134 5.37027406] [-0.00900183 0.99994259 0.00581318 0.58319251] [ 0.03414283 -0.00550267 0.99940181 1.73503703] [ 0. 0. 0. 1. ]] SLAMing on 508.20255784400007 meters Centerline goodness : 0.090876 Centerline is valid? [False, False] Translation: X:5.37, Y:0.58, Z:1.73 [[ 9.99413002e-01 6.08505950e-03 -3.37138380e-02 5.36994549e+00] [-5.98779574e-03 9.99977617e-01 2.98519513e-03 5.80400430e-01] [ 3.37312485e-02 -2.78157126e-03 9.99427069e-01 1.73436808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.23255784400004 meters Centerline goodness : 0.156901 Centerline is valid? [False, False] Translation: X:5.37, Y:0.58, Z:1.73 [[ 9.99424939e-01 3.09645311e-03 -3.37668882e-02 5.37070418e+00] [-3.09608625e-03 9.99995205e-01 6.31522800e-05 5.79464193e-01] [ 3.37669218e-02 4.14292346e-05 9.99429734e-01 1.73355039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26255784400007 meters Centerline goodness : 0.063680 Centerline is valid? [False, False] Translation: X:5.37, Y:0.58, Z:1.73 [[ 9.99415526e-01 3.19374531e-03 -3.40353653e-02 5.37165665e+00] [-3.18223335e-03 9.99994860e-01 3.92399895e-04 5.77522312e-01] [ 3.40364436e-02 -2.83862073e-04 9.99420552e-01 1.73317159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.29255784400004 meters Centerline goodness : 0.117813 Centerline is valid? [False, False] Translation: X:5.37, Y:0.58, Z:1.73 [[ 9.99405558e-01 3.32248417e-03 -3.43145979e-02 5.37265253e+00] [-3.30049031e-03 9.99994310e-01 6.97571960e-04 5.75917930e-01] [ 3.43167203e-02 -5.83902296e-04 9.99410837e-01 1.73271691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3225578440001 meters Centerline goodness : 0.167765 Centerline is valid? [False, False] Translation: X:5.37, Y:0.57, Z:1.73 [[ 9.99394182e-01 3.47601923e-03 -3.46292598e-02 5.37402687e+00] [-3.44074512e-03 9.99993499e-01 1.07816290e-03 5.73975339e-01] [ 3.46327824e-02 -9.58359277e-04 9.99399646e-01 1.73183905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.35255784400005 meters Centerline goodness : 0.089235 Centerline is valid? [False, False] Translation: X:5.39, Y:0.58, Z:1.73 [[ 9.99385240e-01 -3.57932578e-03 -3.48759373e-02 5.39350015e+00] [ 3.65299737e-03 9.99991229e-01 2.04889874e-03 5.78673322e-01] [ 3.48682978e-02 -2.17504087e-03 9.99389549e-01 1.73352908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3825578440001 meters SLAMing on 508.41255784400005 meters Centerline goodness : 0.062536 Centerline is valid? [False, False] Translation: X:5.39, Y:0.58, Z:1.73 [[ 9.99390197e-01 -3.43361277e-03 -3.47482899e-02 5.39314917e+00] [ 3.51642307e-03 9.99991121e-01 2.32231463e-03 5.77568852e-01] [ 3.47400074e-02 -2.44308817e-03 9.99393398e-01 1.73358977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4425578440001 meters Centerline goodness : 0.115898 Centerline is valid? [False, False] Translation: X:5.39, Y:0.58, Z:1.73 [[ 9.99392580e-01 -3.33439055e-03 -3.46893811e-02 5.39294052e+00] [ 3.42606235e-03 9.99990794e-01 2.58354108e-03 5.76279886e-01] [ 3.46804472e-02 -2.70081977e-03 9.99394803e-01 1.73371437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.47255784400005 meters Centerline goodness : 0.116344 Centerline is valid? [False, False] Translation: X:5.39, Y:0.58, Z:1.73 [[ 9.99386722e-01 -3.31738982e-03 -3.48593691e-02 5.39335964e+00] [ 3.41395520e-03 9.99990498e-01 2.71098422e-03 5.75338216e-01] [ 3.48500444e-02 -2.82832996e-03 9.99388551e-01 1.73374996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5025578440001 meters Centerline goodness : 0.115682 Centerline is valid? [False, False] Translation: X:5.39, Y:0.57, Z:1.73 [[ 9.99370652e-01 -3.33932780e-03 -3.53149882e-02 5.39439210e+00] [ 3.44520427e-03 9.99989750e-01 2.93763273e-03 5.73503053e-01] [ 3.53048165e-02 -3.05745128e-03 9.99371914e-01 1.73394964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.53255784400005 meters Centerline goodness : 0.157743 Centerline is valid? [False, False] Translation: X:5.39, Y:0.57, Z:1.73 [[ 9.99373570e-01 -3.27969678e-03 -3.52379136e-02 5.39394175e+00] [ 3.39052641e-03 9.99989491e-01 3.08588557e-03 5.72766835e-01] [ 3.52274225e-02 -3.20342756e-03 9.99374188e-01 1.73433465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5625578440001 meters Centerline goodness : 0.114425 Centerline is valid? [False, False] Translation: X:5.39, Y:0.57, Z:1.73 [[ 9.99378694e-01 -3.21148103e-03 -3.50985963e-02 5.39332806e+00] [ 3.32653591e-03 9.99989282e-01 3.22014320e-03 5.72295738e-01] [ 3.50878787e-02 -3.33489925e-03 9.99378667e-01 1.73478804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.59255784400005 meters Centerline goodness : 0.103552 Centerline is valid? [False, False] Translation: X:5.41, Y:0.57, Z:1.74 [[ 9.99439067e-01 5.77256586e-03 -3.29882994e-02 5.41167632e+00] [-5.71075618e-03 9.99981758e-01 1.96759842e-03 5.71408507e-01] [ 3.29990557e-02 -1.77810660e-03 9.99453801e-01 1.73665142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6225578440001 meters Centerline goodness : 0.118944 Centerline is valid? [False, False] Translation: X:5.41, Y:0.57, Z:1.74 [[ 9.99444333e-01 5.71946110e-03 -3.28376883e-02 5.41150429e+00] [-5.66581387e-03 9.99982459e-01 1.72652893e-03 5.72861911e-01] [ 3.28469871e-02 -1.53951732e-03 9.99459206e-01 1.73634318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.65255784400006 meters Centerline goodness : 0.092265 Centerline is valid? [False, False] Translation: X:5.41, Y:0.58, Z:1.74 [[ 9.99439348e-01 5.66752377e-03 -3.29980250e-02 5.41212287e+00] [-5.62921555e-03 9.99983370e-01 1.25371120e-03 5.75728285e-01] [ 3.30045817e-02 -1.06725531e-03 9.99454631e-01 1.73592362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6825578440001 meters Centerline goodness : 0.154388 Centerline is valid? [False, False] Translation: X:5.43, Y:0.58, Z:1.74 [[ 9.99447665e-01 -1.22336280e-03 -3.32094548e-02 5.43068846e+00] [ 1.29384706e-03 9.99996956e-01 2.10100846e-03 5.82852629e-01] [ 3.32067834e-02 -2.14281596e-03 9.99446206e-01 1.73789033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.71255784400006 meters Centerline goodness : 0.153125 Centerline is valid? [False, False] Translation: X:5.43, Y:0.58, Z:1.74 [[ 9.99449072e-01 -1.25310292e-03 -3.31659759e-02 5.43060450e+00] [ 1.31958676e-03 9.99997164e-01 1.98276660e-03 5.83603129e-01] [ 3.31633972e-02 -2.02543962e-03 9.99447891e-01 1.73786347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7425578440001 meters Centerline goodness : 0.156085 Centerline is valid? [False, False] Translation: X:5.43, Y:0.58, Z:1.74 [[ 9.99449189e-01 -1.32516648e-03 -3.31596545e-02 5.43052285e+00] [ 1.38734717e-03 9.99997322e-01 1.85225286e-03 5.84159643e-01] [ 3.31571112e-02 -1.89723657e-03 9.99448351e-01 1.73796860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.77255784400006 meters Centerline goodness : 0.091369 Centerline is valid? [False, False] Translation: X:5.43, Y:0.58, Z:1.74 [[ 9.99452081e-01 -1.48574931e-03 -3.30655593e-02 5.43042695e+00] [ 1.54171647e-03 9.99997422e-01 1.66718043e-03 5.84651771e-01] [ 3.30629971e-02 -1.71724466e-03 9.99451794e-01 1.73782878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8025578440001 meters Centerline goodness : 0.163682 Centerline is valid? [False, False] Translation: X:5.43, Y:0.59, Z:1.74 [[ 9.99450654e-01 -1.57105971e-03 -3.31047193e-02 5.43073392e+00] [ 1.62153963e-03 9.99997563e-01 1.49806312e-03 5.85499423e-01] [ 3.31022851e-02 -1.55092078e-03 9.99450766e-01 1.73754442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.83255784400006 meters Centerline goodness : 0.158530 Centerline is valid? [False, False] Translation: X:5.43, Y:0.59, Z:1.74 [[ 9.99453223e-01 -1.62646680e-03 -3.30243712e-02 5.43084215e+00] [ 1.66981719e-03 9.99997780e-01 1.28514126e-03 5.86873253e-01] [ 3.30222076e-02 -1.33958324e-03 9.99453720e-01 1.73711630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86255784400004 meters Centerline goodness : 0.155410 Centerline is valid? [False, False] Translation: X:5.43, Y:0.59, Z:1.74 [[ 9.99459813e-01 -1.67806198e-03 -3.28217273e-02 5.43039545e+00] [ 1.71151064e-03 9.99998044e-01 9.91032755e-04 5.88970781e-01] [ 3.28200001e-02 -1.04667215e-03 9.99460731e-01 1.73707012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.89255784400007 meters Centerline goodness : 0.158282 Centerline is valid? [False, False] Translation: X:5.43, Y:0.59, Z:1.74 [[ 9.99481731e-01 -1.50834348e-03 -3.21557958e-02 5.42871412e+00] [ 1.52271767e-03 9.99998751e-01 4.22533290e-04 5.93922284e-01] [ 3.21551183e-02 -4.71278503e-04 9.99482779e-01 1.73694967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92255784400004 meters Centerline goodness : 0.158746 Centerline is valid? [False, False] Translation: X:5.45, Y:0.60, Z:1.74 [[ 9.99482018e-01 6.59784975e-03 -3.14986477e-02 5.45046010e+00] [-6.66302879e-03 9.99975872e-01 -1.96474822e-03 5.97332481e-01] [ 3.14849246e-02 2.17360691e-03 9.99501863e-01 1.73724106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.95255784400007 meters Centerline goodness : 0.118138 Centerline is valid? [False, False] Translation: X:5.43, Y:0.61, Z:1.74 [[ 9.99432584e-01 9.93200105e-04 -3.36678326e-02 5.43064552e+00] [-9.59460296e-04 9.99999021e-01 1.01827909e-03 6.06970430e-01] [ 3.36688110e-02 -9.85398351e-04 9.99432559e-01 1.73569557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98255784400004 meters Centerline goodness : 0.123455 Centerline is valid? [False, False] Translation: X:5.43, Y:0.61, Z:1.74 [[ 9.99436801e-01 8.13770506e-04 -3.35472471e-02 5.43077047e+00] [-8.01396469e-04 9.99999606e-01 3.82298465e-04 6.10810645e-01] [ 3.35475450e-02 -3.55198510e-04 9.99437060e-01 1.73501809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.01255784400007 meters Centerline goodness : 0.155781 Centerline is valid? [False, False] Translation: X:5.43, Y:0.61, Z:1.73 [[ 9.99443431e-01 5.93830754e-04 -3.33537917e-02 5.43040927e+00] [-6.01128585e-04 9.99999798e-01 -2.08773308e-04 6.14126102e-01] [ 3.33536610e-02 2.28707028e-04 9.99443586e-01 1.73483559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04255784400004 meters Centerline goodness : 0.123944 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.74 [[ 9.99453717e-01 1.93593203e-04 -3.30489122e-02 5.42921685e+00] [-2.27396369e-04 9.99999455e-01 -1.01906679e-03 6.18153418e-01] [ 3.30486969e-02 1.02602529e-03 9.99453216e-01 1.73550496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0725578440001 meters Centerline goodness : 0.120813 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.74 [[ 9.99455415e-01 5.40397353e-05 -3.29980526e-02 5.42919790e+00] [-9.58401056e-05 9.99999195e-01 -1.26517226e-03 6.19451465e-01] [ 3.29979577e-02 1.26764580e-03 9.99454615e-01 1.73539948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10255784400005 meters Centerline goodness : 0.112186 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.73 [[ 9.99456292e-01 -1.58835380e-05 -3.29715026e-02 5.42949492e+00] [-3.18798473e-05 9.99998951e-01 -1.44810008e-03 6.20802971e-01] [ 3.29714910e-02 1.44836386e-03 9.99455243e-01 1.73496568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1325578440001 meters Centerline goodness : 0.162530 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.73 [[ 9.99457091e-01 -2.04011873e-04 -3.29466467e-02 5.43016663e+00] [ 1.46591771e-04 9.99998466e-01 -1.74522693e-03 6.22596816e-01] [ 3.29469522e-02 1.73944972e-03 9.99455588e-01 1.73409972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16255784400005 meters Centerline goodness : 0.160013 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.73 [[ 9.99460704e-01 -2.90698125e-04 -3.28362239e-02 5.43014194e+00] [ 2.30004306e-04 9.99998258e-01 -1.85214213e-03 6.23070982e-01] [ 3.28367051e-02 1.84359080e-03 9.99459030e-01 1.73386365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1925578440001 meters Centerline goodness : 0.101347 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.73 [[ 9.99466165e-01 -3.50506414e-04 -3.26689796e-02 5.42986495e+00] [ 2.87131339e-04 9.99998068e-01 -1.94458717e-03 6.23688785e-01] [ 3.26695981e-02 1.93416880e-03 9.99464335e-01 1.73377561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22255784400005 meters Centerline goodness : 0.147681 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.73 [[ 9.99472826e-01 -3.69918545e-04 -3.24643304e-02 5.42931812e+00] [ 3.05845916e-04 9.99997996e-01 -1.97857528e-03 6.24135837e-01] [ 3.24649973e-02 1.96760315e-03 9.99470936e-01 1.73397783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2525578440001 meters Centerline goodness : 0.121453 Centerline is valid? [False, False] Translation: X:5.43, Y:0.63, Z:1.73 [[ 9.99485746e-01 -4.74344604e-04 -3.20627134e-02 5.42824442e+00] [ 4.05890317e-04 9.99997625e-01 -2.14148720e-03 6.25142455e-01] [ 3.20636531e-02 2.12737199e-03 9.99483565e-01 1.73432230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28255784400005 meters Centerline goodness : 0.132714 Centerline is valid? [False, False] Translation: X:5.43, Y:0.63, Z:1.73 [[ 9.99494493e-01 -5.09092243e-04 -3.17883639e-02 5.42782401e+00] [ 4.38893778e-04 9.99997450e-01 -2.21524553e-03 6.25696311e-01] [ 3.17894106e-02 2.20017400e-03 9.99492167e-01 1.73408219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3125578440001 meters Centerline goodness : 0.152430 Centerline is valid? [False, False] Translation: X:5.43, Y:0.63, Z:1.73 [[ 9.99501191e-01 -5.36833771e-04 -3.15765887e-02 5.42765398e+00] [ 4.64021283e-04 9.99997217e-01 -2.31318376e-03 6.26527688e-01] [ 3.15777426e-02 2.29737772e-03 9.99498658e-01 1.73372761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34255784400005 meters Centerline goodness : 0.128661 Centerline is valid? [False, False] Translation: X:5.43, Y:0.63, Z:1.73 [[ 9.99529339e-01 -4.72852408e-04 -3.06737050e-02 5.42575999e+00] [ 3.97616882e-04 9.99996898e-01 -2.45882271e-03 6.28598769e-01] [ 3.06747725e-02 2.44546905e-03 9.99526427e-01 1.73340810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3725578440001 meters Centerline goodness : 0.174952 Centerline is valid? [False, False] Translation: X:5.38, Y:0.63, Z:1.73 [[ 9.99646631e-01 -3.86724531e-04 -2.65794007e-02 5.38366220e+00] [ 3.55887216e-04 9.99999258e-01 -1.16491669e-03 6.25545132e-01] [ 2.65798315e-02 1.15504577e-03 9.99646027e-01 1.72785746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40255784400006 meters Centerline goodness : 0.174952 Centerline is valid? [False, False] Translation: X:5.38, Y:0.63, Z:1.73 [[ 9.99646631e-01 -3.86724531e-04 -2.65794007e-02 5.38366220e+00] [ 3.55887216e-04 9.99999258e-01 -1.16491669e-03 6.25545132e-01] [ 2.65798315e-02 1.15504577e-03 9.99646027e-01 1.72785746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.4325578440001 meters Centerline goodness : 0.091088 Centerline is valid? [False, False] Translation: X:5.38, Y:0.63, Z:1.73 [[ 9.99660686e-01 -4.02153381e-04 -2.60451629e-02 5.38258992e+00] [ 3.70883043e-04 9.99999205e-01 -1.20543934e-03 6.26081532e-01] [ 2.60456269e-02 1.19537061e-03 9.99660040e-01 1.72766113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46255784400006 meters Centerline goodness : 0.089203 Centerline is valid? [False, False] Translation: X:5.40, Y:0.63, Z:1.73 [[ 9.99700924e-01 -6.58527614e-03 -2.35520023e-02 5.40371011e+00] [ 6.61322719e-03 9.99977517e-01 1.10908833e-03 6.28351436e-01] [ 2.35441691e-02 -1.26451137e-03 9.99721998e-01 1.72624256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.4925578440001 meters Centerline goodness : 0.173879 Centerline is valid? [False, False] Translation: X:5.40, Y:0.63, Z:1.73 [[ 9.99707683e-01 -6.50761971e-03 -2.32851580e-02 5.40359577e+00] [ 6.54188456e-03 9.99977628e-01 1.39565876e-03 6.27054677e-01] [ 2.32755547e-02 -1.54757961e-03 9.99727890e-01 1.72565567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52255784400006 meters Centerline goodness : 0.175040 Centerline is valid? [False, False] Translation: X:5.40, Y:0.63, Z:1.73 [[ 9.99715138e-01 -6.45280655e-03 -2.29783373e-02 5.40329202e+00] [ 6.49342369e-03 9.99977484e-01 1.69345141e-03 6.25426429e-01] [ 2.29668924e-02 -1.84217709e-03 9.99734529e-01 1.72521500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5525578440001 meters Centerline goodness : 0.175862 Centerline is valid? [False, False] Translation: X:5.40, Y:0.62, Z:1.72 [[ 9.99737288e-01 -6.54644824e-03 -2.19658555e-02 5.40178443e+00] [ 6.59519885e-03 9.99975945e-01 2.14767180e-03 6.21949198e-01] [ 2.19512675e-02 -2.29197677e-03 9.99756415e-01 1.72434210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58255784400006 meters Centerline goodness : 0.178056 Centerline is valid? [False, False] Translation: X:5.40, Y:0.62, Z:1.72 [[ 9.99746999e-01 -6.40996275e-03 -2.15604048e-02 5.40164018e+00] [ 6.46624922e-03 9.99975863e-01 2.54193819e-03 6.20070433e-01] [ 2.15435907e-02 -2.68071003e-03 9.99764316e-01 1.72330847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.61255784400004 meters Centerline goodness : 0.155691 Centerline is valid? [False, False] Translation: X:5.40, Y:0.62, Z:1.72 [[ 9.99757334e-01 -6.27263616e-03 -2.11169766e-02 5.40156225e+00] [ 6.33467161e-03 9.99975811e-01 2.87209497e-03 6.18679607e-01] [ 2.10984502e-02 -3.00516713e-03 9.99772886e-01 1.72195826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64255784400007 meters Centerline goodness : 0.153933 Centerline is valid? [False, False] Translation: X:5.40, Y:0.62, Z:1.72 [[ 9.99780200e-01 -6.04282928e-03 -2.00757458e-02 5.40162052e+00] [ 6.10935903e-03 9.99976042e-01 3.25425906e-03 6.16775305e-01] [ 2.00555999e-02 -3.37619371e-03 9.99793166e-01 1.71873922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.67255784400004 meters Centerline goodness : 0.150517 Centerline is valid? [False, False] Translation: X:5.42, Y:0.62, Z:1.72 [[ 9.99802964e-01 1.65231363e-03 -1.97813573e-02 5.42337095e+00] [-1.63733672e-03 9.99998361e-01 7.73294539e-04 6.16324021e-01] [ 1.97826026e-02 -7.40753429e-04 9.99804031e-01 1.71963629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70255784400007 meters Centerline goodness : 0.149455 Centerline is valid? [False, False] Translation: X:5.38, Y:0.61, Z:1.71 [[ 9.99883407e-01 2.69052605e-03 -1.50310853e-02 5.38109440e+00] [-2.66515484e-03 9.99994990e-01 1.70769204e-03 6.12972482e-01] [ 1.50356046e-02 -1.66743276e-03 9.99885569e-01 1.71082279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.73255784400004 meters Centerline goodness : 0.184427 Centerline is valid? [False, False] Translation: X:5.38, Y:0.61, Z:1.71 [[ 9.99900831e-01 3.66104572e-03 -1.35986796e-02 5.38104929e+00] [-3.63216836e-03 9.99991097e-01 2.14763299e-03 6.14157099e-01] [ 1.36064211e-02 -2.09802732e-03 9.99905227e-01 1.70645736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76255784400007 meters Centerline goodness : 0.148279 Centerline is valid? [False, False] Translation: X:5.38, Y:0.62, Z:1.70 [[ 9.99911244e-01 3.72584903e-03 -1.27914739e-02 5.38054592e+00] [-3.70117192e-03 9.99991245e-01 1.95231524e-03 6.16008672e-01] [ 1.27986360e-02 -1.90479852e-03 9.99916280e-01 1.70423709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.79255784400004 meters Centerline goodness : 0.170096 Centerline is valid? [False, False] Translation: X:5.38, Y:0.62, Z:1.70 [[ 9.99921736e-01 3.73117909e-03 -1.19415727e-02 5.37998537e+00] [-3.71119909e-03 9.99991677e-01 1.69486841e-03 6.18063801e-01] [ 1.19477971e-02 -1.65041821e-03 9.99927260e-01 1.70188544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8225578440001 meters Centerline goodness : 0.151096 Centerline is valid? [False, False] Translation: X:5.38, Y:0.62, Z:1.70 [[ 9.99930272e-01 3.67415760e-03 -1.12228211e-02 5.37973960e+00] [-3.65859347e-03 9.99992317e-01 1.40704418e-03 6.20131542e-01] [ 1.12279046e-02 -1.36588633e-03 9.99936032e-01 1.69956660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.85255784400005 meters Centerline goodness : 0.147258 Centerline is valid? [False, False] Translation: X:5.38, Y:0.62, Z:1.69 [[ 9.99945125e-01 3.25516058e-03 -9.95750294e-03 5.38051930e+00] [-3.24989085e-03 9.99994570e-01 5.45357052e-04 6.24195615e-01] [ 9.95922410e-03 -5.12966328e-04 9.99950274e-01 1.69472809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8825578440001 meters Centerline goodness : 0.170589 Centerline is valid? [False, False] Translation: X:5.38, Y:0.63, Z:1.69 [[ 9.99953222e-01 3.11989520e-03 -9.15534682e-03 5.37978990e+00] [-3.11774860e-03 9.99995109e-01 2.48726512e-04 6.25868521e-01] [ 9.15607804e-03 -2.20170807e-04 9.99958058e-01 1.69290542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.91255784400005 meters Centerline goodness : 0.138764 Centerline is valid? [False, False] Translation: X:5.40, Y:0.63, Z:1.69 [[ 9.99985051e-01 -2.05557258e-03 -5.06678039e-03 5.40027231e+00] [ 2.07090108e-03 9.99993290e-01 3.02190604e-03 6.31947982e-01] [ 5.06053464e-03 -3.03235367e-03 9.99982598e-01 1.68958235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9425578440001 meters Centerline goodness : 0.138327 Centerline is valid? [False, False] Translation: X:5.40, Y:0.63, Z:1.69 [[ 9.99990287e-01 -2.23799930e-03 -3.79701436e-03 5.39835901e+00] [ 2.24887136e-03 9.99993377e-01 2.86146817e-03 6.33151720e-01] [ 3.79058525e-03 -2.86997937e-03 9.99988697e-01 1.68801778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.97255784400005 meters Centerline goodness : 0.142829 Centerline is valid? [False, False] Translation: X:5.40, Y:0.63, Z:1.69 [[ 9.99993651e-01 -2.48151742e-03 -2.55737017e-03 5.39685963e+00] [ 2.48836659e-03 9.99993317e-01 2.67851531e-03 6.34032637e-01] [ 2.55070629e-03 -2.68486198e-03 9.99993143e-01 1.68610505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0025578440001 meters Centerline goodness : 0.132745 Centerline is valid? [False, False] Translation: X:5.40, Y:0.64, Z:1.68 [[ 9.99994991e-01 -3.15426297e-03 2.60788464e-04 5.39665285e+00] [ 3.15371138e-03 9.99992845e-01 2.08914625e-03 6.38381977e-01] [-2.67376315e-04 -2.08831333e-03 9.99997784e-01 1.67893659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.03255784400005 meters Centerline goodness : 0.147439 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.66 [[ 9.99948342e-01 -4.35518203e-03 9.18401048e-03 5.35247300e+00] [ 4.33631403e-03 9.99988449e-01 2.07335306e-03 6.38566583e-01] [-9.19293422e-03 -2.03342120e-03 9.99955677e-01 1.66278774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0625578440001 meters Centerline goodness : 0.106445 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.66 [[ 9.99931786e-01 -4.59952175e-03 1.07363098e-02 5.35124835e+00] [ 4.58042021e-03 9.99987884e-01 1.80306469e-03 6.40283329e-01] [-1.07444730e-02 -1.75376489e-03 9.99940739e-01 1.65979550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.09255784400005 meters Centerline goodness : 0.140237 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.66 [[ 9.99885381e-01 -5.02766363e-03 1.42809937e-02 5.34836403e+00] [ 5.00336645e-03 9.99985975e-01 1.73658434e-03 6.41112254e-01] [-1.42895244e-02 -1.66493225e-03 9.99896513e-01 1.65530868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1225578440001 meters Centerline goodness : 0.143766 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.65 [[ 9.99861162e-01 -5.06002610e-03 1.58762031e-02 5.34726235e+00] [ 5.02833953e-03 9.99985287e-01 2.03513694e-03 6.39961467e-01] [-1.58862674e-02 -1.95502345e-03 9.99871894e-01 1.65310504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.15255784400006 meters Centerline goodness : 0.152587 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.65 [[ 9.99827687e-01 -4.99937492e-03 1.78774431e-02 5.34637567e+00] [ 4.95376746e-03 9.99984364e-01 2.59449253e-03 6.38419537e-01] [-1.78901344e-02 -2.50548476e-03 9.99836820e-01 1.64926380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1825578440001 meters Centerline goodness : 0.142680 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.64 [[ 9.99774965e-01 -6.01002789e-03 2.03444859e-02 5.34989044e+00] [ 5.97367167e-03 9.99980451e-01 1.84733179e-03 6.39281956e-01] [-2.03551907e-02 -1.72538480e-03 9.99791323e-01 1.64115336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.21255784400006 meters Centerline goodness : 0.189085 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.64 [[ 9.99733645e-01 -6.07916840e-03 2.22639294e-02 5.34876479e+00] [ 6.03604416e-03 9.99979776e-01 2.00364562e-03 6.38446806e-01] [-2.22756596e-02 -1.86872588e-03 9.99750120e-01 1.63683377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2425578440001 meters Centerline goodness : 0.147697 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.63 [[ 9.99694528e-01 -6.12029188e-03 2.39456404e-02 5.34795556e+00] [ 6.07520968e-03 9.99979635e-01 1.95498483e-03 6.38280936e-01] [-2.39571178e-02 -1.80891285e-03 9.99711351e-01 1.63342330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.27255784400006 meters Centerline goodness : 0.142934 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.63 [[ 9.99641862e-01 -6.09187759e-03 2.60583270e-02 5.34665290e+00] [ 6.04351722e-03 9.99979867e-01 1.93420452e-03 6.38858405e-01] [-2.60695853e-02 -1.77602786e-03 9.99658553e-01 1.62933425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3025578440001 meters Centerline goodness : 0.145666 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.62 [[ 9.99588109e-01 -4.65581703e-03 2.83184866e-02 5.35119135e+00] [ 4.56675058e-03 9.99984423e-01 3.20903215e-03 6.40288419e-01] [-2.83329861e-02 -3.07838691e-03 9.99593800e-01 1.62101150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.33255784400006 meters Centerline goodness : 0.215604 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.61 [[ 9.99534396e-01 -3.47471039e-03 3.03136373e-02 5.35252764e+00] [ 3.33527794e-03 9.99983631e-01 4.64901267e-03 6.39471828e-01] [-3.03292951e-02 -4.54574367e-03 9.99529624e-01 1.61305188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36255784400004 meters Centerline goodness : 0.217649 Centerline is valid? [False, False] Translation: X:5.42, Y:0.65, Z:1.63 [[ 9.99806999e-01 -2.44031354e-03 1.94938182e-02 5.41856789e+00] [ 2.41792825e-03 9.99996390e-01 1.17181507e-03 6.46633986e-01] [-1.94966074e-02 -1.12445426e-03 9.99809291e-01 1.63180453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.39255784400007 meters Centerline goodness : 0.141261 Centerline is valid? [False, False] Translation: X:5.42, Y:0.65, Z:1.63 [[ 9.99743548e-01 -3.02849300e-03 2.24425261e-02 5.41956574e+00] [ 3.01679503e-03 9.99995295e-01 5.55079576e-04 6.48611744e-01] [-2.24441015e-02 -4.87232724e-04 9.99747981e-01 1.62560985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42255784400004 meters Centerline goodness : 0.142763 Centerline is valid? [False, False] Translation: X:5.42, Y:0.65, Z:1.62 [[ 9.99710672e-01 -3.13090238e-03 2.38488919e-02 5.41968809e+00] [ 3.11239297e-03 9.99994826e-01 8.13191118e-04 6.48581203e-01] [-2.38513146e-02 -7.38728716e-04 9.99715244e-01 1.62109617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.45255784400007 meters Centerline goodness : 0.139575 Centerline is valid? [False, False] Translation: X:5.43, Y:0.65, Z:1.61 [[ 9.99660604e-01 -3.87914040e-03 2.57610137e-02 5.42701858e+00] [ 3.85890787e-03 9.99992206e-01 8.35060161e-04 6.48606910e-01] [-2.57640522e-02 -7.35367366e-04 9.99667781e-01 1.61096894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48255784400004 meters Centerline goodness : 0.115274 Centerline is valid? [False, False] Translation: X:5.43, Y:0.65, Z:1.60 [[ 9.99612365e-01 -3.71122932e-03 2.75925056e-02 5.42741965e+00] [ 3.66858653e-03 9.99991997e-01 1.59591020e-03 6.46620546e-01] [-2.75982076e-02 -1.49406607e-03 9.99617980e-01 1.60446008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.51255784400007 meters Centerline goodness : 0.139755 Centerline is valid? [False, False] Translation: X:5.43, Y:0.65, Z:1.60 [[ 9.99573925e-01 -3.76575953e-03 2.89445461e-02 5.42741552e+00] [ 3.71092127e-03 9.99991217e-01 1.94808087e-03 6.45205297e-01] [-2.89516278e-02 -1.83983991e-03 9.99579121e-01 1.60083139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54255784400004 meters Centerline goodness : 0.294952 Centerline is valid? [False, False] Translation: X:5.45, Y:0.65, Z:1.59 [[ 9.99406358e-01 -9.31787841e-03 3.31678958e-02 5.45200296e+00] [ 9.17597586e-03 9.99948096e-01 4.42796141e-03 6.46917618e-01] [-3.32074334e-02 -4.12098497e-03 9.99439985e-01 1.59400095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5725578440001 meters Centerline goodness : 0.135343 Centerline is valid? [False, False] Translation: X:5.45, Y:0.65, Z:1.59 [[ 9.99358059e-01 -9.33022463e-03 3.45892724e-02 5.45178682e+00] [ 9.18042678e-03 9.99947792e-01 4.48705683e-03 6.47636501e-01] [-3.46293318e-02 -4.16663212e-03 9.99391539e-01 1.59081825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60255784400005 meters Centerline goodness : 0.133778 Centerline is valid? [False, False] Translation: X:5.45, Y:0.65, Z:1.59 [[ 9.99312860e-01 -9.34433640e-03 3.58676928e-02 5.45183835e+00] [ 9.19038656e-03 9.99947845e-01 4.45463733e-03 6.48734084e-01] [-3.59074477e-02 -4.12193841e-03 9.99346619e-01 1.58637898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6325578440001 meters Centerline goodness : 0.133828 Centerline is valid? [False, False] Translation: X:5.46, Y:0.65, Z:1.58 [[ 0.99928524 -0.00811722 0.03692043 5.45513967] [ 0.0079074 0.99995177 0.00582563 0.64745464] [-0.03696594 -0.00552952 0.99930123 1.57772689] [ 0. 0. 0. 1. ]] SLAMing on 510.66255784400005 meters Centerline goodness : 0.131166 Centerline is valid? [False, False] Translation: X:5.50, Y:0.65, Z:1.58 [[ 9.99472882e-01 -5.54918055e-03 3.19869519e-02 5.50325205e+00] [ 5.38519777e-03 9.99971925e-01 5.21042523e-03 6.53384230e-01] [-3.20149675e-02 -5.03542266e-03 9.99474705e-01 1.58060254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6925578440001 meters Centerline goodness : 0.247930 Centerline is valid? [False, False] Translation: X:5.50, Y:0.66, Z:1.58 [[ 9.99427963e-01 -5.59444536e-03 3.33533815e-02 5.50343792e+00] [ 5.42653415e-03 9.99972155e-01 5.12270707e-03 6.55579034e-01] [-3.33811115e-02 -4.93878343e-03 9.99430493e-01 1.57688119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72255784400005 meters Centerline goodness : 0.131907 Centerline is valid? [False, False] Translation: X:5.50, Y:0.66, Z:1.57 [[ 9.99373607e-01 -5.71305061e-03 3.49249917e-02 5.50301785e+00] [ 5.55096319e-03 9.99973377e-01 4.73621915e-03 6.58321333e-01] [-3.49511202e-02 -4.53938508e-03 9.99378714e-01 1.57436534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7525578440001 meters Centerline goodness : 0.257432 Centerline is valid? [False, False] Translation: X:5.55, Y:0.67, Z:1.57 [[ 9.99271519e-01 -3.91824598e-03 3.79615438e-02 5.54718731e+00] [ 3.74948760e-03 9.99982775e-01 4.51568341e-03 6.65904412e-01] [-3.79785835e-02 -4.37005749e-03 9.99268998e-01 1.57135199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78255784400005 meters Centerline goodness : 0.234902 Centerline is valid? [False, False] Translation: X:5.55, Y:0.67, Z:1.57 [[ 9.99225626e-01 -4.03213173e-03 3.91393813e-02 5.54759723e+00] [ 3.87257125e-03 9.99983883e-01 4.15168331e-03 6.68362781e-01] [-3.91554906e-02 -3.99689831e-03 9.99225136e-01 1.56718164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8125578440001 meters Centerline goodness : 0.260403 Centerline is valid? [False, False] Translation: X:5.60, Y:0.68, Z:1.57 [[ 9.99415144e-01 -1.55503499e-03 3.41606906e-02 5.59807771e+00] [ 1.43895505e-03 9.99993108e-01 3.42237813e-03 6.77591932e-01] [-3.41657771e-02 -3.37122083e-03 9.99410494e-01 1.56987832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84255784400005 meters Centerline goodness : 0.252223 Centerline is valid? [False, False] Translation: X:5.64, Y:0.68, Z:1.58 [[ 9.99595859e-01 -1.38222364e-03 2.83938029e-02 5.64124653e+00] [ 1.30278246e-03 9.99995186e-01 2.81614391e-03 6.83710433e-01] [-2.83975587e-02 -2.77801484e-03 9.99592848e-01 1.57810400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8725578440001 meters Centerline goodness : 0.233122 Centerline is valid? [False, False] Translation: X:5.64, Y:0.69, Z:1.57 [[ 9.99569995e-01 -1.55759763e-03 2.92813638e-02 5.64214394e+00] [ 1.48506470e-03 9.99995776e-01 2.49868606e-03 6.86594515e-01] [-2.92851320e-02 -2.45412689e-03 9.99568086e-01 1.57410422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90255784400006 meters Centerline goodness : 0.228749 Centerline is valid? [False, False] Translation: X:5.69, Y:0.70, Z:1.58 [[ 9.99712706e-01 -2.19000939e-04 2.39678598e-02 5.69188356e+00] [ 1.95469667e-04 9.99999497e-01 9.84122856e-04 6.95386623e-01] [-2.39680633e-02 -9.79155134e-04 9.99712245e-01 1.57874367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.9325578440001 meters Centerline goodness : 0.232962 Centerline is valid? [False, False] Translation: X:5.70, Y:0.70, Z:1.57 [[ 9.99699370e-01 8.83008662e-04 2.45028510e-02 5.69622618e+00] [-9.33698122e-04 9.99997448e-01 2.05735309e-03 6.96155998e-01] [-2.45009718e-02 -2.07961286e-03 9.99697643e-01 1.57079231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96255784400006 meters Centerline goodness : 0.230903 Centerline is valid? [False, False] Translation: X:5.70, Y:0.70, Z:1.57 [[ 9.99676314e-01 6.59648592e-04 2.54329067e-02 5.69769764e+00] [-7.04262696e-04 9.99998229e-01 1.74527087e-03 6.99455825e-01] [-2.54317104e-02 -1.76261740e-03 9.99675008e-01 1.56566475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.9925578440001 meters Centerline goodness : 0.240709 Centerline is valid? [False, False] Translation: X:5.70, Y:0.70, Z:1.56 [[ 9.99654772e-01 1.51663521e-03 2.62304434e-02 5.70203863e+00] [-1.58356272e-03 9.99995543e-01 2.53093616e-03 7.00644874e-01] [-2.62264880e-02 -2.57159996e-03 9.99652719e-01 1.55690461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02255784400006 meters Centerline goodness : 0.237361 Centerline is valid? [False, False] Translation: X:5.73, Y:0.71, Z:1.55 [[ 9.99495302e-01 -3.75912182e-03 3.15437885e-02 5.72688388e+00] [ 3.61682479e-03 9.99983031e-01 4.56694177e-03 7.08201388e-01] [-3.15604209e-02 -4.45054849e-03 9.99491937e-01 1.54866960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0525578440001 meters Centerline goodness : 0.244989 Centerline is valid? [False, False] Translation: X:5.73, Y:0.71, Z:1.54 [[ 9.99488456e-01 -2.78902711e-03 3.18598170e-02 5.73185383e+00] [ 2.61590598e-03 9.99981595e-01 5.47422939e-03 7.09462226e-01] [-3.18744984e-02 -5.38808680e-03 9.99477356e-01 1.54047481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08255784400006 meters Centerline goodness : 0.244917 Centerline is valid? [False, False] Translation: X:5.74, Y:0.71, Z:1.53 [[ 9.99487129e-01 -2.20776568e-03 3.19469070e-02 5.73805438e+00] [ 2.02042220e-03 9.99980581e-01 5.89530722e-03 7.11719802e-01] [-3.19593021e-02 -5.82773745e-03 9.99472181e-01 1.53117736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.11255784400004 meters Centerline goodness : 0.243009 Centerline is valid? [False, False] Translation: X:5.78, Y:0.72, Z:1.54 [[ 9.99655377e-01 -3.39003450e-03 2.60314321e-02 5.78191719e+00] [ 3.27953954e-03 9.99985436e-01 4.28619490e-03 7.21351027e-01] [-2.60455834e-02 -4.19934667e-03 9.99651936e-01 1.53792103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14255784400007 meters Centerline goodness : 0.264250 Centerline is valid? [False, False] Translation: X:5.79, Y:0.72, Z:1.53 [[ 9.99648122e-01 -3.92647953e-03 2.62338599e-02 5.78533769e+00] [ 3.83302071e-03 9.99986131e-01 3.61186336e-03 7.24689005e-01] [-2.62476780e-02 -3.51003750e-03 9.99649308e-01 1.53169941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.17255784400004 meters Centerline goodness : 0.274639 Centerline is valid? [False, False] Translation: X:5.79, Y:0.72, Z:1.52 [[ 9.99637160e-01 -3.13631927e-03 2.67527946e-02 5.78942672e+00] [ 3.01564712e-03 9.99985103e-01 4.54979107e-03 7.24912698e-01] [-2.67666657e-02 -4.46746323e-03 9.99631726e-01 1.52438218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20255784400007 meters Centerline goodness : 0.248550 Centerline is valid? [False, False] Translation: X:5.84, Y:0.74, Z:1.53 [[ 9.99770976e-01 -2.65210078e-03 2.12358824e-02 5.84286197e+00] [ 2.58430472e-03 9.99991479e-01 3.21933080e-03 7.35282580e-01] [-2.12442394e-02 -3.16371350e-03 9.99769310e-01 1.53004667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.23255784400004 meters Centerline goodness : 0.254366 Centerline is valid? [False, False] Translation: X:5.85, Y:0.74, Z:1.52 [[ 9.99764697e-01 -3.06807797e-03 2.14740945e-02 5.84583463e+00] [ 3.01322287e-03 9.99992116e-01 2.58636883e-03 7.38684048e-01] [-2.14818604e-02 -2.52105401e-03 9.99766060e-01 1.52480723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26255784400007 meters Centerline goodness : 0.257623 Centerline is valid? [False, False] Translation: X:5.86, Y:0.74, Z:1.52 [[ 9.99735507e-01 -2.33038726e-03 2.28798042e-02 5.85509531e+00] [ 2.26896730e-03 9.99993754e-01 2.71005499e-03 7.43613729e-01] [-2.28859768e-02 -2.65742467e-03 9.99734550e-01 1.51744018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.29255784400004 meters Centerline goodness : 0.245232 Centerline is valid? [False, False] Translation: X:5.86, Y:0.75, Z:1.51 [[ 9.99737307e-01 -1.15972024e-03 2.28904279e-02 5.86123054e+00] [ 1.07503289e-03 9.99992534e-01 3.71164306e-03 7.45013291e-01] [-2.28945615e-02 -3.68606007e-03 9.99731090e-01 1.50937072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3225578440001 meters Centerline goodness : 0.245232 Centerline is valid? [False, False] Translation: X:5.86, Y:0.75, Z:1.51 [[ 9.99737307e-01 -1.15972024e-03 2.28904279e-02 5.86123054e+00] [ 1.07503289e-03 9.99992534e-01 3.71164306e-03 7.45013291e-01] [-2.28945615e-02 -3.68606007e-03 9.99731090e-01 1.50937072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.35255784400005 meters Centerline goodness : 0.253459 Centerline is valid? [False, False] Translation: X:5.87, Y:0.75, Z:1.50 [[ 9.99736576e-01 -3.78188120e-04 2.29485204e-02 5.86831418e+00] [ 2.81083485e-04 9.99990995e-01 4.23448970e-03 7.47238209e-01] [-2.29499152e-02 -4.22692378e-03 9.99727680e-01 1.49981632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3825578440001 meters Centerline goodness : 0.255919 Centerline is valid? [False, False] Translation: X:5.87, Y:0.75, Z:1.49 [[ 9.99729079e-01 -1.94111380e-04 2.32751232e-02 5.87358784e+00] [ 9.40122722e-05 9.99990743e-01 4.30170786e-03 7.48992878e-01] [-2.32757428e-02 -4.29835429e-03 9.99719843e-01 1.49181018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.41255784400005 meters Centerline goodness : 0.256531 Centerline is valid? [False, False] Translation: X:5.88, Y:0.75, Z:1.49 [[ 9.99699409e-01 -1.91304992e-03 2.44424250e-02 5.88184510e+00] [ 1.85119498e-03 9.99995028e-01 2.55301515e-03 7.54222972e-01] [-2.44471875e-02 -2.50700004e-03 9.99697979e-01 1.48626615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4425578440001 meters Centerline goodness : 0.251962 Centerline is valid? [False, False] Translation: X:5.89, Y:0.76, Z:1.48 [[ 9.99699960e-01 -2.66474479e-03 2.43492960e-02 5.88643858e+00] [ 2.61615888e-03 9.99994523e-01 2.02701014e-03 7.55882773e-01] [-2.43545641e-02 -1.96270033e-03 9.99701457e-01 1.48129765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.47255784400005 meters Centerline goodness : 0.251591 Centerline is valid? [False, False] Translation: X:5.89, Y:0.76, Z:1.47 [[ 9.99701999e-01 -3.15048950e-03 2.42071999e-02 5.89382973e+00] [ 3.10780197e-03 9.99993549e-01 1.80084136e-03 7.56896551e-01] [-2.42127173e-02 -1.72507353e-03 9.99705341e-01 1.47260899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5025578440001 meters Centerline goodness : 0.212383 Centerline is valid? [False, False] Translation: X:5.90, Y:0.76, Z:1.47 [[ 9.99662383e-01 -4.76333360e-03 2.55427367e-02 5.90180969e+00] [ 4.75050031e-03 9.99988558e-01 5.63081081e-04 7.59888549e-01] [-2.55451265e-02 -4.41550197e-04 9.99673572e-01 1.46696621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.53255784400005 meters Centerline goodness : 0.205366 Centerline is valid? [False, False] Translation: X:5.91, Y:0.76, Z:1.46 [[ 9.99662085e-01 -4.81871519e-03 2.55440126e-02 5.90501871e+00] [ 4.80301087e-03 9.99988237e-01 6.76113411e-04 7.59447944e-01] [-2.55469701e-02 -5.53196772e-04 9.99673470e-01 1.46286426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5625578440001 meters SLAMing on 511.59255784400005 meters Centerline goodness : 0.114259 Centerline is valid? [False, False] Translation: X:5.96, Y:0.76, Z:1.45 [[ 9.99593911e-01 -3.45643044e-03 2.82854453e-02 5.95822323e+00] [ 3.42908717e-03 9.99993605e-01 1.01513972e-03 7.62399890e-01] [-2.82887732e-02 -9.17734227e-04 9.99599371e-01 1.45196685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6225578440001 meters Centerline goodness : 0.113426 Centerline is valid? [False, False] Translation: X:5.97, Y:0.76, Z:1.44 [[ 9.99614395e-01 -2.44468084e-03 2.76601699e-02 5.96623349e+00] [ 2.39251710e-03 9.99995297e-01 1.91881727e-03 7.61582511e-01] [-2.76647307e-02 -1.85189994e-03 9.99615543e-01 1.44368946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.65255784400006 meters Centerline goodness : 0.109489 Centerline is valid? [False, False] Translation: X:5.97, Y:0.76, Z:1.44 [[ 9.99635162e-01 -1.62162043e-03 2.69613398e-02 5.97461454e+00] [ 1.55266999e-03 9.99995471e-01 2.57812007e-03 7.61437126e-01] [-2.69653984e-02 -2.53531741e-03 9.99633152e-01 1.43523674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6825578440001 meters Centerline goodness : 0.115420 Centerline is valid? [False, False] Translation: X:5.98, Y:0.76, Z:1.43 [[ 9.99598350e-01 -8.78642327e-04 2.83260788e-02 5.98379708e+00] [ 7.91401047e-04 9.99994910e-01 3.09095638e-03 7.62534112e-01] [-2.83286504e-02 -3.06729761e-03 9.99593957e-01 1.42823279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.71255784400006 meters SLAMing on 511.7425578440001 meters SLAMing on 511.77255784400006 meters SLAMing on 511.8025578440001 meters SLAMing on 511.83255784400006 meters Centerline goodness : 0.082548 Centerline is valid? [False, False] Translation: X:6.06, Y:0.78, Z:1.41 [[ 9.99226512e-01 -6.25492424e-03 3.88233709e-02 6.06429028e+00] [ 6.09339424e-03 9.99972286e-01 4.27757345e-03 7.79075300e-01] [-3.88490508e-02 -4.03769869e-03 9.99236933e-01 1.40742942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86255784400004 meters Centerline goodness : 0.116067 Centerline is valid? [False, False] Translation: X:6.07, Y:0.78, Z:1.40 [[ 9.99251235e-01 -7.60043205e-03 3.79368323e-02 6.07211546e+00] [ 7.49974554e-03 9.99967969e-01 2.79566334e-03 7.82722792e-01] [-3.79568654e-02 -2.50905345e-03 9.99276229e-01 1.40045704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.89255784400007 meters SLAMing on 511.92255784400004 meters Centerline goodness : 0.068643 Centerline is valid? [False, False] Translation: X:6.13, Y:0.79, Z:1.39 [[ 9.99186244e-01 -9.32011722e-03 3.92426497e-02 6.12661696e+00] [ 9.28650562e-03 9.99956340e-01 1.03870744e-03 7.91307809e-01] [-3.92506173e-02 -6.73435099e-04 9.99229171e-01 1.39040383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.95255784400007 meters Centerline goodness : 0.030347 Centerline is valid? [False, False] Translation: X:6.17, Y:0.80, Z:1.39 [[ 9.99028616e-01 -9.27136444e-03 4.30797657e-02 6.17095445e+00] [ 9.24461863e-03 9.99956931e-01 8.20027165e-04 7.95035679e-01] [-4.30855131e-02 -4.20974599e-04 9.99071299e-01 1.38783528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.98255784400004 meters Centerline goodness : 0.059904 Centerline is valid? [False, False] Translation: X:6.17, Y:0.79, Z:1.38 [[ 9.99047103e-01 -9.28094622e-03 4.26468035e-02 6.17454664e+00] [ 9.24602506e-03 9.99956738e-01 1.01602352e-03 7.93708743e-01] [-4.26543882e-02 -6.20741941e-04 9.99089695e-01 1.38486238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.012557844 meters Centerline goodness : 0.092052 Centerline is valid? [False, False] Translation: X:6.18, Y:0.80, Z:1.38 [[ 9.99073161e-01 -1.02432401e-02 4.18078295e-02 6.18123399e+00] [ 1.02515375e-02 9.99947451e-01 1.59261143e-05 7.95509492e-01] [-4.18057957e-02 4.12683178e-04 9.99125670e-01 1.37911008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.042557844 meters Centerline goodness : 0.190114 Centerline is valid? [False, False] Translation: X:6.19, Y:0.79, Z:1.38 [[ 9.99105136e-01 -1.02835308e-02 4.10265229e-02 6.18567796e+00] [ 1.02874814e-02 9.99947076e-01 1.14828437e-04 7.94729571e-01] [-4.10255324e-02 3.07333909e-04 9.99158051e-01 1.37595862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.072557844 meters Centerline goodness : 0.176494 Centerline is valid? [False, False] Translation: X:6.21, Y:0.79, Z:1.37 [[ 9.98954327e-01 -4.24990260e-03 4.55213199e-02 6.20745358e+00] [ 4.37444195e-03 9.99986956e-01 -2.63657897e-03 7.94926770e-01] [-4.55095209e-02 2.83295234e-03 9.98959888e-01 1.37247055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.102557844 meters Centerline goodness : 0.199565 Centerline is valid? [False, False] Translation: X:6.21, Y:0.79, Z:1.37 [[ 9.98995522e-01 -3.76277779e-03 4.46518647e-02 6.21409686e+00] [ 3.85249185e-03 9.99990730e-01 -1.92330601e-03 7.92167922e-01] [-4.46442138e-02 2.09339504e-03 9.99000757e-01 1.36693700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.132557844 meters Centerline goodness : 0.200564 Centerline is valid? [False, False] Translation: X:6.22, Y:0.79, Z:1.36 [[ 9.99026237e-01 -4.25079192e-03 4.39147803e-02 6.21977907e+00] [ 4.36047338e-03 9.99987608e-01 -2.40210852e-03 7.92507966e-01] [-4.39040253e-02 2.59125866e-03 9.99032393e-01 1.36199510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.162557844 meters Centerline goodness : 0.215705 Centerline is valid? [False, False] Translation: X:6.22, Y:0.79, Z:1.36 [[ 9.99059462e-01 -4.08720301e-03 4.31681260e-02 6.22417645e+00] [ 4.18006023e-03 9.99989140e-01 -2.06101373e-03 7.90706910e-01] [-4.31592334e-02 2.23952063e-03 9.99065696e-01 1.35869891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.192557844 meters Centerline goodness : 0.236234 Centerline is valid? [False, False] Translation: X:6.23, Y:0.79, Z:1.35 [[ 9.98928707e-01 -2.98134530e-03 4.61795295e-02 6.22749281e+00] [ 3.01801948e-03 9.99995183e-01 -7.24463002e-04 7.86843508e-01] [-4.61771472e-02 8.63057610e-04 9.98932894e-01 1.35339935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.222557844 meters SLAMing on 512.252557844 meters SLAMing on 512.282557844 meters Centerline goodness : 0.113136 Centerline is valid? [False, False] Translation: X:6.30, Y:0.79, Z:1.35 [[ 9.98883594e-01 6.16161861e-03 4.68358878e-02 6.30351127e+00] [-6.06022819e-03 9.99978977e-01 -2.30649121e-03 7.87004108e-01] [-4.68491149e-02 2.02008006e-03 9.98899935e-01 1.34531491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.312557844 meters Centerline goodness : 0.044127 Centerline is valid? [False, False] Translation: X:6.33, Y:0.78, Z:1.34 [[ 9.98947210e-01 1.34962415e-02 4.38443092e-02 6.33273212e+00] [-1.33512101e-02 9.99904392e-01 -3.59903311e-03 7.84612567e-01] [-4.38886908e-02 3.00986950e-03 9.99031893e-01 1.34150535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.342557844 meters Centerline goodness : 0.067040 Centerline is valid? [False, False] Translation: X:6.37, Y:0.78, Z:1.34 [[ 9.98802475e-01 1.41447163e-02 4.68352842e-02 6.37261728e+00] [-1.39581993e-02 9.99893303e-01 -4.30707585e-03 7.84438855e-01] [-4.68912094e-02 3.64818179e-03 9.98893340e-01 1.34261341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.372557844 meters Centerline goodness : 0.048249 Centerline is valid? [False, False] Translation: X:6.38, Y:0.78, Z:1.34 [[ 9.98858986e-01 1.44313233e-02 4.55243140e-02 6.38080245e+00] [-1.42590376e-02 9.99889900e-01 -4.10696063e-03 7.83615905e-01] [-4.55785706e-02 3.45314163e-03 9.98954789e-01 1.33694274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4025578440001 meters Centerline goodness : 0.281332 Centerline is valid? [False, False] Translation: X:6.39, Y:0.78, Z:1.33 [[ 9.98918957e-01 1.45545890e-02 4.41483915e-02 6.38901992e+00] [-1.43890980e-02 9.99888213e-01 -4.06400479e-03 7.83324237e-01] [-4.42026062e-02 3.42435590e-03 9.99016718e-01 1.33147271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.432557844 meters Centerline goodness : 0.060026 Centerline is valid? [False, False] Translation: X:6.41, Y:0.78, Z:1.33 [[ 9.98758046e-01 8.81909560e-03 4.90366176e-02 6.41166114e+00] [-8.78370000e-03 9.99960983e-01 -9.37268233e-04 7.82614875e-01] [-4.90429702e-02 5.05381251e-04 9.98796542e-01 1.32606057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.462557844 meters Centerline goodness : 0.059903 Centerline is valid? [False, False] Translation: X:6.42, Y:0.78, Z:1.32 [[ 9.98826364e-01 8.08265695e-03 4.77552729e-02 6.41977755e+00] [-8.00831464e-03 9.99966405e-01 -1.74786181e-03 7.83975592e-01] [-4.77677960e-02 1.36337121e-03 9.98857537e-01 1.32055839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.492557844 meters Centerline goodness : 0.060028 Centerline is valid? [False, False] Translation: X:6.43, Y:0.78, Z:1.32 [[ 9.98893335e-01 7.26196789e-03 4.64690126e-02 6.42783896e+00] [-7.14856463e-03 9.99971053e-01 -2.60612612e-03 7.84767835e-01] [-4.64865930e-02 2.27105527e-03 9.98916332e-01 1.31515252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5225578440001 meters Centerline goodness : 0.060338 Centerline is valid? [False, False] Translation: X:6.47, Y:0.79, Z:1.32 [[ 9.98757735e-01 6.56878128e-03 4.93947075e-02 6.46957149e+00] [-6.35960741e-03 9.99970138e-01 -4.39071386e-03 7.86741307e-01] [-4.94220742e-02 4.07112848e-03 9.98769685e-01 1.31546100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.552557844 meters Centerline goodness : 0.118488 Centerline is valid? [False, False] Translation: X:6.48, Y:0.79, Z:1.31 [[ 9.98821667e-01 6.81327357e-03 4.80505617e-02 6.47858570e+00] [-6.62198726e-03 9.99969509e-01 -4.13900400e-03 7.86500492e-01] [-4.80772967e-02 3.81593667e-03 9.98836329e-01 1.30914815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.582557844 meters Centerline goodness : 0.111315 Centerline is valid? [False, False] Translation: X:6.48, Y:0.79, Z:1.31 [[ 9.98874781e-01 6.44140199e-03 4.69859672e-02 6.48480543e+00] [-6.22861207e-03 9.99969680e-01 -4.67380331e-03 7.88076633e-01] [-4.70146484e-02 4.37588689e-03 9.98884615e-01 1.30515370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.612557844 meters Centerline goodness : 0.064236 Centerline is valid? [False, False] Translation: X:6.49, Y:0.79, Z:1.30 [[ 9.98928908e-01 5.97480764e-03 4.58839649e-02 6.49186209e+00] [-5.73877038e-03 9.99969624e-01 -5.27422856e-03 7.89187934e-01] [-4.59140836e-02 5.00526184e-03 9.98932853e-01 1.30047771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.642557844 meters Centerline goodness : 0.153843 Centerline is valid? [False, False] Translation: X:6.53, Y:0.79, Z:1.30 [[ 9.98761533e-01 6.60542109e-03 4.93129653e-02 6.53336703e+00] [-6.30966718e-03 9.99961177e-01 -6.15075126e-03 7.92138202e-01] [-4.93516791e-02 5.83198536e-03 9.98764437e-01 1.30019505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.672557844 meters Centerline goodness : 0.151217 Centerline is valid? [False, False] Translation: X:6.54, Y:0.79, Z:1.29 [[ 9.98834837e-01 6.97865404e-03 4.77521490e-02 6.54253496e+00] [-6.70309875e-03 9.99959961e-01 -5.92823737e-03 7.92568758e-01] [-4.77916082e-02 5.60124263e-03 9.98841623e-01 1.29444851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.702557844 meters Centerline goodness : 0.152390 Centerline is valid? [False, False] Translation: X:6.55, Y:0.79, Z:1.29 [[ 9.98909844e-01 6.97577817e-03 4.61569324e-02 6.55148311e+00] [-6.70018240e-03 9.99958808e-01 -6.12286521e-03 7.93644255e-01] [-4.61977429e-02 5.80693046e-03 9.98915436e-01 1.28916107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.732557844 meters Centerline goodness : 0.107757 Centerline is valid? [False, False] Translation: X:6.61, Y:0.79, Z:1.29 [[ 9.99234971e-01 4.81087641e-03 3.88114397e-02 6.60944945e+00] [-4.53106331e-03 9.99963131e-01 -7.29429572e-03 7.94595625e-01] [-3.88451007e-02 7.11285828e-03 9.99219928e-01 1.28536225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.762557844 meters Centerline goodness : 0.100149 Centerline is valid? [False, False] Translation: X:6.62, Y:0.80, Z:1.28 [[ 9.99291499e-01 3.88469516e-03 3.74353980e-02 6.61770950e+00] [-3.58283301e-03 9.99960555e-01 -8.12726393e-03 7.95488091e-01] [-3.74654933e-02 7.98738097e-03 9.99266000e-01 1.28066464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.792557844 meters Centerline goodness : 0.109596 Centerline is valid? [False, False] Translation: X:6.63, Y:0.80, Z:1.28 [[ 9.99346121e-01 2.90628919e-03 3.60400274e-02 6.62617686e+00] [-2.58187385e-03 9.99955762e-01 -9.04480463e-03 7.96889531e-01] [-3.60647199e-02 8.94583962e-03 9.99309416e-01 1.27597680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.822557844 meters Centerline goodness : 0.110868 Centerline is valid? [False, False] Translation: X:6.65, Y:0.79, Z:1.27 [[ 9.99137924e-01 -3.86460115e-03 4.13336986e-02 6.64993515e+00] [ 4.13334066e-03 9.99970861e-01 -6.41822216e-03 7.92975914e-01] [-4.13076903e-02 6.58353542e-03 9.99124783e-01 1.26989747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.852557844 meters Centerline goodness : 0.110285 Centerline is valid? [False, False] Translation: X:6.66, Y:0.79, Z:1.26 [[ 9.99185266e-01 -4.70291539e-03 4.00835044e-02 6.65823530e+00] [ 4.99157342e-03 9.99962305e-01 -7.10438144e-03 7.92774457e-01] [-4.00485822e-02 7.29867302e-03 9.99171077e-01 1.26474191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.882557844 meters Centerline goodness : 0.245143 Centerline is valid? [False, False] Translation: X:6.66, Y:0.79, Z:1.26 [[ 9.99231464e-01 -4.88331286e-03 3.88926063e-02 6.66463799e+00] [ 5.15864170e-03 9.99962319e-01 -6.98200184e-03 7.90546446e-01] [-3.88570455e-02 7.17726894e-03 9.99219003e-01 1.26138336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.912557844 meters Centerline goodness : 0.299765 Centerline is valid? [False, False] Translation: X:6.72, Y:0.79, Z:1.26 [[ 9.99488624e-01 -3.24146512e-03 3.18116910e-02 6.72033366e+00] [ 3.43773728e-03 9.99975381e-01 -6.11705898e-03 7.86697408e-01] [-3.17910796e-02 6.22329110e-03 9.99475161e-01 1.25767613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.942557844 meters Centerline goodness : 0.085667 Centerline is valid? [False, False] Translation: X:6.73, Y:0.78, Z:1.26 [[ 9.99514290e-01 -3.02623128e-03 3.10165298e-02 6.72505773e+00] [ 3.20508124e-03 9.99978515e-01 -5.71818457e-03 7.84207090e-01] [-3.09985588e-02 5.81481769e-03 9.99502515e-01 1.25503476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.972557844 meters Centerline goodness : 0.293768 Centerline is valid? [False, False] Translation: X:6.73, Y:0.78, Z:1.25 [[ 9.99539346e-01 -2.80390225e-03 3.02197458e-02 6.72969216e+00] [ 2.96725456e-03 9.99981222e-01 -5.36199351e-03 7.81906156e-01] [-3.02041438e-02 5.44919316e-03 9.99528897e-01 1.25258308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.002557844 meters Centerline goodness : 0.097675 Centerline is valid? [False, False] Translation: X:6.79, Y:0.78, Z:1.25 [[ 9.99754417e-01 2.94972677e-04 2.21589260e-02 6.78842010e+00] [-1.90301653e-04 9.99988816e-01 -4.72561077e-03 7.81137463e-01] [-2.21600721e-02 4.72023336e-03 9.99743292e-01 1.25212499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.032557844 meters Centerline goodness : 0.088059 Centerline is valid? [False, False] Translation: X:6.79, Y:0.78, Z:1.25 [[ 9.99771847e-01 3.42971283e-04 2.13573592e-02 6.79307788e+00] [-2.41694462e-04 9.99988716e-01 -4.74441122e-03 7.81223787e-01] [-2.13587454e-02 4.73816681e-03 9.99760648e-01 1.24972320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.062557844 meters Centerline goodness : 0.069457 Centerline is valid? [False, False] Translation: X:6.80, Y:0.78, Z:1.25 [[ 9.99787099e-01 3.99601506e-04 2.06299859e-02 6.79755265e+00] [-3.03458492e-04 9.99989081e-01 -4.66327301e-03 7.80530649e-01] [-2.06316241e-02 4.65601986e-03 9.99776304e-01 1.24723567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.092557844 meters Centerline goodness : 0.068651 Centerline is valid? [False, False] Translation: X:6.80, Y:0.78, Z:1.24 [[ 9.99802041e-01 4.99074816e-04 1.98904414e-02 6.80225773e+00] [-4.09788917e-04 9.99989824e-01 -4.49270783e-03 7.78996375e-01] [-1.98924812e-02 4.48366757e-03 9.99792071e-01 1.24459813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.122557844 meters Centerline goodness : 0.078832 Centerline is valid? [False, False] Translation: X:6.82, Y:0.78, Z:1.24 [[ 9.99830811e-01 9.29069379e-04 1.83707856e-02 6.81638434e+00] [-8.55565055e-04 9.99991600e-01 -4.00860766e-03 7.76056493e-01] [-1.83743555e-02 3.99221205e-03 9.99823207e-01 1.23539333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1525578440001 meters Centerline goodness : 0.088995 Centerline is valid? [False, False] Translation: X:6.82, Y:0.78, Z:1.23 [[ 9.99844011e-01 9.14071276e-04 1.76385635e-02 6.82094153e+00] [-8.41967493e-04 9.99991262e-01 -4.09484215e-03 7.76443451e-01] [-1.76421523e-02 4.07935230e-03 9.99836043e-01 1.23320294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.182557844 meters Centerline goodness : 0.088995 Centerline is valid? [False, False] Translation: X:6.82, Y:0.78, Z:1.23 [[ 9.99844011e-01 9.14071276e-04 1.76385635e-02 6.82094153e+00] [-8.41967493e-04 9.99991262e-01 -4.09484215e-03 7.76443451e-01] [-1.76421523e-02 4.07935230e-03 9.99836043e-01 1.23320294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.212557844 meters Centerline goodness : 0.044269 Centerline is valid? [False, False] Translation: X:6.83, Y:0.78, Z:1.23 [[ 9.99854799e-01 8.11786365e-04 1.70212141e-02 6.82563738e+00] [-7.38384792e-04 9.99990404e-01 -4.31819943e-03 7.77613509e-01] [-1.70245562e-02 4.30500421e-03 9.99845804e-01 1.23065228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.242557844 meters Centerline goodness : 0.044860 Centerline is valid? [False, False] Translation: X:6.84, Y:0.78, Z:1.22 [[ 9.99882835e-01 1.72657049e-03 1.52097320e-02 6.84010233e+00] [-1.67001742e-03 9.99991649e-01 -3.73013303e-03 7.77508935e-01] [-1.52160453e-02 3.70429547e-03 9.99877368e-01 1.22166553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2725578440001 meters Centerline goodness : 0.044976 Centerline is valid? [False, False] Translation: X:6.84, Y:0.78, Z:1.22 [[ 9.99893655e-01 1.59449077e-03 1.44960923e-02 6.84476315e+00] [-1.53554487e-03 9.99990512e-01 -4.07655171e-03 7.79248501e-01] [-1.45024548e-02 4.05385878e-03 9.99886616e-01 1.21908204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.302557844 meters Centerline goodness : 0.043878 Centerline is valid? [False, False] Translation: X:6.85, Y:0.78, Z:1.22 [[ 9.99904684e-01 1.36283810e-03 1.37392102e-02 6.84959254e+00] [-1.30024371e-03 9.99988740e-01 -4.56379775e-03 7.81681990e-01] [-1.37452752e-02 4.54549842e-03 9.99895197e-01 1.21646845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.332557844 meters SLAMing on 513.362557844 meters Centerline goodness : 0.047360 Centerline is valid? [False, False] Translation: X:6.90, Y:0.79, Z:1.21 [[ 9.99806415e-01 4.67091544e-03 1.91131980e-02 6.89605052e+00] [-4.61049771e-03 9.99984239e-01 -3.20389242e-03 7.89045175e-01] [-1.91278618e-02 3.11515084e-03 9.99812193e-01 1.21174775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.392557844 meters Centerline goodness : 0.043249 Centerline is valid? [False, False] Translation: X:6.90, Y:0.79, Z:1.21 [[ 9.99822451e-01 4.35753553e-03 1.83324587e-02 6.90125811e+00] [-4.28557372e-03 9.99982965e-01 -3.96283306e-03 7.93106839e-01] [-1.83494146e-02 3.88356436e-03 9.99824093e-01 1.20901093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.422557844 meters Centerline goodness : 0.049116 Centerline is valid? [False, False] Translation: X:6.92, Y:0.80, Z:1.20 [[ 9.99846688e-01 5.04358857e-03 1.67678982e-02 6.91556238e+00] [-4.97498581e-03 9.99979094e-01 -4.13051419e-03 7.99921251e-01] [-1.67883803e-02 4.04646088e-03 9.99850877e-01 1.19919589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.452557844 meters Centerline goodness : 0.046958 Centerline is valid? [False, False] Translation: X:6.92, Y:0.80, Z:1.20 [[ 9.99859716e-01 4.63142980e-03 1.60965321e-02 6.92033864e+00] [-4.55229667e-03 9.99977390e-01 -4.94932884e-03 8.04271649e-01] [-1.61190907e-02 4.87535834e-03 9.99858193e-01 1.19650669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.482557844 meters SLAMing on 513.512557844 meters Centerline goodness : 0.050964 Centerline is valid? [False, False] Translation: X:6.97, Y:0.82, Z:1.19 [[ 9.99734192e-01 6.56495547e-03 2.21008456e-02 6.96699637e+00] [-6.46431094e-03 9.99968423e-01 -4.62224411e-03 8.17602852e-01] [-2.21304926e-02 4.47814874e-03 9.99745061e-01 1.19067800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.542557844 meters Centerline goodness : 0.053742 Centerline is valid? [False, False] Translation: X:6.97, Y:0.82, Z:1.19 [[ 9.99754891e-01 5.93410576e-03 2.13294457e-02 6.97228836e+00] [-5.81649133e-03 9.99967560e-01 -5.57199657e-03 8.22758404e-01] [-2.13618186e-02 5.44656828e-03 9.99756974e-01 1.18824620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.572557844 meters Centerline goodness : 0.050381 Centerline is valid? [False, False] Translation: X:6.98, Y:0.83, Z:1.19 [[ 9.99773101e-01 5.22721686e-03 2.06500027e-02 6.97786898e+00] [-5.09283877e-03 9.99965549e-01 -6.55465104e-03 8.27936774e-01] [-2.06835539e-02 6.44799666e-03 9.99765279e-01 1.18517713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.602557844 meters Centerline goodness : 0.062900 Centerline is valid? [False, False] Translation: X:6.98, Y:0.83, Z:1.18 [[ 9.99790904e-01 4.63154801e-03 1.99172422e-02 6.98284263e+00] [-4.48460982e-03 9.99962447e-01 -7.41578433e-03 8.32392217e-01] [-1.99508408e-02 7.32491266e-03 9.99774129e-01 1.18270043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.632557844 meters Centerline goodness : 0.054195 Centerline is valid? [False, False] Translation: X:7.03, Y:0.84, Z:1.18 [[ 9.99908428e-01 1.58140690e-03 1.34400544e-02 7.03351326e+00] [-1.47616323e-03 9.99968201e-01 -7.83691450e-03 8.43246287e-01] [-1.34520204e-02 7.81635714e-03 9.99878967e-01 1.18091046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.662557844 meters Centerline goodness : 0.060867 Centerline is valid? [False, False] Translation: X:7.04, Y:0.85, Z:1.18 [[ 9.99919735e-01 1.03626619e-03 1.26273707e-02 7.03910933e+00] [-9.28659341e-04 9.99963234e-01 -8.52460043e-03 8.46947169e-01] [-1.26357402e-02 8.51218967e-03 9.99883934e-01 1.17885720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.692557844 meters Centerline goodness : 0.064044 Centerline is valid? [False, False] Translation: X:7.06, Y:0.85, Z:1.17 [[ 9.99764498e-01 -3.34093371e-03 2.14426332e-02 7.06196904e+00] [ 3.46063093e-03 9.99978624e-01 -5.54753019e-03 8.51109592e-01] [-2.14236409e-02 5.62042878e-03 9.99754689e-01 1.16851554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.722557844 meters Centerline goodness : 0.069208 Centerline is valid? [False, False] Translation: X:7.07, Y:0.85, Z:1.17 [[ 9.99778837e-01 -3.80151093e-03 2.06839617e-02 7.06718853e+00] [ 3.93036537e-03 9.99973102e-01 -6.19259748e-03 8.54534515e-01] [-2.06598641e-02 6.27252343e-03 9.99766886e-01 1.16650730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.752557844 meters Centerline goodness : 0.073702 Centerline is valid? [False, False] Translation: X:7.07, Y:0.86, Z:1.16 [[ 9.99791908e-01 -4.28596694e-03 1.99441963e-02 7.07259617e+00] [ 4.42302738e-03 9.99966872e-01 -6.83316705e-03 8.58010380e-01] [-1.99142489e-02 6.91995885e-03 9.99777744e-01 1.16417983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.782557844 meters Centerline goodness : 0.076708 Centerline is valid? [False, False] Translation: X:7.08, Y:0.86, Z:1.16 [[ 9.99802154e-01 -4.87396168e-03 1.92846374e-02 7.07802115e+00] [ 5.02111647e-03 9.99958592e-01 -7.58962700e-03 8.61889555e-01] [-1.92468474e-02 7.68495584e-03 9.99785227e-01 1.16112383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.812557844 meters Centerline goodness : 0.085557 Centerline is valid? [False, False] Translation: X:7.09, Y:0.87, Z:1.15 [[ 9.99830728e-01 -5.50583337e-03 1.75556775e-02 7.09461942e+00] [ 5.65312606e-03 9.99949146e-01 -8.35147306e-03 8.66971711e-01] [-1.75088029e-02 8.44930384e-03 9.99811008e-01 1.15112137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.842557844 meters Centerline goodness : 0.075623 Centerline is valid? [False, False] Translation: X:7.10, Y:0.87, Z:1.15 [[ 9.99841555e-01 -5.71548545e-03 1.68582051e-02 7.09941625e+00] [ 5.85987135e-03 9.99946468e-01 -8.52779955e-03 8.68026526e-01] [-1.68085621e-02 8.62523527e-03 9.99821523e-01 1.14946129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.872557844 meters Centerline goodness : 0.071455 Centerline is valid? [False, False] Translation: X:7.10, Y:0.87, Z:1.15 [[ 9.99852141e-01 -5.88428418e-03 1.61577067e-02 7.10428564e+00] [ 6.02307138e-03 9.99945271e-01 -8.55435011e-03 8.68191299e-01] [-1.61064861e-02 8.65040429e-03 9.99832862e-01 1.14803055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9025578440001 meters Centerline goodness : 0.062605 Centerline is valid? [False, False] Translation: X:7.11, Y:0.87, Z:1.15 [[ 9.99862161e-01 -6.05132480e-03 1.54609427e-02 7.10967105e+00] [ 6.18322276e-03 9.99944778e-01 -8.49753055e-03 8.67650514e-01] [-1.54086676e-02 8.59195771e-03 9.99844364e-01 1.14641619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.932557844 meters Centerline goodness : 0.073465 Centerline is valid? [False, False] Translation: X:7.15, Y:0.87, Z:1.14 [[ 0.99985675 -0.01234054 0.01158383 7.1451645 ] [ 0.01243727 0.99988808 -0.00831522 0.87258073] [-0.01147992 0.0084581 0.99989833 1.14343188] [ 0. 0. 0. 1. ]] Total time of SLAM: 58597.16 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%| | 0/16809 [00:00